API Documentation

NvIsaacVslamExtension

Stereo Visual SLAM

Stereo visual SLAM.

Parameters:

name

allocator

lookup_name

allocator

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

pose_tree

lookup_name

pose_tree

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

composite_schema_server

lookup_name

composite_schema_server

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Map Frame

lookup_name

map_frame

description

The frame corresponding to the origin of the VSLAM map, ie. the initial pose of the left camera frame when the mapping was started.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Camera Frame

lookup_name

camera_frame

description

The frame corresponding to the left camera

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

IMU Frame

lookup_name

imu_frame

description

The frame corresponding to the IMU unit (optional)

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Receiver to get the left image

lookup_name

rx_left

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Receiver to get the right image

lookup_name

rx_right

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

IMU Receiver

lookup_name

rx_imu

description

Receiver to get IMU readings (optional)

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Transmitter to send Visual Odom pose

lookup_name

tx_odom_pose

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Transmitter to send Visual SLAM pose

lookup_name

tx_slam_pose

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Transmitter to send 2d keypoints for visualization

lookup_name

tx_keypoints

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Transmitter to send 3d landmarks for visualization

lookup_name

tx_landmarks

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Localization result transmitter

lookup_name

tx_localization_result

description

Transmitter that sends the result for localization results. This only applies to localizations in the map.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Image width in pixels

lookup_name

width

description

Image width in pixels By default this value is obtained from image message. Override with this optional parameter.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_INT32

default

N/A

name

Image height in pixels

lookup_name

height

description

Image height in pixels By default this value is obtained from image message. Override with this optional parameter.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_INT32

default

N/A

name

Left distortion model

lookup_name

distortion_left

description

Name of left distortion model (pinhole, brown5k, polynomial, fisheye) By default this value is obtained from image message. Override with this optional parameter.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_STRING

default

N/A

name

Right distortion model

lookup_name

distortion_right

description

Name of right distortion model (pinhole, brown5k, polynomial, fisheye) By default this value is obtained from image message. Override with this optional parameter.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_STRING

default

N/A

name

Left intrinsics

lookup_name

intrinsic_left

description

Left intrinsics [cx, cy, fx, fy(, distortion params)] By default this value is obtained from image message. Override with this optional parameter.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_FLOAT32

default

N/A

name

Right intrinsics

lookup_name

intrinsic_right

description

Right intrinsics [cx, cy, fx, fy(, distortion params)] By default this value is obtained from image message. Override with this optional parameter.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_FLOAT32

default

N/A

name

Left rotation matrix

lookup_name

rotation_left

description

Left rotation matrix, 9 floats array (3x3) By default this value is obtained from image message. Override with this optional parameter.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_FLOAT32

default

N/A

name

Right rotation matrix

lookup_name

rotation_right

description

Right rotation matrix, 9 floats array (3x3) By default this value is obtained from image message. Override with this optional parameter.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_FLOAT32

default

N/A

name

Left translation vector

lookup_name

translation_left

description

Left translation vector, 3 floats array By default this value is obtained from image message. Override with this optional parameter.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_FLOAT32

default

N/A

name

Right translation vector

lookup_name

translation_right

description

Right translation vector, 3 floats array By default this value is obtained from image message. Override with this optional parameter.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_FLOAT32

default

N/A

name

IMU noise parameters

lookup_name

imu_params

description

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.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_FLOAT32

default

N/A

name

Enable Internal pose prediction

lookup_name

motion_model

description

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

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_BOOL

default

True

name

Enable image denoising

lookup_name

denoising

description

Enable image denoising. Disable if the input images have already passed through a denoising filter. Default is false.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_BOOL

default

False

name

Enable GPU usage

lookup_name

gpu

description

Enable feature tracking using GPU. Default is true.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_BOOL

default

True

name

Enable IMU fusion

lookup_name

imu_fusion

description

Enable IMU fusion. Default is true.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_BOOL

default

True

name

Enable fast left-to-right tracking

lookup_name

horizontal

description

Enable fast and robust left-to-right tracking for rectified cameras with principal points on the horizontal line. Selected automatically by default.

flags

GXF_PARAMETER_FLAGS_OPTIONAL

type

GXF_PARAMETER_TYPE_BOOL

default

N/A

name

Enable loop closure

lookup_name

loop_closure

description

Use localization and mapping for loop closure. Default is true

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_BOOL

default

True

name

Size of map cell

lookup_name

map_cell_size

description

Size of map cell.Size of map cell. Default is 0 (the size will be calculated from the camera baseline)

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_FLOAT32

default

0.0

name

Debug dump directory

lookup_name

dump_directory

description

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

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_STRING

default

name

Enable planar constraints

lookup_name

planar

description

Slam poses will be modified so that the camera moves on a horizontal plane.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_BOOL

default

False

name

Maximum Number of Keypoints

lookup_name

max_num_keypoints

description

Maximum number of keypoints that will be preallocated

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_INT32

default

500

name

Maximum Number of Landmarks

lookup_name

max_num_landmarks

description

Maximum number of landmarks that will be preallocated

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_INT32

default

500

name

Pose of VSLAM Map Frame in Isaac Map Frame

lookup_name

map_isaac_T_map_vlsam

description

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.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_CUSTOM

default

N/A

name

The GPU device ID

lookup_name

gpu_device_id

description

The ID of GPU on which CUDA code should run

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_INT32

default

0

name

Use existing map

lookup_name

use_map_folder

description

If true a map will be loaded from `map_folder`.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_BOOL

default

False

name

Localization map folder

lookup_name

map_folder

description

Folder to save created localization map or to use for localization in map.In `create_map` mode will be used to save created map.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_STRING

default

name

Use External Ground Truth

lookup_name

create_map

description

If enabled the pose tree will be used to query an external ground truth pose of the camera

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_BOOL

default

False

name

Mapping timeout in seconds

lookup_name

mapping_timeout

description

In ‘localize in map’ mode retry localization every `timeout` seconds.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_INT32

default

0

Keep trail for visualization.

Parameters:

name

Composite Schema Server

lookup_name

composite_schema_server

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

World Frame

lookup_name

world_frame

description

The pose tree frame corresponding to the world

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Allocator

lookup_name

allocator

description

Host memory allocator for message generation

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Receiver to get the last 3d pose

lookup_name

rx_last_pose

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Transmitter to publish last path

lookup_name

tx_last_path

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Number of the previous poses to keep

lookup_name

trail_count

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_INT32

default

N/A

Dataset in EDEX format player.

Parameters:

name

BooleanSchedulingTerm

lookup_name

boolean_scheduling_term

description

BooleanSchedulingTerm to stop the codelet from ticking after all messages are published.

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Allocator

lookup_name

allocator

description

Memory allocator

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Transmitter to send left frame

lookup_name

tx_left_image

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Transmitter to send right frame

lookup_name

tx_right_image

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_HANDLE

default

N/A

name

Dataset folder

lookup_name

dataset_dir

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_STRING

default

N/A

name

FPS to replay dataset

lookup_name

fps

description

N/A

flags

GXF_PARAMETER_FLAGS_NONE

type

GXF_PARAMETER_TYPE_FLOAT32

default

N/A