This is documentation of an archived release.
For documentation on the current version, please check Knowledge Base.

Prepare MM Data Topcon IP-S3

This page describes the Topcon IP-S3 resources to be imported into Orbit using the according Orbit Import Template.
It is recommended to read first Concepts of Mobile Mapping and UAS data in Orbit.

Trajectory

Trajectory Positions File

  • File format : one asccii *.csv file
  • File structure Rows : each timestamp is one record
  • File structure Columns : comma separated (char44), headers, with exact order as the example below
  • Value “GPS_time(s)” : GPS absolute time, seconds from January 6 1980, decimal notation
  • Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.

Geographic CRS

file_type,timestamp,GPS_time(s),lat(deg),lon(deg),alt,north_velocity,east_velocity,down_velocity,quaternion0,quaternion1,quaternion2,quaternion3,rms_north,rms_east,rms_down,rms_north_velocity,rms_east_velocity,rms_down_velocity,rms_quaternion0,rms_quaternion1,rms_quaternion2,rms_quaternion3
62009,301155812469,1235291623.46004963,24.7950273887847814,46.7023712874421832,650.495740556158125,-4.31696891784667969,-9.23910140991210938,-0.060107056051492691,0.533462492562260304,0.031300436481401156,-0.00145295596136938224,-0.845243125156489139,0.00175160095744613721,0.00400987382608577938,0.00241928379555644054,-0.000613710226349695881,0.000918576002399458177,0.00133029929900739291,0.49723534656813545,0.340980522102993011,-0.769310844743692712,0.211305744903876908
62009,301156812476,1235291623.47004962,24.7950269992728529,46.7023703735601217,650.496437233872712,-4.31336498260498047,-9.24416446685791016,-0.0760835930705070496,0.533472066705619863,0.0312556502817029833,-0.00122906864700710397,-0.845239095026113607,0.00175180531702218037,0.00400998976862904262,0.00241944178649818173,-0.000613761945349575308,0.000918607174516340177,0.00133036185937872959,0.497235344570108428,0.34098048938901071,-0.769310850236686772,0.211305782396939618
62009,301157812484,1235291623.48004985,24.7950266099372172,46.7023694593452845,650.497288335114717,-4.31314897537231445,-9.24593353271484375,-0.0912690386176109314,0.53347638889726734,0.0310943338141728524,-0.00104898179212297403,-0.845242559583333164,0.00175193802987146357,0.00401006070846417293,0.00241954290183477722,-0.000613794885535539833,0.000918627041134176671,0.00133040297231651881,0.497235338662303183,0.340980451772503634,-0.769310862096040493,0.211305813823119387
...

Projected CRS

file_type,timestamp,GPS_time(s),east,north,altitude,north_velocity,east_velocity,down_velocity,quaternion0,quaternion1,quaternion2,quaternion3,rms_north,rms_east,rms_down,rms_north_velocity,rms_east_velocity,rms_down_velocity,rms_quaternion0,rms_quaternion1,rms_quaternion2,rms_quaternion3
62009,301155812469,1235291623.46004963,672086.218225998222,2743324.07807551883,650.495740556158125,-4.31696891784667969,-9.23910140991210938,-0.060107056051492691,0.533462492562260304,0.031300436481401156,-0.00145295596136938224,-0.845243125156489139,0.00175160095744613721,0.00400987382608577938,0.00241928379555644054,-0.000613710226349695881,0.000918576002399458177,0.00133029929900739291,0.49723534656813545,0.340980522102993011,-0.769310844743692712,0.211305744903876908
62009,301156812476,1235291623.47004962,672086.126365119126,2743324.03378250496,650.496437233872712,-4.31336498260498047,-9.24416446685791016,-0.0760835930705070496,0.533472066705619863,0.0312556502817029833,-0.00122906864700710397,-0.845239095026113607,0.00175180531702218037,0.00400998976862904262,0.00241944178649818173,-0.000613761945349575308,0.000918607174516340177,0.00133036185937872959,0.497235344570108428,0.34098048938901071,-0.769310850236686772,0.211305782396939618
62009,301157812484,1235291623.48004985,672086.03447035118,2743323.98950859765,650.497288335114717,-4.31314897537231445,-9.24593353271484375,-0.0912690386176109314,0.53347638889726734,0.0310943338141728524,-0.00104898179212297403,-0.845242559583333164,0.00175193802987146357,0.00401006070846417293,0.00241954290183477722,-0.000613794885535539833,0.000918627041134176671,0.00133040297231651881,0.497235338662303183,0.340980451772503634,-0.769310862096040493,0.211305813823119387
...

Panoramas

Image files

  • Image type : Ladybug 5, equirectangular panoramas
  • Image resolution : Ratio 2×1, advised 8000×4000 pixels
  • File format : Each image is one *.jpg file
  • File name : Exactly as “file_name” value of image positions file, see below
  • Folder structure : all files in one folder

Image positions file

  • File format : One asccii *.csv file
  • File structure Rows : Each image is one record
  • File structure Columns : Comma separated (char44), headers, with exact order as the example below
  • Value “file_name” : Entire file path using forward slashes, including file extension
  • Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.

Geographic CRS

file_name,file_type,sequence_id,timestamp,GPS_time(s),lat(deg),lon(deg),alt,attitude(x)=roll,attitude(y)=pitch,attitude(z)=pan,frame_id
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000589.jpg,JPG,589,301190407364,1235291623.8059988,24.7950136761249524,46.7023397883139211,650.771077588200569,178.140714551015265,-2.83112008979011431,64.5519381189249941,13000
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000590.jpg,JPG,590,301241807547,1235291624.32000089,24.7949936331821057,46.7022927598421731,650.816853065043688,178.4293728413422,-2.47168590249554754,64.5794903993071614,13001
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000591.jpg,JPG,591,301293372156,1235291624.83564711,24.7949738929730472,46.7022456983916854,650.843878802843392,178.156024102904041,-2.5589182236776864,64.6182554799878801,13002
...

Projected CRS

file_name,file_type,sequence_id,timestamp,GPS_time(s),east,north,altitude,attitude(x)=roll,attitude(y)=pitch,attitude(z)=pan,frame_id
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000589.jpg,JPG,589,301190407364,1235291623.8059988,672083.052417527651,2743322.51960173948,650.771077588200569,178.140714551015265,-2.83112008979011431,64.5519381189249941,13000
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000590.jpg,JPG,590,301241807547,1235291624.32000089,672078.325242928113,2743320.24043363007,650.816853065043688,178.4293728413422,-2.47168590249554754,64.5794903993071614,13001
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000591.jpg,JPG,591,301293372156,1235291624.83564711,672073.59431462537,2743317.99475569883,650.843878802843392,178.156024102904041,-2.5589182236776864,64.6182554799878801,13002
...

Point Cloud

LiDAR files

  • File format : One or more *.las or *.laz files.
  • File structure : Las version 1.2.
  • Value of Latitude, Longitude, Elevation : Same CRS as Trajectory.
  • Value of Timestamp : Same reference as Trajectory.
 
Last modified:: 2019/10/08 11:11