wrong (?!?) GPS time stamps in LAS files of Scottish Open LiDAR
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Martin Isenburg
Oct 5, 2017, 3:25:25 AM10/5/17
to LAStools - efficient command line tools for LIDAR processing, The LAS room - a friendly place to discuss specifications of the LAS format
Hello,
I noticed some oddities in the Open Scotland LiDAR in the GPS time stamps in the LAS files and hope that someone (maybe the folks from Fugro BKS) can shine some light on the reason we see these oddities and (hopefully) provide a way to resolve them. If I may speculate then the software that produced these oddities is called "Fugro LAS Processor". The data I am looking at is the smallest of the three LAS files linked in this blog post, the LAS_NN45NE.las file (about 1 GB).
http://groups.google.com/d/topic/lastools/X4A51vch0LQ/discussion
It seems that the GPS time stamps of these files are set not *per shot* but rather *per scanline* which is not specification conform, highly unusual, and really inconvenient for a number of processing tasks. I noticed this when I was trying to sort the LiDAR returns back into acquisition order which is impossible now. You find my analysis below.
-----------------------
It seems to me that a RIEGL Q-line system was used and that the scanning mirror facet was stored to the user data field. The flight line numbers are correctly stored to the point source ID and a histogram produced by lasinfo lets us see an overview of how many returns are part of the different flight lines of the tile.
lasinfo -i LAS_NN45NE.las -histo point_source 1
lasinfo (170915) report for LAS_NN45NE.las
reporting all LAS header entries:
file signature: 'LASF'
file source ID: 0
global_encoding: 1
project ID GUID data 1-4: 00000000-0000-0000-0000-000000000000
version major.minor: 1.2
system identifier: 'Riegl LMS-Q'
generating software: 'Fugro LAS Processor'
file creation day/year: 343/2016
header size: 227
offset to point data: 227
number var. length records: 0
point data format: 1
point data record length: 28
number of point records: 41576465
number of points by return: 38295069 2705389 513877 62130 0
scale factor x y z: 0.001 0.001 0.001
offset x y z: 246310 758280 320
min x y z: 246205.590 755056.148 204.138
max x y z: 249999.999 759999.999 397.447
reporting minimum and maximum for all LAS point record entries ...
X -104410 3689999
Y -3223852 1719999
Z -115862 77447
intensity 39 2046
return_number 1 4
number_of_returns 1 4
edge_of_flight_line 0 1
scan_direction_flag 1 1
classification 1 10
scan_angle_rank -30 30
user_data 0 3
point_source_ID 66 91
gps_time 38230618.129270 38310767.472073
number of first returns: 38295069
number of intermediate returns: 576498
number of last returns: 38293795
number of single returns: 35588897
overview over number of returns of given pulse: 35588897 4382828 1355969 248771 0 0 0
histogram of classification of points:
201634 unclassified (1)
28280055 ground (2)
3789337 low vegetation (3)
1018122 medium vegetation (4)
8234839 high vegetation (5)
16976 building (6)
35502 rail (10)
point source id histogram with bin size 1
bin 66 has 1808804
bin 67 has 2042723
bin 68 has 62837
bin 69 has 17875
bin 73 has 5672136
bin 74 has 1811523
bin 83 has 8333513
bin 84 has 2188091
bin 85 has 3178503
bin 86 has 1809691
bin 87 has 3541356
bin 88 has 2210545
bin 89 has 3785729
bin 90 has 1842444
bin 91 has 3270695
average point source id 82.1177 for 41576465 element(s)
We then use las2las to extract flight line with ID 88.
las2las -i LAS_NN45NE.las ^
-keep_point_source 88 ^
-odix _ps88 -olaz
We have a look to see which flight line was extracted (see attached pics).
lasview -i LAS_NN45NE_ps88.laz
Now we turn the LiDAR into ASCII text to understand the time stamp issue. The very last entry in the parse string is '#' which prints the different of the current point's time stamp to the previous point's time stamp. It becomes clear that the GPS time stamps are not stored per shot but per scan line. Looking at the time differences of 0.026669979095459 second that happen between subsequent scan line from the same (!!!) mirror facet and hence suggest that the rotting polygon mirror made a full rotation in 0.02667 seconds suggesting there are 1 / 0.02667 = 37.5 rotations per second which matches my previous experiences with a Q680i instrument.
las2txt -i LAS_NN45NE_ps88.laz ^
-parse xyztrnup# ^
-stdout
248999.270 756731.486 212.790 38235586.540111 1 1 1 88 38235586.54011094
248999.506 756725.720 212.790 38235586.540111 1 1 1 88 0
248999.795 756719.464 213.120 38235586.540111 3 3 1 88 0
248999.937 756718.922 214.000 38235586.540111 2 2 1 88 0
248999.979 756718.421 214.200 38235586.540111 2 2 1 88 0
248996.890 756742.474 212.890 38235586.566781 1 1 1 88 0.026670098304749
248996.932 756741.973 213.000 38235586.566781 1 1 1 88 0
248996.965 756741.473 213.110 38235586.566781 1 1 1 88 0
248996.978 756741.002 213.030 38235586.566781 1 1 1 88 0
248997.020 756739.101 212.770 38235586.566781 1 1 1 88 0
248997.240 756734.276 212.760 38235586.566781 1 1 1 88 0
248997.476 756728.501 212.780 38235586.566781 1 1 1 88 0
248998.439 756723.235 218.240 38235586.566781 1 1 1 88 0
248998.413 756722.785 217.900 38235586.566781 1 1 1 88 0
248998.347 756722.366 217.320 38235586.566781 1 1 1 88 0
248998.112 756722.030 215.540 38235586.566781 1 1 1 88 0
248998.591 756721.292 218.780 38235586.566781 1 2 1 88 0
248998.016 756721.621 214.720 38235586.566781 2 2 1 88 0
248998.310 756720.526 216.530 38235586.566781 1 2 1 88 0
248998.032 756720.680 214.540 38235586.566781 2 2 1 88 0
248997.956 756720.261 213.880 38235586.566781 1 1 1 88 0
248998.266 756719.617 215.970 38235586.566781 1 2 1 88 0
248997.979 756719.781 213.910 38235586.566781 2 2 1 88 0
248998.379 756719.095 216.590 38235586.566781 1 2 1 88 0
248998.002 756719.290 213.990 38235586.566781 2 2 1 88 0
248998.045 756718.810 214.110 38235586.566781 1 1 1 88 0
248998.057 756718.329 214.090 38235586.566781 1 1 1 88 0
248998.080 756717.849 214.150 38235586.566781 1 1 1 88 0
248998.094 756717.378 214.129 38235586.566781 1 1 1 88 0
248998.136 756716.888 214.269 38235586.566781 1 1 1 88 0
248998.159 756716.407 214.319 38235586.566781 1 1 1 88 0
248998.182 756715.927 214.359 38235586.566781 1 1 1 88 0
248998.215 756715.446 214.449 38235586.566781 1 1 1 88 0
248998.228 756714.966 214.459 38235586.566781 1 1 1 88 0
248998.242 756714.495 214.399 38235586.566781 1 1 1 88 0
248998.235 756714.035 214.209 38235586.566781 1 1 1 88 0
248998.258 756713.555 214.289 38235586.566781 1 1 1 88 0
248998.281 756713.074 214.339 38235586.566781 1 1 1 88 0
248998.294 756712.594 214.299 38235586.566781 1 1 1 88 0
248998.317 756712.123 214.299 38235586.566781 1 1 1 88 0
248998.320 756711.643 214.249 38235586.566781 1 1 1 88 0
248998.313 756711.183 214.019 38235586.566781 1 1 1 88 0
248998.306 756710.713 213.909 38235586.566781 1 1 1 88 0
248998.359 756710.222 214.149 38235586.566781 1 1 1 88 0
248998.343 756709.762 213.899 38235586.566781 1 1 1 88 0
248998.366 756709.282 213.929 38235586.566781 1 1 1 88 0
248998.389 756708.801 213.979 38235586.566781 1 1 1 88 0
248998.382 756708.331 213.829 38235586.566781 1 1 1 88 0
248998.415 756707.851 213.969 38235586.566781 1 1 1 88 0
248998.448 756707.370 214.009 38235586.566781 1 1 1 88 0
248998.491 756706.889 214.139 38235586.566781 1 1 1 88 0
248998.524 756706.409 214.269 38235586.566781 1 1 1 88 0
248998.527 756705.938 214.159 38235586.566781 1 1 1 88 0
248998.530 756705.468 214.129 38235586.566781 1 1 1 88 0
248998.533 756704.998 214.019 38235586.566781 1 1 1 88 0
248998.566 756704.517 214.099 38235586.566781 1 1 1 88 0
248998.559 756704.047 213.979 38235586.566781 1 1 1 88 0
248998.582 756703.567 213.979 38235586.566781 1 1 1 88 0
248998.635 756703.076 214.239 38235586.566781 1 1 1 88 0
248998.638 756702.606 214.199 38235586.566781 1 1 1 88 0
248998.661 756702.125 214.259 38235586.566781 1 1 1 88 0
248998.684 756701.655 214.249 38235586.566781 1 1 1 88 0
248998.727 756701.174 214.479 38235586.566781 1 1 1 88 0
248998.720 756700.704 214.309 38235586.566781 1 1 1 88 0
248998.724 756700.234 214.239 38235586.566781 1 1 1 88 0
248998.737 756699.753 214.199 38235586.566781 1 1 1 88 0
248998.760 756699.273 214.279 38235586.566781 1 1 1 88 0
248998.753 756698.813 214.079 38235586.566781 1 1 1 88 0
248998.796 756698.322 214.269 38235586.566781 1 1 1 88 0
248998.809 756697.852 214.279 38235586.566781 1 1 1 88 0
248998.832 756697.371 214.339 38235586.566781 1 1 1 88 0
248998.845 756696.901 214.329 38235586.566781 1 1 1 88 0
248998.838 756696.431 214.139 38235586.566781 1 1 1 88 0
248998.901 756695.950 214.499 38235586.566781 1 1 1 88 0
248998.924 756695.469 214.539 38235586.566781 1 1 1 88 0
248998.917 756694.999 214.409 38235586.566781 1 1 1 88 0
248998.930 756694.529 214.369 38235586.566781 1 1 1 88 0
248998.933 756694.049 214.329 38235586.566781 1 1 1 88 0
248998.937 756693.578 214.259 38235586.566781 1 1 1 88 0
248998.980 756693.098 214.449 38235586.566781 1 1 1 88 0
248998.993 756692.627 214.389 38235586.566781 1 1 1 88 0
248998.966 756692.157 214.099 38235586.566781 1 1 1 88 0
248998.989 756691.677 214.159 38235586.566781 1 1 1 88 0
248999.032 756691.206 214.389 38235586.566781 1 1 1 88 0
248999.025 756690.736 214.229 38235586.566781 1 1 1 88 0
248999.038 756690.256 214.199 38235586.566781 1 1 1 88 0
248999.051 756689.785 214.239 38235586.566781 1 1 1 88 0
248999.064 756689.305 214.219 38235586.566781 1 1 1 88 0
248999.077 756688.835 214.219 38235586.566781 1 1 1 88 0
248999.060 756688.365 213.989 38235586.566781 1 1 1 88 0
248999.073 756687.885 213.979 38235586.566781 1 1 1 88 0
248999.077 756687.414 213.919 38235586.566781 1 1 1 88 0
248999.090 756686.934 213.919 38235586.566781 1 1 1 88 0
248999.113 756686.463 213.969 38235586.566781 1 1 1 88 0
248999.136 756685.983 214.069 38235586.566781 1 1 1 88 0
248999.129 756685.513 213.889 38235586.566781 1 1 1 88 0
248999.132 756685.043 213.839 38235586.566781 1 1 1 88 0
248999.155 756684.562 213.909 38235586.566781 1 1 1 88 0
248999.158 756684.092 213.799 38235586.566781 1 1 1 88 0
248999.204 756683.141 213.969 38235586.566781 1 1 1 88 0
248999.227 756682.661 213.979 38235586.566781 1 1 1 88 0
248999.270 756682.190 214.259 38235586.566781 1 1 1 88 0
248999.294 756681.719 214.299 38235586.566781 1 1 1 88 0
248999.277 756681.239 214.079 38235586.566781 1 1 1 88 0
248999.300 756680.769 214.179 38235586.566781 1 1 1 88 0
248999.373 756680.298 214.539 38235586.566781 1 1 1 88 0
248999.396 756679.827 214.599 38235586.566781 1 1 1 88 0
248999.399 756679.347 214.509 38235586.566781 1 1 1 88 0
248999.412 756678.877 214.509 38235586.566781 1 1 1 88 0
248999.415 756678.396 214.449 38235586.566781 1 1 1 88 0
248999.438 756677.926 214.509 38235586.566781 1 1 1 88 0
248999.431 756677.446 214.379 38235586.566781 1 1 1 88 0
248999.444 756676.976 214.379 38235586.566781 1 1 1 88 0
248999.457 756676.495 214.389 38235586.566781 1 1 1 88 0
248999.501 756676.034 214.599 38235586.566781 1 1 1 88 0
248999.504 756675.554 214.569 38235586.566781 1 1 1 88 0
248999.517 756675.084 214.539 38235586.566781 1 1 1 88 0
248999.520 756674.604 214.509 38235586.566781 1 1 1 88 0
248999.523 756674.133 214.419 38235586.566781 1 1 1 88 0
248999.556 756673.663 214.579 38235586.566781 1 1 1 88 0
248999.569 756673.183 214.549 38235586.566781 1 1 1 88 0
248999.602 756672.712 214.739 38235586.566781 1 1 1 88 0
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248999.618 756671.761 214.679 38235586.566781 1 1 1 88 0
248999.621 756671.291 214.589 38235586.566781 1 1 1 88 0
248999.624 756670.811 214.579 38235586.566781 1 1 1 88 0
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248999.681 756669.870 214.809 38235586.566781 1 1 1 88 0
248999.694 756669.399 214.809 38235586.566781 1 1 1 88 0
248999.697 756668.919 214.769 38235586.566781 1 1 1 88 0
248999.700 756668.449 214.659 38235586.566781 1 1 1 88 0
248999.713 756667.969 214.699 38235586.566781 1 1 1 88 0
248999.746 756667.498 214.849 38235586.566781 1 1 1 88 0
248999.749 756667.028 214.819 38235586.566781 1 1 1 88 0
248999.752 756666.548 214.729 38235586.566781 1 1 1 88 0
248999.765 756666.077 214.749 38235586.566781 1 1 1 88 0
248999.778 756665.597 214.789 38235586.566781 1 1 1 88 0
248999.792 756665.127 214.749 38235586.566781 1 1 1 88 0
248999.805 756664.656 214.789 38235586.566781 1 1 1 88 0
248999.808 756664.176 214.769 38235586.566781 1 1 1 88 0
248999.851 756663.705 214.959 38235586.566781 1 1 1 88 0
248999.854 756663.235 214.899 38235586.566781 1 1 1 88 0
248999.867 756662.765 214.939 38235586.566781 1 1 1 88 0
248999.870 756662.285 214.869 38235586.566781 1 1 1 88 0
248999.883 756661.804 214.859 38235586.566781 1 1 1 88 0
248999.876 756661.324 214.759 38235586.566781 1 1 1 88 0
248999.899 756660.854 214.829 38235586.566781 1 1 1 88 0
248999.922 756660.383 214.939 38235586.566781 1 1 1 88 0
248999.895 756659.893 214.669 38235586.566781 1 1 1 88 0
248999.939 756659.433 214.899 38235586.566781 1 1 1 88 0
248999.952 756658.962 214.939 38235586.566781 1 1 1 88 0
248999.935 756658.472 214.719 38235586.566781 1 1 1 88 0
248999.948 756658.002 214.749 38235586.566781 1 1 1 88 0
248999.961 756657.522 214.749 38235586.566781 1 1 1 88 0
248999.954 756657.042 214.669 38235586.566781 1 1 1 88 0
248999.967 756656.571 214.699 38235586.566781 1 1 1 88 0
248999.980 756656.091 214.709 38235586.566781 1 1 1 88 0
248995.131 756738.498 212.790 38235586.593451 1 1 1 88 0.026669979095459
248995.295 756734.645 212.780 38235586.593451 1 1 1 88 0
248995.328 756734.154 212.820 38235586.593451 1 1 1 88 0
248995.459 756730.791 212.760 38235586.593451 1 1 1 88 0
248995.563 756728.379 212.860 38235586.593451 1 1 1 88 0
248996.454 756723.614 217.910 38235586.593451 1 1 1 88 0
248996.457 756723.154 217.790 38235586.593451 1 1 1 88 0
248996.748 756722.520 219.760 38235586.593451 1 2 1 88 0
248996.500 756722.663 217.980 38235586.593451 2 2 1 88 0
248996.791 756722.029 219.930 38235586.593451 1 1 1 88 0
248996.725 756721.610 219.280 38235586.593451 1 3 1 88 0
248996.408 756721.794 217.070 38235586.593451 2 3 1 88 0
248996.259 756721.877 216.010 38235586.593451 3 3 1 88 0
248996.847 756721.078 220.020 38235586.593451 1 3 1 88 0
248996.629 756721.201 218.520 38235586.593451 2 3 1 88 0
248996.083 756721.519 214.629 38235586.593451 3 3 1 88 0
248996.116 756721.028 214.789 38235586.593451 1 1 1 88 0
248996.268 756720.476 215.709 38235586.593451 1 2 1 88 0
248995.990 756720.630 213.759 38235586.593451 2 2 1 88 0
248996.063 756720.119 214.169 38235586.593451 1 1 1 88 0
248996.066 756719.659 214.019 38235586.593451 1 1 1 88 0
248996.476 756718.962 216.819 38235586.593451 1 2 1 88 0
248996.099 756719.168 214.149 38235586.593451 2 2 1 88 0
248996.112 756718.688 214.119 38235586.593451 1 1 1 88 0
248996.155 756718.197 214.269 38235586.593451 1 1 1 88 0
248996.168 756717.727 214.249 38235586.593451 1 1 1 88 0
248996.201 756717.246 214.359 38235586.593451 1 1 1 88 0
248996.214 756716.766 214.329 38235586.593451 1 1 1 88 0
248996.247 756716.285 214.399 38235586.593451 1 1 1 88 0
248996.260 756715.815 214.389 38235586.593451 1 1 1 88 0
248996.263 756715.344 214.269 38235586.593451 1 1 1 88 0
248996.266 756714.864 214.189 38235586.593451 1 1 1 88 0
248996.309 756714.383 214.369 38235586.593451 1 1 1 88 0
248996.312 756713.913 214.299 38235586.593451 1 1 1 88 0
248996.335 756713.433 214.319 38235586.593451 1 1 1 88 0
248996.358 756712.952 214.349 38235586.593451 1 1 1 88 0
248996.381 756712.472 214.399 38235586.593451 1 1 1 88 0
248996.385 756712.002 214.299 38235586.593451 1 1 1 88 0
248996.368 756711.542 214.059 38235586.593451 1 1 1 88 0
248996.381 756711.061 214.039 38235586.593451 1 1 1 88 0
248996.414 756710.581 214.149 38235586.593451 1 1 1 88 0
248996.427 756710.110 214.099 38235586.593451 1 1 1 88 0
248996.430 756709.640 214.069 38235586.593451 1 1 1 88 0
248996.433 756709.170 213.949 38235586.593451 1 1 1 88 0
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248996.449 756708.219 213.809 38235586.593451 1 1 1 88 0
248996.472 756707.739 213.889 38235586.593451 1 1 1 88 0
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248996.548 756706.778 214.069 38235586.593451 1 1 1 88 0
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248996.575 756705.827 214.049 38235586.593451 1 1 1 88 0
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248996.631 756704.866 214.249 38235586.593451 1 1 1 88 0
248996.624 756704.396 214.099 38235586.593451 1 1 1 88 0
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248996.713 756702.964 214.339 38235586.593451 1 1 1 88 0
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248996.752 756701.533 214.319 38235586.593451 1 1 1 88 0
248996.765 756701.062 214.259 38235586.593451 1 1 1 88 0
248996.778 756700.582 214.299 38235586.593451 1 1 1 88 0
248996.791 756700.112 214.269 38235586.593451 1 1 1 88 0
248996.804 756699.631 214.269 38235586.593451 1 1 1 88 0
248996.837 756699.161 214.369 38235586.593451 1 1 1 88 0
248996.850 756698.680 214.369 38235586.593451 1 1 1 88 0
248996.853 756698.210 214.239 38235586.593451 1 1 1 88 0
248996.857 756697.740 214.179 38235586.593451 1 1 1 88 0
248996.900 756697.259 214.369 38235586.593451 1 1 1 88 0
248996.893 756696.789 214.209 38235586.593451 1 1 1 88 0
248996.906 756696.309 214.189 38235586.593451 1 1 1 88 0
248996.919 756695.839 214.169 38235586.593451 1 1 1 88 0
248996.942 756695.358 214.289 38235586.593451 1 1 1 88 0
248996.945 756694.888 214.199 38235586.593451 1 1 1 88 0
248996.978 756694.417 214.279 38235586.593451 1 1 1 88 0
248996.981 756693.937 214.229 38235586.593451 1 1 1 88 0
248997.004 756693.467 214.279 38235586.593451 1 1 1 88 0
248997.007 756692.986 214.239 38235586.593451 1 1 1 88 0
248997.020 756692.516 214.199 38235586.593451 1 1 1 88 0
248997.033 756692.036 214.169 38235586.593451 1 1 1 88 0
248997.057 756691.565 214.269 38235586.593451 1 1 1 88 0
248997.090 756691.085 214.379 38235586.593451 1 1 1 88 0
248997.103 756690.614 214.379 38235586.593451 1 1 1 88 0
248997.106 756690.144 214.319 38235586.593451 1 1 1 88 0
248997.129 756689.663 214.379 38235586.593451 1 1 1 88 0
248997.132 756689.193 214.289 38235586.593451 1 1 1 88 0
248997.155 756688.713 214.319 38235586.593451 1 1 1 88 0
248997.158 756688.243 214.299 38235586.593451 1 1 1 88 0
248997.181 756687.762 214.319 38235586.593451 1 1 1 88 0
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248999.519 756539.580 221.198 38235586.593451 1 1 1 88 0
248999.532 756539.110 221.338 38235586.593451 1 1 1 88 0
248999.535 756538.629 221.458 38235586.593451 1 1 1 88 0
248999.538 756538.119 221.458 38235586.593451 1 1 1 88 0
248999.520 756537.589 221.418 38235586.593451 1 1 1 88 0
248999.512 756537.059 221.388 38235586.593451 1 1 1 88 0
248999.494 756536.499 221.258 38235586.593451 1 1 1 88 0
248999.487 756535.979 221.238 38235586.593451 1 1 1 88 0
248999.510 756535.539 221.498 38235586.593451 1 1 1 88 0
248999.544 756535.108 221.748 38235586.593451 1 1 1 88 0
248999.526 756534.558 221.658 38235586.593451 1 1 1 88 0
248999.539 756534.098 221.828 38235586.593451 1 1 1 88 0
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248999.579 756532.687 222.258 38235586.593451 1 1 1 88 0
248999.602 756532.226 222.428 38235586.593451 1 1 1 88 0
248999.625 756531.776 222.648 38235586.593451 1 1 1 88 0
248999.628 756531.296 222.748 38235586.593451 1 1 1 88 0
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248999.668 756529.875 223.158 38235586.593451 1 1 1 88 0
248999.670 756529.375 223.228 38235586.593451 1 1 1 88 0
248999.663 756528.844 223.208 38235586.593451 1 1 1 88 0
248999.645 756528.315 223.188 38235586.593451 1 1 1 88 0
248999.648 756527.824 223.258 38235586.593451 1 1 1 88 0
248999.640 756527.284 223.238 38235586.593451 1 1 1 88 0
248999.632 756526.754 223.198 38235586.593451 1 1 1 88 0
248999.625 756526.244 223.228 38235586.593451 1 1 1 88 0
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248999.612 756522.653 223.458 38235586.593451 1 1 1 88 0
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248999.597 756519.582 223.728 38235586.593451 1 1 1 88 0
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248999.582 756518.522 223.698 38235586.593451 1 1 1 88 0
248999.574 756518.002 223.728 38235586.593451 1 1 1 88 0
248999.566 756517.462 223.708 38235586.593451 1 1 1 88 0
248999.559 756516.942 223.718 38235586.593451 1 1 1 88 0
248999.561 756516.402 223.688 38235586.593451 1 1 1 88 0
248999.553 756515.872 223.708 38235586.593451 1 1 1 88 0
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248999.569 756514.901 223.948 38235586.593451 1 1 1 88 0
248999.561 756514.381 223.958 38235586.593451 1 1 1 88 0
248999.564 756513.881 224.068 38235586.593451 1 1 1 88 0
248999.556 756513.351 224.058 38235586.593451 1 1 1 88 0
248999.538 756512.801 224.028 38235586.593451 1 1 1 88 0
248999.541 756512.281 224.048 38235586.593451 1 1 1 88 0
248999.512 756511.711 223.958 38235586.593451 1 1 1 88 0
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248999.513 756509.680 224.238 38235586.593451 1 1 1 88 0
248999.505 756509.130 224.208 38235586.593451 1 1 1 88 0
248999.497 756508.600 224.228 38235586.593451 1 1 1 88 0
248999.500 756508.100 224.318 38235586.593451 1 1 1 88 0
248999.513 756507.620 224.458 38235586.593451 1 1 1 88 0
248999.484 756507.050 224.358 38235586.593451 1 1 1 88 0
248999.456 756506.450 224.228 38235586.593451 1 1 1 88 0
248999.458 756505.940 224.297 38235586.593451 1 1 1 88 0
248999.471 756505.470 224.467 38235586.593451 1 1 1 88 0
248999.464 756504.940 224.477 38235586.593451 1 1 1 88 0
248999.466 756504.429 224.567 38235586.593451 1 1 1 88 0
248999.469 756503.929 224.647 38235586.593451 1 1 1 88 0
248999.451 756503.369 224.607 38235586.593451 1 1 1 88 0
248999.443 756502.819 224.587 38235586.593451 1 1 1 88 0
248999.445 756502.329 224.697 38235586.593451 1 1 1 88 0
248999.448 756501.809 224.767 38235586.593451 1 1 1 88 0
248999.420 756501.239 224.687 38235586.593451 1 1 1 88 0
248999.422 756500.739 224.797 38235586.593451 1 1 1 88 0
248999.435 756500.239 224.897 38235586.593451 1 1 1 88 0
248999.406 756499.649 224.787 38235586.593451 1 1 1 88 0
248999.419 756499.178 224.957 38235586.593451 1 1 1 88 0
248999.433 756498.718 225.167 38235586.593451 1 1 1 88 0
248999.425 756498.168 225.147 38235586.593451 1 1 1 88 0
248999.407 756497.608 225.107 38235586.593451 1 1 1 88 0
248999.409 756497.098 225.197 38235586.593451 1 1 1 88 0
248999.412 756496.618 225.347 38235586.593451 1 1 1 88 0
248999.435 756496.157 225.547 38235586.593451 1 1 1 88 0
248999.438 756495.667 225.677 38235586.593451 1 1 1 88 0
248999.441 756495.167 225.787 38235586.593451 1 1 1 88 0
248999.443 756494.657 225.857 38235586.593451 1 1 1 88 0
248999.446 756494.136 225.927 38235586.593451 1 1 1 88 0
248999.438 756493.616 225.997 38235586.593451 1 1 1 88 0
248999.462 756493.166 226.217 38235586.593451 1 1 1 88 0
248999.475 756492.696 226.407 38235586.593451 1 1 1 88 0
248999.467 756492.175 226.467 38235586.593451 1 1 1 88 0
248999.470 756491.665 226.537 38235586.593451 1 1 1 88 0
248999.473 756491.175 226.687 38235586.593451 1 1 1 88 0
248999.475 756490.675 226.787 38235586.593451 1 1 1 88 0
248999.478 756490.145 226.837 38235586.593451 1 1 1 88 0
248999.470 756489.635 226.937 38235586.593451 1 1 1 88 0
248999.482 756489.104 226.967 38235586.593451 1 1 1 88 0
248999.475 756488.574 227.037 38235586.593451 1 1 1 88 0
248999.467 756488.024 227.027 38235586.593451 1 1 1 88 0
248999.449 756487.474 227.037 38235586.593451 1 1 1 88 0
248999.451 756486.954 227.127 38235586.593451 1 1 1 88 0
248999.433 756486.404 227.127 38235586.593451 1 1 1 88 0
248999.446 756485.914 227.257 38235586.593451 1 1 1 88 0
248999.428 756485.354 227.257 38235586.593451 1 1 1 88 0
248999.409 756484.764 227.187 38235586.593451 1 1 1 88 0
248999.402 756484.254 227.287 38235586.593451 1 1 1 88 0
248999.404 756483.724 227.337 38235586.593451 1 1 1 88 0
248999.375 756483.114 227.217 38235586.593451 1 1 1 88 0
248999.367 756482.594 227.307 38235586.593451 1 1 1 88 0
248999.359 756482.024 227.287 38235586.593451 1 1 1 88 0
248999.351 756481.494 227.347 38235586.593451 1 1 1 88 0
248999.333 756480.924 227.317 38235586.593451 1 1 1 88 0
248999.325 756480.384 227.357 38235586.593451 1 1 1 88 0
248999.307 756479.804 227.317 38235586.593451 1 1 1 88 0
248999.299 756479.254 227.337 38235586.593451 1 1 1 88 0
248999.291 756478.724 227.387 38235586.593451 1 1 1 88 0
248999.272 756478.144 227.347 38235586.593451 1 1 1 88 0
248999.254 756477.564 227.307 38235586.593451 1 1 1 88 0
248999.257 756477.054 227.437 38235586.593451 1 1 1 88 0
248999.249 756476.524 227.487 38235586.593451 1 1 1 88 0
248999.244 756475.493 227.697 38235586.593451 1 1 1 88 0
248999.246 756474.953 227.767 38235586.593451 1 1 1 88 0
248999.185 756472.183 227.867 38235586.593451 1 1 1 88 0
248999.180 756471.133 228.057 38235586.593451 1 1 1 88 0
248999.182 756470.613 228.137 38235586.593451 1 1 1 88 0
248999.175 756470.083 228.227 38235586.593451 1 1 1 88 0
248999.187 756469.582 228.367 38235586.593451 1 1 1 88 0
248999.180 756469.062 228.467 38235586.593451 1 1 1 88 0
248999.182 756468.532 228.547 38235586.593451 1 1 1 88 0
248999.185 756468.032 228.677 38235586.593451 1 1 1 88 0
248999.177 756467.502 228.767 38235586.593451 1 1 1 88 0
248999.201 756467.061 229.017 38235586.593451 1 1 1 88 0
248999.182 756466.481 229.027 38235586.593451 1 1 1 88 0
248999.164 756465.901 228.997 38235586.593451 1 1 1 88 0
248999.166 756465.391 229.117 38235586.593451 1 1 1 88 0
248999.158 756464.851 229.187 38235586.593451 1 1 1 88 0
248999.182 756464.401 229.437 38235586.593451 1 1 1 88 0
248999.184 756463.890 229.557 38235586.593451 1 1 1 88 0
248999.177 756463.360 229.657 38235586.593451 1 1 1 88 0
248999.201 756462.940 229.947 38235586.593451 1 1 1 88 0
248999.192 756462.390 229.997 38235586.593451 1 1 1 88 0
248999.226 756461.939 230.247 38235586.593451 1 1 1 88 0
248999.218 756461.389 230.297 38235586.593451 1 1 1 88 0
248999.231 756460.919 230.507 38235586.593451 1 1 1 88 0
248999.234 756460.409 230.637 38235586.593451 1 1 1 88 0
248999.226 756459.869 230.697 38235586.593451 1 1 1 88 0
248999.218 756459.328 230.777 38235586.593451 1 1 1 88 0
248999.242 756458.908 231.087 38235586.593451 1 1 1 88 0
248999.244 756458.388 231.207 38235586.593451 1 1 1 88 0
248999.268 756457.977 231.507 38235586.593451 1 1 1 88 0
248999.239 756457.358 231.447 38235586.593451 1 1 1 88 0
248999.252 756456.867 231.607 38235586.593451 1 1 1 88 0
248999.254 756456.357 231.747 38235586.593451 1 1 1 88 0
248999.246 756455.807 231.797 38235586.593451 1 1 1 88 0
248999.260 756455.367 232.067 38235586.593451 1 1 1 88 0
248999.252 756454.797 232.097 38235586.593451 1 1 1 88 0
248999.255 756454.306 232.257 38235586.593451 1 1 1 88 0
248999.268 756453.846 232.487 38235586.593451 1 1 1 88 0
248999.270 756453.316 232.587 38235586.593451 1 1 1 88 0
248999.252 756452.756 232.627 38235586.593451 1 1 1 88 0
248999.254 756452.246 232.777 38235586.593451 1 1 1 88 0
248999.246 756451.686 232.827 38235586.593451 1 1 1 88 0
248999.249 756451.175 232.957 38235586.593451 1 1 1 88 0
248999.252 756450.675 233.117 38235586.593451 1 1 1 88 0
248999.233 756450.095 233.147 38235586.593451 1 1 1 88 0
248999.225 756449.545 233.197 38235586.593451 1 1 1 88 0
248999.238 756449.055 233.387 38235586.593451 1 1 1 88 0
248999.251 756448.595 233.617 38235586.593451 1 1 1 88 0
248999.243 756448.044 233.687 38235586.593451 1 1 1 88 0
248999.235 756447.504 233.777 38235586.593451 1 1 1 88 0
248999.227 756446.934 233.807 38235586.593451 1 1 1 88 0
248999.209 756446.374 233.867 38235586.593451 1 1 1 88 0
248999.190 756445.774 233.847 38235586.593451 1 1 1 88 0
248999.192 756445.244 233.947 38235586.593451 1 1 1 88 0
248999.174 756444.654 233.947 38235586.593451 1 1 1 88 0
248999.176 756444.164 234.137 38235586.593451 1 1 1 88 0
248999.201 756443.764 234.477 38235586.593451 1 1 1 88 0
248999.213 756443.253 234.627 38235586.593451 1 1 1 88 0
248999.195 756442.673 234.657 38235586.593451 1 1 1 88 0
248999.187 756442.153 234.787 38235586.593451 1 1 1 88 0
248999.179 756441.593 234.857 38235586.593451 1 1 1 88 0
248999.181 756441.073 234.977 38235586.593451 1 1 1 88 0
248999.184 756440.563 235.137 38235586.593451 1 1 1 88 0
248999.176 756440.023 235.237 38235586.593451 1 1 1 88 0
248999.157 756439.423 235.227 38235586.593451 1 1 1 88 0
248999.112 756437.693 235.337 38235586.593451 1 1 1 88 0
248999.104 756437.123 235.387 38235586.593451 1 1 1 88 0
248999.096 756436.573 235.477 38235586.593451 1 1 1 88 0
248999.088 756436.033 235.577 38235586.593451 1 1 1 88 0
248999.036 756433.173 235.837 38235586.593451 1 1 1 88 0
248999.018 756432.593 235.887 38235586.593451 1 1 1 88 0
248999.020 756432.063 236.007 38235586.593451 1 1 1 88 0
248999.012 756431.532 236.147 38235586.593451 1 1 1 88 0
248998.993 756430.923 236.147 38235586.593451 1 1 1 88 0
248998.996 756430.402 236.287 38235586.593451 1 1 1 88 0
248998.988 756429.862 236.387 38235586.593451 1 1 1 88 0
248998.990 756429.362 236.587 38235586.593451 1 1 1 88 0
248998.982 756428.812 236.677 38235586.593451 1 1 1 88 0
248998.984 756428.272 236.787 38235586.593451 1 1 1 88 0
248998.966 756427.682 236.827 38235586.593451 1 1 1 88 0
248998.947 756427.092 236.867 38235586.593451 1 1 1 88 0
248998.971 756426.642 237.137 38235586.593451 1 1 1 88 0
248998.931 756425.992 237.067 38235586.593451 1 1 1 88 0
248998.944 756425.502 237.277 38235586.593451 1 1 1 88 0
248998.957 756425.021 237.497 38235586.593451 1 1 1 88 0
248998.960 756424.541 237.717 38235586.593451 1 1 1 88 0
248998.973 756424.051 237.917 38235586.593451 1 1 1 88 0
248998.975 756423.540 238.097 38235586.593451 1 1 1 88 0
248998.968 756423.020 238.247 38235586.593451 1 1 1 88 0
248998.960 756422.450 238.317 38235586.593451 1 1 1 88 0
248998.962 756421.910 238.457 38235586.593451 1 1 1 88 0
248998.954 756421.360 238.547 38235586.593451 1 1 1 88 0
248998.946 756420.840 238.717 38235586.593451 1 1 1 88 0
248998.970 756420.420 239.037 38235586.593451 1 1 1 88 0
248998.962 756419.849 239.107 38235586.593451 1 1 1 88 0
248998.954 756419.309 239.247 38235586.593451 1 1 1 88 0
248998.956 756418.799 239.417 38235586.593451 1 1 1 88 0
248998.969 756418.319 239.637 38235586.593451 1 1 1 88 0
248998.972 756417.829 239.857 38235586.593451 1 1 1 88 0
248998.995 756417.378 240.117 38235586.593451 1 1 1 88 0
248999.009 756416.938 240.407 38235586.593451 1 1 1 88 0
248998.990 756416.328 240.427 38235586.593451 1 1 1 88 0
248998.985 756415.278 240.747 38235586.593451 1 1 1 88 0
248998.998 756414.797 240.977 38235586.593451 1 1 1 88 0
248999.011 756414.337 241.237 38235586.593451 1 1 1 88 0
248999.027 756413.376 241.677 38235586.593451 1 1 1 88 0
248999.030 756412.856 241.847 38235586.593451 1 1 1 88 0
248999.032 756412.336 242.007 38235586.593451 1 1 1 88 0
248999.024 756411.776 242.127 38235586.593451 1 1 1 88 0
248993.029 756743.241 212.950 38235586.620120 1 1 1 88 0.026669025421143
248993.137 756740.358 212.820 38235586.620120 1 1 1 88 0
248993.219 756738.426 212.840 38235586.620120 1 1 1 88 0
248993.429 756733.602 212.850 38235586.620120 1 1 1 88 0
248993.534 756731.189 212.840 38235586.620120 1 1 1 88 0
248993.632 756728.317 212.760 38235586.620120 1 1 1 88 0
248993.783 756724.944 212.849 38235586.620120 1 1 1 88 0
248993.825 756724.443 213.039 38235586.620120 1 1 1 88 0
[...]
We zoom in a little more and cut out two areas that may help you with your own analysis. First we zoom in on the left side of the strip that seems to be only covered by the returns from one mirror facet for some reason (see pictures). The area covered by the pink diagonal can be out with this call.
las2las -i LAS_NN45NE_ps88.laz ^
-keep_xy 248891.38 756592.33 248943.82 756650.45 ^
-odix _sub -olaz
lasview -i LAS_NN45NE_ps88_sub.laz -steps 10000
You can then measure how far the returns from subsequent mirrors are apart from another by pressing <i> and <SHIFT>+<i> in lasview and this distance is about 1.9 meters. Hence the plane flies about 1.9 * 37.5 = 71.25 meters per second which equals 256.5 km/h or 138.5 knots. Again ... this makes sense. We also cut out another area further to the right where the scan lines from all 4 mirror facets are present
las2las -i LAS_NN45NE_ps88.laz ^
-keep_xy 248985.13 756607.61 249018.42 756640.57 ^
-odix _sub2 -olaz
lasview -i LAS_NN45NE_ps88_sub2.laz ^
-copy_user_data_into_point_source ^
-color_by_flightline -steps 10000
We see than indeed the scanner mirror facet number is stored in the user data field (mapped into the field that usually stores the flight lines and then visualized as per command line above).
Now I am speculating a bit on an unrelated topic (unrelated to the messed-up GPS time stamps):
I think that we can see that the four mirror facets of this scanner are not as perfectly calibrated such that they would create an ideal scan pattern. As far as I can tell there might be a tiny tiny tiny tilt in the mirrors (or is their rotation axis wiggling?) so that the reflections of the laser beam are not perfectly evenly spaced and - after travelling all the way from the scanner unit to the terrain below - result in four scan lines that are fairly close to another followed by a gap of around 1.1 to 1.2 meters. Ideally we would want the along-track of 1.9 meter gaps between subsequent scan lines from one mirror facet to be closed into about 50 cm gaps by adding scan lines from the other three mirror facets but here it seems that the scan lines from all four mirrors fall within an 0.8 to 0.9 meter wide band leaving a gap of 1.1 to 1.2 meters until the next set of scan lines from the next mirror revolution. Is the mirror or its rotation axis replaced / readjusted when the scanning system goes to regular maintenance?
I'd be delighted to hear back from those in charge of preparing the LAS files on why the GPS times are set this way? Was it maybe tendered this way?
Regards,
Martin @rapidlasso
PS: Want to meet rapidlasso GmbH in person and talk LiDAR, photogrammetry points and LAStools? See our schedule here: http://rapidlasso.com/events
Martin Isenburg
Oct 6, 2017, 11:19:48 PM10/6/17
to LAStools - efficient command line tools for LIDAR processing, The LAS room - a friendly place to discuss specifications of the LAS format
Hello,
The only answer received so far came in form of a tweet suggesting that per scan line rather than per laser pulse time stamping is the "standard" of Fugro LAS Processing.
Can anyone confirm this who also has data that was produced by this software called the "Fugro LAS Processor"? So are some folks at Fugro flying RIEGL Q-line scanner based systems but use their own LAS file creation software (and not RiProcess)?
Regards,
Martin
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