Slamcore Dataset Recorder

The Slamcore SDK enables you to record the camera and IMU data streams and store them under a dataset on disk, via the Slamcore Dataset Recorder application.

Note

It is possible to record a dataset whilst running live SLAM. See Usage - Dataset Recording while running SLAM for more information.

Usage

To record a dataset using your camera, run the following from a terminal window:

# Launch the Slamcore Dataset Recorder
$ slamcore_dataset_recorder

Application UI

Fig. 11 Slamcore Dataset Recorder - User Interface

To change the dataset’s destination directory, click on the folder icon Select Directory Button .

To record a dataset, press the red Record button Record Button or hit the space bar key. The application will display the duration of the current dataset recording.

To stop recording, press the blue Stop button Stop Button or hit the space bar key again. Once the dataset has been written to disk, the application will display a pop-up with the path to the recorded dataset directory, as in the figure below.

_images/dataset_recorder_gui_dataset_written.png

Fig. 12 Slamcore Dataset Recorder - Dataset Written Confirmation

Warning

Do not close the application until the pop-up is displayed to ensure all data is written to disk.

Once written, the dataset can be used as input to other Slamcore software tools.

See Dataset Compressor on how to perform PNG compression in a recorded dataset and saves storage space on your machine.

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)

RealSense Subcommand Options

The following options only apply to RealSense cameras.

realsense: Detect RealSense camera

--dev,--device: Integer device index for multiple reader types

--color,--no-color: Enable or disable the colour stream

--depth,--no-depth: Enable or disable the depth stream (See FAQs for detailed explanation)

--ir,--no-ir: Enable or disable the infrared stream

--fps: Override reader’s FPS (See FAQs for options)

OAK-D S2 Fixed-Focus Subcommand Options

The following options only apply to OAK-D S2 Fixed-Focus cameras.

oakd: Detect OAK-D S2 Fixed-Focus camera

--dev,--device: Integer device index for multiple reader types

--fps: Override reader’s FPS (See FAQs for options)

--rectify,--no-rectify{false}: Whether the reader should provide rectified stereo images