🔎
ARKit ReplayDataの中身を覗いてみる
この記事はMoAR - Museum of AR Advent Calendar 2022の10日目の記事です。
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、↓
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
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.MOVKitやcom.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、
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_4 と ITU_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
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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..........
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0:6 Accelarometer
CVACMAccelerometerDataCVACMAccelerometerDataXNSObject
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
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0002F3E0 4E 53 2E 6B 65 79 73 5A 4E 53 2E 6F 62 6A 65 63 NS.keysZNS.objec
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0002F460 76 65 72 D1 08 09 54 72 6F 6F 74 80 01 A3 0B 0C ver...Troot.....
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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
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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..
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0002F5B0 44 69 63 74 69 6F 6E 61 72 79 A3 23 25 21 5C 4E Dictionary.#%!\N
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0:7 空
0:8 Gyro
CVACMGyroDataCVACMGyroDataXNSObject
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
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000002B0 3D 00 00 02 B1 00 00 00 02 =........
0:9 空
0:10 Compass
CVACMCompasDataCVACMCompassDataXNSObject
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
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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
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0:13 CLLocation 周り Location Anchorのデータぽい
Location Anchorの再生に使う値と思われます。
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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
00001A60 73 6F 72 79 5F 10 29 6B 43 4C 4C 6F 63 61 74 69 sory_.)kCLLocati
00001A70 6F 6E 43 6F 64 69 6E 67 4B 65 79 46 72 6F 6D 53 onCodingKeyFromS
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
00001AA0 63 61 74 69 6F 6E 53 6F 75 72 63 65 49 6E 66 6F cationSourceInfo
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
00001AD0 6F 72 6D 61 74 69 6F 6E D4 17 93 94 95 96 97 98 ormation........
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
00001B80 74 69 6F 6E 00 08 00 11 00 1A 00 24 00 29 00 32 tion.......$.).2
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
Discussion