Recording
The core SDK includes a built-in data recorder which leverages FFmpeg for video encoding. The data created using the recorder can used for
Troubleshooting (together with Spectacular AI support)
Post-processing and exporting for NeRF & 3DGS training
Other research and development purposes
The easiest way to use the recorder is through the pre-built recording tools that are included with the SDK packages, e.g., sai-record-realsense
or sai-cli record oak
.
It can also be enabled in any software integrating the SDK by setting the recordingFolder
in the device-specific Configuration
class (or the VIO builder). Refer to the wrapper pages for more details and examples.
In all cases, remember to first install FFmpeg.
Data format
The recording format created by the SDK and Spectacular Rec is documented here. It is based on encoded videos and JSONL, making it a convenient and effective choice for high-resolution, high-frequency multi-camera, multi-sensor data. In particular, we can efficiently and economically store
Multi-camera RGB or monochrome data
Depth data (via PNGs or FFV1)
IMU, synchronized with the camera frames
Other sensors, e.g., barometer or GPS
Recording settings
It is possible to control FFmpeg encoding parameters using the --ffmpeg_codec
command line option (for recording tools) or the ffmpegVideoCodec
parameter in vio_config.yaml
. For example, the following option disables all encoding and writes raw video, which minmizes the CPU consumption overhead caused by enabling rrecording (on the other hand, this requires a lot of disk space and decent write speed)
ffmpegVideoCodec: rawvideo
The parameter can also be used to enable platform-specific codecs. The following enables hardware-accelerated video recording on the Nvidia Jetson Xavier platform (but not on Orin):
ffmpegVideoCodec: "h264_nvenc -b:v 16M"