4IMUs + 4Cams

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
RealSense T265 Left	30hz	/t265/fisheye2/image_raw	848x800
RealSense T265 Right	30hz	/t265/fisheye2/image_raw	848x800
ELP Left Rolling Shutter	25hz	/elp/split_sync_image_node/left/image_raw	640x480
ELP Right Rolling Shutter	25hz	/elp/split_sync_image_node/right/image_raw	640x480

Datasets

Datasets	Link	Kalibr Results with T265	Kalibr Results with ELP	MVIS Results
4imus_4cams_01.bag	download	download	download	download
4imus_4cams_02.bag	download	download	download	download
4imus_4cams_03.bag	download	download	download	download
4imus_4cams_04.bag	download	download	download	download
4imus_4cams_05.bag	download	download	download	download
4imus_4cams_06.bag	download	download	download	download
4imus_4cams_07.bag	download	download	download	download
4imus_4cams_08.bag	download	download	download	download
4imus_4cams_09.bag	download	download	download	download
4imus_4cams_10.bag	download	download	download	download
4imus_4cams_11.bag	download	download	download	download
4imus_4cams_12.bag	download	download	download	download
4imus_4cams_13.bag	download	download	download	download
4imus_4cams_14.bag	download	download	download	download
4imus_4cams_15.bag	download	download	download	download

Sensor Numbering for Kalibr and MVIS results

Sensors	T265 Left	T265 Right	ELP Left	ELP Right	GX3-25	GX3-35	Xsens Mti-100	T265 IMU
Kalibr with T265	cam0	cam1			imu0	imu1	imu2	imu3
Kalibr with ELP			cam0	cam1	imu0	imu1	imu2	imu3
MVIS	Cam0	Cam1	Cam2	Cam3	Ib	Is0	Is1	Is2

Scripts for running Kalibr

When calibrating IMU and ELP cameras, the extension of Kalibr is used.

Scripts for running MVIS

source devel/setup.bash
roslaunch mvis yulin_virig_for_mvis_init_large_errors.launch