Basic SLAM

#!/usr/bin/env python3
from neuronav import RealSenseSensor, run_slam, RTABMapSLAM

sensor = RealSenseSensor()
slam = RTABMapSLAM()
run_slam(sensor, slam)

#!/usr/bin/env python3
from neuronav import RealSenseSensor, run_slam, RTABMapSLAM

sensor = RealSenseSensor()
slam = RTABMapSLAM()

print("Open http://localhost:8765 in your browser")
run_slam(sensor, slam, visualize=True)

#!/usr/bin/env python3
from neuronav import OAKDSensor, run_slam, RTABMapSLAM

sensor = OAKDSensor()
slam = RTABMapSLAM()
run_slam(sensor, slam, visualize=True)

#!/usr/bin/env python3
from neuronav import RealSenseSensor, SensorConfig, RTABMapSLAM, SlamConfig, run_slam

# Configure sensor
sensor_config = SensorConfig(
    rgb_width=1280,
    rgb_height=720,
    fps=30,
    enable_imu=True
)

# Configure SLAM
slam_config = SlamConfig(
    enable_loop_closing=True,
    custom_params={
        "Vis/MaxFeatures": "1000",
        "Vis/MinInliers": "20"
    }
)

sensor = RealSenseSensor(sensor_config)
slam = RTABMapSLAM(slam_config)
run_slam(sensor, slam, visualize=True)

#!/usr/bin/env python3
from neuronav import RealSenseSensor, RTABMapSLAM, run_slam
import os

MAP_FILE = "my_map.db"
sensor = RealSenseSensor()
slam = RTABMapSLAM()

# Load existing map if available
if os.path.exists(MAP_FILE):
    slam.load_map(MAP_FILE)

# Run SLAM
try:
    run_slam(sensor, slam, duration=60)
finally:
    slam.save_map(MAP_FILE)

git clone https://github.com/neuronav-io/neuronav-slam-sdk.git
cd neuronav-slam-sdk/examples
python3 minimal_slam.py

docker run -it --rm --privileged -v /dev:/dev \
  neuronav-slam python3 /workspace/examples/minimal_slam.py