ubuntu16.04编译安装imu_tk

时间：2023-03-09 19:47:37
ubuntu16.04编译安装imu_tk

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++//bits/c++0x_warning.h::: 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  with residual 0.120131

Misalignment Matrix

            -0.0033593 -0.00890639

                       -0.0213341

         -

Scale Matrix

0.00241278

          0.00242712

                    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

ubuntu16.04编译安装imu_tk

Gyroscopes calibration: residual 0.00150696

Misalignment Matrix

          0.00593634 0.00111101

0.00808812           -0.0535569

 0.0253067 -0.0025513

Scale Matrix

0.000209295

           0.000209899

                      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。

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