Vexcel Mustang

This page describes the original Vexcel Ultracam Mustang mobile mapping 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 format : one asccii *.txt file
• File structure Rows : each timestamp is one record
• File structure Columns : tab separated (char9), headers, with exact order as the example below
• Value “GPSTime(s)” : Weeek of seconds, decimal notation
• Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.
• Value “H-Ell” : Height above ellipsoid, decimal notation, without thousands separator.

GPSTime	Week	Longitude	Latitude	H-Ell	Roll    Pitch   Heading	RollSD	PitchSD	HdngSD	X-ECEF	Y-ECEF	Z-ECEF	ECTX	ECTY	ECTZ	SDX-ECEF	SDY-ECEF	SDZ-ECEF	ECTXSD	ECTYSD	ECTZSD	E-Sep	N-Sep	H-Sep	RollSep	PtchSep	HdngSep NS iFlag Q S/K	Flag     UTCTime    UTCDate
(sec)	(weeks)	(+/-D M S)	(+/-D M S)	(m)	(Deg)    (Deg)     (Deg)	(Deg)	(Deg)	(Deg)	(m)	(m)	(m)	(Deg)	(Deg)	(Deg)	(m)	(m)	(m)	(Deg)	(Deg)	(Deg)	(m)	(m)	(m)	(Deg)	(Deg)	(Deg)	(sec)      (MDY)
504129	1858	46 49 50.01670	-100 46 11.46156	547.105	-0.5967   1.7722  244.9378	0.00785245	0.0080012	0.042552002	-816937.36	-4294812.672	4629297.007	344.5071861	319.3790763	99.25325465	0.005	0.01	0.009	0.009618899	0.029185976	0.031496168	0	0	0	0	0	0.0000000000 13 ZUPT  2	Kinematic  504112.00  8/21/2015
504129.01	1858	46 49 50.01670	-100 46 11.46156	547.105	-0.5969   1.7727  244.9370	0.007848467	0.007997249	0.042550761	-816937.36	-4294812.672	4629297.007	344.5070847	319.3791066	99.25425933	0.005	0.01	0.009	0.009615578	0.029184571	0.031494812	0	0	0	0	0	0.0000000000 13 ZUPT  2	Kinematic  504112.01  8/21/2015
504129.02	1858	46 49 50.01670	-100 46 11.46156	547.105	-0.5963   1.7736  244.9370	0.007844484	0.007993299	0.042549521	-816937.36	-4294812.672	4629297.007	344.5077769	319.379919	99.25485306	0.005	0.01	0.009	0.009612257	0.029183167	0.031493456	0	0	0	0	0	0.0000000000 13 ZUPT  2	Kinematic  504112.02  8/21/2015

...

• Image type : cubic panoramas
• Image resolution : ratio 1×1, e.g. 4096×4096 pixels
• File format : each image is one *.jpg file
• File name : exactly as “PhotoId” value of image positions file, see below, plus “_Camera Indicative” ( Eg: _00, _01 to _06; Ex:Cube_highway-demo-pt2-dmi_00000000_00.jpg )
• Folder structure : all files in one folder

• File format : one ascii *.txt file
• File structure Rows : each cubic panorama is one record
• File structure Columns : tab separated (char9), headers, with exact order as the example below
• Value “PhotoId” : file name as on disk, without camera indicative and without file extension
• Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.

photoId	long/centerX	lat/centerY	centerZ	r11	r12	r13	r21	r22	r23	r31	r32	r33	tx	ty	tz	absGpsTimeSecond	dimX	dimY
Cube_highway-demo-pt1_00000000	-2415376.1040182556	5385766.8444306608	2408540.3526895093	-0.47062645331219954	-0.52372739286087688	0.71008475655163494	0.40972135124372866	-0.84247071636778859	-0.34981638775020296	0.78143403783726895	0.1263040404077459	0.61107130019478306	-26334.05713005456	6369528.9065838577	-264576.89359670028	1143171373.2421689	3164	3164
Cube_highway-demo-pt1_00000001	-2415374.703480748	5385767.0136441356	2408541.4103251104	-0.46486748480171458	-0.52867488039775479	0.71021200469539936	0.40546424183384239	-0.8402149501632914	-0.36005220103198299	0.78708129813720762	0.12058901120118522	0.6049473700407606	13915.541808353893	6371750.6632302301	-205408.85141434701	1143171373.3776541	3164	3164
Cube_highway-demo-pt1_00000002	-2415372.5083013969	5385767.2618067404	2408543.0007694168	-0.46351276880811515	-0.52570035959028805	0.71329870625565617	0.40387179905317705	-0.84185541316627421	-0.3580042349836598	0.78869733260410912	0.1221416981655765	0.60252628419885179	-6266.8189517999617	6371806.7642965959	-204039.36562952408	1143171373.5865309	3164	3164

...

• File format : One or more *.las or *.laz files.
• File structure : Las version 1.2.
• Value of Latitude, Longitude, Elevation : Same CRS as Image Positions.
• Value of Timestamp : Same reference as Trajectory.