See the viamrobotics/viam-orb-slam3 repo structure for reference.

Copy/paste builtin.go into viam-orb-slam3.go. Copy orbslam_yaml.go into the same directory. Refactor the code:

• Use the sensors as defined in slam/sensors

• Utilize mono.go and rgbd.go to separate anything specific to each subAlgo, respectively.

• Implement viam-orb-slam3.go as the main file that utilizes checking the subAlgo and using the functions and sensors as defined in mono.go, rgbd.go and each of the mono/sensors.go and rgbd/sensors.go files.

• See this example to get started.

Rename slamMode to subAlgo.

Copy/paste builtin_test.go and orbslam_yaml_test.go into viam-orb-slam3 repo. Rename builtin_test.go to viam-orb-slam3_test.go. Copy/paste internal/testhelper/testhelper.go from rdk into viam-orb-slam3 if necessary. Refactor the tests so they are specific to orbslam and cover all functions well. Consider moving tests to other areas (e.g., slam/sensors) if it makes sense.