148 lines
6.8 KiB
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148 lines
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<title>MYNT EYE SDK: 工具</title>
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<div id="projectname">MYNT EYE SDK
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 <span id="projectnumber">2.0.0-rc</span>
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<div id="projectbrief">http://www.myntai.com/camera</div>
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<div class="title">工具 </div> </div>
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<div class="textblock"><p>工具在 <code><sdk>/tools</code> 目录，其提供一些有用的脚本和程序。</p>
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<h2>依赖</h2>
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<ul>
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<li><a href="https://opencv.org/">OpenCV</a>，部分工具需要。<ul>
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<li>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 <code>OpenCVConfig.cmake</code> 目录：</li>
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</ul>
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</li>
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</ul>
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<div class="fragment"><div class="line"># Linux, macOS</div><div class="line">export OpenCV_DIR=~/opencv</div><div class="line"></div><div class="line"># Windows</div><div class="line">set OpenCV_DIR=C:\opencv</div></div><!-- fragment --><ul>
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<li>Python 第三方库，脚本需要。</li>
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</ul>
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<div class="fragment"><div class="line">cd tools/</div><div class="line">sudo pip install -r requirements.txt</div></div><!-- fragment --><h2>编译</h2>
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<div class="fragment"><div class="line">make tools</div></div><!-- fragment --><h2>录制数据集</h2>
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<div class="fragment"><div class="line">./tools/_output/bin/dataset/record</div><div class="line"></div><div class="line"># Windows</div><div class="line">.\tools\_output\bin\dataset\record.bat</div></div><!-- fragment --><p>默认录制进 <code>dataset</code> 目录，加参数可指定该目录。</p>
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<h2>分析数据集</h2>
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<p>分析 IMU 数据，</p>
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<div class="fragment"><div class="line">python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \</div><div class="line">-al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=</div></div><!-- fragment --><div class="image">
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<img src="imu_analytics.png" alt="imu_analytics.png"/>
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<div class="caption">
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imu analytics</div></div>
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<p>分析图像 & IMU 时间戳，</p>
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<div class="fragment"><div class="line">python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml</div></div><!-- fragment --><div class="image">
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<img src="stamp_analytics.png" alt="stamp_analytics.png"/>
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<div class="caption">
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stamp analytics</div></div>
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<blockquote class="doxtable">
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<p>如果用 ROS ，分析脚本也支持 ROS Bag 格式。 </p>
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</blockquote>
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<h2>结语</h2>
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<p>设备信息读写、校验码等更多工具的说明，请见 <code>tools/README.md</code> 。 </p>
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<li class="footer">制作者
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<a href="http://www.doxygen.org/index.html">
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.14 </li>
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