Replaying IMU data

BenjaminKiefer

Hey guys,

very nice and extensive packages/repositories!

For a reproducibility pipeline I would want to record video data alongside IMU data (ARVR rotation vector). I successfully recored a Mcap file. Now, upon replaying it, I could not see any logic for that.

I wondered whether I did oversee something or whether there is no logic for that currently. Maybe with ROS?

Thanks!

jakaskerl

Hi BenjaminKiefer
You can view MCAPs with Foxglove Studio software. There should also be functionality to directly replay the recordings with SDK. The library has a class named McapReader which should take care of MCAPs as input to oak devices.

Thanks,
Jaka

BenjaminKiefer

jakaskerl
Hi Jaka,

thanks for you response!
Yes, I know about the McapReader. However, it does not support replaying IMU data. Therefore, I started writing my own, but I have trouble syncing the frames and the IMU at replay time.

Hence, I wondered:

When recording, are they already synced?
How would I sync them at replay time?
Is there any reference for replaying IMU?

Thanks!