# libvisensor

**Repository Path**: zhaowujie/libvisensor

## Basic Information

- **Project Name**: libvisensor
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-03-25
- **Last Updated**: 2022-03-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

libvisensor
=============

Sensor driver library to the Visual-Inertial Sensor developed by the [Autonomous Systems Lab (ASL), ETH Zurich](http://www.asl.ethz.ch) and [Skybotix AG](http://www.skybotix.com). 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](VISensor_Factsheet_web.pdf). The ROS frontend of the VI-Sensor library can be found [here](https://github.com/ethz-asl/visensor_node).

![alt text](http://wiki.ros.org/vi_sensor?action=AttachFile&do=get&target=vi-sensor-front.jpg "Sensor Photo")

A detailed description on how the sensor can be used in ROS is found in the corresponding [ROS-Wiki](http://wiki.ros.org/vi_sensor).

##Authors
* Michael Burri [michael.burri at mavt.ethz.ch]
* Janosch Nikolic [janosch.nikolic at mavt.ethz.ch]
* Jörn Rehder [joern.rehder at mavt.ethz.ch]
* Stefan Leutenegger [s.leutenegger at imperial.ac.uk]
* Thomas Schneider [schneith at ethz.ch]
* Pascal Gohl [pascal.gohl at mavt.ethz.ch]
* Sammy Omari [sammy.omari at mavt.ethz.ch]

## Reference
Please cite our paper when using the VI-Sensor in an academic publication.

1. <a name="nikolic"></a>Nikolic, J., Rehder, J., Burri, M., Gohl, P., Leutenegger, S., Furgale, P. T., & Siegwart, R. (2014). *A Synchronized Visual-Inertial Sensor System with FPGA Pre-Processing for Accurate Real-Time SLAM.* IEEE International Conference on Robotics and Automation (ICRA), Hongkong, China. ( [video] (http://youtu.be/jcjB_Pflu5A) )

as bibtex:
```
@inproceedings{nikolic2014synchronized,
  title={A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM},
  author={Nikolic, Janosch and Rehder, Joern and Burri, Michael and Gohl, Pascal and Leutenegger, Stefan and Furgale, Paul T and Siegwart, Roland},
  booktitle={Robotics and Automation (ICRA), 2014 IEEE International Conference on},
  pages={431--437},
  year={2014},
  organization={IEEE}
}
```

## Installation Instructions ROS

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
```

 
## Installation Instructions Stand-alone (No ROS)
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.