Tool to save data published through Modal Pipe Architecture to disk. By default, this saves images to /data/voxl-logger/ since the /data/ parition is the largest partition on VOXL. You can change this with the -d argument.
The voxl-replay tool is used to play back the logs on target.
-c, --cam {name} name of a camera to log, e.g. tracking
-d, --directory {dir} name of the directory to save the log to, default
is /data/voxl-logger/ if argument is not provided.
-i, --imu {name} name of an imu to log, e.g. imu1.
-k, --skip {n_to_skip} number of samples to skip between logged samples
-h, --help print this help message
-n, --note {note} optionally add a very short note to the end of the log
directory name, e.g. flight_with_new_motors
-o, --preset_odometry record a preset log containing qvio, tracking cam and both
IMUs for testing VIO. This can be used with other pipes.
-s, --samples {samples} maximum samples to save for one specific channel,
otherwise it will run untill you quit the program.
-t, --time {seconds} time to log for in seconds.
-v, --vio {name} name of a vio pipe to log, e.g. qvio
-z, --debug enable verbose debug mode
typical uses:
To log one camera image:
```yocto:/# voxl-logger --cam tracking --samples 1```
To log 5000 imu samples:
```yocto:/# voxl-logger -i imu1 -s 5000 --note "primary imu test"```
To log 1000 imu0 samples and 2000 imu1 samples:
```yocto:/# voxl-logger -i imu0 -s 1000 -i imu1 -s 2000```
To log every 5th imu sample (skip 4) for 5.5 seconds:
```yocto:/# voxl-logger -i imu1 --skip 4 -t 5.5```
To log tracking camera and both imus until you press ctrl-c
```yocto:/# voxl-logger --preset_odometry```
To record a typical log for testing VIO (imu + tracking) for 1 minute
```yocto:/# voxl-logger --preset_odometry --time 60 --note "log for vio replay test 1"```