Documentation
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Overview ¶
Package viamorbslam3 implements simultaneous localization and mapping This is an Experimental package
Package viamorbslam3 implements simultaneous localization and mapping This is an Experimental package
Index ¶
Constants ¶
View Source
const (
// DefaultExecutableName is what this program expects to call to start the grpc server.
DefaultExecutableName = "orb_grpc_server"
)
Variables ¶
View Source
var ( // Model specifies the unique resource-triple across the rdk. Model = resource.NewModel("viam", "slam", "orbslamv3") )
Functions ¶
func New ¶
func New(ctx context.Context, deps registry.Dependencies, config config.Service, logger golog.Logger, bufferSLAMProcessLogs bool, executableName string, ) (slam.Service, error)
New returns a new slam service for the given robot.
func SetCameraValidationMaxTimeoutSecForTesting ¶
func SetCameraValidationMaxTimeoutSecForTesting(val int)
SetCameraValidationMaxTimeoutSecForTesting sets cameraValidationMaxTimeoutSec for testing.
func SetDialMaxTimeoutSecForTesting ¶
func SetDialMaxTimeoutSecForTesting(val int)
SetDialMaxTimeoutSecForTesting sets dialMaxTimeoutSec for testing.
Types ¶
type ORBsettings ¶
type ORBsettings struct { FileVersion string `yaml:"File.version"` NFeatures int `yaml:"ORBextractor.nFeatures"` ScaleFactor float64 `yaml:"ORBextractor.scaleFactor"` NLevels int `yaml:"ORBextractor.nLevels"` IniThFAST int `yaml:"ORBextractor.iniThFAST"` MinThFAST int `yaml:"ORBextractor.minThFAST"` CamType string `yaml:"Camera.type"` Width int `yaml:"Camera.width"` Height int `yaml:"Camera.height"` Fx float64 `yaml:"Camera1.fx"` Fy float64 `yaml:"Camera1.fy"` Ppx float64 `yaml:"Camera1.cx"` Ppy float64 `yaml:"Camera1.cy"` RadialK1 float64 `yaml:"Camera1.k1"` RadialK2 float64 `yaml:"Camera1.k2"` RadialK3 float64 `yaml:"Camera1.k3"` TangentialP1 float64 `yaml:"Camera1.p1"` TangentialP2 float64 `yaml:"Camera1.p2"` RGBflag int8 `yaml:"Camera.RGB"` Stereob float64 `yaml:"Stereo.b"` StereoThDepth float64 `yaml:"Stereo.ThDepth"` DepthMapFactor float64 `yaml:"RGBD.DepthMapFactor"` FPSCamera int16 `yaml:"Camera.fps"` LoadMapLoc string `yaml:"System.LoadAtlasFromFile"` }
ORBsettings is used to construct the yaml file.
Directories
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Path | Synopsis |
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internal
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testhelper
Package testhelper implements a slam service definition with additional exported functions for the purpose of testing
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Package testhelper implements a slam service definition with additional exported functions for the purpose of testing |
Package main provides an ORB_SLAM3 implementation of a SLAM module
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Package main provides an ORB_SLAM3 implementation of a SLAM module |
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