Basalt VIO

1import signal
2import time
3import depthai as dai
4from rerun_node import RerunNode
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
17    rerunViewer = RerunNode()
18    imu.enableIMUSensor([dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW], 200)
19    imu.setBatchReportThreshold(1)
20    imu.setMaxBatchReports(10)
21
22    # Linking
23    left.requestOutput((width, height)).link(odom.left)
24    right.requestOutput((width, height)).link(odom.right)
25    imu.out.link(odom.imu)
26    odom.passthrough.link(rerunViewer.inputImg)
27    odom.transform.link(rerunViewer.inputTrans)
28    p.start()
29    while p.isRunning():
30        time.sleep(0.01)