Fusion.sl_GNSSCalibrationParameters Struct Reference

DLL-friendly version of GNSSCalibrationParameters (found in ZEDCommon.cs). More...

Functions

 sl_GNSSCalibrationParameters (GNSSCalibrationParameters gnssCalibrationParameters)
 

Attributes

float targetYawUncertainty
 This parameter defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian. By default, the threshold is set at 0.1 radians. More...
 
bool enableTranslationUncertaintyTarget
 When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter. By default, it is set to false. More...
 
float targetTranslationUncertainty
 This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO terminates. By default, the threshold is set at 10 centimeters (10e-2). More...
 
bool enableReinitialization
 This initialization parameter determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios. By default, it is set to true. More...
 
float gnssVioReinitThreshold
 This parameter determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered. By default, it is set to 5. More...
 
bool enableRollingCalibration
 If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position. By default, it is set to true. More...
 
Vector3 gnssAntennaPosition
 Define a transform between the GNSS antenna and the camera system for the VIO / GNSS calibration. Default value is [0,0,0], this position can be refined by the calibration if enabled More...
 

Detailed Description

DLL-friendly version of GNSSCalibrationParameters (found in ZEDCommon.cs).

Constructor and Destructor

◆ sl_GNSSCalibrationParameters()

sl_GNSSCalibrationParameters ( GNSSCalibrationParameters  gnssCalibrationParameters)
inline

Variables

◆ targetYawUncertainty

float targetYawUncertainty

This parameter defines the target yaw uncertainty at which the calibration process between GNSS and VIO concludes. The unit of this parameter is in radian. By default, the threshold is set at 0.1 radians.

Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().

◆ enableTranslationUncertaintyTarget

bool enableTranslationUncertaintyTarget

When this parameter is enabled (set to true), the calibration process between GNSS and VIO accounts for the uncertainty in the determined translation, thereby facilitating the calibration termination. The maximum allowable uncertainty is controlled by the 'target_translation_uncertainty' parameter. By default, it is set to false.

Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().

◆ targetTranslationUncertainty

float targetTranslationUncertainty

This parameter defines the target translation uncertainty at which the calibration process between GNSS and VIO terminates. By default, the threshold is set at 10 centimeters (10e-2).

Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().

◆ enableReinitialization

bool enableReinitialization

This initialization parameter determines whether reinitialization should be performed between GNSS and VIO fusion when a significant disparity is detected between GNSS data and the current fusion data. It becomes particularly crucial during prolonged GNSS signal loss scenarios. By default, it is set to true.

Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().

◆ gnssVioReinitThreshold

float gnssVioReinitThreshold

This parameter determines the threshold for GNSS/VIO reinitialization. If the fused position deviates beyond the region defined by the product of the GNSS covariance and the gnss_vio_reinit_threshold, a reinitialization will be triggered. By default, it is set to 5.

Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().

◆ enableRollingCalibration

bool enableRollingCalibration

If this parameter is set to true, the fusion algorithm will used a rough VIO / GNSS calibration at first and then refine it. This allow you to quickly get a fused position. By default, it is set to true.


Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().

◆ gnssAntennaPosition

Vector3 gnssAntennaPosition

Define a transform between the GNSS antenna and the camera system for the VIO / GNSS calibration. Default value is [0,0,0], this position can be refined by the calibration if enabled

Referenced by Fusion.sl_GNSSCalibrationParameters.sl_GNSSCalibrationParameters().