Scheme 'ros_imu' not registered for factory

[wanyp]

Hi, I am using vicalib to calibrate my camera IMU rig, with ROS recording data. The vicalib tool deals image topic well, but when I add the IMU data topic with

./vicalib -cam ros:[topics=/image_raw,sizes=640x400]// -imu ros_imu:[topic=/data_raw]//

it returns

./vicalib -cam ros:[topics=/image_raw,sizes=640x400]// -imu ros_imu:[topic=/data_raw]//
Creating 1 subscribers
Subscribing to: /image_raw
F1111 17:33:52.312412 5711 vicalib-engine.cc:140] Could not create IMU from URI: ros_imu:[topic=/data_raw]//. Reason: Scheme 'ros_imu' not registered for factory
*** Check failure stack trace: ***
@ 0x7f8a3a1615cd google::LogMessage::Fail()
@ 0x7f8a3a163433 google::LogMessage::SendToLog()
@ 0x7f8a3a16115b google::LogMessage::Flush()
@ 0x7f8a3a163e1e google::LogMessageFatal::~LogMessageFatal()
@ 0x48fb3c visual_inertial_calibration::VicalibEngine::VicalibEngine()
@ 0x48cd77 main
@ 0x7f8a3720b830 __libc_start_main
@ 0x48dc79 _start
@ (nil) (unknown)
Aborted (core dumped)

what's wrong with it ? how can I fix it? Thanks