Capture Location Info Files

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 5

• cam_head: The pose of the panorama/capture location

• footprint: 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 00:00:00

• valid: 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.