VI-Rig — 4 IMUs + 4 cameras
4 IMUs + 4 Cams
Section titled “4 IMUs + 4 Cams”| Sensor | Hz | Topic | Resolution |
|---|---|---|---|
| MicroStrain GX3-25 | 500 | /gx3_25/data | — |
| MicroStrain GX3-35 | 100 | /gx3_35/imu/data | — |
| Xsens MTI-100 | 400 | /imu/data | — |
| RealSense T265 IMU | 200 | /t265/imu | — |
| RealSense T265 Left | 30 | /t265/fisheye1/image_raw | 848×800 |
| RealSense T265 Right | 30 | /t265/fisheye2/image_raw | 848×800 |
| ELP Left rolling shutter | 25 | /elp/split_sync_image_node/left/image_raw | 640×480 |
| ELP Right rolling shutter | 25 | /elp/split_sync_image_node/right/image_raw | 640×480 |
Datasets
Section titled “Datasets”| Bag | Link | Kalibr (T265) | Kalibr (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
Section titled “Sensor numbering for Kalibr and MVIS results”| Sensor | 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
Section titled “Scripts for running Kalibr”- April board config
- ms-25 config
- ms-35 config
- Xsens config
- T265 IMU config
- T265 camera calibration
- IMU-T265 calibration
- ELP camera calibration
- IMU-ELP calibration
When calibrating IMU and ELP cameras, the Kalibr extension is used.
Scripts for running MVIS
Section titled “Scripts for running MVIS”camcalib calibrate -c virig_4cams_cam.yaml # cameras firstcamcalib cam-imu -c virig_4cams_cam_imu.yaml