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Introduction

  • Overview
    • Technology
    • Software
    • Hardware
  • Getting Started
    • Register
    • Download
    • Install
      • Install on a Headless machine
  • Run with Public Datasets
  • Setting up a Camera
    • Install Intel® RealSense™ Kernel Modules
    • Verify RealSense Setup
    • Install the Camera Firmware
    • Register Your Camera
  • Requirements
    • Minimum
    • ROS1 Visualisations
    • Recording Datasets
  • Glossary
  • FAQs
  • Troubleshooting
    • Camera Issues
    • SLAM Issues
    • Connection Issues
    • Software Dependencies
    • Dataset Recording Issues
    • ROS Issues

Software Tools

  • SLAMcore Visualiser
    • Usage
      • Live Camera
      • Dataset
    • SLAM, Localisation, Mapping and Odometry Mode
      • SLAM mode
      • Localisation mode
      • Height Mapping Mode
    • Saving Trajectories
    • The Application
      • 3D Camera Controls
      • Menus
    • Command-Line Options
      • Dataset Subcommand Options
      • RealSense Subcommand Options
      • Mynteye2 Subcommand Options
  • SLAMcore Dataset Recorder
    • Usage
    • Application UI
    • Command-Line Options
      • RealSense Subcommand Options
      • Mynteye2 Subcommand Options
  • SLAMcore CLI
    • Dataset Recorder CLI
      • Command-Line Options
    • Dataset Compressor
      • Command-Line Options
    • Dataset Processor
      • SLAM Mode
      • Localisation Mode
      • Height Mapping Mode
      • Command-Line Options
  • SLAMcore Session Explorer
    • Usage
    • The Application
      • Top Menu Bar
      • Left Sidebar
    • Command-Line Options
  • SLAMcore Scripts
    • Plot Trajectory
      • Dependencies
      • Usage
      • Command-Line Options

API

  • SLAMcore C++ API
    • Overview
      • Introduction
      • Initialisation
      • Main SLAM interface
      • Subsystems
      • General remarks
    • Classes
      • Class UT_SDK_ConstImageView
      • Class slamcore::CameraSensorsInfoInterface
      • Class slamcore::ConstImageView
      • Class slamcore::EncoderInterface
      • Class slamcore::EncoderListInterface
      • Class slamcore::ErrorCodeInterface
      • Class slamcore::FrameSyncInterface
      • Class slamcore::HeightMappingSubsystemInterface
      • Class slamcore::IMUListInterface
      • Class slamcore::IMUSensorDataInterface
      • Class slamcore::IMUTripletInterface
      • Class slamcore::IMUTripletListInterface
      • Class slamcore::ImageInterface
      • Class slamcore::LandmarkInterface
      • Class slamcore::LogMessageInterface
      • Class slamcore::Map2DInterface
      • Class slamcore::MapChannel2DInterface
      • Class slamcore::Matrix
      • Class slamcore::MatrixInterface
      • Class slamcore::MeasurementPointInterface
      • Class slamcore::MetaDataInterface
      • Class slamcore::MobileRobotSubsystemInterface
      • Class slamcore::MultiFrameInterface
      • Class slamcore::ObjectInterface
      • Class slamcore::PointCloudInterface
      • Class slamcore::PoseInterface
      • Class slamcore::PoseListInterface
      • Class slamcore::PoseWriteInterface
      • Class slamcore::PropertiesInterface
      • Class slamcore::RangeIterator
      • Class slamcore::SLAMAsyncTasksInterface
      • Class slamcore::SLAMCoreInterface
      • Class slamcore::SLAMSubsystemAccessInterface
      • Class slamcore::SLAMSystemCallbackInterface
      • Class slamcore::SLAMSystemInterface
      • Class slamcore::SparseMapInterface
      • Class slamcore::SubsystemInterface
      • Class slamcore::TaskStatusInterface
      • Class slamcore::TrackingStatusListInterface
      • Class slamcore::TrajectorySubsystemInterface
      • Class slamcore::Vector
      • Class slamcore::VectorInterface
      • Class slamcore::VelocityInterface
      • Class slamcore::Version
      • Class slamcore::WheelOdometrySample
      • Class slamcore::slam_exception
    • Files
      • File UT_ConstImageView.cpp
      • File Version.hpp
      • File clocks.hpp
      • File const_image_view.hpp
      • File errors.hpp
      • File helpers.hpp
      • File logging.hpp
      • File objects.hpp
      • File slam.hpp
      • File slamcore.hpp
      • File subsystems.hpp
      • File types.hpp
    • Structs
      • Struct slamcore::CellCoordinates
      • Struct slamcore::ImageFormatTraits
      • Struct slamcore::ImageFormatTraits< ImageFormat::Mono_16 >
      • Struct slamcore::ImageFormatTraits< ImageFormat::Mono_32 >
      • Struct slamcore::ImageFormatTraits< ImageFormat::Mono_64 >
      • Struct slamcore::ImageFormatTraits< ImageFormat::Mono_8 >
      • Struct slamcore::ImageFormatTraits< ImageFormat::Mono_F >
      • Struct slamcore::ImageFormatTraits< ImageFormat::RGBA_8 >
      • Struct slamcore::ImageFormatTraits< ImageFormat::RGBA_F >
      • Struct slamcore::ImageFormatTraits< ImageFormat::RGB_8 >
      • Struct slamcore::ImageFormatTraits< ImageFormat::RGB_F >
      • Struct slamcore::MultiSessionID
      • Struct slamcore::ReferenceFrameInterface
      • Struct slamcore::StreamType
      • Struct slamcore::StreamType< Stream::ActiveMap >
      • Struct slamcore::StreamType< Stream::ErrorCode >
      • Struct slamcore::StreamType< Stream::FrameSync >
      • Struct slamcore::StreamType< Stream::IMU >
      • Struct slamcore::StreamType< Stream::LocalPointCloud >
      • Struct slamcore::StreamType< Stream::MetaData >
      • Struct slamcore::StreamType< Stream::Pose >
      • Struct slamcore::StreamType< Stream::Velocity >
      • Struct slamcore::StreamType< Stream::Video >
      • Struct slamcore::TrajectorySubsystemInterface::TrajectoryPaths
      • Struct slamcore::camera_clock
      • Struct slamcore::gps_clock
      • Struct slamcore::imu_clock
      • Struct slamcore::lidar_clock
      • Struct slamcore::odometry_clock
      • Struct slamcore::v0::SystemConfiguration
    • Namespaces
      • Namespace @11
      • Namespace slamcore
      • Namespace slamcore::detail
      • Namespace slamcore::internal
      • Namespace slamcore::v0
      • Namespace std
    • Examples
      • Example ascii_image.cpp
      • Example ascii_mapping.cpp
      • Example hello_world_all_streams.cpp
      • Example multisession.cpp
      • Example reset.cpp
      • Example save_load_session.cpp
      • Example wheel_odometry.cpp
      • Example write_trajectory.cpp
  • SLAMcore ROS1 Wrapper
    • Software Prerequisites
    • ROS1 Wrapper Layout
    • Installation
    • Usage
      • SLAM Mode
      • SLAM using a recorded dataset
      • Localisation Mode
      • Height Mapping Mode
      • Dataset Recorder
    • ROS1 Visualisation
    • ROS1 API
      • Advertised Topics
      • Advertised Services
      • Advertised Parameters
  • SLAMcore ROS2 Wrapper
    • Introduction
    • Usage
      • SLAM Mode
      • SLAM using a recorded dataset
      • Localisation Mode
      • Height Mapping Mode
      • Dataset Recorder
    • ROS2 API
      • Lifecycles Nodes
      • Advertised Topics
      • Advertised Services
      • Advertised Parameters

Configuration

  • Configuration Overview
    • Download
    • Usage
      • Visualiser, Dataset Recorder and CLI
      • ROS1 Wrapper
      • ROS2 Wrapper
    • Configuration Files
      • Environment-Specific Presets
      • Feature-Specific Presets
      • Custom Configuration
  • RealSense Configuration
  • SLAM Configuration
    • Display Name
    • Positioning Mode
    • Estimator Parameters
    • Frontend Parameters
      • Tracking On Plane
    • Multisession Parameters
  • Height Mapping Configuration
    • EnableFeatureMap2D
    • Height Mapping Parameters
      • Occupancy Extraction Parameters
  • Point Cloud Configuration
    • Point Cloud Trimming
      • Vertical Height Trimming
      • Depth Trimming

Tutorials & Examples

  • Tutorial Overview
    • 1. Capturing Datasets
    • 2. Processing Datasets
      • Visual-Inertial Odometry (VIO)
      • Single-session SLAM mode
      • Localisation using a pre-built point cloud
    • 3. Multi-Agent Localisation
    • 4. Wheel Odometry Integration
    • 5. 2D Occupancy Mapping
    • 6. ROS1 Melodic Navigation Stack Integration
    • 7. ROS2 Foxy Nav2 Integration
  • Capturing Datasets
    • Step 1 - Capture a Master Dataset of the entire test space
      • Step 1.1 - Launch the Dataset Recorder
      • Step 1.2 - Start the recorder
      • Step 1.3 - Move the sensor around the test environment twice
      • Step 1.4 - Stop recording
    • Step 2 - Capture Evaluation Datasets
  • Localisation Mode
    • Step 1 - Create a master configuration file
    • Step 2 - Create the Offline Master Point-cloud
      • Step 2.1 - Launch the slamcore_visualiser tool
      • Step 2.2 - Generate the Offline Master Point-cloud
      • Step 2.3 - Save the Point-cloud
    • Step 3 - Create an Evaluation Configuration File
    • Step 4 - Evaluation: Localise within the Point-cloud
      • Step 4.1 - Load the Evaluation Datasets
      • Step 4.2 - Load the Point-cloud to Run the Dataset Within
      • Step 4.3 - Process the Evaluation Dataset
    • Step 5 - Evaluate the System with a Live Sensor Feed
      • Step 5.1 - Launch the Positioning Tool
      • Step 5.2 - Load the Point-cloud to Use for Live Localisation
      • Step 5.3 - Run the System Live
  • Single Session SLAM Positioning Mode
    • Step 1 - Create a Configuration File
    • Step 2 - Process a Dataset
    • Step 3 - Try the System in Live Mode
  • Visual-Inertial Odometry Positioning
    • Step 1 - Create a Configuration File
    • Step 2 - Process a Dataset
    • Step 3 - Try the System in Live Mode
  • Multi-Agent Localisation
    • Step 1 - Create a Master Configuration File
    • Step 2 - Create the Offline Master Point-cloud
      • Step 2.1 - Launch the slamcore_visualiser Tool
      • Step 2.2 - Generate the Offline Master Point-cloud
      • Step 2.3 - Save the Point-cloud
    • Step 3 - Copy the Session Map File to any Compatible Machine
    • Step 4 - Run Localisation using a Pre-built Point-cloud
      • Step 4.1 - Launch the Positioning Tool on any Compatible Machine
      • Step 4.2 - Load the Point-cloud to Use for Live Localisation
      • Step 4.3 - Run the System Live
  • RealSense Camera Calibration
    • Requirements
    • Recording Environment
    • Capturing a Sequence
    • Send Files to SLAMcore for Calibration
      • Dataset Folder Structure
      • Dataset Validation
      • Compress the files
      • Upload the sequences
      • Calibration Confirmation
  • Wheel Odometry Integration
    • Requirements
    • VI Calibration
    • VIK Calibration
      • VIK Calibration Dataset
      • Recording Procedure
      • Calibration Sequences
      • Dataset Folder Structure
    • Send to SLAMcore for Calibration
      • Dataset Validation
      • Compress the files
      • Obtain the Camera-Odometry Frame of Reference Transformation
      • Email SLAMcore
    • Run the system in VIK Mode
      • Run VIK SLAM on live camera (ROS)
      • Run VIK SLAM with a dataset
  • 2D Occupancy Mapping
    • Requirements
    • Usage
      • Step 1 - Record a dataset of the entire test environment
      • Step 2 - Prepare the mapping configuration file
      • Step 3 - Create a session map
      • Step 4 - Inspect Map in Session Explorer
      • Step 5 - Load Occupancy Map in ROS
  • ROS1 Navigation Stack Integration
    • Goal
    • Hardware Setup
    • ROS1 Navigation Stack Setup
    • Outline
    • Set up Dependencies
      • Set up Binary Dependencies
      • Set up ROS1 work workspace
    • Run Visual-Inertial-Kinematic Calibration
    • Compute the slamcore/base_link ➞ base_footprint Transformation
    • Record Dataset to Map the Environment
    • Create Session and Map for Navigation
      • Edit the Generated Session/Map
    • Specify the Session and the Configuration File Paths
    • Launch Live Navigation
      • Interact with the Navigation Demo
      • Waypoint Navigation
    • Appendix
      • Navigation Demo Video
      • Remote Visualisation of the Navigation Demo
      • Obstacle Avoidance
      • Troubleshooting
  • Nav2 Integration
    • Goal
    • Hardware Setup
    • Nav2 Setup
    • Outline
    • Set Up Robot
    • Set Up Visualisation Machine
    • Run Visual-Inertial-Kinematic Calibration [Paid Add-on]
    • Compute the slamcore/base_link ➞ base_footprint Transformation
    • Create a Map and Run Live Navigation
      • Navigation in single session SLAM mode
      • Navigation in localisation mode using a prerecorded map
      • Interact with the Navigation Demo
      • Nav2 Configuration
    • Appendix
      • Troubleshooting
      • PS4 Button Mapping
      • Existing issues in Nav2 / ROS2

Technical Guides

  • Guide to Trajectories
  • Tracking Status
  • Frames of Reference Convention
    • map and odom frames

Additional Information

  • Telemetry Data
  • Feature Roadmap
    • Future
  • Feedback
  • Documentation License
  • Contact Information
  • Release Notes
    • Version 21.06.2
      • Fixed
    • Version 21.06.1
      • New
      • Improved
    • Version 21.06
      • New
      • Improved
      • Fixed
    • Version 21.05.3
      • Improved
    • Version 21.05.2
      • Improved
      • Fixed
    • Version 21.05.1
      • Improved
    • Version 21.05
      • New
      • Improved
    • Version 21.04.1
      • Improved
    • Version 21.04
      • New
      • Improved
      • Fixed
    • Version 21.03
      • New
      • Improved
      • Fixed
    • Version 21.02.1
      • Improved
    • Version 21.02
      • New
      • Fixed
    • Version 21.01.1
      • Fixed
    • Version 21.01
      • New
      • Improved
      • Fixed
    • Version 0.6
      • New
      • Improved
      • Fixed
    • Version 0.5.2
      • New
    • Version 0.5.1
      • Fixed
    • Version 0.5
      • New
      • Improved
      • Fixed
    • Version 0.4
      • New
      • Improved
      • Fixed
    • Version 0.3
      • New
      • Improved
    • Version 0.2
      • New
    • Version 0.1.0
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Spatial intelligence for autonomous robots and drones

Introduction

  • Overview
  • Getting Started
  • Run with Public Datasets
  • Setting up a Camera
  • Requirements
  • Glossary
  • FAQs
  • Troubleshooting

Software Tools

  • SLAMcore Visualiser
  • SLAMcore Dataset Recorder
  • SLAMcore CLI
  • SLAMcore Session Explorer
  • SLAMcore Scripts

API

  • SLAMcore C++ API
  • SLAMcore ROS1 Wrapper
  • SLAMcore ROS2 Wrapper

Configuration

  • Configuration Overview
  • RealSense Configuration
  • SLAM Configuration
  • Height Mapping Configuration
  • Point Cloud Configuration

Tutorials & Examples

  • Tutorial Overview
  • Capturing Datasets
  • Localisation Mode
  • Single Session SLAM Positioning Mode
  • Visual-Inertial Odometry Positioning
  • Multi-Agent Localisation
  • RealSense Camera Calibration
  • Wheel Odometry Integration
  • 2D Occupancy Mapping
  • ROS1 Navigation Stack Integration
  • Nav2 Integration

Technical Guides

  • Guide to Trajectories
  • Tracking Status
  • Frames of Reference Convention

Additional Information

  • Telemetry Data
  • Feature Roadmap
  • Feedback
  • Documentation License
  • Contact Information
  • Release Notes
Next

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