USGS CoastCam CACO-01 at Head of the Meadow Beach, Cape Cod National Seashore, Massachusetts (2019 to 2024): Calibration Data

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What does this data set describe?

Title:
USGS CoastCam CACO-01 at Head of the Meadow Beach, Cape Cod National Seashore, Massachusetts (2019 to 2024): Calibration Data
Abstract:
Two digital video cameras (CACO-01 c1 and c2) were installed at Head of the Meadow Beach, Cape Cod National Seashore in Massachusetts as part of a U.S. Geological Survey (USGS) research project to study the beach and nearshore environment. The cameras were located near the top of the 18-meter-high bluff and faced north-east (c1) and east (c2) along the beach. They ran from December 2019 through March 2024, and when properly functioning, the cameras collected 10 minutes of raw video and produced snapshots and time-averaged image products every half hour. This data release includes the raw imagery products and the necessary intrinsic orientation (IO) and extrinsic orientation (EO) calibration data to utilize the imagery to make quantitative measurements from the imagery. USGS researchers analyzed the imagery collected from these cameras to remotely sense a range of information including shoreline position, sandbar migration, wave run-up on the beach, alongshore currents, and nearshore bathymetry. These cameras are part of the USGS CoastCam network, supported by the Total Water Level/Coastal Change Project in the USGS Coastal and Marine Hazards and Resources Program, Natural Hazards Mission Area.
Supplemental_Information:
The bounding coordinates below represent the approximate limits of the overlapping images from CoastCam CACO-01. Throughout the course of the deployment the cameras can move due to changes in temperature, wind, or other factors. To limit the effect of camera movements on data products, we recommend the user calculate their own EO data based on the dates of the imagery used. All calibration images are geotagged with the general location of the CACO-01 camera pole in geographic coordinates NAD83(2011) to keep the images in the imagery data system in one place even though the IO images were taken in Woods Hole, but their location information is irrelevant to their use. Images from c1 and c2 have their extrinsic locations in the Exif tag UserComment in NAD83(2011)/UTM 19N + NAVD88 m, which are used by the imaging toolbox to put the images into real world coordinates when georectified. GCP information and EO .yaml files are in NAD83(2011)/UTM 19N + NAVD88. For more information about the Woods Hole Coastal and Marine Science Center Field Activities involved with calibration, see https://cmgds.marine.usgs.gov/services/activity.php?fan=2019-043-FA, https://cmgds.marine.usgs.gov/services/activity.php?fan=2020-015-FA, and https://cmgds.marine.usgs.gov/services/activity.php?fan=2022-009-FA. All images can be viewed or downloaded individually or in bulk on the USGS Imagery Data System here: https://cmgds.marine.usgs.gov/idsviewer/data_release/10.5066-P95C0DGM in the collection CACO01_IO and CACO01_EO.
  1. How might this data set be cited?
    Over, Jin-Si R., Sherwood, Christopher R., Marsjanik, Eric D., Borden, Jonathan S., Martini, Marinna A., and Lange, Athina M.Z., 20260205, USGS CoastCam CACO-01 at Head of the Meadow Beach, Cape Cod National Seashore, Massachusetts (2019 to 2024): Calibration Data: data release DOI:10.5066/P95C0DGM, U.S. Geological Survey, Coastal and Marine Hazards and Resources Program, Woods Hole Coastal and Marine Science Center, Woods Hole, MA.

    Online Links:

    This is part of the following larger work.

    Over, Jin-Si R., Sherwood, Christopher R., Marsjanik, Eric. D., Borden, Jonathan S., Martini, Marinna A., and Lange, Athina M.Z., 2026, USGS CoastCam CACO-01 at Head of the Meadow Beach, Cape Cod National Seashore, Massachusetts (2019 to 2024): Imagery and Calibration Data: data release doi:10.5066/P95C0DGM, U.S. Geological Survey, Reston, VA.

    Online Links:

    Other_Citation_Details:
    Suggested citation: Over, J.R., Sherwood, C.R., Marsjanik, E.D., Borden, J.S., Martini, M.A., and Lange, A.M.Z., 2026, USGS CoastCam CACO-01 at Head of the Meadow Beach, Cape Cod National Seashore, Massachusetts (2019 to 2024)—Imagery and Calibration Data: U.S. Geological Survey data release, https://doi.org/10.5066/P95C0DGM.
  2. What geographic area does the data set cover?
    West_Bounding_Coordinate: -70.0812320
    East_Bounding_Coordinate: -70.0733245
    North_Bounding_Coordinate: 42.0564112
    South_Bounding_Coordinate: 42.0504522
  3. What does it look like?
    https://www.sciencebase.gov/catalog/file/get/60d5fd5bd34e960393670e8a?name=CACO01_CoastCam_browse.png&allowOpen=true (PNG)
    Location map and field of view of CoastCam CACO01.
    https://www.sciencebase.gov/catalog/file/get/60d61173d34e960393675c90?name=CACO01_calibration_browse.png&allowOpen=true (PNG)
    Example calibration products (extrinsic and intrinsic) from camera 1 and 2 and an image of CACO-01 in place on the bluff.
  4. Does the data set describe conditions during a particular time period?
    Calendar_Date: 12-Dec-2019
    Currentness_Reference:
    ground condition, dates refer to the days the camera was calibrated intrinsically or extrinsically.
  5. What is the general form of this data set?
    Geospatial_Data_Presentation_Form: JPEGs and tabular 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: 0.999600
      Longitude_of_Central_Meridian: -69.000000
      Latitude_of_Projection_Origin: 0.000000
      False_Easting: 500000.000000
      False_Northing: 0.000000
      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 North American Datum of 1983 (National Spatial Reference System 2011).
      The ellipsoid used is GRS_1980.
      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: North American Vertical Datum of 1988
      Altitude_Resolution: 0.001
      Altitude_Distance_Units: meters
      Altitude_Encoding_Method:
      Explicit elevation coordinate included with horizontal coordinates
  7. How does the data set describe geographic features?
    CACO01_CalibrationImageList.csv
    The CSV file contains the complete list of EO and IO images uploaded onto the IDS and the date they were collected. (Source: producer defined)
    ImageName
    File names of individual images, see the Process Description for file naming convention. (Source: USGS) Character string.
    Date
    Calendar date of collection in MM/dd/YYYY (Source: USGS)
    Range of values
    Minimum:12/12/2019
    Maximum:01/26/2022
    CACO01_c1_20191212_IO.yaml
    The solved IO values for camera 1 from step A in the Camera Calibration procedures outlined in Bruder and Brodie (2020). The lines 1-11 are the values and lines 12-22 are the definitions. There are no actual attribute domain ranges as it is a one-to-one attribute to value ratio. (Source: USGS)
    NU
    number of pixel columns (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:2448
    Maximum:2448
    Units:pixels
    NV
    number of pixel rows (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:2048
    Maximum:2048
    Units:pixels
    coU
    U component of principal point (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:1174.62686482029
    Maximum:1174.62686482029
    Units:pixels
    coV
    V component of principal point (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:1159.61891138849
    Maximum:1159.61891138849
    Units:pixels
    fx
    x component of focal length (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:3568.82795358422
    Maximum:3568.82795358422
    Units:pixels
    fy
    y component of focal length (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:3561.23016607696
    Maximum:3561.23016607696
    Units:pixels
    d1
    First radial distortion coefficient (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:-0.223894413628877
    Maximum:-0.223894413628877
    Units:pixels
    d2
    Second radial distortion coefficient (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:0.179575895946410
    Maximum:0.179575895946410
    Units:pixels
    d3
    Third radial distortion coefficient (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:-0.142603915321976
    Maximum:-0.142603915321976
    Units:pixels
    t1
    First tangential distortion coefficient (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:0.000103375577572249
    Maximum:0.000103375577572249
    Units:pixels
    t2
    Second tangential distortion coefficient (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:-0.000662288636500013
    Maximum:-0.000662288636500013
    Units:pixels
    CACO01_c2_20191212_IO.yaml
    The solved IO for camera 2 from step A in the Camera Calibration procedures outlined in Bruder and Brodie (2020). The lines 1-11 are the values and lines 12-22 are the definitions. There are no actual attribute domain ranges as it is a one-to-one attribute to value ratio. (Source: USGS)
    NU
    number of pixel columns (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:2448
    Maximum:2448
    Units:pixels
    NV
    number of pixel rows (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:2048
    Maximum:2048
    Units:pixels
    coU
    U component of principal point (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:1207.60313102422
    Maximum:1207.60313102422
    Units:pixels
    coV
    V component of principal point (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:1062.65152566984
    Maximum:1062.65152566984
    Units:pixels
    fx
    x component of focal length (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:2389.98343454418
    Maximum:2389.98343454418
    Units:pixels
    fy
    y component of focal length (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:2390.49258999349
    Maximum:2390.49258999349
    Units:pixels
    d1
    First radial distortion coefficient (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:-0.215320891162456
    Maximum:-0.215320891162456
    Units:pixels
    d2
    Second radial distortion coefficient (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:0.160828621258090
    Maximum:0.160828621258090
    Units:pixels
    d3
    Third radial distortion coefficient (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:-0.0396046946239307
    Maximum:-0.0396046946239307
    Units:pixels
    t1
    First tangential distortion coefficient (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:-0.000704074888016825
    Maximum:-0.000704074888016825
    Units:pixels
    t2
    Second tangential distortion coefficient (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:-0.00248988265653642
    Maximum:-0.00248988265653642
    Units:pixels
    CACO01_c1_20200304_EO_GCPsurvey.csv
    CSV file containing the location (x,y,z) of the GCPs (black and white targets) in the CoastCam camera 1 FOV and their location in the image (U,V). (Source: USGS)
    GCP
    Number identifier of each GCP that can be found in CACO01_c1_20200304_GCP_image_annotated.jpg so that targets can be labeled correctly in Step B of Camera Calibration steps in Bruder and Brodie (2020). (Source: U.S. Geological Survey)
    Range of values
    Minimum:1
    Maximum:10
    Units:none
    U
    Column location of the GCP coordinate in the raw image (CACO01_c1_20200304_GCP_image_raw.jpg). (Source: U.S. Geological Survey)
    Range of values
    Minimum:336.5002008
    Maximum:1983.497485
    Units:pixels
    V
    Row location of the GCP coordinate in the raw image (CACO01_c1_20200304_GCP_image_raw.jpg). (Source: U.S. Geological Survey)
    Range of values
    Minimum:655.0353086
    Maximum:1368.072346
    Units:pixels
    Easting 19N
    RTK X-coordinates in NAD83(2011)/UTM Zone 19N. (Source: U.S. Geological Survey)
    Range of values
    Minimum:410761.414
    Maximum:410835.083
    Units:meters
    Northings 19N
    RTK Y-coordinates in NAD83(2011)/UTM Zone 19N. (Source: U.S. Geological Survey)
    Range of values
    Minimum:4656006.088
    Maximum:4656168.872
    Units:meters
    Elevation NAVD88
    RTK Z-coordinates relative to NAVD88 using GEOID 18. A positive Z value is the up direction. (Source: U.S. Geological Survey)
    Range of values
    Minimum:-0.306
    Maximum:6.475
    Units:meters
    Description
    Location of each GCP placed within the camera's FOV to solve for EO. (Source: U.S. Geological Survey) Details about the GCP locations within the camera's FOV.
    CACO01_c2_20200304_EO_GCPsurvey.csv
    CSV file containing the location (x,y,z) of the GCPs (black and white targets) in CoastCam camera 2 FOV and their location in the image (U,V). (Source: USGS)
    GCP
    Number identifier of each GCP that can be found in CACO01_c2_20200304_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
    Units:none
    U
    Column location of the GCP coordinate in the raw image (CACO01_c2_20200304_GCP_image_raw.jpg). (Source: U.S. Geological Survey)
    Range of values
    Minimum:268.2945606
    Maximum:1745.257533
    Units:pixels
    V
    Row location of the GCP coordinate in the raw image (CACO01_c2_20200304_GCP_image_raw.jpg). (Source: U.S. Geological Survey)
    Range of values
    Minimum:463.6674074
    Maximum:1019.741481
    Units:pixels
    Easting 19N
    RTK X-coordinates in NAD83(2011)/UTM Zone 19N. (Source: U.S. Geological Survey)
    Range of values
    Minimum:410853.230
    Maximum:410952.143
    Units:meters
    Northings 19N
    RTK Y-coordinates in NAD83(2011)/UTM Zone 19N. (Source: U.S. Geological Survey)
    Range of values
    Minimum:4655996.049
    Maximum:4656126.735
    Units:meters
    Elevation NAVD88
    RTK Z-coordinates relative to NAVD88 using GEOID 18. A positive Z value is the up direction. (Source: U.S. Geological Survey)
    Range of values
    Minimum:0.170
    Maximum:5.435
    Units:meters
    Description
    Location of each GCP placed within the camera's FOV to solve for EO. (Source: U.S. Geological Survey) Details about the GCP locations within the camera's FOV.
    CACO01_c1_20220126_EO_GCPsurvey.csv
    CSV file containing the location (x,y,z) of the GCPs (black and white targets) in the CoastCam camera 1 FOV and their location in the image (U,V). (Source: USGS)
    GCP
    Number identifier of each GCP that can be found in CACO01_c1_20220126_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:5
    Units:none
    U
    Column location of the GCP coordinate in the raw image (CACO01_c1_20200304_GCP_image_raw.jpg). (Source: U.S. Geological Survey)
    Range of values
    Minimum:1154.451678
    Maximum:2171.695962
    Units:pixels
    V
    Row location of the GCP coordinate in the raw image (CACO01_c1_20200304_GCP_image_raw.jpg). (Source: U.S. Geological Survey)
    Range of values
    Minimum:734.885185
    Maximum:1149.71284
    Units:pixels
    Easting 19N
    RTK X-coordinates in NAD83(2011)/UTM Zone 19N. (Source: U.S. Geological Survey)
    Range of values
    Minimum:410815.173
    Maximum:410845.697
    Units:meters
    Northings 19N
    RTK Y-coordinates in NAD83(2011)/UTM Zone 19N. (Source: U.S. Geological Survey)
    Range of values
    Minimum:4656025.088
    Maximum:4656123.369
    Units:meters
    Elevation NAVD88
    RTK Z-coordinates relative to NAVD88 using GEOID 18. A positive Z value is the up direction. (Source: U.S. Geological Survey)
    Range of values
    Minimum:2.086
    Maximum:5.916
    Units:meters
    Description
    Location of each GCP placed within the camera's FOV to solve for EO. (Source: U.S. Geological Survey) Details about the GCP locations within the camera's FOV.
    CACO01_c2_20220126_EO_GCPsurvey.csv
    CSV file containing the location (x,y,z) of the GCPs (black and white targets) in CoastCam camera 2 FOV and their location in the image (U,V). (Source: USGS)
    GCP
    Number identifier of each GCP that can be found in CACO01_c2_20220126_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:5
    Units:none
    U
    Column location of the GCP coordinate in the raw image (CACO01_c2_20200304_GCP_image_raw.jpg). (Source: U.S. Geological Survey)
    Range of values
    Minimum:347.3027426
    Maximum:1590.410783
    Units:pixels
    V
    Row location of the GCP coordinate in the raw image (CACO01_c2_20200304_GCP_image_raw.jpg). (Source: U.S. Geological Survey)
    Range of values
    Minimum:512.464444
    Maximum:780.636296
    Units:pixels
    Easting 19N
    RTK X-coordinates in NAD83(2011)/UTM Zone 19N. (Source: U.S. Geological Survey)
    Range of values
    Minimum:410854.097
    Maximum:410923.325
    Units:meters
    Northings 19N
    RTK Y-coordinates in NAD83(2011)/UTM Zone 19N. (Source: U.S. Geological Survey)
    Range of values
    Minimum:4656008.390
    Maximum:4656080.190
    Units:meters
    Elevation NAVD88
    RTK Z-coordinates relative to NAVD88 using GEOID 18. A positive Z value is the up direction. (Source: U.S. Geological Survey)
    Range of values
    Minimum:2.277
    Maximum:5.625
    Units:meters
    Description
    Location of each GCP placed within the camera's FOV to solve for EO. (Source: U.S. Geological Survey) Details about the GCP locations within the camera's FOV.
    CACO01_c1_20200304_EO.yaml
    YAML file containing the solved extrinsic orientation (EO) from Step C in the Camera Calibration procedures outlined in Bruder and Brodie (2020) for camera 1 using values from 2020-03-04. Rows 1-6 are values and rows 7-12 are definitions. Ranges provided are +/- error estimates produced by Step C. (Source: USGS)
    x
    Camera X-coordinate, Easting in NAD83(2011)/UTM Zone 19N of camera position. Value in YAML is 410843.703. (Source: U.S. Geological Survey)
    Range of values
    Minimum:410843.664
    Maximum:410843.742
    Units:meters
    y
    camera Y-coordinate, Northing in NAD83(2011)/UTM Zone 19N of camera position. Value in YAML is 4655943.259 (Source: U.S. Geological Survey)
    Range of values
    Minimum:4655943.180
    Maximum:4655943.338
    Units:meters
    z
    camera Z-coordinate, elevation referenced to NAVD88. Value in YAML is 26.961. (Source: U.S. Geological Survey)
    Range of values
    Minimum:26.897
    Maximum:27.025
    Units:meters
    azimuth
    The horizontal direction the camera is pointing and positive clockwise (CW) from World Y Axis. Value in YAML is 344.869. (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:344.852
    Maximum:344.887
    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. Value in YAML is 75.377 (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:75.357
    Maximum:75.396
    Units:Angle units in degrees
    roll
    The rotation around a horizontal axis going through the length of the lens 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. Value in YAML is 0.622. (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:0.579
    Maximum:0.664
    Units:Angle units in degrees
    CACO01_c2_20200304_EO.yaml
    YAML file containing the solved extrinsic orientation (EO) from Step C in the Camera Calibration procedures outlined in Bruder and Brodie (2020) for camera 2 using values from 2020-03-04. Rows 1-6 are values and rows 7-12 are definitions. Ranges provided are +/- error estimates produced by Step C. (Source: USGS)
    x
    Camera X-coordinate, Easting in NAD83(2011)/UTM Zone 19N of camera position. Value in YAML is 410844.368. (Source: U.S. Geological Survey)
    Range of values
    Minimum:410844.304
    Maximum:410844.432
    Units:meters
    y
    camera Y-coordinate, Northing in NAD83(2011)/UTM Zone 19N of camera position. Value in YAML is 4655943.091 (Source: U.S. Geological Survey)
    Range of values
    Minimum:4655942.989
    Maximum:4655943.192
    Units:meters
    z
    camera Z-coordinate, elevation referenced to NAVD88. Value in YAML is 27.008. (Source: U.S. Geological Survey)
    Range of values
    Minimum:26.902
    Maximum:27.114
    Units:meters
    azimuth
    The horizontal direction the camera is pointing and positive clockwise (CW) from World Y Axis. Value in YAML is 28.528. (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:28.486
    Maximum:28.569
    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. Value in YAML is 67.505 (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:67.461
    Maximum:67.549
    Units:Angle units in degrees
    roll
    The rotation around a horizontal axis going through the length of the lens 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. Value in YAML is 1.593. (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:1.517
    Maximum:1.668
    Units:Angle units in degrees
    CACO01_c1_20220126_EO.yaml
    YAML file containing the solved extrinsic orientation (EO) from Step C in the Camera Calibration procedures outlined in Bruder and Brodie (2020) for camera 1 using values from 2022-01-26. Rows 1-6 are values and rows 7-12 are definitions. Ranges provided are +/- error estimates produced by Step C. (Source: USGS)
    x
    Camera X-coordinate, Easting in NAD83(2011)/UTM Zone 19N of camera position. Value in YAML is 410843.846. (Source: U.S. Geological Survey)
    Range of values
    Minimum:410843.815
    Maximum:410843.876
    Units:meters
    y
    camera Y-coordinate, Northing in NAD83(2011)/UTM Zone 19N of camera position. Value in YAML is 4655943.358 (Source: U.S. Geological Survey)
    Range of values
    Minimum:4655943.307
    Maximum:4655943.410
    Units:meters
    z
    camera Z-coordinate, elevation referenced to NAVD88. Value in YAML is 26.968. (Source: U.S. Geological Survey)
    Range of values
    Minimum:26.929
    Maximum:27.007
    Units:meters
    azimuth
    The horizontal direction the camera is pointing and positive clockwise (CW) from World Y Axis. Value in YAML is 344.668. (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:344.654
    Maximum:344.682
    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. Value in YAML is 75.122 (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:75.106
    Maximum:75.128
    Units:Angle units in degrees
    roll
    The rotation around a horizontal axis going through the length of the lens 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. Value in YAML is -0.011. (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:-0.046
    Maximum:0.023
    Units:Angle units in degrees
    CACO01_c2_20220126_EO.yaml
    YAML file containing the solved extrinsic orientation (EO) from Step C in the Camera Calibration procedures outlined in Bruder and Brodie (2020) for camera 2 using values from 2022-01-26. Rows 1-6 are values and rows 7-12 are definitions. Ranges provided are +/- error estimates produced by Step C. (Source: USGS)
    x
    Camera X-coordinate, Easting in NAD83(2011)/UTM Zone 19N of camera position. Value in YAML is 410844.317. (Source: U.S. Geological Survey)
    Range of values
    Minimum:410844.259
    Maximum:410844.376
    Units:meters
    y
    camera Y-coordinate, Northing in NAD83(2011)/UTM Zone 19N of camera position. Value in YAML is 4655943.137 (Source: U.S. Geological Survey)
    Range of values
    Minimum:4655943.090
    Maximum:4655943.184
    Units:meters
    z
    camera Z-coordinate, elevation referenced to NAVD88. Value in YAML is 27.027 (Source: U.S. Geological Survey)
    Range of values
    Minimum:26.965
    Maximum:27.089
    Units:meters
    azimuth
    The horizontal direction the camera is pointing and positive clockwise (CW) from World Y Axis. Value in YAML is 28.450 (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:28.412
    Maximum:28.487
    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. Value in YAML is 67.014 (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:66.981
    Maximum:67.048
    Units:Angle units in degrees
    roll
    The rotation around a horizontal axis going through the length of the lens 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. Value in YAML is 1.474 (Source: Bruder and Brodie (2020))
    Range of values
    Minimum:1.434
    Maximum:1.515
    Units:Angle units in degrees
    Entity_and_Attribute_Overview:
    File names are broken down as follows: ”CoastCamID_c#_YYYYMMDD_calibration.***” where the Head of the Meadow CoastCam is CACO01, c# is either c1 or c2, and YYYYMMDD refers to the date of the calibration. For more information on the IO and EO parameters see Bruder and Brodie (2020).
    Entity_and_Attribute_Detail_Citation: USGS

Who produced the data set?

  1. Who are the originators of the data set? (may include formal authors, digital compilers, and editors)
    • Jin-Si R. Over
    • Christopher R. Sherwood
    • Eric D. Marsjanik
    • Jonathan S. Borden
    • Marinna A. Martini
    • Athina M.Z. Lange
  2. Who also contributed to the data set?
  3. To whom should users address questions about the data?
    Jin-Si R. Over
    U.S. Geological Survey, Woods Hole Coastal and Marine Science Center
    Geographer
    384 Woods Hole Rd.
    Woods Hole, MA

    508-548-8700 x2297 (voice)
    jover@usgs.gov

Why was the data set created?

Data were obtained to document interannual changes in shoreline position and coastal morphology. These imagery data, calibration files, and ground control point (GCP) locations are the extrinsic orientation (geolocation) data and intrinsic orientation (camera parameters) data to produce orthorectified image products that can be viewed in a geographic information system (GIS) or other software to identify topographic and shallow-water bathymetric features.

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: 12-Dec-2019 (process 1 of 5)
    Before installation at Head of the Meadow CACO-01 c1 and c2 were used to take a series of photos for the IO calibration. This process consisted of collecting 86 and 100 JPEG images for c1 and c2, respectively (see CACO01_CalibrationImageList.csv and the CACO01_IO collection on the IDS). These images contain a 28 mm square checkerboard moved throughout the image frame. This checkerboard pattern allows lens distortion metrics to be calculated. The image file name is formatted as CACO01_c#_IO_YYYYMMDD_######.jpg where c# is the camera number, YYYYMMDD is the date the IO images were obtained, and ###### is the original number written to the file. Note that the time and location of where the actual photos were taken is irrelevant, they have been tagged with the GPS location of the camera pole for which they are relevant and given a GPSTimeStamp of 12:00:00. Step processed by Jonathan Borden. Person who carried out this activity:
    Eric D. Marsjanik
    U.S. Geological Survey, Woods Hole Coastal and Marine Science Center
    Electronics Technician
    U.S. Geological Survey – Marine Operations Facility
    Falmouth, MA

    508-548-8700 x2216 (voice)
    emarsjanik@usgs.gov
    Date: 26-Jan-2022 (process 2 of 5)
    To place the photos taken by the CoastCam into real world coordinates and to rectify them into a planar view, objects within the FOV of the camera must be located. To do so, the elevation and position of the camera lenses c1 and c2 in the CoastCam setup were measured with the RTK GPS and then multiple stationary targets, between 5 and 10 per camera as recommended by Brodie and Bruder (2020), were spread through the camera FOV to be used as GCPs, and the location of each was measured with the RTK GPS equipment as follows.
    1. A base station was set up in the parking lot at Head of the Meadow Beach on an established benchmark.
    2. A GPS receiver was connected to the base station to collect RTK data in NAD83(2011)/ UTM Zone 19N + NAVD88 using GEOID 12B* on March 4, 2020 and in NAD83(2011)/ UTM Zone 19N + NAVD88 using GEOID 18 on January 26, 2022.
    3. Five plywood checkerboard targets were placed on the beach propped up facing towards CoastCam CACO-01. These were measured with the rovers at the intersection of the sand and the middle of the target. Once all GCPs were placed, a snapshot (snap) was taken with the camera. The targets were moved to multiple locations to take additional snap images.
    On 20200304, four snap images were taken with c1 (CACO01_c1_20200304_GCP_image_raw_1583337600.jpg, CACO01_c1_20200304_GCP_image_raw_1583341200.jpg, CACO01_c1_20200304_GCP_image_raw_1583344800.jpg, and CACO01_c1_20200304_GCP_image_raw_1583346600.jpg) for a total of 10 unique GCP targets. All of the GCPs can be viewed on CACO01_c1_20200304_GCP_image_combined_raw.jpg where targets were cropped and superimposed onto the image, they are annotated in CACO01_c1_20200304_GCP_image_annotated.jpg to match the GCP# in CACO01_c1_20200304_EO_GCPsurvey.csv. The image coordinates of the targets on the combined image are the same as in the original images.
    On 20200304, three snap images were taken with c2 (CACO01_c2_20200304_GCP_image_raw_1583337600.jpg, CACO01_c2_20200304_GCP_image_raw_1583341200.jpg, and CACO01_c1_20200304_GCP_image_raw_1583344800.jpg) for a total of 6 unique GCP targets. Note there are four targets in *raw_1583341200 but only the target in the foreground was surveyed with the RTK. All of the GCPs can be viewed on CACO01_c2_20200304_GCP_image_combined_raw.jpg where useable targets were cropped and superimposed onto the image, they are annotated in CACO01_c2_20200304_GCP_image_annotated.jpg to match the GCP# in CACO01_c2_20200304_EO_GCPsurvey.csv. The image coordinates of the targets on the combined image are the same as in the original images.
    On 20220126, one snap image was taken with c1 (CACO01_c1_20220126_GCP_image_raw.jpg) for a total of 5 unique GCP targets. The targets are annotated in CACO01_c1_20220126_GCP_image_annotated.jpg to match the GCP# in CACO01_c1_20220126_EO_GCPsurvey.csv.
    On 20220126, one snap image was taken with c2 (CACO01_c2_20220126_GCP_image_raw.jpg) for a total of 5 unique GCP targets. The targets are annotated in CACO01_c2_20220126_GCP_image_annotated.jpg to match the GCP# in CACO01_c2_20220126_EO_GCPsurvey.csv.
    The image file name is formatted as CACO01_c#_YYYYMMDD_GCP_type_######.jpg where c# is the camera number, YYYYMMDD is the date the EO images were obtained, type is raw, combined or annotated, and ###### is the original number written to the file. *The elevation values using GEOID 12B were transformed to GEOID 18 values using vdatum (https://vdatum.noaa.gov/vdatumweb/) on 2025-02-01 and no changes in the values occurred, so for consistency all data is provided in GEOID 18. Person who carried out this activity:
    Jin-Si R. Over
    U.S. Geological Survey, Woods Hole Coastal and Marine Science Center
    Geographer
    U.S. Geological Survey
    Woods Hole, MA

    508-548-8700 x2297 (voice)
    jover@usgs.gov
    Date: 10-Feb-2025 (process 3 of 5)
    The IO images together with the GCP targets from the EO surveys were used in the CIRN Toolbox and with the Camera Calibration App (MATLAB) to solve for the 3 radial coefficients and 2 tangential coefficients that make up the intrinsic parameters and lens distortion and the EO parameters. The IO coefficient values are provided in YAML files for each camera (CACO01_c1_20191212_IO.yaml and CACO01_c2_20191212_IO.yaml) and the EO parameters are provided in YAML files for each camera (CACO01_c1_20200304_EO.yaml, CACO01_c2_20200304_EO.yaml, CACO01_c1_20220126_EO.yaml, and CACO01_c2_20220126_EO.yaml). Files are provided in zip folder by date and combine camera c1 and c2 files; CACO01_IO_20191212.zip, CACO01_EO_20200304.zip, and CACO01_EO_20220126.zip.
    These YAML files can be re-solved for using the raw images and survey data provided in the CIRN Toolbox. Please refer to Brodie and Bruder (2020) for information about the methods. Step processed by Athina Lange. Person who carried out this activity:
    Chris Sherwood
    U.S. Geological Survey, Woods Hole Coastal and Marine Science Center
    384 Woods Hole Rd.
    Woods Hole, MA
    USA

    508-548-8700 (voice)
    csherwood@usgs.gov
    Date: 09-May-2025 (process 4 of 5)
    All images were geotagged and processed to add 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: 0.5.6). A list of all the useable images is provided in CACO01_ImageList.csv.
    The following describes an example of the Python dictionary object with each entry in the dictionary being a tag-value pair written to each image in the data release: tags = { 'Copyright': 'Public Domain', 'CopyrightNotice': 'Public Domain - please credit U.S. Geological Survey', 'Artist': 'USGS WHCMSC', 'Make': 'FLIR', 'Model': 'Blackfly 50S5C-C', 'GPSLatitude': '42.05049347, 'GPSLongitude': '-70.07738362', 'GPSMapDatum': 'EPSG:6318 NAD83 (2011)', 'GPSAreaInformation': 'camera pole location surveyed with RTK-GNSS', 'GPSLatitudeRef': 'N', 'GPSLongitudeRef': 'W', 'Credit': 'U.S. Geological Survey', 'Contact': 'whsc_data_contact@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/P95C0DGM', 'Author': 'Jin-Si R. Over, Christopher R. Sherwood, Eric D. Marsjanik, Jonathan S. Borden, Athina M.Z. Lange', 'XMP-photoshop:Credit': 'U.S. Geological Survey', 'iptcCore:CreatorWorkEmail': 'whsc_data_contact@usgs.gov','Rights': 'Public Domain', 'ExternalMetadataLink': 'https://www1.usgs.gov/pir/api/identifiers/USGS:60d61173d34e960393675c90'}.
    The UserComment EXIF metadata field was used to store the camera intrinsics and extrinsics in the image metadata. The calibration date refers to the date the nearest EO was done (not relevant). 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 relevant intrinsic (NU, NV, coU, coV, fx, fy, d1, d2, d3, t1, t2) and extrinsic (x, y, z, azimuth, tilt, roll) data variables. The extrinsic variables include both horizontal and vertical position of the camera in UTM coordinates. The other nested dictionary contains text descriptions for each of the variables in the dictionary of data variables. The GPSLatitude and GPSLongitude are specified as the CACO-01 camera pole position and allows the user to find all relevant imagery for CACO-02 on the Imagery Data Service.
    Additionally, tags were added to the Python dictionary object that have different values for either an IO or EO calibration image, the FA relevant to the extrinsics, and camera (c#) c1 or c2. These tags are included as follows:
    IO image: 'Description':'https://cmgds.marine.usgs.gov/services/activity.php?fan=2019-043-FA; This image was captured from a stationary camera (CACO-01 [c#]) to perform an intrinsic calibration.'
    'Keywords': "Head of the Meadow Beach, Cape Cod National Seashore, Massachusetts, CoastCam, USGS, intrinsic calibration, remote sensing"
    EO image: 'Description':'https://cmgds.marine.usgs.gov/services/activity.php?fan=[INSERT FA]; This image was captured from a stationary camera (CACO-01 [c#]) at Cape Cod National Seashore, Massachusetts with extrinsic calibration targets in the field of view.'
    'Keywords': "Head of the Meadow Beach, Cape Cod National Seashore, Massachusetts, CoastCam, USGS, extrinsic calibration, remote sensing, ground control point"
    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. Or use the online tool https://exif.tools/ (accessed May 9, 2025)
    Date: 09-May-2025 (process 5 of 5)
    The calibration images were uploaded to the IDS into the collections CACO01_EO and CACO01_IO. These can be accessed at https://cmgds.marine.usgs.gov/idsviewer/data_release/10.5066-P95C0DGM. Person who carried out this activity:
    Jin-Si R. Over
    U.S. Geological Survey, Woods Hole Coastal and Marine Science Center
    Geographer
    U.S. Geological Survey
    Woods Hole, MA

    508-548-8700 x2297 (voice)
    jover@usgs.gov
  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: SoftwareX Volume 12, 100582, Elsevier, online.

    Online Links:

    Other_Citation_Details:
    This publication describes the steps used to calibrate the CoastCam.

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

  1. How well have the observations been checked?
    Extrinsic orientation (EO)calibration is assessed using GCPs visible in the camera FOV. The GCPs location was determined with Real-Time Kinematic (RTK) Global Positioning System (GPS) equipment. Accuracy of the extrinsic calibration was also tied to the human ability to locate targets in the imagery when using the Coastal Imaging Research Network (CIRN) Quantitative Coastal Imaging Toolbox (Bruder and Brodie, 2020). Calibration success can be examined using the CIRN toolbox where parameters azimuth, tilt, and roll have errors less than 2 degrees. 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 as YAML Ain't Markup Language (YAML)files, which can be opened with any text viewer, and are named with the calibration date.
  2. How accurate are the geographic locations?
    RTK points have a 2 cm horizontal accuracy. After running the CIRN Toolbox with the two EO surveys the difference between the horizontal (xy) location of c1 was 15 cm and c2 was 5 cm.
  3. How accurate are the heights or depths?
    RTK points have a 1 cm vertical accuracy. After running the CIRN Toolbox with the two EO surveys the difference in vertical (z) location of c1 was 1 cm and c2 was 2 cm.
  4. Where are the gaps in the data? What is missing?
    Significant figures in the YAML files are as provided by the Camera Calibration Application. All IO calibration images are provided, but not all may be necessary in the CIRN Toolbox. Surveyed GCP locations and images are provided for the two EO calibration surveys. Horizontal coordinates of the GCPs were 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 (Epoch 2010.00) as to be ingested in the CIRN Toolbox, which encourages a geographic coordinate system. The camera pole (not the individual cameras) was located with the RTK equipment at 42.05049347 N, -70.07738362 W EPSG:6318 NAD83 (2011), this location and coordinate system is easily input into the EXIF headers and is read by the Imagery Data System to keep all images related to CACO-01 in the same location.
  5. How consistent are the relationships among the observations, including topology?
    The camera system installed (two FLIR Blackfly 5MP GigE PGE-50S5C-C color cameras) had an extrinsic (EO) and intrinsic (IO) calibration process.
    The IO calibration process was completed on 20191212 for CACO-01 c1 and c2 and is provided as a set of JPEG images with a checkerboard pattern in different parts of the image. These are used with the Camera Calibration Application (https://www.mathworks.com/help/vision/ref/cameracalibrator-app.html) to solve for the intrinsic parameters and lens distortion, which are provided in a YAML file of resultant IO parameters. Significant figures are taken as provided by the app. A 28mm square checkerboard pattern (7 x 9 squares) was used and the lens distortion was solved for 3 radial coefficients and 2 tangential coefficients. These are used in the CIRN toolbox steps A through C to be able to georectify imagery and make quantifiable measurements. The intrinsic parameters “coU” and “coV” are used by CIRN, but the same parameters are inconsistently named (example, cOU/cOV, Cx/Cy, u0/v0) within the broader camera community and may cause issues in running code.
    The EO calibration process was completed twice, on 20200304 and 20220126. This dataset consists of YAML files of resultant EO parameters from the CIRN Quantitative Coastal Imaging Toolbox steps B and C (Bruder and Brodie, 2020), a comma-separated values (CSV) file of GCP locations and description, and two sets of images from CACO-01 labeled as 'raw' and 'annotated' showing the GCP targets that were surveyed.

How can someone get a copy of the data set?

Are there legal restrictions on access or use of the data?
Access_Constraints No access constraints. Please see 'Distribution Information' for details.
Use_Constraints These data are marked with a Creative Commons CC0 1.0 Universal License. These data are in the public domain and do not have any use constraints. Users are advised to read the dataset's metadata thoroughly to understand appropriate use and data limitations. Please recognize the U.S. Geological Survey (USGS) as the source of this information. These data are not intended for navigational use.
  1. Who distributes the data set? (Distributor 1 of 1)
    U.S. Geological Survey - ScienceBase
    Denver Federal Center, Building 810, Mail Stop 302
    Denver, CO

    1-888-275-8747 (voice)
    sciencebase@usgs.gov
  2. What's the catalog number I need to order this data set? CoastCam calibration and rectification data for CACO-01.
  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 for other purposes, nor on all computer systems, nor shall the act of distribution constitute any such warranty. Any use of trade, firm, or product names is for descriptive purposes only and does not imply endorsement by the U.S. Government. 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?

Who wrote the metadata?

Dates:
Last modified: 05-Feb-2026
Metadata author:
Jin-Si R. Over
U.S. Geological Survey, Northeast Region
Geographer
U.S. Geological Survey
Woods Hole, MA

508-548-8700 x2297 (voice)
whsc_data_contact@usgs.gov
Contact_Instructions:
The metadata contact email address is a generic address in the event the person is no longer with USGS.
Metadata standard:
Content Standard for Digital Geospatial Metadata (FGDC-STD-001-1998)
This page is <https://cmgds.marine.usgs.gov/catalog/whcmsc/SB_data_release/DR_P95C0DGM/CACO01_calibration_metadata.faq.html>
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