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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
  • »
  • Library API »
  • Namespace loop_closure_handler
  • Edit on GitHub

Namespace loop_closure_handler¶

Contents

  • Classes

  • Functions

  • Typedefs

Classes¶

  • Struct FrameKeypointIndexPair

  • Struct InlierIndexWithReprojectionError

  • Class LoopClosureHandler

Functions¶

  • Function loop_closure_handler::getBestStructureMatchForEveryKeypoint

Typedefs¶

  • Typedef loop_closure_handler::KeypointToInlierIndexWithReprojectionErrorMap

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

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