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MarsLogger

First visit the project page and download the apk and install in it on your phone, On the phone tab build version 7 the and then enable USB debugging on your phone,

Then on the machine:

sudo apt-get update
sudo apt-get install android-tools-adb

the recording are stored in /sdcard/Android/data/edu.osu.pcv.marslogger/files/data so copy the data to your machine, first browse them:

adb shell
cd /sdcard/Android/data/edu.osu.pcv.marslogger/files/data
ls
exit

then copy them:

MARS_DIR=/sdcard/Android/data/edu.osu.pcv.marslogger/files/data
OUTPUT_DIR=/home/$USER/Desktop/MarsLogger
cd $OUTPUT_DIR
adb pull $MARS_DIR

Convert recording to ROS bag

in /home/$USER/anaconda3/envs/bagwriter/venv/bin/python

BAG_PYTHON=/home/$USER/workspace/vio_common/python/kalibr_bagcreater.py

ANDROID_DATA_DIR=/home/$USER/data/2023_03_07_10_16_29 python $BAG_PYTHON --video $ANDROID_DATA_DIR/movie.mp4
--imu $ANDROID_DATA_DIR/gyro_accel.csv
--video_time_file $ANDROID_DATA_DIR/frame_timestamps.txt
--output_bag $ANDROID_DATA_DIR/movie.bag

BAG_PYTHON=/home/$USER/workspace/vio_common/python/kalibr_bagcreater.py ANDROID_DATA_DIR=/home/$USER/data/2023_03_07_09_14_07 python $BAG_PYTHON --video $ANDROID_DATA_DIR/movie.mp4 --max_video_frame_height=10000 --imu $ANDROID_DATA_DIR/gyro_accel.csv --video_time_file $ANDROID_DATA_DIR/frame_timestamps.txt --output_bag $ANDROID_DATA_DIR/movie.bag

=================================kalibr =================================

'pinhole-radtan', 'pinhole-equi', 'pinhole-fov', 'omni-none', 'omni-radtan', 'eucm-none', 'ds-none'

python bag_from_recording.py --height 1280

FOLDER=/home/$USER/anaconda3/envs/bagwriter/src/kalibr_fly

xhost +local:root docker run -it -e "DISPLAY" -e "QT_X11_NO_MITSHM=1"
-v "/tmp/.X11-unix:/tmp/.X11-unix:rw"
-v "$FOLDER:/data" kalibr

source devel/setup.bash rosrun kalibr kalibr_calibrate_cameras --bag /data/fly.bag --target /data/april_6x6.yaml --models pinhole-equi --topics /camera/image_raw

rosrun kalibr kalibr_calibrate_imu_camera --bag /data/cam_april.bag --cam /data/cam_april-camchain.yaml --imu /data/imu.yaml --target /data/april_6x6.yaml

TargetViewTable]: Tried to add second view to a given cameraId & timestamp. Maybe try to reduce the approximate syncing tolerance..

=================================kalibr android ================================= FOLDER=/home/$USER/Desktop/MarsLogger/data/2023_03_06_15_20_28 =================================kalibr android =================================

xhost +local:root docker run -it -e "DISPLAY" -e "QT_X11_NO_MITSHM=1"
-v "/tmp/.X11-unix:/tmp/.X11-unix:rw"
-v "$FOLDER:/data" kalibr

source devel/setup.bash rosrun kalibr kalibr_calibrate_cameras
--bag /data/cam_april.bag --target /data/april_6x6.yaml
--models pinhole-radtan --topics /cam0/image_raw

rosrun kalibr kalibr_calibrate_imu_camera --bag /data/cam_april.bag --cam /data/cam_april-camchain.yaml --imu /data/imu.yaml --target /data/april_6x6.yaml

================================= ORB_SLAM3 ================================= xxxxxxxxxxxxxxxxxxxxxx fails xxxxxxxxxxxxxxxxxxxxxxxxxx rosrun ORB_SLAM3 Mono /home/$USER/workspace/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/$USER/Desktop/MarsLogger/data/2023_03_06_15_20_28/ORB3_EuRoC.yaml

rosrun ORB_SLAM3 Mono_Inertial /home/$USER/workspace/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/$USER/Desktop/MarsLogger/data/2023_03_06_15_20_28/ORB3_EuRoC.yaml cd /home/$USER/Desktop/MarsLogger/data/2023_03_07_10_16_29 rosbag play movie.bag /cam0/image_raw:=/camera/image_raw /imu0:=/imu

================================= vins =================================

roslaunch vins vins_rviz.launch rosrun vins vins_node /home/$USER/Desktop/MarsLogger/data/2023_03_06_15_20_28/android_imu_config.yaml

roslaunch vins vins_rviz.launch rosrun vins vins_node /home/$USER/Desktop/MarsLogger/data/2023_03_06_15_20_28/gazebo_firefly.yaml