3D Laser Mapping
This page describes the original 3D Laser Mapping StreetMapper or V-Mapper 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
File format : one ascii *.pos text file
File structure Rows : each trajectory timestamp is one record
File structure Columns : single space separated (char32), no headers, with exact order as the example below
Value “Timestamp” : 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.
Value “height” or “Z” : Height above ellipsoid, decimal notation, without thousands separator.
timestamp, x/long, y/lat, height, roll, pitch, heading, Y-accuracy, X-accuracy, Z-accuracy, pitch-accuracy, roll-accuracy, heading-accuracy
576914.5075 33.039202814 -97.282371203 164.913 -0.3929 2.3931 -69.6806 0.012 0.010 0.020 0.002 0.002 0.003
576914.5100 33.039202853 -97.282371325 164.914 -0.3865 2.3907 -69.6765 0.012 0.010 0.020 0.002 0.002 0.003
576914.5125 33.039202893 -97.282371448 164.914 -0.3809 2.3883 -69.6719 0.012 0.010 0.020 0.002 0.002 0.003
...
Panoramas
Image files
Image type : Ladybug 3 or 5, equirectangular panoramas
Image resolution : ration 2×1, advised 8000×4000 pixels
File format : each image is one *.jpg file
File name : exactly as “filename” 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 : tab separated (char9), no headers, with exact order as the example below
File structure Columns, from next version of SMProcess : timestamp, longitude, latittude, height, roll, pitch, heading, filename
Value “x,y,z” : Same CRS as Trajectory, decimal notation, without thousands separator
timestamp, x/long, y/lat, z, heading, pitch, roll, filename
577729.913460 -97.28428505 33.03699795 167.312 14.6223 1.6618 5.2018 stream-000000_00000.jpg
577730.246772 -97.28428232 33.03700644 167.312 14.6550 1.6490 5.1536 stream-000000_00001.jpg
577730.580112 -97.28427957 33.03701482 167.311 14.6657 1.6493 5.2152 stream-000000_00002.jpg
...
Export from SMProcess
Open your project in SMProcess
Add the ladybug streams to the project that need processing
Go to ‘Process Image Data’
Select the ladybug stream to process
Select the ‘Create Panoramic Images’ option
Click the ‘Add To Process Images’ button
Click on the ‘Event Options’ tab at the bottom
Select the ‘Create Orbit Photo List’ option
Click ‘Add To Process Events’ to create the Orbit Photo List
This file will be used in Orbit to import the panoramic image positions
LiDAR
Point cloud files
File format : one or more *.las or *.laz files
File structure : default Las structure version 1.2
Latittude, Longitude, Elevation : Same CRS as Trajectory
Value of Timestamp : Same reference as Trajectory.
Export from SMProcess
Open your project in SMProcess
Add the lidar data to the project
Go to ‘Create Point Cloud’
Select the lidar file to process
Select the options to process with and the coordinate system to GeoReference it in
Click ‘Add To Process List’ to start processing the point cloud