Record IMU Cam

The purpose of this plugin is to record a dataset, similar to the EuRoC MAV dataset that includes the IMU data and Cam images.

How to record a dataset

Add record_imu_cam to either your input yaml file or to your --plugins argument when invoking the ILLIXR executable.

After recording, the dataset will be stored in the ILLIXR project directory, with the following structure:

ILLIXR/data_record
    \_ cam0/
        \_ data/ 
            \_ timestamp.png
            \_ ...
        \_ data.csv
    \_ cam1/
        \_ data/
            \_ timestamp.png
            \_ ...
        \_ data.csv
    \_ imu0
        \_ data.csv

Format

cam0/data.csv and cam1/data.csv are both formatted as
```
timestamp [ns], timestamp.png
```
1. imu0/data.csv is formatted as
  
  timestamp [ns],w_x [rad s^-1],w_y [rad s^-1],w_z [rad s^-1],a_x [m s^-2],a_y [m s^-2],a_z [m s^-2]

How to rerun recorded dataset

(IMPORTANT) Do not specify record_imu_cam in either your input yaml file or to your --plugins argument when invoking the ILLIXR executable.
When running the ILLIXR executable do one of the following:
- In the input yaml file add a line to the env_vars section: data: <PATH_TO_ILLIXR>/data_record
- Add --data=<PATH_TO_ILLIXR>/data_record to the command line arguments
- Set the environment variable ILLIXR_DATA to <PATH_TO_ILLIXR>/data_record
Make sure other plugins that feed images and IMU are not being used, such as offline_cam, offline_imu, zed, and realsense.