A modified versions of Kontiki used in LI_Calib.
Major changes:
-
Remove the interface of Python
-
Remove the dependence of Sophus
Sophus is only required at se3_spline_trajectory. Since we model the 6DoF trajectory with a split representation, we delete that file for removing the dependence of Sophus. If you are interested in exploring the difference between different representation of trajectories, you cloud add it back to the project.
-
Add LiDAR sensor
-
Add LiDAR measurements
Kontiki is a toolkit for continuous-time structure from motion. In short, it can estimate a trajectory (and 3D structure) from a set of measurements.
The documentation is available at https://hovren.github.io/kontiki/.
If you find Kontiki useful, please cite that fantastic work using the following Bibtex entry:
@misc{kontiki,
author = {Hannes Ovr\'en},
title = "Kontiki - the continuous time toolkit",
howpublished = "\url{https://github.com/hovren/kontiki}",
year = {2018}
}