viamorbslam3

package module
v0.3.1 Latest Latest
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 Go to latest Published: Apr 7, 2023 License: Apache-2.0 Imports: 32 Imported by: 0

README

viam-orb-slam3

(In)stability Notice

Warning This is an experimental feature. Stability is not guaranteed. Breaking changes are likely to occur, and occur often.

Overview

This repo wraps ORB_SLAM3 as a modular resource so it is easily usable with the rest of Viam's ecosystem. ORB_SLAM3 is a SLAM system for feature-based mapping using monocular, rgbd, and stereo camera setups.

Getting started

Install viam-orb-slam3:

  • Linux aarch64:

    sudo curl -o /usr/local/bin/orb_grpc_server http://packages.viam.com/apps/slam-servers/orb_grpc_server-stable-aarch64.AppImage
sudo chmod a+rx /usr/local/bin/orb_grpc_server

  • Linux x86_64:

    sudo curl -o /usr/local/bin/orb_grpc_server http://packages.viam.com/apps/slam-servers/orb_grpc_server-stable-x86_64.AppImage
sudo chmod a+rx /usr/local/bin/orb_grpc_server

  • Homebrew / Linuxbrew

    brew tap viamrobotics/brews && brew install orb-grpc-server

For next steps, see the Run ORB-SLAM3 on your Robot with a Webcam Tutorial.

Development

Download
git clone --recurse-submodules https://github.com:viamrobotics/viam-orb-slam3

If you happened to use git clone only, you won't see the ORB_SLAM3 folder and will need to fetch it:

git submodule update --init

(Optional) Using Canon Images

If desired, Viam's canon tool can be used to create a docker container to build arm64 or amd64 binaries of the SLAM server. The canon tool can be installed by running the following command:

go install github.com/viamrobotics/canon@latest

And then by running one of the following commands in the viam-orb-slam3 repository to create the container:

canon -arch arm64

canon -arch amd64

These containers are set to persist between sessions via the persistent parameter in the .canon.yaml file located in the root of viam-orb-slam3. More details regarding the use of Viam's canon tool can be found here.

Setup, build, and run the binary
# Setup the gRPC files
make bufinstall buf 
# Install dependencies
make setup
# Build & install the binary
make build
sudo cp ./viam-orb-slam3/bin/orb_grpc_server /usr/local/bin
# Run the binary
orb_grpc_server
Alternative: Manual Dependency Install (x64 or arm64)
# Install & build Pangolin (includes eigen)
git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin 
./scripts/install_prerequisites.sh recommended
mkdir build && cd build
cmake ..
make -j4 
sudo make install
# Install openCV
sudo apt install libopencv-dev
# Install Eigen3
sudo apt install libeigen3-dev
# Other dependencies
sudo apt install libssl-dev 
sudo apt-get install libboost-all-dev
Linting
# Ubuntu:
sudo apt install clang-format
# macOS:
brew install clang-format
make format
Testing
make test
Working with submodules
Commit and push
  1. Commit and push changes in the submodules first.
  2. Commit and push changes in the slam library last.

Or, alternatively:

  1. Commit changes in the submodules
  2. Commit changes in the main repo
  3. Push all changes by running git push --recurse-submodules=on-demand
Changing branches in a submodule

When changing branches in a submodule, update .gitmodules, e.g., changing to a branch called kk/fix-install:

...
[submodule "viam-orb-slam3/ORB_SLAM3"]
        path = viam-orb-slam3/ORB_SLAM3
        url = git@github.com:kkufieta/ORB_SLAM3.git
        branch=kk/fix-this-bug

Commit & push the changes.

When pulling those changes, run the following:

git pull
git submodule update --init --recursive

License

Copyright 2023 Viam Inc.

Apache 2.0 - See LICENSE file

Documentation

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.

type SubAlgo 

type SubAlgo string

SubAlgo defines the ORB_SLAM3 specific algorithms that we support. 

const (
	// Mono represents monocular vision (uses only one camera).
	Mono SubAlgo = "mono"
	// Rgbd uses a color camera and a depth camera for SLAM.
	Rgbd SubAlgo = "rgbd"
)

Source Files

View all Source files

Directories

Path Synopsis
internal
testhelper
Package testhelper implements a slam service definition with additional exported functions for the purpose of testing
 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
 Package main provides an ORB_SLAM3 implementation of a SLAM module

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