File formats

bCode detector

Raw bCode detections, which can be converted to a more useful format, are stored as a comma-separated text file without a header. Each line describes one detection and provides the following information:

1. image timestamp
2. top-left fixed pattern, x-coordinate
3. top-left fixed pattern, y-coordinate
4. top-right fixed pattern, x-coordinate
5. top-right fixed pattern, y-coordinate
6. bottom-left fixed pattern, x-coordinate
7. bottom-left fixed pattern, y-coordinate
8. ID of bee
9. a mysterious number

The timestamp format is Unix time with millisecond precision.

Converter

Converted bCode detections are stored as a comma-separated text file without a header. Each line describes one detection and provides the following information:

1. image timestamp
2. x-coordinate
3. y-coordinate
4. orientation vector, x-component
5. orientation vector, y-component
6. ID of bee

The timestamp format is Unix time with millisecond precision.

Movement detector

Movement is stored as a comma-separated text file without a header. Each line describes one movement and provides the following information:

1. image timestamp
2. ID of bee
3. distance moved in mm
4. angular displacement around bCode center in radians

The timestamp format is Unix time with millisecond precision.

Trophallaxis detector

Trophallaxis detections are stored as as a comma-separated text file without a header. Each line describes one detection and provides the following information:

1. image timestamp
2. ID of bee 1
3. ID of bee 2

Begin and end times are Unix time with millisecond precision.