Mapping Path

For every Dataset, the file trace.csv contains position, orientation, and magnetic field information in frequent intervals. This is an example of what the file looks like:

#nsecs,  x, y, z,  ori_w, ori_x, ori_y, ori_z,  mag_x, mag_y, mag_z
1478254247676381327, 8.84298e-07, 1.28572e-06, -0.2, 0.999992, 0.000376351, 0.00401342, 1.90039e-07,  -6.51576e-07, -3.18442e-06, -3.36381e-05
1478254247783401487, 0.00150315, 0.000978242, -0.2, 0.999992, 0.000330729, 0.00398468, -6.80018e-05,  -1.30323e-06, -3.18672e-06, -3.33109e-05

This is the information contained in the fields

• nsecs: The time in nanoseconds since 1/1/1970 00:00:00

• The following fields contain the location of the mobile mapping system, in meters from the dataset's origin:

  • x: The x-coordinates of the location.

  • y: The y-coordinates of the location.

  • z: The z-coordinates of the location.

• The following fields contain the orientation of the mobile mapping system relative to the dataset's origin, expressed as a quaternion:

  • ori_w: The real part of the quaternion.

  • ori_x: The x-component of the quaternion.

  • ori_y: The y-component of the quaternion.

  • ori_z: The z-component of the quaternion.

• The following fields contain the magnitude of magnetic field in Tesla:

  • mag_x: The x-component of the magnitude.

  • mag_y: The y-component of the magnitude.

  • mag_z: The z-component of the magnitude.