Go to file
Vladyslav Usenko dd44fdab74 Fix test. 2020-06-24 23:08:45 +02:00
cmake_modules cleanup tbb includes for deprecations 2020-06-24 12:03:29 +02:00
data Added initialization parameters to config files 2019-08-27 15:52:19 +02:00
doc update docs 2020-04-29 11:24:25 +02:00
docker Updates to Docker, Readme and CI 2020-04-28 23:01:10 +02:00
include/basalt hash_combine moved to headers and tbb_hash left-overs 2020-06-24 12:03:30 +02:00
scripts updated docker files 2020-04-28 11:56:46 +02:00
src address some maybe-uninitialized warnings (GCC9) 2020-06-24 12:19:26 +02:00
test Fix test. 2020-06-24 23:08:45 +02:00
thirdparty Fix test. 2020-06-24 23:08:45 +02:00
.clang-format add ./scripts/clang-format-all.sh and fix formatting 2019-04-24 13:16:06 +02:00
.gitignore Added development documentation. 2019-05-15 11:28:35 +02:00
.gitlab-ci.yml ci: add catalina jobs 2020-06-24 12:21:17 +02:00
.gitmodules removed data submodule 2019-06-10 22:15:26 +02:00
CMakeLists.txt fix cmake typo and completely silence indentation warning (eigen) 2020-06-24 12:19:55 +02:00
LICENSE Initial commit 2019-04-14 21:08:32 +02:00
README.md update docs 2020-04-29 11:24:25 +02:00

README.md

pipeline status

Basalt

For more information see https://vision.in.tum.de/research/vslam/basalt

teaser

This project contains tools for:

  • Camera, IMU and motion capture calibration.
  • Visual-inertial odometry and mapping.
  • Simulated environment to test different components of the system.

Some reusable components of the system are available as a separate header-only library (Documentation).

There is also a Github mirror of this project to enable easy forking.

Visual-Inertial Odometry and Mapping:

Calibration (explains implemented camera models):

Calibration (demonstrates how these tools can be used for dataset calibration):

  • The TUM VI Benchmark for Evaluating Visual-Inertial Odometry, D. Schubert, T. Goll, N. Demmel, V. Usenko, J. Stückler, D. Cremers, In 2018 International Conference on Intelligent Robots and Systems (IROS), [DOI:10.1109/IROS.2018.8593419], [arXiv:1804.06120].

Calibration (describes B-spline trajectory representation used in camera-IMU calibration):

  • Efficient Derivative Computation for Cumulative B-Splines on Lie Groups, C. Sommer, V. Usenko, D. Schubert, N. Demmel, D. Cremers, In [arXiv:1911.08860].

Installation

APT installation for Ubuntu 20.04, 18.04 and 16.04 (Fast)

Set up keys, add the repository to the sources list, update the Ubuntu package index and install Basalt:

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 0D97B6C9
sudo sh -c 'echo "deb [arch=amd64] http://packages.usenko.eu/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/basalt.list'
sudo apt-get update
sudo apt-get install basalt

Source installation for Ubuntu >= 18.04 and MacOS >= 10.14 Mojave

Clone the source code for the project and build it. For MacOS you should have Homebrew installed.

git clone --recursive https://gitlab.com/VladyslavUsenko/basalt.git
cd basalt
./scripts/install_deps.sh
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j8

NOTE: It is possible to compile the code on Ubuntu 16.04, but you need to install cmake-3.10 or higher and gcc-7. See corresponding Dockerfile as an example.

Usage

Device support

Development

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.