This repo contains some tools to interface the VI-Sensor:
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visensor_calibration_flasher: Uploads VI-Sensor calibration on sensor firmware. The device itself is factory calibrated. However, if you changed the camera/IMU configuration, you can calibrate it using the Kalibr framework. The resulting camchain file can be uploaded to sensor using this script.
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visensor_update: Updates your VI-Sensor to newest firmware version. Checks online if your sensor is up to date and updates it if necessary.