Logging time tagged video stills with sensor data

Blue Robotics Software
1

I note that there is a raspbery pi command ‘raspistill -o cam.jpg’ that will capture video stills.
[2592x1944] resolution.

Does anybody now how to set a up a logging system that will do the following on a dive automatically

  1. Call raspistill -o filename.jpg’
  2. Do this at a predefined interval say every 5 seconds
  3. Log a time tag along with time synced sensor data (IMU Data).

I found a paper on the internet that is using the BlueRov2 to this with the output shown below.
[ I have been anable to contact the author to find out how it was achieved.]

{
3 ”timestamp”: 1504782803806,
4 ”image”: ”Image000033.jpg”,
5 ”imu data”: [
6 ”RAW IMU {time usec :3387046337, xacc :142, yacc : −22, zacc : −996, xgyro : 5,
ygyro : 27, zgyro : 2, xmag :−78, ymag :−230, zmag :−549}”,
7 ”SCALED IMU2 {time boot ms :3387046, xacc :123, yacc :−32, zacc :−999, xgyro :
4, ygyro : 0, zgyro : −70, xmag :0, ymag : 0, zmag : 0}”,
8 ”SCALED PRESSURE {time boot ms :3387046, press abs :1095.18615723, press di↵ :
79.0070266724, temperature :5727}”,
9 ”SCALED PRESSURE2 {time boot ms :3387046, press abs :1277.70275879,
press di↵ :264.452728271, temperature :1905}”
10 ]
11 },
12 {
13 ”timestamp”: 1504782803779,
14 ”image”: ”Image000034.jpg”,
15 ”imu data”: [
16 ”SERVO OUTPUT RAW {time usec :3387086678, port :0, servo1 raw :1525,
servo2 raw :1474, servo3 raw :1525, servo4 raw : 1474, servo5 raw : 1509,
servo6 raw : 1499, servo7 raw : 1100, servo8 raw : 1800, servo9 raw : 0,
servo10 raw : 0, servo11 raw : 0, servo12 raw : 0, servo13 raw : 0, servo14 raw
: 0, servo15 raw : 0, servo16 raw : 0}”,
17 ”RC CHANNELS RAW {time boot ms :3387086, port :0, chan1 raw :1500,
chan2 raw :1500, chan3 raw :1500, chan4 raw :1500, chan5 raw :1420, chan6 raw :
1500, chan7 raw : 1500, chan8 raw : 1800, rssi : 0}”,
18 ”ATTITUDE {time boot ms :3387086, roll :0.0108106117696, pitch :
0.0513137206435, yaw : 2.21572089195, rollspeed : 0.00796211417764, pitchspeed :
0.0290557350963, yawspeed :0.00267279311083}”,
19 ]
20 },
21

2

Can you provide a link to the paper? The video stream will be interrupted when you take a picture, unless you use a separate camera.

3

Jacob

page 47 for the section on BlueRov2 setup.

I am using this for a computer vision project (not SLAM) so not an issue if I lose video occasionally.
The best way is if I could assign a button the controller to take a video still.

There are some spare wires on the umbilical that I could possibly use as well I guess

4

Jacob

Actually all i need to do is log on the sub i dont need this sent up the umbilical. Could download post dive.

So simple python script would do the video stills.

I guess my question is the time tagging. Is the sensor logging using the raspi pis clock ?

Is it possible to grab a fix of the sensor data via a python script at the same time as the video still is taken

5

Yes, it is possible to log the data to the pi, or grab the data yourself in your own script. Check out MAVProxy, pymavlink, and this post.

6

Thanks Jacob