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

• Tutorial on Camera-IMU and Motion capture calibration with Realsense T265.

Development

• Development environment setup.

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).