Overview

Meerkat requires telemetry and FOV parameters in order to track objects while moving.

The platform-payload relationship is divided into three main vertices:

  • Movable platform + fixed payload
  • Movable platform and payload
  • Fixed platform + movable payload

Video Telemetry Variables

The following are video input telemetry variables that Meerkat requires:

Telemetry Variable List

Field

Type

Default

Description

Timestamp

Uint64_t

Time since stream start in milliseconds. The current time for synchronizing video and metadata inputs.

PlatformRollWorldMrads

Float

0

Platform’s rotation CW and CCW in milliradians

PlatformPitchWorldMrads

Float

0

Platform’s nose up or down in milliradians

PlatformYawWorldMrads

Float

0

Platform’s nose left or right in milliradians

CameraRollWorldMrads

Float

0

Camera roll angle in milliradians

CameraTiltWorldMrads

Float

0

Camera tilt angle in milliradians

CameraPanWorldMrads

Float

0

Camera pan angle in milliradians

CameraOffsetXMeters

Float

0

  • The offset of the camera from the platform position in meters
  • Y-axis points to the platform’s nose
  • X-axis points at the wings, where the right wing is positive
  • Z-axis points up

CameraOffsetYMeters

Float

0

CameraOffsetZMeters

Float

0

HorizontalFOVMrads

Float

0

Horizontal field of view in milliradians

VerticalFOVMrads

Float

0

Vertical field of view in milliradians