Organizing the data and the results of each step is important for some processings that expect to find inputs in given relatives places on the computer.

The users are encouraged to organize the results of each Exwayz executable as follow for being able to easily use advanced functionnalities and to materialize the structure of the mapping pipeline in a folder architeture.

<aside> 💡 Each Exwayz executable writes specifics files where they are called from, see next tutorials for understanding better the content of each folder described above.

</aside>

📂 slam_session_<hour>_<date>

• 📂 1_loop_closure
• 📂 2_georef
• 📂 3_merge
• 📂 4_relocalization
• 📂 frames

traj_odometry.ply ****# Odometry trajectory computed by the SLAM

traj_odometry_sync.ply # Odometry trajectory synched with the GPS trajectory, if resynchronization option was turned on

traj_gps.ply ****# Eventual GPS trajectory (projected) in Exwayz format

traj_gps.proj ****# Eventual metadata about the projection performed to the input GNSS data