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Application for camera and sensor data logging (iOS)

Objective-C 11.19% Objective-C++ 77.81% Python 1.71% C++ 9.29%

ios imu gyroscope accelerometer gps camera logger magnetometer devicemotion arkit

ios_logger's Introduction

ios_logger

Application for logging camera images, accelerometer and gyroscope data, gps and heading data, motion data and magnet data.

This application was made for logging camera images and sensor data on Apple devices (iPad/iPhone).

Build and run:

Open ios_logger.xcodeproj in XCode
In project properties -> General set your team signing and make sure that signing certificate was successfully created
Connect your device (you may have to wait for the debugger to be set up), select it (Product -> Destination) and run application (Product -> Run)

Collect datasets:

To start collecting dataset:

set required image resolution in upper-left corner
if you check ARKit segment - app will use ARKit to get camera images (with ARKit native resolution - depends on device) + app will logging ARKit poses of the device (with origin in place where "START" button was pressed)
set switches with required sensors to be logged
you can set AutoFocus on/off with "AF" button
with off AutoFocus you can set camera focal lenth by slider in bottom-right corned
press "START" button
when you want to stop collecting dataset press "STOP" :-)

Each dataset will be saved in separate folder on the device .

Get saved datasets:

After you have collected datasets connect your device to PC and run iTunes. In iTunes go to device-> File Sharing -> ios-logger, in right table check folders with datasets you needed and save it on your PC. In last versions of MacOS you should use finder to acess the device and get File Sharing.

Dataset format:

Accel.txt: time(s(from 1970)),ax(g-units),ay(g-units),az(g-units)
Gyro.txt: time(s),gx(rad/s),gy(rad/s),gz(rad/s)
GPS.txt: time(s),latitude(deg),longitude(deg),horizontalAccuracy(m),altitude(m),verticalAccuracy(m),floorLevel,course(dgr),speed(m/s)
Head.txt: time(s),trueHeading(dgr),magneticHeading(dgr),headingAccuracy(dgr)
Motion.txt: time(s),attitude.quaternion.w,attitude.quaternion.x,attitude.quaternion.y,attitude.quaternion.z
MotARH.txt: time(s),rotationRate.x(rad/s),rotationRate.y(rad/s),rotationRate.z(rad/s),gravity.x(g-units),gravity.y(g-units),gravity.z(g-units),userAccel.x(g-units),userAccel.y(g-units),userAccel.z(g-units),motionHeading(dgr)
MotMagnFull.txt: time(s),calibratedMagnField.x(microteslas),calibratedMagnField.y(microteslas),calibratedMagnField.z(microteslas),magnFieldAccuracy
Magnet.txt: time(s),magneticField.x(microteslas),magneticField.y(microteslas),magneticField.z(microteslas)
ARposes.txt: time(s),ARKit.translation.x(m),ARKit.translation.y(m),ARKit.translation.z(m),ARKit.quaternion.w,ARKit.quaternion.x,ARKit.quaternion.y,ARKit.quaternion.z
Frames.txt: time(s),frameNumber,focalLenghtX,focalLenghtY,principalPointX,principalPointY
Frames.m4v: frames compressed in video

Other:

To syncronize accelerometer and gyroscope data you can use python script sync-data.py:

python path_to_folder_with_sync-data/sync-data.py path_to_datasets_folder/dataset_folder

To get frames from video you can use ffmpeg or some video editor. For example:

ffmpeg -i Frames.m4v Frames/Frame%05d.png -hide_banner

or you can try to use VideoToPictures.cpp:

compile VideoToPictures.cpp and
VideoToPictures path_to_datasets_folder/dataset_folder/Frames.m4v

ios_logger's People

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ios_logger's Issues

Cannot find recorded files on iphone

Thanks for your nice work.
I have compiled and installed the ios_logger app on my iphone11, but after I click "start" to record a video and click "stop", I cannot find any recorded files on my iPhone's "File" app. No error message is reported from the ios_logger app. Is there anything I missed to run this app and record data?

Is it possible to collect afaceanchor.blendshapelocation?

Is it possible to collect arfaceanchor.blendshapelocation data using your app?

Inaccurate pose estimation

Hello,Varvrar, thank you for your great work. But now I have a problem. I run vins-mono test with the data collected by ios-logger, and the trajectory diverges seriously. In contrast, mars-logger(https://github.com/OSUPCVLab/marslogger_ios/tree/56bfe7e78a5f7ea5ad10f97c4fe0d7bd032b0ede), another similar data collection software, runs well. Do others have similar problems? We look forward to answering them. Thank you

Poses fitted on the sphere

Hello!
I tried to observe camera poses using COLMAP (by passed logged quat and translation vector to COLMAP), but faced the problem that camera poses from ios_logger look like something fitted on the sphere, but the real path of the camera definitely differs from the "spherical" one. Why does it happen? And how can I get the real poses?
Thanks!

ARCore pose and image crush after your last sep.7 update.

there is problem during arcore mode recording data, but there is no problem before your last sep.7 update.

Switch camera

Hello Varvrar!

Thanks for you great work! I have used this nice app to recorder data for pose estimation. I was wondering how I could choose different back cameras since there are multiple back cameras from iphone 7. For example, I was trying to use the TelephotoCamera or UltraWideCamera, and based on the apple documentation I need to use AVCaptureDeviceDiscoverySession:

AVCaptureDeviceDiscoverySession *session =
[AVCaptureDeviceDiscoverySession
discoverySessionWithDeviceTypes:AVCaptureDeviceTypeBuiltInUltraWideCamera
mediaType:AVMediaTypeVideo
position:AVCaptureDevicePositionUnspecified];

However, it doesn't work. Could you please give some suggestions?

Thanks!

Could ios_logger record the timestamp of imu and camera data respectively ?

thanks for your incredible work, your great work would help me a lot in my research.
I want to know, could ios_logger record the timestamp of imu and camera data respectively ?
thank you very much in advance.

Feature request: LiDAR info capture

Hi @Varvrar,

Thank you so much for the app. Is there any way we can capture LiDAR information as well? If so could you point me to the direction of how you would go about it?

Camera Setting Issue

Hello Varvrar,

First of all thanks a lot for the job you have done.
I managed to run your app on my iPhone X and everything works well.
Nevertheless, I have some trouble regarding the camera settings. The camera is not focusing properly leading to blurred images.
Moreover, is there a way to tune the camera parameters (resolution, etc.) ?

Thanks,
Pm