The ExwayzStatus contains

Localization information

• 6DoF Pose
• 6DoF Velocity : this is the linear and angular velocities in the World’s reference frame. Then, when doing config: SLAM, it is oriented relatively to the first frame of the acquisition, whereas in config: Relocalization, it is oriented relatively to the map’s reference frame.
• 6DoF Twist : this is the linear and angular velocities in the sensor’s reference frame.
• Latitude, Longitude and Altitude

Processing information

• Overlap to the map
• Distance to the map
• Processing time
• Number of input / processed points

Exwayz Status