slam

Documentation

Overview

Package slam implements simultaneous localization and mapping This is an Experimental package

Package slam implements simultaneous localization and mapping This is an Experimental package

Package slam implements simultaneous localization and mapping This is an Experimental package

Package slam implements simultaneous localization and mapping This is an Experimental package

Index

• Constants
• Variables
• func GetInternalStateFull(ctx context.Context, slamSvc Service, name string) ([]byte, error)
• func GetPointCloudMapFull(ctx context.Context, slamSvc Service, name string) ([]byte, error)
• func Named(name string) resource.Name
• func NewServer(s subtype.Service) pb.SLAMServiceServer
• func NewUnimplementedInterfaceError(actual interface{}) error
• func WrapWithReconfigurable(s interface{}, name resource.Name) (resource.Reconfigurable, error)
• type Library
• type LibraryMetadata
• type Mode
• type Service
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Service

Constants

const (
	// Dense is a Library type.
	Dense = Library(iota)
	// Sparse is a Library type.
	Sparse
	// Mono is a mode a slam model can use.
	Mono = Mode("mono")
	// Rgbd is a mode a slam model can use.
	Rgbd = Mode("rgbd")
	// Dim2d is a mode a slam model can use.
	Dim2d = Mode("2d")
	// Dim3d is a mode a slam model can use.
	Dim3d = Mode("3d")
)

const SubtypeName = resource.SubtypeName("slam")

SubtypeName is the name of the type of service.

Variables

var SLAMLibraries = map[string]LibraryMetadata{
	"cartographer": cartographerMetadata,
	"orbslamv3":    orbslamv3Metadata,
}

SLAMLibraries contains a map of available slam libraries.

var Subtype = resource.NewSubtype(
	resource.ResourceNamespaceRDK,
	resource.ResourceTypeService,
	SubtypeName,
)

Subtype is a constant that identifies the slam resource subtype.

Functions

func GetInternalStateFull

func GetInternalStateFull(ctx context.Context, slamSvc Service, name string) ([]byte, error)

GetInternalStateFull concatenates the streaming responses from GetInternalStateStream into the internal serialized state of the slam algorithm.

func GetPointCloudMapFull

func GetPointCloudMapFull(ctx context.Context, slamSvc Service, name string) ([]byte, error)

GetPointCloudMapFull concatenates the streaming responses from GetPointCloudMapStream into a full point cloud.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named service's typed resource name.

func NewServer

func NewServer(s subtype.Service) pb.SLAMServiceServer

NewServer constructs a the slam gRPC service server.

func NewUnimplementedInterfaceError

func NewUnimplementedInterfaceError(actual interface{}) error

NewUnimplementedInterfaceError is used when there is a failed interface check.

func WrapWithReconfigurable

func WrapWithReconfigurable(s interface{}, name resource.Name) (resource.Reconfigurable, error)

WrapWithReconfigurable wraps a slam service as a Reconfigurable.

Types

type Library

type Library uint8

Library type used for slam.

type LibraryMetadata

type LibraryMetadata struct {
	AlgoName       string
	AlgoType       Library
	SlamMode       map[string]Mode
	BinaryLocation string
}

LibraryMetadata contains all pertinent information for defining a SLAM library/algorithm including the Sparse/Dense definition.

type Mode

type Mode string

Mode holds the modes a slam model can use.

type Service

type Service interface {
	Position(context.Context, string, map[string]interface{}) (*referenceframe.PoseInFrame, error)
	GetPosition(context.Context, string) (spatialmath.Pose, string, error)
	GetMap(
		context.Context,
		string,
		string,
		*referenceframe.PoseInFrame,
		bool,
		map[string]interface{},
	) (string, image.Image, *vision.Object, error)
	GetInternalState(ctx context.Context, name string) ([]byte, error)
	GetPointCloudMapStream(ctx context.Context, name string) (func() ([]byte, error), error)
	GetInternalStateStream(ctx context.Context, name string) (func() ([]byte, error), error)
	resource.Generic
}

Service describes the functions that are available to the service.

func NewClientFromConn

func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Service

NewClientFromConn constructs a new Client from the connection passed in.