====== GeoSLAM ZEB Discovery ======

This page describes the original GeoSLAM ZEB Discovery mobile mapping resources for Orbit import.

Use the corresponding [[224:desktop_ext:mapping:manage_import:templates|Orbit Import Template]] to import the described original data. \\
It is recommend to read first [[224:technology:3d_mapping:about_resources|]].

===== Panoramas =====

=== Image files ===

  * Image type : Equirectangular panoramas 
  * Image resolution : ratio 2x1
  * File format : each image is one *.jpg file
  * File name : exactly as "Image" value of image positions file, see below last column
  * Folder structure : All files in one folder.

=== Image positions file ===

  * File format : one ASCII text file
  * File structure Rows : each image is one record
  * File structure Columns : comma separated (char44), with headers, with exact order as the example below  
  * Value "X,Y,Z" : Same CRS as Trajectory, decimal notation, without thousands separator

<code>
Id, Image, Time, X, Y, Z, Heading, Roll, Pitch, Camera, Quality, Line, Color, AccuracyXyz
1,0000000000.jpg,1563526570.0200,-0.0365,-0.0910,0.0501,-2.1650,-1.4712,4.7718,0,1,0,C0;0;0;0;0;0,0.1
2,0000000001.jpg,1563526580.4500,-0.1849,-0.3633,0.8447,0.9324,18.0607,5.0795,0,1,0,C0;0;0;0;0;0,0.1
3,0000000002.jpg,1563526586.4500,-0.1584,-0.4349,0.9703,15.6801,0.7922,10.4429,0,1,0,C0;0;0;0;0;0,0.1
...
</code>

=== Lever arm calibration information ===

  * To reach a good alignment between scanner and camera, the lever arm values for your set-up should be specified during import. An example can be found below.
  * The values are provided by the GeoSLAM hardware seller. 
  * These lever arm values must be entered before Create Run, during the first step of the Import Run procedure. 

<code>
Leverarm_Heading=-0.6338
Leverarm_Pitch=-0.8353
Leverarm_Roll=0.4177
Leverarm_X=0
Leverarm_Y=-0.025
Leverarm_Z=0.416
</code>

===== LiDAR=====

=== Point cloud files ===

  * File format : one or more *.las or *.laz files
  * X,Y,Z : Same CRS as panorama photo position file