- 18 Mar 2024
- 3 Minutes to read
- Print
- DarkLight
- PDF
Capture Location Info Files
- Updated on 18 Mar 2024
- 3 Minutes to read
- Print
- DarkLight
- PDF
In the /info
subdirectory, there is a JSON file XXXXX-info.json
for each successful capture event.
datasets_rec/<dataset-name>/info
contains an info file for a capture event if all six cameras have captured an image.datasets_proc/<dataset-name>/info
contains an info file if a panorama was created successfully.datasets_web/<dataset-name>/info
contains an info file if the panorama was successfully web-processed.
Here is an example XXXXX-info.json
file:
{
"cam0": {
"position": [
1.3350630009317326,
0.20823996848894023,
1.826231018969047
],
"quaternion": [
-0.45671520972622106,
0.5369663948818721,
0.4483652504591191,
0.5495879457857772
]
},
"cam1": {
"position": [
1.4331694201457986,
0.011434217236555637,
1.822447791563665
],
"quaternion": [
-0.03782681083504912,
0.706334719461622,
0.02369011253661827,
0.706469514581573
]
},
"cam2": {
"position": [
1.3728235263609614,
-0.20461955922626302,
1.8284425449034479
],
"quaternion": [
0.405050823226835,
0.5788182238257216,
-0.40690821595603579,
0.5790759865147026
]
},
"cam3": {
"position": [
1.1245777454474642,
-0.19866993321176483,
1.8278823389076753
],
"quaternion": [
0.6795537251375463,
0.21805831223360776,
-0.6673518042985505,
0.2128353269948001
]
},
"cam4": {
"position": [
1.0909494662864517,
0.15989000751595168,
1.8292472470182478
],
"quaternion": [
0.6997250395247168,
-0.14876354629930647,
-0.683110897537667,
-0.14701625086999962
]
},
"cam5": {
"position": [
1.2373443764327177,
-0.008167361492728679,
1.9256668440806908
],
"quaternion": [
0.7430454840805725,
-0.0024748131785320085,
0.004286031867022996,
-0.6692226190275054
]
},
"cam_head": {
"position": [
1.265654589267521,
-0.00531544344821817,
1.843319630907129
],
"quaternion": [
0.9986243525611843,
0.0012807250168437245,
0.004780639378263353,
0.052200648485642518
]
},
"footprint": {
"position": [
1.1020033083729457,
-0.004621378942285416,
0.000006050941235874463
],
"quaternion": [
0.9984535949311351,
-0.00016260612841312324,
0.003886947734626963,
0.05545524290495955
]
},
"timestamp": 1528727642.949464,
"valid": "true"
}
The fields provide the following information for a NavVis M6:
cam0
–cam5
: The pose of camera 1 to camera 5cam_head
: The pose of the panorama/capture locationfootprint
: The pose of the device at the capture location time (measured on the ground between the wheels)timestamp
: The time in seconds since 01/01/1970 00:00:00valid
:true
when the poses are valid,false
if an error occurred while creating this capture location
All poses recorded in the XXXXX-info.json
file are relative to the current map frame (the map coordinate system of the current Dataset). Each pose includes a position
field with [x, y, z] coordinates in meters and a quaternion
field with [w, x, y, z] coordinates.