To initialize motion model certain parameters, such as imu calibration or vehicle data, must be passed to the module. These parameters can be extracted from a dwRig
module, see Rig Configuration Hence a typical initialization code sequence will look like this:
At runtime the estimator has to be filled with input measurements. The following shows the sequence in a typical application using the Egomotion module:
This workflow is demonstrated in the following sample: Egomotion Sample