A library for calibrating IMUs.
In a console, type:
calimu
A somewhat complicated window should pop up with a light blue panel to the left of it:
From there, make sure the IMU is plugged in through a USB serial port, refresh the port list if needed, then click "Connect IMU"
Then, under IMU Options, click Gather, and start rotating the IMU to gather data. Currently, magnetometer data is yellow and accelerometer data is red.
Once you've gathered enough data, click Stop, select Magnetometer or Accelerometer under Ellipsoid Fit Options (and optionally more specific fit methods), and then got to Ellipsoid Fit and click Add.
You should see a wireframe sphere (ellipsoid) with the collected data points very close to the surface. If it's a good fit, you can go ahead and click Apply Selected Ellipsoid Offsets.
You can now gather data again to check if your IMU outputs more spherical data. If it does, it is now successfully calibrate.
Here's a picture of a new fit compared to an old one after applying the offsets :
pip install calimu
- add baud rate and text entry for GUI, as well as other serial connection options
- add non-serial connections for things like full body trackers
- add ability to compensate for previous offsets when setting. The current method expects the offsets to be all zero.
- add a device list to the gui, and the ability to replace that list with new devices with short python scripts
- allow importing point clouds and fitting those.
- add scale calibration, taking into account the intended gravity or magnetism range and available bits
- merge display and gather functionalities so only one stop button is needed
- add a 3D rtree or voxel octree to query point distance while adding points, and then set a min distance
- toggle displaying this rtree or voxel octree
- add option to set how many levels deep to display
calimu is distributed under the terms of the