maplab(1) - Installation and VIO mode

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1. Install ROS

2. Install OpenCV [optional]

* Installing libjasper-dev [4]
* For OpenCV3.2: cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DENABLE_PRECOMPILED_HEADERS=OFF -DOPENCV_GENERATE_PKGCONFIG=ON -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-3.2.0/modules ..

3. Running ROVIOLI in VIO mode

=> A save folder with map information will be created as following picture.


4. Map management

(1) rosrun maplab_console maplab_console
(2) load --map_folder <path/to/the/save_folder>
(3) v

*select --map_key my_empty_map: select the load map you want.

5. Inspecting and visualizing a map

(1) rosrun rviz rviz
(2) Add data source in rviz:  Marker from /vi_map_edges/viwls, PointCloud2 from vi_map_landmarks.


*Modify the CMakeLists.txt file in the opencv3_catkin folder is suggested if you use the virtual machine for development. (make -j8 -> make -j2)
*Adjust the bigger amount of memory is also recommended [5], or you will see the compiling error like:  "internal compiler error: Killed (program cc1plus)".
*For the readline library: sudo apt-get install libreadline6-dev
*Check that your rovio_default_config.info has the values pmp_0 defined like here https://github.com/ethz-asl/maplab/blob/pre_release_public/march-2018/applications/rovioli/share/rovio_default_config.info#L82 

* Modify the calibration files with your own sensor! [7]
* Modify the subscribe topic name with your own published topic! [8]

Tip: remap your topic to the default topic like:

rosbag play XXX.bag /snappy_cam/stereo_l:=/cam0/image_raw


Reference:
[1] https://github.com/ethz-asl/maplab
[2] http://wiki.ros.org/melodic/Installation/Ubuntu
[3] https://docs.opencv.org/trunk/d7/d9f/tutorial_linux_install.html
[4] https://blog.csdn.net/sophia_xw/article/details/95446515
[5] https://geek-university.com/vmware-player/change-the-memory-allocation/
[6] https://blog.csdn.net/crp997576280/article/details/82730244?utm_source=distribute.pc_relevant.none-task
[7] https://github.com/ethz-asl/maplab/wiki/Initial-sensor-calibration-with-Kalibr
[8] https://github.com/ethz-asl/maplab/issues/44 

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