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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