Knowledge Base
Recent Changes

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision 		Previous revision
dev:technology:3d_mapping:supported_resources [2021/10/29 12:40]
paulien [Orhtophoto] 		dev:technology:3d_mapping:supported_resources [2024/03/11 14:01] (current)
glen [Video]
Line 1: Line 1:
 ====== Supported Mapping Resources ====== ====== Supported Mapping Resources ======
  
-This page describes the supported Mobile Mapping, Aerial, and Oblique resources, any combination of the listed resources can be used.+This page documents all supported data types for Mobile Mapping, Aerial, and Aerial Oblique Mappin Resources. \\ 
 +To read more about concepts of a Mapping Run and Resource Groups, see [[dev:technology:3d_mapping:about_resources|]] 
  
 ====== General Notes ====== ====== General Notes ======
Line 64: Line 66:
 ===== Photo positions, orientations and metadata ===== ===== Photo positions, orientations and metadata =====
  
-The absolute position and orientations at time of recording of all images must be available unambiguously. \\+The absolute position and orientations at the time of recording the images. \\
 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 position and orientation for each camera to this reference frame (aka lever arm corrections).+  * absolute position and orientation of a reference frame at the time of recording combined with the fixed relative offset for each camera to this reference frame (aka lever arm & boresights ).
  
 === 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:technology:supported_formats:index|supported point vector resource]] can be used. But any [[dev:technology:supported_formats:index|supported point vector resource]] can be used.
  
-**Specifications** + 
 +=== Specifications === 
   * One text file for each camera containing at least the below-described information for each image.   * 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.
Line 86: Line 91:
   * 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  ^
Line 120: Line 126:
 ^ Field ^ Description ^  Data type  ^  Units  ^  Necessity  ^ ^ Field ^ Description ^  Data type  ^  Units  ^  Necessity  ^
 | CameraName| Unique name to identify the camera and to link these camera specifications with the position and orientation file. |  string  | |  optional  | | CameraName| Unique name to identify the camera and to link these camera specifications with the position and orientation file. |  string  | |  optional  |
-| CameraDeltaX | Fix distance in X expressed in meters from the origin of the camera reference frame \\ to the IMU/GPS reference frame. |  decimal  |  meters  |  required  |+| CameraDeltaX | Fix distance in X expressed in meters from the origin of the camera reference frame \\ to the IMU/GPS reference frame. |  decimal  |  meters  |  optional  |
 | 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  |  degrees \\ radians \\ grad  |  required  |+| CameraDeltaPan | Fix Pan of camera reference frame to IMU/GPS reference frame. \\ Positive for clockwise rotation of camera frame. |  decimal  |  degrees \\ radians \\ grad  |  optional  |
 | 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. | ::: | ::: | ::: |
Line 149: Line 155:
 ===== Spherical images ===== ===== Spherical images =====
  
-**Supported formats** \\+=== Supported formats === 
 Preferably .jpg files. \\ Preferably .jpg files. \\
 But any [[dev:technology:supported_formats:index|supported image resource]] can be used. But any [[dev:technology:supported_formats:index|supported image resource]] can be used.
  
-**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.
Line 181: Line 188:
 One camera import requires one set of images and one position and orientation file.  One camera import requires one set of images and one position and orientation file. 
  
-**Supported formats** \\+=== Supported formats === 
 Preferably .jpg files. But any [[dev:technology:supported_formats:index|supported image resource]] can be used. Preferably .jpg files. But any [[dev:technology:supported_formats:index|supported image resource]] can be used.
  
-**Supported types** \\ +=== Supported types === 
-Orbit supports any distorted Planar picture, independently of file size or pixel resolution. \\+ 
 +Any size, any resolution. \\ 
 +Preferably undistorted images, see Lens distortion.
  
 === Camera calibration === === Camera calibration ===
Line 192: Line 202:
  
 |< 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 specifications with the position and orientation file. |  string  | |  optional  | | CameraName | Unique name to identify the camera and to link these camera specifications with the position and orientation file. |  string  | |  optional  |
 | SensorName | Reference of sensor to have the possibility to review the sensor specifications. |  string  | |  optional  | | SensorName | Reference of sensor to have the possibility to review the sensor specifications. |  string  | |  optional  |
Line 201: Line 211:
 | 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://en.wikipedia.org/wiki/Focal_length|Wikipedia Focal Length]] |  decimal  |  mm  |  required  | | FocalLength | The focal length of the lens, expressed in mm. \\ [[http://en.wikipedia.org/wiki/Focal_length|Wikipedia Focal Length]] |  decimal  |  mm  |  required  |
-| k1, k2, k3, p1, p2 | Radial distortion parameters, regarding the formulas of D.C. Brown. \\ [[http://en.wikipedia.org/wiki/Distortion_(optics)|Wikipedia Distortion]] |  decimal  |  |  optional  |+ 
 +=== 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,k2,k3,p1,p2,fx,fy | Radial distortion parameters, regarding the formulas of D.C. Brown. \\ [[http://en.wikipedia.org/wiki/Distortion_(optics)|Wikipedia Distortion]] |  decimal  |  |  optional  |
  
 === Street Level\Indoor === === Street Level\Indoor ===
 +
 {{orbitgis_extensions_mi:asset_inventory:panorama:manage:run:still_image.png?nolink&600|}} {{orbitgis_extensions_mi:asset_inventory:panorama:manage:run:still_image.png?nolink&600|}}
  
 === Oblique === === Oblique ===
 +
 {{:dev:technology:3d_mapping:imageoblique1.png?nolink&600|}} {{:dev:technology:3d_mapping:imageoblique1.png?nolink&600|}}
  
 === Nadir === === Nadir ===
 {{:dev:technology:3d_mapping:imagenadir1.png?nolink&600|}} {{:dev:technology:3d_mapping:imagenadir1.png?nolink&600|}}
- 
  
 ====== Point Cloud ====== ====== Point Cloud ======
Line 218: Line 237:
 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
   * Aerial Mapping: Strongly recommended   * Aerial Mapping: Strongly recommended
  
-**Supported formats**+=== Supported formats ===
   * One or more supported point cloud resources, see [[dev:technology:supported_formats:index|]].   * One or more supported point cloud resources, see [[dev:technology:supported_formats:index|]].
   * Preferred: *.las files.    * Preferred: *.las files. 
  
-**Additional Notes for ASCII text files** \\ +=== 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
Line 239: Line 259:
 [[http://en.wikipedia.org/wiki/Digital_elevation_model|Wikipedia, Digital Elevation Model]]. [[http://en.wikipedia.org/wiki/Digital_elevation_model|Wikipedia, Digital Elevation Model]].
  
-**Required for** +=== Required for ===  
   * Mobile Mapping: Optional   * Mobile Mapping: Optional
   * Oblique Mapping: Recommended    * Oblique Mapping: Recommended 
   * Aerial Mapping: Optional   * Aerial Mapping: Optional
  
-**Supported formats** +=== Supported formats ===  
   * One or more supported raster resources, see [[dev:technology:supported_formats:index|]].    * One or more supported raster resources, see [[dev:technology:supported_formats:index|]]. 
   * Preferred: single raster GeoTIFF file.   * Preferred: single raster GeoTIFF file.
  
-**Notes**+=== Notes===  
   * CRS: Any [[dev:technology:core:crs|supported projected coordinate system]] can be used.   * CRS: Any [[dev:technology:core:crs|supported projected coordinate system]] can be used.
  
Line 255: Line 278:
 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. \\ 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:technology:supported_formats:models:3dtiles|Cesium 3D Tiles]] format. Use the [[dev:technology:supported_formats:models:3dtiles|Cesium 3D Tiles]] format.
- 
  
 ====== Orthophoto ====== ====== Orthophoto ======
Line 262: Line 284:
 Any [[dev:technology:supported_formats:index|supported multiresolution image resource]] can be used. Any [[dev:technology:supported_formats:index|supported multiresolution image resource]] can be used.
  
 +====== 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 ===
 +
 +<code>
 +<?xml version="1.0" ?>
 +<annotation>
 + <folder></folder>
 + <filename>DSC02490.JPG</filename>
 + <object>
 + <tags>corrosion,structural_steel,light</tags>
 + <comment></comment>
 + <bound>
 + <xmin>1541</xmin>
 + <xmax>2008</xmax>
 + <ymin>4257</ymin>
 + <ymax>4555</ymax>
 + </bound>
 + </object>
 +</annotation>
 +</code>
 +
 +=== Context Insight ===
 +
 +Version 2.0
 +
 +<code>
 +<?xml version="1.0" encoding="utf-8"?>
 +<ContextScene version="2.0">
 + <PhotoCollection>
 + <Photos>
 + <Photo id="0">
 + <ImagePath>D:/DATA/BE Lokeren Orbit - MMS by Topcon TEP/panorama1/original/LB_5000000.jpg</ImagePath>
 + </Photo>
 + <Photo id="1">
 + <ImagePath>D:/DATA/BE Lokeren Orbit - MMS by Topcon TEP/panorama1/original/LB_5000001.jpg</ImagePath>
 + </Photos>
 + </PhotoCollection>
 + <Annotations>
 + <Labels>
 + <Label id="1">
 + <Name>person</Name>
 + </Label>
 + <Label id="3">
 + <Name>car</Name>
 + </Label>
 + <Label id="8">
 + <Name>truck</Name>
 + </Label
 + </Labels>
 + <Objects2D>
 + <ObjectsInPhoto>
 + <PhotoId>0</PhotoId>
 + <Objects>
 + <Object2D id="0">
 + <LabelInfo>
 + <Confidence>0.9734092</Confidence>
 + <LabelId>1</LabelId>
 + </LabelInfo>
 + <Box2D>
 + <xmin>0.694173574447632</xmin>
 + <ymin>0.540982902050018</ymin>
 + <xmax>0.717123627662659</xmax>
 + <ymax>0.666199862957001</ymax>
 + </Box2D>
 + </Object2D>
 + <Object2D id="1">
 + <LabelInfo>
 + <Confidence>0.8548903</Confidence>
 + <LabelId>3</LabelId>
 + </LabelInfo>
 + <Box2D>
 + <xmin>0.00750905275344849</xmin>
 + <ymin>0.559191405773163</ymin>
 + <xmax>0.145229429006577</xmax>
 + <ymax>0.784758269786835</ymax>
 + </Box2D>
 + </Object2D>
 + </Objects>
 + </ObjectsInPhoto>
 + <ObjectsInPhoto>
 + <PhotoId>1</PhotoId>
 + <Objects>
 + <Object2D id="0">
 + <LabelInfo>
 + <Confidence>0.9596778</Confidence>
 + <LabelId>3</LabelId>
 + </LabelInfo>
 + <Box2D>
 + <xmin>0.00675202906131744</xmin>
 + <ymin>0.552075982093811</ymin>
 + <xmax>0.148410230875015</xmax>
 + <ymax>0.789381384849548</ymax>
 + </Box2D>
 + </Object2D>
 + </ObjectsInPhoto>
 + </Objects2D>
 + </Annotations>
 +</ContextScene>
 +</code>
 +
 +Version 1.0
 +
 +<code>
 +<?xml version="1.0" encoding="utf-8"?>
 +<Scene version="1.0">
 + <PositioningLevel>Unknown</PositioningLevel>
 + <SpatialReferenceSystems/>
 + <Devices/>
 + <Poses/>
 + <Shots>
 + <Shot id="0">
 + <DeviceId>0</DeviceId>
 + <PoseId>0</PoseId>
 + <ImagePath>Z:/Movyon/POC_bridge/Carreggiata_Nord/Carreggiata_Nord/01_Spalla inizio/P5590560.JPG</ImagePath>
 + <NearDepth>3.41018193441476</NearDepth>
 + <MedianDepth>5.31374846082021</MedianDepth>
 + <FarDepth>6.03807500283101</FarDepth>
 + </Shot>
 + <Shot id="1">
 + <DeviceId>0</DeviceId>
 + <PoseId>1</PoseId>
 + <ImagePath>Z:/Movyon/POC_bridge/Carreggiata_Nord/Carreggiata_Nord/01_Spalla inizio/P5600561.JPG</ImagePath>
 + <NearDepth>3.35579477082049</NearDepth>
 + <MedianDepth>5.22362535386351</MedianDepth>
 + <FarDepth>5.86464739324289</FarDepth>
 + </Shot>
 + </Shots>
 + <TiePoints/>
 + <PointConstraints/>
 + <Learning>
 + <Labels>
 + <Label>
 + <Id>1</Id>
 + <Name>person</Name>
 + </Label>
 + <Label>
 + <Id>3</Id>
 + <Name>car</Name>
 + </Label>
 + </Labels>
 + <ObjectsInImages>
 + <ObjectsInImage>
 + <ImageId>0</ImageId>
 + <Objects2D>
 + <Object2D>
 + <Id>0</Id>
 + <LabelInfo>
 + <Confidence>0.846392</Confidence>
 + <LabelId>9</LabelId>
 + </LabelInfo>
 + <Box2D>
 + <xmin>0.059297751635313</xmin>
 + <ymin>0.145194128155708</ymin>
 + <xmax>0.999414801597595</xmax>
 + <ymax>0.438706368207932</ymax>
 + </Box2D>
 + </Object2D>
 + </Objects2D>
 + </ObjectsInImage>
 + <ObjectsInImage>
 + <ImageId>1</ImageId>
 + <Objects2D>
 + <Object2D>
 + <Id>0</Id>
 + <LabelInfo>
 + <Confidence>0.9815791</Confidence>
 + <LabelId>9</LabelId>
 + </LabelInfo>
 + <Box2D>
 + <xmin>0.0492010489106178</xmin>
 + <ymin>0.213278770446777</ymin>
 + <xmax>0.978382289409637</xmax>
 + <ymax>0.549207985401154</ymax>
 + </Box2D>
 + </Object2D>
 + </Objects2D>
 + </ObjectsInImage>
 + </ObjectsInImages>
 + <Objects3D/>
 + <Segmentations2D/>
 + <Segmentations3D/>
 + </Learning>
 + <PointClouds/>
 + <Pairs/>
 + <AutomaticTiePoints/>
 +</Scene>
 +</code>
 +
 +====== Video ======
 +
 +===Supported formats===
 +
 +Preferably .mp4 files. \\
 +When using cloud blob storage, the storage needs to support "range requests" to open the video at a specific time offset from start.
 +
 +===Attributes===
 +
 +|< 100% 10% 60% 10% 10% 10% >|
 +^ What ^ Description ^  Data type  ^  Units  ^  Necessity  ^
 +| Video Filename  | - Relative location inside the run's video folder.\\ - Absolute URL pointing to the online storage location of the video.  |  string  | |  required  |
 +| Video Time  | The time offset from the start of the video.  |  integer  |  milliseconds |  required  |
  
 +Video Attributes
 +  * File Example: <Orbit Run>/panorama1/import/import_locations.ord \\ <code>   AddAttribute=
 +    AttributeName=OrbitVideoTime
 +    AttributeType=INT4
 +    AttributeExpression=[Imported Value]
 +   AddAttribute=
 +    AttributeName=OrbitVideoFileName
 +    AttributeType=STRING
 +    AttributeExpression=[Imported Value]</code> 
 ====== References and Geodata ====== ====== References and Geodata ======
  
 Any [[dev:technology:supported_formats:index|supported reference data]] can be added into Orbit. Reference data is not part of a Run. Any [[dev:technology:supported_formats:index|supported reference data]] can be added into Orbit. Reference data is not part of a Run.
 
Last modified:: 2021/10/29 12:40