NvIsaacVslamExtension
Stereo Visual SLAM
Stereo visual SLAM.
Parameters:
- name
- lookup_name
- description
- flags
- type
- default
allocator
allocator
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
pose_tree
pose_tree
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
composite_schema_server
composite_schema_server
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Map Frame
map_frame
The frame corresponding to the origin of the VSLAM map, ie. the initial pose of the left camera frame when the mapping was started.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Camera Frame
camera_frame
The frame corresponding to the left camera
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
IMU Frame
imu_frame
The frame corresponding to the IMU unit (optional)
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Receiver to get the left image
rx_left
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Receiver to get the right image
rx_right
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
IMU Receiver
rx_imu
Receiver to get IMU readings (optional)
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Transmitter to send Visual Odom pose
tx_odom_pose
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Transmitter to send Visual SLAM pose
tx_slam_pose
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Transmitter to send 2d keypoints for visualization
tx_keypoints
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Transmitter to send 3d landmarks for visualization
tx_landmarks
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Localization result transmitter
tx_localization_result
Transmitter that sends the result for localization results. This only applies to localizations in the map.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Image width in pixels
width
Image width in pixels By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_INT32
N/A
- name
- lookup_name
- description
- flags
- type
- default
Image height in pixels
height
Image height in pixels By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_INT32
N/A
- name
- lookup_name
- description
- flags
- type
- default
Left distortion model
distortion_left
Name of left distortion model (pinhole, brown5k, polynomial, fisheye) By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_STRING
N/A
- name
- lookup_name
- description
- flags
- type
- default
Right distortion model
distortion_right
Name of right distortion model (pinhole, brown5k, polynomial, fisheye) By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_STRING
N/A
- name
- lookup_name
- description
- flags
- type
- default
Left intrinsics
intrinsic_left
Left intrinsics [cx, cy, fx, fy(, distortion params)] By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_FLOAT32
N/A
- name
- lookup_name
- description
- flags
- type
- default
Right intrinsics
intrinsic_right
Right intrinsics [cx, cy, fx, fy(, distortion params)] By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_FLOAT32
N/A
- name
- lookup_name
- description
- flags
- type
- default
Left rotation matrix
rotation_left
Left rotation matrix, 9 floats array (3x3) By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_FLOAT32
N/A
- name
- lookup_name
- description
- flags
- type
- default
Right rotation matrix
rotation_right
Right rotation matrix, 9 floats array (3x3) By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_FLOAT32
N/A
- name
- lookup_name
- description
- flags
- type
- default
Left translation vector
translation_left
Left translation vector, 3 floats array By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_FLOAT32
N/A
- name
- lookup_name
- description
- flags
- type
- default
Right translation vector
translation_right
Right translation vector, 3 floats array By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_FLOAT32
N/A
- name
- lookup_name
- description
- flags
- type
- default
IMU noise parameters
imu_params
gyroscope_noise_density, gyroscope_random_walk, accelerometer_noise_density, accelerometer_random_walk, frequency By default this value is obtained from image message. Override with this optional parameter.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_FLOAT32
N/A
- name
- lookup_name
- description
- flags
- type
- default
Enable Internal pose prediction
motion_model
Enable internal pose prediction mechanism based on a kinematic model. If frame rate is high enough it improves tracking performance and stability. As a general rule it is better to use a pose prediction mechanism tailored to a specific application. If you have an IMU, consider using it to provide pose predictions to cuVSLAM
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_BOOL
True
- name
- lookup_name
- description
- flags
- type
- default
Enable image denoising
denoising
Enable image denoising. Disable if the input images have already passed through a denoising filter. Default is false.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_BOOL
False
- name
- lookup_name
- description
- flags
- type
- default
Enable GPU usage
gpu
Enable feature tracking using GPU. Default is true.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_BOOL
True
- name
- lookup_name
- description
- flags
- type
- default
Enable IMU fusion
imu_fusion
Enable IMU fusion. Default is true.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_BOOL
True
- name
- lookup_name
- description
- flags
- type
- default
Enable fast left-to-right tracking
horizontal
Enable fast and robust left-to-right tracking for rectified cameras with principal points on the horizontal line. Selected automatically by default.
GXF_PARAMETER_FLAGS_OPTIONAL
GXF_PARAMETER_TYPE_BOOL
N/A
- name
- lookup_name
- description
- flags
- type
- default
Enable loop closure
loop_closure
Use localization and mapping for loop closure. Default is true
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_BOOL
True
- name
- lookup_name
- description
- flags
- type
- default
Size of map cell
map_cell_size
Size of map cell.Size of map cell. Default is 0 (the size will be calculated from the camera baseline)
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_FLOAT32
0.0
- name
- lookup_name
- description
- flags
- type
- default
Debug dump directory
dump_directory
Set directory where the debug dump files will be saved: stereo.edex - cameras and configuration cam0.00000.png, cam1.00000.png, … - output imagesexample: /tmp/cuvslam
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_STRING
- name
- lookup_name
- description
- flags
- type
- default
Enable planar constraints
planar
Slam poses will be modified so that the camera moves on a horizontal plane.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_BOOL
False
- name
- lookup_name
- description
- flags
- type
- default
Maximum Number of Keypoints
max_num_keypoints
Maximum number of keypoints that will be preallocated
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_INT32
500
- name
- lookup_name
- description
- flags
- type
- default
Maximum Number of Landmarks
max_num_landmarks
Maximum number of landmarks that will be preallocated
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_INT32
500
- name
- lookup_name
- description
- flags
- type
- default
Pose of VSLAM Map Frame in Isaac Map Frame
map_isaac_T_map_vlsam
The vslam map frame corresponds with the initial pose of the camera. Per default we assume that vslam is using the convention z-backward, y-up and isaac is using x-forward, z-up.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_CUSTOM
N/A
- name
- lookup_name
- description
- flags
- type
- default
The GPU device ID
gpu_device_id
The ID of GPU on which CUDA code should run
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_INT32
0
- name
- lookup_name
- description
- flags
- type
- default
Use existing map
use_map_folder
If true a map will be loaded from `map_folder`.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_BOOL
False
- name
- lookup_name
- description
- flags
- type
- default
Localization map folder
map_folder
Folder to save created localization map or to use for localization in map.In `create_map` mode will be used to save created map.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_STRING
- name
- lookup_name
- description
- flags
- type
- default
Use External Ground Truth
create_map
If enabled the pose tree will be used to query an external ground truth pose of the camera
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_BOOL
False
- name
- lookup_name
- description
- flags
- type
- default
Mapping timeout in seconds
mapping_timeout
In ‘localize in map’ mode retry localization every `timeout` seconds.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_INT32
0
Keep trail for visualization.
Parameters:
- name
- lookup_name
- description
- flags
- type
- default
Composite Schema Server
composite_schema_server
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
World Frame
world_frame
The pose tree frame corresponding to the world
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Allocator
allocator
Host memory allocator for message generation
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Receiver to get the last 3d pose
rx_last_pose
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Transmitter to publish last path
tx_last_path
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Number of the previous poses to keep
trail_count
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_INT32
N/A
Dataset in EDEX format player.
Parameters:
- name
- lookup_name
- description
- flags
- type
- default
BooleanSchedulingTerm
boolean_scheduling_term
BooleanSchedulingTerm to stop the codelet from ticking after all messages are published.
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Allocator
allocator
Memory allocator
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Transmitter to send left frame
tx_left_image
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Transmitter to send right frame
tx_right_image
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_HANDLE
N/A
- name
- lookup_name
- description
- flags
- type
- default
Dataset folder
dataset_dir
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_STRING
N/A
- name
- lookup_name
- description
- flags
- type
- default
FPS to replay dataset
fps
N/A
GXF_PARAMETER_FLAGS_NONE
GXF_PARAMETER_TYPE_FLOAT32
N/A