Cube-Visualization

A python based application to visualize how various sensor fusion algorithms work. It receives data transmitted by the AndyIMU android application, performs a user specified sensor fusion algorithm, and rotates a 3-D cube to help the user visualize their output.

Required modules

1. Tkinter: For the GUI

   pip install tk
   

2. PyOpenGL: For rendering 3D graphics

   pip install PyOpenGL PyOpenGL_accelerate
   

3. PyGame: Container for 3D graphics

   pip install pygame
   

Demo

Note: The ReferenceCodes folder contains code that implements various functionalities of the application independently.

Adding custom sensor fusion algorithm

1. Open the file d_sensorFusion.py
2. Add a method, for example, fusionAlgo to the class Fusion
3. You can obtain the raw data from sensor as a 1x6 array (accelerometer values followed by gyroscope values) or 1x9 array (accelerometer, gyroscope followed by magnetometer) by using the get() method of self.rawData queue.
4. The size of array depends whether the android application is transmitting magentometer values or not.
5. Before storing the result into final variables, add statement Rpy.lock.acquire() to lock the variables to the current thread so that the visualizing section does not read the values.
6. Store the final result of your algorithm in variables
   • Rpy.rotateX: Rotation about X axis
   • Rpy.rotateY: Rotation about Y axis
   • Rpy.rotateZ: Rotation about Z axis
7. End your function using

try:
	Rpy.lock.notify()
finally:
	Rpy.lock.release()

8. Call your function in the run method

Sample function

def fusionAlgo:
	raw_values = self.rawData.get()
	...
	... # algorithm on raw_values
	...
	
	Rpy.lock.acquire()
	Rpy.rotateX = some_value
	Rpy.rotateY = another_value
	Rpy.rotateZ = yet_another_value
	
	try:
		Rpy.lock.notify()
	finally:
		Rpy.lock.release()