I have an RTK receiver that I would like to use with a Zed2i for global localization. I read through the documentation but still have a few questions that I couldn’t find direct answers to.
When the GPS antenna is offset from the camera in a rigid assembly it seems like you’re supposed to use gnss_antenna_position from GNSSCalibrationParameters here: GNSSCalibrationParameters Class Reference | API Reference | Stereolabs
It says that gnss_antenna_position is a 1D array of type float with 3 elements. I’m guessing that these elements correspond to an offset but the documentation doesn’t seem to clarify what each of the three values represent/which order. Is this defined somewhere? If I measure the distances between the GNSS antenna and the camera, how do I populate this array? Additionally, does the order of this array change when using a different coordinate frame? The default coordinate frame is IMAGE, but I typically use RIGHT_HANDED_Z_UP since it matches UTM coordinates. Would I need to order the elements in gnss_antenna_position differently than somebody using the default coordinate frame?
Secondly, when measuring the offset between the camera and the GPS antenna, which point on the camera should I be measuring to? I’ve seen several mentions of using the left camera lens, but haven’t found anything concrete which mentions that in reference to gnss_antenna_position.
Thirdly, when I provide the gnss_antenna_position array, is the SDK performing tilt compensation using the orientation values from positional tracking to figure out exactly where the GPS antenna is in space when the orientation of the assembly changes?