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Overview and Introduction

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

Installation

• Installation Ubuntu

Datasets

• Sample Datasets

Tutorials for ROVIOLI (Online frontend)

• Running ROVIOLI in VIO mode: calibration 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
  • 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
• 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

• How to integrate a new sensor: coming soon (IMU-Sigmas - Janosch's tutorial)
• Sensor Calibration Format: ncamera, imu-sigmas
• Initial sensor calibration with Kalibr
• Sensor calibration refinement: refine your sensor calibration

Tutorials for extending maplab

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

Development Guidelines

• Importing maplab to Eclipse
• Contributing to Maplab
• Header Include Guide
• Debugging applications
• Expressing frame transformations in code

Additional Formats

• CSV Dataset Format