Vladyslav Usenko / basalt · GitLab
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
Usage
- Camera, IMU and Mocap calibration. (TUM-VI, Euroc, UZH-FPV and Kalibr datasets)
- Visual-inertial odometry and mapping. (TUM-VI and Euroc datasets)
- Visual odometry (no IMU). (KITTI dataset)
- Simulation tools to test different components of the system.
- Batch evaluation tutorial (ICCV'21 experiments)
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.
Some improvements are ported back from the fork granite (MIT license).