Dataset Structure

A quick rundown of the dataset folder structure. This is not the ROSBAG topic structure. This includes my understanding of each item to the best of my ability to find information on them.

• anchors -contains files from anchors which were set with the VLX during recording
  • anchor_poses.txt - location to add your manually surveyed control points. These should correspond with the anchors recorded in anchor_poses_recorded.txt
  • anchor_poses_recorded.txt - anchors recorded on the VLX during recording will be shown here.
  • anchors.txt
• cam - raw photos from each camera in DNG format
  • preview - thumbnails of each camera shot in JPG format
• dataset.json - config information for the scan itself
• info - location information for each camera shot recorded in .JSON format
• internal - recorded point information location
  • artifacts - IMU's local trajectory bag recording
    
  • bags - velodyne's point cloud bag recordings + sensor recordings
    
  • trajectory_slam.bag - ? just a single entry. unsure if velodyne or IMU recording
    
• logs - various log files recorded during recording
  
• maps - quality map recording and config data
  
• qualitymap_rec.png - quality map recorded during scan
  
• sensor_frame.xml
• sensor)farme.xml.sig
• trolley.cer
• wifi