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‎README.md‎

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# ios_logger
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Application for imu, camera and gps logging
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This simple application was made for logging accelerometer, gyroscope, images and gps on Apple devices (iPad/iPhone).
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## Build and run:
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1. Open ios_logger.xcodeproj in XCode
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2. In project properties -> General set your team signing and make sure that signing certificate was successfully created
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3. Download [OpenCV framework](https://sourceforge.net/projects/opencvlibrary/files/) and put it in project directory.
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Or in project properties -> Build Settings -> Framework Search Paths add path to folder with OpenCV framework.
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I used 3.x version of OpenCV.
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4. Connect your device, select it (Product -> Destination) and run application (Product -> Run)
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## Collect datasets:
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To start collecting dataset push "START" button on the device screen. When you want to stop collecting push "STOP" :-)
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Each dataset will be saved in separate folder on device .
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## Get saved datasets:
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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.
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## Dataset format:
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* Accel.txt: time(s(from 1970)),ax(g),ay(g),az(g)
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* Gyro.txt: time(s),gx(rad/s),gy(rad/s),gz(rad/s)
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* GPS.txt: time(s),latitude(deg),longitude(deg)
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* Frames.txt: time(s),frameNumber
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* Frames.m4v: frames compressed in video
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To syncronize accelerometer and gyroscope data you can use python script sync-data.py:
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```
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python D:/Datasets/sync-data.py D:/Datasets/2019-02-08T14-26-03
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```
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To get frames from video you can use ffmpeg or some video editor. For example:
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```
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ffmpeg -i Frames.m4v Frames/Frame%05d.png -hide_banner
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```
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or you can try to use VideoToPictures.cpp:
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```
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compile VideoToPictures.cpp and
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VideoToPictures.exe D:/Datasets/2019-02-08T14-26-03/Frames.m4v
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```

‎VideoToPictures.cpp‎

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#include <iostream>
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#include "opencv2/opencv.hpp"
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#ifdef _WIN32
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#include <windows.h>
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#endif // _WIN32
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#ifdef __linux__
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#include <boost/filesystem.hpp>
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#endif // __linux__
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using namespace cv;
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using namespace std;
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class IMUData {
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public:
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IMUData(const double &gx, const double &gy, const double &gz,
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const double &ax, const double &ay, const double &az,
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const double &t) : _g(gx, gy, gz), _a(ax, ay, az), _t(t) {}
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string toString()
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{
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string ret;
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ret += to_string(long long(_t * 1e6) * 1000) + ',';
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ret += to_string(_g[0]) + ',';
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ret += to_string(_g[1]) + ',';
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ret += to_string(_g[2]) + ',';
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ret += to_string(_a[0]) + ',';
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ret += to_string(_a[1]) + ',';
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ret += to_string(_a[2]);
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return ret;
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}
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string toStringM()
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{
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string ret;
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ret += to_string(long long(_t * 1e6) * 1000) + ',';
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ret += to_string(_g[0]) + ',';
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ret += to_string(_g[1]) + ',';
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ret += to_string(_g[2]) + ',';
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ret += to_string(-_a[0]) + ',';
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ret += to_string(-_a[1]) + ',';
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ret += to_string(-_a[2]);
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return ret;
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}
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// Raw data of imu
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Vec3d _g; //gyr data
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Vec3d _a; //acc data
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double _t; //timestamp
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};
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void LoadFrameNames(const string &strFramesFile, vector<long long> &vFrames);
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bool LoadImus2(const string &strAccelGyroFile, vector<IMUData> &vImus);
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const char* keys =
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"{ help h | | Print help message. }"
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"{ videoName | D:/Datasets/ARCNA/2019-02-08T14-26-03/Frames.m4v | Video File Name. }";
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int main(int argc, char* argv[])
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{
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CommandLineParser parser(argc, argv, keys);
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string videoName = parser.get<String>("videoName");
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VideoCapture cap(videoName);
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if (!cap.isOpened())
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{
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cerr << "Error when reading video";
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return -1;
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}
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string workDir = videoName;
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workDir.resize(workDir.size() - 10);
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#ifdef _WIN32
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CreateDirectoryA((workDir + "cam0").c_str(), NULL);
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#endif // _WIN32
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#ifdef __linux__
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boost::filesystem::create_directories((workDir + "cam0").c_str());
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#endif // __linux__
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string framesFileName = videoName;
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auto cb = framesFileName.end();
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*(--cb) = 't';
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*(--cb) = 'x';
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*(--cb) = 't';
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vector<long long> vFrames;
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LoadFrameNames(framesFileName, vFrames);
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int nImages = vFrames.size();
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cout << "Image converting: [0 - 100%]" << endl;
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cout << "[ ]" << endl;
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cout << " ";
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Mat frame;
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for (int i = 0, n = 1; i < nImages; ++i)
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{
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if (!cap.read(frame))
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break;
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string imgName = workDir + "cam0/" + to_string(vFrames[i]) + ".jpg";
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imwrite(imgName, frame);
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if (i + 1 >= (nImages / 100.) * n)
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{
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cout << ".";
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++n;
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}
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}
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cout << " " << endl;
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//-----------------------------------------------------------------------------
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vector<IMUData> vImus;
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string accGyroFile = workDir + "accel-gyro.txt";
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if(LoadImus2(accGyroFile, vImus))
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{
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int nImus = vImus.size();
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string newImuName = workDir;
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newImuName += "imu0.csv";
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ofstream fOutImu;
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fOutImu.open(newImuName.c_str(), std::ofstream::out | std::ofstream::trunc);
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for (int ni = 0; ni < nImus; ni++)
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{
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fOutImu << vImus[ni].toString() << "\n";
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}
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fOutImu.close();
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}
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//-----------------------------------------------------------------------------
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return 0;
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}
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void LoadFrameNames(const string &strFramesFile, vector<long long> &vFrames)
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{
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ifstream fFrames;
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fFrames.open(strFramesFile.c_str());
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vFrames.reserve(10000);
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while (!fFrames.eof())
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{
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string s;
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getline(fFrames, s);
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if (!s.empty())
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{
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stringstream ss;
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ss << s;
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string s2;
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getline(ss, s2, ',');
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double t = std::stod(s2);
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long long it = (long long)(t * 1e6);
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it = it * 1000;
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vFrames.push_back(it);
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}
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}
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fFrames.close();
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}
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bool LoadImus2(const string &strAccelGyroFile, vector<IMUData> &vImus)
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{
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ifstream fImus(strAccelGyroFile.c_str());
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if (!fImus)
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return false;
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vImus.reserve(40000);
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while (!fImus.eof())
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{
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string s;
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getline(fImus, s);
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if (!s.empty())
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{
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char c = s.at(0);
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if (c<'0' || c>'9')
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continue;
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stringstream ss;
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ss << s;
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double tmpd;
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int cnt = 0;
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double data[10]; // timestamp, wx,wy,wz, ax,ay,az
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while (ss >> tmpd)
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{
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data[cnt] = tmpd;
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cnt++;
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if (cnt == 7)
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break;
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if (ss.peek() == ',' || ss.peek() == ' ')
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ss.ignore();
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}
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//data[0] *= 1e-9;
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IMUData imudata(data[1], data[2], data[3],
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data[4], data[5], data[6], data[0]);
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vImus.push_back(imudata);
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}
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}
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return true;
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}

‎sync-data.py‎

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a=[]
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t=acc[list('t')].values
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#G = 9.81
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#for c in 'abc':
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# acc[list(c)] = -G*acc[list(c)]
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G = 9.81
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for c in 'abc':
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acc[list(c)] = G*acc[list(c)]
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# Make imu
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for c in 'abc':
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full = M[M[:,0].argsort()]
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path= path + 'accel-gyro.txt'
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np.savetxt(path, full, delimiter=",",fmt='%.7f')
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np.savetxt(path, full, delimiter=",",fmt='%.6f')

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