SLAMTEC Aurora Remote SDK and Demo

(中文版点此)

This repository contains the Demo code and project skeleton for using the SLAMTEC Aurora Remote SDK.

Prerequisites

• SLAMTEC Aurora Device
• WiFi or Ethernet connection between the device and the host machine

Prerequisites for Building

• CMake 3.12 or above
• C++14 Compiler (gcc 7.5 or above, MSVC 2019 or above, clang 8 or above)
• Pure C can be compiled with any C compiler that supports C11 (but C++ wrapper is not supported)
• OpenCV 4.2 or above (if you want to compile the demo that uses OpenCV)

ROS Integration

• SLAMTEC provides Aurora ROS wrapper nodes for ROS and ROS2.
• You can find the wrapper nodes on SLAMTEC Aurora Website. (ROS Wrapper Nodes)
• Some Aurora specific features are not supported in the ROS wrapper nodes, such as the auto floor detection.
• If you want to use the Aurora specific features, you need to use the Remote SDK.

Have you tried the SLAMTEC Official Tool?

We are highly recommend you to use the SLAMTEC Official Tool first for better evaluation and development experience.

• Aurora Remote App

They can be downloaded from the following links:

• SLAMTEC Aurora Website / (中文版点此)

API Reference of the Remote SDK

• Remote SDK API Reference This is the API reference for the Remote SDK. It contains the function prototypes, parameter descriptions, and return values for all the functions in the Remote SDK.

Steps to build the Demos

1. Clone the repository and its submodules:

   git clone --recurse-submodules https://github.com/Slamtec/aurora_remote_sdk_demo.git
   
   

2. (optional) Install the dependencies for the demo that uses OpenCV:

   e.g. on Ubuntu:

   sudo apt-get install -y libopencv-dev
   

3. Build the demos with CMake.

   # navigate to source directory
   mkdir build
   cd build
   cmake ..
   make
   

4. Run the demo.

How to deploy the SDK on target machines

• The precompiled libraries only depend on the C++ standard library, so it can be deployed on any machine that supports C++14.
• For Linux platforms, also make sure the glibc version is 2.31 or above.
• For MacOS platforms, only apple silicon based machines (M1/M2/M3 etc.) are supported.

About the Demos

Core Functionality Demos

simple_pose

• Basic demo showing how to retrieve device pose (position and orientation).
• 📖 Detailed README

relocalization

• Demonstrates how to trigger relocalization to establish device position in a known map.
• 📖 Detailed README

pure_c_demo

• Pure C implementation without C++ wrapper dependencies.
• 📖 Detailed README

Enhanced Imaging Demos (SDK 2.0)

depthcam_view

• Depth camera visualization with 3D point cloud export capabilities.
• Requires OpenCV.
• 📖 Detailed README

semantic_segmentation

• Real-time semantic segmentation with interactive visualization and model switching.
• Requires OpenCV.
• 📖 Detailed README

Sensor Data Demos

imu_fetcher

• Real-time IMU (accelerometer and gyroscope) data retrieval and display.
• 📖 Detailed README

frame_preview

• Captures and displays tracking frames and raw stereo camera images.
• Requires OpenCV.
• 📖 Detailed README

lidar_scan_plot

• Real-time LiDAR scan visualization with distance and quality data.
• Requires OpenCV.
• 📖 Detailed README

Mapping and Visualization Demos

map_render

• Renders VSLAM map data including keyframes and map points.
• Requires OpenCV.
• 📖 Detailed README

lidar_2dmap_render

• Generates and visualizes 2D occupancy grid maps from LiDAR data.
• Requires OpenCV.
• 📖 Detailed README

vslam_map_saveload

• Command-line tool for downloading/uploading VSLAM maps to/from devices.
• 📖 Detailed README

Calibration and Device Info Demos (SDK 2.0)

calibration_exporter

• Command-line tool for exporting camera and transform calibration data.
• Requires OpenCV.
• 📖 Detailed README

device_info_monitor

• Real-time monitoring of device basic information and status.
• 📖 Detailed README

Dataset Recording Demos (SDK 2.0)

colmap_recorder

• Records COLMAP-compatible datasets for Structure-from-Motion and 3D reconstruction.
• Configurable recording options including image quality, file formats, and processing parameters.
• Supports stereo recording, image undistortion, and various output formats.
• 📖 Detailed README

Advanced Features

time_sync

• Software-based time synchronization between Aurora device and client system.
• Sub-millisecond accuracy for accurate timestamp translation.
• Essential for correlating Aurora data with external sensors or events.
• 📖 Detailed README | 📚 Tutorial

pose_augmentation

• High-frequency pose output (up to 200+ Hz) using IMU data integration.
• Increases pose update rate from typical 10-15 Hz to 200+ Hz.
• Ideal for robotics navigation and AR/VR applications requiring low-latency pose estimates.
• 📖 Detailed README | 📚 Tutorial

pose_covariance

• Retrieve pose uncertainty estimates (position and orientation covariance).
• Assess localization confidence and quality in real-time.
• Useful for adaptive navigation, quality monitoring, and multi-sensor fusion.
• 📖 Detailed README | 📚 Tutorial

Device Configuration and Management (SDK 2.1.1)

persistent_config

• Manage device configuration entries via JSON-based API.
• Enumerate, get, set, and reset device configurations.
• Supports saving/loading configuration to/from files.
• 📖 Detailed README

transform_manager

• Manage coordinate frame transforms (SE3 poses) on the device.
• List, get, set, and reset transforms between coordinate frames.
• Useful for calibration adjustments and custom coordinate frame definitions.
• 📖 Detailed README

camera_mask

• Manage static camera masks for excluding regions from SLAM processing.
• Enable/disable masking, upload/download mask images.
• Useful for filtering out static obstacles, reflective surfaces, or moving objects.
• Requires OpenCV for image I/O operations.
• 📖 Detailed README

dashcam_recorder (Datalogger)

• Interactive console for monitoring and controlling the device datalogger.
• Real-time dashboard with recording status, storage info, and session management.
• Enable/disable recording, set size limits, and manage recording sessions.
• 📖 Detailed README

system_power

• Control Aurora device power operations (reboot and shutdown).
• Display device status before power operations.
• Safety confirmation required before executing power commands.
• 📖 Detailed README