Getting Started with VPS2
Prerequisites
This guide assumes that you’ve already gone through:
Setting Up and Configuring XRVps2Subsystem
Configuration Fields
- BEV Localization Enabled: If true, VPS2 will send AR sensor data and camera images to the server as input for calculating the device's geographic location and heading. This is used for coarse localization in unmapped areas.
- BEV Requests per Second (Default: 4): Number of BEV localization requests per second.
- VPS Localization Enabled: If true, VPS2 will send AR sensor data and camera images to the server for localization against nearby maps. This is used for precise localization.
- Initial VPS Requests per Second: (Default: 1.0) Number of server requests per second prior to the first successful localization to a VPS map. (For example, 1.0 = 1 request per second.)
- Continuous VPS Request per Second: (Default: 0.2) Number of server requests per second after the first successful localization to a VPS map. (For example, 0.2 = 1 request every 5 seconds.)
- Geolocation Smoothing Enabled: If true, enables smooth interpolation between VPS2 transformer updates. As VPS2 updates its estimate from one transformer to another, having interpolation enabled will provide a more stable experience, especially when GPS or compass readings update abruptly.
note
"BEV" and "VPS" are acronyms for the types of localization algorithm run to get coarse geographic poses and precise map-relative poses, respectively. The fields exposed in the configuration are expected to change soon. For the NSDK 4.0 beta version, just leaving all the configuration values to their defaults should be sufficient.