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Data collected from sensors, vehicles, or ambient objects during a simulation can be recorded, viewed, and replayed. Presentation of replay data is similar to the original simulation, with the addition of DVR-style controls.

Replay data is generated from a variety of vehicle or sensor properties recorded during a simulation. A replay recorder, or writer, tracks specific parameters of the simulation and saves them to a file. Each data source recorded is saved in its own replay file. Multiple replay files are organized in replay groups to synchronize the actions of the replay files.

Advanced users can manually record a replay in a text file and write the data for playback, which allows playback when there is no recorder or when simulation is difficult. In addition, simulated replay data recorded with other software can be loaded in ANVEL.

Replays Tab

The upper section of the Replays tab of the Configuration Pane contains controls for playing previously recorded replays. A collapsible Replay Playback list displays all the replays available for playback organized in groups of related replays. The playback controls include play, pause, reset, remove, and load replays.

The center section of the Replays tab contains a control for playback speed and a timeline control for each group in the Replay Playback list which allows play to start at any point in the playback.

The lower section of the Replays tab contains recording controls to begin, pause, save, and close a recording; and create a new replay group. A collapsible Replay Recording list displays all the replays being recorded or are waiting to be recorded. Replays are organized by group.

Replays playback.png

Replay Groups

Multiple types of replays are generally grouped together to represent a more complete picture of a simulation. For example, during a simulation run, position/orientation data from a vehicle, LIDAR sensor output, images from a camera on the vehicle, and the vehicle’s coordinates according to its IMU sensor can be captured. If these replays are all in the same replay group, they will be synchronized during playback.

Commands such as Play or Pause are applied to groups as a whole, never to individual replays.

To move a replay from one group to another, click a replay and drag it to another group.

Writing to Text Format

Many replays have the option of writing data to text format, allowing for review of the file for correctness and, if necessary, manual editing.

Text format produces a large file that requires more time to load.

Creating Replays

To create a replay or group of replays:

  1. Click the Create New Recording button Create new recording button.png.
  2. In the Create Writer dialog, specify the type of replay to record:
    Replay Description
    GPS Replay Records GPS sensor output.
    - Select the GPS to use for gathering data.
    Point Cloud Replay Records LIDAR sensor output, including time of discovery of each point.
    - Select the sensor to use for gathering point cloud data.
    Vehicle Input Replay Records the input passed through the controller interface to the vehicle.
    If this replay is run with a different physics setup, the vehicle path or its performance may be altered.
    Allows for changing terrain parameters, VTI models, etc. to see differences between models.
    - Select the vehicle to use.
    Vehicle Position Replay Records the position and orientation of the vehicle and all of its components, ensuring that the vehicle follows the same path and maintains the same coordinates as in the original simulation.
    Useful for modifying sensors.
    - Select the vehicle to use.
    Video Replay Records the output of a camera sensor in video format.
    - Select the sensor to use for gathering data.
    Camera Image Replay Records the output of a camera sensor.
    - Select the sensor to use for gathering data.
  3. In the Create Writer dialog, create a new group by selecting the New Writer Group from the Writer Group drop-down list.
  4. To write data to text format, select the Output as Text check box. (This is not an option for certain replays.)
  5. Click OK to create the replay.
    The replay and its group are displayed in the Replay Recording list, and all of the recording controls are enabled.
    Replays section.png

To rename the replay group:

  1. Select the group in the Replay Recording list.
  2. Click the group again or press F2.
  3. Enter the new name.

To add more replays to the Recording list: Repeat the steps above, selecting the group created from the Writer Group drop-down list, or creating another group.

To move a replay from one group to another, click and drag the replay.

Recording Replays

Replays are recorded to a time-stamped directory in <user_data>\Replays.
All replays in a group are saved in the same folder.

To record a replay or group of replays:

  1. Select a group in the Replay Recording list and click the Record button Record button 3.png.
  2. Start the simulation.
    Data is recorded to the replays in the group selected.

To stop recording, click the Save button Save button.png.
ANVEL stops recording and saves all the replays in the group in the same folder.

Viewing Replays

To view replays, load one replay file at a time and organize the replays into replay groups.

Replay groups are different from recording groups; certain files can be excluded from a recording group or files from multiple recording groups can be included. Replayed data is viewed or monitored in the same manner as it was during the original simulation.

To view a replay:

  1. Open the environment or the simulation in which the replay was created.
  2. Click the Load replay from files button Load replays from file.png in the Replays tab.
  3. In the Load Replay dialog, select New Replay Group from the drop-down list to create a new group.
    Select a replay group in the Load Replay dialog
  4. Type the file path of the replay to view, or browse to the replay.
  5. Click OK.
    The replay is displayed in the Replay Playback list and all of the playback controls are enabled.
    Newly created replay group
  6. Rename the new group:
    • Double click the group name in the Replay Playback list.
    • Enter the name of the new group.

To add more replays to the Playback list:

  1. Repeat steps 2 – 5, selecting the group created from the Replay Group drop-down list, or create another group.
    Note: Replays can be moved from one group to another by clicking and dragging a replay.
  2. Select the replay group and click the Play Selected Replay Group(s) button Play selected replay group button.png.
  3. Click the Play Simulation button Play simulation button.png in the Simulation toolbar to start the playback.
    The replay is displayed in the World View Pane, Sensors window (if applicable), Properties tab, and Chart tab.

To control the playback, use the DVR style playback controls:

Playback Control Description
Pause Pause replay.png Pause the replay
Reset Reset replay.png Pause and reset the replay to the beginning
Playback Speed Placeholder
Skip to Position Move the replay to a point in the replay.
Drag the Replay Position slider or type the elapsed time (in sec) in the text box.
There is one slider available for each replay group.

Removing a Replay or Replay Group

To remove a loaded replay from the Replay Playback list:

  1. In the Replay Playback list, select the replay or group to delete.
  2. Click the Remove Replay button Remove replay.png.
    The application does NOT prompt to confirm the deletion.

See Also

Video Capture