Class BasaltVIO

Defined in File BasaltVIO.hpp

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 Functions

BasaltVIO()

~BasaltVIO()

void buildInternal() override

inline void setImuUpdateRate(int rate)

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

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"