Phoenix Lidar UAS

This page describes the original generic 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.

• Image type : Original files.
• Image resolution : 6000x*4000 pixels.
• File format : Each image is one *.jpg file.
• File name : Exactly as “Filename” value of photo position file, see below.
• Folder structure : All image files of one camera in one folder, Phoenix usual folder names are: cam0 and cam1

• File format : One ascii file (*.csv or *.txt file) per camera.
• File structure Rows : Each image is one record.
• File structure Columns : Semicolon seperated (char59), headers, with exact order as the example below.
• Value of 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 of Timestamps : Same Time Reference as in the point cloud, see below.

Filename;Timestamp;X/Long;Y/Lat;Z;Omega;Phi;Kappa
1000000;0;4.404878286326054;50.85106227753124;128.33142823723782;88.132974310915699;0.095102381910084;-359.06942401248796
1000001;1;4.404918241374241;50.85107702770032;128.37570893339338;39.507857332631851;-1.084923642050256;-359.32845731111627
...

• File format : One ascii file for each camera

SensorSizePIX=2046,2046
SensorSizeMM=1.12530000000E+001,1.12530000000E+001
PrincipalPoint=-2.61956763602E-001,-1.56800990463E-001
FocalLenghtMM=8.22273991883E+000
DistortionType=6
Dist_CV_K1=-1.846504319177130E-001
Dist_CV_K2=1.285589751369390E-001
Dist_CV_K3=-2.821016417454580E-002
Dist_CV_K4=0.000000000000000E+000
Dist_CV_K5=0.000000000000000E+000
Dist_CV_K6=0.000000000000000E+000
Dist_CV_P1=-3.798480723832470E-004
Dist_CV_P2=3.031639898513610E-004
Dist_CV_CX=9.753714975268900E+002
Dist_CV_CY=1.051509270993260E+003
Dist_CV_FX=1.495043621605830E+003
Dist_CV_FY=1.495043621605830E+003
Dist_CV_HEIGHT=2046
Dist_CV_WIDTH=2046

The camera calibration parameters must be entered before Create Run, the 1st step of the Import Run procedure.
To facilitate import, your specific camera calibration values can be registered inside the Orbit template to avoid entering these values at import each time. Contact Orbit Support if assistance is needed.

• File format : One or more supported point cloud file formats.
• File structure : Las/Laz or Ascii *.txt, *.csv file.
  • Las (recommended) or Laz : Las version 1.2.
  • Ascii File : Space separated (Char32), headers, with exact order as the example below. Line ends by carriage return char(13) and newline char(10) sequence.
• Value of Coordinates : Same reference as Trajectory.
• Value of Timestamp : Same reference as Trajectory.

Long(X) Lat(Y) Z R G B I
4.40487692010655 50.8510926423286 125.763312461527 16 17 19 46
4.40487698750245 50.8510916370433 125.761583937394 16 17 19 46
...