Record data sets¶
The SDK provides the tool record for recording data sets. Tool details can be seen in tools/README.md .
Reference run command on Linux:
./tools/_output/bin/dataset/record
Reference run command on Windows:
.\tools\_output\bin\dataset\record.bat
Reference run results on Linux:
$ ./tools/_output/bin/dataset/record
Saved 1007 imgs, 20040 imus to ./dataset
I0513 21:29:38.608772 11487 record.cc:118] Time beg: 2018-05-13 21:28:58.255395, end: 2018-05-13 21:29:38.578696, cost: 40323.3ms
I0513 21:29:38.608853 11487 record.cc:121] Img count: 1007, fps: 24.9732
I0513 21:29:38.608873 11487 record.cc:123] Imu count: 20040, hz: 496.983
Results save into <workdir>/dataset
by default. You can also add
parameter, select other directory to save.
Record contents:
<workdir>/
└─dataset/
├─left/
│ ├─stream.txt # Image infomation
│ └─...
├─right/
│ ├─stream.txt # Image information
│ └─...
└─motion.txt # IMU information
Tip
When recording data, dataset.cc
has annotated display image inside cv::imwrite()
. Because these operations are time-consuming, they can cause images to be discarded. In other words, consumption can’t keep up with production, so some images are discarded. GetStreamDatas()
used in record.cc
only caches the latest 4 images.