# Basalt VIO

The example creates a pipeline to capture 640x400 stereo camera frames at 60 FPS and IMU data at 200 Hz, processes them with
BasaltVIO for visual odometry, and streams the resulting transformations and images to a RerunNode for real-time visualization.

> ****
> 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

## Source code

#### Python

```python
import signal
import time
import depthai as dai
from rerun_node import RerunNode
# Create pipeline

with dai.Pipeline() as p:
    fps = 60
    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)
    odom = p.create(dai.node.BasaltVIO)

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

    # Linking
    left.requestOutput((width, height)).link(odom.left)
    right.requestOutput((width, height)).link(odom.right)
    imu.out.link(odom.imu)
    odom.passthrough.link(rerunViewer.inputImg)
    odom.transform.link(rerunViewer.inputTrans)
    p.start()
    while p.isRunning():
        time.sleep(0.01)
```

#### C++

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

int main() {
    using namespace std;

    // Create pipeline
    dai::Pipeline pipeline;
    int fps = 60;
    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 imu = pipeline.create<dai::node::IMU>();
    auto odom = pipeline.create<dai::node::BasaltVIO>();

    auto rerun = pipeline.create<RerunNode>();
    imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 200);
    imu->setBatchReportThreshold(1);
    imu->setMaxBatchReports(10);

    // Linking
    left->requestOutput(std::make_pair(width, height))->link(odom->left);
    right->requestOutput(std::make_pair(width, height))->link(odom->right);
    imu->out.link(odom->imu);
    odom->transform.link(rerun->inputTrans);
    odom->passthrough.link(rerun->inputImg);

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

### Need assistance?

Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.