ubuntu16.04编译安装imu_tk

Posted 2021-02-11 feifanren

imu_tk代码地址

https://bitbucket.org/alberto_pretto/imu_tk

安装依赖项

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

安装ceres-solver

https://www.cnblogs.com/feifanrensheng/p/8630149.html

编译安装imu_tk

cd imu_tk
mkdir build
cd build
cmake  ..
make

遇到的问题

下面是用cmake编译你的程序可能会遇到的问题

（1）找不到xi和xmu库

 

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_Xi_LIBRARY (ADVANCED)
    linked by target "WindowsTest" in directory /home/me/devl/c++/game/2DGame/src
GLUT_Xmu_LIBRARY (ADVANCED)
    linked by target "WindowsTest" in directory /home/me/devl/c++/game/2DGame/src

 https://blog.csdn.net/whu_zcj/article/details/49737243

解决方法

sudo apt-get install libxmu-dev libxi-dev

（2）找不到boost库

sudo apt-get install libboost-dev

编译成功

-- Found GLUT: /usr/lib/x86_64-linux-gnu/libglut.so  
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;/usr/lib/x86_64-linux-gnu/libXmu.so;/usr/lib/x86_64-linux-gnu/libXi.so
-- Configuring done
-- Generating done
-- Build files have been written to: /home/zn/alberto_pretto-imu_tk-7780270fb9a2/build

make 报错

usr/include/c++/5/bits/c++0x_warning.h:32:2: error: #error This file requires compiler and library support for the ISO C++ 2011 standard. This support must be enabled with the -std=c++11 or -std=gnu++11 compiler options.
 #error This file requires compiler and library support \\

当使用CMAKE编译工程时，出现这个错误，解决办法：
在工程主目录的CMakeLists.txt中添加如下，可以编译成功：

SET( CMAKE_CXX_FLAGS "-std=c++11 -O3")

编译成功

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/:

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

结果

Accelerometers calibration: Better calibration obtained using threshold multiplier 6 with residual 0.120131
Misalignment Matrix
          1  -0.0033593 -0.00890639
          0           1  -0.0213341
         -0           0           1
Scale Matrix
0.00241278          0          0
         0 0.00242712          0
         0          0 0.00241168
Bias Vector
33124.2
33275.2
32364.4

Accelerometers calibration: inverse scale factors:
414.459
412.01
414.649

Press Enter to continue

Gyroscopes calibration: residual 0.00150696
Misalignment Matrix
         1 0.00593634 0.00111101
0.00808812          1 -0.0535569
 0.0253067 -0.0025513          1
Scale Matrix
0.000209295           0           0
          0 0.000209899           0
          0           0 0.000209483
Bias Vector
32777.1
32459.8
32511.8

Gyroscopes calibration: inverse scale factors:
4777.96
4764.21
4773.66

 

测试数据的时间间隔是0.01秒，也就是以100hz采集imu的数据。