Documentation ¶
Overview ¶
Package builtin implements simultaneous localization and mapping This is an Experimental package
This is an Experimental package
Index ¶
- func NewBuiltIn(ctx context.Context, deps registry.Dependencies, config config.Service, ...) (slam.Service, error)
- func RuntimeConfigValidation(svcConfig *AttrConfig, model string, logger golog.Logger) (slam.Mode, error)
- func SetCameraValidationMaxTimeoutSecForTesting(val int)
- func SetDialMaxTimeoutSecForTesting(val int)
- type AttrConfig
- type ORBsettings
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
func NewBuiltIn ¶
func NewBuiltIn(ctx context.Context, deps registry.Dependencies, config config.Service, logger golog.Logger, bufferSLAMProcessLogs bool) (slam.Service, error)
NewBuiltIn returns a new slam service for the given robot.
func RuntimeConfigValidation ¶
func RuntimeConfigValidation(svcConfig *AttrConfig, model string, logger golog.Logger) (slam.Mode, error)
RuntimeConfigValidation ensures that required config parameters are valid at runtime. If any of the required config parameters are not valid, this function will throw a warning, but not close out/shut down the server. The required parameters that are checked here are: 'algorithm', 'data_dir', and 'config_param' (required due to the 'mode' parameter internal to it). Returns the slam mode.
func SetCameraValidationMaxTimeoutSecForTesting ¶
func SetCameraValidationMaxTimeoutSecForTesting(val int)
SetCameraValidationMaxTimeoutSecForTesting sets cameraValidationMaxTimeoutSec for testing.
func SetDialMaxTimeoutSecForTesting ¶
func SetDialMaxTimeoutSecForTesting(val int)
SetDialMaxTimeoutSecForTesting sets dialMaxTimeoutSec for testing.
Types ¶
type AttrConfig ¶
type AttrConfig struct { Sensors []string `json:"sensors"` ConfigParams map[string]string `json:"config_params"` DataDirectory string `json:"data_dir"` UseLiveData *bool `json:"use_live_data"` DataRateMs int `json:"data_rate_msec"` MapRateSec *int `json:"map_rate_sec"` InputFilePattern string `json:"input_file_pattern"` Port string `json:"port"` DeleteProcessedData *bool `json:"delete_processed_data"` }
AttrConfig describes how to configure the service.
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.