Components¶
- LiDAR point stream
X, Y, Z
Timestamp
- GNSS/IMU point stream
GPS X, Y, Z
IMU roll, pitch, yaw
Lever arm and boresight matrix
Combine with the georeferencing equation:

Caveats¶
Generic georeferencing is not yet implemented in PDAL.
The readers.optech includes built-in georeferencing, which automatically projects data to WGS84.
Command¶
1 2 3 4 5 6 | pdal translate \
./exercises/georeferencing/S1C1_csd_004.csd \
./exercises/georeferencing/S1C1_csd_004.laz \
reprojection range \
--filters.reprojection.out_srs="EPSG:32614" \
--filters.range.limits="Intensity[0:500]"
|
In order to display the data easily in plas.io, we must reproject to UTM.
There are some spurious points close to the sensor that skew the intensity distribution. By filtering these points, we will improve the default display in plas.io.
Verify¶

Visualize¶
