v01

thirdparty/basalt-headers/doc/mainpage.dox

@@ -0,0 +1,32 @@
+/*!
+  \mainpage Documentation for Basalt Headers
+This is documentation page for the reusable components of the Basalt project extracted as header-only library. 
+
+Repository URL: https://gitlab.com/VladyslavUsenko/basalt-headers
+
+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:
+* **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).
+
+Implemented IMU preintegration:
+* **Visual-Inertial Mapping with Non-Linear Factor Recovery**, V. Usenko, N. Demmel, D. Schubert, J. Stückler, D. Cremers, In 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).
+
+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]](https://arxiv.org/abs/1911.08860).
+
+
+
+## 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.
+
+*/