Struct SlamSystem 

pub struct SlamSystem { /* private fields */ }

Top-level ORB-SLAM system: orchestrates tracking, mapping, and state transitions.

Implementations

impl SlamSystem

pub fn new(camera: PinholeCamera, config: SlamConfig) -> Self

Creates a new system with identity pose.

pub fn with_rig(rig: SensorRig, config: SlamConfig) -> Self

Builds a system from an explicit sensor rig, so IMU noise parameters and extrinsics can be supplied for the actual sensor.

pub fn set_vocabulary(&mut self, vocabulary: Vocabulary)

Enables appearance-based loop detection with a bag-of-words vocabulary. Without it, keyframes are not indexed and no loop candidates are emitted.

pub fn drain_loop_closure_events(&mut self) -> Vec<LoopClosureEvent>

pub fn set_imu_extrinsics(&mut self, t_bc: Pose3d)

Enables the inertial path by providing the camera-to-body extrinsic T_BC (X_body = T_BC * X_cam). Without it, IMU samples are ignored.

pub fn rig(&self) -> &SensorRig

The system’s fixed sensor calibration.

pub fn process_frame( &mut self, frame: Frame, previous_image: Option<&Image<u8, 1>>, current_image: &Image<u8, 1>, timestamp_sec: f64, imu_samples: Vec<ImuMeasurement>, ) -> TrackingResult

Processes one frame (pre-extracted features) and returns the tracking result.

pub fn with_map_points<R>(&self, f: impl FnOnce(&[MapPoint]) -> R) -> R

Runs f against the live map points, holding the map lock only for the duration of the call. Avoids cloning the whole point list (descriptors included) for read-only consumers such as viz logging and summaries.

pub fn current_keyframe_idx(&self) -> Option<usize>

Returns the index of the current reference keyframe, if tracking has one.

pub fn num_active_map_points(&self) -> usize

Returns the number of active (non-culled) map points.

pub fn drain_debug_messages(&mut self) -> Vec<String>

Drain any debug messages accumulated since the last call.

pub fn set_debug(&mut self, on: bool)

Toggle whether the pipeline buffers per-frame debug messages.