Get pose estimate from Basalt VIO

viggy96

How would one go about getting the pose from Basalt? Its unclear how to print out the pose estimate that is calculated by DepthAI in the example. Further, can AprilTags be integrated for the pose estimate?

https://docs.luxonis.com/software-v3/depthai/examples/rvc2/vslam/basalt_vio

jakaskerl

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

viggy96

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

viggy96

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

viggy96

Nevermind resolved this issue. I can get pose estimates now, but they drift a lot.
https://discuss.luxonis.com/d/6100-significant-drift-when-using-basalt-vio