Can maplab output complete state estimation?

[pedropgusmao]

Hello,

Besides the actual pose, is it possible for Maplab to provide an estimate of angular velocity, linear velocity, linear acceleration and IMU biases?

Thanks,

Pedro

[dymczykm]

@pedropgusmao we are reading the state of ROVIO and publishing it here: https://github.com/ethz-asl/maplab/blob/master/applications/rovioli/src/rovio-flow.cc#L188 You could tap on these values to read the linear velocity and IMU biases.

For the angular velocity/linear velocity you can look here: https://github.com/ethz-asl/maplab/blob/master/applications/rovioli/src/feature-tracking.cc#L18 Where we subscribe to IMU data and biases to debias them and use for feature tracking.

Hope that helps.

[pedropgusmao]

Hi @dymczykm , thanks for your answer. I was wondering also if it is possible also output those values after loop-closer and optimization. Maybe from the console?

Thanks,

[araujokth]

Yes, you can do that via the console using the command export_trajectory_to_csv and this is what is exported https://github.com/ethz-asl/maplab/blob/88d8587958c6902e7304a5ef7d88e867b30924b3/console-plugins/vi-map-data-import-export-plugin/src/export-vertex-data.cc#L65

[pedropgusmao]

Thanks