This repository contains reusable components of Basalt project as header-only library (Documentation). For more information see https://vision.in.tum.de/research/vslam/basalt.
This library includes:
- Camera models.
- Standalone image datatype with support for views, interpolation, gradients, and image pyramids.
- Uniform B-Splines for Rd (d-dimentional vectors), SO(3) and SE(3).
- Preintegration of inertial measurement unit (IMU) data.
- Data types to store IMU-camera calibration.
- Cereal serialization for basalt types as well as some Eigen and Sophus types.
Implemented camera models:
- The Double Sphere Camera Model, V. Usenko and N. Demmel and D. Cremers, In 2018 International Conference on 3D Vision (3DV), [DOI:10.1109/3DV.2018.00069], [arXiv:1807.08957].
Implemented IMU preintegration:
- Visual-Inertial Mapping with Non-Linear Factor Recovery, V. Usenko, N. Demmel, D. Schubert, J. Stückler, D. Cremers, In IEEE Robotics and Automation Letters (RA-L) [DOI:10.1109/LRA.2019.2961227], [arXiv:1904.06504].
B-spline trajectory representation:
- Efficient Derivative Computation for Cumulative B-Splines on Lie Groups, C. Sommer, V. Usenko, D. Schubert, N. Demmel, D. Cremers, In [arXiv:1911.08860].
The code is provided under a BSD 3-clause license. See the LICENSE file for details. Note also the different licenses of thirdparty submodules.
image.h is adapted from Pangolin by Steven Lovegrove (MIT license).