VideoIMUCapture does capture video and IMU data useful for 3D reconstruction using SLAM and Structure from Motion techniques. It is a data collection tool for researchers working with Simultaneous Localization and Mapping (SLAM) and Structure from Motion (SfM).

The app records Camera Frames at ~30Hz and Inertia Measurement Unit (IMU) data at ~100Hz synchronized to the same clock, given that the Android device supports it. The camera frames are stored to a H.264/MP4 video file and the frame meta data together with IMU data is stored in a protobuf3 file.

A major problem with modern smartphones and 3D reconstruction is that all have Optical Image Stabilization (OIS), which means different camera parameters for each frame. Furthermore, on many Android devices it cannot be disabled and a rare few actually supply the data of the lens movement. VideoIMUCapture shows a clear warning if you have this feature on during recording and includes settings for both Optical Image Stabilization and Digital Video Stabilization (DVS).

Features:

• Captures camera frames at ~30Hz to H.264/MP4.
• Captures IMU data at ~100Hz.
• Synchronized clock, assuming the device supports it.
• Stores IMU data and all frame meta data in a protobuf file, check recording.proto to see what data is included.
• Display warning if OIS or DVS is enabled since this affects the camera parameters.
• Settings menu for configuring video resolution, OIS, DVS, Auto focus and Auto exposure.

Anti-Features:

• NonFreeComp (the application includes non-free components):
  ⇒ The app contains libraries of Google Mobile Services, Firebase and Crashlytics.
• NonFreeNet (this application promotes/depends a non-Free network service):
  ⇒ The app connects to Google servers (InstallReferrer, Firebase, Crashlytics).
• Tracking (the application tracks and reports your activity to somewhere – usually either without your consent, or by default (i.e. you’d have to actively disable it)):
  ⇒ The app uses Crashlytics, Firebase Analytics.