kaarta STENCIL 2 - Scan Folder Contents and File Structure; List of Mapping Files Explained

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SCAN FOLDER CONTENTS
Each scan creates a subfolder in the ~/recordings directory on the desktop. A new subfolder will
also be created with “_replay” added to the folder name when using Stencil 2’s Adaptive Data
Replay tool. If you use the upgrade script to convert old Stencil files to the new Stencil 2 format,
the subfolder will have “_upgraded” added to the folder name. These subfolders may contain the
following files where xxx is the system time when the file was created.
LIST OF MAPPING FILES
pointcloud_xxx.ply
Binary point cloud file created during mapping/localization.
trajectory_xxx.ply
Trajectory file showing either the path of the Lidar during
mapping / localization or the front lens of the Feature Tracker
during Mapping with Camera / Localization with Camera.
gps_xxx.ply
GNSS data If GNSS data was available during the scan.
sensors_xxx.bag
ROS raw data file
scan_info_xxx.txt
Summary information of the Stencil mode, start / end times,
trajectory length, number of map and trajectory points, and
information related to the GNSS data available during the scan.
scan_info_xxx.yaml
Yaml file containing information during scanning / playback used
by the Loop Closure Tool and during Localization Using GNSS
Tool
pointcloud_xxx_ds.ply
Downsized binary point cloud file created during mapping /
localization as specified in the parameter file.
configuration_xxx.yaml
Stencil 2 configuration parameters in use during the scan.
last_pose_xxx.txt
Ending pose of the mapping/localization scan.
map_files sub-folder
Map used by Stencil 2 for localization. It is only created when
Choose Map for Localization is run.
image_files sub-folder
Images saved when Record Images is turned on
video.avi
Video created when Record Images is turned on
Levelling sub-folder
Leveled and cleaned point clouds with sectioned images created
by the Floor Planner Tool.
keyposes_xxx.csv
Trajectory points recorded when the Record KeyPose icon is
clicked during mapping/localization mode. If GNSS data is
available, a separate file with GNSS data at those same points will
also be recorded. This feature could be used for importing
Ground Control Points tied to Stencil 2 Trajectory points or to log
a position for cross referencing later.