Tutorial Reading VI Data

Below you find a self-explanatory "Hello World" example that you can use to interface the VI-Sensor.

#include <iostream>
#include "boost/bind.hpp" 
#include <visensor/visensor.hpp>

void ImageCallback(visensor::ViFrame::Ptr frame_ptr) {

  // The struct visensor::ViFrame is defined in 
  // libvisensor/include/visensor/visensor_datatypes.hpp
  std::cout << "Received image msg" << std::endl; 
}

void ImuCallback(boost::shared_ptr<visensor::ViImuMsg> imu_ptr) {

  // The struct visensor::ViImuMsg is defined in 
  // libvisensor/include/visensor/visensor_datatypes.hpp
  std::cout << "Received IMU msg" << std::endl; 
}

int main(int argc, char** argv) {

  visensor::ViSensorDriver drv;
  
  try {
    drv.init();
  } catch (visensor::exceptions::ConnectionException const &ex) {
    std::cout << ex.what() << "\n";
    return 1;
  }

  std::cout << "Opened VI-Sensor" << std::endl;

  // set callback for image messages
  drv.setCameraCallback(boost::bind(ImageCallback, _1));

  // set callback for IMU messages
  drv.setImuCallback(boost::bind(ImuCallback, _1));

  drv.startAllCameras();
  drv.startAllImus();

  //Setting camera parameter
  drv.setSensorConfigParam(visensor::SensorId::CAM0, "coarse_shutter_width", 600);

  std::cout << "Waiting for user input to end program." << std::endl;
  char a;
  std::cin >> a;

  return 0;
}

Once you installed the libvisensor as desribed here, you can copy paste the source code above into a cpp file and compile it using

g++ main.cpp -I/usr/local/include/ -l visensor

A slightly more complex example which also displays the incoming images using openCV is found in this github repo.