imu_tk application

src/applications/CMakeLists.txt

@@ -7,7 +7,6 @@ option(ENABLE_view "Build basic viewer" ON)
 option(ENABLE_soundDetectionDemo "Build sound source detection demo" OFF)
 option(ENABLE_corner "Build corner detector" OFF)
 option(ENABLE_dualCamTransform "Build event to frame transform" OFF)
-option(ENABLE_IMUcalibapp "Install IMU calibration dumper app" OFF)
 
 if(ENABLE_autosaccade)
     add_subdirectory(autosaccade)

src/applications/imuCalibration/CMakeLists.txt

@@ -0,0 +1,61 @@
+project(EDPR_imutk_app)
+
+cmake_minimum_required (VERSION 2.8) 
+cmake_policy(SET CMP0015 NEW)
+
+if ("${CMAKE_BUILD_TYPE}" STREQUAL "")
+  set(CMAKE_BUILD_TYPE "Release")
+endif()
+
+find_package(Boost REQUIRED)  
+find_package(Eigen3 REQUIRED)
+find_package(Ceres REQUIRED)
+
+include_directories(./include
+                    /usr/include
+                    ${Boost_INCLUDE_DIRS}
+                    ${EIGEN_INCLUDE_DIR}
+                    ${CERES_INCLUDE_DIRS})
+
+#Vis3D
+find_package(Qt4 COMPONENTS QtCore QtGui QtOpenGL REQUIRED )
+find_package(OpenGL REQUIRED)
+find_package(GLUT REQUIRED)
+
+include_directories( ${OPENGL_INCLUDE_DIRS}  
+                     ${GLUT_INCLUDE_DIRS}
+                     ${CMAKE_CURRENT_BINARY_DIR} )
+
+set(IMU_TK_VIS_EXTRA_SOURCES 
+    /usr/local/src/imu_tk/src/vis_extra/gl_camera.cpp 
+    /usr/local/src/imu_tk/src/vis_extra/opengl_3d_scene.cpp )
+set(IMU_TK_VIS_EXTRA_HEADERS
+  /usr/local/src/imu_tk/include/imu_tk/vis_extra/opengl_3d_scene.h )
+
+qt4_wrap_cpp(IMU_TK_VIS_EXTRA_HEADERS_MOC ${IMU_TK_VIS_EXTRA_HEADERS})
+
+include(${QT_USE_FILE})
+add_definitions(${QT_DEFINITIONS})
+
+aux_source_directory( /usr/local/src/imu_tk/src IMU_TK_CORE_SRC )
+set( IMU_TK_SRC ${IMU_TK_CORE_SRC} ${IMU_TK_VIS_EXTRA_HEADERS_MOC} ${IMU_TK_VIS_EXTRA_SOURCES} )
+
+set (IMU_TK_INCLUDE_DIR /usr/local/src/imu_tk/include CACHE STRING "imu_tk include directories")
+set (IMU_TK_LIB_DIR /usr/local/src/imu_tk/lib CACHE STRING "imu_tk libraries directories")
+set (IMU_TK_LIBS imu_tk ${CERES_LIBRARIES} ${QT_LIBRARIES} ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} 
+     CACHE STRING "imu_tk libraries")
+
+#add_library( imu_tk UNKNOWN IMPORTED)
+#set_property(TARGET imu_tk PROPERTY IMPORTED_LOCATION "/usr/local/src/imu_tk/lib/libimu_tk.a")
+
+add_library(imu_tk ${IMU_TK_SRC})
+set_target_properties(imu_tk PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${IMU_TK_LIB_DIR})
+target_include_directories(imu_tk PRIVATE ${IMU_TK_INCLUDE_DIR})
+
+message( "${IMU_TK_LIBS}" )
+
+add_executable(EDPR_imu_calib EDPR_imu_calib.cpp)
+target_include_directories(EDPR_imu_calib PRIVATE ${IMU_TK_INCLUDE_DIR})
+target_link_libraries( EDPR_imu_calib ${IMU_TK_LIBS})
+#set_target_properties( EDPR_imu_calib PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
+

src/applications/imuCalibration/Dockerfile

@@ -0,0 +1,36 @@
+FROM ubuntu:20.04
+LABEL maintainer="arren.glover@iit.it"
+LABEL version="0.1"
+LABEL description="Docker to install IMU calibration software"
+
+# required libs
+RUN apt update
+RUN DEBIAN_FRONTEND=noninteractive apt install -y --no-install-recommends build-essential cmake libeigen3-dev freeglut3-dev gnuplot vim
+RUN apt install -y git libboost-dev software-properties-common libqt5core5a
+RUN apt install -y libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev
+RUN add-apt-repository ppa:rock-core/qt4 && apt update && apt install -y libqt4-dev libqt4-opengl-dev
+RUN cd /usr/include && ln -sf eigen3/Eigen Eigen && ln -sf eigen3/unsupported unsupported
+
+# ceres-solver
+RUN cd /usr/local/src && \
+    git clone --depth 1 --branch 2.0.0 https://ceres-solver.googlesource.com/ceres-solver && \
+    mkdir ceres-solver/build && cd ceres-solver/build && \
+    cmake .. && make install -j12 
+
+# imu_tk
+RUN cd /usr/local/src && \
+    git clone https://bitbucket.org/alberto_pretto/imu_tk.git 
+    #&& \
+    #mkdir imu_tk/build && cd imu_tk/build && \
+    #cmake .. && make -j12
+
+# edpr imu_tk application
+RUN cd /usr/local/src && \
+    git clone https://github.com/robotology/event-driven.git && \
+    cd event-driven/src/applications/imuCalibration && \
+    mkdir build && cd build && \
+    cmake .. && make -j12
+
+WORKDIR /usr/local/src
+
+

src/applications/imuCalibration/EDPR_imu_calib.cpp

@@ -0,0 +1,77 @@
+#include <iostream>
+#include <fstream>
+#include <iomanip>
+
+#include "imu_tk/io_utils.h"
+#include "imu_tk/calibration.h"
+#include "imu_tk/filters.h"
+#include "imu_tk/integration.h"
+#include "imu_tk/visualization.h"
+
+using namespace std;
+using namespace imu_tk;
+using namespace Eigen;
+
+int main(int argc, char** argv)
+{
+  if( argc < 4 ) {
+    std::cout << "Calibrate IMU in the EDPR environment" << std::endl;
+    std::cout << "Usage: EDPR_imu_calib <acc file> <gyro file> <output file>" << std::endl;
+    return -1;
+  }
+
+  vector< TriadData > acc_data, gyro_data;
+
+  cout<<"Importing IMU data from the Matlab matrix file : "<< argv[1]<<endl;  
+  importAsciiData( argv[1], acc_data, imu_tk::TIMESTAMP_UNIT_SEC );
+  cout<<"Importing IMU data from the Matlab matrix file : "<< argv[2]<<endl;  
+  importAsciiData( argv[2], gyro_data, imu_tk::TIMESTAMP_UNIT_SEC  );
+  ofstream cw(argv[3], ios_base::out|ios_base::trunc);
+  if(!cw.is_open()) {
+    std::cout << "Error: could not open output .ini file for writing" << std::endl;
+    return -1;
+  }
+  cout<<"Saving Calibration to the file : "<< argv[3] << endl; 
+
+
+  CalibratedTriad init_acc_calib, init_gyro_calib;
+  init_acc_calib.setBias( Vector3d(0.0, 0.0, 0.0) );
+  init_acc_calib.setScale( Vector3d(0.00059855, 0.00059855, 0.00059855) );
+  init_gyro_calib.setBias( Vector3d(0.0, 0.0, 0.0) );
+  init_gyro_calib.setScale( Vector3d(0.000010653,0.000010653,0.000010653) );
+
+  MultiPosCalibration mp_calib;
+
+  //mp_calib.setInitStaticIntervalDuration(50.0);
+  mp_calib.setInitAccCalibration( init_acc_calib );
+  mp_calib.setInitGyroCalibration( init_gyro_calib );  
+  mp_calib.setGravityMagnitude(9.80665);
+  mp_calib.enableVerboseOutput(true);
+  mp_calib.enableAccUseMeans(false);
+  //mp_calib.setGyroDataPeriod(0.01);
+  mp_calib.calibrateAccGyro(acc_data, gyro_data );
+  //mp_calib.getAccCalib().save("test_imu_acc.calib");
+  //mp_calib.getGyroCalib().save("test_imu_gyro.calib");
+
+  cw << std::fixed << std::setprecision(8);
+  const Vector3d &abv = mp_calib.getAccCalib().getBiasVector();
+  cw << "ACC_BIAS (" << abv[0] << " " << abv[1] << " " << abv[2] << ")" << std::endl;
+  const Matrix3d &abg = mp_calib.getAccCalib().getScaleMatrix();
+  cw << "ACC_GAIN (" << abg(0, 0) << " " << abg(1, 1) << " " << abg(2, 2) << ")" << std::endl;
+  const Matrix3d &abs = mp_calib.getAccCalib().getMisalignmentMatrix();
+  cw << "ACC_SKEW (" << abs(0, 0) << " " << abs(0, 1) << " " << abs(0, 2) << " "
+                     << abs(1, 0) << " " << abs(1, 1) << " " << abs(1, 2) << " "
+                     << abs(2, 0) << " " << abs(2, 1) << " " << abs(2, 2) << ")"
+                     << std::endl;
+  const Vector3d &gbv = mp_calib.getGyroCalib().getBiasVector();
+  cw << "GYR_BIAS (" << gbv[0] << " " << gbv[1] << " " << gbv[2] << ")" << std::endl;
+  const Matrix3d &gbg = mp_calib.getGyroCalib().getScaleMatrix();
+  cw << "GYR_GAIN (" << gbg(0, 0) << " " << gbg(1, 1) << " " << gbg(2, 2) << ")" << std::endl;
+  const Matrix3d &gbs = mp_calib.getGyroCalib().getMisalignmentMatrix();
+  cw << "GYR_SKEW (" << gbs(0, 0) << " " << gbs(0, 1) << " " << gbs(0, 2) << " "
+                     << gbs(1, 0) << " " << gbs(1, 1) << " " << gbs(1, 2) << " "
+                     << gbs(2, 0) << " " << gbs(2, 1) << " " << gbs(2, 2) << ")"
+                     << std::endl;
+
+  return 0;
+}