====== Trimble MX9 ======

This page describes the original Trimble MX9 mobile mapping resources exported by TBC 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|]].

===== Trajectory =====

=== Trajectory positions file ===

  * File format : One ASCII *.csv file.
  * File structure Rows: Each timestamp is one record.
  * File structure Columns: Tab-separated (char9), headers, with exact order as the example below.
  * Value of Coordinates: WGS 84 - Geographical Coordinates - EPSG 4326
  * Value of Timestamp: GPS Absolute time or GPS Week time, decimal notation, without thousand separators. 

<code>
gps_seconds[s]	latitude[deg]	longitude[deg]	altitude_ellipsoidal[m]	north_rms[m]	east_rms[m]	down_rms[m]	roll_rms[deg]	pitch_rms[deg]	heading_rms[deg]
1221495399.00428	39.8051948261254	-105.053722376661	1595.98993904292	0.0240131000359966	0.0254014053884056	0.0425396629168235	0.00285531746013752	0.0027849077469318	0.021102085140721
1221495399.10439	39.8051948007525	-105.053721913586	1595.98108046706	0.023678851095815	0.0250498429239084	0.042101676556143	0.00285432636454472	0.00278404025753581	0.0211011398641212
1221495399.20432	39.8051947965313	-105.053721901499	1595.98045752115	0.0233446054973801	0.0246982839742547	0.0416636945743528	0.00285333527886066	0.00278317277681279	0.021100194596972
...
</code>

===== Panoramas =====

=== Image files ===

  * Image type : Ladybug 5, equirectangular panoramas.
  * Image resolution : Ratio 2x1, advised 8000x4000 pixels.
  * File format : Each image is one *.jpg file.
  * File name : Exactly as "file_name" value of image positions file, see below.
  * Folder structure : all files in one folder.

=== Image positions file ===

  * File format : One ASCII *.csv file.
  * File structure Rows: One record for each image.
  * File structure Columns: Tab-separated (char9), headers, with exact order as the example below.
  * Value of "file_name": filename as on disk, without the file extension.
  * Value of Coordinates: any [[224:technology:core:crs|supported coordinate system]] can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator. \\ The source CRS at import needs to correspond to the last 3 columns of the file.
  * Value of Timestamp: same as trajectory, see above.

<code>
gps_seconds[s]	file_name	latitude[deg]	longitude[deg]	altitude_ellipsoidal[m]	roll[deg]	pitch[deg]	heading[deg]	projectedX[m]	projectedY[m]	projectedZ[m]
1221495660.50000	pano_000000_000000	39.8055275	-105.0658966	1605.343	-0.91322	-0.05931	92.81788	494359.165	4406175.118	1622.000
1221495660.60900	pano_000000_000001	39.8055279	-105.0659088	1605.325	-0.95769	0.019860	92.78588	494358.119	4406175.158	1621.982
1221495660.92400	pano_000000_000002	39.8055289	-105.0659439	1605.272	-1.13399	-0.14463	92.69276	494355.116	4406175.273	1621.929
...
</code>

===== Planars =====

=== Image files ===

  * Image type: Undistorted images.
  * File format: Each image is one *.jpg file.
  * Filename: Exactly as "file_name" value of image positions file, see below.
  * Folder structure: all files in one folder.

=== Image positions file ===

  * File format : One ASCII *.csv file.
  * File structure Rows: One record for each image.
  * File structure Columns: Tab-separated (char9), headers, with exact order as the example below.
  * Value of Coordinates: any [[224:technology:core:crs|supported coordinate system]] can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator. \\ The source CRS at import needs to correspond to the last 3 columns of the file. 
  * Value of Timestamp: same as trajectory, see above.

<code>
gps_seconds[s]	file_name	latitude[deg]	longitude[deg]	altitude_ellipsoidal[m]	roll[deg]	pitch[deg]	heading[deg]	projectedX[m]	projectedY[m]	projectedZ[m]
1242757108.03920	sideview_000002_000000	33.6662751	-117.7539375	30.520	2.38717	0.58708	156.98329	1860526.965	667318.443	64.941
1242757108.27901	sideview_000002_000001	33.6662295	-117.7539336	30.494	2.36373	0.35372	157.38505	1860527.259	667313.376	64.915
1242757108.51908	sideview_000002_000002	33.6661839	-117.7539299	30.448	2.04047	0.44376	157.75583	1860527.527	667308.315	64.869
..
</code>

===== LiDAR =====

=== Point cloud files ===

  * File format: One or more *.las files for each scanner. 
  * File structure: Las version 1.2.
  * Value of Coordinates: Same CRS as Image Positions.
  * Value of Timestamp: Same reference as Trajectory.