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Orca log format Logfile Format The logger writes a single master file containing all relevant information to replay the data using the LogPlayer. Example for a set of files (3 interfaces were logged on 04/08/06 at 15:33:21): 060804_153321_master.log 060804_153321_laser0.log 060804_153321_laser1.log 060804_153321_camera0.log Detailed descriptions of master and subfiles are given next. Master File Note: lines in the master file starting with '#+blank' are regarded as comments and skipped when playing back. The logger adds certain meta data like the Orca version as comments to the master file header. Header The header is expected at the beginning of the master file. It specifies all the subfiles (one per line). Each lines containes the following information: interface type ( e.g. orca::Laser, orca::Camera ) encoding type ( see subfiles ) subfile name (see subfiles ) Example: ::orca::Laser ice 060804_153321_laser0.log ::orca::Laser ice 060804_153321_laser1.log ::orca::Camera ice 060804_153321_camera0.log Data The beginning of the data field (end of the header) is indicated by a special tag: 'data' (no blank between '#' and 'data'!). The data is represented by one object per line in the following format: timestamp (seconds) timestamp (microseconds) subfile number (reference to the the subfiles specified in the header) index (reference to the record number in the subfile) Example: 1154412007 971772 0 1 1154412007 955644 2 1 1154412008 22 2 2 1154412008 22356 1 1

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