viggy96
.transform output should include a TransformData message which includes x,y,z,qx,qy,qz,qw. The BasaltVIO is a host node so you can inspect their source code in the repo.

AprilTags be integrated for the pose estimate?

Possibly, but would have to be done manually. The AprilTag returns all four corners in image space, so to convert you only need the intrinsics and the corresponding depth.

Thanks,
Jaka

    Can you provide an example of how to get the data from the transform message?

    Further, I get a segfault when trying to run the example:
    Stack trace (most recent call last):

    #20 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in

    #19 Object "python", at 0x55ba59df1074, in _start

    #18 Object "/usr/lib/libc.so.6", at 0x77d379a37768, in __libc_start_main

    #17 Object "/usr/lib/libc.so.6", at 0x77d379a376b4, in

    #16 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379f24031, in Py_BytesMain

    #15 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379f23e75, in Py_RunMain

    #14 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379f23a3b, in

    #13 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379efa3ab, in _PyRun_AnyFileObject

    #12 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379ef9da5, in _PyRun_SimpleFileObject

    #11 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379ef6ce4, in

    #10 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379ef6bcd, in

    #9 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379e98456, in PyEval_EvalCode

    #8 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379e91ef9, in _PyEval_EvalFrameDefault

    #7 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379d6bf95, in PyObject_Vectorcall

    #6 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379d6f868, in

    #5 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379d6bcfb, in _PyObject_MakeTpCall

    #4 Object "/home/vignesh/.pyenv/versions/3.12.10/lib/libpython3.12.so.1.0", at 0x77d379dc7b31, in

    #3 Object "/home/vignesh/Documents/source/DepthAI-Basalt/.venv/lib/python3.12/site-packages/depthai.cpython-312-x86_64-linux-gnu.so", at 0x77d372d7e603, in

    #2 Object "/home/vignesh/Documents/source/DepthAI-Basalt/.venv/lib/python3.12/site-packages/depthai.cpython-312-x86_64-linux-gnu.so", at 0x77d372e1937a, in

    #1 Object "/home/vignesh/Documents/source/DepthAI-Basalt/.venv/lib/python3.12/site-packages/depthai.cpython-312-x86_64-linux-gnu.so", at 0x77d37314d725, in dai:😛ipelineImpl::stop()

    #0 Object "/home/vignesh/Documents/source/DepthAI-Basalt/.venv/lib/python3.12/site-packages/depthai.cpython-312-x86_64-linux-gnu.so", at 0x77d37332780e, in dai::node::BasaltVIO::stop()

    Segmentation fault (Address not mapped to object [0x10])

    zsh: segmentation fault (core dumped) ./vio.py