habitat_baselines/agents/slam_agents.py [176:214]:
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        self.num_actions = config.NUM_ACTIONS
        self.dist_threshold_to_stop = config.DIST_TO_STOP
        self.slam_vocab_path = config.SLAM_VOCAB_PATH
        assert os.path.isfile(self.slam_vocab_path)
        self.slam_settings_path = config.SLAM_SETTINGS_PATH
        assert os.path.isfile(self.slam_settings_path)
        self.slam = orbslam2.System(
            self.slam_vocab_path, self.slam_settings_path, orbslam2.Sensor.RGBD
        )
        self.slam.set_use_viewer(False)
        self.slam.initialize()
        self.device = device
        self.map_size_meters = config.MAP_SIZE
        self.map_cell_size = config.MAP_CELL_SIZE
        self.pos_th = config.DIST_REACHED_TH
        self.next_wp_th = config.NEXT_WAYPOINT_TH
        self.angle_th = config.ANGLE_TH
        self.obstacle_th = config.MIN_PTS_IN_OBSTACLE
        self.depth_denorm = config.DEPTH_DENORM
        self.planned_waypoints = []
        self.mapper = DirectDepthMapper(
            camera_height=config.CAMERA_HEIGHT,
            near_th=config.D_OBSTACLE_MIN,
            far_th=config.D_OBSTACLE_MAX,
            h_min=config.H_OBSTACLE_MIN,
            h_max=config.H_OBSTACLE_MAX,
            map_size=config.MAP_SIZE,
            map_cell_size=config.MAP_CELL_SIZE,
            device=device,
        )
        self.planner = DifferentiableStarPlanner(
            max_steps=config.PLANNER_MAX_STEPS,
            preprocess=config.PREPROCESS_MAP,
            beta=config.BETA,
            device=device,
        )
        self.slam_to_world = 1.0
        self.timestep = 0.1
        self.timing = False
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habitat_baselines/agents/slam_agents.py [535:573]:
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        self.num_actions = config.NUM_ACTIONS
        self.dist_threshold_to_stop = config.DIST_TO_STOP
        self.slam_vocab_path = config.SLAM_VOCAB_PATH
        assert os.path.isfile(self.slam_vocab_path)
        self.slam_settings_path = config.SLAM_SETTINGS_PATH
        assert os.path.isfile(self.slam_settings_path)
        self.slam = orbslam2.System(
            self.slam_vocab_path, self.slam_settings_path, orbslam2.Sensor.RGBD
        )
        self.slam.set_use_viewer(False)
        self.slam.initialize()
        self.device = device
        self.map_size_meters = config.MAP_SIZE
        self.map_cell_size = config.MAP_CELL_SIZE
        self.pos_th = config.DIST_REACHED_TH
        self.next_wp_th = config.NEXT_WAYPOINT_TH
        self.angle_th = config.ANGLE_TH
        self.obstacle_th = config.MIN_PTS_IN_OBSTACLE
        self.depth_denorm = config.DEPTH_DENORM
        self.planned_waypoints = []
        self.mapper = DirectDepthMapper(
            camera_height=config.CAMERA_HEIGHT,
            near_th=config.D_OBSTACLE_MIN,
            far_th=config.D_OBSTACLE_MAX,
            h_min=config.H_OBSTACLE_MIN,
            h_max=config.H_OBSTACLE_MAX,
            map_size=config.MAP_SIZE,
            map_cell_size=config.MAP_CELL_SIZE,
            device=device,
        )
        self.planner = DifferentiableStarPlanner(
            max_steps=config.PLANNER_MAX_STEPS,
            preprocess=config.PREPROCESS_MAP,
            beta=config.BETA,
            device=device,
        )
        self.slam_to_world = 1.0
        self.timestep = 0.1
        self.timing = False
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