SDK 5.0.2
have tested with Positional Tracking GEN1, GEN2 and GEN3
ZEDX camera with SVO recording.
Camera and Jetson mounted to Vehicle
We noticed during testing that if the camera goes into a dark room for maybe 10 seconds the positional tracking (spatial mapping status) transitions to INERTIAL however the X,Y,Z translation does not update when in this mode, the Rotation does but its sometimes a little bit off… Should the camera be able to perform dead-reckoning even for a short moment when it has no visual? i was under the impression that is what it did hence transitioning to using only INERTIAL measurements.
in the PositionalTrackingParameters I have set enableIMUFusion = true
One other thing we noticed is with GEN2 once it does gain visual again it takes around 500+ frames for it to transition to VISUAL_INERTIAL… this is also problematic because if we do enter a dark room but happen to gain VISUAL for a moment then it wont transition back to INERTIAL and tracking is lost entirely.
Any help would be greatly appreciated
Regards,
David