I’m building an off-road autonomous tractor perception stack on Jetson Orin NX + ZED X (ROS 2 Humble) and read your posts introducing TERRA Vision, Magellan™ (advanced vision-based localization), and TERRA SIM. I’d like guidance on reproducing the showcased capabilities (real-time 3D SLAM, multi-camera perception, occupancy/height maps, and precise localization) and on obtaining sample code or SDK modules.
1) Access & Samples
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Are there reference apps / sample projects for TERRA Vision, Magellan, and TERRA SIM (GitHub or SDK add-ons)?
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How can we obtain API documentation, headers/namespaces, and integration guides? Is a specific license, partner program, or NDA required?
2) Magellan™ (Vision-Based Localization)
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Required inputs and calibration for cm-level indoor/outdoor localization in agricultural, partially GNSS-denied environments (camera count, IMU/GNSS requirements, time-sync).
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Relationship with existing Global Localization (GNSS+VIO) — is Magellan a replacement or a higher-level module? Output frame, update rate, and map update workflow.
3) TERRA Vision (Multi-Camera Perception)
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Integration with Fusion API / ZED360: recommended workflow (temporal sync, extrinsics, 360° fusion) and abstraction level of outputs (occupancy/height maps, semantics, tracking, costmaps).
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I/O formats for real-time outputs (e.g., point clouds, meshes, occupancy grids, JSON) and any ROS 2 examples or launch files.
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Performance guidance on Orin NX (e.g., 2–4 cameras at 720p@30fps: latency, throughput, recommended settings).
4) 3D SLAM / Mapping Integration
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Best-practice architecture to combine ZED Spatial Mapping (mesh/fused PC) with Magellan/TERRA Vision outputs (localization, occupancy) in real time.
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Suggested presets, update cadence, reset/accumulation strategies for outdoor uneven terrain.
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Recommended export formats (OBJ/PLY/OctoMap) and parameter tips for off-road noise/reflective surfaces.
5) TERRA SIM
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Available sensor streams (stereo, IMU, GNSS, depth, semantics, occupancy, ground-truth pose), data formats/frequencies, and ROS 2 bridge/ROS bag/CSV/PCD export options.
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Whether Magellan/TERRA Vision can be evaluated in HIL/VIL with TERRA SIM; if so, any sample scenes or step-by-step guides.
6) Licensing, Support, Roadmap
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Commercial licensing (module-level pricing), evaluation options, and support packages.
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Roadmap for multi-camera scaling, API availability, and ROS 2 support.
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Hardware/setup recommendations for ZED X HDR + SDK 5.x + TERRA AI to achieve best performance on Orin NX.
Our current setup
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Platform: Jetson Orin NX 16GB, Ubuntu 22.04, ROS 2 Humble
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Cameras: ZED X (front now; plan to expand to 2–4 cameras for front/rear/sides)
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Goal: Real-time 3D SLAM + occupancy/semantic mapping + cm-level localization (Magellan) for off-road navigation, with CAN-bus integration for control
If possible, I’d appreciate a short technical call/demo and access to any private documentation or evaluation builds.
Thank you for your time and support.