Dataset SLAM Anchor Info File
For each dataset, anchors.txt contains an entry for every time a control point was added to the dataset. For measured control points, the user can control at which post-processing stages each control point is used by setting the boolean flags in this file.
During mapping, 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 Fomat Version 1.0
#
# Comment lines start with a '#'
# The first nonempty line without comment specifies anchor file format version
# The remaining nonempty lines each specify a dataset SLAM anchor 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 anchor pose
# - anchor_name : unique identifier of the anchor pose
# - use_orientation : Use the orientation information of this anchor (true/false)
# - use_for_alignment : Use this anchor for alignemnt (true/false)
# - use_for_verification : Use this anchor for verification (true/false)
# - use_for_optimization : Use this anchor 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 anchor poses file will be used. This flag is currently not used and should be set to false.