{"id":16344978,"url":"https://github.com/davidegrayson/ahrs-visualizer","last_synced_at":"2025-03-20T23:32:25.607Z","repository":{"id":3742188,"uuid":"4816471","full_name":"DavidEGrayson/ahrs-visualizer","owner":"DavidEGrayson","description":"Draws a 3D representation of an IMU's orientation.  Developed for Raspberry Pi and OpenGL ES.  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See\n[issue #11](https://github.com/DavidEGrayson/ahrs-visualizer/issues/11) for\nmore discussion.\n\n# ahrs-visualizer\n\n**ahrs-visualizer** reads orientation data on its standard input and uses that\n  to display a 3D representation of the orientation.\n\nTo see what the visualization looks like, check out this\n[video showing the MinIMU-9 v2 with a Raspberry Pi][video].\n\nCurrently, the presence of GPU-specific code means that it only works on the\n[Raspberry Pi] but it can probably be ported to other boards.  It uses OpenGL ES\n2.0.\n\n## Getting started\n\n### Get minimu9-ahrs working\n\nThis program is meant to be used with [minimu9-ahrs], a separate\nutility that reads data from the Pololu MinIMU-9 and computes its\norientation.  To get that working, follow the instructions at the\naforementioned link.\n\n### Building ahrs-visualizer from source\n\nNavigate to the top-level source directory and run these commands:\n\n    sudo apt-get install libpng-dev libboost-program-options-dev\n    make\n\nIf you want to try out the visualizer before installing it, you can run:\n\n    ./mock_ahrs.py | ASSET_DIR=assets ./ahrs-visualizer\n\nTo install the visualizer, run:\n\n    sudo make install\n\n### Invoking\n\nTo pipe direction cosine matrix (DCM) data from `minimu9-ahrs` to\n`ahrs-visualizer`, simply run the following command:\n\n    minimu9-ahrs | ahrs-visualizer\n\nThe visualizer runs fine from the console; you do not need to run X.\n\nRun `man ahrs-visualizer` for more help and details about the options\nthe program accepts.\n\n## Understanding the visualization:\n\n- The 3D model is a [Pololu MinIMU-9 v2].\n- The X axis is drawn as a red line.\n- The Y axis is drawn as a green line.\n- The Z axis is drawn as a blue line.\n- The acceleration vector is drawn as a cyan line.\n- The magnetic field vector is drawn as a yellow line.\n\n## Error about opening a vchiq instance\n\nIf the program cannot open `/dev/vchiq` because of a permissions\nproblem, you will see the following error:\n\n    Warning: Could not open /dev/vchiq: Permission denied.\n        * failed to open vchiq instance\n\nOn the Raspberry Pi, the right way to fix this error is to add your\nuser to the `video` group.  Just run the following command and then\nreboot:\n\n    sudo usermod -a -G video $(whoami)\n\n## Version history\n\n- 1.1.0 (2017-04-16):\n  - Fixed the \"DSO missing from command line\" linker error (thanks pskora).\n  - Added a warning if `/dev/vchiq` cannot be opened, because the error message\n    from `bcm_host_init` is not helpful.\n  - Changed the default installation prefix from /usr to /usr/local.\n  - Added support for the ASSET_DIR environment variable so you can easily\n    try the program out before installing it.\n- 1.0.1 (2014-07-09): Added an extra include directory to the Makefile (thanks Shantanu Bhadoria).\n- 1.0.0 (2012-11-10): Initial release.\n\n[Raspberry Pi]: https://www.raspberrypi.org/\n[minimu9-ahrs]: https://github.com/DavidEGrayson/minimu9-ahrs\n[Pololu MinIMU-9 v2]: https://www.pololu.com/product/1268\n[video]: https://www.youtube.com/watch?v=8daR-wtQIx0\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdavidegrayson%2Fahrs-visualizer","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fdavidegrayson%2Fahrs-visualizer","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdavidegrayson%2Fahrs-visualizer/lists"}