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ahrs-visualizer reads orientation data on its standard input and uses that to display a 3D representation of the orientation. The ahrs-visualizer source code is on github.
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.
If you are an embedded Linux expert, the only getting-started instructions you will need for ahrs-visualizer are:
- Get minimu9-ahrs working.
- Compile ahrs-visualizer from source by following the README.
- Run
minimu9-ahrs | ahrs-visualizer.
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, please follow the instructions in the minimu9-ahrs tutorial.
Run these commands to download ahrs-visualizer from GitHub, compile it, and install it:
sudo apt-get install libpng-dev libboost-program-options-dev
make
sudo make install
To pipe direction cosine matrix (DCM) data from minimu9-ahrs to 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.
- 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.
For more information, see the project's README file and its man page.
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 runL
sudo usermod -a -G video $(whoami)