ahrs-visualizer reads orientation data on its standard input and uses that to display a 3D representation of the orientation.
To see what the visualization looks like, check out this video showing the MinIMU-9 v2 with a Raspberry Pi.
Currently, the presence of GPU-specific code means that it only works on the Raspberry Pi but it can probably be ported to other boards. It uses OpenGL ES 2.0.
Get minimu9-ahrs working
This program is meant to be used with minimu9-ahrs, a separate utility that reads data from the Pololu MinIMU-9 and computes its orientation. To get that working, follow the instructions at the aforementioned link.
Building ahrs-visualizer from source
Navigate to the top-level source directory and run these commands:
sudo apt-get install libpng-dev libboost-program-options-dev make
If you want to try out the visualizer before installing it, you can run:
./mock_ahrs.py | ASSET_DIR=assets ./ahrs-visualizer
To install the visualizer, run:
sudo make install
To pipe direction cosine matrix (DCM) data from
ahrs-visualizer, simply run the following command:
minimu9-ahrs | ahrs-visualizer
The visualizer runs fine from the console; you do not need to run X.
man ahrs-visualizer for more help and details about the options
the program accepts.
Understanding the visualization:
- The 3D model is a Pololu MinIMU-9 v2.
- The X axis is drawn as a red line.
- The Y axis is drawn as a green line.
- The Z axis is drawn as a blue line.
- The acceleration vector is drawn as a cyan line.
- The magnetic field vector is drawn as a yellow line.
Error about opening a vchiq instance
If the program cannot open
/dev/vchiq because of a permissions
problem, you will see the following error:
Warning: Could not open /dev/vchiq: Permission denied. * failed to open vchiq instance
On the Raspberry Pi, the right way to fix this error is to add your
user to the
video group. Just run the following command and then
sudo usermod -a -G video $(whoami)
- 1.1.0 (2017-04-16):
- Fixed the "DSO missing from command line" linker error (thanks pskora).
- Added a warning if
/dev/vchiqcannot be opened, because the error message from
bcm_host_initis not helpful.
- Changed the default installation prefix from /usr to /usr/local.
- Added support for the ASSET_DIR environment variable so you can easily try the program out before installing it.
- 1.0.1 (2014-07-09): Added an extra include directory to the Makefile (thanks Shantanu Bhadoria).
- 1.0.0 (2012-11-10): Initial release.