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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
    • Page Hierarchy
    • Class Hierarchy
    • File Hierarchy
    • Full API
      • Namespaces
        • Namespace aslam
        • Namespace aslam::calibration
        • Namespace aslam::channels
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        • Namespace aslam::common
        • Namespace aslam::common::descriptor_utils
        • Namespace aslam::common::macros
        • Namespace aslam::common::stl_helpers
        • Namespace aslam::common::stl_helpers::internal
        • Namespace aslam::geometric_vision
        • Namespace aslam::internal
        • Namespace aslam::jet_trigonometric
        • Namespace aslam::serialization
        • Namespace aslam::serialization::internal
        • Namespace aslam::time
        • Namespace aslam::time::internal
        • Namespace aslam_cv_visualization
        • Namespace backend
        • Namespace backend::resource_map_serialization
        • Namespace backend::resource_map_serialization::internal
        • Namespace breakpoints
        • Namespace ceres
        • Namespace ceres_error_terms
        • Namespace ceres_error_terms::poseblocks
        • Namespace ceres_error_terms::positionblocks
        • Namespace ceres_error_terms::visual
        • Namespace common
        • Namespace common::conversions
        • Namespace common::eigen_proto
        • Namespace common::eigen_quaternion_helpers
        • Namespace common::geometry
        • Namespace common::glog_helpers
        • Namespace common::histograms
        • Namespace common::internal
        • Namespace common::locations
        • Namespace common::proto_serialization_helper
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        • Namespace common::serialization::internal
        • Namespace common::signals
        • Namespace common::window_vec_ops
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        • Namespace csv_export
        • Namespace cv
        • Namespace data_import_export
        • Namespace dense_mapping
        • Namespace dense_reconstruction
        • Namespace dense_reconstruction::stereo
        • Namespace depth_integration
        • Namespace descriptor_projection
        • Namespace evaluation
        • Namespace evaluation::internal
        • Namespace feature_tracking
        • Namespace gtest_catkin
        • Namespace imu_integrator
        • Namespace internal
        • Namespace landmark_manipulation_plugin
        • Namespace landmark_triangulation
        • Namespace libKAZE
        • Namespace localization_evaluator
        • Namespace loop_closure
        • Namespace loop_closure::distance
        • Namespace loop_closure::internal
        • Namespace loop_closure::inverted_index
        • Namespace loop_closure::inverted_multi_index
        • Namespace loop_closure::inverted_multi_index::common
        • Namespace loop_closure::kd_tree_index
        • Namespace loop_closure_handler
        • Namespace loop_closure_plugin
        • Namespace loop_closure_visualization
        • Namespace loop_detector
        • Namespace loop_detector_node
        • Namespace map_anchoring
        • Namespace map_anchoring_plugin
        • Namespace map_optimization
        • Namespace map_optimization_plugin
        • Namespace map_sparsification
        • Namespace map_sparsification::cost_functions
        • Namespace map_sparsification::sampling
        • Namespace map_sparsification::scoring
        • Namespace map_sparsification_plugin
        • Namespace map_sparsification_visualization
        • Namespace maplab
        • Namespace maplab::localization_fusion
        • Namespace mapping_workflows_plugin
        • Namespace matching_based_loopclosure
        • Namespace matching_based_loopclosure::scoring
        • Namespace mav_planning_utils
        • Namespace mav_planning_utils::path_planning
        • Namespace mav_planning_utils::proto
        • Namespace mav_viz
        • Namespace message_flow
        • Namespace metadata
        • Namespace metadata::proto
        • Namespace network
        • Namespace online_map_builders
        • Namespace pcl
        • Namespace pose
        • Namespace pose_graph
        • Namespace pose_graph::example
        • Namespace pose_graph_manipulation
        • Namespace product_quantization
        • Namespace regbox
        • Namespace resource_info
        • Namespace resource_info::proto
        • Namespace resources
        • Namespace ros_common
        • Namespace rosbag_plugin
        • Namespace rovioli
        • Namespace simulation
        • Namespace simulation::nframe_channels
        • Namespace sm
        • Namespace statistics
        • Namespace statistics_plugin
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        • Namespace summary_map::proto
        • Namespace test_trajectory_gen
        • Namespace timing
        • Namespace tinyply
        • Namespace vi_map
        • Namespace vi_map::proto
        • Namespace vi_map::serialization
        • Namespace vi_map::serialization::internal
        • Namespace vi_map::test
        • Namespace vi_map_helpers
        • Namespace vi_visualization
        • Namespace vio
        • Namespace vio_common
        • Namespace visual_inertial_mapping
        • Namespace visualization
        • Namespace visualization::internal
        • Namespace YAML
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Namespace map_sparsification¶

Contents

  • Namespaces

  • Classes

  • Functions

Namespaces¶

  • Namespace map_sparsification::cost_functions

  • Namespace map_sparsification::sampling

  • Namespace map_sparsification::scoring

Classes¶

  • Struct KeyframingHeuristicsOptions

  • Struct LprecWrapper

  • Class GraphPartitionSampler

  • Class LandmarkSparsifierBase

  • Class LpSolveSparsification

  • Class SamplerBase

Functions¶

  • Function map_sparsification::createSampler

  • Function map_sparsification::getLandmarkIndexForLandmarkId

  • Function map_sparsification::getQuadraticCostCoobservanceSparseMatrix

  • Function map_sparsification::removeVerticesBetweenKeyframes

  • Function map_sparsification::selectKeyframesBasedOnHeuristics

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