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

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.

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).

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.

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.