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\input{common_latex/common_latex_packages}
\input{common_latex/common_latex_definitions}
\input{common_latex/common_latex_memo_format}
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\begin{document}

\begin{labcover}
\labtitle{Aquaticus Datasets}
\vspace{0.1in}
\labdate{August 2018}
\vspace{0.1in}
\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Michael Novitzky, novitzky@mit.edu}
\labauth{Paul Robinette, paulrobi@mit.edu}
\labauth{Department of Mechanical Engineering}
\labauth{MIT, Cambridge MA 02139}
\labtoc{small}
\end{labcover}

\wikidoc{file=Memo.AQDataSets}
\wikidoc{auth=mikerb@mit.edu}

%====================================================================
\section{Aquaticus Datasets Overview}
%====================================================================

An Aquaticus {\em dataset} is a collection of data files from a single
Aquaticus competition (typically 10 minutes). Each dataset is a bundle
of several files, collected from all MOKAI (human) platforms, and all
robotic platforms. A typical Aquaticus competition will have four
human particpants and four robot participants. This document will
discuss:

\begin{packed_itemize}
\item The dataset components and their formats
\item The tools for playing back or analyzing the datasets
\item Where to find the existing and future datasets
\end{packed_itemize}

\noindent
There are several tools for managing data files, and further tools are 
under development for great ease in analyzing the data.

%====================================================================
\subsection{Components of the Datasets}

Each four-on-four Aquaticus competition involves nine entities, each
logging their own sets of data:
 
\begin{packed_itemize}
\item Four MOKAI (human) platforms
\item Four Robot platforms (Clearpath Heron USVs)
\item The shoreside control station
\end{packed_itemize}

\vspace{0.1in}
\noindent
By example, the structure of the competition \var{2018\_08\_10\_C051},
is shown below, showing just the first two levels of the folder.

\vspace{0.1in}
\begin{fileverb}
 2018_08_10_C051/
     RECAP_VIDEO_C051.mov
     README
     mokai/
       red_one/
       red_two
       blue_one
       blue_two
     heron/
       red_three/
       red_four
       blue_three
       blue_four
     shoreside/
\end{fileverb}
\vspace{0.1in}

\noindent
This folder will contain:

\begin{packed_itemize}
\item Four video files of human players (MOKAI)
\item Four alog files for human players (MOKAI)
\item Four alog files, one for each robot 
\item Several audio files per human player (MOKAI)
\end{packed_itemize}

\vspace{0.1in}

\noindent
The alog files are the standard log file format for the MOOS middleware
and the MIT MOOS-IvP autonomy project has several tools for analyzing,
modifying and replaying data in this format. For more on the alog tools
for aquaticus see:

  \urlx{http://oceanai.mit.edu/aquaticus/datatools} 

%====================================================================
\subsection{Tools for Playing Back and Analyzing Datasets}

The Alog Toolbox contains several command line tools for manipulating,
analyzing or pruning raw data files, alog files, produced by the
\app{pLogger} utility which is part of MOOS. To visually render
or re-play the competition, the \app{alogview} tool is the tool you
want. This is distributed as part of the MOOS-IvP public codebase
and is launched from the command line. 

\vspace{0.1in}

\noindent
For example, in the \var{2018\_08\_10\_C051} dataset, \app{alogview}
can be launched from the command line as follows:

\begin{consoleverb}
$ cd 2018_08_10_C051/
$ alogview */*.alog
\end{consoleverb}

\vspace{0.1in}

\noindent
The term \var{"*/*.alog"} will match to all nine alog files, each with
the file suffix \var{".alog"}, one level down from the main, top-level
directory. This will open \app{alogview} with all eight vehicles,
similar to the below recap video found on the \var{C051} splash page:
\urlx{http://oceanai.mit.edu/aquaticus/datasets/2018_08_10_C051}:

\vspace{0.1in}
\begin{figure}[H]
  \centering
  \includegraphics[width=0.85\textwidth]{figures/fig_alog_c051.png}
  \caption{The time-lapse recap video for all eight platforms in
    competition \var{2018\_08\_10\_C015}, as seen by launching
  \app{alogview} on the alog files for all eight vehicles.}
  \label{fig_alog_c051}
  \urlvideo{https://vimeo.com/289136465}{0:58}
\end{figure}
\vspace{0.1in}

%====================================================================
\subsection{Where to Find Existing and Future Datasets}

Currently there are ten datasets on line for public download. The portal
for these datasets is:

\vspace{0.1in}

\urlx{http://oceanai.mit.edu/aquaticus/datasets}

\vspace{0.1in}
\noindent
Visiting this portal will provide a link to each dataset sorted by
date. Each dataset has its own splash page with the overview of the
data, links to download the data, and typically a recap video like
the one above in Figure \ref{fig_alog_c051} which is a time-lapse
replay of the data using \app{alogview}. 

\vspace{0.1in}
\noindent
Minimally there is a single tar file to download all the data. This
tar file represents a subset of the raw data, prune by hand to remove
any unintended data or video or to clip data down to just the window
of the competition. The raw data is archived elsewhere.

\vspace{0.1in}
\noindent
In the future, each dataset will offer a reduced size tar file where
the alog files are compressed, the video files are reduces to a low-res
video, and the wav files are compressed to mp3 format. Very likely
these low-res tar files will be  \var{10\%} of the original tar file
size and allow for quicker download and analysis. The full version
tar files will always be available.


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