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4IMUs + 3Cams

sensor hz topic resolution
MicroStrain GX3-25 500hz /gx3_25/data
MicroStrain GX3-25 100hz /gx3_35/imu/data
Xsens MTI-100 400hz /imu/data
RealSense T265 IMU 200hz /t265/imu
FLIR BlackFly 30hz /blackfly/image_raw 720x540
RealSense T265 Left 30hz /t265/fisheye2/image_raw 848x800
RealSense T265 Right 30hz /t265/fisheye2/image_raw 848x800

Datasets

Datasets Link Kalibr Results MVIS Results
virig_4imus_3cams_april_01.bag download download download
virig_4imus_3cams_april_02.bag download download download
virig_4imus_3cams_april_03.bag download download download
virig_4imus_3cams_april_04.bag download download download
virig_4imus_3cams_april_05.bag download download download
virig_4imus_3cams_april_06.bag download download download
virig_4imus_3cams_april_07.bag download download download
virig_4imus_3cams_april_08.bag download download download
virig_4imus_3cams_april_09.bag download download download
virig_4imus_3cams_april_10.bag download download download
virig_4imus_3cams_april_01_static.bag download download

Sensor Numbering for Kalibr and MVIS results

Sensors BlackFly T265 Left T265 Right GX3-25 GX3-35 Xsens Mti-100 T265 IMU
Kalibr cam0 cam1 cam2 imu0 imu1 imu2 imu3
MVIS Cam2 Cam0 Cam1 Ib Is0 Is1 Is2

Scripts for running Kalibr

Scripts for running MVIS

source devel/setup.bash
roslaunch mvis yulin_virig_for_mvis_3cams.launch