LiDAR USA Snoopy

This page describes the original LiDAR USA Snoopy mobile mapping resources for Orbit import.

Use the corresponding Orbit Import Template to import the described original data.
It is recommend to read first Orbit Mapping Resource.

Trajectory

Trajectory positions file

File : one *.csv file.
File structure Rows : Each trajectory timestamp is one record.
File structure Columns : Space separated (char32), no headers, with exact order as the example below.
Value of Timestamps “TIME” : GPS Absolute time or GPS Week time, decimal notation.
Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.

1 163351.210301 2061 1284617.900 42432.096 601.785 -1.286722 -.288357 87.232118
2 163351.215278 2061 1284617.900 42432.096 601.785 -1.286916 -.290356 87.232330
3 163351.220255 2061 1284617.900 42432.096 601.785 -1.287792 -.292525 87.232249
4 163351.225231 2061 1284617.900 42432.096 601.785 -1.289249 -.294768 87.231911
...

Panoramas

Image files

Image type : Ladybug 5, equirectangular panoramas.
Image resolution : Ratio 2×1, default 10000×5000 pixels.
File format : Each image is one *.jpg file.
File name : Concat(“LB_0_”,LPad([PhotoID],6,“0”)), e.g. LB_0_001384, LB_0_001385, LB_0_001386, …
Folder structure : All files in one folder.

Image positions file

File format : One ascii LadybugEvents*_Extended.txt file.
File structure Rows : Each image is one record.
File structure Columns : Single space separated (char32), no headers, with exact order as the example below.
Value of PhotoId : According image file name, see above.
Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.
Value of Orientation Angles: Omega, Phi, Kappa values in degrees, decimal notation
Value of Timestamps : GPS Absolute time or GPS Week time, decimal notation.

0 423677.522558 1912 2243206.098 1736783.718 688.506 1.068043 3.486629 -179.270662 I:\lidarusa\Foresite\MastinLake02\GeoRef\LB_0_000000.jpg
1 423678.022921 1912 2243206.096 1736783.716 688.507 1.093199 3.481009 -179.268266 I:\lidarusa\Foresite\MastinLake02\GeoRef\LB_0_000001.jpg
2 423678.523046 1912 2243206.105 1736783.715 688.512 1.095133 3.502516 -179.268553 I:\lidarusa\Foresite\MastinLake02\GeoRef\LB_0_000002.jpg
...

LiDAR

Point cloud files

File format : One or more *.las files.
File structure : Las version 1.2.
Value of Coordinates : Same CRS as Photo Positions, see above.
Value of Timestamps : Same Time Reference as Photo Positions, see above.