Basalt VIO RTab

1import time
2import depthai as dai
3from rerun_node import RerunNode
4
5# Create pipeline
6
7with dai.Pipeline() as p:
8    fps = 60
9    width = 640
10    height = 400
11    # Define sources and outputs
12    left = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B, sensorFps=fps)
13    right = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C, sensorFps=fps)
14    imu = p.create(dai.node.IMU)
15    odom = p.create(dai.node.BasaltVIO)
16    slam = p.create(dai.node.RTABMapSLAM)
17    stereo = p.create(dai.node.StereoDepth)
18    params = {"RGBD/CreateOccupancyGrid": "true",
19            "Grid/3D": "true",
20            "Rtabmap/SaveWMState": "true"}
21    slam.setParams(params)
22
23    rerunViewer = p.create(RerunNode)
24    imu.enableIMUSensor([dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW], 200)
25    imu.setBatchReportThreshold(1)
26    imu.setMaxBatchReports(10)
27
28    stereo.setExtendedDisparity(False)
29    stereo.setLeftRightCheck(True)
30    stereo.setSubpixel(True)
31    stereo.setRectifyEdgeFillColor(0)
32    stereo.enableDistortionCorrection(True)
33    stereo.initialConfig.setLeftRightCheckThreshold(10)
34    stereo.setDepthAlign(dai.CameraBoardSocket.CAM_B)
35
36
37    left.requestOutput((width, height)).link(stereo.left)
38    right.requestOutput((width, height)).link(stereo.right)
39    stereo.syncedLeft.link(odom.left)
40    stereo.syncedRight.link(odom.right)
41    stereo.depth.link(slam.depth)
42    stereo.rectifiedLeft.link(slam.rect)
43    imu.out.link(odom.imu)
44
45    odom.transform.link(slam.odom)
46    slam.transform.link(rerunViewer.inputTrans)
47    slam.passthroughRect.link(rerunViewer.inputImg)
48    slam.occupancyGridMap.link(rerunViewer.inputGrid)
49    slam.obstaclePCL.link(rerunViewer.inputObstaclePCL)
50    slam.groundPCL.link(rerunViewer.inputGroundPCL)
51    p.start()
52    while p.isRunning():
53        time.sleep(1)

1#include "depthai/depthai.hpp"
2#include "rerun_node.hpp"
3
4int main() {
5    using namespace std;
6    // ULogger::setType(ULogger::kTypeConsole);
7    // ULogger::setLevel(ULogger::kDebug);
8    // Create pipeline
9    dai::Pipeline pipeline;
10    int fps = 60;
11    int width = 640;
12    int height = 400;
13    // Define sources and outputs
14    auto left = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_B, std::nullopt, fps);
15    auto right = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_C, std::nullopt, fps);
16    auto stereo = pipeline.create<dai::node::StereoDepth>();
17    auto imu = pipeline.create<dai::node::IMU>();
18    auto odom = pipeline.create<dai::node::BasaltVIO>();
19    auto slam = pipeline.create<dai::node::RTABMapSLAM>();
20    std::map<std::string, std::string> params{};
21    params.insert(std::make_pair<std::string, std::string>("RGBD/CreateOccupancyGrid", "true"));
22    params.insert(std::make_pair<std::string, std::string>("Grid/3D", "true"));
23    params.insert(std::make_pair<std::string, std::string>("Rtabmap/SaveWMState", "true"));
24    slam->setParams(params);
25    auto rerun = pipeline.create<RerunNode>();
26
27    imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 200);
28    odom->setImuUpdateRate(200);
29    imu->setBatchReportThreshold(1);
30    imu->setMaxBatchReports(10);
31    stereo->setExtendedDisparity(false);
32    stereo->setSubpixel(true);
33    stereo->setLeftRightCheck(true);
34    stereo->setRectifyEdgeFillColor(0);  // black, to better see the cutout
35    stereo->enableDistortionCorrection(true);
36    stereo->initialConfig->setLeftRightCheckThreshold(10);
37    stereo->setDepthAlign(dai::StereoDepthProperties::DepthAlign::RECTIFIED_LEFT);
38
39    // Linking
40    left->requestOutput(std::make_pair(width, height))->link(stereo->left);
41    right->requestOutput(std::make_pair(width, height))->link(stereo->right);
42    stereo->syncedLeft.link(odom->left);
43    stereo->syncedRight.link(odom->right);
44    stereo->depth.link(slam->depth);
45    stereo->rectifiedLeft.link(slam->rect);
46    imu->out.link(odom->imu);
47
48    odom->transform.link(slam->odom);
49    slam->transform.link(rerun->inputTrans);
50    slam->passthroughRect.link(rerun->inputImg);
51    slam->occupancyGridMap.link(rerun->inputMap);
52    slam->obstaclePCL.link(rerun->inputObstaclePCL);
53    slam->groundPCL.link(rerun->inputGroundPCL);
54    pipeline.start();
55    pipeline.wait();
56}