How to annotate and use Trimble MX9 imagery data in Horus software?

To use this data in the Horus software, we will use the Horus Movie Maker (to convert JPEG files to *.hrs format) and the Horus Position Fixer to attach the reference data (coordinates, roll, pitch, yaw) to it.


Import Trimble MX9 JPEG data in Horus software

  • Select the input directory with images, and output directory where the *.hrs files will be exported
  • If known, enter the camera height of this camera.
  • If you are importing panoramic images, please check the Equirectangular checkbox.


Horus Movie Maker

In the case of the MX9 output, we can connect the images and position/reference information on the One2One algorithm. That means that the number of images and the number of records in the reference file must be the same.

We will use the Horus Position Fixer. Select the *.csv file with reference information (lat, long, alt, roll, pitch, heading). In this case we selected the White space as delimeter.

Please remove the header of the *.csv file.

This will create an frames.xml file in the Horus recording folder:

Once you open this recording, you might adjust the setup of the camera and save this in the setup.hsf file. Adjust the settings in the gear wheel. Once you are fine, please save this setup.hsf in the Menu, File, Save View (*.hsf) In this case I opened with the Layermanager a 3D vector dataset for calibration. (3D lines were created form pointcloud and opened as *.shp file in the Horus Movie Player and Layermanager).

This procedure to import the MX9 data is based on the One2One algorithm and can be done recording per recording. If you want to process all recordings of one day in one go and save a lot of time on postprocessing, than you need a solution based on the Horus Movie Recorder. This will consume the GPS/INS NMEA signal of your system and will grabb the imagery data (panoramic and down cameras) nicely synchronised with GPS/INS on disk. One huge GPS/INS file can be applied to the imagery data to update the position file of all recordings of a day in a couple of minutes.