The app collects color images at 640x480 resolution and Lidar depth maps at 192x256 with 60 fps, Inertial measurements at 100HZ, camera intrinsics and the 6 degree of freedom pose computed by the iPhone itself in realtime. All data is written to disk in real time and timestamp with a continuously NTP synchronized clock. The files are saved to the device storage and can be copied to a Mac computer afterwards and used with other sensors that also use UTC time.
How to use:
- Start the app and wait for the Time Sync text to switch to Ready. The timesynchronization will fail if no internet connection is available, and the app will close. If successfull, the device will make a sound.
- Start the recording by pressing Start and press Stop when finished. When pressing Start again without closing the app, the new data will be recorded to the same folder. To generate seperate data folders, close the app and restart it.
- The image files are in JPG format, the lidar files are written to disk in float32 binary format and can be converted to PNG using the notebook at: https://github.com/xlDownxl/VO_Data_Collector, the IMU data is written to two seperate text files and the iPhones position solution to another textfile