====== Generic Mobile Mapping ======

This page describes the original generic mobile mapping resources for Orbit import.

Use the corresponding [[201:desktop_ext:mapping:manage_import:templates|Orbit Import Template]] to import the described original data. \\
It is recommend to read first [[201:technology:3d_mapping:about_resources|]].

===== Trajectory =====

=== Trajectory file  ===

  * File format : One ascii *.csv or *.txt file.
  * File structure Rows : One record for each trajectory timestamp. Line ends by carriage return char(13) and newline char(10) sequence.
  * File structure Columns : Tab separated (char9), headers, with exact order as the example below.
  * Value of Coordinates : Any [[201:technology:core:crs|supported coordinate system]] can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.
  * Timestamp : Any [[201:technology:3d_mapping:supported_resources|supported time reference]] can be used, decimal notation without thousands separator.

<code>
Timestamp	X/Long	Y/Lat	Z	Pan	Tilt	Roll	X_Rms	Y_Rms	Z_Rms
413271	-97.69470338	30.34089708	188.8011	0.019045	0.018966	0.060342	0.019	0.017	0.035
413272	-97.69456161	30.34081464	187.8982	0.018057	0.017994	0.059934	0.014	0.013	0.029
...
</code>
===== Panoramas =====

=== Image files ===

  * Image type : Equirectangular panoramas.
  * Image resolution : Ratio 2x1.
  * Image orientation : Center pixel is orientation reference.
  * File format : One *.jpg file for each image.
  * File name : Exactly as "Filename" value of photo position file, see below.
  * Folder structure : All files in one folder.

=== Image positions file  ===

  * File format : One ascii *.txt or *.csv file.
  * File structure Rows : Each image is one record. Line ends by carriage return char(13) and newline char(10) sequence.
  * File structure Columns : Tab separated (char9), headers, with exact order as the example below.
  * Filename : Image filename as on disk, without file extension.
  * Coordinates : Same reference as Trajectory, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.. 
  * Timestamp : Same reference as Trajectory. 

<code>
Filename	X/Long	Y/Lat	Z	Pan	Tilt	Roll	Timestamp
1000000	4.404878286326054	50.85106227753124	128.33142823723782	88.132974310915699	0.095102381910084	-359.06942401248796	0
1000001	4.404918241374241	50.85107702770032	128.37570893339338	39.507857332631851	-1.084923642050256	-359.32845731111627	1
...
</code>
===== Planars =====

=== Image files ===

  * Image type : planar images.
  * Image resolution : Any.
  * File format : 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 files ===

  * File format : One ascii file (*.csv or *.txt file) per camera.
  * File structure Rows : Each image is one record.
  * File structure Columns : Semicolon seperated (char59), headers, with exact order as the example below.
  * Value of Filename : File name as on disk
  * Value of Coordinates : Any [[2110:technology:core:crs|supported coordinate system]] can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator
  * Value of Timestamps : Same Time Reference as in the point cloud, see below. 

<code>
Filename;Timestamp;X/Long;Y/Lat;Z;Yaw;Pitch;Roll
1000000.jpg;0;4.404878286326054;50.85106227753124;128.33142823723782;88.132974310915699;0.095102381910084;1.06942401248796
1000001.jpg;1;4.404918241374241;50.85107702770032;128.37570893339338;88.107857332631851;0.084923642050256;1.12845731111627
...
</code>
=== Camera calibration ===

The camera calibration parameters must be entered before Create Run, the 1st step of the Import Run procedure.
  * Sensor width and height in pixels : SensorSizePIXX, SensorSizePIXY
  * Sensor width and height in mm : SensorSizeXMM, SensorSizeYMM
  * Principal Point in pixels from upper Left corner: PrincipalPointX, PrincipalPointY
  * Focal Length in mm: FocalLenghtMM
  * Camera radial distortion parameters: Cam_Distortion_K1, Cam_Distortion_K2, Cam_Distortion_K3
  * Camera tangential distortion parameters: Cam_Distortion_P1, Cam_Distortion_P2 

{{:201:desktop_ext:mapping:manage_import:generic_mobile_mapping_import.jpg?nolink&900|}}

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.
===== LiDAR =====

=== Point cloud files ===

  * File format : One or more [[201:technology:supported_formats:index|supported point cloud]] file formats. 
  * File structure : Las/Laz or Ascii *.txt, *.csv file. 
    * Las (recommended) or Laz :  Las version 1.2.
    * Ascii File : Space separated (Char32), headers, with exact order as the example below. Line ends by carriage return char(13) and newline char(10) sequence.
  * Value of Coordinates : Same reference as Trajectory. 
  * Value of Timestamp : Same reference as Trajectory. 

<code>
Long(X) Lat(Y) Z R G B I
4.40487692010655 50.8510926423286 125.763312461527 16 17 19 46
4.40487698750245 50.8510916370433 125.761583937394 16 17 19 46
...
</code>