refactor(package): rename to dm_imu and restructure directories

Renamed package from dm_imu_pkg to dm_imu across PKG-INFO, egg-info files, and directories. Updated CMakeLists.txt, __init__.py, and top_level.txt to reflect new structure. Bumped gradio version from <5.0 to <6.0 in dependencies. This refactoring improves naming consistency and streamlines the package layout for better maintainability.
2025-12-10 19:32:28 +08:00
parent e2287178fa
commit ced3669fac
64 changed files with 30 additions and 3304 deletions
--- a/dm_imu/src/plot_imu.py
+++ b/dm_imu/src/plot_imu.py
@@ -0,0 +1,119 @@
+#!/usr/bin/env python3
+"""
+绘制 dm_imu/test_imu.cpp 生成的 CSV 数据。
+
+使用方式：
+    1. 确保已安装 matplotlib（pip install matplotlib）。
+    2. 运行 C++ 程序生成 imu_data.csv。
+    3. 执行本脚本：
+           python3 dm_imu/plot_imu.py
+    4. 脚本会在同目录下生成 `imu_plot.png` 并显示图形窗口（如果有可视化环境）。
+"""
+
+import csv
+import os
+import sys
+
+import matplotlib.pyplot as plt
+
+def read_csv(csv_path):
+    """读取 CSV，返回每列的数据列表。"""
+    if not os.path.isfile(csv_path):
+        print(f"错误：未找到 CSV 文件 {csv_path}", file=sys.stderr)
+        sys.exit(1)
+
+    indices = []
+    roll = []
+    pitch = []
+    yaw = []
+    accx = []
+    accy = []
+    accz = []
+    gyrox = []
+    gyroy = []
+    gyroz = []
+
+    with open(csv_path, newline='') as f:
+        reader = csv.DictReader(f)
+        for row in reader:
+            indices.append(int(row['index']))
+            roll.append(float(row['roll']))
+            pitch.append(float(row['pitch']))
+            yaw.append(float(row['yaw']))
+            accx.append(float(row['accx']))
+            accy.append(float(row['accy']))
+            accz.append(float(row['accz']))
+            gyrox.append(float(row['gyrox']))
+            gyroy.append(float(row['gyroy']))
+            gyroz.append(float(row['gyroz']))
+
+    return {
+        'index': indices,
+        'roll': roll,
+        'pitch': pitch,
+        'yaw': yaw,
+        'accx': accx,
+        'accy': accy,
+        'accz': accz,
+        'gyrox': gyrox,
+        'gyroy': gyroy,
+        'gyroz': gyroz,
+    }
+
+def plot_data(data, out_path):
+    """绘制三组曲线（姿态、加速度、陀螺仪）并保存为 PNG。"""
+    idx = data['index']
+
+    plt.figure(figsize=(12, 9))
+
+    # 1. 姿态（Roll, Pitch, Yaw）
+    ax1 = plt.subplot(3, 1, 1)
+    ax1.plot(idx, data['roll'], label='Roll')
+    ax1.plot(idx, data['pitch'], label='Pitch')
+    ax1.plot(idx, data['yaw'], label='Yaw')
+    ax1.set_ylabel('Angle (°)')
+    ax1.set_title('IMU 姿态')
+    ax1.legend()
+    ax1.grid(True)
+
+    # 2. 加速度（X, Y, Z）
+    ax2 = plt.subplot(3, 1, 2)
+    ax2.plot(idx, data['accx'], label='Acc X')
+    ax2.plot(idx, data['accy'], label='Acc Y')
+    ax2.plot(idx, data['accz'], label='Acc Z')
+    ax2.set_ylabel('Acceleration (g)')
+    ax2.set_title('加速度')
+    ax2.legend()
+    ax2.grid(True)
+
+    # 3. 陀螺仪（X, Y, Z）
+    ax3 = plt.subplot(3, 1, 3)
+    ax3.plot(idx, data['gyrox'], label='Gyro X')
+    ax3.plot(idx, data['gyroy'], label='Gyro Y')
+    ax3.plot(idx, data['gyroz'], label='Gyro Z')
+    ax3.set_xlabel('Sample Index')
+    ax3.set_ylabel('Angular Velocity (°/s)')
+    ax3.set_title('陀螺仪')
+    ax3.legend()
+    ax3.grid(True)
+
+    plt.tight_layout()
+    plt.savefig(out_path)
+    print(f"绘图已保存至 {out_path}")
+
+    # 如果当前环境支持图形界面，显示窗口
+    try:
+        plt.show()
+    except Exception:
+        pass
+
+def main():
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    csv_path = os.path.join(script_dir, 'imu_data.csv')
+    out_path = os.path.join(script_dir, 'imu_plot.png')
+
+    data = read_csv(csv_path)
+    plot_data(data, out_path)
+
+if __name__ == '__main__':
+    main()