Intrinsic and Extrinsic Calibration Data From USGS CoastCam deployed at Madeira Beach, Florida

Frequently anticipated questions:

• What does this data set describe?
  1. How might this data set be cited?
  2. What geographic area does the data set cover?
  3. What does it look like?
  4. Does the data set describe conditions during a particular time period?
  5. What is the general form of this data set?
  6. How does the data set represent geographic features?
  7. How does the data set describe geographic features?
• Who produced the data set?
  1. Who are the originators of the data set?
  2. Who also contributed to the data set?
  3. To whom should users address questions about the data?
• Why was the data set created?
• How was the data set created?
  1. From what previous works were the data drawn?
  2. How were the data generated, processed, and modified?
  3. What similar or related data should the user be aware of?
• How reliable are the data; what problems remain in the data set?
  1. How well have the observations been checked?
  2. How accurate are the geographic locations?
  3. How accurate are the heights or depths?
  4. Where are the gaps in the data? What is missing?
  5. How consistent are the relationships among the data, including topology?
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• Who wrote the metadata?

What does this data set describe?

1. How might this data set be cited?
   Brown, Jenna A., Birchler, Justin J., Karwandyar, Sharifa, Swanson, Eric, and Palmsten, Margaret L., 20230825, Intrinsic and Extrinsic Calibration Data From USGS CoastCam deployed at Madeira Beach, Florida:.

   This is part of the following larger work.
   Brown, Jenna A., Birchler, Justin J., Karwandyar, Sharifa, Swanson, Eric, and Palmsten, Margaret L., 20230823, USGS Madeira Beach, Florida CoastCam Imagery and Calibration Data: U.S. Geological Survey data release doi:10.5066/P9SGRTF1, U.S. Geological Survey - St. Petersburg Coastal and Marine Science Center, St. Petersburg, Florida.

   Online Links:

   • https://doi.org/10.5066/P9SGRTF1

2. What geographic area does the data set cover?

   West_Bounding_Coordinate: -82.79837611
   East_Bounding_Coordinate: -82.7964421
   North_Bounding_Coordinate: 27.79776803
   South_Bounding_Coordinate: 27.79620633
   

3. What does it look like?

   c1MadeiraBeachFL_calibrationIOEO_exampleimagery.zip (JPEG)

   Zip file containing the following examples: A) Image used in intrinsic orientation (IO) calibration (c1_20161130_IO_0000.jpg) and B) Image used in extrinsic orientation (EO) calibration (c1_20170919_MadeiraBeachFL_GCP_image_annotated.jpg) and the target numbers for use in the CIRN Toolbox that correspond to the numbers in the c1_20170919_MadeiraBeachFL_EO_GCPsurvey.csv.

4. Does the data set describe conditions during a particular time period?

   Calendar_Date: 30-Nov-2016

   Currentness_Reference:

   ground condition

5. What is the general form of this data set?

   Geospatial_Data_Presentation_Form: tabular digital data, raster digital data
   

6. How does the data set represent geographic features?
   1. How are geographic features stored in the data set?
      
   2. What coordinate system is used to represent geographic features?
      

      Grid_Coordinate_System_Name: Universal Transverse Mercator
      Universal_Transverse_Mercator:

      UTM_Zone_Number: 17
      Transverse_Mercator:

      Scale_Factor_at_Central_Meridian: 0.9996
      Longitude_of_Central_Meridian: -81.0
      Latitude_of_Projection_Origin: 0.0
      False_Easting: 500000.0
      False_Northing: 0.0
      

      Planar coordinates are encoded using row and column
      Abscissae (x-coordinates) are specified to the nearest 1
      Ordinates (y-coordinates) are specified to the nearest 1
      Planar coordinates are specified in meters
      The horizontal datum used is NAD83_National_Spatial_Reference_System_2011.
      The ellipsoid used is Geodetic Reference System 80.
      The semi-major axis of the ellipsoid used is 6378137.000000.
      The flattening of the ellipsoid used is 1/298.257222101.
      

      Vertical_Coordinate_System_Definition:

      Altitude_System_Definition:

      Altitude_Datum_Name: North American Vertical Datum of 1988
      Altitude_Resolution: 0.001
      Altitude_Distance_Units: meters
      Altitude_Encoding_Method:

      Explicit elevation coordinate included with horizontal coordinates

7. How does the data set describe geographic features?

   c1_20161130_IO.json

   JSON file containing the solved intrinsic orientation (IO) from step A in the Camera Calibration procedures outlined in Bruder and Brodie (2020). (Source: USGS)

   NU

   the number of pixel columns (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	2448
   Maximum:	2448
   Units:	pixel

   NV

   the number of pixel rows (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	2048
   Maximum:	2048
   Units:	pixel

   coU

   U component of principal point (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	1277.09314682660
   Maximum:	1277.09314682660
   Units:	pixel

   coV

   V component of principal point (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	994.264160394006
   Maximum:	994.264160394006
   Units:	pixel

   fx

   U component of focal length in pixels (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	3518.92473711821
   Maximum:	3518.92473711821
   Units:	pixels

   fy

   V component of focal length in pixels (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	3505.59066329524
   Maximum:	3505.59066329524
   Units:	pixels

   d1

   Radial distortion coefficient (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	-0.369949938809115
   Maximum:	-0.369949938809115

   d2

   Radial distortion coefficient (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	0.150529438621191
   Maximum:	0.150529438621191

   d3

   Radial distortion coefficient (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	0.823142233565792
   Maximum:	0.823142233565792

   t1

   Tangential distortion coefficient (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	0.000733754639518832
   Maximum:	0.000733754639518832

   t2

   Tangential distortion coefficient (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	0.00239949609664961
   Maximum:	0.00239949609664961

   c1_20161130_MadeiraBeachFL_EO_GCPsurvey.csv, c1_20170217_MadeiraBeachFL_EO_GCPsurvey.csv, and c1_20170919_MadeiraBeachFL_EO_GCPsurvey.csv

   The CSV files containing the location (x,y,z, and zOffset) of the ground control points (black and white targets) in the CoastCam field of view. (Source: USGS)

   GCP

   Labeled identification of each GCP that can be found in c1_20161130_MadeiraBeachFL_GCP_image_annotated.jpg, c1_20170217_MadeiraBeachFL_GCP_image_annotated.jpg, and c1_20170919_MadeiraBeachFL_GCP_image_annotated.jpg so that targets can be labeled correctly in Step B of Camera Calibration steps in Bruder and Brodie (2020). (Source: U.S. Geological Survey)

   Range of values
   Minimum:	1
   Maximum:	10

   Easting (UTM)

   Post-Processed Kinematic (PPK) X-coordinates in NAD83(2011)/UTM Zone 17N (Source: U.S. Geological Survey)

   Range of values
   Minimum:	322833.559
   Maximum:	323021.8
   Units:	meters

   Northing (UTM)

   Post-Processed Kinematic (PPK) Y-coordinates in NAD83(2011)/UTM Zone 17N (Source: U.S. Geological Survey)

   Range of values
   Minimum:	3075921.578
   Maximum:	3076097.357
   Units:	meters

   Lon

   Longitude (decimal degrees) in NAD83(2011) (Source: U.S. Geological Survey)

   Range of values
   Minimum:	-82.79837611
   Maximum:	-82.7964421
   Units:	decimal degrees

   Lat

   Latitude (decimal degrees) in NAD83 (2011) (Source: U.S. Geological Survey)

   Range of values
   Minimum:	27.79620633
   Maximum:	27.79776803
   Units:	decimal degrees

   z

   Post-Processed Kinematic (PPK) Z-coordinates in NAD83(2011)/UTM Zone 17N referenced to NAVD88, in meters. A positive z value is the up direction. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	-0.983
   Maximum:	2.043
   Units:	meters

   zOffset

   The zOffset represents the standing elevation of the center of the GCP, in meters, if the GCP was propped up in order to be visible in the image. A positive zOffset value is the up direction. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	0.000
   Maximum:	0.696
   Units:	meters

   gcpUsed

   Indicates whether GCP was used to solve for extrinsic orientation, where 0 indicates not used and 1 indicates used. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	0
   Maximum:	1

   Description

   Location of each ground control point (GCP) placed within the camera's field of view (FOV) to solve for extrinsic orientation. (Source: U.S. Geological Survey) GCP locations within the camera's FOV

   c1_20161130_MadeiraBeachFL_EO.json, c1_20170217_MadeiraBeachFL_EO.json, and c1_20170919_MadeiraBeachFL_EO.json

   JSON files containing the solved extrinsic orientation (EO) from Step C in the Camera Calibration procedures outlined in Bruder and Brodie (2020). The ranges represent the min and max values across all three JSON files. (Source: USGS)

   azimuth

   The horizontal direction the camera is pointing and positive clockwise (CW) from World Y Axis. (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	157.139316
   Maximum:	157.745249
   Units:	Angle units in degrees

   tilt

   The up/down tilt of the camera. 0 is the camera looking nadir, 90 is the camera looking at the horizon right side up, 180 is looking directly up, and so on. (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	79.769978
   Maximum:	80.182463
   Units:	Angle units in degrees

   roll

   The side-to-side tilt of the camera. 0 degrees is a horizontal flat camera. Looking from behind the camera, counterclockwise (CCW) rotation of the camera would result in a positive roll. (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	1.968700
   Maximum:	2.751242
   Units:	Angle units in degrees

   camera - Easting (UTM)

   X-coordinate in NAD83(2011)/UTM Zone 17N of camera position on rooftop. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	323055.067
   Maximum:	323056.015
   Units:	meters

   camera - Northing (UTM)

   Y-coordinate in NAD83(2011)/UTM Zone 17N of camera position on rooftop. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	3075921.557
   Maximum:	3075922.214
   Units:	meters

   camera - z (m)

   Z-coordinates referenced to NAVD88 in meters of GEOID12B. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	18.118
   Maximum:	19.228
   Units:	meters

   Entity_and_Attribute_Overview:

   There are a total of 1,086 intrinsic orientation (IO) JPEG images. The filename for each IO image is formatted as "c1_20161130_IO_####", where the number (####) is the original photo ID. There are a total of 6 extrinsic orientation (EO) JPEG images. The filename for each EO image is formatted as "c1_date_MadeiraBeachFL_GCP_image_imagetype". Where the date is in YYYYMMDD format and the imagetype is either 'raw' or 'annotated'. These images have EXIF and other imagery header information encoded within each file, see the process steps for more information.

   Entity_and_Attribute_Detail_Citation:

   The entity and attribute information were generated by the individual and/or agency identified as the originator of the dataset. Please review the rest of the metadata record for additional details and information.

   Entity_and_Attribute_Overview:

   To place the photos taken by the CoastCam into real world coordinates and to rectify them into a planar view, objects within the field of view of the camera must be located. The elevation and position of the lenses in the CoastCam setup were measured with the PPK GPS. The CoastCam took pictures of the position of each target within the camera view. Each '_EO' zip folder contains the GCP CSV file, the resultant EO parameters in a JSON file, and a 'raw' and 'annotated' image of the GCPs. CSV files (c1_20161130_MadeiraBeachFL_EO_GCPsurvey.csv, c1_20170217_MadeiraBeachFL_EO_GCPsurvey.csv, and c1_20170919_MadeiraBeachFL_EO_GCPsurvey.csv) with all the measurements were populated and GCP numbers were hand labeled on the annotated images (c1_20161130_MadeiraBeachFL_GCP_image_annotated.jpg, c1_20170217_MadeiraBeachFL_GCP_image_annotated.jpg, and c1_20170919_MadeiraBeachFL_GCP_image_annotated.jpg) so that the targets could be labeled correctly in Step B of the Camera Calibration steps in Bruder and Brodie (2020). There are a total of 6 JPEGs. Images have EXIF and other imagery header information encoded within each file, see the process steps for more information.

   Entity_and_Attribute_Detail_Citation:

   The entity and attribute information were generated by the individual and/or agency identified as the originator of the dataset. Please review the rest of the metadata record for additional details and information.

Who produced the data set?

1. Who are the originators of the data set? (may include formal authors, digital compilers, and editors)
   • Jenna A. Brown
   • Justin J. Birchler
   • Sharifa Karwandyar
   • Eric Swanson
   • Margaret L. Palmsten
2. Who also contributed to the data set?
3. To whom should users address questions about the data?
   Justin J. Birchler

   U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center

   Physical Scientist

   600 4th Street South

   Saint Petersburg, FL
   

   USA

   727-502-8019 (voice)

   jbirchler@usgs.gov

Why was the data set created?

How was the data set created?

1. From what previous works were the data drawn?
2. How were the data generated, processed, and modified?

   Date: 30-Nov-2016 (process 1 of 4)

   The CoastCam was used to take IO photos. This involves slightly tilting a printed checkerboard with 2.7-centimeter (cm) squares in various parts of the cameras field of view. An example image can be found in c1_MadeiraBeachFL_calibrationIOEO_exampleimagery.zip. There are a total of 1,086 IO images (c1_20161130_IO.zip) of which 12 were used for the intrinsic calibration. These 12 images were used in step A in the Camera Calibration procedures outlined in Bruder and Brodie (2020). The resultant parameters are stored in a JSON file located in c1_20161130_IO.zip. Image file naming format follows “c1_20161130_IO_####”, where c1 is the camera name, 20161130 is the date the images were taken (YYYYMMDD format), IO is Intrinsic Orientation, and #### is the original unique ID from the camera. Person who carried out this activity:
   

   Justin J. Birchler

   U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center

   Physical Scientist

   600 4th Street South

   Saint Petersburg, FL
   

   USA

   727-502-8019 (voice)

   jbirchler@usgs.gov

   Data sources produced in this process:

   • c1_20161130_IO_####.jpg
   • c1_20161130_IO.json

   Date: 31-Jul-2023 (process 2 of 4)

   Extrinsic orientation (EO) calibration ground control points (GCPs) were surveyed with an Ashteck Z-Xtreme Differential Global Positioning System (DGPS) Post-Processed Kinematic (PPK) receiver. GCPs were collected three times after the camera had been operational (20161130, 20170217, and 20170919). To place the photos taken by the CoastCam into real world coordinates and to rectify them into a planar view, objects within the field of view of the camera must be located. To do so, the elevation and position of the lenses in the CoastCam setup were measured with the PPK GPS. Then, multiple large square targets (ranging from 0.6 m to 1.2 m) painted white and black in opposite quadrants were propped up to face the CoastCam setup. Targets that were closest to the camera were laid flat and not propped up. The center of the target (between black and white) was measured with the PPK GPS equipment to collect ground control points. To obtain the elevation of the bottom center of the target (between black and white) closest to the sand, the 'zOffset' was subtracted from 'z'. The CoastCam took pictures of the position of each target within the camera view (raw JPEG images). The CSV files were used to hand label the raw images to generate annotated images so that the targets could be labeled correctly in Step B of the Camera Calibration steps in Bruder and Brodie (2020). The pixel coordinates of each GCP within the raw images, solved in Step B of Bruder and Brodie (2020), the GPS positions from the CSV files, and the IO parameters in the IO JSON file were used in Step C of the Camera Calibration steps in Bruder and Brodie (2020) to solve for the EO parameters. The resultant parameters for each of the three EO calibration dates are stored in a JSON file located in “c1_date_MadeiraBeachFL_EO.zip”, where the date is in YYYYMMDD format for each EO GCP calibration (20161130, 20170217, and 20170919). Person who carried out this activity:
   

   Justin J. Birchler

   U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center

   Physical Scientist

   600 4th Street South

   Saint Petersburg, FL
   

   USA

   727-502-8019 (voice)

   jbirchler@usgs.gov

   Data sources used in this process:

   • c1_20161130_IO.json
   • c1_20161130_MadeiraBeachFL_EO_GCPsurvey.csv
   • c1_20170217_MadeiraBeachFL_EO_GCPsurvey.csv
   • c1_20170919_MadeiraBeachFL_EO_GCPsurvey.csv
   • c1_20161130_MadeiraBeachFL_GCP_image_raw.jpg
   • c1_20170217_MadeiraBeachFL_GCP_image_raw.jpg
   • c1_20170919_MadeiraBeachFL_GCP_image_raw.jpg

   Data sources produced in this process:

   • c1_20161130_MadeiraBeachFL_GCP_image_annotated.jpg
   • c1_20170217_MadeiraBeachFL_GCP_image_annotated.jpg
   • c1_20170919_MadeiraBeachFL_GCP_image_annotated.jpg
   • c1_20161130_MadeiraBeachFL_EO.json
   • c1_20170217_MadeiraBeachFL_EO.json
   • c1_20170919_MadeiraBeachFL_EO.json

   Date: 12-Aug-2023 (process 3 of 4)

   All intrinsic calibration images were given additional information required by the USGS to the exchangeable image file format (EXIF) and other imagery headers using PyExifTool Python library (https://pypi.org/project/PyExifTool/, version: 0.5.5). All intrinsic photos were given EXIF header information in the directory with all the photos by assigning all the tags in a Python dictionary object to each photo using PyExifTool. The following describes the Python dictionary object with each entry in the dictionary being a tag-value pair: tags = { 'Copyright': 'Public Domain', 'CopyrightNotice': 'Public Domain - please credit U.S. Geological Survey', 'Artist': 'USGS SPCMSC', 'Make': 'Allied Vision Technology','Model': 'Prosilica GT3400','UserComment': UserComment, 'GPSLatitude': '27.7962', 'GPSLongitude': '-82.7961', 'GPSMapDatum': 'EPSG:6318 (NAD83_National_Spatial_Reference_System_2011)', 'GPSLatitudeRef': 'N', 'GPSLongitudeRef': 'W', 'GPSDateStamp': '2016-11-30', 'Credit': 'U.S. Geological Survey', 'Contact': 'gs-g-spcmsc_data_inquiries@usgs.gov', 'UsageTerms': "Unless otherwise stated, all data, metadata and related materials are considered to satisfy the quality standards relative to the purpose for which the data were collected. Although these data and associated metadata have been reviewed for accuracy and completeness and approved for release by the U.S. Geological Survey (USGS), no warranty expressed or implied is made regarding the display or utility of the data for other purposes, nor on all computer systems, nor shall the act of distribution constitute any such warranty", 'AttributionURL': 'https://doi.org/10.5066/P9SGRTF1', 'ExternalMetadataLink': 'https://www1.usgs.gov/pir/api/identifiers/USGS:eac27851-8de5-4a25-a960-8379e43e464c', 'Contributor': 'Jenna Brown, Justin Birchler, Sharifa Karwandyar, Eric Swanson, Meg Palmsten', 'XMP-photoshop:Credit': 'U.S. Geological Survey', 'iptcCore:CreatorWorkEmail': 'gs-g-spcmsc_data_inquiries@usgs.gov','Rights': 'Public Domain', 'Keywords' : "Madeira Beach, Florida, CoastCam, USGS, intrinsic calibration, snapshot, remote sensing, ground control point", 'ImageDescription': 'This image was captured from a stationary mounted camera at Madeira Beach, Florida. Field Activity Number: 2016-363-DD (https://cmgds.marine.usgs.gov/fan_info.php?fan=2016-363-DD) Other FANs referenced in calibration metadata: https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-353-FA, https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-358-FA, https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-380-FA', 'Description': 'This image was captured from a stationary mounted camera at Madeira Beach, Florida. Field Activity Number: 2016-363-DD (https://cmgds.marine.usgs.gov/fan_info.php?fan=2016-363-DD) Other FANs referenced in calibration metadata: https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-353-FA, https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-358-FA, https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-380-FA'}. If there were errors generating keywords with the Python script, additional keywords were added to the imagery headers for all of the IO images using the following command: 'exiftool -sep ", " -iptc:keywords="Madeira Beach, Florida, CoastCam, USGS, intrinsic calibration" *.jpg'. The UserComment EXIF metadata field was used to store the camera intrinsics and extrinsics in the image metadata. The UserComment has a nested dictionary structure. The highest-level dictionary contains two nested dictionaries as well as a note explaining the structure of the UserComment field. One nested dictionary contains the actual intrinsic and extrinsic data variables. The other nested dictionary contains text descriptions for each of the variables in the dictionary of data variables. To read out the imagery header information to a CSV file the command is: 'exiftool -csv *.jpg > allheaders.csv'. Specific tags may be specified with this command, if preferred. Person who carried out this activity:
   

   Justin J. Birchler

   U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center

   Physcical Scientist

   600 4th Street South

   Saint Petersburg, FL
   

   USA

   727-502-8019 (voice)

   jbirchler@usgs.gov

   Data sources produced in this process:

   • c1_20161130_IO_####.jpg

   Date: 12-Aug-2023 (process 4 of 4)

   All extrinsic calibration ground control point images were given additional information required by the USGS to the exchangeable image file format (EXIF) and other imagery headers using PyExifTool Python library (https://pypi.org/project/PyExifTool/, version: 0.5.5). All extrinsic photos were given EXIF header information in the directory with all the photos by assigning all the tags in a Python dictionary object to each photo using PyExifTool. The following describes the Python dictionary object with each entry in the dictionary being a tag-value pair: tags = { 'Copyright': 'Public Domain', 'CopyrightNotice': 'Public Domain - please credit U.S. Geological Survey', 'Artist': 'USGS SPCMSC', 'Make': 'Allied Vision Technology','Model': 'Prosilica GT3400','UserComment': UserComment, 'GPSLatitude': '27.7962', 'GPSLongitude': '-82.7961', 'GPSMapDatum': 'EPSG:6318 (NAD83_National_Spatial_Reference_System_2011)', 'GPSLatitudeRef': 'N', 'GPSLongitudeRef': 'W', 'Credit': 'U.S. Geological Survey', 'Contact': 'gs-g-spcmsc_data_inquiries@usgs.gov', 'UsageTerms': "Unless otherwise stated, all data, metadata and related materials are considered to satisfy the quality standards relative to the purpose for which the data were collected. Although these data and associated metadata have been reviewed for accuracy and completeness and approved for release by the U.S. Geological Survey (USGS), no warranty expressed or implied is made regarding the display or utility of the data for other purposes, nor on all computer systems, nor shall the act of distribution constitute any such warranty", 'AttributionURL': 'https://doi.org/10.5066/P9SGRTF1', 'ExternalMetadataLink':'https://www1.usgs.gov/pir/api/identifiers/USGS:eac27851-8de5-4a25-a960-8379e43e464c', 'Contributor': 'Jenna Brown, Justin Birchler, Sharifa Karwandyar, Eric Swanson, Meg Palmsten', 'XMP-photoshop:Credit': 'U.S. Geological Survey', 'iptcCore:CreatorWorkEmail': 'gs-g-spcmsc_data_inquiries@usgs.gov','Rights': 'Public Domain', 'Keywords' : "Madeira Beach, Florida, CoastCam, USGS, intrinsic calibration, snapshot, remote sensing, ground control point", 'ImageDescription': 'This image was captured from a stationary mounted camera at Madeira Beach, Florida. Field Activity Number: 2016-363-DD (https://cmgds.marine.usgs.gov/fan_info.php?fan=2016-363-DD) Other FANs referenced in calibration metadata: https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-353-FA, https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-358-FA, https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-380-FA', 'Description': 'This image was captured from a stationary mounted camera at Madeira Beach, Florida. Field Activity Number: 2016-363-DD (https://cmgds.marine.usgs.gov/fan_info.php?fan=2016-363-DD) Other FANs referenced in calibration metadata: https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-353-FA, https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-358-FA, https://cmgds.marine.usgs.gov/fan_info.php?fan=2017-380-FA'}. If there were errors generating keywords with the Python script, additional keywords were added to the imagery headers for all of the IO images using the following command: 'exiftool -sep ", " -iptc:keywords="Madeira Beach, Florida, CoastCam, USGS, extrinsic calibration" *.jpg'. The only tag which can have a different value from image to image is GPSDateStamp. Depending on the date the photo was captured, the value in the GPSDatestamp tag changes. The UserComment EXIF metadata field was used to store the camera intrinsics and extrinsics in the image metadata. The UserComment has a nested dictionary structure. The highest-level dictionary contains two nested dictionaries as well as a note explaining the structure of the UserComment field. One nested dictionary contains the actual intrinsic and extrinsic data variables. The other nested dictionary contains text descriptions for each of the variables in the dictionary of data variables. To read out the imagery header information to a CSV file the command is: 'exiftool -csv *.jpg > allheaders.csv'. Specific tags may be specified with this command, if preferred. Person who carried out this activity:
   

   Justin J. Birchler

   U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center

   Physical Scientist

   600 4th Street South

   Saint Petersburg, FL
   

   USA

   727-502-8019 (voice)

   jbirchler@usgs.gov

   Data sources produced in this process:

   • c1_20161130_MadeiraBeachFL_GCP_image_raw.jpg
   • c1_20170217_MadeiraBeachFL_GCP_image_raw.jpg
   • c1_20170919_MadeiraBeachFL_GCP_image_raw.jpg
   • c1_20161130_MadeiraBeachFL_GCP_image_annotated.jpg
   • c1_20170217_MadeiraBeachFL_GCP_image_annotated.jpg
   • c1_20170919_MadeiraBeachFL_GCP_image_annotated.jpg

3. What similar or related data should the user be aware of?
   Bruder, Brittany L., and Brodie, Katherine L., 20200909, CIRN Quantitative Coastal Imaging Toolbox: Elsevier SoftwareX, Online.

   Online Links:

   • https://doi.org/10.1016/j.softx.2020.100582

How reliable are the data; what problems remain in the data set?

1. How well have the observations been checked?
   Extrinsic orientation (EO) calibration ground control points (GCPs) were surveyed with an Ashteck Z-Xtreme Differential Global Positioning System (DGPS) Post-Processed Kinematic (PPK) receiver. Calibration success can be examined using the CIRN Toolbox (Bruder and Brodie, 2020) where parameters azimuth, tilt, and roll have errors less than 2 degrees. Accuracy of the extrinsic calibration was also tied to human ability to locate targets in the imagery. The camera systems were liable to move over time via wind, wear, and human interactions cleaning the camera – all of which may change the camera calibration parameters. The latest parameters are stored in the JavaScript Object Notation (JSON) files named with the date first active.
2. How accurate are the geographic locations?
   PPK equipment with decimeter horizontal accuracy collected in field activities 2017-353-FA, 2017-358-FA, and 2017-380-FA were used to validate the extrinsic camera calibration. The precise locations of the targets are used in the CIRN Quantitative Coastal Imaging Toolbox steps B and C (Bruder and Brodie, 2020). Horizontal coordinates are referenced to the North American Datum of 1983 (National Spatial Reference System 2011) Universal Transverse Mercator Zone 17 North (NAD83(2011)/UTM Zone 17N) coordinate system, with a resolution of 1 meter.
3. How accurate are the heights or depths?
   PPK equipment with centimeter vertical accuracy collected in field activities 2017-353-FA, 2017-358-FA, and 2017-380-FA were used to validate the extrinsic camera calibration. The precise locations of the targets are used in the CIRN Quantitative Coastal Imaging Toolbox steps B and C (Bruder and Brodie, 2020). Vertical positions are referenced to the North American Vertical Datum of 1988 (NAVD88) coordinate system, with a resolution of 0.001 meters.
4. Where are the gaps in the data? What is missing?
   All calibration images are provided even if not all images are necessary for calibrating the camera.
5. How consistent are the relationships among the observations, including topology?
   The camera system installed (Allied Vision Technologies Prosilica GT3400C) had an intrinsic and extrinsic calibration process. The EO process was completed on 20161130, 20170217, and 20170919 and each date consists of a JSON file of resultant EO parameters, a comma-separated values (CSV) file of GCP locations and description, and two Joint Photographic Experts Group (JPEG) images, one labeled as 'raw' and the other as 'annotated'. The intrinsic orientation (IO) calibration consists of a total of 1,086 images and the extrinsic calibration uses one “snap” photo with GCP targets that have pre-established location information. Of the 1,086 photos, 12 images that collectively covered the entire image frame were selected to solve for the intrinsic calibration. These include: c1_20161130_IO_0028.jpg, c1_20161130_IO_0082.jpg, c1_20161130_IO_0196.jpg, c1_20161130_IO_0256.jpg, c1_20161130_IO_0289.jpg, c1_20161130_IO_0345.jpg, c1_20161130_IO_0413.jpg, c1_20161130_IO_0441.jpg, c1_20161130_IO_0443.jpg, c1_20161130_IO_0451.jpg, c1_20161130_IO_0472.jpg, and c1_20161130_IO_1207.jpg. These are used in the CIRN Toolbox steps A through C. Results of the intrinsic and extrinsic calibrations are stored in separate JSON files (c1_20161130_IO.json, c1_20161130_MadeiraBeachFL_EO.json, c1_20170217_MadeiraBeachFL_EO.json, and c1_20170919_MadeiraBeachFL_EO.json).

How can someone get a copy of the data set?

1. Who distributes the data set? (Distributor 1 of 1)
   
   USGS SPCMSC Data Management Group

   U.S. Geological Survey - St. Petersburg Coastal and Marine Science Center

   600 4th Street South

   St. Petersburg, Florida
   

   USA

   727-502-8000 (voice)

   gs-g-spcmsc_data_inquiries@usgs.gov
2. What's the catalog number I need to order this data set? c1_20161130_IO_####.jpg, c1_20161130_MadeiraBeachFL_EO.json, c1_20161130_MadeiraBeachFL_EO_GCPsurvey.csv, c1_20161130_MadeiraBeachFL_GCP_image_annotated.jpg, c1_20161130_MadeiraBeachFL_GCP_image_raw.jpg, c1_20170217_MadeiraBeachFL_EO.json, c1_20170217_MadeiraBeachFL_EO_GCPsurvey.csv, c1_20170217_MadeiraBeachFL_GCP_image_annotated.jpg, c1_20170217_MadeiraBeachFL_GCP_image_raw.jpg, c1_20170919_MadeiraBeachFL_EO.json, c1_20170919_MadeiraBeachFL_EO_GCPsurvey.csv, c1_20170919_MadeiraBeachFL_GCP_image_annotated.jpg, and c1_20170919_MadeiraBeachFL_GCP_image_raw.jpg
3. What legal disclaimers am I supposed to read?
   This publication was prepared by an agency of the United States Government. Unless otherwise stated, all data, metadata and related materials are considered to satisfy the quality standards relative to the purpose for which the data were collected. Although these data and associated metadata have been reviewed for accuracy and completeness and approved for release by the U.S. Geological Survey (USGS), no warranty expressed or implied is made regarding the display or utility of the data on any other system or for general or scientific purposes, nor shall the act of distribution constitute any such warranty. Reference herein to any specific commercial product, process, or service by trade name, trademark, manufacturer, or otherwise does not constitute or imply its endorsement, recommendation, or favoring by the United States Government or any agency thereof. Any use of trade, firm, or product names is for descriptive purposes only and does not imply endorsement by the U.S. Government. Although these data have been processed successfully on a computer system at the U.S. Geological Survey (USGS), no warranty expressed or implied is made regarding the display or utility of the data for other purposes, nor on all computer systems, nor shall the act of distribution constitute any such warranty. The USGS or the U.S. Government shall not be held liable for improper or incorrect use of the data described and/or contained herein.
4. How can I download or order the data?
   • Availability in digital form:

     Data format:

     JPEG, JSON, comma-delimited text

     Network links:

     https://coastal.er.usgs.gov/data-release/doi-P9SGRTF1/data/c1_20161130_IO.zip https://coastal.er.usgs.gov/data-release/doi-P9SGRTF1/data/c1_20161130_MadeiraBeachFL_EO.zip https://coastal.er.usgs.gov/data-release/doi-P9SGRTF1/data/c1_20170217_MadeiraBeachFL_EO.zip https://coastal.er.usgs.gov/data-release/doi-P9SGRTF1/data/c1_20170919_MadeiraBeachFL_EO.zip https://coastal.er.usgs.gov/data-release/doi-P9SGRTF1/data/c1_MadeiraBeachFL_calibrationIOEO_exampleimagery.zip

   • Cost to order the data: None

Who wrote the metadata?

Dates:

Last modified: 25-Aug-2023

Metadata author:

Justin J. Birchler

U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center

Physical Scientist

600 4th Street South

Saint Petersburg, FL

USA

727-502-8019 (voice)

jbirchler@usgs.gov

Metadata standard:

FGDC Biological Data Profile of the Content Standard for Digital Geospatial Metadata (FGDC-STD-001.1-1999)