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Where can I download the SLAM library for the ZR300?

AWern2
Beginner
1,631 Views

Hi,

TLDR: Cannot find a public download link for the realsense slam library for linux.

bought ZR300 .. check

updated and patched kernel ... check

installed librealsense from github and ran examples ... check

installed realsense sdk from github ... check

installed realsense_samples from github ... fails:

~/realsense/realsense_samples/samples/slam_tutorial_1_web/cpp/main.cpp:9:36: fatal error: librealsense/slam/slam.h: No such file or directory

# include

Where can I get this file / the SLAM library?

This file is not in any of the public packages. The following link suggest to install librealsense-slam-dev

https://github.com/IntelRealSense/realsense_samples_ros GitHub - IntelRealSense/realsense_samples_ros: Sample code illustrating how to develop ROS applications using the Intel®…

Somewhere i found link to securewiki.ith.intel.com but this is also inaccessible.

Another thread:

directs users to https://blueprints.launchpad.net/~halton-huo/+archive/ubuntu/realsense/+sourcepub/7140881/+listing-archive-extra https://blueprints.launchpad.net/~halton-huo/+archive/ubuntu/realsense/+sourcepub/7140881/+listing-archive-extra

but this site only has an archive with the a binary blob. Does this mean the SLAM is closed source?

Since the the platform here is not ubuntu or yocto linux (binaries available in this package) this could

be problematic.

Thanks.

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11 Replies
MartyG
Honored Contributor III
381 Views

The main reason I used that Blueprint page as a location to download the SLAM files was that it was relatively simple to work out how to download, compared to other locations for the files I had seen. I remembered that I had seen the author's more detailed page for the files during my researches though, and tracked down the link for that page again. I hope it will be of use to you.

http://bazaar.launchpad.net/~halton-huo/+junk/librealsense-slam/files ~halton-huo/+junk/librealsense-slam : files for revision 7

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AWern2
Beginner
381 Views

Thanks, I just looked into it. But this also contains into the binary blob.

Maybe somebody from Intel can answer this.

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idata
Employee
381 Views

Hi yalahG4e,

 

 

Thank you for contacting us. We reviewed the links you provided and the Github link leads to securewiki.ith.intel.com. There's the information needed to install the SLAM library. I tried to access the website outside the Intel network and was unable to access it, probably finding the same message you found. Please allow us to check why this is happening and if there's an alternative to download the SLAM library.

 

 

Regards,

 

-Sergio A

 

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AWern2
Beginner
381 Views

Thanks a lot for investigating this. It would be really interesting

to have the slam library running. I would straight away evaluate the

real-time performance of the camera pose estimation on a robotic

system.

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idata
Employee
381 Views

Hi yalahG4e,

 

 

Thank you for your patience. We've found an alternative site with instructions to download the Linux SDK modules: https://software.intel.com/sites/products/realsense/intro/getting_started.html . Try to install SLAM using this information and let us know if you're successful.

 

 

In regards to the issue on securewiki.ith.intel.com site, we've notified the right team.

 

 

We'll be waiting for your response.

 

 

-Sergio A

 

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AWern2
Beginner
381 Views

Hi,

thanks for checking this - now I understand that

http://realsense-alm-public.s3.amazonaws.com/apt-repo

has indeed valid content - just directory listing is not allowed.

Why directory listing -> my systems here are not running ubuntu

nor debian so i wanted to download the packages manually and

try to use them this way. In the meantime I got access to a debian

system so I can at least see that there are packages. As far as I

can see from apt those are compiled libraries and headers,

no source packages.

Play along with:

apt-get download --print-uris $(apt-cache search realsense | cut -d' ' -f1)

to see the package urls

e.g.

http://realsense-alm-public.s3.amazonaws.com/apt-repo/pool/xenial/main/libr/librealsense-slam/librealsense-slam2_2.0.4-0ubuntu1~34.gbpec17f0_amd64.deb http://realsense-alm-public.s3.amazonaws.com/apt-repo/pool/xenial/main/libr/librealsense-slam/librealsense-slam2_2.0.4-0

only contains the compiled library.

I will proceed with downloading the packages and unpacking them

manually. Hopefully the binaries will work on my system

(Opensuse leap 42.1/ x86_64).

Question)

Is access to the source code of the SLAM library possible in

the future or will this be closed source only? As I want to deploy

the camera on system where changing the hole operating system

is not possible, this can be a requirement. Even

if it is complex to compile, it would still help. I understand this is

research/experimental software.

Thanks a lot.

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AWern2
Beginner
381 Views

Hi,

unpacking the .deb packages worked! The slam is running.

Basically downloaded the packages and then ran

wget $(cat realsense_pkg_uris.txt )

ls *.deb | xargs -n1 unpack_deb.sh

where unpack_deb.sh is

set -v

set -e

ar -x $1

tar -axf data.tar.xz

I was now able to compile my own slam_tutorial_1_gui. Just the

window does not appear, but I'm foremost interested in the pose

estimation.

I will test the stability and performance of the camera pose next week.

For this it would also be interesting if the slam can also provide

* velocity data for the translation direction

* estimated imu offsets

However the slam.h does not expose those features. I think they would

be very valuable for robotic applications.

But also given that success I think it would still be preferable to have the

source of the slam module, if that is possible.

Best.

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idata
Employee
381 Views

It's great to know you managed to get SLAM working. Feel free to share with the community your tests and findings!

 

 

The source code of the SLAM library is already open source, you can find it here: https://software.intel.com/sites/products/realsense/slam/index.html .

 

 

Let us know if there's something else we can assist you with.

 

 

Regards,

 

-Sergio A

 

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idata
Employee
381 Views

Hi

 

 

We've continued to investigate about this case. We want to clarify that the source code for the driver and framework are provided, but not middleware (SLAM, person tracking, object recognition) which is Intel intellectual property.

 

 

Hopefully this helps clear any confusion of what's available.

 

 

Regards,

 

-Sergio A

 

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AWern2
Beginner
381 Views

Hi,

thanks for explaining this. I think the misunderstanding started with the word

middleware. From your perspective, i guess these libraries stand between the

camera and the application software and are thus middleware. For me the

term middleware was either associated with interprocess communication,

or with software which basically just forwards data. Even wikipedia shows

that i was a bit misled.

Maybe it would be helpful to add an illustration to the documentation which

shows the different components in relation to each other. Also it should

be clearly stated that not all of the code is open source.

Again I want to add here: From my point of view the success of these sensors

in the robotic community could be improved by one of:

1. Releasing not just .deb packages for Ubuntu but rather self contained

archives if binaries

2. Releasing the binaries also for other platforms (e.g. ARM). But I completely

understand that Intel wants to push it's platforms here.

3. Releasing the code as open source, still. Why? This is novel hardware, and

customer will buy your sensor for the hardware, not for the software.

Best.

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idata
Employee
381 Views

Thank you for the feedback. We've brought your latest reply to the attention of the team in charge. They'll take your inputs as consideration to help us improve our services.

 

 

Regards,

 

-Sergio A

 

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