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Commits on Jul 13, 2018

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  2. Merge pull request #90 from ethz-asl/fix/vi-map-optimizer-leak

    fixed a leak, optimization problem was not freed
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  1. minor launch file changes

    LBern committed Dec 4, 2019
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  2. Fixes two keyframing issues:

      1. Solves crash during kfh when a vertex is deleted during merging and
         a const ref pointing to the transformation_edge's sensor_id no longer
         exists and contains a bogus value.
      2. Solves crash where the last vertex in a map is added twice during keyframing,
         causing issues downstream.
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  2. Merge pull request #183 from ethz-asl/fix/keyframing_crash

    Fix two keyframing issues
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  3. Reintroduce nframe timestamp diff tolerance parameter.

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  7. Merge pull request #184 from ethz-asl/fix/nframe_ts_diff_tolerance

    Fix frame dropping issue
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  9. Merge pull request #186 from ethz-asl/fix/map_value_types

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  4. Merge remote-tracking branch 'origin/devel/alice' into devel/refactor…

    …_maplab_server_to_new_transfolder_changes
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  4. Merge branch 'devel/refactor_maplab_server_to_new_transfolder_changes…

    …' of cerberus-base-station:git/darpa_subt_mapping/maplab into devel/refactor_maplab_server_to_new_transfolder_changes
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  5. fix duplicate ros param

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  6. Merge branch 'devel/refactor_maplab_server_to_new_transfolder_changes…

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  8. Merge pull request #185 from ethz-asl/feature/discard_non_strictly_in…

    …creasing_imu_and_img_msgs
    
    Discard IMU/Img msgs if not strictly increasing timestamps
    HuanNguyenARL authored Dec 10, 2019
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Showing 1,296 changed files with 83,067 additions and 48,129 deletions.
1 change: 1 addition & 0 deletions .clang-format
Original file line number Diff line number Diff line change
@@ -8,6 +8,7 @@ AllowShortFunctionsOnASingleLine: Empty
AllowShortIfStatementsOnASingleLine: false
AllowShortLoopsOnASingleLine: false
AlignAfterOpenBracket: AlwaysBreak
IncludeBlocks: Preserve
IncludeCategories:
- Regex: '^<.*'
Priority: 1
9 changes: 9 additions & 0 deletions .gitignore
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@@ -52,3 +52,12 @@ CMakeLists.txt.user

# Maplab temporary files.
*.vi_command_history
.vscode/

# Documentation
docs/build
docs/doxyoutput
docs/api

# Docker
docker_ctx/
76 changes: 71 additions & 5 deletions .gitmodules
Original file line number Diff line number Diff line change
@@ -1,6 +1,72 @@
[submodule "tools/maplab_test_data"]
path = tools/maplab_test_data
url = https://github.com/ethz-asl/maplab_test_data.git
[submodule "aslam_cv2"]
path = aslam_cv2
url = https://github.com/ethz-asl/aslam_cv2.git
path = tools/maplab-test-data
url = git@github.com:ethz-asl/maplab_test_data.git
[submodule "dependencies/3rdparty/protobuf_catkin"]
path = dependencies/3rdparty/protobuf_catkin
url = git@github.com:ethz-asl/protobuf_catkin.git
[submodule "dependencies/3rdparty/glog_catkin"]
path = dependencies/3rdparty/glog_catkin
url = git@github.com:ethz-asl/glog_catkin.git
[submodule "dependencies/3rdparty/gflags_catkin"]
path = dependencies/3rdparty/gflags_catkin
url = git@github.com:ethz-asl/gflags_catkin.git
[submodule "dependencies/3rdparty/ceres_catkin"]
path = dependencies/3rdparty/ceres_catkin
url = git@github.com:ethz-asl/ceres_catkin.git
[submodule "dependencies/3rdparty/suitesparse"]
path = dependencies/3rdparty/suitesparse
url = git@github.com:ethz-asl/suitesparse.git
[submodule "dependencies/3rdparty/eigen_catkin"]
path = dependencies/3rdparty/eigen_catkin
url = git@github.com:ethz-asl/eigen_catkin.git
[submodule "dependencies/3rdparty/yaml_cpp_catkin"]
path = dependencies/3rdparty/yaml_cpp_catkin
url = git@github.com:ethz-asl/yaml_cpp_catkin.git
[submodule "dependencies/3rdparty/lpsolve_catkin"]
path = dependencies/3rdparty/lpsolve_catkin
url = git@github.com:ethz-asl/lpsolve_catkin.git
[submodule "dependencies/3rdparty/metis_catkin"]
path = dependencies/3rdparty/metis_catkin
url = git@github.com:ethz-asl/metis_catkin.git
[submodule "dependencies/3rdparty/opencv3_catkin"]
path = dependencies/3rdparty/opencv3_catkin
url = git@github.com:ethz-asl/opencv3_catkin.git
[submodule "dependencies/3rdparty/opengv"]
path = dependencies/3rdparty/opengv
url = git@github.com:ethz-asl/opengv.git
[submodule "dependencies/3rdparty/catkin_simple"]
path = dependencies/3rdparty/catkin_simple
url = git@github.com:catkin/catkin_simple.git
[submodule "dependencies/internal/voxblox"]
path = dependencies/internal/voxblox
url = git@github.com:ethz-asl/voxblox.git
[submodule "dependencies/internal/ethzasl_brisk"]
path = dependencies/internal/ethzasl_brisk
url = git@github.com:ethz-asl/ethzasl_brisk.git
[submodule "dependencies/internal/eigen_checks"]
path = dependencies/internal/eigen_checks
url = git@github.com:ethz-asl/eigen_checks.git
[submodule "dependencies/internal/libnabo"]
path = dependencies/internal/libnabo
url = git@github.com:ethz-asl/libnabo.git
[submodule "dependencies/internal/minkindr"]
path = dependencies/internal/minkindr
url = git@github.com:ethz-asl/minkindr.git
[submodule "dependencies/internal/minkindr_ros"]
path = dependencies/internal/minkindr_ros
url = git@github.com:ethz-asl/minkindr_ros.git
[submodule "dependencies/internal/maplab_rovio"]
path = dependencies/internal/maplab_rovio
url = git@github.com:ethz-asl/maplab_rovio.git
[submodule "dependencies/internal/kindr"]
path = dependencies/internal/kindr
url = git@github.com:ethz-asl/kindr.git
[submodule "dependencies/internal/plotty"]
path = dependencies/internal/plotty
url = git@github.com:ethz-asl/plotty.git
[submodule "dependencies/internal/linter"]
path = dependencies/internal/linter
url = git@github.com:ethz-asl/linter.git
[submodule "dependencies/internal/maplab_msgs"]
path = dependencies/internal/maplab_msgs
url = git@github.com:ethz-asl/maplab_msgs.git
3 changes: 3 additions & 0 deletions CONTRIBUTORS.md
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@@ -8,6 +8,9 @@
* Titus Cieslewski
* Timo Hinzmann
* Mathias Gehrig
* Florian Tschopp
* Andrei Cramariuc
* Lukas Bernreiter
* Nicolas Degen
* Andreas Pfrunder
* Helen Oleynikova
50 changes: 0 additions & 50 deletions DISABLED.travis.yml

This file was deleted.

99 changes: 50 additions & 49 deletions README.md
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@@ -1,91 +1,89 @@
<img src="https://github.com/ethz-asl/maplab/wiki/logos/maplab.png" width="500">
<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/logos/maplab_new.png" width="500">

*Ubuntu 14.04+ROS indigo* and *Ubuntu 16.04+ROS kinetic*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_nightly)](https://jenkins.asl.ethz.ch/job/maplab_nightly)

This repository contains **maplab**, an open, research-oriented visual-inertial mapping framework, written in C++, for creating, processing and manipulating multi-session maps.
On the one hand, maplab can be considered as a ready-to-use visual-inertial mapping and localization system.
On the other hand, maplab provides the research community with a collection of multi-session mapping tools that include map merging, visual-inertial batch optimization, and loop closure.
*Ubuntu 18.04+ROS melodic*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_nightly)](https://jenkins.asl.ethz.ch/job/maplab_nightly)
[![Documentation Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_docs&subject=docs)](https://jenkins.asl.ethz.ch/job/maplab_docs)

Furthermore, it includes an online frontend, **ROVIOLI**, that can create visual-inertial maps and also track a global drift-free pose within a localization map.
## News
* **November 2022:** maplab 2.0 initial release with new features and sensors. [Paper](https://arxiv.org/pdf/2212.00654.pdf).
* **July 2018:** Check out our release candidate with improved localization and lots of new features! [Release 1.3](https://github.com/ethz-asl/maplab/releases/tag/1.3).
* **May 2018:** maplab was presented at [ICRA](https://icra2018.org/) in Brisbane. [Paper](https://arxiv.org/abs/1711.10250) / [Initial Release](https://github.com/ethz-asl/maplab/releases/tag/initial_release).

For documentation, tutorials and datasets, please visit the [wiki](https://github.com/ethz-asl/maplab/wiki).

Please also check out our video:

<a href="https://www.youtube.com/watch?v=CrfG4v25B8k">
<img src="https://github.com/ethz-asl/maplab/wiki/readme_images/maplab_video_thumbnail.png" alt="https://www.youtube.com/watch?v=CrfG4v25B8k" width="600">
## Description

This repository contains **maplab 2.0**, an open research-oriented mapping framework, written in C++, for multi-session and multi-robot mapping. For the original maplab release from 2018 the source code and documentation is available [here](https://github.com/ethz-asl/maplab/releases/tag/1.3).

**For documentation, tutorials and datasets, please visit the [wiki](https://maplab.asl.ethz.ch/index.html).**

## Features

### Robust visual-inertial odometry with localization
<img src="https://github.com/ethz-asl/maplab/wiki/readme_images/rovio_stairs.gif" width="400"> <img src="https://github.com/ethz-asl/maplab/wiki/readme_images/rviz_cla_vs.gif" width="400">
<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/rovio_stairs.gif" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/rviz_cla_vs.gif" width="400">

### Large-scale multisession mapping and optimization
<img src="https://github.com/ethz-asl/maplab/wiki/readme_images/largescale.gif" width="400"> <img src="https://github.com/ethz-asl/maplab/wiki/readme_images/cla.png" width="400">
<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/largescale.gif" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/cla.png" width="400">

### Multi-robot mapping and online operation
<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/arche.jpg" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/multirobot.gif" width="400">

### Dense reconstruction
<img src="https://github.com/ethz-asl/maplab/wiki/readme_images/stereo.png" width="400"> <img src="https://github.com/ethz-asl/maplab/wiki/readme_images/pmvs.png" width="400">
<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/stereo.png" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/pmvs.png" width="400">

### A research platform extensively tested on real robots
<img src="https://github.com/ethz-asl/maplab/wiki/readme_images/topomap.png" width="400"> <img src="https://github.com/ethz-asl/maplab/wiki/readme_images/robots.jpg" width="400">
<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/topomap.png" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/robots.jpg" width="400">

## Installation and getting started

The following articles help you with getting started with maplab and ROVIOLI:

- [Installation on Ubuntu 14.04 or 16.04](https://github.com/ethz-asl/maplab/wiki/Installation-Ubuntu)
- [Introduction to the maplab framework](https://github.com/ethz-asl/maplab/wiki/Introduction-to-the-Maplab-Framework)
- [Structure of the framework](https://github.com/ethz-asl/maplab/wiki/Structure-of-the-framework)
- [Running ROVIOLI in VIO mode](https://github.com/ethz-asl/maplab/wiki/Running-ROVIOLI-in-VIO-mode)
- [Basic console usage](https://github.com/ethz-asl/maplab/wiki/Basic-Console-Usage)
- [Console map management](https://github.com/ethz-asl/maplab/wiki/Console-map-management)
- [Installation on Ubuntu 18.04 or 20.04](https://maplab.asl.ethz.ch/docs/master/pages/installation/A_Installation-Ubuntu.html)
- [Introduction to the maplab framework](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/A_The-Maplab-Framework.html)
- [Running ROVIOLI in VIO mode](https://maplab.asl.ethz.ch/docs/master/pages/tutorials-rovioli/B_Running-ROVIOLI-in-VIO-mode.html)
- [Basic console usage](https://maplab.asl.ethz.ch/docs/master/pages/tutorials-maplab/basics/A_Basic-Console-Usage.html)
- [Console map management](https://maplab.asl.ethz.ch/docs/master/pages/tutorials-maplab/basics/C_Console-map-management.html)

More detailed information can be found in the [wiki pages](https://github.com/ethz-asl/maplab/wiki).
**More detailed information can be found in the [wiki pages](https://maplab.asl.ethz.ch/index.html).**

## Research Results

The maplab framework has been used as an experimental platform for numerous scientific publications. For a complete list of publications please refer to [Research based on maplab](https://github.com/ethz-asl/maplab/wiki/Related-Research).
The maplab framework has been used as an experimental platform for numerous scientific publications. For a complete list of publications please refer to [Research based on maplab](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/C_Related-Research.html#additional-citations).

## Citing

Please cite the [following paper](https://arxiv.org/abs/1711.10250) when using maplab or ROVIOLI for your research:
Please cite the following papers [maplab](https://arxiv.org/abs/1711.10250) and [maplab 2.0](https://arxiv.org/abs/2212.00654) when using our framework for your research:

```bibtex
@article{schneider2018maplab,
title={maplab: An Open Framework for Research in Visual-inertial Mapping and Localization},
title={{maplab: An Open Framework for Research in Visual-inertial Mapping and Localization}},
author={T. Schneider and M. T. Dymczyk and M. Fehr and K. Egger and S. Lynen and I. Gilitschenski and R. Siegwart},
journal={IEEE Robotics and Automation Letters},
volume={3},
number={3},
pages={1418--1425},
year={2018},
doi={10.1109/LRA.2018.2800113}
}
```

```bibtex
@article{cramariuc2022maplab,
title={{maplab 2.0 – A Modular and Multi-Modal Mapping Framework}},
author={A. Cramariuc and L. Bernreiter and F. Tschopp and M. Fehr and V. Reijgwart and J. Nieto and R. Siegwart and C. Cadena},
journal={IEEE Robotics and Automation Letters},
volume={8},
number={2},
pages={520-527},
year={2023},
doi={10.1109/LRA.2022.3227865}
}
```

### Additional Citations

Certain components of maplab are directly using the code of the following publications:

* Localization:
```bibtex
@inproceedings{lynen2015get,
title={Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization.},
author={Lynen, Simon and Sattler, Torsten and Bosse, Michael and Hesch, Joel A and Pollefeys, Marc and Siegwart, Roland},
booktitle={Robotics: Science and Systems},
year={2015}
}
```
* ROVIOLI which is composed of ROVIO + maplab for map building and localization:
```bibtex
@article{bloesch2017iterated,
title={Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback},
author={Bloesch, Michael and Burri, Michael and Omari, Sammy and Hutter, Marco and Siegwart, Roland},
journal={The International Journal of Robotics Research},
volume={36},
number={10},
pages={1053--1072},
year={2017},
publisher={SAGE Publications Sage UK: London, England}
}
```
Certain components of maplab are directly based on [other publications](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/B_Citing-Maplab).


## Credits

@@ -98,5 +96,8 @@ Certain components of maplab are directly using the code of the following public
* Titus Cieslewski
* Timo Hinzmann
* Mathias Gehrig
* Florian Tschopp
* Andrei Cramariuc
* Lukas Bernreiter

For a complete list of contributors, have a look at [CONTRIBUTORS.md](https://github.com/ethz-asl/maplab/blob/master/CONTRIBUTORS.md)
23 changes: 2 additions & 21 deletions algorithms/ceres-error-terms/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -6,18 +6,15 @@ link_directories(${CATKIN_DEVEL_PREFIX}/lib)
find_package(catkin_simple REQUIRED)
catkin_simple(ALL_DEPS_REQUIRED)

add_definitions(-std=c++11 -Wno-enum-compare)
add_definitions(-Wno-enum-compare)

cs_add_library(${PROJECT_NAME}
src/block-pose-prior-error-term.cc
src/block-pose-prior-error-term-v2.cc
src/ceres-signal-handler.cc
src/inertial-error-term.cc
src/inertial-error-term-eigen.cc
src/parameterization/quaternion-param-eigen.cc
src/parameterization/quaternion-param-hamilton.cc
src/parameterization/quaternion-param-jpl.cc
src/parameterization/unit3-param.cc
src/pose-prior-error-term-eigen.cc
src/pose-prior-error-term.cc
src/position-error-term.cc
src/problem-information.cc)
@@ -59,10 +56,6 @@ catkin_add_gtest(test_inertial_term_test
test/test_inertial_term_test.cc)
target_link_libraries(test_inertial_term_test ${PROJECT_NAME})

catkin_add_gtest(test_inertial_term_test_eigen
test/test_inertial_term_test_eigen.cc)
target_link_libraries(test_inertial_term_test_eigen ${PROJECT_NAME})

catkin_add_gtest(test_3keyframe_inertial_term_test
test/test_3keyframe_inertial_term_test.cc)
target_link_libraries(test_3keyframe_inertial_term_test ${PROJECT_NAME})
@@ -86,17 +79,5 @@ catkin_add_gtest(test_six_dof_block_transformation_error_term_with_extrinsics
test/test_six_dof_block_transformation_error_term_with_extrinsics.cc)
target_link_libraries(test_six_dof_block_transformation_error_term_with_extrinsics ${PROJECT_NAME})

catkin_add_gtest(test_unit3_parameterization
test/test_unit3_parameterization.cc)
target_link_libraries(test_unit3_parameterization ${PROJECT_NAME})

catkin_add_gtest(test_quaternion_parameterization_eigen
test/test_quaternion_eigen_parameterization.cc)
target_link_libraries(test_quaternion_parameterization_eigen ${PROJECT_NAME})

catkin_add_gtest(test_aid_error_term
test/test_aid_error_term.cc)
target_link_libraries(test_aid_error_term ${PROJECT_NAME})

cs_install()
cs_export()
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