SLAMcore CLI¶
The SLAMcore command line tools are installed via the SLAMcore Tools package for your chosen platforms. There are three CLI applications:
slamcore_dataset_recorder_clislamcore_dataset_compressorslamcore_dataset_processor
Note
Run the tool(s) with --help-all for more information and options.
Dataset Recorder CLI¶
To record a dataset using your camera without using a GUI, run the following from a terminal window:
$ slamcore_dataset_recorder_cli -o <output/directory>
Ctrl + c to stop recording.
Command-Line Options¶
At start-up, the SLAMcore Dataset Recorder accepts the following command-line options:
- -h,--help¶
Print this help message and exit
- --help-all¶
Expand all help
- -v,--version¶
Display the version
- -c,--config-file :FILE ...¶
Path to the configuration file(s)
- -o,--output-dir REQUIRED¶
Path to the directory to generate the recorded dataset
Dataset Compressor¶
The dataset compressor is a command line tool that allows PNG compression in a recorded dataset, and thus saves storage space on your machine. The generated compressed dataset will take up less space and will still be processable by the SLAMcore SLAM software.
To compress a dataset, run the following from a terminal window:
$ slamcore_dataset_compressor -l <level> -j <jobs> -u <path/to/dataset> -o <output/dir>
Note
When processing a compressed dataset, a slightly higher CPU consumption is expected due to the “uncompress” step.
The -l flag allows you to set the compression level. We suggest a
compression level of -l 3 as it tends to reduce datasets to 1/3 of
the size without impacting decoding time for processing.
The -j flag allows you to set the number of simultaneous CPU threads used to
compress the dataset. This can be set to nproc if no other applications are
running on the machine (see nproc Linux manual page):
$ slamcore_dataset_compressor -j $(nproc) -l 3 -u <path/to/dataset> -o <output/dir>
Or a recommended half of nproc during normal CPU usage:
$ num_procs=$(nproc)
$ slamcore_dataset_compressor -j $((num_procs / 2)) -l 3 -u <path/to/dataset> -o <output/dir>
Command-Line Options¶
At start-up, the SLAMcore Dataset Processor accepts the following command-line options:
- -h,--help¶
Print this help message and exit
- -u, --euroc-dataset TEXT:DIR¶
Path to dataset directory
- -o,--output-dir TEXT REQUIRED¶
Path to output dataset directory
- -j INT¶
How many threads to use (uses all if not specified)
- --delete-src BOOLEAN¶
Delete source directory after successful compression
- -l,--compression-level INT¶
PNG compression level (0 = no compression to 9 = best compression) (set to
3if not specified)
Dataset Processor¶
The dataset processor is a command line tool that generates a session map from the SLAM run and saves the trajectories in CSV files, without using a GUI. This allows for more systematic evaluation of our tracking/positioning system. The optimised and unoptimised trajectories are recorded in two separate CSV files (more details in the Guide to Trajectories).
$ slamcore_dataset_processor dataset -u <path/to/dataset> -o
<output/directory>
Starting SLAMcore Dataset Processor...
[00:10] OK | Distance [m]: 1.28 | XYZ [m] -0.52 0.45 0.76
[00:21] OK | Distance [m]: 4.44 | XYZ [m] -0.32 -0.04 0.15
[00:30] OK | Distance [m]: 7.31 | XYZ [m] -0.27 -0.04 0.23
[00:39] OK | Distance [m]: 10.31 | XYZ [m] -0.33 0.03 0.27
[00:46] OK | Distance [m]: 12.79 | XYZ [m] -0.59 0.30 0.53
[00:53] OK | Distance [m]: 15.15 | XYZ [m] -1.87 0.17 0.33
[01:01] OK | Distance [m]: 17.69 | XYZ [m] -1.31 0.53 0.27
[01:10] OK | Distance [m]: 20.11 | XYZ [m] -0.57 0.41 0.52
[01:18] OK | Distance [m]: 22.63 | XYZ [m] -0.85 0.48 0.61
[01:24] OK | Distance [m]: 24.59 | XYZ [m] -1.30 0.55 0.28
[01:31] OK | Distance [m]: 26.33 | XYZ [m] -1.40 0.38 0.28
[01:38] OK | Distance [m]: 27.89 | XYZ [m] -1.22 0.59 0.27
[01:45] OK | Distance [m]: 29.83 | XYZ [m] 0.01 -0.03 0.02
Done.
Saving trajectories to "<output/directory>"...Done.
Please check the logs at:
/tmp/slamcore_dataset_processor.*
SLAM Mode¶
Live Camera¶
To run in live SLAM mode, where a sparse map is built on the go, from the terminal window run:
$ slamcore_dataset_processor -o <output/directory> -s
Ctrl + c to stop the SLAM session. A session file and the optimised and
unoptimised trajectories will be saved in the specified output directory.
If no -s flag is provided, no session file will be generated.
Note
The optimised trajectories differ when the -s flag is and isn’t
provided when saving a session.
SLAM using a recorded dataset¶
To run the dataset processor on a prerecorded dataset, use the dataset
subcommand and specify the dataset to use with the -u flag.
$ slamcore_dataset_processor dataset -u <path/to/dataset> -o <output/directory> -s
Localisation Mode¶
Note
In localisation mode, no optimised trajectory or session file will be generated, only a CSV file of the unoptimised trajectory.
Live Localisation¶
To run the dataset processor on a previously created map, load a session file
with the -l flag.
$ slamcore_dataset_processor -l <path/to/session/file> -o <output/directory>
Localisation using a recorded dataset¶
To run SLAM on a recorded dataset using a previously created map, use the
dataset subcommand, specify the dataset and session file to use with the
-u and -l flag respectively.
$ slamcore_dataset_processor dataset -u <path/to/dataset> -l <path/to/session/file> -o <output/directory>
Height Mapping Mode¶
Live Mapping¶
To generate a height map with a live camera feed, enable session saving and map
generation with the -s and -m flags respectively:
$ slamcore_dataset_processor -m -s -o <output/directory>
Mapping using a prerecorded dataset¶
To generate a height/occupancy map from a dataset that contains depth information, run:
$ slamcore_dataset_processor dataset -u <path/to/dataset> -m -s -o <output/directory>
Command-Line Options¶
At start-up, the SLAMcore Dataset Processor accepts the following command-line options:
- -h,--help¶
Print this help message and exit
- --help-all¶
Expand all help
- -v,--version¶
Display the version
- -c,--config-file :FILE ...¶
Path to the configuration file(s)
- -l,--load-session :FILE¶
Path to the session file to load
- -o,--output-dir DIR REQUIRED¶
Path to output directory
- -s,--save-session Excludes: --load-session¶
Generate session (“-s” to enable)
- -m,--generate-map2d¶
Produce a new 2D map
Dataset Subcommand Options¶
The dataset subcommand allows dataset processing via the SLAMcore Dataset Processor tool.
$ slamcore_dataset_processor dataset -u <path/to/dataset> -o <output/directory> -s
- -u,--euroc-dataset :DIR¶
Dataset reader path
- --ts,--timescale FLOAT¶
Timescale for dataset reader, for real time processing set to 1.0