Leica Pegasus

This page describes the original Leica Pegasus mobile mapping and backpack resources for Orbit import.

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

• File : one ascii Track_*.asciitrj file.
• File structure Rows : Each trajectory timestamp is one record.
• File structure Columns : Semicolon separated (char59), headers, with exact order as the example below.
• Value of Timestamps “TIME” : GPS Absolute time or GPS Week time, decimal notation.
• Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.

TIME;X/Long;Y/Lat;Z;PITCH;ROLL;HEADING;ST.DEV POS;ST.DEV. ANGLES;QUALITY
486957.765;318058.326;5090406.412;67.622;0.37802333;-1.87788222;648.45647567;0.0;0.0;1.0
486957.770;318058.295;5090406.382;67.623;0.37764000;-1.87600556;648.50871567;0.0;0.0;1.0
486957.775;318058.263;5090406.352;67.623;0.37625333;-1.87048333;648.56157123;0.0;0.0;1.0
...

• Image type : Leica Spheres, equirectangular panoramas.
• Image resolution : Ratio 2×1, default 9384 x 4692 pixels.
• File format : Each image is one *.jpg file.
• File name : Exactly as in image positions file, see below.
• Folder structure : All files in one folder.

• File format : One ascii file, “/Track_*Sphere/External Orientation.csv”.
• File structure Rows : Each image is one record.
• File structure Columns : Semicolon separated (char59), no headers, with exact order as the example below.
• Value of Filename : File name as on disk, with file extension.
• Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator..
• Value of Timestamps : Same Time Reference as Trajectory, see above.

Track_A-Sphere-1.jpg;486957.763;318058.420;5090406.542;67.721;299.45303257;51.56892038;198.51876943;-6.89280883946E-001;-1.60404725411E-002;7.24316620178E-001;7.23893960449E-001;2.54399289885E-002;6.89442052705E-001;-2.94855396976E-002;9.99547654319E-001;-5.92365554544E-003
Track_A-Sphere-2.jpg;486958.008;318056.893;5090405.054;67.740;299.33368056;48.88496437;198.63313760;-7.19216815127E-001;-1.54444073741E-002;6.94614024563E-001;6.94191187372E-001;2.53757520940E-002;7.19343218902E-001;-2.87361830028E-002;9.99558673359E-001;-7.52929610926E-003
Track_A-Sphere-3.jpg;486958.221;318055.605;5090403.694;67.754;299.66392694;46.32755366;198.31999382;-7.46438586424E-001;-1.97026966375E-002;6.65162566928E-001;6.64782410302E-001;2.28281700237E-002;7.46688168921E-001;-2.98962146463E-002;9.99545235794E-001;-3.94182080297E-003
...

• Image type : Flir¹⁾ Ladybug, equirectangular panoramas.
• Image resolution : Ratio 2×1, default 9216 x 4608 pixels.
• File format : Each image is one *.jpg file.
• File name : Exactly as Image ID of image positions file, see below.
• Folder structure : All files in one folder.

• File format : One ascii file, “Track_*.Ladybug/External Orientation.csv”.
• File structure Rows : Each image is one record.
• File structure Columns : Semicolon separated (char59), no headers, with exact order as the example below.
• Value of Image ID, column 1 : File name as on disk, with file extension.
• Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.
• Value of Timestamps, column 2: Same Time Reference as Trajectory, see above.

Track_A-Ladybug-165.jpg;384256.517;318058.449;5090336.141;68.177;105.70059603;-68.53859608;4.09784229;4.733404501953e-001;-3.051048610083e-002;-8.803510256976e-001;-8.807602897263e-001;-3.283884074087e-002;-4.724223984741e-001;-1.449587010658e-002;9.989948552303e-001;-4.241637623803e-002
Track_A-Ladybug-166.jpg;384256.892;318060.977;5090337.471;68.174;106.20817874;-66.72168185;3.75646766;4.983825295505e-001;-2.944196469406e-002;-8.664571685628e-001;-8.665814822948e-001;-4.633976977383e-002;-4.968794222757e-001;-2.552231930224e-002;9.984917608334e-001;-4.860879308492e-002
Track_A-Ladybug-167.jpg;384257.266;318063.447;5090338.903;68.192;106.62670714;-63.29683314;3.57717636;5.442594559088e-001;-3.061424971370e-002;-8.383581647293e-001;-8.383397349853e-001;-5.691236541147e-002;-5.421692276476e-001;-3.111484209447e-002;9.979096904920e-001;-5.664023502508e-002
...

• Image type : Distorted images.
• Image resolution : 2046 x 2046 pixels.
• File format : Each image is one *.jpg file.
• File name : Exactly as Image ID of photo position file, see below
• Folder structure : all image files of one camera in one folder

• File format : One ascii file for each camera, “Track_*0*/External Orientation.csv”.
• File structure Rows : Each image is one record.
• File structure Columns : Semicolon separated (char59), no headers, with exact order as the example below.
• Value of Image ID, column 1 : File name as on disk, with file extension.
• Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator
• Value of Timestamps, column 2 : Same Time Reference as Trajectory, see above.

Track_A-Cam1-1_15.15.58(301).jpg;486957.763;318058.160;5090406.299;67.800;-98.05856164;50.34710461;197.53139627;-7.02712284394E-001;-2.72625549357E-002;7.10951614711E-001;7.11268911706E-001;-2.91973467163E-003;7.02913942378E-001;-1.70874398898E-002;9.99624043452E-001;2.14427412004E-002
Track_A-Cam1-2_15.15.58(546).jpg;486958.008;318056.643;5090404.800;67.819;-98.27451109;47.66820442;197.78676195;-7.32083820906E-001;-2.54614909453E-002;6.80738563361E-001;6.81019320329E-001;-3.43148926150E-003;7.32257407077E-001;-1.63084182699E-002;9.99669914202E-001;1.98519050281E-002
Track_A-Cam1-3_15.15.58(759).jpg;486958.221;318055.365;5090403.430;67.833;-98.03653716;45.10407554;197.60550182;-7.58806159088E-001;-2.85542070954E-002;6.50690302823E-001;6.51080445521E-001;-6.35849708351E-003;7.58982096611E-001;-1.75347195755E-002;9.99572021803E-001;2.34159526267E-002
...

• File format : One ascii file for each camera, “Track_*0*/Internal Orientation.txt”

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

The camera calibration parameters must be entered before Create Run, the 1st step of the Import Run procedure.
To facilitate import, your specific camera calibration values can be registered inside the Orbit template to avoid entering these values at import each time. Contact Orbit Support if assistance is needed.

• File format : One or more *.las files.
• File structure : Las version 1.2.
• Value of Coordinates : Same CRS as Trajectory, see above.
• Value of Timestamps : Same Time Reference as Trajectory, see above.