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:
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 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.