====== Prepare MM Data Topcon IP-S3 ======

This page describes how to prepare Topcon IP-S3 mobile mapping resources for Orbit. \\
Using the Topcon [[110:mobile_mapping:desktop:mobile_mapping:manage:import:templates|Orbit import templates]] prepared IP-S3 resources can be [[110:mobile_mapping:desktop:mobile_mapping:manage:import:index|imported into Orbit]].

It is **strongly recommend** to read first [[110:mobile_mapping:about_mm_resources|]].

===== Trajectory =====

=== Trajectory positions and orientations file ===

  * Files : one asccii *.csv file
  * File name : free of choice
  * Rows : each trajectory recording is one record
  * Columns : comma separated (char44), headers, with exact order as the example below
  * Value "ecef(x)", "ecef(y)", "ecef(z)" : use of geocentric ECEF coordinates (EPSG 4978) is required at this time 

<code>
file_type,timestamp,GPS_time(s),ecef(x),ecef(y),ecef(z),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
62009,430182295732,1111349590.0065813,-2684949.5417759567,-4266001.5582009126,3895152.1748467498,0.0082543883472681046,-0.0052843447774648666,-0.0008761693025007844,0.087217825394166976,-0.092454278369195064,-0.037159874705881113,-0.99119342262576948,0.091065295402352309,0.097520493364284908,0.097654907025102308,0.0045152959714622031,-0.0020732650347216313,0.0058088820536174347,0.21137388438007065,-0.77660282400253366,-0.44790661483791999,-0.38934406267182931
62009,430183295735,1111349590.0165813,-2684949.5417952584,-4266001.5581333777,3895152.1749208332,0.008722599595785141,-0.0048748007975518703,-0.00072114274371415377,0.087208925239522297,-0.092435546070720007,-0.037173925575467254,-0.99119542595720489,0.090964708219680099,0.097425939223420868,0.097559149340025283,0.0045069353940054057,-0.002071855039583112,0.0058016546598644199,0.21137178619343219,-0.77660440784343088,-0.44790559538300279,-0.38934321535651512
62009,430184295737,1111349590.0265813,-2684949.5418047155,-4266001.5580581445,3895152.1749976026,0.01013236865401268,-0.0044438266195356846,0.00013709293853025883,0.087205337364296226,-0.092420150792594177,-0.037159463335480009,-0.99119771950265934,0.090861887112584763,0.097329319259513741,0.097461291357156574,0.004498310563188869,-0.0020704015728249823,0.0057941995883961858,0.21136962360175476,-0.77660603916807647,-0.44790454609065122,-0.38934234259511541
...
</code>
===== Imagery =====

==== Panoramas ====

=== Image files ===

  * Image type : Ladybug 5, equirectangular panoramas
  * Image resolution : ratio 2x1, advised 8000x4000
  * Files : *.jpg files, each image is one jpg file
  * File name : exactly as  in the "file_name" value of the photo position file, see below
  * Folder structure : all files in one folder

=== Image positions and orientations file ===

  * Files : one asccii *.csv file
  * Rows : each image is one record
  * 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 "ecef(x)", "ecef(y)", "ecef(z)" : use of geocentric ECEF coordinates (EPSG 4978) is required at this time 

<code>
file_name,file_type,sequence_id,timestamp,GPS_time(s),ecef(x),ecef(y),ecef(z),attitude(x),attitude(y),attitude(z),frame_id
G:/Sample/2015-03-25_13-17-05/ladybug_panoramic_000000.jpg,JPG,0,431555740034,1111349603.7410295,-2684950.601722159,-4266005.5223163096,3895145.7912745164,177.83185194101517,8.8978285140640647,-17.553037764266971,0
G:/Sample/2015-03-25_13-17-05/ladybug_panoramic_000001.jpg,JPG,1,431692623924,1111349605.1098692,-2684952.0747252963,-4266009.5418085614,3895138.5170710059,-175.85662263602637,10.04060649229449,16.98916455500197,1
G:/Sample/2015-03-25_13-17-05/ladybug_panoramic_000002.jpg,JPG,2,431802163041,1111349606.2052608,-2684957.4754327605,-4266010.1254204614,3895132.305690397,-178.8466621217097,10.35423063261705,40.54910526798696,2
...
</code>
===== LiDAR =====

=== Point cloud files ===

  * Files : one *.las files, structure v1.2
  * File name : free of choice
  * Latitude, Longitude :  use of geocentric ECEF coordinates (EPSG 4978) is required at this time