Class RTABMapVIO

Defined in File RTABMapVIO.hpp

Inheritance Relationships

Base Type

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

Class Documentation

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

RTABMap Visual Inertial Odometry node. Performs VIO on rectified frame, depth frame and IMU data.

Public Functions

RTABMapVIO()

~RTABMapVIO() override

void setParams(const std::map<std::string, std::string> &params): Set RTABMap parameters.

void setUseFeatures(bool use): Whether to use input features or calculate them internally.

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

void reset(std::shared_ptr<TransformData> transform = nullptr): Reset Odometry.

void buildInternal() override

Public Members

std::string rectInputName = "rect"

std::string depthInputName = "depth"

std::string featuresInputName = "features"

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

InputMap &inputs = sync->inputs

Input &rect = inputs[rectInputName]: Input rectified image on which VIO is performed.

Input &depth = inputs[depthInputName]: Input depth image on which VIO is performed.

Input features = {*this, {featuresInputName, DEFAULT_GROUP, DEFAULT_BLOCKING, 15, {{{DatatypeEnum::TrackedFeatures, true}}}}}: Input tracked features on which VIO is performed (optional).

Input imu = {*this, {"imu", DEFAULT_GROUP, DEFAULT_BLOCKING, 15, {{{DatatypeEnum::IMUData, true}}}}}: Input IMU data.

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

Output passthroughRect = {*this, {"passthroughRect", DEFAULT_GROUP, {{{DatatypeEnum::ImgFrame, true}}}}}: Passthrough rectified frame.

Output passthroughDepth = {*this, {"passthroughDepth", DEFAULT_GROUP, {{{DatatypeEnum::ImgFrame, true}}}}}: Passthrough depth frame.

Output passthroughFeatures = {*this, {"passthroughFeatures", DEFAULT_GROUP, {{{DatatypeEnum::TrackedFeatures, true}}}}}: Passthrough features.

Public Static Attributes

static constexpr const char *NAME = "RTABMapVIO"