open full-waveform data for an urban scene
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Martin Isenburg
Jul 14, 2017, 12:24:29 PM7/14/17
to PulseWaves - no pulse left behind
Hello,
an amazing release of full-waveform LiDAR data as open data has just happened. This is the first urban scene that I know of in open full waveform and it has a very high pulse density. It was made available in the PulseWaves format.
I have attached a few teaser images. I hope some of you will download and report back what you managed to do with this unique data set.
The awesome download portal allows you to get the data either in tiles or by flight line. Carefully click the red (NE - SW) or the green (NW - SE) trajectories that are overlaid on the tiling to download the corresponding diagonal flight line.
Kudos to the team of Prof. Debra F. Laefer at the Center for Urban Science and Progress - CUSP at New York University and anyone else involved in providing our community with this unique resource for education and research.
Below a pulseinfo report for the short green flight line in the sourth west of the survey (as per map on the download site).
----------------
E:\projects\pulsetools\bin>pulseinfo -i dublin\F_150326_115601.pls
reporting all PULSE header entries:
file signature: 'PulseWavesPulse'
global parameters: 0
file source ID: 0
project ID GUID data 1-4: 0C1AB076-F9C5-4A2A-108E-CBD30B2557C3
system identifier: 'RiPROCESS 1.6.5'
generating software: 'PulseWaves DLL 0.3 r11 (140921) by rapidlasso'
file creation day/year: 233/2015
version major.minor: 0.3
header size: 352
offset to pulse data: 9271
number of pulses: 15638619
pulse format: 0
pulse attributes: 0
pulse size: 48
pulse compression: 0
number vlrs: 18
number avlrs: 0
scale factor and offset t: 1e-006 0
min max T: 388562238649 388621256623
scale factor x y z: 0.001 0.001 0.001
offset x y z: 315326 233405 319
min x y z: 314701.807 233189.272 -67.860
max x y z: 315473.885 234148.047 82.052
variable length header record 1 of 18:
reserved 0
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record ID 34735
length after header 208
description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
GeoKeyDirectoryTag version 1.1.0 number of keys 25
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key 1025 tiff_tag_location 0 count 1 value_offset 2 - GTRasterTypeGeoKey: RasterPixelIsPoint
key 1026 tiff_tag_location 34737 count 40 value_offset 0 - GTCitationGeoKey: DAT1965, AiryMod1849, TM65 / Irish Grid
key 2048 tiff_tag_location 0 count 1 value_offset 32767 - GeographicTypeGeoKey: user-defined
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key 2050 tiff_tag_location 0 count 1 value_offset 32767 - GeogGeodeticDatumGeoKey: user-defined
key 2051 tiff_tag_location 0 count 1 value_offset 32767 - GeogPrimeMeridianGeoKey: look-up for 32767 not implemented
key 2052 tiff_tag_location 0 count 1 value_offset 9001 - GeogLinearUnitsGeoKey: Linear_Meter
key 2054 tiff_tag_location 0 count 1 value_offset 9102 - GeogAngularUnitsGeoKey: Angular_Degree
key 2056 tiff_tag_location 0 count 1 value_offset 32767 - GeogEllipsoidGeoKey: look-up for 32767 not implemented
key 2057 tiff_tag_location 34736 count 1 value_offset 6 - GeogSemiMajorAxisGeoKey: 0
key 2059 tiff_tag_location 34736 count 1 value_offset 7 - GeogInvFlatteningGeoKey: 0
key 2060 tiff_tag_location 0 count 1 value_offset 9102 - GeogAzimuthUnitsGeoKey: Angular_Degree
key 2061 tiff_tag_location 34736 count 1 value_offset 5 - GeogPrimeMeridianLongGeoKey: 0
key 3072 tiff_tag_location 0 count 1 value_offset 32767 - ProjectedCSTypeGeoKey: user-defined
key 3073 tiff_tag_location 34737 count 18 value_offset 40 - PCSCitationGeoKey: TM65 / Irish Grid
key 3074 tiff_tag_location 0 count 1 value_offset 32767 - ProjectionGeoKey: user-defined
key 3075 tiff_tag_location 0 count 1 value_offset 1 - ProjCoordTransGeoKey: CT_TransverseMercator
key 3076 tiff_tag_location 0 count 1 value_offset 9001 - ProjLinearUnitsGeoKey: Linear_Meter
key 3080 tiff_tag_location 34736 count 1 value_offset 1 - ProjNatOriginLongGeoKey: 1.041019174e-253
key 3081 tiff_tag_location 34736 count 1 value_offset 0 - ProjNatOriginLatGeoKey: 2.560881348e-253
key 3082 tiff_tag_location 34736 count 1 value_offset 2 - ProjFalseEastingGeoKey: 0
key 3083 tiff_tag_location 34736 count 1 value_offset 3 - ProjFalseNorthingGeoKey: 1.154509071e-298
key 3092 tiff_tag_location 34736 count 1 value_offset 4 - ProjScaleAtNatOriginGeoKey: 0
key 4099 tiff_tag_location 0 count 1 value_offset 9001 - VerticalUnitsGeoKey: Linear_Meter
variable length header record 2 of 18:
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description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
GeoDoubleParamsTag (number of doubles 8)
2.56088e-253 1.04102e-253 0 1.15451e-298 0 0 0 0
variable length header record 3 of 18:
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description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
GeoAsciiParamsTag (number of characters 79)
DAT1965, AiryMod1849, TM65 / Irish Grid|TM65 / Irish Grid|DAT1965, AiryMod1849|
variable length header record 4 of 18:
reserved 0
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description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
PULSEscanner 1
instrument: 'Q680i'
serial: '9998868'
wave_length: 1550 [nanometer]
outgoing_pulse_width: 4 [nanoseconds]
scan_pattern: 2 ('line')
number_of_mirror_facets: 4
scan_frequency: 106.7 [hertz]
scan_angle_min: -30 [degree]
scan_angle_max: 30 [degree]
pulse_frequency: 400 [kilohertz]
beam_diameter_at_exit_aperture: 10 [millimeters]
beam_divergence: 0.5 [milliradians]
minimal_range: 0 [meters]
maximal_range: 0 [meters]
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variable length header record 5 of 18:
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PULSEtable 1
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PULSElookupTable 0
number_entries: 256
unit_of_measurement: 1
data_type: 8 ('float')
description: 'amplitude conversion table for low channel'
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variable length header record 6 of 18:
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description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
PULSEtable 2
number_tables: 1
description: 'PulseWaves DLL 0.3 r11 (140921) by rapidlasso'
PULSElookupTable 0
number_entries: 256
unit_of_measurement: 1
data_type: 8 ('float')
description: 'amplitude conversion table for high channel'
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description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
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description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
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description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
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description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
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sample_units: 1 [nanoseconds]
scanner_index: 1
compression: 0
description: '1 x RP, 3 x LP, 1 x HP'
sampling[0]
type: 1 ('outgoing')
channel: 3
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 0
bits_for_number_of_samples: 16
number_of_segments: 1
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 1
sample_units: 1.0 [nanoseconds]
compression: 0
description: '1 reference segment(s)'
sampling[1]
type: 2 ('returning')
channel: 1
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 0
bits_for_number_of_samples: 16
number_of_segments: 3
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 1
sample_units: 1.0 [nanoseconds]
compression: 0
description: '3 lowpower segment(s)'
sampling[2]
type: 2 ('returning')
channel: 0
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 0
bits_for_number_of_samples: 16
number_of_segments: 1
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 2
sample_units: 1.0 [nanoseconds]
compression: 0
description: '1 highpower segment(s)'
variable length header record 15 of 18:
reserved 0
user ID 'PulseWaves_Spec'
record ID 200009
length after header 404
description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
PULSEdescriptor 9
optical_center_to_anchor_point: 0x0 ('coincide')
number_of_extra_waves_bytes: 0
number_of_samplings: 3
sample_units: 1 [nanoseconds]
scanner_index: 1
compression: 0
description: '1 x RP, 3 x LP, 2 x HP'
sampling[0]
type: 1 ('outgoing')
channel: 3
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 0
bits_for_number_of_samples: 16
number_of_segments: 1
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 1
sample_units: 1.0 [nanoseconds]
compression: 0
description: '1 reference segment(s)'
sampling[1]
type: 2 ('returning')
channel: 1
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 0
bits_for_number_of_samples: 16
number_of_segments: 3
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 1
sample_units: 1.0 [nanoseconds]
compression: 0
description: '3 lowpower segment(s)'
sampling[2]
type: 2 ('returning')
channel: 0
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 0
bits_for_number_of_samples: 16
number_of_segments: 2
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 2
sample_units: 1.0 [nanoseconds]
compression: 0
description: '2 highpower segment(s)'
variable length header record 16 of 18:
reserved 0
user ID 'PulseWaves_Spec'
record ID 200010
length after header 404
description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
PULSEdescriptor 10
optical_center_to_anchor_point: 0x0 ('coincide')
number_of_extra_waves_bytes: 0
number_of_samplings: 3
sample_units: 1 [nanoseconds]
scanner_index: 1
compression: 0
description: '1 x RP, 3 x LP, 3 x HP'
sampling[0]
type: 1 ('outgoing')
channel: 3
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 0
bits_for_number_of_samples: 16
number_of_segments: 1
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 1
sample_units: 1.0 [nanoseconds]
compression: 0
description: '1 reference segment(s)'
sampling[1]
type: 2 ('returning')
channel: 1
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 0
bits_for_number_of_samples: 16
number_of_segments: 3
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 1
sample_units: 1.0 [nanoseconds]
compression: 0
description: '3 lowpower segment(s)'
sampling[2]
type: 2 ('returning')
channel: 0
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 0
bits_for_number_of_samples: 16
number_of_segments: 3
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 2
sample_units: 1.0 [nanoseconds]
compression: 0
description: '3 highpower segment(s)'
variable length header record 17 of 18:
reserved 0
user ID 'PulseWaves_Spec'
record ID 200011
length after header 404
description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
PULSEdescriptor 11
optical_center_to_anchor_point: 0x0 ('coincide')
number_of_extra_waves_bytes: 0
number_of_samplings: 3
sample_units: 1 [nanoseconds]
scanner_index: 1
compression: 0
description: 'out+return(s), vary'
sampling[0]
type: 1 ('outgoing')
channel: 3
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 8
bits_for_number_of_samples: 16
number_of_segments: 0
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 1
sample_units: 1.0 [nanoseconds]
compression: 0
description: 'outgoing, reference, vary'
sampling[1]
type: 2 ('returning')
channel: 1
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 8
bits_for_number_of_samples: 16
number_of_segments: 0
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 1
sample_units: 1.0 [nanoseconds]
compression: 0
description: 'returning, lowpower, vary'
sampling[2]
type: 2 ('returning')
channel: 0
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 8
bits_for_number_of_samples: 16
number_of_segments: 0
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 2
sample_units: 1.0 [nanoseconds]
compression: 0
description: 'returning, highpower, vary'
variable length header record 18 of 18:
reserved 0
user ID 'PulseWaves_Spec'
record ID 200012
length after header 300
description 'PulseWaves 0.3 r11 (140921) by rapidlasso'
PULSEdescriptor 12
optical_center_to_anchor_point: 0x0 ('coincide')
number_of_extra_waves_bytes: 0
number_of_samplings: 2
sample_units: 1 [nanoseconds]
scanner_index: 1
compression: 0
description: 'out+return(s), lowpower only'
sampling[0]
type: 1 ('outgoing')
channel: 3
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 8
bits_for_number_of_samples: 16
number_of_segments: 0
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 1
sample_units: 1.0 [nanoseconds]
compression: 0
description: 'outgoing, reference, vary'
sampling[1]
type: 2 ('returning')
channel: 1
bits_for_duration_from_anchor: 32
scale_for_duration_from_anchor: 0.00667311
offset_for_duration_from_anchor: 0
bits_for_number_of_segments: 8
bits_for_number_of_samples: 16
number_of_segments: 0
number_of_samples: 0
bits_per_sample: 8
lookup_table_index: 1
sample_units: 1.0 [nanoseconds]
compression: 0
description: 'returning, lowpower, vary'
reporting minimum and maximum for all PULSE record entries ...
T 388562238649 388621256623
offset 60 1666809168
anchor_X -546770 47122
anchor_Y -52087 564812
anchor_Z -21927 1660
target_X -581282 89995
target_Y -121003 632351
target_Z -171689 -120129
first_returning_sample 1502 2590
last_returning_sample 1562 2982
descriptor_index 2 7
reserved 0 0
edge_of_scan_line 0 1
scan_direction 1 1
mirror_facet 0 3
intensity 0 0
classification 0 0
min x y z 314701.808 233189.273 -67.859
max x y z 315473.884 234148.046 82.051
Martin Isenburg
Jul 14, 2017, 3:14:49 PM7/14/17
to PulseWaves - no pulse left behind
Hello,
interesting is that the way that the RIEGL encodes differently samples pulses with different "pulse descriptors" already gives a bit of a "pre-classification" of what the pulse might have been hitting in the city. When we code the end-of-recording sample by the "pulse descriptor" then we can see that some sides of building receive many more pulses that are sampled one way, then other parts of the scene.
The shown points are the end of recording samples (i.e. the last sample recorded) from each pulse. Their color indicates differently sampled waveform recordings. Yellow means a single segment with only the low-channel recorded (this is from a RIEGL scanner), orange means a single segment with both low- and high-channel recorded. Violet means two segments with only the low-channel recorded.
It seems that a part of the building roof was translucent occasionally letting the laser through. The "violet shadow" on the ground clearly corresponds to a feature of this roof.
Regards,
Martin @rapidlasso
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