You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
**More detailed information can be found in the [wiki pages](https://maplab.asl.ethz.ch/docs/develop/index.html).**
47
+
**More detailed information can be found in the [wiki pages](https://maplab.asl.ethz.ch/index.html).**
47
48
48
49
## Research Results
49
50
50
-
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/pages/overview_and_introduction/C_Related-Research.html).
51
+
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).
51
52
52
53
## Citing
53
54
54
-
Please cite the [following paper](https://arxiv.org/abs/1711.10250) when using maplab for your research:
55
+
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:
55
56
56
57
```bibtex
57
58
@article{schneider2018maplab,
58
-
title={maplab: An Open Framework for Research in Visual-inertial Mapping and Localization},
59
+
title={{maplab: An Open Framework for Research in Visual-inertial Mapping and Localization}},
59
60
author={T. Schneider and M. T. Dymczyk and M. Fehr and K. Egger and S. Lynen and I. Gilitschenski and R. Siegwart},
60
61
journal={IEEE Robotics and Automation Letters},
62
+
volume={3},
63
+
number={3},
64
+
pages={1418--1425},
61
65
year={2018},
62
66
doi={10.1109/LRA.2018.2800113}
63
67
}
64
68
```
65
69
70
+
```bibtex
71
+
@article{cramariuc2022maplab,
72
+
title={{maplab 2.0 – A Modular and Multi-Modal Mapping Framework}},
73
+
author={A. Cramariuc and L. Bernreiter and F. Tschopp and M. Fehr and V. Reijgwart and J. Nieto and R. Siegwart and C. Cadena},
74
+
journal={IEEE Robotics and Automation Letters},
75
+
volume={8},
76
+
number={2},
77
+
pages={520-527},
78
+
year={2023},
79
+
doi={10.1109/LRA.2022.3227865}
80
+
}
81
+
```
82
+
66
83
### Additional Citations
67
84
68
-
Certain components of maplab are directly using the code of the following publications:
69
-
70
-
* Localization:
71
-
```bibtex
72
-
@inproceedings{lynen2015get,
73
-
title={Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization.},
74
-
author={Lynen, Simon and Sattler, Torsten and Bosse, Michael and Hesch, Joel A and Pollefeys, Marc and Siegwart, Roland},
75
-
booktitle={Robotics: Science and Systems},
76
-
year={2015}
77
-
}
78
-
```
79
-
* ROVIOLI which is composed of ROVIO + maplab for map building and localization:
80
-
```bibtex
81
-
@article{bloesch2017iterated,
82
-
title={Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback},
83
-
author={Bloesch, Michael and Burri, Michael and Omari, Sammy and Hutter, Marco and Siegwart, Roland},
84
-
journal={The International Journal of Robotics Research},
Certain components of maplab are directly based on [other publications](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/B_Citing-Maplab).
For your convenience, we provide an install script to automate the whole installtion. Please make sure that you have an [SSH key activated on your GitHub account.](https://help.github.com/en/github/authenticating-to-github/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent)
Now you can clone maplab and its dependencies via SSH, https clone is not supported for developer version.
93
-
SSH keys need to be installed and connected to your GitHub account, as explained [here.](https://help.github.com/en/github/authenticating-to-github/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent)
85
+
SSH keys need to be installed and connected to your GitHub account, as explained [here](https://help.github.com/en/github/authenticating-to-github/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent).
**Note:** Currently some of our dependencies contain superfluous packages that will not have all the necessary dependencies. Therefore compilation will fail for these packages, if you try to build the complete workspace with: `catkin build`. Please have a look at the [FAQ](../overview_and_introduction/D_FAQ.md).
106
+
**Note:** Currently some of our dependencies contain superfluous packages that will not have all the necessary dependencies. Therefore compilation will fail for these packages, if you try to build the complete workspace with: `catkin build`.
114
107
115
108
#### Troubleshooting
116
109
117
-
Please visit the [FAQ](../overview_and_introduction/D_FAQ.md) section.
110
+
Please visit the [FAQ](../overview_and_introduction/D_FAQ.html#installation) and the additional instructions on debugging provided here [here](B_Compilation-and-Debugging.html).
ccache is a fast compiler cache. It is a program that is sitting in front of gcc and monitors what is being compiled. If a file was compiled before in the exact same state, then ccache will serve a compilation request from cache and thus lead to "instant" compilation.
4
+
ccache is a fast compiler cache. It is a program that sits in front of gcc and monitors what is being compiled. If a file was compiled before in the exact same state, then ccache will serve a compilation request from cache and thus lead to "instant" compilation.
5
5
6
6
To install ccache:
7
7
```bash
@@ -23,10 +23,6 @@ If you only changed a single package you can also restrict the build process to
23
23
```
24
24
catkin build maplab --no-deps
25
25
```
26
-
Even more efficient is invoking ```make -j8``` in the build folder of the package
27
-
```
28
-
cd ~/catkin_ws/build/maplab && make -j8
29
-
```
30
26
31
27
### Compile in Release/Debug mode
32
28
Most packages are not built in Release mode. To build packages in Release mode:
@@ -82,87 +78,4 @@ gdb --ex run --args ~/devel/lib/maplab/maplab --use_external_memory=false
82
78
```
83
79
Where ```--use_external_memory=false``` is just an example flag.
84
80
85
-
### Clang on Ubuntu 14.04
86
-
Clang 3.5 can be installed with
87
-
```
88
-
sudo apt-get install clang-3.5
89
-
```
90
-
and set as the default compiler with:
91
-
```
92
-
sudo update-alternatives --config c++
93
-
sudo update-alternatives --config cc
94
-
```
95
-
96
-
If you are using clang together with ccache on Ubuntu 14.04 you should consider updating the system's ccache version.
97
-
98
-
### Compile clang with openmp support on Ubuntu 14.04
Remove old packages and install the compiler and Intel runtime.
120
-
121
-
```
122
-
sudo apt-get install checkinstall libiomp-dev
123
-
sudo apt-get remove clang-* llvm-* libclang*
124
-
125
-
cd /tmp/llvm-clang-omp/build
126
-
checkinstall
127
-
```
128
-
Set a meaningful name for the package and let it conflict with the system's clang packages if you want to exclude the possibility of different versions conflicting.
Ubuntu 14.04 delivers ccache 3.1.9 that has no official clang support. A manual update to a version of ccache >= 3.2.0 is recommended when using clang. The following steps can be used to perform this update:
142
-
143
-
```
144
-
sudo apt-get install devscripts
145
-
mkdir -p /tmp/ccache
146
-
```
147
-
148
-
Get the current distro source package:
149
-
```
150
-
cd /tmp/ccache
151
-
apt-get build-dep ccache
152
-
apt-get source ccache
153
-
```
154
-
155
-
Upgrade the distro source package with the recent upstream source:
For adding gdb or valgrind to ROS launch files see examples [here](http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB).
0 commit comments