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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 2020 Conference on Computer Vision and Pattern Recognition (CVPR), [DOI:10.1109/CVPR42600.2020.01116], [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).