Getting Started

To run SLAMcore software, the following are required:

  1. A compatible Linux environment:

    • Ubuntu 18.04 (x64),

    • Ubuntu 20.04 (x64),

    • NVIDIA Jetson Nano,

    • NVIDIA Jetson TX2,

    • NVIDIA Jetson Xavier NX, or

    • NVIDIA Jetson Xavier AGX

  2. A compatible camera or dataset:

    • Intel RealSense D435i,

    • Intel RealSense D455 (only on x64),

    • Mynteye S (on demand), or

    • Users without either can use the EuRoC MAV Dataset

  3. Finally, users will need to register their camera(s).

Register

We would like to get as many people using our software as possible, however for now access to SLAMcore software is currently limited to invitation only. If you have not received an invitation your registration may not be approved. To find out more about us please visit slamcore.com.

  1. Go to the SLAMcore portal, which can be found at: https://portal.slamcore.com.

  2. Click on the REGISTER HERE link:

  3. On the next page, enter your email address and click REGISTER FOR SLAMCORE.

  4. You will be asked for a verification code on the next page. Check your email and enter the six digits into the form.

  5. Once you receive an email confirming your registration, you may proceed to login and download the packages following the instructions below.

Download

Once registered, logging into the portal will present your account home page:

_images/support.png

Click on Download SLAMcore Software option, read over the licensing agreement and click on the I Accept the Licensing Agreement button at the bottom of the page. You will then be taken to a download page where you can access SLAMcore software.

To get started using SLAMcore software, select the appropriate SLAMcore Tools package, either for x64 or for NVIDIA Jetson.

Note

The download links are unique for each registered user. The applications can be installed on multiple devices but will only work with the registered cameras.

To register your camera(s) follow our Register Camera instructions.

Install

Once the package has downloaded, double-click on it to install the applications.

Run Visualiser with a Dataset

SLAMcore software supports the EuRoC MAV Dataset 1 so we will download and run one of these sequences.

  1. Download the following file V1_01_easy.zip

  2. Uncompress it locally: unzip <path/to/MH_01/zipfile>

  3. Download the SLAMcore configuration file capture_info.json and place it at the root of the uncompressed dataset.

    By this point the dataset directory layout should look like this:

    $ tree -L 2 mav0/
    
    mav0/
    ├── body.yaml
    ├── cam0
    │   ├── data
    │   ├── data.csv
    │   └── sensor.yaml
    ├── cam1
    │   ├── data
    │   ├── data.csv
    │   └── sensor.yaml
    ├── capture_info.json
    ├── imu0
    │   ├── data.csv
    │   └── sensor.yaml
    ├── leica0
    │   ├── data.csv
    │   └── sensor.yaml
    └── state_groundtruth_estimate0
        ├── data.csv
        └── sensor.yaml
    
    7 directories, 12 files
    
    
  4. You should now be able to run the Visualiser using this dataset:

$ slamcore_visualiser dataset -u <path/to/mav0/directory>

Now you have confirmed that the software has downloaded and runs successfully. The next step is Setting up a Camera so you can run on live data and capture and process your own datasets.

1

https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets