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dev:technology:3d_mapping:supported_resources [2018/12/10 07:54] jve@orbitgt.com |
dev:technology:3d_mapping:supported_resources [2024/03/11 14:01] (current) glen [Video] |
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- | ====== Supported | + | ====== Supported Mapping Resources ====== |
- | This page describes the supported Mobile Mapping, | + | This page documents all supported |
+ | To read more about concepts of a Mapping Run and Resource Groups, see [[dev: | ||
- | ====== Special Notes ====== | ||
- | === Import Template | + | ====== General Notes ====== |
- | Orbit imports 3D mapping data using intelligent templates. An import template is configured according to a well known set of configurations, | + | === Required vs Optional Mapping Run resources === |
- | The use of templates simplifies and standardizes the import procedure for a well known set of data. | + | |
- | **Download Templates** \\ | + | Mapping run is a combination of multiple individual resources that have a logical relation |
- | system | + | A mapping run is a flexible structure, not all components as listed below are mandatory. |
- | **Customize | + | === Import |
- | In addition to the available templates the Orbit engine offers all configuration possibilities to customize and optimize the import for using any kind or combination of 3D mapping data. Once the configuration is known, it can be added as a new import template to simplify all future imports. \\ | + | |
- | Please contact | + | Orbit imports |
+ | The use of templates simplifies and standardizes | ||
+ | |||
+ | Read more and download templates here: [[dev: | ||
=== Coordinate Reference Systems === | === Coordinate Reference Systems === | ||
- | Orbit supports any combination of 3D mapping data and any coordinate system (CRS) on import. But be wise : | + | Orbit supports any combination of 3D mapping data and any coordinate system (CRS) on import. But be wise: |
* The [[dev: | * The [[dev: | ||
* It is advised that all georeferenced resources are using the same CRS to avoid processing time of continuous coordinate transformation. If required convert CRS on import run. | * It is advised that all georeferenced resources are using the same CRS to avoid processing time of continuous coordinate transformation. If required convert CRS on import run. | ||
- | * When converting the coordinate system of image positions apply the according adjustments on all orientation angles referring the reference direction of the coordinate systems (most probably north). | + | * When converting the coordinate system of image positions apply the according adjustments on all orientation angles referring |
+ | |||
+ | * CRS: can be expressed using any supported coordinate system. \\ After import, it is strongly advised that all mobile mapping resources use the same coordinate reference system. If required coordinates can be re-projected or transformed on import. | ||
=== Timestamps === | === Timestamps === | ||
- | Optionally time-stamps can be imported. | + | Optionally time-stamps can be imported. |
- | String values will be displayed as is and cannot be used for Content Manager post processing and point cloud view restrictions. \\ | + | String values will be displayed as-is and cannot be used for Content Manager post-processing and point cloud view restrictions. \\ |
- | For post processing and point cloud view restrictions use of single time reference and " | + | For post-processing and point cloud view restrictions use of single time reference and " |
Use of Absolute (Standard) GPS Time is advised. \\ | Use of Absolute (Standard) GPS Time is advised. \\ | ||
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Notes on Absolute GPS Time : | Notes on Absolute GPS Time : | ||
- | * Orbit doesn' | + | * Orbit doesn' |
* On storing Absolute GPS Time values in Point Cloud LAS files the actual stored value is the Absolute GPS Time minus 1, | * On storing Absolute GPS Time values in Point Cloud LAS files the actual stored value is the Absolute GPS Time minus 1, | ||
- | ====== | + | |
+ | ====== | ||
+ | |||
+ | A trajectory of the mobile mapping vehicle is optional and can be used to display the accuracy or to adjust, clip, or extract a segment of the entire mobile mapping run. \\ | ||
+ | Prepare the trajectory file in the same way as the image position and orientation file: see above. | ||
+ | |||
+ | |< 100% 15% 55% 10% 10% 10% >| | ||
+ | ^ Field ^ Description ^ Data type ^ Units ^ Necessity | ||
+ | | Timestamp | Time at recording, see “General Notes” above. | ||
+ | | X | X, Longitude or Easting of reference point | decimal | ||
+ | | Y | Y, Latitude or Northing of reference point | ::: | ::: | ::: | | ||
+ | | Z | Z or Height of reference point | ::: | ::: | ::: | | ||
+ | | Accuracy | The Trajectory GPS Accuracy indicator is indeed interpreted as a data manager only resource. Based on the GPS Accuracy indication the data manager can do an estimated guess regarding the absolute accuracy of the data at time of recording. This indication can assist to decide if and where to measure ground control points and apply trajectory adjustments. | ||
+ | |||
+ | |||
+ | ====== Imagery | ||
Orbit supports spherical and planar images. \\ | Orbit supports spherical and planar images. \\ | ||
- | There are no limitations on the number of cameras, the type of camera or the resolution of images. \\ | + | There are no limitations on the number of cameras, the type of camera, or the resolution of images. \\ |
- | One camera import requires one set of images and one positions | + | One camera import requires one set of images and one position |
===== Photo positions, orientations and metadata ===== | ===== Photo positions, orientations and metadata ===== | ||
- | The absolute position and orientations at time of recording | + | The absolute position and orientations at the time of recording |
Two possibilities : | Two possibilities : | ||
- | * absolute position and orientation for each camera at time of recording | + | * absolute position and orientation for each camera at the time of recording |
- | * combining the absolute position and orientation of a reference frame at time of recording with the fixed relative | + | * absolute position and orientation of a reference frame at the time of recording |
- | === Absolute positions and orientations | + | === Absolute positions and orientations |
+ | |||
+ | === Supported formats | ||
- | **Supported formats** \\ | ||
Preferably .txt or .csv files. \\ | Preferably .txt or .csv files. \\ | ||
But any [[dev: | But any [[dev: | ||
- | **Specifications** | + | |
- | * One text file for each camera containing at least the below described information for each image. | + | === Specifications |
+ | |||
+ | * One text file for each camera containing at least the below-described information for each image. | ||
* Column headers are optional and free of choice. | * Column headers are optional and free of choice. | ||
* Columns and order of columns can be customized. | * Columns and order of columns can be customized. | ||
* Coordinates can be expressed using any [[dev: | * Coordinates can be expressed using any [[dev: | ||
* Orientations can be expressed as : | * Orientations can be expressed as : | ||
- | * Pan (heading, yaw), Tilt (pitch), Roll ((Pan (heading, yaw), Tilt (pitch), Roll : [[http:// | + | * Pan (heading, yaw), Tilt (pitch), Roll ((Pan (heading, yaw), Tilt (pitch), Roll : [[http:// |
* Omega, Phi, Kappa ((Omega, Phi, Kappa : (c) [[http:// | * Omega, Phi, Kappa ((Omega, Phi, Kappa : (c) [[http:// | ||
* Normalized direction and up vector (direction Easting, direction Northing, direction Elevation, up Easting, up Northing, up Elevation) | * Normalized direction and up vector (direction Easting, direction Northing, direction Elevation, up Easting, up Northing, up Elevation) | ||
* Origin (rotation = 0°) or rotation offset and positive sense of rotation of orientation angles can be customized. | * Origin (rotation = 0°) or rotation offset and positive sense of rotation of orientation angles can be customized. | ||
- | ** Attributes | + | === Attributes |
|< 100% 15% 55% 10% 10% 10% >| | |< 100% 15% 55% 10% 10% 10% >| | ||
^ Field ^ Description ^ Data type ^ Units ^ Necessity | ^ Field ^ Description ^ Data type ^ Units ^ Necessity | ||
| Filename | Image file name as is on disk or any reference to the image file. | string | | Filename | Image file name as is on disk or any reference to the image file. | string | ||
- | | Timestamp | Time at recording, see "Special | + | | Timestamp | Time at recording, see "General |
| X | X, Longitude or Easting of reference point | decimal | | X | X, Longitude or Easting of reference point | decimal | ||
| Y | Y, Latitude or Northing of reference point | ::: | ::: | ::: | | | Y | Y, Latitude or Northing of reference point | ::: | ::: | ::: | | ||
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| Pan / Heading | Horizontal angle between reference frame and north. \\ Positive for clockwise rotation of reference frame. \\ Value 0 looking north, value 90 looking east. | decimal | | Pan / Heading | Horizontal angle between reference frame and north. \\ Positive for clockwise rotation of reference frame. \\ Value 0 looking north, value 90 looking east. | decimal | ||
| Tilt / Pitch | Vertical angle or inclination about the lateral axes \\ between reference frame and horizontal plane. \\ Positive when reference frame goes up / looking up. \\ Value 0 looking horizontally, | | Tilt / Pitch | Vertical angle or inclination about the lateral axes \\ between reference frame and horizontal plane. \\ Positive when reference frame goes up / looking up. \\ Value 0 looking horizontally, | ||
- | | Roll | Vertical angle or inclination about the longitudinal axes \\ between reference frame and the horizontal plane. \\ Positive when reference frame rolls to the left, right hand turn. | ::: | ::: | ::: | | + | | Roll | Vertical angle or inclination about the longitudinal axes \\ between reference frame and the horizontal plane. \\ Positive when reference frame rolls to the left, right-hand turn. | ::: | ::: | ::: | |
|< 100% 15% 55% 10% 10% 10% >| | |< 100% 15% 55% 10% 10% 10% >| | ||
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=== Relative position and orientation === | === Relative position and orientation === | ||
- | Only when using an absolute position and orientation of a reference frame at time of recording, the fixed relative position and orientation for each camera to the used reference frame must be known. | + | Only when using an absolute position and orientation of a reference frame at time of recording, the fixed relative position and orientation for each camera to the used reference frame must be known. |
|< 100% 15% 55% 10% 10% 10% >| | |< 100% 15% 55% 10% 10% 10% >| | ||
^ Field ^ Description ^ Data type ^ Units ^ Necessity | ^ Field ^ Description ^ Data type ^ Units ^ Necessity | ||
- | | CameraName| Unique name to identify the camera and to link these camera | + | | CameraName| Unique name to identify the camera and to link these camera |
- | | CameraDeltaX | Fix distance in X expressed in meters from the origin of the camera reference frame \\ to the IMU/GPS reference frame. | decimal | + | | CameraDeltaX | Fix distance in X expressed in meters from the origin of the camera reference frame \\ to the IMU/GPS reference frame. | decimal |
| CameraDeltaY | Fix distance in Y expressed in meters from the origin of the camera reference frame \\ to the IMU/GPS reference frame. | ::: | ::: | ::: | | | CameraDeltaY | Fix distance in Y expressed in meters from the origin of the camera reference frame \\ to the IMU/GPS reference frame. | ::: | ::: | ::: | | ||
| CameraDeltaZ | Fix distance in Z expressed in meters from the origin of the camera reference frame \\ to the IMU/GPS reference frame. | ::: | ::: | ::: | | | CameraDeltaZ | Fix distance in Z expressed in meters from the origin of the camera reference frame \\ to the IMU/GPS reference frame. | ::: | ::: | ::: | | ||
|< 100% 15% 55% 10% 10% 10% >| | |< 100% 15% 55% 10% 10% 10% >| | ||
- | | CameraDeltaPan | Fix Pan of camera reference frame to IMU/GPS reference frame. \\ Positive for clockwise rotation of camera frame. | decimal | + | | CameraDeltaPan | Fix Pan of camera reference frame to IMU/GPS reference frame. \\ Positive for clockwise rotation of camera frame. | decimal |
| CameraDeltaTilt | Fix tilt of camera reference frame to IMU/GPS reference frame. \\ Positive when camera frame goes up / looking up. | ::: | ::: | ::: | | | CameraDeltaTilt | Fix tilt of camera reference frame to IMU/GPS reference frame. \\ Positive when camera frame goes up / looking up. | ::: | ::: | ::: | | ||
| CameraDeltaRoll | Fix roll of camera reference frame to IMU/GPS reference frame. \\ Positive when camera reference frame rolls to the left. | ::: | ::: | ::: | | | CameraDeltaRoll | Fix roll of camera reference frame to IMU/GPS reference frame. \\ Positive when camera reference frame rolls to the left. | ::: | ::: | ::: | | ||
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===== Spherical images ===== | ===== Spherical images ===== | ||
- | Panoramas (spherical or 360° images) are optional for Orbit MM Desktop products. The Orbit MM Publisher requires the availability of spherical images (panoramas) to operate. | + | === Supported formats === |
- | **Supported formats** \\ | ||
Preferably .jpg files. \\ | Preferably .jpg files. \\ | ||
But any [[dev: | But any [[dev: | ||
- | **Supported types** \\ | + | === Supported types === |
Orbit supports any Spherical and Cubic Panorama, independently of file size or pixel resolution. \\ | Orbit supports any Spherical and Cubic Panorama, independently of file size or pixel resolution. \\ | ||
For example, Ladybug 3 and 5 are supported. | For example, Ladybug 3 and 5 are supported. | ||
- | === Equirectangular | + | === Equi-rectangular |
{{mobile_mapping: | {{mobile_mapping: | ||
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* Stitching the images should be done by the camera software, knowing and applying all camera calibration and distortion parameters. | * Stitching the images should be done by the camera software, knowing and applying all camera calibration and distortion parameters. | ||
* The centered pixel of the picture will be used to affect the orientation angles. If required this can be re-configured via a customized import. | * The centered pixel of the picture will be used to affect the orientation angles. If required this can be re-configured via a customized import. | ||
- | * Any 2 x 1 pixel resolution ratio can be used but an equirectangular panoramic image should always be 360 x 180 degree. \\ There are no limitations | + | * Any 2 x 1 pixel resolution ratio can be used but an equirectangular panoramic image should always be 360 x 180 degrees. \\ There are no limitations |
=== Cubic Panoramas === | === Cubic Panoramas === | ||
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\\ | \\ | ||
When working with Cubic panoramic images Orbit is using the 6 original equirectangular images. \\ | When working with Cubic panoramic images Orbit is using the 6 original equirectangular images. \\ | ||
- | * To display and use cubic panoramas properly it is required to know all orientation, | + | * To display and use cubic panoramas properly it is required to know all orientation, |
* Any pixel resolution can be used. | * Any pixel resolution can be used. | ||
===== Planar Images ===== | ===== Planar Images ===== | ||
- | There are no limitations on the number of cameras, | + | There are no limitations on the type of camera or the resolution of images. The maximum amount of planar images is 20. |
- | One camera import requires one set of images and one positions | + | One camera import requires one set of images and one position |
- | **Supported formats** \\ | + | === Supported formats |
- | Preferably .jpg files. \\ | + | |
- | But any [[dev: | + | |
- | **Supported types** \\ | + | Preferably .jpg files. But any [[dev: |
- | Orbit supports any distorted Planar picture, independently of file size or pixel resolution. \\ | + | |
+ | === Supported types === | ||
+ | |||
+ | Any size, any resolution. \\ | ||
+ | Preferably undistorted images, see Lens distortion. | ||
=== Camera calibration === | === Camera calibration === | ||
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|< 100% 10% 60% 10% 10% 10% >| | |< 100% 10% 60% 10% 10% 10% >| | ||
- | ^ Field ^ Description ^ Data type ^ Units ^ Necessity | + | ^ What ^ Description ^ Data type ^ Units ^ Necessity |
- | | CameraName | Unique name to identify the camera and to link these camera | + | | CameraName | Unique name to identify the camera and to link these camera |
| SensorName | Reference of sensor to have the possibility to review the sensor specifications. | string | | SensorName | Reference of sensor to have the possibility to review the sensor specifications. | string | ||
| SensorPixelSize | Physical size of pixels on the sensor CCD, expressed in mm. | decimal | | SensorPixelSize | Physical size of pixels on the sensor CCD, expressed in mm. | decimal | ||
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| SensorPixelPPY | The principal point value along the sensor height. | ::: | ::: | ::: | | | SensorPixelPPY | The principal point value along the sensor height. | ::: | ::: | ::: | | ||
| FocalLength | The focal length of the lens, expressed in mm. \\ [[http:// | | FocalLength | The focal length of the lens, expressed in mm. \\ [[http:// | ||
- | | k1, k2, k3, p1, p2 | Radial distortion parameters, regarding the formulas of D.C. Brown. \\ [[http:// | + | |
+ | === Lens Distortion === | ||
+ | |||
+ | The use of undistorted planar images is preferred. \\ | ||
+ | When providing distorted images, lens distortion parameters must be provided corresponding to Brown implementation of OpenCV model. | ||
+ | |||
+ | |< 100% 10% 60% 10% 10% 10% >| | ||
+ | ^ What ^ Description ^ Data type ^ Units ^ Necessity | ||
+ | | k1, | ||
=== Street Level\Indoor === | === Street Level\Indoor === | ||
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=== Oblique === | === Oblique === | ||
+ | |||
{{: | {{: | ||
=== Nadir === | === Nadir === | ||
{{: | {{: | ||
- | |||
- | |||
- | ====== Trajectory of Vehicle | ||
- | |||
- | A trajectory of the mobile mapping vehicle is optional and can be used to display the accuracy or to adjust, clip or extract a segment of the entire mobile mapping run. \\ | ||
- | Prepare the trajectory file in the same way as the image position and orientation file : see above. | ||
- | |||
- | |< 100% 15% 55% 10% 10% 10% >| | ||
- | ^ Field ^ Description ^ Data type ^ Units ^ Necessity | ||
- | | Timestamp | Time at recording, see “Special Notes” above. | ||
- | | X | X, Longitude or Easting of reference point | decimal | ||
- | | Y | Y, Latitude or Northing of reference point | ::: | ::: | ::: | | ||
- | | Z | Z or Height of reference point | ::: | ::: | ::: | | ||
- | | Accuracy | The Trajectory GPS Accuracy indicator is indeed interpreted as a data manager only resource. Based on the GPS Accuracy indication the data manager can do an estimated guess regarding the absolute accuracy of the data at time of recording. This indication can assist to decided if and where to measure ground control point and apply trajectory adjustments. | ||
====== Point Cloud ====== | ====== Point Cloud ====== | ||
LiDAR point cloud or point cloud derived from dense matching. \\ | LiDAR point cloud or point cloud derived from dense matching. \\ | ||
- | There are no limitations on the number of points, files or the total size. | + | There are no limitations on the number of points, files, or the total size. |
- | **Required for** | + | === Required for === |
* Mobile Mapping: Recommended | * Mobile Mapping: Recommended | ||
* Oblique Mapping: Optional | * Oblique Mapping: Optional | ||
- | * UAS Mapping: Strongly recommended | + | * Aerial |
- | **Supported formats** | + | === Supported formats |
* One or more supported point cloud resources, see [[dev: | * One or more supported point cloud resources, see [[dev: | ||
* Preferred: *.las files. | * Preferred: *.las files. | ||
- | **Notes** | + | === Additional |
- | * CRS: can be expressed using any supported coordinate system. \\ After import, it is strongly advised that all mobile mapping resources use the same coordinate reference system. If required coordinates can be re-projected or transformed on import. | + | |
- | * Timestamps: Time at recording, see “Special Notes” above. | + | |
- | **Additional Notes for ASCII text files** \\ | + | When using an Ascii text file as point cloud import it is possible to configure the data-structure: |
- | When using an Ascii text file as point cloud import it is possible to configure the data-structure : | + | |
* Flat ASCII text file, separated, columns and column headers | * Flat ASCII text file, separated, columns and column headers | ||
- | * R, G, B, I value ranges 0-25, values may be empty | + | * R, G, B, I value ranges 0-255, values may be empty |
* Character to define end of line | * Character to define end of line | ||
- | ====== | + | ====== |
A Digital Terrain Model or Digital Surface Model covering the same area as the Mapping Resources. \\ | A Digital Terrain Model or Digital Surface Model covering the same area as the Mapping Resources. \\ | ||
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[[http:// | [[http:// | ||
- | **Required for** | + | === Required for === |
* Mobile Mapping: Optional | * Mobile Mapping: Optional | ||
* Oblique Mapping: Recommended | * Oblique Mapping: Recommended | ||
- | * UAS Mapping: Optional | + | * Aerial |
+ | |||
+ | === Supported formats === | ||
- | **Supported formats** | ||
* One or more supported raster resources, see [[dev: | * One or more supported raster resources, see [[dev: | ||
- | * Preferred : single raster | + | * Preferred: single raster |
+ | |||
+ | === Notes=== | ||
- | **Notes** | ||
* CRS: Any [[dev: | * CRS: Any [[dev: | ||
- | ====== | + | ====== |
+ | |||
+ | A Textured Mesh covering the same area as the Mapping Resources can be used. It can be part of the run, but only be visualized using the Map GL component. \\ | ||
+ | Use the [[dev: | ||
+ | |||
+ | ====== Orthophoto ====== | ||
+ | |||
+ | An Orthophoto covering the same area as the Mapping Resources can be used. | ||
+ | Any [[dev: | ||
+ | |||
+ | ====== Image Annotations ====== | ||
+ | |||
+ | Image annotation xml files are linked to the Mapping Resource images by filename. | ||
+ | |||
+ | ==== Supported formats ===== | ||
+ | |||
+ | One csv or xml annoation file with annotations for all imagery. | ||
+ | Once xml annotation file per image. | ||
+ | |||
+ | === Generic === | ||
+ | |||
+ | < | ||
+ | <?xml version=" | ||
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+ | </ | ||
+ | |||
+ | === Context Insight === | ||
+ | |||
+ | Version 2.0 | ||
+ | |||
+ | < | ||
+ | <?xml version=" | ||
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+ | |||
+ | Version 1.0 | ||
+ | |||
+ | < | ||
+ | <?xml version=" | ||
+ | <Scene version=" | ||
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+ | |||
+ | ====== Video ====== | ||
+ | |||
+ | ===Supported formats=== | ||
+ | |||
+ | Preferably .mp4 files. \\ | ||
+ | When using cloud blob storage, the storage needs to support "range requests" | ||
+ | |||
+ | ===Attributes=== | ||
+ | |||
+ | |< 100% 10% 60% 10% 10% 10% >| | ||
+ | ^ What ^ Description ^ Data type ^ Units ^ Necessity | ||
+ | | Video Filename | ||
+ | | Video Time | The time offset from the start of the video. | ||
+ | |||
+ | Video Attributes | ||
+ | * File Example: <Orbit Run>/ | ||
+ | AttributeName=OrbitVideoTime | ||
+ | AttributeType=INT4 | ||
+ | AttributeExpression=[Imported Value] | ||
+ | | ||
+ | AttributeName=OrbitVideoFileName | ||
+ | AttributeType=STRING | ||
+ | AttributeExpression=[Imported Value]</ | ||
+ | ====== References | ||
- | Any [[dev: | + | Any [[dev: |
Last modified:: 2018/12/10 07:54