USGS CoastCam at Tres Palmas, Rincón, Puerto Rico: 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?
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  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., Johnson, Cordell, Nowacki, Daniel J., Canals, Miguel, Evans, Colin, Logan, Joshua, Storlazzi, Curt D., Birchler, Justin J., Palmsten, Margaret L., Swanson, Eric, and Johnson, Emily L., 20240510, USGS CoastCam at Tres Palmas, Rincón, Puerto Rico: Intrinsic and Extrinsic Calibration Data:.

   This is part of the following larger work.
   Harrison, Shawn R., Buckley, Mark L., Johnson, Cordell, Nowacki, Daniel J., Canals, Miguel, Evans, Colin, Logan, Joshua, Storlazzi, Curt D., Birchler, Justin J., Palmsten, Margaret L., Swanson, Eric, and Johnson, Emily L., 20240510, USGS CoastCam at Tres Palmas, Rincón, Puerto Rico: Calibration and GNSS Topography Survey Data: U.S. Geological Survey data release https://doi.org/10.5066/P142AXUJ, U.S. Geological Survey - St. Petersburg Coastal and Marine Science Center, St. Petersburg, Florida.

   Online Links:

   • https://doi.org/10.5066/P142AXUJ

2. What geographic area does the data set cover?

   West_Bounding_Coordinate: -67.263519
   East_Bounding_Coordinate: -67.263190
   North_Bounding_Coordinate: 18.348149
   South_Bounding_Coordinate: 18.347966
   

3. What does it look like?

   TresPalmasPR_c2_20190721_calibrationIOEO_exampleImagery.zip (JPEG)

   Zip file containing the following example Joint Photographic Experts Group (JPEG) images: A) Image used in intrinsic orientation (IO) calibration (TresPalmasPR_c2_20190719_40.jpg) and B) Image used in extrinsic orientation (EO) calibration (TresPalmasPR_c2_20190721_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 TresPalmasPR_c2_20190721_EO_GCPsurvey.csv (file available in TresPalmasPR_c2_20190721_EO.zip).

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

   Calendar_Date: 19-Jul-2019

   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: 19
      Transverse_Mercator:

      Scale_Factor_at_Central_Meridian: 0.9996
      Longitude_of_Central_Meridian: -69.0
      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 2011) (EPSG:6318).
      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:

      Puerto Rico Vertical Datum of 2002 (EPSG:1123), 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?

   TresPalmasPR_c2_20190719_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

   coU

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

   Range of values
   Minimum:	1219.2197598867474
   Maximum:	1219.2197598867474
   Units:	pixel

   coV

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

   Range of values
   Minimum:	1057.100994348209
   Maximum:	1057.100994348209
   Units:	pixel

   fx

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

   Range of values
   Minimum:	2390.4014814622274
   Maximum:	2390.4014814622274
   Units:	pixels

   fy

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

   Range of values
   Minimum:	2389.8290677181462
   Maximum:	2389.8290677181462
   Units:	pixels

   d1

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

   Range of values
   Minimum:	-0.21238064827317682
   Maximum:	-0.21238064827317682

   d2

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

   Range of values
   Minimum:	0.16326910909714126
   Maximum:	0.16326910909714126

   d3

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

   Range of values
   Minimum:	-0.052571793434186234
   Maximum:	-0.052571793434186234

   t1

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

   Range of values
   Minimum:	-8.4930683900949776E-5
   Maximum:	-8.4930683900949776E-5

   t2

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

   Range of values
   Minimum:	-0.00023725530366439719
   Maximum:	-0.00023725530366439719

   TresPalmasPR_c2_20190721_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 TresPalmasPR_c2_20190721_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:	1
   Maximum:	6

   ID

   Number of each GCP that can be found in TresPalmasPR_c2_20190721_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 GCP#, numbered 1 through 6.

   Northing (UTM)

   Northing coordinate of data point relative to the NAD83 (National Spatial Reference System 2011) reference frame (EPSG:6318), projected in the Universal Transverse Mercator (UTM) Zone 19 North coordinate system (EPSG:26919), in units of meters (Source: U.S. Geological Survey)

   Range of values
   Minimum:	2029566.826
   Maximum:	2029579.667
   Units:	meters

   Easting (UTM)

   Easting coordinate of data point relative to the NAD83 (National Spatial Reference System 2011) reference frame (EPSG:6318), projected in the Universal Transverse Mercator (UTM) Zone 19 North coordinate system (EPSG:26919), in units of meters (Source: U.S. Geological Survey)

   Range of values
   Minimum:	683503.942
   Maximum:	683516.821
   Units:	meters

   z

   Orthometric height of data point in meters relative to the Puerto Rico Vertical Datum of 2002 (EPSG:1123), derived using GEOID12B (Source: U.S. Geological Survey)

   Range of values
   Minimum:	0.763
   Maximum:	4.436
   Units:	meters

   Lat

   Latitude of data point in decimal degrees relative to the NAD83 (National Spatial Reference System 2011) reference frame (EPSG:6318) (Source: U.S. Geological Survey)

   Range of values
   Minimum:	18.34803229
   Maximum:	18.34814855
   Units:	decimal degrees

   Lon

   Longitude of data point in decimal degrees relative to the NAD83 (National Spatial Reference System 2011) reference frame (EPSG:6318) (Source: U.S. Geological Survey)

   Range of values
   Minimum:	-67.26335862
   Maximum:	-67.26323746
   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

   TresPalmasPR_c2_20190721_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 2011) reference frame (EPSG:6318), projected in the Universal Transverse Mercator (UTM) Zone 19 North coordinate system (EPSG:26919), in units of meters. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	683520.117
   Maximum:	683520.117
   Units:	meters

   y

   Y-coordinate of camera position relative to the NAD83 (National Spatial Reference System 2011) reference frame (EPSG:6318), projected in the Universal Transverse Mercator (UTM) Zone 19 North coordinate system (EPSG:26919), in units of meters. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	2029575.172
   Maximum:	2029575.172
   Units:	meters

   z

   Z-coordinate of camera position relative to the Puerto Rico Vertical Datum of 2002 (EPSG:1123), derived using GEOID12B in units of meters. (Source: U.S. Geological Survey)

   Range of values
   Minimum:	8.987
   Maximum:	8.987
   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:	263.744937
   Maximum:	263.744937
   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:	58.699651
   Maximum:	58.699651
   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:	-0.156039
   Maximum:	-0.156039
   Units:	Angle units in degrees

   Entity_and_Attribute_Overview:

   There are a total of 54 intrinsic orientation (IO) JPEG images. The filename for each IO image is formatted as "TresPalmasPR_c2_20190719_##.jpg", where 20190719 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 "TresPalmasPR_c2_20190721_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 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 (TresPalmasPR_c2_20190721_EO_GCPsurvey.csv) with all the measurements were populated and GCP numbers were hand labeled on the annotated image (TresPalmasPR_c2_20190721_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
   • Cordell Johnson
   • Daniel J. Nowacki
   • Miguel Canals
   • Colin Evans
   • Joshua Logan
   • 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: 19-Jul-2019 (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 TresPalmasPR_c2_20190721_calibrationIOEO_exampleImagery.zip. There are a total of 54 IO images (TresPalmasPR_c2_20190719_IO.zip) of which 38 were used for the intrinsic calibration. The 38 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 TresPalmasPR_c2_20190719_IO.zip. Image file naming format follows “TresPalmasPR_c2_20190719_##.jpg”, 2019-07-19 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:

   • TresPalmasPR_c2_20190719_##.jpg
   • TresPalmasPR_c2_20190719_IO.yaml

   Date: 21-Jul-2019 (process 2 of 4)

   Extrinsic orientation (EO) calibration ground control points (GCPs) were surveyed with a Topcon GRS-1 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 (GCPs) within the field of view of the camera must be located. Multiple GCPs painted orange and black in opposite quadrants were stationed within the field of view of the CoastCam. The 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 orange). One receiver, serving as a base station, was placed on a fixed-height rod and affixed to a stable object approximately 250 meters from the survey area. The base receiver was programmed to record raw GNSS observations during survey operations. After completion of the survey, the NovAtel Waypoint Grafnav software package was used to derive coordinates for the base reference position using Precise Point Positioning (PPP). After the surveys, the raw recorded GNSS observations were converted from proprietary format to the standard RINEX format using the TEQC software package. The Trimble Business Center ver. 5.00 software package was then used to post process the data using the PPK post processing technique. 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 “TresPalmasPR_c2_20190721_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:

   • TresPalmasPR_c2_20190719_IO.yaml
   • TresPalmasPR_c2_20190721_EO_GCPsurvey.csv
   • TresPalmasPR_c2_20190721_GCP_image_raw.jpg

   Data sources produced in this process:

   • TresPalmasPR_c2_20190721_GCP_image_annotated.jpg
   • TresPalmasPR_c2_20190721_EO.yaml

   Date: 05-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': '18.34810272', 'GPSLongitude': '-67.26319029', 'GPSMapDatum': 'EPSG:6318 (NAD83_National_Spatial_Reference_System_2011)', 'GPSLatitudeRef': 'N', 'GPSLongitudeRef': 'W', 'GPSDateStamp': '2019-07-19', '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/P142AXUJ', 'ExternalMetadataLink': 'https://www1.usgs.gov/pir/api/identifiers/USGS:2cc439a0-ce48-49df-bc9f-78e8fa85b0f2', 'Contributor': 'Shawn R. Harrison, Mark L. Buckley, Cordell Johnson, Daniel J. Nowacki, Miguel Canals, Colin Evans, Joshua Logan, Curt D. Storlazzi, 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' : "Tres Palmas, Rincón, Puerto Rico, CoastCam, USGS, intrinsic calibration, snapshot, remote sensing, ground control point", 'ImageDescription': 'This image was captured from a stationary mounted camera at Tres Palmas, Rincón, Puerto Rico. Field Activity Number: 2019-675-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2019-675-FA)', 'Description': 'This image was captured from a stationary mounted camera at Tres Palmas, Rincón, Puerto Rico. Field Activity Number: 2019-675-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2019-675-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="Tres Palmas, Rincón, Puerto Rico, 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:

   • TresPalmasPR_c2_20190719_##.jpg

   Date: 05-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': '18.34810272', 'GPSLongitude': '-67.26319029', '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/P142AXUJ', 'ExternalMetadataLink':'https://www1.usgs.gov/pir/api/identifiers/USGS:2cc439a0-ce48-49df-bc9f-78e8fa85b0f2', 'Contributor': 'Shawn R. Harrison, Mark L. Buckley, Cordell Johnson, Daniel J. Nowacki, Miguel Canals, Colin Evans, Joshua Logan, Curt D. Storlazzi, 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' : "Tres Palmas, Rincón, Puerto Rico, CoastCam, USGS, intrinsic calibration, snapshot, remote sensing, ground control point", 'ImageDescription': 'This image was captured from a stationary mounted camera at Tres Palmas, Rincón, Puerto Rico. Field Activity Number: 2019-675-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2019-675-FA', 'Description': 'This image was captured from a stationary mounted camera at Tres Palmas, Rincón, Puerto Rico. Field Activity Number: 2019-675-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2019-675-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="Tres Palmas, Rincón, Puerto Rico, 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:

   • TresPalmasPR_c2_20190721_GCP_image_raw.jpg
   • TresPalmasPR_c2_20190721_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 a Topcon GRS-1 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. Calibration data is stored in YAML files named with the calibration date.
2. How accurate are the geographic locations?
   PPK data collected in field activity 2019-675-FA were used to validate the extrinsic camera calibration using corrections referenced to a temporary base station located approximately 250 meters from the study area. The reference position of the base station was established using the mean position of four static occupations (each lasting between three and five hours, conducted during two days of surveying) derived using Precise Point Positioning (PPP). The standard deviation of the horizontal coordinates derived for the base station was 0.025 meters. The mean reported horizontal precision of the rover measurements was 0.008 meters (with a standard deviation of 0.004 meters). 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 2011) Universal Transverse Mercator Zone 19 North (NAD83(2011)/UTM Zone 19N) coordinate system, with a resolution of 0.001 meters.
3. How accurate are the heights or depths?
   PPK data collected in field activity 2019-675-FA were used to validate the extrinsic camera calibration using corrections referenced to a temporary base station located approximately 250 meters from the study area. The reference position of the base station was established using the mean position of four static occupations (each lasting between three and five hours, conducted during two days of surveying) derived using Precise Point Positioning (PPP). The standard deviation of the vertical coordinates derived for the base station was 0.023 meters. The mean reported horizontal precision of the rover measurements was 0.018 meters (with a standard deviation of 0.010 meters). 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 referenced to the Puerto Rico Vertical Datum of 2002 (PRVD02; EPSG:1123), derived using GEOID12B 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 (FLIR BFLY-PGE-50S5C-C) had an intrinsic and extrinsic calibration process. The EO process was completed on 20190721 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 54 images and the extrinsic calibration uses one photo with GCP targets that have pre-established location information. Of the 54 photos, 38 images that collectively covered the entire image frame were selected to solve for the intrinsic calibration. The 16 images excluded were: TresPalmasPR_c2_20190719_01.jpg, TresPalmasPR_c2_20190719_08.jpg, TresPalmasPR_c2_20190719_14.jpg, TresPalmasPR_c2_20190719_19.jpg, TresPalmasPR_c2_20190719_23.jpg, TresPalmasPR_c2_20190719_28.jpg, TresPalmasPR_c2_20190719_29.jpg, TresPalmasPR_c2_20190719_34.jpg, TresPalmasPR_c2_20190719_36.jpg, TresPalmasPR_c2_20190719_37.jpg, TresPalmasPR_c2_20190719_39.jpg, TresPalmasPR_c2_20190719_44.jpg, TresPalmasPR_c2_20190719_48.jpg, TresPalmasPR_c2_20190719_49.jpg, TresPalmasPR_c2_20190719_52.jpg, TresPalmasPR_c2_20190719_53.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 (TresPalmasPR_c2_20190719_IO.yaml, TresPalmasPR_c2_20190721_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? TresPalmasPR_c2_20190719_IO.yaml, TresPalmasPR_c2_20190719_##.jpg, TresPalmasPR_c2_20190721_EO.yaml, TresPalmasPR_c2_20190721_EO_GCPsurvey.csv, TresPalmasPR_c2_20190721_GCP_image_annotated.jpg, TresPalmasPR_c2_20190721_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-P142AXUJ/data/TresPalmasPR_c2_20190719_IO.zip https://coastal.er.usgs.gov/data-release/doi-P142AXUJ/data/TresPalmasPR_c2_20190721_EO.zip https://coastal.er.usgs.gov/data-release/doi-P142AXUJ/data/TresPalmasPR_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)