Run with Public Datasets
Slamcore software supports the following public datasets:
To run Slamcore with one of the public datasets:
Download the sequences from the official websites,
Install the slamcore-utils repository, and
Run the
slamcore-setup-datasetscript, which embeds a configuration file that points to the correct camera calibration data and converts the public datasets to a format that Slamcore supports.You should now be able to run the Visualiser using this dataset by running this in a terminal window:
$ slamcore_visualiser dataset -u <path/to/sequence>
Sample dataset layout after running the slamcore-setup-dataset
$ tree -L 2 mav0/
mav0/
├── body.yaml
├── cam0
│ ├── data
│ ├── data.csv
│ └── sensor.yaml
├── cam1
│ ├── data
│ ├── data.csv
│ └── sensor.yaml
├── capture_info.json
├── imu0
│ ├── data.csv
│ └── sensor.yaml
├── leica0
│ ├── data.csv
│ └── sensor.yaml
└── state_groundtruth_estimate0
├── data.csv
└── sensor.yaml
7 directories, 12 files
Note
For the EuRoC and TUM-VI datasets, please run Slamcore on the dataset with
mav0 as the root folder, for example:
$ slamcore_visualiser dataset -u /home/ubuntu/tum/dataset-room1_512_16/mav0/
Now you have confirmed that the software has downloaded and runs successfully on a public dataset. The next step is Setting up a Camera so you can run on live data and capture and process your own datasets.