# RTab Map VIO SLAM

The example constructs a pipeline that integrates stereo cameras at 30 FPS, IMU at 100 Hz, and feature tracking with Shi-Thomasi
corner detection, feeding into RTAB-Map VIO and SLAM for 3D occupancy grid and point cloud generation, with results visualized in
real-time via a RerunNode.

> VSLAM host nodes are available on the
> `depthai-core`
> main branch by default, but they remain in early access and may be less stable or less thoroughly tested than other nodes.

This example requires the DepthAI v3 API, see [installation instructions](https://docs.luxonis.com/software-v3/depthai.md).

## Pipeline

### examples/rtabmap_vio_slam.pipeline.json

```json
{"pipeline": {"connections": [{"node1Id": 15, "node1Output": "out", "node1OutputGroup": "", "node2Id": 8, "node2Input": "depth", "node2InputGroup": "inputs"}, {"node1Id": 13, "node1Output": "out", "node1OutputGroup": "", "node2Id": 8, "node2Input": "rect", "node2InputGroup": "inputs"}, {"node1Id": 0, "node1Output": "0", "node1OutputGroup": "dynamicOutputs", "node2Id": 3, "node2Input": "left", "node2InputGroup": ""}, {"node1Id": 1, "node1Output": "0", "node1OutputGroup": "dynamicOutputs", "node2Id": 3, "node2Input": "right", "node2InputGroup": ""}, {"node1Id": 2, "node1Output": "out", "node1OutputGroup": "", "node2Id": 20, "node2Input": "in", "node2InputGroup": ""}, {"node1Id": 3, "node1Output": "depth", "node1OutputGroup": "", "node2Id": 6, "node2Input": "depth", "node2InputGroup": "inputs"}, {"node1Id": 3, "node1Output": "rectifiedLeft", "node1OutputGroup": "", "node2Id": 4, "node2Input": "inputImage", "node2InputGroup": ""}, {"node1Id": 4, "node1Output": "outputFeatures", "node1OutputGroup": "", "node2Id": 18, "node2Input": "in", "node2InputGroup": ""}, {"node1Id": 4, "node1Output": "passthroughInputImage", "node1OutputGroup": "", "node2Id": 6, "node2Input": "rect", "node2InputGroup": "inputs"}, {"node1Id": 6, "node1Output": "out", "node1OutputGroup": "", "node2Id": 16, "node2Input": "in", "node2InputGroup": ""}, {"node1Id": 8, "node1Output": "out", "node1OutputGroup": "", "node2Id": 10, "node2Input": "in", "node2InputGroup": ""}], "globalProperties": {"calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1}, "nodes": [[20, {"alias": "", "id": 20, "ioInfo": [[["", "in"], {"blocking": true, "group": "", "id": 43, "name": "in", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkOut", "parentId": -1, "properties": {"maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "__x_2__out"}}], [18, {"alias": "", "id": 18, "ioInfo": [[["", "in"], {"blocking": true, "group": "", "id": 42, "name": "in", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkOut", "parentId": -1, "properties": {"maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "__x_4__outputFeatures"}}], [10, {"alias": "", "id": 10, "ioInfo": [[["", "in"], {"blocking": true, "group": "", "id": 38, "name": "in", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkOut", "parentId": -1, "properties": {"maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "__x_8__out"}}], [8, {"alias": "sync", "id": 8, "ioInfo": [[["", "out"], {"blocking": false, "group": "", "id": 37, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false}], [["inputs", "rect"], {"blocking": false, "group": "inputs", "id": 36, "name": "rect", "queueSize": 1, "type": 3, "waitForMessage": false}], [["inputs", "depth"], {"blocking": false, "group": "inputs", "id": 35, "name": "depth", "queueSize": 1, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "Sync", "parentId": 7, "properties": {"syncAttempts": -1, "syncThresholdNs": 10000000}}], [6, {"alias": "sync", "id": 6, "ioInfo": [[["", "out"], {"blocking": false, "group": "", "id": 34, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false}], [["inputs", "rect"], {"blocking": false, "group": "inputs", "id": 33, "name": "rect", "queueSize": 1, "type": 3, "waitForMessage": false}], [["inputs", "depth"], {"blocking": false, "group": "inputs", "id": 32, "name": "depth", "queueSize": 1, "type": 3, "waitForMessage": false}], [["", "features"], {"blocking": false, "group": "", "id": 31, "name": "features", "queueSize": 1, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "Sync", "parentId": 5, "properties": {"syncAttempts": -1, "syncThresholdNs": 10000000}}], [4, {"alias": "", "id": 4, "ioInfo": [[["", "passthroughInputImage"], {"blocking": false, "group": "", "id": 30, "name": "passthroughInputImage", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "outputFeatures"], {"blocking": false, "group": "", "id": 29, "name": "outputFeatures", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "inputImage"], {"blocking": false, "group": "", "id": 28, "name": "inputImage", "queueSize": 4, "type": 3, "waitForMessage": true}], [["", "inputConfig"], {"blocking": false, "group": "", "id": 27, "name": "inputConfig", "queueSize": 4, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "FeatureTracker", "parentId": -1, "properties": {"initialConfig": {"cornerDetector": {"cellGridDimension": 4, "enableSobel": true, "enableSorting": true, "numMaxFeatures": 0, "numTargetFeatures": 1000, "thresholds": {"decreaseFactor": 0.8999999761581421, "increaseFactor": 1.100000023841858, "initialValue": 0.0, "max": 0.0, "min": 0.0}, "type": 0}, "featureMaintainer": {"enable": true, "lostFeatureErrorThreshold": 50000.0, "minimumDistanceBetweenFeatures": 50.0, "trackedFeatureThreshold": 200000.0}, "motionEstimator": {"enable": false, "opticalFlow": {"epsilon": 0.009999999776482582, "maxIterations": 9, "pyramidLevels": 0, "searchWindowHeight": 5, "searchWindowWidth": 5}, "type": 0}}, "numMemorySlices": 2, "numShaves": 1}}], [16, {"alias": "", "id": 16, "ioInfo": [[["", "in"], {"blocking": true, "group": "", "id": 41, "name": "in", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkOut", "parentId": -1, "properties": {"maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "__x_6__out"}}], [3, {"alias": "", "id": 3, "ioInfo": [[["", "confidenceMap"], {"blocking": false, "group": "", "id": 26, "name": "confidenceMap", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "debugDispCostDump"], {"blocking": false, "group": "", "id": 25, "name": "debugDispCostDump", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "debugExtDispLrCheckIt2"], {"blocking": false, "group": "", "id": 24, "name": "debugExtDispLrCheckIt2", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "debugDispLrCheckIt2"], {"blocking": false, "group": "", "id": 22, "name": "debugDispLrCheckIt2", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "debugExtDispLrCheckIt1"], {"blocking": false, "group": "", "id": 23, "name": "debugExtDispLrCheckIt1", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "debugDispLrCheckIt1"], {"blocking": false, "group": "", "id": 21, "name": "debugDispLrCheckIt1", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "outConfig"], {"blocking": false, "group": "", "id": 20, "name": "outConfig", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "rectifiedRight"], {"blocking": false, "group": "", "id": 19, "name": "rectifiedRight", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "rectifiedLeft"], {"blocking": false, "group": "", "id": 18, "name": "rectifiedLeft", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "depth"], {"blocking": false, "group": "", "id": 14, "name": "depth", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "right"], {"blocking": true, "group": "", "id": 13, "name": "right", "queueSize": 3, "type": 3, "waitForMessage": false}], [["", "left"], {"blocking": true, "group": "", "id": 12, "name": "left", "queueSize": 3, "type": 3, "waitForMessage": false}], [["", "syncedRight"], {"blocking": false, "group": "", "id": 17, "name": "syncedRight", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "syncedLeft"], {"blocking": false, "group": "", "id": 16, "name": "syncedLeft", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "inputAlignTo"], {"blocking": false, "group": "", "id": 11, "name": "inputAlignTo", "queueSize": 1, "type": 3, "waitForMessage": true}], [["", "disparity"], {"blocking": false, "group": "", "id": 15, "name": "disparity", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "inputConfig"], {"blocking": true, "group": "", "id": 10, "name": "inputConfig", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "StereoDepth", "parentId": -1, "properties": {"alphaScaling": null, "baseline": null, "depthAlignCamera": 1, "depthAlignmentUseSpecTranslation": null, "disparityToDepthUseSpecTranslation": null, "enableFrameSync": true, "enableRectification": true, "enableRuntimeStereoModeSwitch": false, "focalLength": null, "focalLengthFromCalibration": true, "height": null, "initialConfig": {"algorithmControl": {"centerAlignmentShiftFactor": null, "customDepthUnitMultiplier": 1000.0, "depthAlign": 1, "depthUnit": 2, "disparityShift": 0, "enableExtended": false, "enableLeftRightCheck": true, "enableSubpixel": true, "enableSwLeftRightCheck": false, "leftRightCheckThreshold": 10, "numInvalidateEdgePixels": 0, "subpixelFractionalBits": 5}, "censusTransform": {"enableMeanMode": true, "kernelMask": 0, "kernelSize": -1, "noiseThresholdOffset": 1, "noiseThresholdScale": 1, "threshold": 0}, "confidenceMetrics": {"flatnessConfidenceThreshold": 2, "flatnessConfidenceWeight": 8, "flatnessOverride": false, "motionVectorConfidenceThreshold": 1, "motionVectorConfidenceWeight": 4, "occlusionConfidenceWeight": 20}, "costAggregation": {"divisionFactor": 1, "horizontalPenaltyCostP1": 250, "horizontalPenaltyCostP2": 500, "p1Config": {"defaultValue": 11, "edgeThreshold": 15, "edgeValue": 10, "enableAdaptive": true, "smoothThreshold": 5, "smoothValue": 22}, "p2Config": {"defaultValue": 33, "edgeValue": 22, "enableAdaptive": true, "smoothValue": 63}, "verticalPenaltyCostP1": 250, "verticalPenaltyCostP2": 500}, "costMatching": {"confidenceThreshold": 55, "disparityWidth": 1, "enableCompanding": false, "enableSwConfidenceThresholding": false, "invalidDisparityValue": 0, "linearEquationParameters": {"alpha": 0, "beta": 2, "threshold": 127}}, "filtersBackend": 2, "postProcessing": {"adaptiveMedianFilter": {"confidenceThreshold": 200, "enable": true}, "bilateralSigmaValue": 0, "brightnessFilter": {"maxBrightness": 256, "minBrightness": 0}, "decimationFilter": {"decimationFactor": 1, "decimationMode": 0}, "filteringOrder": [3, 1, 2, 4, 5], "holeFilling": {"enable": true, "fillConfidenceThreshold": 200, "highConfidenceThreshold": 210, "invalidateDisparities": true, "minValidDisparity": 1}, "median": 0, "spatialFilter": {"alpha": 0.5, "delta": 0, "enable": false, "holeFillingRadius": 2, "numIterations": 1}, "speckleFilter": {"differenceThreshold": 2, "enable": false, "speckleRange": 50}, "temporalFilter": {"alpha": 0.4000000059604645, "delta": 0, "enable": false, "persistencyMode": 3}, "thresholdFilter": {"maxRange": 65535, "minRange": 0}}}, "mesh": {"meshLeftUri": "", "meshRightUri": "", "meshSize": null, "stepHeight": 16, "stepWidth": 16}, "numFramesPool": 3, "numPostProcessingMemorySlices": -1, "numPostProcessingShaves": -1, "outHeight": null, "outKeepAspectRatio": true, "outWidth": null, "rectificationUseSpecTranslation": null, "rectifyEdgeFillColor": 0, "useHomographyRectification": false, "width": null}}], [15, {"alias": "", "id": 15, "ioInfo": [[["", "out"], {"blocking": false, "group": "", "id": 40, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkIn", "parentId": -1, "properties": {"maxDataSize": 5242880, "numFrames": 8, "streamName": "__x_8_inputs_depth"}}], [2, {"alias": "", "id": 2, "ioInfo": [[["", "out"], {"blocking": false, "group": "", "id": 9, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "mockIn"], {"blocking": true, "group": "", "id": 8, "name": "mockIn", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "IMU", "parentId": -1, "properties": {"batchReportThreshold": 1, "enableFirmwareUpdate": false, "imuSensors": [{"changeSensitivity": 0, "reportRate": 200, "sensitivityEnabled": false, "sensitivityRelative": false, "sensorId": 20}, {"changeSensitivity": 0, "reportRate": 200, "sensitivityEnabled": false, "sensitivityRelative": false, "sensorId": 21}], "maxBatchReports": 10}}], [1, {"alias": "", "id": 1, "ioInfo": [[["dynamicOutputs", "0"], {"blocking": false, "group": "dynamicOutputs", "id": 7, "name": "0", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "raw"], {"blocking": false, "group": "", "id": 6, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "mockIsp"], {"blocking": true, "group": "", "id": 5, "name": "mockIsp", "queueSize": 8, "type": 3, "waitForMessage": false}], [["", "inputControl"], {"blocking": true, "group": "", "id": 4, "name": "inputControl", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "Camera", "parentId": -1, "properties": {"boardSocket": 2, "cameraName": "", "fps": 30.0, "imageOrientation": -1, "initialControl": {"aeLockMode": false, "aeMaxExposureTimeUs": 1346554483, "aeRegion": {"height": 42434, "priority": 1952737655, "width": 25701, "x": 27745, "y": 31337}, "afRegion": {"height": 30881, "priority": 202, "width": 128, "x": 51816, "y": 32069}, "antiBandingMode": 121, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 109, "captureIntent": 202, "chromaDenoise": 115, "cmdMask": 0, "contrast": 105, "controlMode": 0, "effectMode": 0, "enableHdr": false, "expCompensation": -90, "expManual": {"exposureTimeUs": 1170895976, "frameDurationUs": 1836216174, "sensitivityIso": 2852175933}, "frameSyncMode": 0, "lensPosAutoInfinity": 104, "lensPosAutoMacro": 101, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 112, "miscControls": [], "saturation": 110, "sceneMode": 161, "sharpness": 70, "strobeConfig": {"activeLevel": 166, "enable": 0, "gpioNumber": 104}, "strobeTimings": {"durationUs": 1883666529, "exposureBeginOffsetUs": -848009113, "exposureEndOffsetUs": 1839657987}, "wbColorTemp": 41023}, "isp3aFps": 0, "mockIspHeight": -1, "mockIspWidth": -1, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "outputRequests": [{"enableUndistortion": null, "fps": {"value": null}, "resizeMode": 0, "size": {"value": {"index": 0, "value": [640, 400]}}, "type": null}], "resolutionHeight": -1, "resolutionWidth": -1}}], [13, {"alias": "", "id": 13, "ioInfo": [[["", "out"], {"blocking": false, "group": "", "id": 39, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkIn", "parentId": -1, "properties": {"maxDataSize": 5242880, "numFrames": 8, "streamName": "__x_8_inputs_rect"}}], [0, {"alias": "", "id": 0, "ioInfo": [[["dynamicOutputs", "0"], {"blocking": false, "group": "dynamicOutputs", "id": 3, "name": "0", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "raw"], {"blocking": false, "group": "", "id": 2, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "mockIsp"], {"blocking": true, "group": "", "id": 1, "name": "mockIsp", "queueSize": 8, "type": 3, "waitForMessage": false}], [["", "inputControl"], {"blocking": true, "group": "", "id": 0, "name": "inputControl", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "Camera", "parentId": -1, "properties": {"boardSocket": 1, "cameraName": "", "fps": 30.0, "imageOrientation": -1, "initialControl": {"aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": {"height": 0, "priority": 0, "width": 0, "x": 0, "y": 0}, "afRegion": {"height": 0, "priority": 0, "width": 0, "x": 0, "y": 0}, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "enableHdr": false, "expCompensation": 0, "expManual": {"exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0}, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "miscControls": [], "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": {"activeLevel": 0, "enable": 0, "gpioNumber": 0}, "strobeTimings": {"durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0}, "wbColorTemp": 0}, "isp3aFps": 0, "mockIspHeight": -1, "mockIspWidth": -1, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "outputRequests": [{"enableUndistortion": null, "fps": {"value": null}, "resizeMode": 0, "size": {"value": {"index": 0, "value": [640, 400]}}, "type": null}], "resolutionHeight": -1, "resolutionWidth": -1}}]]}}
```

## Source code

#### Python

```python
import time
import depthai as dai
from rerun_node import RerunNode

# Create pipeline

with dai.Pipeline() as p:
    fps = 30
    width = 640
    height = 400
    # Define sources and outputs
    left = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B, sensorFps=fps)
    right = p.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C, sensorFps=fps)
    imu = p.create(dai.node.IMU)
    stereo = p.create(dai.node.StereoDepth)
    featureTracker = p.create(dai.node.FeatureTracker)
    odom = p.create(dai.node.RTABMapVIO)
    slam = p.create(dai.node.RTABMapSLAM)

    params = {"RGBD/CreateOccupancyGrid": "true",
              "Grid/3D": "true",
              "Rtabmap/SaveWMState": "true"}
    slam.setParams(params)

    rerunViewer = p.create(RerunNode)
    imu.enableIMUSensor([dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW], 200)
    imu.setBatchReportThreshold(1)
    imu.setMaxBatchReports(10)

    featureTracker.setHardwareResources(1,2)
    featureTracker.initialConfig.setCornerDetector(dai.FeatureTrackerConfig.CornerDetector.Type.HARRIS)
    featureTracker.initialConfig.setNumTargetFeatures(1000)
    featureTracker.initialConfig.setMotionEstimator(False)
    featureTracker.initialConfig.FeatureMaintainer.minimumDistanceBetweenFeatures = 49

    stereo.setExtendedDisparity(False)
    stereo.setLeftRightCheck(True)
    stereo.setRectifyEdgeFillColor(0)
    stereo.enableDistortionCorrection(True)
    stereo.initialConfig.setLeftRightCheckThreshold(10)
    stereo.setDepthAlign(dai.CameraBoardSocket.CAM_B)

    # Linking

    left.requestOutput((width, height)).link(stereo.left)
    right.requestOutput((width, height)).link(stereo.right)
    featureTracker.passthroughInputImage.link(odom.rect)
    stereo.rectifiedLeft.link(featureTracker.inputImage)
    stereo.depth.link(odom.depth)
    imu.out.link(odom.imu)
    featureTracker.outputFeatures.link(odom.features)

    odom.transform.link(slam.odom)
    odom.passthroughRect.link(slam.rect)
    odom.passthroughDepth.link(slam.depth)

    slam.transform.link(rerunViewer.inputTrans)
    slam.passthroughRect.link(rerunViewer.inputImg)
    slam.occupancyGridMap.link(rerunViewer.inputGrid)
    slam.obstaclePCL.link(rerunViewer.inputObstaclePCL)
    slam.groundPCL.link(rerunViewer.inputGroundPCL)
    p.start()
    while p.isRunning():
        time.sleep(1)
```

#### C++

```cpp
#include "depthai/depthai.hpp"
#include "rerun_node.hpp"

int main() {
    using namespace std;
    // Create pipeline
    dai::Pipeline pipeline;
    int fps = 30;
    int width = 640;
    int height = 400;
    // Define sources and outputs
    auto left = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_B, std::nullopt, fps);
    auto right = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_C, std::nullopt, fps);
    auto stereo = pipeline.create<dai::node::StereoDepth>();
    auto imu = pipeline.create<dai::node::IMU>();
    auto featureTracker = pipeline.create<dai::node::FeatureTracker>();
    auto odom = pipeline.create<dai::node::RTABMapVIO>();
    auto slam = pipeline.create<dai::node::RTABMapSLAM>();
    auto rerun = pipeline.create<RerunNode>();
    std::map<std::string, std::string> params{};
    params.insert(std::make_pair<std::string, std::string>("Odom/ResetCountDown", "30"));

    odom->setParams(params);

    params.insert(std::make_pair<std::string, std::string>("RGBD/CreateOccupancyGrid", "true"));
    params.insert(std::make_pair<std::string, std::string>("Grid/3D", "true"));
    slam->setParams(params);
    imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 100);
    imu->setBatchReportThreshold(1);
    imu->setMaxBatchReports(10);

    featureTracker->setHardwareResources(1, 2);
    featureTracker->initialConfig->setCornerDetector(dai::FeatureTrackerConfig::CornerDetector::Type::SHI_THOMASI);
    featureTracker->initialConfig->setNumTargetFeatures(1000);
    featureTracker->initialConfig->setMotionEstimator(false);
    featureTracker->initialConfig->featureMaintainer.minimumDistanceBetweenFeatures = 49.0;
    stereo->rectifiedLeft.link(featureTracker->inputImage);

    stereo->setExtendedDisparity(false);
    stereo->setSubpixel(true);
    stereo->setLeftRightCheck(true);
    stereo->setRectifyEdgeFillColor(0);  // black, to better see the cutout
    stereo->enableDistortionCorrection(true);
    stereo->initialConfig->setLeftRightCheckThreshold(10);
    stereo->setDepthAlign(dai::StereoDepthProperties::DepthAlign::RECTIFIED_LEFT);

    // Linking
    left->requestOutput(std::make_pair(width, height))->link(stereo->left);
    right->requestOutput(std::make_pair(width, height))->link(stereo->right);
    featureTracker->passthroughInputImage.link(odom->rect);
    stereo->depth.link(odom->depth);
    imu->out.link(odom->imu);
    featureTracker->outputFeatures.link(odom->features);

    odom->transform.link(slam->odom);
    odom->passthroughRect.link(slam->rect);
    odom->passthroughDepth.link(slam->depth);
    // odom->passthroughFeatures.link(slam->inputFeatures);

    slam->transform.link(rerun->inputTrans);
    slam->passthroughRect.link(rerun->inputImg);
    slam->occupancyGridMap.link(rerun->inputMap);
    slam->obstaclePCL.link(rerun->inputObstaclePCL);
    slam->groundPCL.link(rerun->inputGroundPCL);

    pipeline.start();
    pipeline.wait();
}
```

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