Kontiki - the continuous time toolkit
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/.
Example: Visual-inertial structure from motion
import numpy as np
import itertools
from kontiki import trajectories, sensors, TrajectoryEstimator
import kontiki.measurements as M
views, landmarks = load_my_sfm_data()
trajectory = trajectories.UniformSE3SplineTrajectory()
trajectory.extend_to(some_max_time, np.eye(4))
imu = sensors.BasicImu()
camera = sensors.PinholeCamera(720, 1280, 0.03, my_camera_matrix)
gyro_meas = [M.GyroscopeMeasurement(imu, t, x)
for t, x in my_gyro_data]
acc_meas = [M.AccelerometerMeasurement(imu, t, x)
for t, x in my_acc_data]
im_meas = [M.StaticRsCameraMeasurement(camera, obs)
for v in view for obs in v.observations]
estimator = TrajectoryEstimator(trajectory)
for m in itertools.chain(gyro_meas, acc_meas, im_meas):
estimator.add_measurement(m)
summary = estimator.solve()
Installation
See the documentation at https://hovren.github.io/kontiki/users/install.html.