Overview and Introduction

Introduction to the Maplab Framework
Structure of the framework
Related Research
FAQ
Known Issues

Installation

Installing on Ubuntu
Compilation and Debugging

Datasets

Sample Datasets

Tutorials for ROVIOLI (Online frontend)

ROVIOLI Introduction
Running ROVIOLI in VIO mode: calibartion files, rostopics, bag/topic mode, visualization
Running ROVIOLI in Localization mode
Multi-session mapping with ROVIOLI

Tutorials for using maplab (Offline tools) - Basics

Basic Console Usage
Parameters (Gflags)
Console map management: load, save, basic visualization
Inspecting and visualizing a map
Map visualization: see your map in RViz!
Preparing a single session map: optimization, loop-closure
Understanding loop-closure
Optimizing VI-Maps
Preparing a multi-session map: map anchoring, loop-closure, pose-graph relaxation
Dense Reconstruction: attaching resources to map, available reconstruction tools
Resource Importer

Tutorials for using maplab (Offline tools) - Use-cases

Multi-session use case: CLA, multi-floor use-case
Map sparsification: make your mapping more efficient
Stereo Dense Reconstruction: EuRoC, multi-session reconstruction use-case

Hardware integration and sensor calibration

Sensor Calibration Format: ncamera, imu-sigmas
Initial sensor calibration with Kalibr
Sensor calibration refinement
Intel RealSense ZR300
VersaVIS

Tutorials for extending maplab

Using the MapManager
Using Timing and Statistics
Coding Examples: Creating a custom console plugin
Coding Examples: Woriking with the VI Map
Console Plugin System

Developement Guidelines

Importing maplab to Eclipse
Contributing to maplab
Header Include Guide
Debugging applications
Expressing frame transformations in code
Verbosity Policy

Additional Formats

CSV Dataset Format

API

Library API

maplab

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Library API »
Function ceres_error_terms::Unit3::GetNormalVector
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Function ceres_error_terms::Unit3::GetNormalVector¶

Function Documentation¶

inline Eigen::Vector3d ceres_error_terms::Unit3::GetNormalVector(const Eigen::Quaterniond &q)¶

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© Copyright 2021, ASL Mapping Team. Last updated on Feb 26, 2021, 4:48:45 AM.

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Other Versions v: develop

Branches: devel/alice; devel/alice_noetic; devel/bosch; devel/dostreif; devel/euroc_launch; devel/fix_first_vertex_bug; devel/turtlebot; develop; feature/lidar_features_bundle_adjustment; feature/lidar_features_compelete_pipeline; feature/loam_matching; feature/lpm; feature/map_publish_timer; feature/new_server_approach; feature/per_robot_dense_map_publisher; feature/registration_tuning; feature/semantic-landmarks; feature/sparse_graph_creation; feature/test_regbox; feature/xyzirt_support; fix/empty_pointclouds; fix/install-noetic