6.4.1.  Augmented and Mixed Reality [AR]

Augmented Reality (AR) integrates synthetic objects or synthetic representations of real objects with a physical environment. Geospatial AR experiences can use GeoPose to position synthetic objects or their representations in the physical environment. The geospatial connection provides a common reference frame to support integration in AR.

Table 2 — GeoPose use cases for Augmented and Mixed Reality

6.4.2.  Autonomous Vehicles [AV]

Autonomous vehicles are mobile objects that move through water, across a water surface, in the air, through the solid earth (tunnel boring machine), on the land surface, or in outer space without real-time control by an independent onboard operator. A pose captures the essential information in positioning and orienting a moving object. Sensors attached to mobile elements have their own poses and a chain of reference frame transformations enables common reference frames to be used for data fusion. The possibility of relating the vehicle to other elements of the environment via a common reference frame is essential.

Table 3 — GeoPose use cases for Autonomous Vehicles

6.4.3.  Built Environment [BE]

The built environment consists of objects constructed by humans and located in physical space. Buildings, roads, dams, railways, and underground utilities are all part of the built environment. The location and orientation of built objects, especially those whose view is occluded by other objects is essential information needed for human interaction with the built environment. A common reference frame tied to the earth’s surface facilitates the integration of these objects when their representations are supplied by different sources.

Table 4 — GeoPose use cases for the Built Environment

6.4.4.  Synthetic Environments [SE]

Synthetic environments contain collections of moving objects, which themselves may be composed of connected and articulated parts, in an animation or simulation environment that contains a fixed background of air, land, water, vegetation, built objects, and other non-moving elements. The assembly is animated over some time period to provide visualizations or analytical results of the evolving state of the modelled environment. Synthetic environments support training, rehearsal, and archival of activities and events. The location and orientation of the movable elements of a scene are the key data controlling animation of in a synthetic environment. Since there may be multiple possible animations consistent with observations, storage of the sequences of poses of the actors, vehicles, and other objects is a direct and compact way of representing the variable aspects of the event. Access to one or more common reference frames through a graph of frame transformations makes a coherent assembly possible.

Table 5 — GeoPose use cases for Synthetic Environments

6.4.5.  Image Understanding [IM]

Image understanding is the segmentation of an image or sequence of images into inferred 3D objects in specific semantic categories, possibly determining or constraining their motion and/or geometry. One important application of image understanding is the recognition of moving elements in a time series of images. A pose is a compact representation of the key geometric characteristics of a moving element. In addition to moving elements sensed by an imaging device, it is often useful to know the pose of the sensor or imaging device itself. A common geographic reference frame integrates the objects into a single environment.

Table 6 — GeoPose use cases for Image Understanding

7.2.1.  Core

The Logical Model Core contains the essential elements specific to the GeoPose modelled as a transformation between an anchoring Outer Frame and one or more derived Inner Frames. This is described in Figure 8.

Figure 8 — Core logical model

7.2.2.  Time

The time logical model is based on W3C CR-owl-time-20200326.

Only relevant classes, properties, and associations are included. GeoPose v1.0 has a very restricted idea of time position, limited to seconds of UNIX Time. This is described in Figure 9.

Figure 9 — Time logical model

7.2.3.  Sequence

The sequence logical model defines a method for packaging of GeoPose data, where multiple GeoPoses in a sequence share the same outer frame (Clause 4.2.7) and there is a time-dependent changing inner frame (Clause 4.2.8). This is displayed in Figure 10.

Figure 10 — Sequence logical model

7.2.4.  Targets

The Logical Model’s Targets package specify the design of logical data objects and data types that are directly expressed in GeoPose data objects.

The Basic-YPR, Basic-Quaternion, and the Advanced GeoPose SDUs represent single GeoPose objects.

Figure 11 — Basic and Advanced Structural Data Units

The Chain and the Graph GeoPose composite structures respectively represent linear or branching frame transformation relationships.

Figure 12 — Chain and Graph Structural Data Units

The Stream and each of the two Series composite structures represent time series of a single evolving GeoPose.

Figure 13 — Series and Stream Structural Data Units

8.3.1.  Tangent point specification requirements

8.3.2.  Frame specification requirements

8.3.3.  Time specification requirements

8.4.1.  Requirements for Standardization Target 1: Basic-YPR

Figure 14 — Structure of the Basic YPR SDU

8.4.2.  Requirements for Standardization Target 2: Basic-Quaternion

Figure 15 — Structure of the Basic Quaternion SDU

8.4.3.  Requirements for Standardization Target 3: Advanced

Figure 16 — Structure of the Basic Advanced SDU

8.4.4.  Requirements for Standardization Target 4: Graph

Figure 17 — Structure of the Graph SDU

8.4.5.  Requirements for Standardization Target 5: Chain

Figure 18 — Structure of the Chain SDU

8.4.6.  Requirements for Standardization Target 6: Regular Series

Figure 19 — Structure of the Regular Series SDU

8.4.7.  Requirements for Standardization Target 7: Irregular Series

Figure 20 — Structure of the Irregular Series SDU

8.4.8.  Requirements for Standardization Target 8: Stream

The Stream target consists of two parts: a single initial specification of a transition model and an outer frame (the Stream Header) and zero or more time-stamped frame specifications (the Stream Elements). In the delivery of a stream the Header and Elements are not part of a single data structure that exists at a single instant.

Nevertheless, recording the Header and all of the Elements received up to some point in time in a single structure is possible. The result is that there are two kinds of data objects that may be involved in transmission of a stream: Headers and Elements and a third kind of object that represents a Recorded Stream.

Figure 21 — Structure of the Stream Header SDU

Figure 22 — Structure of the Stream Element SDU

9.2.1.  General

The JSON encoding is one of many possible ways of implementing a concrete representation of any one or more of the GeoPose Standardization Targets. The specific JSON encoding in this section follows all of the normal rules and conventions of JSON. For example, the order of named properties is not significant and, except in the case of the “strict” Basic-Quaternion object, there is no restriction on adding additional properties not specified in the GeoPose 1.0 Standard. In addition to supporting specific application requirements outside the GeoPose 1.0 scope, this flexibility enables experimentation with useful properties that might be part of a future version of the OGC GeoPose Standard.

9.2.2.  Standardization Target 1: Basic-YPR

{
  "description": "Basic-YPR: Basic GeoPose using yaw, pitch, and roll to specify orientation",
  "definitions": {
    "angles": {
      "type": "object",
      "properties": {
        "yaw": {
          "type": "number"
        },
        "pitch": {
          "type": "number"
        },
        "roll": {
          "type": "number"
        }
      },
      "required": [
        "yaw",
        "pitch",
        "roll"
      ]
    },
    "Position": {
      "type": "object",
      "properties": {
        "lat": {
          "type": "number"
        },
        "lon": {
          "type": "number"
        },
        "h": {
          "type": "number"
        }
      },
      "required": [
        "lat",
        "lon",
        "h"
      ]
    }
  },
  "type": "object",
  "properties": {
    "position": {
      "$ref": "#/definitions/Position"
    },
    "angles": {
      "$ref": "#/definitions/angles"
    }
  },
  "required": [
    "position",
    "angles"
  ]
}

Figure 23 — Basic-YPR: JSON encoding schema

Example — Basic-YPR: JSON encoding example

{
  "position": {
    "lat": 47.7,
    "lon": -122.3,
    "h": 11.5
  },
  "angles": {
    "yaw": 5.514456741060452,
    "pitch": -0.43610515937237904,
    "roll": 0.0
  }
}

9.2.3.  Standardization Target 2: Basic-Quaternion

Two JSON encodings are defined for the Basic-Quaternion Target:

Strict

disallowing additional JSON properties not defined in the schema

Extensible

allowing additional JSON properties in addition to those required by the schema.

All other targets follow the default and permit additional JSON properties.

{
  "description": "Basic-Quaternion-Strict: Basic GeoPose using quaternion to specify orientation - no additional properties",
  "definitions": {
    "Position": {
      "type": "object",
      "properties": {
        "lat": {
          "type": "number"
        },
        "lon": {
          "type": "number"
        },
        "h": {
          "type": "number"
        }
      },
      "required": [
        "lat",
        "lon",
        "h"
      ]
    },
    "Quaternion": {
      "type": "object",
      "properties": {
        "x": {
          "type": "number"
        },
        "y": {
          "type": "number"
        },
        "z": {
          "type": "number"
        },
        "w": {
          "type": "number"
        }
      },
      "required": [
        "x",
        "y",
        "z",
        "w"
      ]
    }
  },
  "type": "object",
  "additionalProperties": false,
  "properties": {
    "position": {
      "$ref": "#/definitions/Position"
    },
    "quaternion": {
      "$ref": "#/definitions/Quaternion"
    }
  },
  "required": [
    "position",
    "quaternion"
  ]
}

{
  "position": {
    "lat": 47.7,
    "lon": -122.3,
    "h": 11.5
  },
  "quaternion": {
    "x": 0.20054473382601948,
    "y": -0.08111675703887213,
    "z": 0.3660908114262869,
    "w": -0.9050852994339209
  }
}

{
  "description": "Basic-Quaternion-Strict: Basic GeoPose using quaternion to specify orientation - no additional properties",
  "definitions": {
    "Position": {
      "type": "object",
      "properties": {
        "lat": {
          "type": "number"
        },
        "lon": {
          "type": "number"
        },
        "h": {
          "type": "number"
        }
      },
      "required": [
        "lat",
        "lon",
        "h"
      ]
    },
    "Quaternion": {
      "type": "object",
      "properties": {
        "x": {
          "type": "number"
        },
        "y": {
          "type": "number"
        },
        "z": {
          "type": "number"
        },
        "w": {
          "type": "number"
        }
      },
      "required": [
        "x",
        "y",
        "z",
        "w"
      ]
    }
  },
  "type": "object",
  "additionalProperties": false,
  "properties": {
    "position": {
      "$ref": "#/definitions/Position"
    },
    "quaternion": {
      "$ref": "#/definitions/Quaternion"
    }
  },
  "required": [
    "position",
    "quaternion"
  ]
}

{
  "position": {
    "lat": 47.7,
    "lon": -122.3,
    "h": 11.5
  },
  "quaternion": {
    "x": 0.20054473382601948,
    "y": -0.08111675703887213,
    "z": 0.3660908114262869,
    "w": -0.9050852994339209
  }
}

9.2.4.  Standardization Target 3: Advanced GeoPose

{
  "description": "Advanced: Advanced GeoPose allowing flexible outer frame specification, quaternion orientation, and valid time.",
  "definitions": {
    "FrameSpecification": {
      "type": "object",
      "properties": {
        "authority": {
          "type": "string"
        },
        "id": {
          "type": "string"
        },
        "parameters": {
          "type": "string"
        }
      },
      "required": [
        "authority",
        "id",
        "parameters"
      ]
    },
    "Quaternion": {
      "type": "object",
      "properties": {
        "x": {
          "type": "number"
        },
        "y": {
          "type": "number"
        },
        "z": {
          "type": "number"
        },
        "w": {
          "type": "number"
        }
      },
      "required": [
        "x",
        "y",
        "z",
        "w"
      ]
    }
  },
  "type": "object",
  "properties": {
    "frameSpecification": {
      "$ref": "#/definitions/FrameSpecification"
    },
    "quaternion": {
      "$ref": "#/definitions/Quaternion"
    },
    "validTime": {
      "type": "integer"
    }
  },
  "required": [
    "frameSpecification",
    "quaternion"
  ]
}

Figure 26 — Advanced GeoPose: JSON encoding schema

Example — Advanced GeoPose: JSON encoding example

{
  "frameSpecification": {
    "authority": "/geopose/1.0",
    "id": "LTP-ENU",
    "parameters": "longitude=-122.3000000&latitude=47.7000000&height=11.000"
  },
  "quaternion": {
    "x": 0.20056154657066608,
    "y": -0.08111602541464237,
    "z": 0.36606032744426537,
    "w": -0.9050939692261301
  },
  "validTime": 1630560671227
}

9.2.5.  Standardization Target 4: Graph

{
  "description": "Graph: An general structure modelling the pose relationship between frames (nodes) and transforms (edges) in a graph structure.",
  "definitions": {
    "FrameSpecification": {
      "type": [
        "object",
        "null"
      ],
      "properties": {
        "authority": {
          "type": "string"
        },
        "id": {
          "type": "string"
        },
        "parameters": {
          "type": "string"
        }
      },
      "required": [
        "authority",
        "id",
        "parameters"
      ]
    },
    "FrameTransformPair": {
      "type": [
        "object",
        "null"
      ],
      "properties": {
        "link": {
          "type": [
            "array",
            "null"
          ],
          "items": {
            "type": "integer"
          }
        }
      },
      "required": [
        "link"
      ]
    }
  },
  "type": "object",
  "properties": {
    "validTime": {
      "type": "integer"
    },
    "frameList": {
      "type": "array",
      "items": {
        "$ref": "#/definitions/FrameSpecification"
      },
      "minItems": 2
    },
    "transformList": {
      "type": "array",
      "items": {
        "$ref": "#/definitions/FrameTransformPair"
      },
      "minItems": 1
    }
  },
  "required": [
    "validTime",
    "frameList",
    "transformList"
  ]
}

Figure 27 — Graph: JSON encoding schema

Example — Graph: JSON encoding example

{
  "validTime": 1630560671313,
  "frameList": [
    {
      "authority": "/geopose/1.0",
      "id": "/Extrinsic/LTP-ENU",
      "parameters": "longitude=-122.3000000&latitude=47.7000000&height=11.000"
    },
    {
      "authority": "/geopose/1.0",
      "id": "/Intrinsic/Translate-Rotate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[0.69291, 0.69291, 0.14097, 0.14097]"
    },
    {
      "authority": "/geopose/1.0",
      "id": "/Intrinsic/Translate-Rotate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[0.69291, 0.69291, 0.14097, 0.14097]"
    },
    {
      "authority": "/geopose/1.0",
      "id": "/Intrinsic/Translate-Rotate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[0.69291, 0.69291, 0.14097, 0.14097]"
    },
    {
      "authority": "/geopose/1.0",
      "id": "/Intrinsic/Translate-Rotate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[0.69291, 0.69291, 0.14097, 0.14097]"
    },
    {
      "authority": "/geopose/1.0",
      "id": "/Intrinsic/Translate-Rotate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[0.69291, 0.69291, 0.14097, 0.14097]"
    },
    {
      "authority": "/geopose/1.0",
      "id": "/Intrinsic/Translate-Rotate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[0.69291, 0.69291, 0.14097, 0.14097]"
    }
  ],
  "transformList": [
    {
      "link": [
        0,
        1
      ]
    },
    {
      "link": [
        1,
        2
      ]
    },
    {
      "link": [
        2,
        3
      ]
    },
    {
      "link": [
        0,
        4
      ]
    },
    {
      "link": [
        4,
        5
      ]
    },
    {
      "link": [
        5,
        6
      ]
    }
  ]
}

9.2.6.  Standardization Target 5: Chain

{
  "description": "Chain: An outer frame and a sequence of transformations to a final innermost frame.",
  "definitions": {
    "FrameSpecification": {
      "type": "object",
      "properties": {
        "authority": {
          "type": "string"
        },
        "id": {
          "type": "string"
        },
        "parameters": {
          "type": "string"
        }
      },
      "required": [
        "authority",
        "id",
        "parameters"
      ]
    },
    "FrameSpecification-1": {
      "type": [
        "object",
        "null"
      ],
      "properties": {
        "authority": {
          "type": "string"
        },
        "id": {
          "type": "string"
        },
        "parameters": {
          "type": "string"
        }
      },
      "required": [
        "authority",
        "id",
        "parameters"
      ]
    }
  },
  "type": "object",
  "properties": {
    "validTime": {
      "type": "integer"
    },
    "outerFrame": {
      "$ref": "#/definitions/FrameSpecification"
    },
    "frameChain": {
      "type": "array",
      "items": {
        "$ref": "#/definitions/FrameSpecification-1"
      },
      "minItems": 2
    }
  },
  "required": [
    "validTime",
    "outerFrame",
    "frameChain"
  ]
}

Figure 28 — Chain: JSON encoding schema

Example — Chain: JSON encoding example

{
  "validTime": 1630560671263,
  "outerFrame": {
    "authority": "/geopose/1.0",
    "id": "/Extrinsic/LTP-ENU",
    "parameters": "longitude=-122.3000000&latitude=47.7000000&height=11.000"
  },
  "frameChain": [
    {
      "authority": "/geopose/1.0",
      "id": "/Intrinsic/Translate-Rotate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[0.69291, 0.69291, 0.14097, 0.14097]"
    },
    {
      "authority": "/geopose/1.0",
      "id": "/Intrinsic/Translate-Rotate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[0.69291, 0.69291, 0.14097, 0.14097]"
    },
    {
      "authority": "/geopose/1.0",
      "id": "/Intrinsic/Translate-Rotate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[0.69291, 0.69291, 0.14097, 0.14097]"
    }
  ]
}

9.2.7.  Standardization Target 6: Regular Series

{
  "description": "Regular Series: Regular GeoPose time series with constant inter-pose duration.",
  "definitions": {
    "FrameSpecification": {
      "type": "object",
      "properties": {
        "authority": {
          "type": "string"
        },
        "id": {
          "type": "string"
        },
        "parameters": {
          "type": "string"
        }
      },
      "required": [
        "authority",
        "id",
        "parameters"
      ]
    },
    "FrameSpecification-1": {
      "type": [
        "object",
        "null"
      ],
      "properties": {
        "authority": {
          "type": "string"
        },
        "id": {
          "type": "string"
        },
        "parameters": {
          "type": "string"
        }
      },
      "required": [
        "authority",
        "id",
        "parameters"
      ]
    },
    "SeriesHeader": {
      "type": "object",
      "properties": {
        "poseCount": {
          "type": "integer"
        },
        "integrityCheck": {
          "type": [
            "string",
            "null"
          ]
        },
        "startInstant": {
          "type": "integer"
        },
        "stopInstant": {
          "type": "integer"
        },
        "transitionModel": {
          "$ref": "#/definitions/TransitionModel"
        }
      },
      "required": [
        "poseCount",
        "startInstant",
        "stopInstant",
        "transitionModel"
      ]
    },
    "SeriesTrailer": {
      "type": "object",
      "properties": {
        "poseCount": {
          "type": "integer"
        },
        "integrityCheck": {
          "type": [
            "string",
            "null"
          ]
        }
      },
      "required": [
        "poseCount"
      ]
    },
    "TransitionModel": {
      "type": "object",
      "properties": {
        "authority": {
          "type": "string"
        },
        "id": {
          "type": "string"
        },
        "parameters": {
          "type": "string"
        }
      },
      "required": [
        "authority",
        "id",
        "parameters"
      ]
    }
  },
  "type": "object",
  "properties": {
    "header": {
      "$ref": "#/definitions/SeriesHeader"
    },
    "interPoseDuration": {
      "type": "integer"
    },
    "outerFrame": {
      "$ref": "#/definitions/FrameSpecification"
    },
    "innerFrameSeries": {
      "type": "array",
      "items": {
        "$ref": "#/definitions/FrameSpecification-1"
      },
      "minItems": 1
    },
    "trailer": {
      "$ref": "#/definitions/SeriesTrailer"
    }
  },
  "required": [
    "header",
    "interPoseDuration",
    "outerFrame",
    "innerFrameSeries",
    "trailer"
  ]
}

Figure 29 — Regular series: JSON encoding schema

Example — Regular series: JSON encoding example

{
  "header": {
    "poseCount": 2,
    "integrityCheck": "{\"SHA256\": \"5556fb65f8bf9eddb3ace1329c9a6aeedd4833409965aeee3e6b61ed21f47858\"}",
    "startInstant": 1630560671367,
    "stopInstant": 1630560716367,
    "transitionModel": {
      "authority": "/geopose/1.0",
      "id": "none",
      "parameters": ""
    }
  },
  "interPoseDuration": 1000,
  "outerFrame": {
    "authority": "/geopose/1.0",
    "id": "LTP-ENU",
    "parameters": "longitude=-122.3000000&latitude=47.7000000&height=11.000"
  },
  "innerFrameSeries": [
    {
      "authority": "/geopose/1.0",
      "id": "RotateTranslate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[1.0, 0.0, 0.0, 0.5]"
    },
    {
      "authority": "/geopose/1.0",
      "id": "RotateTranslate",
      "parameters": "translation=[0.5, 0.0, 0.0]&rotation=[1.0, 0.0, 0.0, 0.5]"
    },
    {
      "authority": "/geopose/1.0",
      "id": "RotateTranslate",
      "parameters": "translation=[1.0, 0.0, 0.0]&rotation=[1.0, 0.0, 0.0, 0.5]"
    }
  ],
  "trailer": {
    "poseCount": 2,
    "integrityCheck": "{\"SHA256\": \"5556fb65f8bf9eddb3ace1329c9a6aeedd4833409965aeee3e6b61ed21f47858\"}"
  }
}

9.2.8.  Standardization Target 7: Irregular Series

{
  "description": "Irregular Series: Irregular GeoPose time series with variable inter-pose duration.",
  "definitions": {
    "FrameAndTime": {
      "type": [
        "object",
        "null"
      ],
      "properties": {
        "frame": {
          "$ref": "#/definitions/FrameSpecification"
        },
        "validTime": {
          "type": "integer"
        }
      },
      "required": [
        "frame"
      ]
    },
    "FrameSpecification": {
      "type": "object",
      "properties": {
        "authority": {
          "type": "string"
        },
        "id": {
          "type": "string"
        },
        "parameters": {
          "type": "string"
        }
      },
      "required": [
        "authority",
        "id",
        "parameters"
      ]
    },
    "SeriesHeader": {
      "type": "object",
      "properties": {
        "poseCount": {
          "type": "integer"
        },
        "integrityCheck": {
          "type": [
            "string",
            "null"
          ]
        },
        "startInstant": {
          "type": "integer"
        },
        "stopInstant": {
          "type": "integer"
        },
        "transitionModel": {
          "$ref": "#/definitions/TransitionModel"
        }
      },
      "required": [
        "poseCount",
        "startInstant",
        "stopInstant",
        "transitionModel"
      ]
    },
    "SeriesTrailer": {
      "type": "object",
      "properties": {
        "poseCount": {
          "type": "integer"
        },
        "integrityCheck": {
          "type": [
            "string",
            "null"
          ]
        }
      },
      "required": [
        "poseCount"
      ]
    },
    "TransitionModel": {
      "type": "object",
      "properties": {
        "authority": {
          "type": "string"
        },
        "id": {
          "type": "string"
        },
        "parameters": {
          "type": "string"
        }
      },
      "required": [
        "authority",
        "id",
        "parameters"
      ]
    }
  },
  "type": "object",
  "properties": {
    "header": {
      "$ref": "#/definitions/SeriesHeader"
    },
    "outerFrame": {
      "$ref": "#/definitions/FrameSpecification"
    },
    "innerFrameAndTimeSeries": {
      "type": "array",
      "items": {
        "$ref": "#/definitions/FrameAndTime"
      },
      "minItems": 1
    },
    "trailer": {
      "$ref": "#/definitions/SeriesTrailer"
    }
  },
  "required": [
    "header",
    "outerFrame",
    "innerFrameAndTimeSeries",
    "trailer"
  ]
}

Figure 30 — Irregular series: JSON encoding schema

Example — Irregular series: JSON encoding example

{
  "header": {
    "poseCount": 2,
    "integrityCheck": "{\"SHA256\": \"5556fb65f8bf9eddb3ace1329c9a6aeedd4833409965aeee3e6b61ed21f47858\"}",
    "startInstant": 1630560671429,
    "stopInstant": 1630560716429,
    "transitionModel": {
      "authority": "/geopose/1.0",
      "id": "none",
      "parameters": ""
    }
  },
  "outerFrame": {
    "authority": "/geopose/1.0",
    "id": "LTP-ENU",
    "parameters": "longitude=-122.3000000&latitude=47.7000000&height=11.000"
  },
  "innerFrameAndTimeSeries": [
    {
      "frame": {
        "authority": "/geopose/1.0",
        "id": "RotateTranslate",
        "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[1.0, 0.0, 0.0, 0.5]"
      },
      "validTime": 1630560671429
    },
    {
      "frame": {
        "authority": "/geopose/1.0",
        "id": "RotateTranslate",
        "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[1.0, 0.0, 0.0, 0.5]"
      },
      "validTime": 1630560671429
    },
    {
      "frame": {
        "authority": "/geopose/1.0",
        "id": "RotateTranslate",
        "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[1.0, 0.0, 0.0, 0.5]"
      },
      "validTime": 1630560671429
    }
  ],
  "trailer": {
    "poseCount": 2,
    "integrityCheck": "{\"SHA256\": \"5556fb65f8bf9eddb3ace1329c9a6aeedd4833409965aeee3e6b61ed21f47858\"}"
  }
}

9.2.9.  Standardization Target 8: Stream

{
  “description”: “Composite: StreamHeader — appears once at the beginning of a stream.”,
  “definitions”: {
    “FrameSpecification”: {
      “type”: “object”,
      “properties”: {
        “authority”: {
          “type”: “string”
        },
        “id”: {
          “type”: “string”
        },
        “parameters”: {
          “type”: “string”
        }
      },
      “required”: [
        “authority”,
        “id”,
        “parameters”
      ]
    },
    “TransitionModel”: {
      “type”: “object”,
      “properties”: {
        “authority”: {
          “type”: “string”
        },
        “id”: {
          “type”: “string”
        },
        “parameters”: {
          “type”: “string”
        }
      },
      “required”: [
        “authority”,
        “id”,
        “parameters”
      ]
    }
  },
  “type”: “object”,
  “properties”: {
    “transitionModel”: {
      “$ref”: “#/definitions/TransitionModel”
    },
    “outerFrame”: {
      “$ref”: “#/definitions/FrameSpecification”
    }
  },
  “required”: [
    “transitionModel”,
    “outerFrame”
  ]
}

Figure 31 — Stream header: JSON encoding schema

{
  “description”: “Stream Element: The repeated information streamed at irregular times.”,
  “definitions”: {
    “FrameAndTime”: {
      “type”: “object”,
      “properties”: {
        “frame”: {
          “$ref”: “#/definitions/FrameSpecification”
        },
        “validTime”: {
          “type”: “integer”
        }
      },
      “required”: [
        “frame”
      ]
    },
    “FrameSpecification”: {
      “type”: “object”,
      “properties”: {
        “authority”: {
          “type”: “string”
        },
        “id”: {
          “type”: “string”
        },
        “parameters”: {
          “type”: “string”
        }
      },
      “required”: [
        “authority”,
        “id”,
        “parameters”
      ]
    }
  },
  “type”: “object”,
  “properties”: {
    “streamElement”: {
      “$ref”: “#/definitions/FrameAndTime”
    }
  },
  “required”: [
    “streamElement”
  ]
}

Figure 32 — Stream element: JSON encoding schema

Refer to the specification of Requirement /req/stream-encoding-json/record.

{
  “description”: “Stream: GeoPose stream is an open-ended irregular timeseries suitable for streaming from a sensor or information service.”,
  “definitions”: {
    “FrameAndTime”: {
      “type”: “object”,
      “properties”: {
        “frame”: {
          “$ref”: “#/definitions/FrameSpecification”
        },
        “validTime”: {
          “type”: “integer”
        }
      },
      “required”: [
        “frame”
      ]
    },
    “FrameSpecification”: {
      “type”: “object”,
      “properties”: {
        “authority”: {
          “type”: “string”
        },
        “id”: {
          “type”: “string”
        },
        “parameters”: {
          “type”: “string”
        }
      },
      “required”: [
        “authority”,
        “id”,
        “parameters”
      ]
    },
    “StreamElement”: {
      “type”: [
        “object”,
        “null”
      ],
      “properties”: {
        “streamElement”: {
          “$ref”: “#/definitions/FrameAndTime”
        }
      },
      “required”: [
        “streamElement”
      ]
    },
    “StreamHeader”: {
      “type”: “object”,
      “properties”: {
        “transitionModel”: {
          “$ref”: “#/definitions/TransitionModel”
        },
        “outerFrame”: {
          “$ref”: “#/definitions/FrameSpecification”
        }
      },
      “required”: [
        “transitionModel”,
        “outerFrame”
      ]
    },
    “TransitionModel”: {
      “type”: “object”,
      “properties”: {
        “authority”: {
          “type”: “string”
        },
        “id”: {
          “type”: “string”
        },
        “parameters”: {
          “type”: “string”
        }
      },
      “required”: [
        “authority”,
        “id”,
        “parameters”
      ]
    }
  },
  “type”: “object”,
  “properties”: {
    “header”: {
      “$ref”: “#/definitions/StreamHeader”
    },
    “streamElements”: {
      “type”: [
        “array”,
        “null”
      ],
      “items”: {
        “$ref”: “#/definitions/StreamElement”
      },
      “minItems”: 1
    }
  },
  “required”: [
    “header”,
    “streamElements”
  ]
}

Figure 33 — Stream record: JSON encoding schema

Example 1 — Valid JSON encoding of a Stream Header instance

{
  "transitionModel": {
    "authority": "/geopose/1.0",
    "id": "interpolate",
    "parameters": ""
  },
  "outerFrame": {
    "authority": "/geopose/1.0",
    "id": "LTP-ENU",
    "parameters": "longitude=-122.3000000&latitude=47.7000000&height=11.000"
  }
}

Example 2 — Valid JSON encoding of a Stream Element instance

{
  "streamElement": {
    "frame": {
      "authority": "/geopose/1.0",
      "id": "RotateTranslate",
      "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[-0.90510, 0.20057, -0.08112, 0.36605]"
    },
    "validTime": 1630560671474
  }
}

Example 3 — Valid JSON encoding of a Recorded Stream

{
  "header": {
    "transitionModel": {
      "authority": "/geopose/1.0",
      "id": "interpolate",
      "parameters": ""
    },
    "outerFrame": {
      "authority": "/geopose/1.0",
      "id": "LTP-ENU",
      "parameters": "longitude=-122.3000000&latitude=47.7000000&height=11.000"
    }
  },
  "streamElements": [
    {
      "streamElement": {
        "frame": {
          "authority": "/geopose/1.0",
          "id": "RotateTranslate",
          "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[-0.90510, 0.20057, -0.08112, 0.36605]"
        },
        "validTime": 1630560671474
      }
    },
    {
      "streamElement": {
        "frame": {
          "authority": "/geopose/1.0",
          "id": "RotateTranslate",
          "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[-0.90566, 0.20166, -0.08106, 0.36406]"
        },
        "validTime": 1630560683820
      }
    },
    {
      "streamElement": {
        "frame": {
          "authority": "/geopose/1.0",
          "id": "RotateTranslate",
          "parameters": "translation=[0.0, 0.0, 0.0]&rotation=[-0.90622, 0.20275, -0.08101, 0.36207]"
        },
        "validTime": 1630560696165
      }
    }
  ]
}