USGS CoastCam at Dorado, Puerto Rico: 2022-2023 Intrinsic and Extrinsic Calibration Data (Camera 1)

The CoastCam was used to take IO photos. This involves slightly tilting a printed checkerboard with 2.9-centimeter (cm) squares in various parts of the camera's field of view. An example image can be found in dorado_c1_calibrationIOEO_exampleImagery.zip. There are a total of 202 IO images for c1 (dorado_c1_20230314_IO.zip) of which 23 were used for the intrinsic calibration (Bouguet, 2022). The filenames of all, calibrated, and excluded images are listed in separate text files. The output from the calibration was used in step A in the Camera Calibration procedures outlined in Bruder and Brodie (2020). The resultant parameters are stored in a YML file located in dorado_c1_20230314_IO.zip. Image file naming format follows "c1_20230314_IO_####_###########", where c1 is the camera name, 20230314 is the date the images were taken (YYYYMMDD format), IO is Intrinsic Orientation, and ####_########### is the unique ID from the camera.

EO calibration GCPs were surveyed with Spectra Geospatial SP80 and SP90 DGPS PPK receivers. GCPs were collected three times after the camera had been operational (20220811, 20221207, and 20230322). 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, a 1.2-meter square target with white and black color in opposite quadrants was propped up to face the CoastCam setup. The bottom center of the target (between black and white) where it met the beach surface was measured with the PPK GPS equipment to collect ground control points. The CoastCam took pictures of the position of each target within the camera view (raw JPG images). The images were then digitally combined so that all GCPs would appear on a single image. The survey locations of the GCPs in the CSV file 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 image (hand-selected), solved in Step B of Bruder and Brodie (2020), the GPS positions from the CSV file, and the IO parameters in the IO YML 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 YML file located in "dorado_c1_YYYYMMDD_EO.zip", where YYYYMMDD is the date for each EO GCP calibration (20220811, 20221207, and 20230322).

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). The following describes the Python dictionary object used, 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': 'BlackFly S GigE 12MP','UserComment': UserComment, 'GPSLatitude': '18.4719695', 'GPSLongitude': '-66.284424', 'GPSMapDatum': 'EPSG:6348 NAD83(2011) / UTM zone 19N', 'GPSLatitudeRef': 'N', 'GPSLongitudeRef': 'W', 'GPSDateStamp': '2023-03-14', '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/P13CYA5A', 'ExternalMetadataLink': 'https://www.usgs.gov/pir/api/identifiers/USGS:9c8a00be-de55-408b-8c2b-802a6e4d6461', 'Contributor': 'Justin J. Birchler, Margaret L. Palmsten, Priscila Vargas-Babilonia, Eric Swanson, Mark L. Buckley', 'XMP-photoshop:Credit': 'U.S. Geological Survey', 'iptcCore:CreatorWorkEmail': 'gs-g-spcmsc_data_inquiries@usgs.gov', 'Rights': 'Public Domain', 'Keywords' : "Dorado, Puerto Rico, CoastCam, USGS, intrinsic calibration, snapshot, remote sensing, ground control point", 'ImageDescription': 'This image was captured from a stationary mounted camera at the Dorado camera site (station name: dorado) camera 1 in Dorado, Puerto Rico. Field Activity Number (FAN): 2022-330-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2022-330-FA).', 'Description': 'This image was captured from a stationary mounted camera at the Dorado camera site (station name: dorado) camera 1 in Dorado, Puerto Rico. Field Activity Number (FAN): 2022-330-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2022-330-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="Dorado, Puerto Rico, CoastCam, USGS, intrinsic calibration, snapshot, remote sensing, ground control point" *.tiff'. 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 *.tiff > allheaders.csv'. Specific tags can also be specified with this command.

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). The following describes the Python dictionary object used, 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': 'BlackFly S GigE 12MP','UserComment': UserComment, 'GPSLatitude': '18.4719695', 'GPSLongitude': '-66.284424', 'GPSMapDatum': 'EPSG:6348 NAD83(2011) / UTM zone 19N', 'GPSLatitudeRef': 'N', 'GPSLongitudeRef': 'W', 'GPSDateStamp': '2023-03-22', '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/P13CYA5A', 'ExternalMetadataLink':'https://www.usgs.gov/pir/api/identifiers/USGS:9c8a00be-de55-408b-8c2b-802a6e4d6461', 'Contributor': 'Justin J. Birchler, Margaret L. Palmsten, Priscila Vargas-Babilonia, Eric Swanson, Mark L. Buckley', 'XMP-photoshop:Credit': 'U.S. Geological Survey', 'iptcCore:CreatorWorkEmail': 'gs-g-spcmsc_data_inquiries@usgs.gov','Rights': 'Public Domain', 'Keywords' : "Dorado, Puerto Rico, CoastCam, USGS, extrinsic calibration, snapshot, remote sensing, ground control point", 'ImageDescription': 'This image was captured from a stationary mounted camera at the Dorado camera site (station name: dorado) camera 1 in Dorado, Puerto Rico. Field Activity Number (FAN): 2022-330-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2022-330-FA).', 'Description': 'This image was captured from a stationary mounted camera at the Dorado camera site (station name: dorado) camera 1 in Dorado, Puerto Rico. Field Activity Number (FAN): 2022-330-FA (https://cmgds.marine.usgs.gov/fan_info.php?fan=2022-330-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="Dorado, Puerto Rico, CoastCam, USGS, extrinsic calibration, snapshot, remote sensing, ground control point" *.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 can also be specified with this command.