Prepare MM Data Leica

This page describes how to prepare Leica Pegasus 2 mobile mapping resources for Orbit.
Using the Leica Orbit import templates prepared Pegasus resources can be imported into Orbit.

It is strongly recommend to read first Understand Mobile Mapping data in Orbit.

• File : one ascii run .asciitrj file
• Rows : each time-stamp registration is one record
• Columns : semicolon separated (char59), headers, with exact order as the example below
• Value 1st column “TIME” : Any time reference can be used, but all mobile mapping resources should use same reference and unit
• Value 2nd “X” , 3th “Y” and 4th column “Z” : Any supported projected coordinate system can be used, but all mobile mapping resources should have the same crs

TIME;X;Y;Z;PITCH;ROLL;HEADING;ST.DEV POS;ST.DEV. ANGLES;QUALITY
220324.910;516492.078;5840141.348;104.045;4.50242222;1.05009000;243.84843667,0.0;0.0;1.0
220324.915;516492.056;5840141.332;104.045;4.49685333;1.04712778;243.83545111,0.0;0.0;1.0
220324.920;516492.033;5840141.315;104.045;4.49453778;1.04321000;243.82156000,0.0;0.0;1.0
...

Documentation will be completed soon.

• Image type : distored images
• Image resolution : 2046 x 20146 pixels
• Files : *.jpg files, each image is one jpg file
• File name : exactly as “Filename” value of photo position file, see below
• Folder structure : all image files of one camera in one folder

• Files : one ascii external orientation .csv file for each camera
• Rows : each image is one record
• Columns : semicolon separated (char59), no headers, with exact order as the example below
• Value 1st column “Filename” : file name as on disk, with file extension
• Value 2nd column “Timestamp” : same reference as trajectory
• Value 3rd “X” , 4th “Y” and 5th column “Z” : same coordinate reference system as trajectory

Track_A-CAM1-1_2015.03.20_15.08.24(580).jpg;486504.010;318222.731;5089473.135;67.941;98.29165094;-25.76372404;-0.37501617;9.19206332893E-001;5.41486829343E-003;-3.93738995746E-001;-3.93748465686E-001;2.45124325509E-002;-9.18891335480E-001;4.67582501827E-003;9.99684860269E-001;2.46640793178E-002
Track_A-CAM1-2_2015.03.20_15.08.30(768).jpg;486510.199;318222.731;5089473.135;67.941;98.28773941;-25.76800459;-0.39065086;9.19178499248E-001;5.64045275710E-003;-3.93800802200E-001;-3.93815983784E-001;2.44767752625E-002;-9.18863351315E-001;4.45616841032E-003;9.99684486608E-001;2.47198260038E-002
Track_A-CAM1-3_2015.03.20_15.08.35(180).jpg;486514.611;318222.731;5089473.135;67.941;98.28161574;-25.77085484;-0.39490752;9.19160488380E-001;5.70180292832E-003;-3.93841955668E-001;-3.93858333162E-001;2.45463479702E-002;-9.18843343667E-001;4.42831802153E-003;9.99682432698E-001;2.48077357856E-002
...

• Files : one ascii internal orientation .txt file for each camera

SensorSizePIX=2046,2046
SensorSizeMM=1.12530000000E+001,1.12530000000E+001
PrincipalPoint=-2.61956763602E-001,-1.56800990463E-001
FocalLenghtMM=8.22273991883E+000
DistortionType=6
Dist_CV_K1=-1.846504319177130E-001
Dist_CV_K2=1.285589751369390E-001
Dist_CV_K3=-2.821016417454580E-002
Dist_CV_K4=0.000000000000000E+000
Dist_CV_K5=0.000000000000000E+000
Dist_CV_K6=0.000000000000000E+000
Dist_CV_P1=-3.798480723832470E-004
Dist_CV_P2=3.031639898513610E-004
Dist_CV_CX=9.753714975268900E+002
Dist_CV_CY=1.051509270993260E+003
Dist_CV_FX=1.495043621605830E+003
Dist_CV_FY=1.495043621605830E+003
Dist_CV_HEIGHT=2046
Dist_CV_WIDTH=2046

It is required to review and adjust the default Orbit template camera calibrations, prior to the import.
<Orbit installation directory>/program/ext/mobile_mapping/project/template/<template name>/planar[X]/import/import_locations.ord

• Files : one or more *.las files
• File name : free of choice
• Structure : LAS v1.2
• Value of Latitude, Longitude and Height : same coordinate reference system as trajectory
• Value of Timestamps : same reference as trajectory