Knowledge Base - Version 22.4
Recent Changes
This is documentation of an archived release.
For documentation on the current version, please check Knowledge Base.

Faro (quaternions)

This page describes the original Faro terrestrial mapping resources for Orbit import.
Image orientation is provided as the rotation around the axis, https://en.wikipedia.org/wiki/Rotation_matrix.

Use the corresponding Orbit Import Template to import the described original data.
It is recommend to read first Orbit Mapping Resource.

Panoramas

Image files

  • Image type : equirectangular panoramas.
  • Image resolution : Ratio 2×1
  • File format : Each image is one *.png file.
  • File name : Exactly as “Filename” value of image position file.
  • Folder structure : All files in one folder.

Image positions file

  • File format : one ascii *.csv file
  • File structure Rows: each image is one record
  • File structure Columns : Tab separated (char9), headers, with exact order as the example below.
  • Value “Filename” : File name as on disk, without file extension.
  • Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.
  • Value “Time” : GPS Absolute time or GPS Week time.
[“Scan_Name”]	[X_Coordinate]	[Y_Coordinate]	[Z_Coordinate]	[Rotation_Vector_i]	[Rotation_Vector_j]	[Rotation_Vector_k]	[Rotation_AngleDegrees	[Date (as per scanner settings)]	[Time (as per scanner settings)]
Faro1_027	130.776432	32.564605	20.459104	-0.006307541	-0.00560737	-0.99996439	27.265266	23.1.2019	15:08:52
Faro1_025	133.502955	36.446644	20.445711	0.002116344	-0.008613731	-0.99996066	99.707539	23.1.2019	14:49:04
Faro1_026	133.718355	34.776196	20.467236	0.002625987	-0.010425252	0.99994221	135.01859	23.1.2019	15:00:37
Faro1_024	133.019117	39.49261	20.44953	0.01641728	-0.013730647	0.99977094	35.791399	23.1.2019	14:35:57
Faro1_028	127.287605	36.097578	20.460863	-0.002260283	-0.005264374	-0.99998359	77.591369	23.1.2019	15:17:35
Faro1_029	129.206204	30.835933	20.440445	-0.012342466	-0.008228277	0.99988997	52.106276	23.1.2019	15:26:42
Faro1_030	129.661257	28.575037	20.442871	0.00398163	0.002362845	0.99998928	52.036191	23.1.2019	15:36:53
...

Point cloud files

  • File format : One or more *.las or *.laz files.
  • File structure : Las version 1.2.
  • Value of Latitude, Longitude, Elevation : Same reference as Image Position File.
  • Value of Timestamp : Same reference as Image Position File.
 
Last modified:: 2022/04/15 06:19