USGS CoastCam at Waiakāne, Moloka'i, Hawai'i: 2018 Intrinsic and Extrinsic Calibration Data

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?
• How can someone get a copy of the data set?
  1. Are there legal restrictions on access or use of the data?
  2. Who distributes the data?
  3. What's the catalog number I need to order this data set?
  4. What legal disclaimers am I supposed to read?
  5. How can I download or order the data?
• Who wrote the metadata?

What does this data set describe?

1. How might this data set be cited?
   Harrison, Shawn R., Buckley, Mark L., Logan, Joshua, Pomeroy, Andrew W.M., Storlazzi, Curt D., Birchler, Justin J., Palmsten, Margaret L., Swanson, Eric, and Johnson, Emily L., 20240510, USGS CoastCam at Waiakāne, Moloka'i, Hawai'i: 2018 Intrinsic and Extrinsic Calibration Data:.

   This is part of the following larger work.
   Harrison, Shawn R., Buckley, Mark L., Logan, Joshua, Pomeroy, Andrew W.M., Storlazzi, Curt D., Birchler, Justin J., Palmsten, Margaret L., Swanson, Eric, and Johnson, Emily L., 20240510, USGS CoastCam at Waiakāne, Moloka'i, Hawai'i: 2018 Calibration and GNSS Topography Survey Data: U.S. Geological Survey data release doi:10.5066/P13XN6KM, U.S. Geological Survey - St. Petersburg Coastal and Marine Science Center, St. Petersburg, Florida.

   Online Links:

   • https://doi.org/10.5066/P13XN6KM

2. What geographic area does the data set cover?

   West_Bounding_Coordinate: -157.159877
   East_Bounding_Coordinate: -157.154651
   North_Bounding_Coordinate: 21.094032
   South_Bounding_Coordinate: 21.089138
   

3. What does it look like?

   MolokaiHI_c2_20180626_calibrationIOEO_exampleImagery.zip (JPEG)

   Zip file containing the following example Joint Photographic Experts Group (JPEG) images: A) Image used in intrinsic orientation (IO) calibration (MolokaiHI_c2_20180625_118.jpg) and B) Image used in extrinsic orientation (EO) calibration (MolokaiHI_c2_20180626_GCP_image_annotated.jpg) and the target numbers for use in the Coastal Imaging Research Network (CIRN) Toolbox that correspond to the numbers in the MolokaiHI_c2_20180626_EO_GCPsurvey.csv (file available in MolokaiHI_c2_20180626_EO.zip).

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

   Calendar_Date: 25-Jun-2018

   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: 4
      Transverse_Mercator:

      Scale_Factor_at_Central_Meridian: 0.9996
      Longitude_of_Central_Meridian: -159.0
      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 0.001
      Ordinates (y-coordinates) are specified to the nearest 0.001
      Planar coordinates are specified in meters
      The horizontal datum used is NAD83 (National Spatial Reference System PA11) (EPSG:6321).
      The ellipsoid used is GRS 1980 (EPSG:7019).
      The semi-major axis of the ellipsoid used is 6378137.0.
      The flattening of the ellipsoid used is 1/298.257222101.
      

      Vertical_Coordinate_System_Definition:

      Altitude_System_Definition:

      Altitude_Datum_Name: Local mean sea level, derived using GEOID12B
      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?

   MolokaiHI_c2_20180625_IO.yaml

   YAML 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

   c0U

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

   Range of values
   Minimum:	1216.5814119908209
   Maximum:	1216.5814119908209
   Units:	pixel

   c0V

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

   Range of values
   Minimum:	1039.6463989196955
   Maximum:	1039.6463989196955
   Units:	pixel

   fx

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

   Range of values
   Minimum:	1785.8095700066435
   Maximum:	1785.8095700066435
   Units:	pixels

   fy

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

   Range of values
   Minimum:	1788.0427731900586
   Maximum:	1788.0427731900586
   Units:	pixels

   d1

   First radial distortion coefficient (pixels) (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	-0.16603337470676055
   Maximum:	-0.16603337470676055

   d2

   Second radial distortion coefficient (pixels) (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	0.066378413522420979
   Maximum:	0.066378413522420979

   d3

   Third radial distortion coefficient (pixels) (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	0
   Maximum:	0

   t1

   First tangential distortion coefficient (pixels) (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	0.00048444852801360783
   Maximum:	0.00048444852801360783

   t2

   Second tangential distortion coefficient (pixels) (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	6.9295981094526468E-5
   Maximum:	6.9295981094526468E-5

   MolokaiHI_c2_20180626_EO_GCPsurvey.csv

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

   GCP

   Number of each GCP that can be found in MolokaiHI_c2_20180626_EO_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:	2
   Maximum:	7

   ID

   Number of each GCP that can be found in MolokaiHI_c2_20180626_EO_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) Labeled LID#, numbered 02 through 07.

   Northing (UTM)

   Northing coordinate of data point relative to the NAD83 (National Spatial Reference System PA11) reference frame (EPSG:6321), projected in the Universal Transverse Mercator (UTM) Zone 4 North coordinate system (EPSG:6634), in units of meters (Source: U.S. Geological Survey)

   Range of values
   Minimum:	2333537.908
   Maximum:	2333555.974
   Units:	meters

   Easting (UTM)

   Easting coordinate of data point relative to the NAD83 (National Spatial Reference System PA11) reference frame (EPSG:6321), projected in the Universal Transverse Mercator (UTM) Zone 4 North coordinate system (EPSG:6634), in units of meters (Source: U.S. Geological Survey)

   Range of values
   Minimum:	691664.610
   Maximum:	691689.627
   Units:	meters

   z

   Orthometric height of data point in meters relative to local mean sea level, derived using GEOID12B (Source: U.S. Geological Survey)

   Range of values
   Minimum:	1.385
   Maximum:	2.146
   Units:	meters

   Lat

   Latitude of data point in decimal degrees relative to the NAD83 (National Spatial Reference System PA11) reference frame (EPSG:6321) (Source: U.S. Geological Survey)

   Range of values
   Minimum:	21.09287894
   Maximum:	21.09304110
   Units:	decimal degrees

   Lon

   Longitude of data point in decimal degrees relative to the NAD83 (National Spatial Reference System PA11) reference frame (EPSG:6321) (Source: U.S. Geological Survey)

   Range of values
   Minimum:	-157.15490260
   Maximum:	-157.15466040
   Units:	decimal degrees

   gcpUsed

   Indicates whether GCP was used to solve for extrinsic orientation. (Source: U.S. Geological Survey)

   Value	Definition
   0	Not used
   1	Used

   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

   MolokaiHI_c2_20180626_EO.yaml

   YAML file containing the solved extrinsic orientation (EO) from Step C in the Camera Calibration procedures outlined in Bruder and Brodie (2020). (Source: USGS)

   x

   X-coordinate of camera position relative to the NAD83 (National Spatial Reference System PA11) reference frame (EPSG:6321), projected in the Universal Transverse Mercator (UTM) Zone 4 North coordinate system (EPSG:6634), in units of meters. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	691692.453
   Maximum:	691692.453
   Units:	meters

   y

   Y-coordinate of camera position relative to the NAD83 (National Spatial Reference System PA11) reference frame (EPSG:6321), projected in the Universal Transverse Mercator (UTM) Zone 4 North coordinate system (EPSG:6634), in units of meters. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	2333556.161
   Maximum:	2333556.161
   Units:	meters

   z

   Z-coordinate of camera position orthometric height in meters relative to local mean sea level, derived using GEOID12B. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	4.351
   Maximum:	4.351
   Units:	meters

   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:	249.369169
   Maximum:	249.369169
   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, and 180 is looking directly up. (Source: Bruder and Brodie (2020))

   Range of values
   Minimum:	69.794239
   Maximum:	69.794239
   Units:	Angle units in degrees

   roll

   The side-to-side roll 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:	1.343718
   Maximum:	1.343718
   Units:	Angle units in degrees

   Entity_and_Attribute_Overview:

   There are a total of 72 intrinsic orientation (IO) JPEG images. The filename for each IO image is formatted as "MolokaiHI_c2_20180625_###", where 2018-06-25 is the date that the images were taken (YYYYMMDD format) and the number (###) is the original photo ID. There are a total of 2 extrinsic orientation (EO) JPEG images. The filename for each EO image is formatted as "MolokaiHI_c2_20180626_GCP_image_imagetype", where 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 GNSS antenna. The CoastCam took pictures of the position of each target within the camera view. The '_EO' zip folder contains the GCP CSV file, the resultant EO parameters in a YAML file, and a 'raw' and 'annotated' image of the GCPs. The CSV file (MolokaiHI_c2_20180626_EO_GCPsurvey.csv) with all the measurements were populated and GCP numbers were hand labeled on the annotated image (MolokaiHI_c2_20180626_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 2 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)
   • Shawn R. Harrison
   • Mark L. Buckley
   • Joshua Logan
   • Andrew W.M. Pomeroy
   • Curt D. Storlazzi
   • Justin J. Birchler
   • Margaret L. Palmsten
   • Eric Swanson
   • Emily L. Johnson
2. Who also contributed to the data set?
3. To whom should users address questions about the data?
   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

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: 25-Jun-2018 (process 1 of 4)

   The CoastCam was used to take IO photos. This involves slightly tilting a printed checkerboard with 30-millimeter (mm) squares in various parts of the cameras field of view. An example image can be found in MolokaiHI_c2_20180626_calibrationIOEO_exampleImagery.zip. There are a total of 72 IO images (MolokaiHI_c2_20180625_IO.zip) of which 62 were used for the intrinsic calibration. The 62 images were used in step A in the Camera Calibration procedures outlined in Bruder and Brodie (2020). The resultant parameters are stored in a YAML file located in MolokaiHI_c2_20180625_IO.zip. Image file naming format follows “MolokaiHI_c2_20180625_###”, 2018-06-25 is the date that the images were taken (YYYYMMDD format) and #### is the original unique ID from the camera. Person who carried out this activity:
   

   Joshua Logan

   U.S. Geological Survey, Pacific Coastal and Marine Science Center

   2885 Mission Street

   Santa Cruz, CA
   

   USA

   831-460-7519 (voice)

   jlogan@usgs.gov

   Data sources produced in this process:

   • MolokaiHI_c2_20180625_###.jpg
   • MolokaiHI_c2_20180625_IO.yaml

   Date: 26-Jun-2018 (process 2 of 4)

   Extrinsic orientation (EO) calibration ground control points (GCPs) were surveyed with a Trimble R7 survey-grade dual-frequency GNSS receiver set to record raw GNSS observables in Post-Processed Kinematic (PPK) mode. 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. Multiple round targets painted white and black in opposite quadrants were put into the camera field of view to be visible by the CoastCam. One GNSS receiver was placed on a fixed-height survey rod and set to record observations for one minute at each ground control point at the center of each target (between black and white). A second GNSS receiver, serving as a base station, was placed on a fixed-height rod and placed on a temporary benchmark (MK02) approximately 1 kilometer from the survey area. The base receiver was programmed to record raw GNSS observations during survey operations. Reference coordinates for MK02 were established using the mean position derived from four static GNSS occupations with durations greater than 4 hours each submitted to the National Geodetic Survey Online Positioning User Service (NGS OPUS). These data were then used to post-process the GNSS measurements using the Trimble Business Center ver. 4.30 software package. The CoastCam took pictures of the position of each target within the camera view (raw JPEG image). The CSV file was 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 GNSS positions from the CSV files, and the IO parameters in the IO YAML 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 the EO calibration are stored in a YAML file located in “MolokaiHI_c2_20180626_EO.zip”. Person who carried out this activity:
   

   Joshua Logan

   U.S. Geological Survey, Pacific Coastal and Marine Science Center

   2885 Mission Street

   Santa Cruz, CA
   

   USA

   831-460-7519 (voice)

   jlogan@usgs.gov

   Data sources used in this process:

   • MolokaiHI_c2_20180625_IO.yaml
   • MolokaiHI_c2_20180626_EO_GCPsurvey.csv
   • MolokaiHI_c2_20180626_GCP_image_raw.jpg

   Data sources produced in this process:

   • MolokaiHI_c2_20180626_GCP_image_annotated.jpg
   • MolokaiHI_c2_20180626_EO.yaml

   Date: 04-Mar-2024 (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': 'FLIR','Model': 'BFLY-PGE-50S5C-C','UserComment': ‘The following nested dictionary contains the cameras intrinsic and extrinsic calibration parameters. Intrinsic camera parameters use the Brown distortion model (Brown, D.C., 1971. "Close-Range Camera Calibration." Photogrammetric Engineering), using the Camera Calibration Toolbox for Matlab by Jean-Yves Bouguet (https://doi.org/10.22002/D1.20164). Extrinsic calibration parameters were computed using the CIRN Quantitative Coastal Imaging Toolbox (Bruder, B. L. and Brodie, K. L., 2020, "CIRN Quantitative Coastal Imaging Toolbox.", SoftwareX 12 (10052), https://doi.org/10.1016/j.softx.2020.100582.)’, 'GPSLatitude': '21.09305', 'GPSLongitude': '-157.15463', 'GPSMapDatum': 'EPSG:6321 (NAD83_National_Spatial_Reference_System_PA11)', 'GPSLatitudeRef': 'N', 'GPSLongitudeRef': 'W', 'GPSDateStamp': '2018-06-25', '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/P13XN6KM', 'ExternalMetadataLink': 'https://www1.usgs.gov/pir/api/identifiers/USGS:b3225ab5-26f8-4bf3-a14b-fa17e150914b', 'Contributor': 'Shawn R. Harrison, Mark L. Buckley, Joshua Logan, Andrew W.M. Pomeroy, Justin J. Birchler, Margaret L. Palmsten, Eric Swanson, Emily L. Johnson', 'XMP-photoshop:Credit': 'U.S. Geological Survey', 'iptcCore:CreatorWorkEmail': 'gs-g-spcmsc_data_inquiries@usgs.gov','Rights': 'Public Domain', 'Keywords' : "Waiakāne, Moloka'i, Hawai'i, CoastCam, USGS, intrinsic calibration, snapshot, remote sensing, ground control point", 'ImageDescription': 'This image was captured from a stationary mounted camera at Waiakāne, Moloka'i, Hawai'i. Field Activity Number: 2018-617-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2018-617-FA)', 'Description': 'This image was captured from a stationary mounted camera at Waiakāne, Moloka'i, Hawai'i. Field Activity Number: 2018-617-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2018-617-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="Waiakāne, Moloka'i, Hawai'i, 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:

   • MolokaiHI_c2_20180625_###.jpg

   Date: 04-Mar-2024 (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': 'FLIR','Model': 'BFLY-PGE-50S5C-C','UserComment': ‘The following nested dictionary contains the cameras intrinsic and extrinsic calibration parameters. Intrinsic camera parameters use the Brown distortion model (Brown, D.C., 1971. "Close-Range Camera Calibration." Photogrammetric Engineering), using the Camera Calibration Toolbox for Matlab by Jean-Yves Bouguet (https://doi.org/10.22002/D1.20164). Extrinsic calibration parameters were computed using the CIRN Quantitative Coastal Imaging Toolbox (Bruder, B. L. and Brodie, K. L., 2020, "CIRN Quantitative Coastal Imaging Toolbox.", SoftwareX 12 (10052), https://doi.org/10.1016/j.softx.2020.100582.)’, 'GPSLatitude': '21.09305', 'GPSLongitude': '-157.15463', 'GPSMapDatum': 'EPSG:6321 (NAD83_National_Spatial_Reference_System_PA11)', '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/P13XN6KM', 'ExternalMetadataLink':'https://www1.usgs.gov/pir/api/identifiers/USGS:b3225ab5-26f8-4bf3-a14b-fa17e150914b', 'Contributor': 'Shawn R. Harrison, Mark L. Buckley, Joshua Logan, Andrew W.M. Pomeroy, Justin J. Birchler, Margaret L. Palmsten, Eric Swanson, Emily L. Johnson', 'XMP-photoshop:Credit': 'U.S. Geological Survey', 'iptcCore:CreatorWorkEmail': 'gs-g-spcmsc_data_inquiries@usgs.gov','Rights': 'Public Domain', 'Keywords' : "Waiakāne, Moloka'i, Hawai'i, CoastCam, USGS, intrinsic calibration, snapshot, remote sensing, ground control point", 'ImageDescription': 'This image was captured from a stationary mounted camera at Waiakāne, Moloka'i, Hawai'i. Field Activity Number: 2018-617-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2018-617-FA', 'Description': 'This image was captured from a stationary mounted camera at Waiakāne, Moloka'i, Hawai'i. Field Activity Number: 2018-617-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2018-617-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="Waiakāne, Moloka'i, Hawai'i, 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:

   • MolokaiHI_c2_20180626_GCP_image_raw.jpg
   • MolokaiHI_c2_20180626_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

   Partners, OCM, 20240110, 2013 USACE NCMP Topobathy Lidar DEM (LMSL): Moloka'i, HI: National Oceanic and Atmospheric Administration, online.

   Online Links:

   • https://www.fisheries.noaa.gov/inport/item/64983

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 a Trimble R7 survey-grade dual-frequency global navigation satellite system (GNSS) receiver set to record raw GNSS observations in Post-Processed Kinematic (PPK) mode. 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 YAML files named with the date first active.
2. How accurate are the geographic locations?
   PPK equipment collected in field activity 2018-617-FA were used to validate the extrinsic camera calibration using corrections referenced to a GNSS base station occupying a temporary benchmark (MK02) located approximately 1 kilometer (km) from the study area. Reference coordinates for MK02 were established using the mean position derived from four static GNSS occupations with durations greater than 4 hours each submitted to the National Geodetic Survey Online Positioning User Service (NGS OPUS). The standard deviation of the four OPUS-derived horizontal positions was 0.004 meters. The mean reported horizontal precision of the PPK measurements was 0.015 meters (standard deviation of 0.002). The magnitude of additional errors resulting from uncertainty in the base station reference position, errors in tripod centering, and antenna height measurement errors are unknown. 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 PA11) Universal Transverse Mercator Zone 4 North (NAD83(PA11)/UTM Zone 4N) coordinate system, with a resolution of 0.001 meters.
3. How accurate are the heights or depths?
   PPK equipment collected in field activity 2018-617-FA were used to validate the extrinsic camera calibration using corrections referenced to a GNSS base station occupying a temporary benchmark (MK02) located approximately 1 kilometer (km) from the study area. Reference coordinates for MK02 were established using the mean position derived from four static GNSS occupations with durations greater than 4 hours each submitted to the National Geodetic Survey Online Positioning User Service (NGS OPUS). The standard deviation of the four OPUS-derived vertical positions was 0.008 meters. The mean reported vertical precision of the PPK measurements was 0.022 meters (standard deviation of 0.002). The magnitude of additional errors resulting from uncertainty in the base station reference position, errors in tripod centering, and antenna height measurement errors are unknown. 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 orthometric heights relative to local mean sea level, derived using GEOID12B, coordinate system, with a resolution of 0.001 meters. Following OCM Partners (2024), the orthometric elevation was converted from GEOID12B to a local mean sea level by subtracting 0.601 meters. The GEOID12B to local mean sea level vertical adjustment for Moloka'i was derived by OCM Partners (2024) from published National Geodetic Survey control point datasheets.
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 (FLIR BFLY-PGE-50S5C-C) had an intrinsic and extrinsic calibration process. The EO process was completed on 20180626 and consists of a YAML file of resultant EO parameters, a comma-separated values (CSV) file of GCP locations and description, and two JPEG images, one labeled as 'raw' and the other as 'annotated'. The intrinsic orientation (IO) calibration consists of a total of 72 images and the extrinsic calibration uses one “timex” photo with GCP targets that have pre-established location information. Of the 72 photos, 62 images that collectively covered the entire image frame were selected to solve for the intrinsic calibration. The 10 images excluded were: MolokaiHI_c2_20180625_041.jpg, MolokaiHI_c2_20180625_047.jpg, MolokaiHI_c2_20180625_051.jpg, MolokaiHI_c2_20180625_055.jpg, MolokaiHI_c2_20180625_076.jpg, MolokaiHI_c2_20180625_080.jpg, MolokaiHI_c2_20180625_088.jpg, MolokaiHI_c2_20180625_116.jpg, MolokaiHI_c2_20180625_133.jpg, and MolokaiHI_c2_20180625_138.jpg. These were used in the CIRN Toolbox steps A through C. Results of the intrinsic and extrinsic calibrations are stored in separate YAML files (MolokaiHI_c2_20180625_IO.yaml, MolokaiHI_c2_20180626_EO.yaml).

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? MolokaiHI_c2_20180625_IO.yaml, MolokaiHI_c2_20180625_###.jpg, MolokaiHI_c2_20180626_EO.yaml, MolokaiHI_c2_20180626_EO_GCPsurvey.csv, MolokaiHI_c2_20180626_GCP_image_annotated.jpg, MolokaiHI_c2_20180626_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, YAML, comma-delimited text
     Network links:	https://coastal.er.usgs.gov/data-release/doi-P13XN6KM/data/MolokaiHI_c2_20180625_IO.zip https://coastal.er.usgs.gov/data-release/doi-P13XN6KM/data/MolokaiHI_c2_20180626_EO.zip https://coastal.er.usgs.gov/data-release/doi-P13XN6KM/data/MolokaiHI_c2_calibrationIOEO_exampleimagery.zip

   • Cost to order the data: None

Who wrote the metadata?

Dates:

Last modified: 10-May-2024

Metadata author:

USGS SPCMSC Data Management Group

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

600 4th Street South

Saint Petersburg, FL

USA

727-502-8000 (voice)

gs-g-spcmsc_data_inquiries@usgs.gov

Metadata standard:

Content Standard for Digital Geospatial Metadata (FGDC-STD-001-1998)