Basalt VIO 节点

Supported on:RVC2

BasaltVIO 主机节点用于主机端的立体惯性视觉里程计。它接收同步的左右摄像头帧以及 IMU 数据，并输出估计的运动，形式为 TransformData 以及一个直通的 ImgFrame 流。

如何放置它

Python

1with dai.Pipeline() as pipeline:
2    vio = pipeline.create(dai.node.BasaltVIO)

C++

1dai::Pipeline pipeline;
2auto vio = pipeline.create<dai::node::BasaltVIO>();

输入和输出

用法

Python

1with dai.Pipeline() as pipeline:
2    left = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B, sensorFps=60)
3    right = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C, sensorFps=60)
4    imu = pipeline.create(dai.node.IMU)
5    vio = pipeline.create(dai.node.BasaltVIO)
6
7    imu.enableIMUSensor(
8        [dai.IMUSensor.ACCELEROMETER_RAW, dai.IMUSensor.GYROSCOPE_RAW],
9        200,
10    )
11    imu.setBatchReportThreshold(1)
12    imu.setMaxBatchReports(10)
13
14    left.requestOutput((640, 400)).link(vio.left)
15    right.requestOutput((640, 400)).link(vio.right)
16    imu.out.link(vio.imu)
17
18    transformQueue = vio.transform.createOutputQueue()
19    passthroughQueue = vio.passthrough.createOutputQueue()

C++

1dai::Pipeline pipeline;
2auto left = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_B, std::nullopt, 60);
3auto right = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_C, std::nullopt, 60);
4auto imu = pipeline.create<dai::node::IMU>();
5auto vio = pipeline.create<dai::node::BasaltVIO>();
6
7imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 200);
8imu->setBatchReportThreshold(1);
9imu->setMaxBatchReports(10);
10
11left->requestOutput(std::make_pair(640, 400))->link(vio->left);
12right->requestOutput(std::make_pair(640, 400))->link(vio->right);
13imu->out.link(vio->imu);
14
15auto transformQueue = vio->transform.createOutputQueue();
16auto passthroughQueue = vio->passthrough.createOutputQueue();

功能示例

参考

class

dai::node::BasaltVIO

#include BasaltVIO.hpp

variable

Subnode< node::Sync > sync

variable

InputMap & inputs

variable

std::string leftInputName

variable

std::string rightInputName

variable

Input & left

Input left image on which VIO is performed.

variable

Input & right

Input right image on which VIO is performed.

variable

Input imu

Input IMU data.

variable

Output transform

Output transform data.

variable

Output passthrough

Output passthrough of left image.

function

BasaltVIO()

function

~BasaltVIO()

function

void buildInternal()

inline function

void setImuUpdateRate(int rate)

inline function

void setConfigPath(const std::string & path)

function

void setConfig(const VioConfig & config)

inline function

void setUseSpecTranslation(bool use)

function

void setLocalTransform(const std::shared_ptr< TransformData > & transform)

function

void setImuExtrinsics(const std::shared_ptr< TransformData > & imuExtr)

function

void setAccelBias(const std::vector< double > & accelBias)

function

void setAccelNoiseStd(const std::vector< double > & accelNoiseStd)

function

void setGyroBias(const std::vector< double > & gyroBias)

function

void setGyroNoiseStd(const std::vector< double > & gyroNoiseStd)

function

void setDefaultVIOConfig()

function

void runSyncOnHost(bool runOnHost)

struct

dai::node::BasaltVIO::VioConfig

variable

std::string optical_flow_type

variable

int optical_flow_detection_grid_size

variable

int optical_flow_detection_num_points_cell

variable

int optical_flow_detection_min_threshold

variable

int optical_flow_detection_max_threshold

variable

bool optical_flow_detection_nonoverlap

variable

float optical_flow_max_recovered_dist2

variable

int optical_flow_pattern

variable

int optical_flow_max_iterations

variable

int optical_flow_levels

variable

float optical_flow_epipolar_error

variable

int optical_flow_skip_frames

variable

MatchingGuessType optical_flow_matching_guess_type

variable

float optical_flow_matching_default_depth

variable

float optical_flow_image_safe_radius

variable

bool optical_flow_recall_enable

variable

bool optical_flow_recall_all_cams

variable

bool optical_flow_recall_num_points_cell

variable

bool optical_flow_recall_over_tracking

variable

bool optical_flow_recall_update_patch_viewpoint

variable

float optical_flow_recall_max_patch_dist

variable

std::vector< float > optical_flow_recall_max_patch_norms

variable

LinearizationType vio_linearization_type

variable

bool vio_sqrt_marg

variable

int vio_max_states

variable

int vio_max_kfs

variable

int vio_min_frames_after_kf

variable

float vio_new_kf_keypoints_thresh

variable

bool vio_debug

variable

bool vio_extended_logging

variable

int vio_max_iterations

variable

double vio_obs_std_dev

variable

double vio_obs_huber_thresh

variable

double vio_min_triangulation_dist

variable

bool vio_enforce_realtime

variable

bool vio_use_lm

variable

double vio_lm_lambda_initial

variable

double vio_lm_lambda_min

variable

double vio_lm_lambda_max

variable

bool vio_scale_jacobian

variable

double vio_init_pose_weight

variable

double vio_init_ba_weight

variable

double vio_init_bg_weight

variable

bool vio_marg_lost_landmarks

variable

bool vio_fix_long_term_keyframes

variable

double vio_kf_marg_feature_ratio

variable

KeyframeMargCriteria vio_kf_marg_criteria

variable

double mapper_obs_std_dev

variable

double mapper_obs_huber_thresh

variable

int mapper_detection_num_points

variable

double mapper_num_frames_to_match

variable

double mapper_frames_to_match_threshold

variable

double mapper_min_matches

variable

double mapper_ransac_threshold

variable

double mapper_min_track_length

variable

double mapper_max_hamming_distance

variable

double mapper_second_best_test_ratio

variable

int mapper_bow_num_bits

variable

double mapper_min_triangulation_dist

variable

bool mapper_no_factor_weights

variable

bool mapper_use_factors

variable

bool mapper_use_lm

variable

double mapper_lm_lambda_min

variable

double mapper_lm_lambda_max

enum

LinearizationType

enumerator

ABS_QR

enumerator

ABS_SC

enumerator

REL_SC

enum

MatchingGuessType

enumerator

SAME_PIXEL

enumerator

REPROJ_FIX_DEPTH

enumerator

REPROJ_AVG_DEPTH

enum

KeyframeMargCriteria

enumerator

KF_MARG_DEFAULT

enumerator

KF_MARG_FORWARD_VECTOR

需要帮助？

请前往 Discussion Forum 获取技术支持或提出您可能有的任何其他问题。

本页目录

Basalt VIO 节点

如何放置它

Python

C++

输入和输出

用法

Python

C++

功能示例

参考

dai::node::BasaltVIO

dai::node::BasaltVIO::VioConfig

LinearizationType

MatchingGuessType

KeyframeMargCriteria

需要帮助？