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.

• 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
...

• 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

• 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
...

• 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.