====== Prepare MM Data Leica ======
This page describes how to prepare Leica Pegasus 2 mobile mapping resources for Orbit. \\
Using the Leica [[112:mobile_mapping:desktop:core:manage_import:templates|Orbit import templates]] prepared Pegasus resources can be [[112:mobile_mapping:desktop:core:manage_import:index|imported into Orbit]].
It is **strongly recommend** to read first [[112:mobile_mapping:about_mm_resources|]].
===== Trajectory =====
=== System positions and orientations file ===
* File : one ascii run .asciitrj file
* Rows : each time-stamp registration is one record
* Columns : semicolon separated (char59), headers, with exact order as the example below
* Value 1st column "TIME" : Any time reference can be used, but all mobile mapping resources should use same reference and unit
* Value 2nd "X" , 3th "Y" and 4th column "Z" : Any [[112:technologies:crs:crs_orbit|supported projected coordinate system]] can be used, but all mobile mapping resources should have the same crs
TIME;X;Y;Z;PITCH;ROLL;HEADING;ST.DEV POS;ST.DEV. ANGLES;QUALITY
220324.910;516492.078;5840141.348;104.045;4.50242222;1.05009000;243.84843667,0.0;0.0;1.0
220324.915;516492.056;5840141.332;104.045;4.49685333;1.04712778;243.83545111,0.0;0.0;1.0
220324.920;516492.033;5840141.315;104.045;4.49453778;1.04321000;243.82156000,0.0;0.0;1.0
...
===== Imagery =====
==== Panoramas ====
Documentation will be completed soon.
==== Planars ====
=== Image files ===
* Image type : distored images
* Image resolution : 2046 x 20146 pixels
* Files : *.jpg files, each image is one jpg file
* File name : exactly as “Filename” value of photo position file, see below
* Folder structure : all image files of one camera in one folder
=== Image positions and orientations files ===
* Files : one ascii external orientation .csv file for each camera
* Rows : each image is one record
* Columns : semicolon separated (char59), no headers, with exact order as the example below
* Value 1st column "Filename" : file name as on disk, with file extension
* Value 2nd column "Timestamp" : same reference as trajectory
* Value 3rd "X" , 4th "Y" and 5th column "Z" : same coordinate reference system as trajectory
Track_A-CAM1-1_2015.03.20_15.08.24(580).jpg;486504.010;318222.731;5089473.135;67.941;98.29165094;-25.76372404;-0.37501617;9.19206332893E-001;5.41486829343E-003;-3.93738995746E-001;-3.93748465686E-001;2.45124325509E-002;-9.18891335480E-001;4.67582501827E-003;9.99684860269E-001;2.46640793178E-002
Track_A-CAM1-2_2015.03.20_15.08.30(768).jpg;486510.199;318222.731;5089473.135;67.941;98.28773941;-25.76800459;-0.39065086;9.19178499248E-001;5.64045275710E-003;-3.93800802200E-001;-3.93815983784E-001;2.44767752625E-002;-9.18863351315E-001;4.45616841032E-003;9.99684486608E-001;2.47198260038E-002
Track_A-CAM1-3_2015.03.20_15.08.35(180).jpg;486514.611;318222.731;5089473.135;67.941;98.28161574;-25.77085484;-0.39490752;9.19160488380E-001;5.70180292832E-003;-3.93841955668E-001;-3.93858333162E-001;2.45463479702E-002;-9.18843343667E-001;4.42831802153E-003;9.99682432698E-001;2.48077357856E-002
...
=== Camera calibration ===
* Files : one ascii internal orientation .txt file for each camera
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
It is required to review and adjust the default Orbit template camera calibrations, prior to the import. \\
/program/ext/mobile_mapping/project/template//planar[X]/import/import_locations.ord
===== LiDAR =====
=== Point cloud files ===
* Files : one or more *.las files
* File name : free of choice
* Structure : LAS v1.2
* Value of Latitude, Longitude and Height : same coordinate reference system as trajectory
* Value of Timestamps : same reference as trajectory