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imu_tk's Introduction

IMU-TK: Inertial Measurement Unit ToolKit

The C++ IMU-TK Library (Inertial Measurement Unit ToolKit) provides simple functions and data structures to calibrate MEMS-based inertial navigation units, and to process and display IMU data. IMU-TK implements a multi-position calibration method that does not require any parameter tuning and simply requires the sensor to be moved by hand and placed in a set of different, automatically detected, static positions. IMU-TK also provides a collection of functions for data integration.

References

Papers Describing the Approach:

D. Tedaldi, A. Pretto and E. Menegatti, "A Robust and Easy to Implement Method for IMU Calibration without External Equipments". In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014), May 31 - June 7, 2014 Hong Kong, China, Page(s): 3042 - 3049 (PDF)

#!bibtex

@inproceedings{tpm_icra2014,
  title={A Robust and Easy to Implement Method for IMU Calibration 
            without External Equipments},
  author={Tedaldi, A. and Pretto, A. and Menegatti, E.},
  booktitle={Proc. of: IEEE International Conference on Robotics and
                   Automation (ICRA)},
  year={2014},
  pages={3042--3049}
}

A. Pretto and G. Grisetti, "Calibration and performance evaluation of low-cost IMUs". In Proceedings of the 20th IMEKO TC4 International Symposium, Sep. 15 - 17, 2014 Benevento, Italy, pages: 429 - 434 (PDF)

#!bibtex

@inproceedings{pg_imeko2014,
  title={Calibration and performance evaluation of low-cost IMUs},
  author={Pretto, A. and Grisetti, G.},
  booktitle={Proc. of: 20th IMEKO TC4 International Symposium},
  year={2014},
  pages={429--434}
}

License

IMU-TK is licensed under the BSD License. IMU-TK is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the licenses for more details.

Requirements

The code is tested on Ubuntu 14.04. IMU-TK requires the following tools and libraries: CMake, Eigen3, Ceres Solver, OpenGL, QT and Gnuplot. To install these required packages on Ubuntu, use the terminal command:

#!bash

sudo apt-get install build-essential cmake libeigen3-dev libqt4-dev libqt4-opengl-dev freeglut3-dev gnuplot

and follow this guide to install Ceres Solver.

Building

To build IMU-TK on Ubuntu, type in a terminal the following command sequence.

#!bash

cd imu_tk
mkdir build
cd build
cmake  ..
make

Test the library with the test_imu_calib app (binary in /bin, source code in src/test_imu_calib.cpp): test_imu_calib performs an IMU calibration given the data included in bin/test_data/:

#!bash

./test_imu_calib test_data/xsens_acc.mat test_data/xsens_gyro.mat

Contact information

Alberto Pretto [email protected]

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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 cuiliyangwork

imu_tk's Issues

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

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!

error of mat file for Accelerometer and gyroscope

Hi,thank you for works,when I am use for this project IMU calibration,I makes error.
I make data for IMU,Then,./test_imu_calib test_data/acc_data.mat test_data/gryo_data.mat

thank you very much

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.

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?

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

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

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.

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)

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.

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)