Sensor driver library to the Visual-Inertial Sensor developed by the Autonomous Systems Lab (ASL), ETH Zurich and Skybotix AG. This sensor provides fully time-synchronized and factory calibrated IMU- and stereo-camera datastreams. A detailed spec sheet of the sensor can be found here. The ROS frontend of the VI-Sensor library can be found here.
A detailed description on how the sensor can be used in ROS is found in the corresponding ROS-Wiki.
Check out the sensor library and this node to your catkin workspace:
cd your_catkin_workspace
git clone https://github.com/ethz-asl/libvisensor.git
Make sure that you installed all necessary Ubuntu packages
sudo apt-get install libeigen3-dev libboost-dev
Build the package using catkin_make
catkin_make
Check out the sensor library
git clone https://github.com/ethz-asl/libvisensor.git
Make sure that you installed all necessary Ubuntu packages
sudo apt-get install libeigen3-dev libboost-dev
Build the package and install it system-wide.
cd libvisensor
./install_libvisensor
In case you don't want to install the library system-wide, you can also simply build it using
cd libvisensor
mkdir build
cd build
cmake ..
make
In this case, you have to ensure that your applications can find the library files and headers.
To see sample (stand-alone) projects, please refer to https://github.com/skybotix/visensor_sample_applications
This repo contains a few sample standalone applications for the VI-Sensor
- vi_sensor_interface: A very basic interface to the VI-Sensor. Receives images and IMU messages and displays it using openCV.
- vi_sensor_stereo_block_matcher: Applies rectification to Vi-Sensor images and subsequently computes the disparity image using standard openCV block matcher. Intrinsic & extrinsic calibration parameters for rectification are downloaded from VI-Sensor.