Class BasaltVIO

Defined in File BasaltVIO.hpp

Nested Relationships

Nested Types

Struct BasaltVIO::VioConfig

Inheritance Relationships

Base Type

public dai::NodeCRTP< ThreadedHostNode, BasaltVIO > (Template Class NodeCRTP)

Class Documentation

class BasaltVIO : public dai::NodeCRTP<ThreadedHostNode, BasaltVIO>

Basalt Visual Inertial Odometry node. Performs VIO on stereo images and IMU data.

Public Types

enum class LinearizationType

Values:

enumerator ABS_QR

enumerator ABS_SC

enumerator REL_SC

enum class MatchingGuessType

Values:

enumerator SAME_PIXEL

enumerator REPROJ_FIX_DEPTH

enumerator REPROJ_AVG_DEPTH

enum class KeyframeMargCriteria

Values:

enumerator KF_MARG_DEFAULT

enumerator KF_MARG_FORWARD_VECTOR

Public Functions

BasaltVIO()

~BasaltVIO()

void buildInternal() override

inline void setImuUpdateRate(int rate)

inline void setConfigPath(const std::string &path)

void setConfig(const VioConfig &config)

inline void setUseSpecTranslation(bool use)

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

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

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

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

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

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

void setDefaultVIOConfig()

void runSyncOnHost(bool runOnHost)

Public Members

Subnode<node::Sync> sync = {*this, "sync"}

InputMap &inputs = sync->inputs

std::string leftInputName = "left"

std::string rightInputName = "right"

Input &left = inputs[leftInputName]: Input left image on which VIO is performed.

Input &right = inputs[rightInputName]: Input right image on which VIO is performed.

Input imu = {*this, {"inIMU", DEFAULT_GROUP, false, 0, {{DatatypeEnum::IMUData, true}}}}: Input IMU data.

Output transform = {*this, {"transform", DEFAULT_GROUP, {{DatatypeEnum::TransformData, true}}}}: Output transform data.

Output passthrough = {*this, {"imgPassthrough", DEFAULT_GROUP, {{DatatypeEnum::ImgFrame, true}}}}: Output passthrough of left image.

Public Static Attributes

static constexpr const char *NAME = "BasaltVIO"

struct VioConfig

Public Members

std::string optical_flow_type

int optical_flow_detection_grid_size

int optical_flow_detection_num_points_cell

int optical_flow_detection_min_threshold

int optical_flow_detection_max_threshold

bool optical_flow_detection_nonoverlap

float optical_flow_max_recovered_dist2

int optical_flow_pattern

int optical_flow_max_iterations

int optical_flow_levels

float optical_flow_epipolar_error

int optical_flow_skip_frames

MatchingGuessType optical_flow_matching_guess_type

float optical_flow_matching_default_depth

float optical_flow_image_safe_radius

bool optical_flow_recall_enable

bool optical_flow_recall_all_cams

bool optical_flow_recall_num_points_cell

bool optical_flow_recall_over_tracking

bool optical_flow_recall_update_patch_viewpoint

float optical_flow_recall_max_patch_dist

std::vector<float> optical_flow_recall_max_patch_norms

LinearizationType vio_linearization_type

bool vio_sqrt_marg

int vio_max_states

int vio_max_kfs

int vio_min_frames_after_kf

float vio_new_kf_keypoints_thresh

bool vio_debug

bool vio_extended_logging

int vio_max_iterations

double vio_obs_std_dev

double vio_obs_huber_thresh

double vio_min_triangulation_dist

bool vio_enforce_realtime

bool vio_use_lm

double vio_lm_lambda_initial

double vio_lm_lambda_min

double vio_lm_lambda_max

bool vio_scale_jacobian

double vio_init_pose_weight

double vio_init_ba_weight

double vio_init_bg_weight

bool vio_marg_lost_landmarks

bool vio_fix_long_term_keyframes

double vio_kf_marg_feature_ratio

KeyframeMargCriteria vio_kf_marg_criteria

double mapper_obs_std_dev

double mapper_obs_huber_thresh

int mapper_detection_num_points

double mapper_num_frames_to_match

double mapper_frames_to_match_threshold

double mapper_min_matches

double mapper_ransac_threshold

double mapper_min_track_length

double mapper_max_hamming_distance

double mapper_second_best_test_ratio

int mapper_bow_num_bits

double mapper_min_triangulation_dist

bool mapper_no_factor_weights

bool mapper_use_factors

bool mapper_use_lm

double mapper_lm_lambda_min

double mapper_lm_lambda_max