🔎

ARKit ReplayDataの中身を覗いてみる

2022/12/09に公開約71,600字

この記事はMoAR - Museum of AR Advent Calendar 2022の10日目の記事です。

https://qiita.com/Saqoosha/items/83df76d32f1b473703d1

6日目の記事↑でも書いていたように、普段ベルリンに住んで、東京の特定のビルでしか見れないアプリをリモート開発!ということで、遠隔でテストする機能が非常に重要になっていました。

個人的に、ここ最近参加しているプロジェクトの半分以上はARを含むeXtended Reality (XR)関係。そのすべてのプロジェクトをリモートで参加しているのでAR環境をシュミレーションするのにはかなり関心があります。

最近は時間があるときにUnityでARKitの録画を再生する機能を実装してみようとしていることもあり、↓
https://zenn.dev/asus4/scraps/792afc390733ad

ARKit Replay Dataのフォーマットの中身を調べてみました。
自分へのメモ的な内容でなにか結論があるわけではありませんが。興味ある人がいればと思い共有します。

ARKit Replay Dataってなによ

https://developer.apple.com/documentation/arkit/arsession/recording_and_replaying_ar_session_data

Appleが提供する,Reality Composerアプリで録画した動画ファイルのことを指します。
Xcode上でARKitを使ったアプリを起動するときに指定すると、既存のカメラフィードが立ち上がる代わりに、録画した環境が再生されます。

ffmpegでメタデータを覗く

Quick Timeで再生してみると、ただの動画ファイルのようですが、
ffprobeコマンドでReplayDataの中身を覗いてみましょう

ffprobe replaydata.mov
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from '20220915D-B-13Pro-LA.mov':
  Metadata:
    major_brand     : qt
    minor_version   : 0
    compatible_brands: qt
    creation_time   : 2022-09-15T05:40:26.000000Z
    com.apple.framework.state.MOVStreamIO: <?xml version="1.0" encoding="UTF-8"?>
                    : <!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
                    : <plist version="1.0">
                    : <dict>
                    : 	<key>default_options</key>
                    : 	<dict>
                    : 		<key>MIOBitrateMultiplier</key>
                    : 		<real>1</real>
                    : 		<key>MIOBitrateOverride</key>
                    : 		<integer>0</integer>
                    : 		<key>MIOBossMode</key>
                    : 		<false/>
                    : 		<key>MIODisableFrameReordering</key>
                    : 		<false/>
                    : 		<key>MIOForce10bitMonoByVT</key>
                    : 		<false/>
                    : 		<key>MIOForceColorLossless</key>
                    : 		<false/>
                    : 		<key>MIOForceLossless8bitMonoByVT</key>
                    : 		<false/>
                    : 		<key>MIOLogAppendTimeStamps</key>
                    : 		<false/>
                    : 		<key>MIOLogPrepareRecording</key>
                    : 		<false/>
                    : 		<key>MIOSkipSourceHint</key>
                    : 		<false/>
                    : 	</dict>
                    : 	<key>version</key>
                    : 	<string>3.17.10b</string>
                    : </dict>
                    : </plist>
                    :
    com.apple.framework.state.MOVKit: {"extrinsicsSWToW":[0.9999387264251709,-0.0010817100992426276,-0.011017407290637493,-8.9610586166381836,0.0010484313825145364,0.99999487400054932,-0.0030258949846029282,16.653076171875,0.011020624078810215,0.0030141586903482676,0.99993473291397095,-1.6000
    com.apple.recordingEnvironment: {"extrinsicsSWToW":[0.9999387264251709,-0.0010817100992426276,-0.011017407290637493,-8.9610586166381836,0.0010484313825145364,0.99999487400054932,-0.0030258949846029282,16.653076171875,0.011020624078810215,0.0030141586903482676,0.99993473291397095,-1.6000
  Duration: 00:00:34.62, start: 0.000000, bitrate: 68778 kb/s
    Stream #0:0(und): Video: hevc (Main) (hvc1 / 0x31637668), yuvj420p(pc, smpte170m/bt709/bt709), 1920x1440, 39893 kb/s, 29.99 fps, 30 tbr, 16800 tbn, 16800 tbc (default)
    Metadata:
      rotate          : 90
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Video
      encoder         : HEVC
    Side data:
      displaymatrix: rotation of -90.00 degrees
    Stream #0:1(und): Data: none (mebx / 0x7862656D), 94 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:2(und): Video: hevc (Main) (hvc1 / 0x31637668), yuvj420p(pc, smpte170m/bt709/bt709), 640x480, 4428 kb/s, 10 fps, 10 tbr, 16800 tbn, 16800 tbc (default)
    Metadata:
      rotate          : 90
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Video
      encoder         : HEVC
    Side data:
      displaymatrix: rotation of -90.00 degrees
    Stream #0:3(und): Data: none (mebx / 0x7862656D), 42 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:4(und): Data: none (mebx / 0x7862656D), 7081 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:5(und): Data: none (mebx / 0x7862656D), 131 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:6(und): Data: none (mebx / 0x7862656D), 577 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:7(und): Data: none (mebx / 0x7862656D) (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:8(und): Data: none (mebx / 0x7862656D), 559 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:9(und): Data: none (mebx / 0x7862656D) (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:10(und): Data: none (mebx / 0x7862656D), 240 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:11(und): Data: none (mebx / 0x7862656D) (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:12(und): Data: none (mebx / 0x7862656D), 1882 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:13(und): Data: none (mebx / 0x7862656D), 30 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:14(und): Data: none (mebx / 0x7862656D), 93 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:15(und): Data: none (mebx / 0x7862656D), 5654 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:16(und): Data: none (mebx / 0x7862656D), 4371 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata
    Stream #0:17(und): Data: none (mebx / 0x7862656D), 4371 kb/s (default)
    Metadata:
      creation_time   : 2022-09-15T05:40:26.000000Z
      handler_name    : Core Media Metadata

Stream 0:0は 1920x1440のVideo、RGBの画像がはいっていることがわかります。
Stream 0:2は 640x480のVideo。 10fpsですね。これはdepth映像でしょう。
Stream 0:1、0:3 ~ 0:17までなにやら色々data streamが入っていますね。気になる。

更にMetadataの途中が切れてしまっています。ffmpegで抜き出して全部見てみましょう。

ffmpeg -i replaydata.mov -f ffmetadata metadata.txt
;FFMETADATA1
major_brand=qt  
minor_version=0
compatible_brands=qt  
com.apple.recordingEnvironment={"extrinsicsSWToW":[0.9999387264251709,-0.0010817100992426276,-0.011017407290637493,-8.9610586166381836,0.0010484313825145364,0.99999487400054932,-0.0030258949846029282,16.653076171875,0.011020624078810215,0.0030141586903482676,0.99993473291397095,-1.600006103515625],"CFBundleIdentifier":"com.apple.RealityComposer","movKitVersion":"1.1.0","ProductType":"iPhone14,2","extrinsicsToJasper":{"AVCaptureDeviceTypeBuiltInWideAngleCamera.1":[-0.0011625110637396574,-0.99999934434890747,-7.6593220001086593e-05,16.652999877929688,0.99999898672103882,-0.0011625729966908693,0.00081380968913435936,-5.5029997825622559,-0.00081389816477894783,-7.5647076300811023e-05,0.99999964237213135,2.6049997806549072],"AVCaptureDeviceTypeBuiltInUltraWideCamera.1":[-0.0022117146290838718,-0.99999320507049561,0.0029621126595884562,0.010474531911313534,0.99994546175003052,-0.002241823123767972,-0.010200122371315956,-14.484712600708008,0.010206692852079868,0.002939391415566206,0.99994355440139771,1.0110279321670532]},"mdta\\/com.apple.arkit.arsensordatatypeinformation":79,"version":"151.39","mdta\\/com.apple.arkit.arkitversion":"364.27.5","OSBuildVersion":"15.5.0 (19F77)","mdta\\/com.apple.arkit.osversion":"19F77","hw.model":"D63AP"}
com.apple.framework.state.MOVStreamIO=<?xml version\="1.0" encoding\="UTF-8"?>\
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">\
<plist version\="1.0">\
<dict>\
	<key>default_options</key>\
	<dict>\
		<key>MIOBitrateMultiplier</key>\
		<real>1</real>\
		<key>MIOBitrateOverride</key>\
		<integer>0</integer>\
		<key>MIOBossMode</key>\
		<false/>\
		<key>MIODisableFrameReordering</key>\
		<false/>\
		<key>MIOForce10bitMonoByVT</key>\
		<false/>\
		<key>MIOForceColorLossless</key>\
		<false/>\
		<key>MIOForceLossless8bitMonoByVT</key>\
		<false/>\
		<key>MIOLogAppendTimeStamps</key>\
		<false/>\
		<key>MIOLogPrepareRecording</key>\
		<false/>\
		<key>MIOSkipSourceHint</key>\
		<false/>\
	</dict>\
	<key>version</key>\
	<string>3.17.10b</string>\
</dict>\
</plist>\

com.apple.framework.state.MOVKit={"extrinsicsSWToW":[0.9999387264251709,-0.0010817100992426276,-0.011017407290637493,-8.9610586166381836,0.0010484313825145364,0.99999487400054932,-0.0030258949846029282,16.653076171875,0.011020624078810215,0.0030141586903482676,0.99993473291397095,-1.600006103515625],"CFBundleIdentifier":"com.apple.RealityComposer","movKitVersion":"1.1.0","ProductType":"iPhone14,2","extrinsicsToJasper":{"AVCaptureDeviceTypeBuiltInWideAngleCamera.1":[-0.0011625110637396574,-0.99999934434890747,-7.6593220001086593e-05,16.652999877929688,0.99999898672103882,-0.0011625729966908693,0.00081380968913435936,-5.5029997825622559,-0.00081389816477894783,-7.5647076300811023e-05,0.99999964237213135,2.6049997806549072],"AVCaptureDeviceTypeBuiltInUltraWideCamera.1":[-0.0022117146290838718,-0.99999320507049561,0.0029621126595884562,0.010474531911313534,0.99994546175003052,-0.002241823123767972,-0.010200122371315956,-14.484712600708008,0.010206692852079868,0.002939391415566206,0.99994355440139771,1.0110279321670532]},"mdta\\/com.apple.arkit.arsensordatatypeinformation":79,"version":"151.39","mdta\\/com.apple.arkit.arkitversion":"364.27.5","OSBuildVersion":"15.5.0 (19F77)","mdta\\/com.apple.arkit.osversion":"19F77","hw.model":"D63AP"}
encoder=Lavf58.76.100

ふむふむ、何やら意味ありげな数値やらが出てきましたね。

com.apple.framework.state.MOVKitcom.apple.recordingEnvironmentはググっても出てこないので、内部で使っているキーでしょうか。

12個のdoubleの配列が沢山見えます。4x3のMatrixのようです。

とりあえず先に進みましょう。

Data Streamを取得して中身を見てみる

0:1 時間ごとのRGBカメラ設定

ffmpeg -i replaydata.mov -map 0:1 -c copy -copy_unknown -f data stream1.bin

で抽出したトラックをバイナリで見たところ、

stream1

どうやら フレーム番号をキーにしたJSONが入っているみたいです。

{
    "CVImageBufferYCbCrMatrix": "ITU_R_601_4",
    "CVImageBufferTransferFunction": "ITU_R_709_2",
    "CameraIntrinsicMatrix": [
        1428.8345947265625,
        0,
        0,
        0,
        1428.8345947265625,
        0,
        965.86041259765625,
        719.48779296875,
        1
    ],
    "ExposureTime": 0.00091074681238615665,
    "OriginalTimestampWhenWrittenToFile": {
        "flags": 1,
        "value": 250572299230458,
        "timescale": 1000000000,
        "epoch": 0
    },
    "CVImageBufferColorPrimaries": "ITU_R_709_2"
},

それぞれのフレームには以下のような情報が入っているみたいです。RGBカメラの情報をY + CbCrの2枚の画像として取得していますが、動画にエンコードするときにはY + CbCr方式では、hevcの圧縮も汚くなるので、RGBにして、リプレイ時にmatrixで元のYCbCrの画像を再現しているのでしょう。

ITU_R_601_4ITU_R_709_2 どうして2種類使っているのか、iPhoneの機種によって違うんのかなどは比較が必要そうです。

0:3

こちらもフレームをキーとしたJSONがはいっていました。

0:0 RGB 映像
0:1 RGBカメラのメタ情報
0:2 Depth 映像
と来たので恐らくDepthカメラの時間ごとのメタ情報でしょう。

SNRは Signal to Noise Retioでしょうか。

{
    "CVImageBufferYCbCrMatrix": "ITU_R_601_4",
    "MetadataDictionary": {
        "ExposureTime": 0.0022769999999999999,
        "NormalizedSNR": 24.697786511836547,
        "SensorID": 1906,
        "SNR": 34.866031448511428
    },
    "CVImageBufferColorPrimaries": "ITU_R_709_2",
    "CVImageBufferTransferFunction": "ITU_R_709_2",
    "CameraIntrinsicMatrix": [
        257.723388671875,
        0,
        0,
        0,
        257.723388671875,
        0,
        317.106689453125,
        239.14749145507812,
        1
    ],
    "ExposureTime": 0.0022779043280182231,
    "OriginalTimestampWhenWrittenToFile": {
        "flags": 1,
        "value": 250572320258875,
        "timescale": 1000000000,
        "epoch": 0
    }
}

とりあえず、残りのstreamをまとめて抽出しましょう。

for i in {3..17};
do
    ffmpeg -i replaydata.mov -map 0:$i -c copy -copy_unknown -f data stream$i.bin
done

0:4 ToFカメラのデータ?

300MBのmovのうち、30MBを占めるデータ。ポイントクラウドぽいです。plistの配列がバイナリで入っている?(よーわからん)

Hex View  00 01 02 03 04 05 06 07  08 09 0A 0B 0C 0D 0E 0F

00000000  00 00 72 DB 00 00 00 02  62 70 6C 69 73 74 30 30  ..r.....bplist00
00000010  D4 01 02 03 04 05 06 07  0A 58 24 76 65 72 73 69  .........X$versi
00000020  6F 6E 59 24 61 72 63 68  69 76 65 72 54 24 74 6F  onY$archiverT$to
00000030  70 58 24 6F 62 6A 65 63  74 73 12 00 01 86 A0 5F  pX$objects....._
00000040  10 0F 4E 53 4B 65 79 65  64 41 72 63 68 69 76 65  ..NSKeyedArchive
00000050  72 D1 08 09 54 72 6F 6F  74 80 01 AF 10 12 0B 0C  r...Troot.......
00000060  3D 3E 3F 40 44 4A 51 55  5F 60 61 65 69 6C 70 71  =>?@DJQU_`aeilpq
00000070  55 24 6E 75 6C 6C DF 10  19 0D 0E 0F 10 11 12 13  U$null..........
00000080  14 15 16 17 18 19 1A 1B  1C 1D 1E 1F 20 21 22 23  ............ !"#
00000090  24 25 26 27 28 29 2A 2B  2C 2D 2E 2F 30 28 32 2B  $%&'()*+,-./0(2+
000000A0  33 34 35 36 2B 37 38 39  3A 3B 3C 58 6C 65 6E 73  3456+789:;<Xlens
000000B0  54 79 70 65 5B 74 65 6D  70 65 72 61 74 75 72 65  Type[temperature
000000C0  5F 10 15 70 69 78 65 6C  42 75 66 66 65 72 49 73  _..pixelBufferIs
000000D0  4D 69 72 72 6F 72 65 64  53 49 53 4F 5F 10 12 73  MirroredSISO_..s
000000E0  69 67 6E 61 6C 54 6F 4E  6F 69 73 65 52 61 74 69  ignalToNoiseRati
000000F0  6F 5F 10 11 64 65 76 69  63 65 4F 72 69 65 6E 74  o_..deviceOrient
00000100  61 74 69 6F 6E 56 24 63  6C 61 73 73 5A 63 61 6D  ationV$classZcam
00000110  65 72 61 54 79 70 65 5F  10 14 65 78 70 6F 73 75  eraType_..exposu
00000120  72 65 54 61 72 67 65 74  4F 66 66 73 65 74 5F 10  reTargetOffset_.
00000130  10 63 61 6D 65 72 61 49  6E 74 72 69 6E 73 69 63  .cameraIntrinsic
00000140  73 5D 65 78 74 72 69 6E  73 69 63 73 4D 61 70 59  s]extrinsicsMapY
00000150  73 65 63 6F 6E 64 61 72  79 5F 10 15 74 61 72 67  secondary_..targ
00000160  65 74 46 72 61 6D 65 73  50 65 72 53 65 63 6F 6E  etFramesPerSecon
00000170  64 5F 10 14 72 61 77 44  65 76 69 63 65 4F 72 69  d_..rawDeviceOri
00000180  65 6E 74 61 74 69 6F 6E  5F 10 10 65 78 70 6F 73  entation_..expos
00000190  75 72 65 44 75 72 61 74  69 6F 6E 59 74 69 6D 65  ureDurationYtime
000001A0  73 74 61 6D 70 52 24 30  5F 10 10 72 61 64 69 61  stampR$0_..radia
000001B0  6C 44 69 73 74 6F 72 74  69 6F 6E 5E 63 61 6D 65  lDistortion^came
000001C0  72 61 50 6F 73 69 74 69  6F 6E 5F 10 0F 76 69 73  raPosition_..vis
000001D0  69 6F 6E 54 72 61 6E 73  66 6F 72 6D 5F 10 14 74  ionTransform_..t
000001E0  61 6E 67 65 6E 74 69 61  6C 44 69 73 74 6F 72 74  angentialDistort
000001F0  69 6F 6E 5B 63 61 70 74  75 72 65 44 61 74 65 5F  ion[captureDate_
00000200  10 24 74 69 6D 65 73 74  61 6D 70 4F 66 53 79 6E  .$timestampOfSyn
00000210  63 68 72 6F 6E 69 7A 65  64 57 69 64 65 49 6D 61  chronizedWideIma
00000220  67 65 44 61 74 61 5A 70  6F 69 6E 74 43 6C 6F 75  geDataZpointClou
00000230  64 58 66 61 63 65 44 61  74 61 10 00 22 45 A5     dXfaceData.."E. 

以下、ポイントクラウドの値が入ってるぽいです。

0:5 Point Cloud のカメラ情報

これはToFのカメラ情報かな?こちらもplistの配列が入っていそうです。一個のplistを切り出すとこんな感じ。

Hex View  00 01 02 03 04 05 06 07  08 09 0A 0B 0C 0D 0E 0F

00055E00                 70 6C 69  73 74 30 30 D4 01 02 03       plist00....
00055E10  04 05 06 07 0A 58 24 76  65 72 73 69 6F 6E 59 24  .....X$versionY$
00055E20  61 72 63 68 69 76 65 72  54 24 74 6F 70 58 24 6F  archiverT$topX$o
00055E30  62 6A 65 63 74 73 12 00  01 86 A0 5F 10 0F 4E 53  bjects....._..NS
00055E40  4B 65 79 65 64 41 72 63  68 69 76 65 72 D1 08 09  KeyedArchiver...
00055E50  54 72 6F 6F 74 80 01 AF  10 10 0B 0C 3D 3E 3F 40  Troot.......=>?@
00055E60  44 4A 54 55 56 5A 5E 61  65 66 55 24 6E 75 6C 6C  DJTUVZ^aefU$null
00055E70  DF 10 19 0D 0E 0F 10 11  12 13 14 15 16 17 18 19  ................
00055E80  1A 1B 1C 1D 1E 1F 20 21  22 23 24 25 26 27 28 29  ...... !"#$%&'()
00055E90  2A 2B 2C 2D 2E 2F 30 28  32 2B 33 34 35 36 2B 37  *+,-./0(2+3456+7
00055EA0  38 39 3A 3B 3B 58 6C 65  6E 73 54 79 70 65 5B 74  89:;;XlensType[t
00055EB0  65 6D 70 65 72 61 74 75  72 65 5F 10 15 70 69 78  emperature_..pix
00055EC0  65 6C 42 75 66 66 65 72  49 73 4D 69 72 72 6F 72  elBufferIsMirror
00055ED0  65 64 53 49 53 4F 5F 10  12 73 69 67 6E 61 6C 54  edSISO_..signalT
00055EE0  6F 4E 6F 69 73 65 52 61  74 69 6F 5F 10 11 64 65  oNoiseRatio_..de
00055EF0  76 69 63 65 4F 72 69 65  6E 74 61 74 69 6F 6E 56  viceOrientationV
00055F00  24 63 6C 61 73 73 5A 63  61 6D 65 72 61 54 79 70  $classZcameraTyp
00055F10  65 5F 10 14 65 78 70 6F  73 75 72 65 54 61 72 67  e_..exposureTarg
00055F20  65 74 4F 66 66 73 65 74  5F 10 10 63 61 6D 65 72  etOffset_..camer
00055F30  61 49 6E 74 72 69 6E 73  69 63 73 5D 65 78 74 72  aIntrinsics]extr
00055F40  69 6E 73 69 63 73 4D 61  70 59 73 65 63 6F 6E 64  insicsMapYsecond
00055F50  61 72 79 5F 10 15 74 61  72 67 65 74 46 72 61 6D  ary_..targetFram
00055F60  65 73 50 65 72 53 65 63  6F 6E 64 5F 10 14 72 61  esPerSecond_..ra
00055F70  77 44 65 76 69 63 65 4F  72 69 65 6E 74 61 74 69  wDeviceOrientati
00055F80  6F 6E 5F 10 10 65 78 70  6F 73 75 72 65 44 75 72  on_..exposureDur
00055F90  61 74 69 6F 6E 59 74 69  6D 65 73 74 61 6D 70 52  ationYtimestampR
00055FA0  24 30 5F 10 10 72 61 64  69 61 6C 44 69 73 74 6F  $0_..radialDisto
00055FB0  72 74 69 6F 6E 5E 63 61  6D 65 72 61 50 6F 73 69  rtion^cameraPosi
00055FC0  74 69 6F 6E 5F 10 0F 76  69 73 69 6F 6E 54 72 61  tion_..visionTra
00055FD0  6E 73 66 6F 72 6D 5F 10  14 74 61 6E 67 65 6E 74  nsform_..tangent
00055FE0  69 61 6C 44 69 73 74 6F  72 74 69 6F 6E 5B 63 61  ialDistortion[ca
00055FF0  70 74 75 72 65 44 61 74  65 5F 10 24 74 69 6D 65  ptureDate_.$time
00056000  73 74 61 6D 70 4F 66 53  79 6E 63 68 72 6F 6E 69  stampOfSynchroni
00056010  7A 65 64 57 69 64 65 49  6D 61 67 65 44 61 74 61  zedWideImageData
00056020  5A 70 6F 69 6E 74 43 6C  6F 75 64 58 66 61 63 65  ZpointCloudXface
00056030  44 61 74 61 10 00 22 45  A5 67 18 08 22 41 C0 00  Data.."E.g.."A..
00056040  00 22 42 1E 2F 01 10 01  80 0F 80 02 22 BE A1 A1  ."B./......."...
00056050  BE 4F 10 30 01 E0 80 43  00 00 00 00 00 00 00 00  .O.0...C........
00056060  00 00 00 00 00 00 00 00  01 E0 80 43 00 00 00 00  ...........C....
00056070  00 00 00 00 C2 99 9E 43  41 1F 6F 43 00 00 80 3F  .......CA.oC...?
00056080  00 00 00 00 80 07 08 10  0A 23 3F 7B 4E 81 B4 E8  .........#?{N...
00056090  1B 4F 23 41 0E 97 0C F6  26 7A FA 80 0E 80 03 4F  .O#A....&z.....O
000560A0  10 40 00 00 80 3F 00 00  00 00 00 00 00 00 00 00  .@...?..........
000560B0  00 00 00 00 00 00 00 00  80 3F 00 00 00 00 00 00  .........?......
000560C0  00 00 00 00 00 00 00 00  00 00 00 00 80 3F 00 00  .............?..
000560D0  00 00 00 00 00 00 00 00  00 00 00 00 00 00 00 00  ................
000560E0  80 3F 80 04 80 05 23 00  00 00 00 00 00 00 00 80  .?....#.........
000560F0  00 80 00 5F 10 29 41 56  43 61 70 74 75 72 65 44  ..._.)AVCaptureD
00056100  65 76 69 63 65 54 79 70  65 42 75 69 6C 74 49 6E  eviceTypeBuiltIn
00056110  55 6C 74 72 61 57 69 64  65 43 61 6D 65 72 61 4F  UltraWideCameraO
00056120  10 20 00 00 00 00 00 00  00 00 00 00 00 00 00 00  . ..............
00056130  00 00 00 00 00 00 00 00  00 00 00 00 00 00 00 00  ................
00056140  00 00 4F 10 10 00 00 00  00 00 00 00 00 00 00 00  ..O.............
00056150  00 00 00 00 00 D2 41 13  42 43 57 4E 53 2E 74 69  ......A.BCWNS.ti
00056160  6D 65 23 41 C4 69 79 2F  D2 AD A9 80 06 D2 45 46  me#A.iy/......EF
00056170  47 48 5A 24 63 6C 61 73  73 6E 61 6D 65 58 24 63  GHZ$classnameX$c
00056180  6C 61 73 73 65 73 56 4E  53 44 61 74 65 A2 47 49  lassesVNSDate.GI
00056190  58 4E 53 4F 62 6A 65 63  74 D3 4B 4C 13 4D 50 53  XNSObject.KL.MPS
000561A0  57 4E 53 2E 6B 65 79 73  5A 4E 53 2E 6F 62 6A 65  WNS.keysZNS.obje
000561B0  63 74 73 A2 4E 4F 80 08  80 09 A2 51 52 80 0A 80  cts.NO.....QR...
000561C0  0C 80 0D 5F 10 29 41 56  43 61 70 74 75 72 65 44  ..._.)AVCaptureD
000561D0  65 76 69 63 65 54 79 70  65 42 75 69 6C 74 49 6E  eviceTypeBuiltIn
000561E0  57 69 64 65 41 6E 67 6C  65 43 61 6D 65 72 61 5F  WideAngleCamera_
000561F0  10 2C 41 56 43 61 70 74  75 72 65 44 65 76 69 63  .,AVCaptureDevic
00056200  65 54 79 70 65 42 75 69  6C 74 49 6E 54 69 6D 65  eTypeBuiltInTime
00056210  4F 66 46 6C 69 67 68 74  43 61 6D 65 72 61 D2 13  OfFlightCamera..
00056220  57 58 59 56 6D 61 74 72  69 78 80 0B 4F 10 40 FC  WXYVmatrix..O.@.
00056230  FB 7F 3F 85 6B 89 3A D9  8F 34 3C 00 00 00 00 2C  .?.k.:..4<....,
00056240  C8 8D BA AA FF 7F 3F 31  89 45 3B 00 00 00 00 5B  .....?1.E;....[
00056250  82 34 BC 19 4E 46 BB B9  FB 7F 3F 00 00 00 00 7F  .4..NF...?....
00056260  60 0F C1 80 39 85 41 FF  CC CC BF 00 00 80 3F D2  `...9.A.......?.
00056270  45 46 5B 5C 5F 10 13 41  52 45 78 74 72 69 6E 73  EF[\_..ARExtrins
00056280  69 63 73 57 72 61 70 70  65 72 A2 5D 49 5F 10 13  icsWrapper.]I_..
00056290  41 52 45 78 74 72 69 6E  73 69 63 73 57 72 61 70  ARExtrinsicsWrap
000562A0  70 65 72 D2 13 57 58 60  80 0B 4F 10 40 69 F2 10  per..WX`..O.@i..
000562B0  BB 6D FC 7F 3F FA 39 27  3C 00 00 00 00 8D FF 7F  .m.?.9'<......
000562C0  BF 8D EB 12 BB CE A2 40  3B 00 00 00 00 01 20 42  .......@;..... B
000562D0  3B 6B 1E 27 BC 4E FC 7F  3F 00 00 00 00 5E 9D 2B  ;k.'.N.?....^.+
000562E0  3C 61 C1 67 C1 5E 69 81  3F 00 00 80 3F D2 45 46  <a.g.^i.?...?.EF
000562F0  62 63 5F 10 13 4E 53 4D  75 74 61 62 6C 65 44 69  bc_..NSMutableDi
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00056310  69 63 74 69 6F 6E 61 72  79 4F 10 30 01 E0 80 43  ictionaryO.0...C
00056320  00 00 00 00 00 00 00 00  00 00 00 00 00 00 00 00  ................
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00056340  41 1F 6F 43 00 00 80 3F  00 00 00 00 D2 45 46 67  A.oC...?.....EFg
00056350  68 5B 41 52 49 6D 61 67  65 44 61 74 61 A2 69 49  h[ARImageData.iI
00056360  5B 41 52 49 6D 61 67 65  44 61 74 61 00 08 00 11  [ARImageData....
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00056380  00 53 00 66 00 6C 00 A1  00 AA 00 B6 00 CE 00 D2  .S.f.l..........
00056390  00 E7 00 FB 01 02 01 0D  01 24 01 37 01 45 01 4F  .........$.7.E.O
000563A0  01 67 01 7E 01 91 01 9B  01 9E 01 B1 01 C0 01 D2  .g.~............
000563B0  01 E9 01 F5 02 1C 02 27  02 30 02 32 02 37 02 38  .......'.0.2.7.8
000563C0  02 3D 02 42 02 44 02 46  02 48 02 4D 02 80 02 82  .=.B.D.F.H.M....
000563D0  02 83 02 85 02 8E 02 97  02 99 02 9B 02 DE 02 E0  ................
000563E0  02 E2 02 EB 02 ED 02 EF  03 1B 03 3E 03 51 03 56  ...........>.Q.V
000563F0  03 5E 03 67 03 69 03 6E  03 79 03 82 03 89 03 8C  .^.g.i.n.y......
00056400  03 95 03 9C 03 A4 03 AF  03 B2 03 B4 03 B6 03 B9  ................
00056410  03 BB 03 BD 03 BF 03 EB  04 1A 04 1F 04 26 04 28  .............&.(
00056420  04 6B 04 70 04 86 04 89  04 9F 04 A4 04 A6 04 E9  .k.p............
00056430  04 EE 05 04 05 08 05 15  05 48 05 4D 05 59 05 5C  .........H.M.Y.\
00056440  00 00 00 00 00 00 02 01  00 00 00 00 00 00 00 6A  ...............j
00056450  00 00 00 00 00 00 00 00  00 00 00 00 00 00 05 68  ...............h
00056460  00 00 06 64 00 00 00 02  62                       ...d....b       

0:6 Accelarometer

  • CVACMAccelerometerData
  • CVACMAccelerometerDataXNSObject

など、時系列の加速度センサの情報が入っていました。

Hex View  00 01 02 03 04 05 06 07  08 09 0A 0B 0C 0D 0E 0F

0002F370                              70 6C 69 73 74 30 30           plist00
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0002F3A0  70 58 24 6F 62 6A 65 63  74 73 12 00 01 86 A0 5F  pX$objects....._
0002F3B0  10 0F 4E 53 4B 65 79 65  64 41 72 63 68 69 76 65  ..NSKeyedArchive
0002F3C0  72 D1 08 09 54 72 6F 6F  74 80 01 A6 0B 0C 15 16  r...Troot.......
0002F3D0  1A 22 55 24 6E 75 6C 6C  D3 0D 0E 0F 10 12 14 57  ."U$null.......W
0002F3E0  4E 53 2E 6B 65 79 73 5A  4E 53 2E 6F 62 6A 65 63  NS.keysZNS.objec
0002F3F0  74 73 56 24 63 6C 61 73  73 A1 11 80 02 A1 13 80  tsV$class.......
0002F400  03 80 05 55 5F 64 61 74  61 D2 17 0F 18 19 57 4E  ...U_data.....WN
0002F410  53 2E 64 61 74 61 4F 11  01 3A 62 70 6C 69 73 74  S.dataO..:bplist
0002F420  30 30 D4 01 02 03 04 05  06 07 0A 58 24 76 65 72  00.........X$ver
0002F430  73 69 6F 6E 59 24 61 72  63 68 69 76 65 72 54 24  sionY$archiverT$
0002F440  74 6F 70 58 24 6F 62 6A  65 63 74 73 12 00 01 86  topX$objects....
0002F450  A0 5F 10 0F 4E 53 4B 65  79 65 64 41 72 63 68 69  ._..NSKeyedArchi
0002F460  76 65 72 D1 08 09 54 72  6F 6F 74 80 01 A3 0B 0C  ver...Troot.....
0002F470  1B 55 24 6E 75 6C 6C D7  0D 0E 0F 10 11 12 13 14  .U$null.........
0002F480  15 16 17 18 19 1A 51 78  56 24 63 6C 61 73 73 51  ......QxV$classQ
0002F490  70 51 79 51 74 51 7A 52  73 74 22 BD 12 F0 00 80  pQyQtQzRst".....
0002F4A0  02 22 00 00 00 00 22 BF  6D 4F 00 23 41 0E 96 74  ."....".mO.#A..t
0002F4B0  69 08 2C F6 22 3E C5 24  00 10 00 D2 1C 1D 1E 1F  i.,.">.$........
0002F4C0  5A 24 63 6C 61 73 73 6E  61 6D 65 58 24 63 6C 61  Z$classnameX$cla
0002F4D0  73 73 65 73 5F 10 16 43  56 41 43 4D 41 63 63 65  sses_..CVACMAcce
0002F4E0  6C 65 72 6F 6D 65 74 65  72 44 61 74 61 A2 20 21  lerometerData. !
0002F4F0  5F 10 16 43 56 41 43 4D  41 63 63 65 6C 65 72 6F  _..CVACMAccelero
0002F500  6D 65 74 65 72 44 61 74  61 58 4E 53 4F 62 6A 65  meterDataXNSObje
0002F510  63 74 08 11 1A 24 29 32  37 49 4C 51 53 57 5D 6C  ct...$)27ILQSW]l
0002F520  6E 75 77 79 7B 7D 80 85  87 8C 91 9A 9F A1 A6 B1  nuwy{}..........
0002F530  BA D3 D6 EF 00 00 00 00  00 00 01 01 00 00 00 00  ................
0002F540  00 00 00 22 00 00 00 00  00 00 00 00 00 00 00 00  ..."............
0002F550  00 00 00 F8 80 04 D2 1B  1C 1D 1E 5A 24 63 6C 61  ...........Z$cla
0002F560  73 73 6E 61 6D 65 58 24  63 6C 61 73 73 65 73 5D  ssnameX$classes]
0002F570  4E 53 4D 75 74 61 62 6C  65 44 61 74 61 A3 1F 20  NSMutableData.. 
0002F580  21 5D 4E 53 4D 75 74 61  62 6C 65 44 61 74 61 56  !]NSMutableDataV
0002F590  4E 53 44 61 74 61 58 4E  53 4F 62 6A 65 63 74 D2  NSDataXNSObject.
0002F5A0  1B 1C 23 24 5F 10 13 4E  53 4D 75 74 61 62 6C 65  ..#$_..NSMutable
0002F5B0  44 69 63 74 69 6F 6E 61  72 79 A3 23 25 21 5C 4E  Dictionary.#%!\N
0002F5C0  53 44 69 63 74 69 6F 6E  61 72 79 00 08 00 11 00  SDictionary.....
0002F5D0  1A 00 24 00 29 00 32 00  37 00 49 00 4C 00 51 00  ..$.).2.7.I.L.Q.
0002F5E0  53 00 5A 00 60 00 67 00  6F 00 7A 00 81 00 83 00  S.Z.`.g.o.z.....
0002F5F0  85 00 87 00 89 00 8B 00  91 00 96 00 9E 01 DC 01  ................
0002F600  DE 01 E3 01 EE 01 F7 02  05 02 09 02 17 02 1E 02  ................
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0002F630  00 00 00 00 00 02 53 00  00 02 C7 00 00 00 02 62  ......S........b

0:7 空

0:8 Gyro

  • CVACMGyroData
  • CVACMGyroDataXNSObject

など、時系列の加速度センサの情報が入っていました。

Hex View  00 01 02 03 04 05 06 07  08 09 0A 0B 0C 0D 0E 0F

00000010                              58 24 76 65 72 73 69           X$versi
00000020  6F 6E 59 24 61 72 63 68  69 76 65 72 54 24 74 6F  onY$archiverT$to
00000030  70 58 24 6F 62 6A 65 63  74 73 12 00 01 86 A0 5F  pX$objects....._
00000040  10 0F 4E 53 4B 65 79 65  64 41 72 63 68 69 76 65  ..NSKeyedArchive
00000050  72 D1 08 09 54 72 6F 6F  74 80 01 A6 0B 0C 15 16  r...Troot.......
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00000070  4E 53 2E 6B 65 79 73 5A  4E 53 2E 6F 62 6A 65 63  NS.keysZNS.objec
00000080  74 73 56 24 63 6C 61 73  73 A1 11 80 02 A1 13 80  tsV$class.......
00000090  03 80 05 55 5F 64 61 74  61 D2 17 0F 18 19 57 4E  ...U_data.....WN
000000A0  53 2E 64 61 74 61 4F 11  01 24 62 70 6C 69 73 74  S.dataO..$bplist
000000B0  30 30 D4 01 02 03 04 05  06 07 0A 58 24 76 65 72  00.........X$ver
000000C0  73 69 6F 6E 59 24 61 72  63 68 69 76 65 72 54 24  sionY$archiverT$
000000D0  74 6F 70 58 24 6F 62 6A  65 63 74 73 12 00 01 86  topX$objects....
000000E0  A0 5F 10 0F 4E 53 4B 65  79 65 64 41 72 63 68 69  ._..NSKeyedArchi
000000F0  76 65 72 D1 08 09 54 72  6F 6F 74 80 01 A3 0B 0C  ver...Troot.....
00000100  1B 55 24 6E 75 6C 6C D7  0D 0E 0F 10 11 12 13 14  .U$null.........
00000110  15 16 17 18 19 1A 51 78  56 24 63 6C 61 73 73 51  ......QxV$classQ
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00000170  74 61 A2 20 21 5D 43 56  41 43 4D 47 79 72 6F 44  ta. !]CVACMGyroD
00000180  61 74 61 58 4E 53 4F 62  6A 65 63 74 08 11 1A 24  ataXNSObject...$
00000190  29 32 37 49 4C 51 53 57  5D 6C 6E 75 77 79 7B 7D  )27ILQSW]lnuwy{}
000001A0  80 85 87 8C 91 9A 9F A1  A6 B1 BA C8 CB D9 00 00  ................
000001B0  00 00 00 00 01 01 00 00  00 00 00 00 00 22 00 00  ............."..
000001C0  00 00 00 00 00 00 00 00  00 00 00 00 00 E2 80 04  ................
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000001E0  58 24 63 6C 61 73 73 65  73 5D 4E 53 4D 75 74 61  X$classes]NSMuta
000001F0  62 6C 65 44 61 74 61 A3  1F 20 21 5D 4E 53 4D 75  bleData.. !]NSMu
00000200  74 61 62 6C 65 44 61 74  61 56 4E 53 44 61 74 61  tableDataVNSData
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00000220  13 4E 53 4D 75 74 61 62  6C 65 44 69 63 74 69 6F  .NSMutableDictio
00000230  6E 61 72 79 A3 23 25 21  5C 4E 53 44 69 63 74 69  nary.#%!\NSDicti
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00000250  32 00 37 00 49 00 4C 00  51 00 53 00 5A 00 60 00  2.7.I.L.Q.S.Z.`.
00000260  67 00 6F 00 7A 00 81 00  83 00 85 00 87 00 89 00  g.o.z...........
00000270  8B 00 91 00 96 00 9E 01  C6 01 C8 01 CD 01 D8 01  ................
00000280  E1 01 EF 01 F3 02 01 02  08 02 11 02 16 02 2C 02  ..............,.
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0:9 空

0:10 Compass

  • CVACMCompasData
  • CVACMCompassDataXNSObject

など、時系列の地磁気センサの情報が入っていました。

Hex View  00 01 02 03 04 05 06 07  08 09 0A 0B 0C 0D 0E 0F

00000000                           62 70 6C 69 73 74 30 30          bplist00
00000010  D4 01 02 03 04 05 06 07  0A 58 24 76 65 72 73 69  .........X$versi
00000020  6F 6E 59 24 61 72 63 68  69 76 65 72 54 24 74 6F  onY$archiverT$to
00000030  70 58 24 6F 62 6A 65 63  74 73 12 00 01 86 A0 5F  pX$objects....._
00000040  10 0F 4E 53 4B 65 79 65  64 41 72 63 68 69 76 65  ..NSKeyedArchive
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00000060  24 6E 75 6C 6C D7 0D 0E  0F 10 11 12 13 14 15 16  $null...........
00000070  17 18 19 1A 51 78 56 24  63 6C 61 73 73 51 70 51  ....QxV$classQpQ
00000080  79 51 74 51 7A 52 73 74  22 42 8D A9 3A 80 02 22  yQtQzRst"B..:.."
00000090  00 00 00 00 22 C2 3A 3D  B4 23 41 0E 96 5E 9C 8F  ....".:=.#A..^..
000000A0  59 5E 22 C2 D0 D8 3C 10  00 D2 1C 1D 1E 1F 5A 24  Y^"...<.......Z$
000000B0  63 6C 61 73 73 6E 61 6D  65 58 24 63 6C 61 73 73  classnameX$class
000000C0  65 73 5F 10 10 43 56 41  43 4D 43 6F 6D 70 61 73  es_..CVACMCompas
000000D0  73 44 61 74 61 A2 20 21  5F 10 10 43 56 41 43 4D  sData. !_..CVACM
000000E0  43 6F 6D 70 61 73 73 44  61 74 61 58 4E 53 4F 62  CompassDataXNSOb
000000F0  6A 65 63 74 08 11 1A 24  29 32 37 49 4C 51 53 57  ject...$)27ILQSW
00000100  5D 6C 6E 75 77 79 7B 7D  80 85 87 8C 91 9A 9F A1  ]lnuwy{}........
00000110  A6 B1 BA CD D0 E3 00 00  00 00 00 00 01 01 00 00  ................
00000120  00 00 00 00 00 22 00 00  00 00 00 00 00 00 00 00  ....."..........
00000130  00 00 00 00 00 EC 00 00  01 36 00 00 00 02 62     .........6....b 

0:11 空

0:12 CMDeviceMotion

6,8,10 では生のセンサの値を入れているのに、こちらにはCMDeviceMotionも保存しているようです。

Hex View  00 01 02 03 04 05 06 07  08 09 0A 0B 0C 0D 0E 0F

00000000  00 00 09 2F 00 00 00 02  62 70 6C 69 73 74 30 30  .../....bplist00
00000010  D4 01 02 03 04 05 06 07  0A 58 24 76 65 72 73 69  .........X$versi
00000020  6F 6E 59 24 61 72 63 68  69 76 65 72 54 24 74 6F  onY$archiverT$to
00000030  70 58 24 6F 62 6A 65 63  74 73 12 00 01 86 A0 5F  pX$objects....._
00000040  10 0F 4E 53 4B 65 79 65  64 41 72 63 68 69 76 65  ..NSKeyedArchive
00000050  72 D1 08 09 54 72 6F 6F  74 80 01 AF 10 2E 0B 0C  r...Troot.......
00000060  3D 3E 3F 40 41 42 43 44  45 46 47 48 49 4A 4B 4C  =>?@ABCDEFGHIJKL
00000070  4D 4E 4F 50 51 52 53 54  58 60 61 62 63 64 65 66  MNOPQRSTX`abcdef
00000080  67 68 69 6A 6B 6C 6D 6E  6F 70 71 72 55 24 6E 75  ghijklmnopqrU$nu
00000090  6C 6C D3 0D 0E 0F 10 26  3C 57 4E 53 2E 6B 65 79  ll.....&<WNS.key
000000A0  73 5A 4E 53 2E 6F 62 6A  65 63 74 73 56 24 63 6C  sZNS.objectsV$cl
000000B0  61 73 73 AF 10 15 11 12  13 14 15 16 17 18 19 1A  ass.............
000000C0  1B 1C 1D 1E 1F 20 21 22  23 24 25 80 02 80 03 80  ..... !"#$%.....
000000D0  04 80 05 80 06 80 07 80  08 80 09 80 0A 80 0B 80  ................
000000E0  0C 80 0D 80 0E 80 0F 80  10 80 11 80 12 80 13 80  ................
000000F0  14 80 15 80 16 AF 10 15  27 28 29 2A 2B 2C 2D 2E  ........'()*+,-.
00000100  2F 30 31 32 33 34 35 36  37 38 39 3A 3B 80 17 80  /0123456789:;...
00000110  18 80 19 80 1B 80 1C 80  1D 80 1E 80 1F 80 20 80  .............. .
00000120  21 80 22 80 23 80 24 80  25 80 26 80 27 80 28 80  !.".#.$.%.&.'.(.
00000130  29 80 2A 80 2B 80 2C 80  2D 52 72 78 52 72 79 55  ).*.+.,.-RrxRryU
00000140  5F 64 61 74 61 52 61 78  52 62 65 52 67 78 51 74  _dataRaxRbeRgxQt
00000150  52 72 7A 52 61 79 52 6D  78 52 67 79 52 6D 79 52  RrzRayRmxRgyRmyR
00000160  61 7A 52 67 7A 52 71 77  52 6D 7A 52 71 78 52 6D  azRgzRqwRmzRqxRm
00000170  63 52 71 79 52 79 63 52  71 7A 22 3D 58 BF 6E 22  cRqyRycRqz"=X.n"
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00000190  61 4F 11 05 B4 62 70 6C  69 73 74 30 30 D4 01 02  aO...bplist00...
000001A0  03 04 05 06 07 0A 58 24  76 65 72 73 69 6F 6E 59  ......X$versionY
000001B0  24 61 72 63 68 69 76 65  72 54 24 74 6F 70 58 24  $archiverT$topX$
000001C0  6F 62 6A 65 63 74 73 12  00 01 86 A0 5F 10 0F 4E  objects....._..N
000001D0  53 4B 65 79 65 64 41 72  63 68 69 76 65 72 D1 08  SKeyedArchiver..
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000001F0  6C 6C DF 10 17 0D 0E 0F  10 11 12 13 14 15 16 17  ll..............
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00000210  28 29 2A 2B 2C 2D 2E 2F  30 31 32 33 34 29 36 37  ()*+,-./01234)67
00000220  38 39 29 5F 10 26 6B 43  4D 44 65 76 69 63 65 4D  89)_.&kCMDeviceM
00000230  6F 74 69 6F 6E 43 6F 64  69 6E 67 4B 65 79 53 65  otionCodingKeySe
00000240  6E 73 6F 72 4C 6F 63 61  74 69 6F 6E 5F 10 23 6B  nsorLocation_.#k
00000250  43 4D 44 65 76 69 63 65  4D 6F 74 69 6F 6E 43 6F  CMDeviceMotionCo
00000260  64 69 6E 67 4B 65 79 51  75 61 74 65 72 6E 69 6F  dingKeyQuaternio
00000270  6E 58 5F 10 26 6B 43 4D  44 65 76 69 63 65 4D 6F  nX_.&kCMDeviceMo
00000280  74 69 6F 6E 43 6F 64 69  6E 67 4B 65 79 4D 61 67  tionCodingKeyMag
00000290  6E 65 74 69 63 46 69 65  6C 64 58 5F 10 25 6B 43  neticFieldX_.%kC
000002A0  4D 44 65 76 69 63 65 4D  6F 74 69 6F 6E 43 6F 64  MDeviceMotionCod
000002B0  69 6E 67 4B 65 79 52 6F  74 61 74 69 6F 6E 52 61  ingKeyRotationRa
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0:13 CLLocation 周り Location Anchorのデータぽい

CLLocation

Location Anchorの再生に使う値と思われます。

Hex View  00 01 02 03 04 05 06 07  08 09 0A 0B 0C 0D 0E 0F

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000016C0  43 6F 64 69 6E 67 4B 65  79 4D 61 74 63 68 44 61  CodingKeyMatchDa
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000016F0  64 69 6E 67 4B 65 79 4D  61 74 63 68 46 6F 72 6D  dingKeyMatchForm
00001700  4F 66 57 61 79 5F 10 29  6B 43 4C 4C 6F 63 61 74  OfWay_.)kCLLocat
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00001730  79 5F 10 35 6B 43 4C 4C  6F 63 61 74 69 6F 6E 4D  y_.5kCLLocationM
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00001750  79 4D 61 74 63 68 43 6F  6F 72 64 69 6E 61 74 65  yMatchCoordinate
00001760  4C 6F 6E 67 69 74 75 64  65 80 04 08 80 03 10 01  Longitude.......
00001770  4F 10 18 00 00 00 00 00  00 00 00 00 00 00 00 00  O...............
00001780  00 00 00 00 00 00 00 00  00 00 00 D2 5D 5E 5F 60  ............]^_`
00001790  5A 24 63 6C 61 73 73 6E  61 6D 65 58 24 63 6C 61  Z$classnameX$cla
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00001900  74 69 74 75 64 65 DB 72  73 74 75 76 77 17 78 79  titude.rstuvw.xy
00001910  7A 7B 7C 3D 7D 7E 7F 3E  80 3E 81 82 81 5F 10 13  z{|=}~>.>..._..
00001920  63 6F 6F 72 64 69 6E 61  74 65 4C 6F 6E 67 69 74  coordinateLongit
00001930  75 64 65 5E 72 65 66 65  72 65 6E 63 65 46 72 61  ude^referenceFra
00001940  6D 65 5F 10 10 76 65 72  74 69 63 61 6C 41 63 63  me_..verticalAcc
00001950  75 72 61 63 79 5F 10 12  68 6F 72 69 7A 6F 6E 74  uracy_..horizont
00001960  61 6C 41 63 63 75 72 61  63 79 5F 10 12 63 6F 6F  alAccuracy_..coo
00001970  72 64 69 6E 61 74 65 4C  61 74 69 74 75 64 65 56  rdinateLatitudeV
00001980  63 6F 75 72 73 65 5E 63  6F 75 72 73 65 41 63 63  course^courseAcc
00001990  75 72 61 63 79 5F 10 15  63 6F 6F 72 64 69 6E 61  uracy_..coordina
000019A0  74 65 46 75 73 65 64 57  69 74 68 56 4C 58 61 6C  teFusedWithVLXal
000019B0  74 69 74 75 64 65 5F 10  0F 63 6F 6F 72 64 69 6E  titude_..coordin
000019C0  61 74 65 46 75 73 65 64  23 40 61 77 48 E1 4F 65  ateFused#@awH.Oe
000019D0  01 23 3F EC AE 78 71 E8  9F 98 23 3F F9 99 99 99  .#?..xq...#?....
000019E0  99 99 9A 23 40 41 D5 5C  8E 78 D4 A4 80 08 09 23  ...#@A.\.x.....#
000019F0  40 40 FE 1B F9 F2 00 00  09 D2 5D 5E 85 86 5F 10  @@........]^.._.
00001A00  15 5F 43 4C 4C 6F 63 61  74 69 6F 6E 46 75 73 69  ._CLLocationFusi
00001A10  6F 6E 49 6E 66 6F A2 87  62 5F 10 15 5F 43 4C 4C  onInfo..b_.._CLL
00001A20  6F 63 61 74 69 6F 6E 46  75 73 69 6F 6E 49 6E 66  ocationFusionInf
00001A30  6F D3 89 17 8A 58 8C 58  5F 10 29 6B 43 4C 4C 6F  o....X.X_.)kCLLo
00001A40  63 61 74 69 6F 6E 43 6F  64 69 6E 67 4B 65 79 46  cationCodingKeyF
00001A50  72 6F 6D 45 78 74 65 72  6E 61 6C 41 63 63 65 73  romExternalAcces
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00001A80  6F 66 74 77 61 72 65 53  69 6D 75 6C 61 74 6F 72  oftwareSimulator
00001A90  08 80 0A 08 D2 5D 5E 8F  90 5F 10 1B 43 4C 4C 6F  .....]^.._..CLLo
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00001AB0  72 6D 61 74 69 6F 6E A2  91 62 5F 10 1B 43 4C 4C  rmation..b_..CLL
00001AC0  6F 63 61 74 69 6F 6E 53  6F 75 72 63 65 49 6E 66  ocationSourceInf
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00001AE0  3C 58 6F 64 6F 6D 65 74  65 72 5F 10 15 64 65 6C  <Xodometer_..del
00001AF0  74 61 44 69 73 74 61 6E  63 65 41 63 63 75 72 61  taDistanceAccura
00001B00  63 79 5D 64 65 6C 74 61  44 69 73 74 61 6E 63 65  cy]deltaDistance
00001B10  80 0C 23 40 82 FF 80 7E  63 F9 C6 23 3F D0 00 00  ..#@...~c..#?...
00001B20  00 00 00 00 D2 5D 5E 9A  9B 5F 10 1A 43 4C 4C 6F  .....]^.._..CLLo
00001B30  63 61 74 69 6F 6E 47 6E  73 73 4F 64 6F 6D 65 74  cationGnssOdomet
00001B40  65 72 49 6E 66 6F A2 9C  62 5F 10 1A 43 4C 4C 6F  erInfo..b_..CLLo
00001B50  63 61 74 69 6F 6E 47 6E  73 73 4F 64 6F 6D 65 74  cationGnssOdomet
00001B60  65 72 49 6E 66 6F D2 5D  5E 9E 9F 5A 43 4C 4C 6F  erInfo.]^..ZCLLo
00001B70  63 61 74 69 6F 6E A2 A0  62 5A 43 4C 4C 6F 63 61  cation..bZCLLoca
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00001B90  00 37 00 49 00 4C 00 51  00 53 00 62 00 68 00 B1  .7.I.L.Q.S.b.h..
00001BA0  00 ED 01 2A 01 51 01 7E  01 A7 01 CC 01 F8 02 1D  ...*.Q.~........
00001BB0  02 47 02 71 02 78 02 99  02 B5 02 D0 02 ED 03 0F  .G.q.x..........
00001BC0  03 38 03 60 03 8C 03 AC  03 B5 03 DC 04 04 04 20  .8.`........... 
00001BD0  04 4A 04 76 04 9A 04 C5  04 E5 05 0A 05 2A 05 51  .J.v.........*.Q
00001BE0  05 71 05 90 05 AF 05 B8  05 C1 05 C3 05 CC 05 D5  .q..............
00001BF0  05 D7 05 E0 05 E2 05 EB  05 F4 05 F6 05 F8 06 01  ................
00001C00  06 03 06 0C 06 15 06 1E  06 20 06 22 06 2B 06 30  ......... .".+.0
00001C10  06 39 06 42 06 4B 06 4D  06 4F 06 51 06 5A 06 63  .9.B.K.M.O.Q.Z.c
00001C20  06 6C 06 7F 06 B6 06 E4  07 0F 07 3B 07 69 07 97  .l........;.i..
00001C30  07 C3 07 FB 07 FD 07 FE  08 00 08 02 08 1D 08 22  ..............."
00001C40  08 2D 08 36 08 4C 08 4F  08 65 08 6E 08 79 08 A8  .-.6.L.O.e.n.y..
00001C50  08 D8 09 0C 09 39 09 42  09 44 09 4D 09 4F 09 58  .....9.B.D.M.O.X
00001C60  09 5D 09 79 09 7C 09 98  09 AF 09 C5 09 D4 09 E7  .].y.|..........
00001C70  09 FC 0A 11 0A 18 0A 27  0A 3F 0A 48 0A 5A 0A 63  .......'.?.H.Z.c
00001C80  0A 6C 0A 75 0A 7E 0A 80  0A 81 0A 8A 0A 8B 0A 90  .l.u.~..........
00001C90  0A A8 0A AB 0A C3 0A CA  0A F6 0B 22 0B 23 0B 25  ...........".#.%
00001CA0  0B 26 0B 2B 0B 49 0B 4C  0B 6A 0B 73 0B 7C 0B 94  .&.+.I.L.j.s.|..
00001CB0  0B A2 0B A4 0B AD 0B B6  0B BB 0B D8 0B DB 0B F8  ................
00001CC0  0B FD 0C 08 0C 0B 00 00  00 00 00 00 02 01 00 00  ................
00001CD0  00 00 00 00 00 A1 00 00  00 00 00 00 00 00 00 00  ................
00001CE0  00 00 00 00 0C 16 80 10  D2 39 3A 3B 3C 5A 24 63  .........9:;<Z$c
00001CF0  6C 61 73 73 6E 61 6D 65  58 24 63 6C 61 73 73 65  lassnameX$classe
00001D00  73 5D 4E 53 4D 75 74 61  62 6C 65 44 61 74 61 A3  s]NSMutableData.
00001D10  3D 3E 3F 5D 4E 53 4D 75  74 61 62 6C 65 44 61 74  =>?]NSMutableDat
00001D20  61 56 4E 53 44 61 74 61  58 4E 53 4F 62 6A 65 63  aVNSDataXNSObjec
00001D30  74 23 41 D8 C8 AE B3 7F  DB 05 23 40 40 FE 1B F9  t#A......#@@...
00001D40  F2 00 00 23 3F EC AE 78  71 E8 9F 98 23 40 41 D5  ...#?..xq...#@A.
00001D50  5C 8E 78 D4 A4 23 3F F9  99 99 99 99 99 9A 23 40  \.x..#?.......#@
00001D60  61 77 48 E1 4F 65 01 D2  39 3A 47 48 5F 10 13 4E  awH.Oe..9:GH_..N
00001D70  53 4D 75 74 61 62 6C 65  44 69 63 74 69 6F 6E 61  SMutableDictiona
00001D80  72 79 A3 47 49 3F 5C 4E  53 44 69 63 74 69 6F 6E  ry.GI?\NSDiction
00001D90  61 72 79 00 08 00 11 00  1A 00 24 00 29 00 32 00  ary.......$.).2.
00001DA0  37 00 49 00 4C 00 51 00  53 00 6E 00 74 00 7B 00  7.I.L.Q.S.n.t.{.
00001DB0  83 00 8E 00 95 00 A0 00  A2 00 A4 00 A6 00 A8 00  ................
00001DC0  AA 00 AC 00 AE 00 B0 00  B2 00 B4 00 BF 00 C1 00  ................
00001DD0  C3 00 C5 00 C7 00 C9 00  CB 00 CD 00 CF 00 D1 00  ................
00001DE0  D3 00 D5 00 DC 00 E2 00  E4 00 EA 00 ED 00 F1 00  ................
00001DF0  F7 00 FB 01 01 01 06 01  0F 01 18 01 21 01 26 01  ............!.&.
00001E00  2E 0E AA 0E AC 0E B1 0E  BC 0E C5 0E D3 0E D7 0E  ................
00001E10  E5 0E EC 0E F5 0E FE 0F  07 0F 10 0F 19 0F 22 0F  ..............".
00001E20  2B 0F 30 0F 46 0F 4A 00  00 00 00 00 00 02 01 00  +.0.F.J.........
00001E30  00 00 00 00 00 00 4A 00  00 00 00 00 00 00 00 00  ......J.........
00001E40  00 00 00 00 00 0F 57 00  00 10 1E 00 00 00 02     ......W........ 

0:14 カメラのキャリブレーション関係

レンズ歪みとか、キャリブレーションとかぽいですね。このへんはもうプライベートAPIなので、VPS関連でこんなことやってんだ〜と興味深く見ております。

LensDistortionCener,
LensDistortionCoefficient,
CVACameraCalibrationData

Hex View  00 01 02 03 04 05 06 07  08 09 0A 0B 0C 0D 0E 0F

00000490                           70 6C 69 73 74 30 30 D4          plist00.
000004A0  01 02 03 04 05 06 07 0A  58 24 76 65 72 73 69 6F  ........X$versio
000004B0  6E 59 24 61 72 63 68 69  76 65 72 54 24 74 6F 70  nY$archiverT$top
000004C0  58 24 6F 62 6A 65 63 74  73 12 00 01 86 A0 5F 10  X$objects....._.
000004D0  0F 4E 53 4B 65 79 65 64  41 72 63 68 69 76 65 72  .NSKeyedArchiver
000004E0  D1 08 09 54 72 6F 6F 74  80 01 AF 10 21 0B 0C 15  ...Troot....!...
000004F0  16 2E 2F 30 31 32 33 34  35 36 37 38 39 3A 3B 43  ../0123456789:;C
00000500  44 45 46 47 4E 4F 50 58  59 5A 5B 5C 5D 5F 55 24  DEFGNOPXYZ[\]_U$
00000510  6E 75 6C 6C D4 0D 0E 0F  10 11 12 13 14 51 64 56  null.........QdV
00000520  24 63 6C 61 73 73 52 73  69 51 74 80 03 80 20 80  $classRsiQt... .
00000530  02 23 41 0E 96 61 C3 17  E4 9B 5F 10 2B 41 56 43  .#A..a...._.+AVC
00000540  61 70 74 75 72 65 44 65  76 69 63 65 54 79 70 65  aptureDeviceType
00000550  42 75 69 6C 74 49 6E 55  6C 74 72 61 57 69 64 65  BuiltInUltraWide
00000560  43 61 6D 65 72 61 2E 31  D3 17 18 0E 19 23 2D 57  Camera.1.....#-W
00000570  4E 53 2E 6B 65 79 73 5A  4E 53 2E 6F 62 6A 65 63  NS.keysZNS.objec
00000580  74 73 A9 1A 1B 1C 1D 1E  1F 20 21 22 80 04 80 05  ts....... !"....
00000590  80 06 80 07 80 08 80 09  80 0A 80 0B 80 0C A9 24  ...............$
000005A0  25 26 27 28 29 2A 2B 2C  80 0D 80 0E 80 0F 80 10  %&'()*+,........
000005B0  80 11 80 17 80 18 80 19  80 1E 80 1F 5F 10 21 49  ............_.!I
000005C0  6E 76 65 72 73 65 4C 65  6E 73 44 69 73 74 6F 72  nverseLensDistor
000005D0  74 69 6F 6E 43 6F 65 66  66 69 63 69 65 6E 74 73  tionCoefficients
000005E0  5C 56 65 72 73 69 6F 6E  4D 61 6A 6F 72 5C 56 65  \VersionMajor\Ve
000005F0  72 73 69 6F 6E 4D 69 6E  6F 72 59 50 69 78 65 6C  rsionMinorYPixel
00000600  53 69 7A 65 5F 10 22 49  6E 74 72 69 6E 73 69 63  Size_."Intrinsic
00000610  4D 61 74 72 69 78 52 65  66 65 72 65 6E 63 65 44  MatrixReferenceD
00000620  69 6D 65 6E 73 69 6F 6E  73 5F 10 0F 49 6E 74 72  imensions_..Intr
00000630  69 6E 73 69 63 4D 61 74  72 69 78 5F 10 0F 45 78  insicMatrix_..Ex
00000640  74 72 69 6E 73 69 63 4D  61 74 72 69 78 5F 10 14  trinsicMatrix_..
00000650  4C 65 6E 73 44 69 73 74  6F 72 74 69 6F 6E 43 65  LensDistortionCe
00000660  6E 74 65 72 5F 10 1A 4C  65 6E 73 44 69 73 74 6F  nter_..LensDisto
00000670  72 74 69 6F 6E 43 6F 65  66 66 69 63 69 65 6E 74  rtionCoefficient
00000680  73 4F 10 20 00 00 00 00  40 6E A1 BE 80 2F 02 3F  sO. ....@n.../.?
00000690  00 8A 7F BD 00 19 38 BD  00 A8 09 3C 00 8E 28 BA  .....8....<..(.
000006A0  00 92 D7 37 10 01 10 00  22 3A 83 12 6F D3 17 18  ...7....":..o...
000006B0  0E 3C 3F 42 A2 3D 3E 80  12 80 13 A2 40 41 80 14  .<?B.=>.....@A..
000006C0  80 15 80 16 55 57 69 64  74 68 56 48 65 69 67 68  ....UWidthVHeigh
000006D0  74 23 40 AF 80 00 00 00  00 00 23 40 A7 A0 00 00  t#@.......#@....
000006E0  00 00 00 D2 48 49 4A 4B  5A 24 63 6C 61 73 73 6E  ....HIJKZ$classn
000006F0  61 6D 65 58 24 63 6C 61  73 73 65 73 5F 10 13 4E  ameX$classes_..N
00000700  53 4D 75 74 61 62 6C 65  44 69 63 74 69 6F 6E 61  SMutableDictiona
00000710  72 79 A3 4A 4C 4D 5C 4E  53 44 69 63 74 69 6F 6E  ry.JLM\NSDiction
00000720  61 72 79 58 4E 53 4F 62  6A 65 63 74 4F 10 30 6A  aryXNSObjectO.0j
00000730  BB CA 44 00 00 00 00 00  00 00 00 00 00 00 00 00  ..D.............
00000740  00 00 00 6A BB CA 44 00  00 00 00 00 00 00 00 16  ...j..D.........
00000750  0E FA 44 39 AB BC 44 00  00 80 3F 00 00 00 00 4F  ..D9..D...?....O
00000760  10 40 FC FB 7F 3F 85 6B  89 3A D9 8F 34 3C 00 00  .@..?.k.:..4<..
00000770  00 00 2B C8 8D BA AA FF  7F 3F 31 89 45 3B 00 00  ..+.....?1.E;..
00000780  00 00 5B 82 34 BC 18 4E  46 BB B9 FB 7F 3F 00 00  ..[.4..NF...?..
00000790  00 00 7F 60 0F C1 80 39  85 41 00 CD CC BF 00 00  ..`...9.A......
000007A0  00 00 D3 17 18 0E 51 54  42 A2 52 53 80 1A 80 1B  ......QTB.RS....
000007B0  A2 55 56 80 1C 80 1D 80  16 51 58 51 59 23 40 9F  .UV......QXQY#@.
000007C0  41 C2 C0 00 00 00 23 40  97 95 67 20 00 00 00 4F  A.....#@..g ...O
000007D0  10 20 00 00 00 00 10 BF  2F 3F C0 FA A6 BF 80 80  . ....../?......
000007E0  16 3F 80 22 C6 BD 00 83  09 3C 00 C7 CC B9 00 7E  .?.".....<.....~
000007F0  FC 36 D2 48 49 4C 5E A2  4C 4D D2 48 49 60 61 5F  .6.HIL^.LM.HI`a_
00000800  10 18 43 56 41 43 61 6D  65 72 61 43 61 6C 69 62  ..CVACameraCalib
00000810  72 61 74 69 6F 6E 44 61  74 61 A2 62 4D 5F 10 18  rationData.bM_..
00000820  43 56 41 43 61 6D 65 72  61 43 61 6C 69 62 72 61  CVACameraCalibra
00000830  74 69 6F 6E 44 61 74 61  00 08 00 11 00 1A 00 24  tionData.......$
00000840  00 29 00 32 00 37 00 49  00 4C 00 51 00 53 00 77  .).2.7.I.L.Q.S.w
00000850  00 7D 00 86 00 88 00 8F  00 92 00 94 00 96 00 98  .}..............
00000860  00 9A 00 A3 00 D1 00 D8  00 E0 00 EB 00 F5 00 F7  ................
00000870  00 F9 00 FB 00 FD 00 FF  01 01 01 03 01 05 01 07  ................
00000880  01 11 01 13 01 15 01 17  01 19 01 1B 01 1D 01 1F  ................
00000890  01 21 01 23 01 25 01 49  01 56 01 63 01 6D 01 92  .!.#.%.I.V.c.m..
000008A0  01 A4 01 B6 01 CD 01 EA  02 0D 02 0F 02 11 02 16  ................
000008B0  02 1D 02 20 02 22 02 24  02 27 02 29 02 2B 02 2D  ... .".$.'.).+.-
000008C0  02 33 02 3A 02 43 02 4C  02 51 02 5C 02 65 02 7B  .3.:.C.L.Q.\.e.{
000008D0  02 7F 02 8C 02 95 02 C8  03 0B 03 12 03 15 03 17  ...............
000008E0  03 19 03 1C 03 1E 03 20  03 22 03 24 03 26 03 2F  ....... .".$.&./
000008F0  03 38 03 5B 03 60 03 63  03 68 03 83 03 86 00 00  .8.[.`.c.h......
00000900  00 00 00 00 02 01 00 00  00 00 00 00 00 63 00 00  .............c..
00000910  00 00 00 00 00 00 00 00  00 00 00 00 03 A1 00 00  ................
00000920  04 8F 00 00 00 02 62                              ......b         

0:15 カメラの特徴点

CVAFeatureBufferというクラス
で中身はバイナリずらっと、24MB.

これは恐らく特徴点を保存しているみたいですね。

0:16 ちょっとわからない。

EuclideanDistances:
UndistortedCameraPixels:
VPointsWSpotIds: [バイナリポイント]

0:17 16と全く同じデータ

まとめ

movファイルコンテナの中に、18個のストリームが入っていました。2個は動画、あとはバイナリメタデータ。

  • steram 0:0 : カラー動画 1920x1440(RGBで保存されているがReplay時にYCbCrへ変換しているぽい)
  • stream 0:1 : カラー動画のメタデータ
  • stream 0:2 : デプス動画 640x480 10fps
  • stream 0:3 : デプス動画のメタデータ
  • stream 0:4 : 時系列のToFカメラのポイントクラウド情報ぽい
  • stream 0:5 : ToFカメラのメタデータぽい
  • stream 0:6 : 時系列の加速度センサーの値
  • stream 0:7 : 空っぽでした。機種によっては入ることもあるのかな?
  • stream 0:8 : 時系列のジャイロセンサーの値
  • stream 0:9 : 空っぽでした。
  • stream 0:10 : 時系列の地磁気センサーの値
  • stream 0:11 : 空っぽでした。
  • stream 0:12 : 時系列のCMDeviceMotion
  • stream 0:13 : 時系列のCLLocation関連の値
  • stream 0:14 : レンズのキャリブレーションの値
  • stream 0:15 : 恐らく,時系列の特徴点(Feature Points)情報
  • stream 0:16 : なぞ。
  • stream 0:17 : 16と同じデータ

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