36 lines
2.2 KiB
Markdown
36 lines
2.2 KiB
Markdown
[](https://gitlab.com/VladyslavUsenko/basalt-headers/commits/master)
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[](https://gitlab.com/VladyslavUsenko/basalt-headers/commits/master)
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## Basalt Headers
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This repository contains reusable components of Basalt project as header-only library ([Documentation](https://vladyslavusenko.gitlab.io/basalt-headers/)). For more information see https://vision.in.tum.de/research/vslam/basalt.
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This library includes:
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* Camera models.
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* Standalone image datatype with support for views, interpolation, gradients, and image pyramids.
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* Uniform B-Splines for Rd (d-dimentional vectors), SO(3) and SE(3).
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* Preintegration of inertial measurement unit (IMU) data.
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* Data types to store IMU-camera calibration.
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* Cereal serialization for basalt types as well as some Eigen and Sophus types.
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## Related Publications
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Implemented camera models:
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* **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]](https://doi.org/10.1109/3DV.2018.00069), [[arXiv:1807.08957]](https://arxiv.org/abs/1807.08957).
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Implemented IMU preintegration:
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* **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]](https://doi.org/10.1109/LRA.2019.2961227), [[arXiv:1904.06504]](https://arxiv.org/abs/1904.06504).
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B-spline trajectory representation:
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* **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]](https://doi.org/10.1109/CVPR42600.2020.01116), [[arXiv:1911.08860]](https://arxiv.org/abs/1911.08860).
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## Licence
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The code is provided under a BSD 3-clause license. See the LICENSE file for details.
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Note also the different licenses of thirdparty submodules.
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`image.h` is adapted from [Pangolin](https://github.com/stevenlovegrove/Pangolin) by Steven Lovegrove (MIT license).
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