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
andcam1/data.csv
are both formatted astimestamp [ns], timestamp.png
-
imu0/data.csv
is formatted astimestamp [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
- In the input yaml file add a line to the
-
Make sure other plugins that feed images and IMU are not being used, such as
offline_cam
,offline_imu
,zed
, andrealsense
.