Dataset Control Points 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.

• Four boolean flags that control how the control point will be used during post-processing.

The first flag (use_orientation) controls whether orientation information from the control points file will be used. This flag is currently not used and should be set to false.

The three remaining flags control in which post-processing stage each of the control points is active, that is, used for computing the trajectory of the device.

Note: To run post-processing with control points, a Control Point Poses File is needed. Its content is not output by the software but rather needs to be filled out with additional information.