Regarding generating a map from OpenVINS and also regarding further improvements

[Aishkrish18]

I have a question regarding mapping to perform along with the OpenVINS localisation. I also see that ov_maplab is connected to this algorithm to perform mapping. I would like to get some insights on this and know more regarding this topic.

1. Is it synced to the localisation from OpenVINS such that as I localize I can generate a map for it or does it only work with datasets?

2. Does it generate a pgm map file and can we save it?

   I am currently working for my Master Thesis on localisation and path planning for mobile robot in industrial environments (indoors). On testing multiple algorithms, i find this one quite interesting to work on and also because of the active community support. I would also like to know if there are any additional improvements or open topics that i could work on as additional features on the algorithm.

Regards, Aishwarya

[goldbattle]

This ov_maplab enables running OpenVINS to generate a VI-Map structure that can be used by the maplab project. It does not support "localization" in this prior map, it only enables you to generate it. You could generate the map using OpenVINS and then use their online rovioli which could then localize to that map.

I am not sure about the pgm format (have never heard of this), but you can use maplab to export to csv and go from there: https://github.com/ethz-asl/maplab/blob/master/docs/pages/additional-formats/A_CSV-Dataset-Format.md