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StripAlign2manual_input

The BayesStripAlign 2.1 Software Manual outlines the input file formats and requirements for LiDAR and Position, Orientation (PO) data, specifying acceptable formats such as LAS, LAZ, and ASCII. It details the necessary conditions for data calibration and correction, including timestamp requirements and coordinate projections. Additionally, it provides guidelines for Ground Control Points, sensor mounting, manual corrections, and Well-Known Text (WKT) for PO projection.

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7 views3 pages

StripAlign2manual_input

The BayesStripAlign 2.1 Software Manual outlines the input file formats and requirements for LiDAR and Position, Orientation (PO) data, specifying acceptable formats such as LAS, LAZ, and ASCII. It details the necessary conditions for data calibration and correction, including timestamp requirements and coordinate projections. Additionally, it provides guidelines for Ground Control Points, sensor mounting, manual corrections, and Well-Known Text (WKT) for PO projection.

Uploaded by

dipro.sarkar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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BAYESMAP SOLUTIONS, LLC BayesStripAlign 2.

1 Software Manual

INPUT FILES AND FORMATS


LiDAR swaths .las, .laz, .txt

⚠ • For correction/calibration, LiDAR data must be one file per flight line (swath) and non self-intersecting.
LiDAR data must contain timestamps in either GPS week seconds or adjusted GPS time, in agreement with the LAS
specification, and the global encoding bit must be properly set.

• For scan, QC and registration only, which work without PO files and therefore do not use time data, timestamps are not
required, and point clouds do not have to be flight lines. For accurate QC and registration, tiled data is not recommended.

In all cases, LiDAR coordinates must be projected.

File formats accepted:

• LAS, LAZ up to version 1.4, point data only (waveforms ignored)

• ASCII (automatically converted to LAZ for faster processing)


Space, comma or tab separated values. Header allowed; unreadable lines will be ignored.
Default column format: X Y Z Time (xyzt). Custom column format with option -iparse specifying a string using characters from
{x,y,z,t} exactly once (resp. X Y Z Time) in the order corresponding to the data. Other optional columns can be used.
Use # to ignore columns if not at the end of row, eg. t#yx##z or xyz#t

Position, Orientation (PO) data .out, .trj, .pof, .sol, .bin, .txt …
This table summarizes currently accepted PO data formats.

Format info Applanix Leica Riegl TerraScan NavLab ASCII


SBET SOL POF TRJ BIN

Extension .out .sol .pof .trj .bin .txt or other

Position: ✔ ✔ (default)
projected

Position: ✔ ✔ ✔ ✔ ✔ (option -G)


geodetic

Position: ECEF ✔ (option -G 2)

Time: adjusted ✔ ✔ (option -A) ✔ (option -A) ✔ ✔ (option -A)


GPS

Time: week ✔ ✔ ✔ (default) ✔ (default) ✔ (default)


seconds

Time: other ✔ (option -A 2-9)

Format binary binary binary binary binary space, comma or


tab separated

Notes UTC time format Subsampling is Sonar Flexible space and


is supported not an issue time coordinates

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BAYESMAP SOLUTIONS, LLC BayesStripAlign 2.1 Software Manual

➡ ASCII PO DATA
Space, comma or tab separated values. Header allowed; unreadable lines will be ignored.
Default column format: Time X Y Z Roll Pitch Yaw (txyzwpk).
Custom column format with option -po_parse specifying a string using characters from {t,[u],x,y,z,w,p,k} meaning {Time
[microseconds] X Y Z Roll Pitch Yaw}, in the order corresponding to the data columns. The microseconds field is optional,
useful for separate integer seconds and microseconds columns only. Add * at the end for NED attitude angles.
Use # or . to ignore columns if not at the end of row, eg. .t.yxz...wpk or ..txyz...kpw*

🌐 ➡ Coordinate system
Option -G controls the coordinate system: default or 0 is projected (same as LiDAR), use 1 for geodetic and 2 for ECEF

🛩 ➡ Attitude angles convention


The default convention for attitude angles is ENU. To use NED instead, add * at the end of the parse string.
Rotations are always defined in this order: x, y and z for roll, pitch and yaw, respectively.

⏱ ➡ Custom time format


Option -A controls the time format (decimal or h:m:s, origin and leap seconds):
0 (default) week sec; 1 adjusted GPS; 2 standard GPS; 3 UNIX; 4 standard UTC; 5 adjusted UTC; 6 day sec UTC;
7 day sec h:m:s UTC; 8 day sec GPS; 9 day sec h:m:s GPS
Note: all formats 2 and above are converted to adjusted during import; some (5 to 9) require -gps_date for conversion

Ground Control/Check Points (GCP) .txt …


ASCII only. Space, comma or tab separated values. Header allowed; unreadable lines will be ignored.
Default column format: Index X Y Z (ixyz), where Index can be an ASCII label containing no space character, eg. 1234_B.
The index is mandatory.
Custom column format with option -gcp_parse specifying a string using characters from {i,x,y,z} exactly once (resp. Index X Y
Z) in the order corresponding to the data. Use # to ignore columns if not at the end of row, eg. i.yx..z or xyz.i

Sensor mounting .txt …


🌎 see this figure
ASCII only. Space separated values only. No header. for rotation conventions
Column format: Ax Ay Az Roll Pitch Yaw and LiDAR georeferencing model
‣ {Ax Ay Az} are the IMU mounting rotation angles (BODY to IMU)
‣ {Roll Pitch Yaw} are the large (> 1 deg) sensor or channel boresight angles (ICS to BODY)

Manual corrections: shifts, calibration .txt …


ASCII only. Space separated values only. No header.
Column format: Lx Ly Lz Roll Pitch Yaw [I1 I2 I3 I4 I5 I6 I7]
‣ {Lx Ly Lz} are the Lever Arm components (LiDAR to BODY)
‣ {Roll Pitch Yaw} are the (small) boresight angle errors (LiDAR to BODY)
‣ {I1 I2 I3 I4 I5 I6 I7} are the internal distortion model coefficients, optional

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BAYESMAP SOLUTIONS, LLC BayesStripAlign 2.1 Software Manual

Well-Known Text (WKT) for PO projection .txt …


ASCII only. Refer to the Open Geospatial Consortium website for the standard.
Only a subset of strings are required: PROJECTION (UTM, TM, LCC, AEAC) and the required projection parameters.
UNIT optional but useful! SPHEROID optional.

💡 Can be easily obtained using lasinfo on LAS/LAZ 1.4 files or 1.2 if WKT included.
File and option lists
• File lists: ASCII only. One file name per line, no path means current directory, $ can be used with option -$. Example:
C:\directory\lidar_file.las
other_file.laz
$\subdirectory\another_file.las

• Option lists: see options and arguments syntax for persistent and additional option files
Multiple option files can be used if necessary.

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