The following artifacts are output by the NavVis software for each individual Dataset.
2D Geo-Registration Maps
2D geo-registration maps are generated during post-processing for every Dataset and are output in 10 cm and 2 cm resolutions. These maps provide outlines of the mapped site and serve as basis for refinement in drawing programs. A pixel represents a square of the specified resolution.
2D X-Ray Maps
2D x-ray maps are generated during post-processing for every Dataset. These images are rendered from different viewpoints (top-down and side views) with a resolution of 5 cm / pixel. As a result, they provide useful information about mapped buildings and interior structures.
Beacons
During mapping, the mobile mapping system captures signals from Bluetooth beacons. During post-processing, this information is written to bluetooth_beacon.csv in the form of tupels containing the following information:
The timestamp (in seconds) when the signal was received
The position of the mobile mapping system x, y, z (in meters) relative to the Dataset's origin
The orientation of the mobile mapping system relative to the dataset's origin (as a quaternion w, x, y, z)
The intensity of the signal received in decibel milliwatts
Data sent by the beacon, starting from the last four bytes of the iBeacon prefix.
Calibration Parameters
The file sensor_frame.xml stores the calibration parameters of the mobile mapping system including cameras, laser scanners, and electrical devices.
Warning: This is a critical file. Do not modify, rename, or move it to a different location.
Logs
The logs directory contains log files recorded during mapping (in the datasets_rec folder) and during data processing (datasets_proc and datasets_web). The information in these files is important for Troubleshooting.