Prepare MM Data GeoSLAM ZEB Discovery

This page describes how to prepare GeoSLAM ZEB Discovery mobile mapping resources for Orbit.
Using the according Orbit Import Templates the described resources can be imported into Orbit.

It is strongly recommended to read first Concepts of Mobile Mapping and UAS data in Orbit.

• Image type : Equirectangular panoramas
• Image resolution : ratio 2×1
• 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.

• 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

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
...

• 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.

Leverarm_Heading=-0.6338
Leverarm_Pitch=-0.8353
Leverarm_Roll=0.4177
Leverarm_X=0
Leverarm_Y=-0.025
Leverarm_Z=0.416

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