PositionalTrackingParameters Class Reference

Parameters for positional tracking initialization. More...

Functions
def	__cinit__ (self, _init_pos=Transform(), _enable_memory=True, _enable_pose_smoothing=False, _area_path=None, _set_floor_as_origin=False, _enable_imu_fusion=True, _set_as_static=False, _depth_min_range=-1, _set_gravity_as_origin=True)
	Constructor. More...
def	save (self, str filename)
	Saves the current set of parameters into a file. More...
def	load (self, str filename)
	Loads the values of the parameters contained in a file. More...
def	initial_world_transform (self, init_pos=Transform())
	Gets the position of the camera in the world frame when camera is started. More...
def	set_initial_world_transform (self, Transform value)
	Set the position of the camera in the world frame when camera is started. More...
def	enable_area_memory (self)
	This mode enables the camera to learn and remember its surroundings. More...
def	enable_pose_smoothing (self)
	This mode enables smooth pose correction for small drift correction. More...
def	set_floor_as_origin (self)
	This mode initializes the tracking aligned with the floor plane to better position the camera in space. More...
def	enable_imu_fusion (self)
	This setting allows you to enable or disable the IMU fusion. More...
def	area_file_path (self)
	Area localization file that describes the surroundings (previously saved). More...
def	set_as_static (self)
	This setting allows you define the camera as static. More...
def	depth_min_range (self)
	This setting allows you to change the minimum depth used by the SDK for Positional Tracking. More...
def	set_gravity_as_origin (self)
	This setting allows you to override 2 of the 3 rotations from initial_world_transform using the IMU gravity.

Detailed Description

Parameters for positional tracking initialization.

A default constructor is enabled and set to its default parameters. You can customize it to fit your application and then save it to create a preset that can be loaded for further executions.

Note

Parameters can be user adjusted.

Functions

__cinit__()

def __cinit__	(		self,
			_init_pos = Transform(),
			_enable_memory = True,
			_enable_pose_smoothing = False,
			_area_path = None,
			_set_floor_as_origin = False,
			_enable_imu_fusion = True,
			_set_as_static = False,
			_depth_min_range = -1,
			_set_gravity_as_origin = True
	)

Constructor.

Parameters

_init_pos	: chosen initial camera position in the world frame (Transform)
_enable_memory	: activates enable_memory
_enable_pose_smoothing	: activates enable_pose_smoothing
_area_path	: chosen area_path
_set_floor_as_origin	: activates set_floor_as_origin
_enable_imu_fusion	: activates enable_imu_fusion
_set_as_static	: activates set_as_static
_depth_min_range	: activates depth_min_range
_set_gravity_as_origin	: This setting allows you to set the odometry world using sensors data. params = sl.PositionalTrackingParameters(init_pos=Transform(), _enable_pose_smoothing=True)

save()

def save	(		self,
		str	filename
	)

Saves the current set of parameters into a file.

Parameters

filename

: the path to the file in which the parameters will be stored.

Returns

true if the file was successfully saved, otherwise false.

load()

def load	(		self,
		str	filename
	)

Loads the values of the parameters contained in a file.

Parameters

filename

: the path to the file from which the parameters will be loaded.

Returns

true if the file was successfully loaded, otherwise false.

initial_world_transform()

def initial_world_transform	(		self,
			init_pos = Transform()
	)

Gets the position of the camera in the world frame when camera is started.

By default it should be identity.

Parameters

init_pos

: Transform to be returned, by default it creates one

Returns

Position of the camera in the world frame when camera is started.

Note

The camera frame (defines the reference frame for the camera) is by default positioned at the world frame when tracking is started.

set_initial_world_transform()

def set_initial_world_transform	(		self,
		Transform	value
	)

Set the position of the camera in the world frame when camera is started.

Parameters

value

: Transform input

enable_area_memory()

def enable_area_memory

(

self

)

This mode enables the camera to learn and remember its surroundings.

This helps correct positional tracking drift and position different cameras relative to each other in space. default : true

Warning

This mode requires few resources to run and greatly improves tracking accuracy. We recommend to leave it on by default.

enable_pose_smoothing()

def enable_pose_smoothing

(

self

)

This mode enables smooth pose correction for small drift correction.

default : false

set_floor_as_origin()

def set_floor_as_origin

(

self

)

This mode initializes the tracking aligned with the floor plane to better position the camera in space.

Note

The floor plane detection is launched in the background until it is found. The tracking is in SEARCHING state.

Warning

This feature works best with the ZED-M since it needs an IMU to classify the floor. The ZED needs to look at the floor during the initialization for optimum results.

enable_imu_fusion()

def enable_imu_fusion

(

self

)

This setting allows you to enable or disable the IMU fusion.

When set to false, only the optical odometry will be used. default : true

Note

This setting has no impact on the tracking of a ZED camera, only the ZED Mini uses a built-in IMU.

area_file_path()

def area_file_path

(

self

)

Area localization file that describes the surroundings (previously saved).

default : (empty)

Note

Loading an area file will start a searching phase during which the camera will try to position itself in the previously learned area

Warning

The area file describes a specific location. If you are using an area file describing a different location, the tracking function will continuously search for a position and may not find a correct one.

The '.area' file can only be used with the same depth mode (MODE) as the one used during area recording.

set_as_static()

def set_as_static

(

self

)

This setting allows you define the camera as static.

If true, it will not move in the environment. This allows you to set its position using the initial world transform. All SDK functionalities requiring positional tracking will be enabled. Camera.get_position() will return the value set as initial world transform for the PATH, and identify as the POSE.

depth_min_range()

def depth_min_range

(

self

)

This setting allows you to change the minimum depth used by the SDK for Positional Tracking.

It may be useful for example if any steady objects are in front of the camera and may perturbate the positional tracking algorithm. default : -1, no minimum depth