74 lines
1.4 KiB
Markdown
74 lines
1.4 KiB
Markdown
# 工具 {#guide_tools}
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工具在 `<sdk>/tools` 目录，其提供一些有用的脚本和程序。
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## 依赖
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* [OpenCV](https://opencv.org/)，部分工具需要。
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* 编译前，可在系统终端（Windows 命令提示符）里如下指定 OpenCV 路径，其为 `OpenCVConfig.cmake` 目录：
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```bash
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# Linux, macOS
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export OpenCV_DIR=~/opencv
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# Windows
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set OpenCV_DIR=C:\opencv
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```
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* Python 第三方库，脚本需要。
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```bash
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cd tools/
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sudo pip install -r requirements.txt
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```
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## 编译
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```bash
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make tools
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```
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## 录制数据集
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```bash
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./tools/_output/bin/dataset/record
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# Windows
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.\tools\_output\bin\dataset\record.bat
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```
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默认录制进 `dataset` 目录，加参数可指定该目录。
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## 分析数据集
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分析 IMU 数据，
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```bash
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python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \
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-al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=
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```
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\latexonly
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\includegraphics[width=0.6\textwidth,keepaspectratio]{imu_analytics.png}
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\endlatexonly
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分析图像 & IMU 时间戳，
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```bash
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python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
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```
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\latexonly
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\includegraphics[width=0.6\textwidth,keepaspectratio]{stamp_analytics.png}
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\endlatexonly
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> 如果用 ROS ，分析脚本也支持 ROS Bag 格式。
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## 结语
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设备信息读写、校验码等更多工具的说明，请见 `tools/README.md` 。
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