Introduction

Overview
Getting Started
Run with Public Datasets
Setting up a Camera
- Setting up an Intel® RealSense™ Camera
- Set up an OAK-D S2 Camera
Requirements
FAQs
Troubleshooting
Glossary

Software Tools

Slamcore Visualiser
Slamcore Dataset Recorder
Slamcore CLI
Slamcore Session Explorer
Slamcore Scripts
- Plot Trajectory
- Plot Map

Technology

Panoptic Segmentation API

API

Slamcore C++ API
Slamcore Python API
- Download
Slamcore ROS 2 Wrapper
Migrating from Earlier API Versions

Configuration

Configuration Overview
RealSense Configuration
SLAM Configuration
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
Capturing Datasets
- Step 1 - Capture a Master Dataset of the entire test space
- Step 2 - Capture Evaluation Datasets
Localisation Mode
Single Session SLAM Positioning Mode
Visual-Inertial Odometry Positioning
Multi-Agent Localisation
RealSense Camera Calibration
Wheel Odometry Integration
2D Occupancy Mapping
- Requirements
- Usage
Nav2 Integration Overview
Nav2 Integration Guide

Technical Guides

Guide to Trajectories
Tracking Information
- Tracking Status
- SLAM Events
Coordinate Frames Convention
- Coordinate Frames in ROS - map, odom and base_link

Additional Information

Telemetry Data
Feature Roadmap
- Coming Soon
- Future
Feedback
Documentation License
Contact Information
Release Notes
- Version 23.04
  - New
  - Improved
  - Breaking Changes
  - Removed
- Version 23.01.1
  - Fixed
- Version 23.01
  - New
  - Breaking Changes
- Version 21.06.3
  - Improved
- 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

Slamcore SDK

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Slamcore C++ API »
Structs »
Struct slamcore::StreamType< Stream::ActiveMap >

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Struct `slamcore::StreamType< Stream::ActiveMap >`

template<> struct StreamType<Stream::ActiveMap>

Public Types

using type = SparseMapInterface

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