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Basalt Headers

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.

Related Publications

Implemented camera models:

Implemented IMU preintegration:

B-spline trajectory representation:

Licence

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).

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Mirror of the Basalt-Headers repository. All pull requests and issues should be sent to https://gitlab.com/VladyslavUsenko/basalt-headers

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