Faro (quaternions)

This page describes the original Faro terrestrial mapping resources for Orbit import.
Image orientation is provided as the rotation around the axis, https://en.wikipedia.org/wiki/Rotation_matrix.

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

Panoramas

Image files

Image type : equirectangular panoramas.
Image resolution : Ratio 2×1
File format : Each image is one *.png file.
File name : Exactly as “Filename” value of image position file.
Folder structure : All files in one folder.

Image positions file

File format : one ascii *.csv file
File structure Rows: each image is one record
File structure Columns : Tab separated (char9), headers, with exact order as the example below.
Value “Filename” : File name as on disk, without file extension.
Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.
Value “Time” : GPS Absolute time or GPS Week time.

[“Scan_Name”]	[X_Coordinate]	[Y_Coordinate]	[Z_Coordinate]	[Rotation_Vector_i]	[Rotation_Vector_j]	[Rotation_Vector_k]	[Rotation_AngleDegrees	[Date (as per scanner settings)]	[Time (as per scanner settings)]
Faro1_027	130.776432	32.564605	20.459104	-0.006307541	-0.00560737	-0.99996439	27.265266	23.1.2019	15:08:52
Faro1_025	133.502955	36.446644	20.445711	0.002116344	-0.008613731	-0.99996066	99.707539	23.1.2019	14:49:04
Faro1_026	133.718355	34.776196	20.467236	0.002625987	-0.010425252	0.99994221	135.01859	23.1.2019	15:00:37
Faro1_024	133.019117	39.49261	20.44953	0.01641728	-0.013730647	0.99977094	35.791399	23.1.2019	14:35:57
Faro1_028	127.287605	36.097578	20.460863	-0.002260283	-0.005264374	-0.99998359	77.591369	23.1.2019	15:17:35
Faro1_029	129.206204	30.835933	20.440445	-0.012342466	-0.008228277	0.99988997	52.106276	23.1.2019	15:26:42
Faro1_030	129.661257	28.575037	20.442871	0.00398163	0.002362845	0.99998928	52.036191	23.1.2019	15:36:53
...

Point cloud files

File format : One or more *.las or *.laz files.
File structure : Las version 1.2.
Value of Latitude, Longitude, Elevation : Same reference as Image Position File.
Value of Timestamp : Same reference as Image Position File.