Projected input camera format¶

This format defines the input cameras data in the processing CRS, which is a projected right-handed isometric CS.

Coordinate system specification¶

The processing CRS is a right-handed, isometric, Cartesian coordinate system chosen by the application, the calibration itself is coordinate system agnostic. The definition of the camera axes is the photogrammetrist’s definition: x from left to right in the image, y from bottom to top in the image, z from the scene towards the camera center.

The actual processing CRS comes from the top level scene reference frame definition.

Format specification¶

Specification format	Version
“application/opf-projected-input-cameras+json”	“1.0”

Projected input camera¶

Definition of the input cameras data in the processing CRS, which is a projected right-handed isometric CS.

Projected input camera Properties

	Type	Description	Required
format	`string`	For projected input cameras it must be `"application/opf-projected-input-cameras+json"`	✓ Yes
version	`string`	The version of this schema as `MAJOR.MINOR`. Breaking changes are reflected by a change in MAJOR version. Can optionally include a pre-release tag `MAJOR.MINOR-tag`. Examples: `0.1`, `1.0`, `1.0-draft1`	✓ Yes
sensors	`sensor` `[]`	Sensors for which there are processing CRS dependent parameters, for example rigs. May contain fewer elements than the sensor list from the corresponding input cameras (or none if there are no rigs).	✓ Yes
captures	`capture` `[]`	Captures for which there are processing CRS dependent parameters.	✓ Yes
extensions	`object`	JSON object with extension-specific objects. Extensions follow the naming convention VENDOR[_(team❘product)]_extname	No

Capture¶

Processing CRS dependent parameters of a capture sensor.

Capture Properties

	Type	Description	Required
id	`integer`	Unique identifier pointing to a capture element in the input cameras.	✓ Yes
geolocation	`geolocation`	Input geolocation in the processing CRS axes and units.	No
orientation	`orientation`	Input orientation in the processing CRS axes.	No
extensions	`object`	JSON object with extension-specific objects. Extensions follow the naming convention VENDOR[_(team❘product)]_extname	No

Projected geolocation¶

Input geolocation in the processing CRS axes and units.

Projected geolocation Properties

	Type	Description	Required
position	`number` `[3]`	Coordinates in the processing CRS.	✓ Yes
sigmas	`number` `[3]`	Standard deviation in the processing CRS units.	✓ Yes
extensions	`object`	JSON object with extension-specific objects. Extensions follow the naming convention VENDOR[_(team❘product)]_extname	No

Projected orientation¶

Input orientation in the processing CRS axes.

Projected orientation Properties

	Type	Description	Required
angles_deg	`number` `[3]`	Omega-Phi-Kappa angles in degree representing a rotation R_x(ω)R_y(ϕ)R_z(κ) from the image CS to the processing CRS.	✓ Yes
sigmas_deg	`number` `[3]`	Standard deviation of Omega-Phi-Kappa angles in degree.	✓ Yes
extensions	`object`	JSON object with extension-specific objects. Extensions follow the naming convention VENDOR[_(team❘product)]_extname	No

Projected rig translation¶

Projected rig relatives only contain the relative translation as the relative rotation stays the same as the input. The difference between the projected rig translation and input rig translation is that the projected translation uses units of the processing CRS.

Projected rig translation Properties

	Type	Description	Required
values	`number` `[3]`	Relative translation in processing CRS units.	✓ Yes
sigmas	`number` `[3]`	Measurement error (standard deviation) in processing CRS units.	✓ Yes
extensions	`object`	JSON object with extension-specific objects. Extensions follow the naming convention VENDOR[_(team❘product)]_extname	No

Sensor¶

Processing CRS dependent parameters of an input sensor.

Sensor Properties

	Type	Description	Required
id	`integer`	Unique identifier pointing to a sensor element in the input cameras.	✓ Yes
rig_translation	`projected_rig_translation`	Projected rig relatives only contain the relative translation as the relative rotation stays the same as the input. The difference between the projected rig translation and input rig translation is that the projected translation uses units of the processing CRS.	No
extensions	`object`	JSON object with extension-specific objects. Extensions follow the naming convention VENDOR[_(team❘product)]_extname	No

Example¶

{
    "format": "application/opf-projected-input-cameras+json",
    "version": "1.0",
    "sensors": [
        {
            "id": 21845677,
            "rig_translation": {
                "values": [
                    -0.015,
                    0.015,
                    0.0
                ],
                "sigmas": [
                    0.001,
                    0.001,
                    0.001
                ]
            }
        },
        {
            "id": 65728243,
            "rig_translation": {
                "values": [
                    0.0,
                    0.0,
                    0.0
                ],
                "sigmas": [
                    0.001,
                    0.001,
                    0.001
                ]
            }
        }
    ],
    "captures": [
        {
            "id": 94334,
            "geolocation": {
                "position": [
                    382.20304,
                    3.292843,
                    2.238429
                ],
                "sigmas": [
                    1.69,
                    1.69,
                    2.4
                ]
            },
            "orientation": {
                "angles_deg": [
                    3.3432,
                    -5.2849554,
                    9.345113
                ],
                "sigmas_deg": [
                    0.0134,
                    0.08482,
                    0.016747
                ]
            }
        },
        {
            "id": 78291034,
            "geolocation": {
                "position": [
                    45.3949,
                    10.38429,
                    6.3892923
                ],
                "sigmas": [
                    1.69,
                    1.69,
                    2.4
                ]
            },
            "orientation": {
                "angles_deg": [
                    2.23443,
                    -5.2849554,
                    5.54335
                ],
                "sigmas_deg": [
                    0.0134,
                    0.08482,
                    0.016747
                ]
            }
        },
        {
            "id": 92840,
            "geolocation": {
                "position": [
                    12.19394,
                    22.2048393,
                    11.193748
                ],
                "sigmas": [
                    1.28947,
                    1.2331,
                    2.1923
                ]
            },
            "orientation": {
                "angles_deg": [
                    -6.392785,
                    3.28575,
                    13.27483
                ],
                "sigmas_deg": [
                    0.0134,
                    0.08482,
                    0.016747
                ]
            }
        }
    ]
}