127 lines
1.9 KiB
Markdown
127 lines
1.9 KiB
Markdown
# Tools for MYNT® EYE cameras
|
|
|
|
## Prerequisites
|
|
|
|
[OpenCV](https://opencv.org/),
|
|
|
|
```bash
|
|
# Linux, macOS
|
|
export OpenCV_DIR=~/opencv
|
|
|
|
# Windows
|
|
set OpenCV_DIR=C:\opencv
|
|
```
|
|
|
|
Python packages,
|
|
|
|
```bash
|
|
cd <sdk>/tools/
|
|
sudo pip install -r requirements.txt
|
|
```
|
|
|
|
[ROS](http://www.ros.org/) if using rosbag.
|
|
|
|
## Build
|
|
|
|
```bash
|
|
cd <sdk>
|
|
make tools
|
|
```
|
|
|
|
---
|
|
|
|
## Record data (mynteye dataset)
|
|
|
|
```bash
|
|
./tools/_output/bin/dataset/record
|
|
|
|
# Windows
|
|
.\tools\_output\bin\dataset\record.bat
|
|
```
|
|
|
|
## Analytics data (mynteye dataset)
|
|
|
|
### imu_analytics.py
|
|
|
|
```bash
|
|
python tools/analytics/imu_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml \
|
|
-al=-1.2,1.2 -gl= -gdu=d -gsu=d -kl=
|
|
```
|
|
|
|
### stamp_analytics.py
|
|
|
|
```bash
|
|
python tools/analytics/stamp_analytics.py -i dataset -c tools/config/mynteye/mynteye_config.yaml
|
|
```
|
|
|
|
---
|
|
|
|
## Record data (rosbag)
|
|
|
|
```bash
|
|
cd <sdk>
|
|
make ros
|
|
```
|
|
|
|
```bash
|
|
source wrappers/ros/devel/setup.bash
|
|
roslaunch mynt_eye_ros_wrapper mynteye.launch
|
|
```
|
|
|
|
```bash
|
|
rosbag record -O mynteye.bag /mynteye/left /mynteye/imu /mynteye/temp
|
|
```
|
|
|
|
## Analytics data (rosbag)
|
|
|
|
### imu_analytics.py
|
|
|
|
```bash
|
|
python tools/analytics/imu_analytics.py -i mynteye.bag
|
|
```
|
|
|
|
### stamp_analytics.py
|
|
|
|
```bash
|
|
python tools/analytics/stamp_analytics.py -i mynteye.bag
|
|
```
|
|
|
|
---
|
|
|
|
## Writer
|
|
|
|
### device_info_writer.cc
|
|
|
|
```bash
|
|
./tools/_output/bin/writer/device_info_writer tools/writer/config/device.info
|
|
|
|
# Windows
|
|
.\tools\_output\bin\writer\device_info_writer.bat tools\writer\config\device.info
|
|
```
|
|
|
|
### img_params_writer.cc
|
|
|
|
```bash
|
|
./tools/_output/bin/writer/img_params_writer tools/writer/config/img.params
|
|
|
|
# Windows
|
|
.\tools\_output\bin\writer\img_params_writer.bat tools\writer\config\img.params
|
|
```
|
|
|
|
### imu_params_writer.cc
|
|
|
|
```bash
|
|
./tools/_output/bin/writer/imu_params_writer tools/writer/config/imu.params
|
|
|
|
# Windows
|
|
.\tools\_output\bin\writer\imu_params_writer.bat tools\writer\config\imu.params
|
|
```
|
|
|
|
---
|
|
|
|
## Checksum
|
|
|
|
```bash
|
|
./tools/checksum/md5sum.sh <file or directory>
|
|
```
|