imu_tk's People
Forkers
linpenghong rodgeliao kylincar zhengguoxian123 jixiaonanshine maxqu yjcs1990 kejingjing liuweisword fangchengji flshyi qljx yuancaichen wanghuayou1028 caoshiming xiaoqiangteng andycheng0614 sugie-liu lantingxin nonlinear1 wwtu einspyon liuwenhaha alanxuecn zl-su bingo-lab topcomma yuemingmuma ctf11 franticpink aurova daviddsun chandlen sevenchao bratekai hiramzhang waihekor xuejiangzhao fbz1993 dmchen2015 chenpkai mikkeljakobsen ahandsomeperson shibowing mingjitianming wz8382817464 lishuaijielsj robcn kintzhao wmx-github xuelianjie casterbn rongbohou xiaoxinnn yxw027 mfkiwl kongan shijian1995 wangjibohome qinguoxiaozi nufangn lichenchen1205 huihui308 radygo imugp liuyudian lcp1 772894624 nanhu2-505 clarkren 84376834111 fsswl kyriema meredithrowe xiaoyue-wang cocoairforce tovey nemoleiyang zjldabing tianyu-jiang cognitiverobot huangxiongd qqhengg leonshaw06 dyfeng ysfvest pandorathanator metavai liyang412 bingsur jingwenyi thirtysix66 neu-lc honuaye zhl6 yixiubiji cggos mattcole3 yifeilang cuiliyangworkimu_tk's Issues
Input data of Acc and Gyro Modification
Hi I'm using BMI088 IMU and also with help of Bolder flight library I'm taking the data from the sensor, and you can get either raw or real data.
I think when we're using acc and gyro data As the raw data as this project does it's important to mention the accelerometer range (2G, 3G, 10G, etc.) and Gyro range (250 dps, 500, 1000 and etc.) because when you change the range your data mapping would be different, and your scale would vary.
I wanted to know when I wanna use this calibration library I should map my data to this or I'm not right.
Another problem that I've been facing is the offset because my data from sensor doesn't have this offset so any help would be so much appreciated.
Expected Output
Could you also put up the expected IMU output, so that users can manually verify if the program has compiled successfully and working fine?
Additionally, any guide on how to calibrate our own IMU, i.e. what positions to place the IMU, for how long etc. would be certainly helpful!
Thanks
Credit to the owner
No offense, but I think you should make some sort of declarations to indicate that this repo was originally published by the paper's author @albertopretto on bit-bucket. At least a reference link(https://bitbucket.org/alberto_pretto/imu_tk/src/master/), since you actually pulled down the code from bit-bucket and pushed it up to github.
Build error
Hi @albertopretto ,
I have installed all required libraries as readme.md has mentioned. However, I found some error occured when building this package.
The error is listed as follows:
Can you give me a hand?
Thanks a lot!
Segmentation fault
Hi guys when i call in the CLI the order for the Test file with the text matrix, i get a seg fault for the function setInitStaticIntervalDuration of the MultiPosCalibration class.
Had someone before this Problem?
I had no errors while the cmake or while compiling.
what is the relationship of the output and sensor_msgs/imu 's covariance?
I finished calibrating my imu equipment and get a good result . but I do not understand the relationship of the output and sensor_msgs/imu 's covariance?
as we know in ros sensor_msgs/Imu need the covariance value of angular velocity , orientation and linear_acceleration.
please help me
@spockman66 @scott198510 @Kyle-ak
Cmake error on Ubuntu 16.04, Glut not found
I read that the code was only tested on 14 but I assume people are still using this library. It seems that cmake cannot find glut though I installed freeglut3-dev as written in the Readme.
-- Boost version: 1.58.0
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.2.92 in /usr/include/eigen3
-- Found installed version of glog: /usr/local/lib/cmake/glog
-- Detected glog version: 0.3.5
-- Found required Ceres dependency: glog
-- Found installed version of gflags: /usr/local/lib/cmake/gflags
-- Detected gflags version: 2.2.2
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.0.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations]
imu_tk;ceres;/usr/lib/x86_64-linux-gnu/libQtOpenGL.so;/usr/lib/x86_64-linux-gnu/libQtGui.so;/usr/lib/x86_64-linux-gnu/libQtCore.so;/usr/lib/x86_64-linux-gnu/libGLU.so;/usr/lib/x86_64-linux-gnu/libGL.so;/usr/lib/x86_64-linux-gnu/libglut.so;GLUT_Xmu_LIBRARY-NOTFOUND;/usr/lib/x86_64-linux-gnu/libXi.so
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GLUT_Xmu_LIBRARY (ADVANCED)
error of mat file for Accelerometer and gyroscope
question about initial acc_bais and initial gyrp_scale ?
hi:
please tell me how to compute the init_acc_calib and init_gyro_calib?
init_acc_calib.setBias( Vector3d(32768, 32768, 32768) );
init_gyro_calib.setScale( Vector3d(1.0/6258.0, 1.0/6258.0, 1.0/6258.0) );
thanks alot!!! @Kyle-ak
stack smashing detected
./test_imu_calib test_data/xsens_acc.mat test_data/xsens_gyro.mat
Importing IMU data from the Matlab matrix file : test_data/xsens_acc.mat
Importing IMU data from the Matlab matrix file : test_data/xsens_gyro.mat
*** stack smashing detected ***: terminated
Aborted (core dumped)
gyro 不收敛
您好,我在用的时候发现acc可用正常标定,但是gyro 试了很多次,都不收敛.
请问一下这是为什么呢,还是说gyro采数据时候动作要怎么样才可以?
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