Page Comparison

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Code Block
{ ... "LicenseInfo": { "LicenseKey": "EMMCOEKKCO-GZXJTGZYLT-NJIETNJKET-SCJTCSASDC", "ResponseKey": "" } ... }

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Parameter name	Description	Unit
acceleration	3D acceleration vector as measured by IMU. Describes the orientation of the vehicle in the vehicle coordinate system.	m/s^2
globalPosition	Longitude and latitude in degrees	degrees
lastDataTime	Unused	s
position	Position relative to starting point with X pointing North and Y pointing East in the current UTM frame	m
timestamp	Timestamp of data acquisition	ns
utmZone	UTM zone	UTM string
yaw	Globally referenced yaw angle	rad

Additional Notes

The FusedVehiclePose contains a 3D acceleration vector. The acceleration is defined in the following manner: There's a configuration flag imuToCarRotation which takes a quaternion used to rotate vectors in the IMU frame to the car frame. By default it is the identity quaternion. For the LD model, the measured IMU acceleration is simply rotated by the imuToCarRotation and written to the output.

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Playback and fusion of prerecorded data: gpsImuFusionPlayback.json

Data Playback

Data from a log file can played back and forwarded to a fusion filter using the fileReader block. An example of how to use this node we are showing below:

Code Block
"sources": { "filereader": { "filename": "sampleDriveData.json", "playbackInterval": 0.001 } },

Parameter name	Description	Unit
filename	Name of the file to be played back	n/a
playbackInterval	Time interval between each line of the playback file	s

Graphical User Interface

Map View

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The optical system is the tracking reference, its pose is what is received by the visualization backend. The orientation of the IMU sensor is calibrated relative to the optical markers on the HMD. Therefore it is important to set up the tracking body or rigid body in the optical tracking software (DTrack, Motive etc.) in a way that its axes align with the optical axes of the head mounted display.