Dataset Contr
Dataset Control P
ol Points Info File
oints Info File
For each dataset,
anchors.txt
contains an entry for every time a control point was added to
the dataset. Control at which post-processing stage each control point is used by setting the
boolean flags in this file.
During the scan, control point information for the dataset is collected in the text file
datasets_rec/<dataset_name>/anchors.txt
. This file has the following structure:
#
# SLAM Dataset Anchor Info File Format Version 1.0
#
# Comment lines start with a '#'
# The first nonempty line without comment specifies the file's format version
# The remaining nonempty lines each specify a control point in one of the
following formats:
# - 'stamp anchor_name use_orientation use_for_alignment
use_for_verification use_for_optimization'
# Explanation of entries:
# - stamp : point in time at which the trolley was placed at
the control point pose
# - anchor_name : unique identifier of the control point pose
# - use_orientation : Use the orientation information of this control
point (true/false)
# - use_for_alignment : Use this control point for
alignemnt (true/false)
# - use_for_verification : Use this control point for
verification (true/false)
# - use_for_optimization : Use this control point for
optimization (true/false)
1.0
1464367049.798925160 Anchor00001 false true true true
1464367113.119625566 Anchor00002 false true false true
1464367168.296749677 Anchor00003 false true true true
The first non-empty line without comment names the file format version (currently 1.0) in order
to allow for future changes in the file structure. The remaining lines each specify:
▪
The point in time when the device was positioned on that control point (Unix time).
▪
The control point's unique identifier.
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