Just an example implementation of cubic B-spline interpolation for 3D Euclidean motions (se3).
The following paper inspired me to implement this: "Continuous-Time Visual-Inertial Odometry for Event Cameras" Elias Mueggler, Guillermo Gallego, Henri Rebecq, and Davide Scaramuzza
Might be handy someday for Visual-SLAM problems with a high-frequency camera.
The code uses some c++20 features; I used GCC 8.3.0 with -std=c++2a -fconcepts.