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Overview

The MARS logger records RGB camera frames at 30Hz and IMU readings at 50+ Hz and the two data streams are synced to one clock source.

Installation

• iOS
• Android

Data Format

• Format description
• Sample data

Record data

iOS

Open the Mars Logger app, press the Record button to start logging, and press the Stop button to finish logging. TODO: will exposure lock at the startup or at the tap? Can it be unlocked with long press? Tap the screen to lock focus and exposure at a particular area in the camera view. Long press the screen to unlock the focus. Once finished, the Export button may be pressed to email the video frame metadata and inertial data to a user-specified mailbox. TODO: confirm the below statement? This is optional as you may share the files via AirDrop and connection to maplab.

Android

Open the Mars Logger app, press the Record button to start logging, and press the Stop button to finish logging. Tap the screen to adjust ISO and exposure.

Transfer data

• iOS to Windows
• iOS to Mac
• Android to Windows
• Android to Ubuntu

Clean data

• iOS
• Android

Convert to Rosbag

Please use the bagcreator in python for creating a rosbag from the recorded visual inertial data.