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USER MANUAL EYESMAP

1. 6 2 2 Create Mesh SS This filter generates a mesh from the selected point cloud Based on the point cloud and the normals a surface is created using the approach mentioned in the article Poisson Surface Reconstruction When this filter is selected the following popup configuration window appears Mormals 10 os Dept solver Divide 6 Compute all Files Normals Field Calculates the normals of the point cloud depending on the neighbours A high value for this parameter improves results but slows down processing A value between 10 and 1000 is recommended Octree Depth and Solver Divide fields These two fields are recommended to be set high in the event that the point cloud which is going to be filtered is relatively clean 6 Viewers values between 10 and 12 are recommended for both fields If the point cloud is not optimised and has a lot of noise small values are recommended 6 for both fields To apply this filter to an entire project aln the option Compute All Files must be marked otherwise only the selected model will be filtered Observe the images displayed below to check results The first image is without filtering while in the second one the mesh has been generated Vertices 1642043 User Manual 113 6 2 3 Clean Noise This filter removes noise from the point cloud using automatically generated mesh The parameters are shown below Normals 10 Octree Depth Solver Divide
2. 3 5 Switching on the tablet To start using the Eyesmap Tablet for the first time press the ON OFF switch located on top of the Tablet Both the Microsoft Windows 8 1 Operating System and the other software required to run the Eyesmap Tablet properly have been pre installed by the Manufacturer As a registered user of Eyesmap you are officially licensed to update the device with the latest Windows security enhancements and functionality User Manual 15 A variety of software programs are included as standard in Eyesmap to perform your everyday tasks and data processing e Eyesmap Software e Internet explorer e Meshlab e Daemon tools lite e Microsoft Visual Studio 2008 2010 and 2012 e NotePad e Winrar e Drivers of all the components installed e Etc Once when switched on the Tablet you can start using the application by pressing the main Eyesmap application icon 1 or activating the visualizer 2 or by opening the project directories 3 Admin pc PA o ry rd m pm m Y vu T Fe Police Kil 2 gunmen cuts Muhammad cartoon ewer User Manu 4 EyesMap Applications In this chapter we shall see e Main Application Screen e Text Windows and Standard Buttons e Types of Targets and How to Use Them In this chapter the tablets main application screen shall be explained as well as the different buttons which are common to all modules 4 1 Main Application Screen Whe
3. 80 Acceleration Measurement Resolution Accelerometer White Noise o 976 7 ug 2 8 mg Accelerometer Minimum Drift O Accelerometer Optimal Averaging Period 1 9 mg 286 S Compass Magnetic Field Max Compass Resolution Compass White Noise o Compass Minimum Drift o y Gyroscope Gyroscope Speed 2000 5 s Max Gyroscope Resolution 0 07 s Gyroscope White 0 5995 Noise o Gryoscope Minimum 0 00199s Drift o Gyroscope Optimal 3628 s Averaging Period 5 5 3 mG 1 2 mG 87 uG Compass Optimal Averaging 52 8 Period 3 Starting up with EyesMap In this chapter you will find General Security Information Charging the battery Transport Power Supply owitching on the tablet Read this manual carefully before starting to use Eyesmap Refer to this content when necesary Pay attention to the following instructions and follow them step by step 3 1 General Security Information e he maintenance and repair of the Eyesmap Tablet can only be done by qualified personnel authorized by e Capture e Contact authorized service personnel in the following situations e The power cable is damaged e The Tablet has been exposed to rain water or other liquids e he Tablet has been dropped or damaged e The Tablet does not work normally when following the operating instructions e Do not expose the Tablet to extreme temperatures Do not use the Tablet near to artificial heating sources e Donotuse
4. 7 3 Depth Sensor If you wish to make a 3D model of an interior where photogrammetry is not the best option because the textures are usually quite homogeneous it may be best to use the depth sensor The practical case detailed below will make a 3D model of an office The depth sensor will generate a 3D point cloud for each still image key frame and using an algorithm called VisualSLAM all of said point clouds will be aligned on one sole coordinate system 15 In the main menu select the 3D Depth Sensor button marked with a black circle in the image below Qoo Coordinate Distance Surface Photomodelling 16 The menu with the 4 options that can be carried out within this module will appear e Capture This starts the programme to capture in real time 3D models e Post process This starts the programme to post process a previously captured model e 3D Viewer This opens the internal 3D viewer e Delete Captures This deletes all the actions carried out with the depth sensor in the current project To begin to generate the 3D model click on the Capture button 7 Practi cal Case Fostprocess 3D Viewer Delete 17 When the application opens go to the area that you wish to capture and push the Start button Be sure that the area where you have started to capture has enough characteristic points as this will improve final results 72 O Now move around the room slowly while the desired
5. Error Please not enough images Point to Point Orthophoto 3D Photomodelling This error can arise if files are manually moved like the images which are being used while the process is being undertaken Ero 8 0 Motes Error PLease not enough common points Point to Point Orthophoto 3D Photomodelling This error indicates that there are not enough common points between adjacent images to carry out the process It is recommended you take the photos with more overlap be sure they are well focused and don t stand too far away Ero Motes Error Please there isn t Metadata Exif in the images Point to Point Orthophoto 3D Photomodelling The processed images do not have metadata Check that EyesMap has not loaded images processed with an external application whose metadata could have been modified Error Please there s an error in the XML calibration Point to Point file Orthophoto 3D Photomodelling There is an incorrect value in the calibration file or said file is not found Load calibration again If the problem persists create a new EyesMap calibration configuration and load it Error Please check that there aren t identical images Point to Point Orthophoto 3D Photomodelling This indicates that you have taken two consecutive images from the same or almost the same place This is not recommended for EyesMap Please review the corresponding section on taking
6. Recever CSM24 04 08 User Manual stop CONVERSION Eix SOURCE INFO Receive kB O Fart Errors O Protocol Errors Device Ver ND lonoMadal ND GPS gt UTC NO BLN SUTC SU NO First Observ ND Position HO Duration 00 00 00 UTC 00 00 00 SOURCE INFO Recent kB Pot Enor First Observ Posiliorr Durabon UTC First obs 2015 05 05 10 40 Check the chosen file path with the name of the file that is going to be created Leave the tablet sit and push Start A file of 10 15 minutes in length is recommended for better precision The file is being saved Wait for about 1 minute and check that all the information is OK If it is not Ensure that you have a GPS signal Check to make sure that the COM port is correct Check that before beginning to collect data the change to the BINR protocol has been made 5 EyesMap Modules Click Stop to stop collecting data atop 5 6 5 2 Conversion to RINEX Convert the file created in step 5 6 5 1 to RINEX format and use it to carry out post processing with external software packages and improve accuracy To convert files to RINEX use the second part of the interface SOURCE SET SOURCE NFO Protocol Source COMA S Bri juu Hecerme kB J Baud 115200 Bin CRE Port Enor 0 Interval Spi File by 24h Protocol Emos O Device Ver DE lonoModel OF stap GPS UTC OF GLN SUT
7. User Manual 131 7 Practical cases Point selected on the initial image _ Automatically find matching point Info Select the point again Image 3 4 E If we had deactivated the Automatically find matching point option the same operation of searching and confirming should be carried out in the other images for the point to be registered _ Automatically find matching point Info To add a new coordinate select a point and click Confirm c 227 Eres ye User Manual 132 7 Practical cases Distance With the distance measurement button activated double click on the first distance point and click on confirm Once the first distance point is found dO we can select the second one and click confirm When both points are marked the distance will be shown on all images lt is recommendable to check that said distance is correctly configured on all images If there is an error due to a mistaken point being marked the incorrect distance should be selected with the Select command selecting the area to be deleted with a finger drawing a rectangle and later pushing delete to erase the selected area gt X _ Automatically find matching point Info Select the second point of the distance and click Confirm PE VITA c Repeat the same process for the second distance point When the second point is confirmed the distance between the two points will be recorded User Manual 13
8. per i epee per s To add a new coordinate select a point and click Confirm r r Aff User Manual 129 7 Practical cases SS X B 2 e e Y Automatically find matching point Info To add a new coordinate select a point and click Confirm valle a The distance of the stereoTarget will be saved Click on Next User Manual 130 7 Practical cases 7 1 1 4 Measurement Screen In this section the measurement of coordinates distances and areas are taken as desired Likewise different distances are measured These distances can be exported as lines therefore a building or any other element can be defined by its wire structure Coordinate Measurement With the coordinate measurement button activated double click on the point to be measured V Automatically find matching point To add the point push confirm Push confirm after each point to be measured whether it be a distance point coordinate point or surface point Info To add a new coordinate select a point and click Confirm M C ue aM ag The matching point will automatically be searched for in all the images as we have activated the option Automatically find matching point and the Camera focus in the same direction case is applicable If we had chosen the focus in line option the number of images in which matching points would be searched for would depend on the corresponding advanced options parameter
9. Brush Types Selected Projection Plane Square Brush Round Brush Painted in white Thickness 7 4 1 4 Select Control Points and Reference Points on the X Axis The next step is to input a set of control points and reference points on the X axis If you have doubts about what control points and or reference points on the X axis are you can check section 5 5 6 of the manual Control Points and Reference Points on Axis X Selection Screen Select an image to insert the control points and the reference points on the X axis by double clicking on it 7 Practical cases Select an image with Double Click to select a Control Point or Reference Points Axis X x i e BL E a Ue A Fa Sh a Info You have selected 0 Min 4 Control Points and 0 Reference Points Axis X Min 2 Max 2 Lr Ps m The selected image and the two adjacent images will load so that points can be selected on them x Points Mr e e e v Automatically find matching point FT er 3 Tru ze Imagen001 jpg E Info Select the point again Image 3 1 In total 4 control points have been assigned green and 1 one reference point on the X axis red in these three images User Manual 175 7 Practical cases 9 O e Now click Next The image selection screen will come back up to assign more control points and reference points on the X axis You should select control points on the images as you wish until at minimum there
10. Compensation fault ColorEnable PowerLine Frequency 60 Hz wv Defau Anti Flicker Default 5 EyesMap Modules 5 5 2 Image Gallery At the bottom part of the window the gallery of loaded or captured images can be seen This is a touch controlled gallery in which the new images which are loaded or captured are added to the right of the previous ones Initially the button to discard images is not visible This button only becomes visible when at least one image is selected to be erased To select or de select one or several images you only have to click once on them The selected images stand out from the rest because a black frame appears around them Discard Image 5 5 3 Image Viewer To see the larger version of the image you can double click on the gallery thumbnail In this way the image shall be shown in the viewer where you can e Zoom the photograph lower left image e Restore zoom with a double click lower right image e Delete the image by clicking the Discard Image button e Go forward and backward through the images with touch movements as has been explained with the gallery Zoom the Photograph Restore Zoom User Manual 81 EyesMap ES A At least four images are required Error which appears when a minimum of 4 photographs have not been taken 5 5 4 Final Results Quality Selection Screen Screen which allows you to choose the quality of the final orthophoto This will directly influe
11. Sitios recientes de sequence_1724 07 05 2015 9 55 Carpeta de archivos Je Descargas vum as de sequence_1613 04 05 2015 16 13 Carpeta de archivos The contents of the directory for the real time shots is as follows Inicio Compartir Vista Cortar x mm Hi n FE Nuevo elemento 4 Abrir 59 Seleccionar todo E Copiar ruta de acceso e F cil acceso 7 Modificar No seleccionar ninguno iar al Mover Copiar Eliminar Cambiar Nueva Propiedades o a Pega r z nombre carpeta 5 Historial oo Invertir selecci n ortapapel rganizal S 3 i gt Esteequipo C C EyesMapProject temporal 3DDepth sequence 1724 gt v Buscar en sequence_1724 P BE Escritorio Nombre Fecha de modifica Tipo Tama o 5 Sitios recientes B D di keyframes 07 05 2015 9 55 Carpeta de archivos escargas a d keyframes0 07 05 2015 9 55 Carpeta de archivos 4c x Le keyframes1 07 05 2015 9 55 Carpeta de archivos rupo en el hogar i E keyframes2 07 05 2015 9 55 Carpeta de archivos 06 05 2015 8 07 Archivo numKeyframes a Fete eninn Do not delete or modify these files and directories which have been automatically generated They contain binary data which the programme uses for post processing in order to improve the model generated in real time 18 When you close the programme vSLAM RGBD RealTime you return to the 3D Depth Sensor main menu and can now press post process User Manual 164
12. a thumbnail of the point that was selected in the first image x n te DE puge ne Point selected 9n the initial image Looking for homologous points in this number of adjacent images 2 a _ Adds automatic matching porns to the olematon Maximum Value 2 Info Salter he pom again mage 2 3 help To mark the second distance point follow the same procedure omitting the creation of an identifier which you already did in the first point Once the distance is confirmed it will be marked on the image e Y Loaking far hamologaus ports in af the images _ Adds automate matching points to the orientston Fio er Selpct tie is pow ofthe distance and click Contin o bap You can mark another distance by following the same procedure for example the gap between pipes Likewise you can select coordinates or surfaces Once you have finished with point selection click on the Next button User Manual 143 7 Practical cases Y Looking for homologous points in all the images e _ Adds automatic matching points to the orientation Select the first point of the distance and click Confirm z Geb Esper og ag 13 After processing the data the results window is shown The results box located at the right of the window contains the values obtained for the coordinates including those corresponding to detected targets distance and surfaces in this case none To save the results click on the Export b
13. eis P ada 65 5 4 2 Capture a 3D Mode sse E eer a Aa Grete 66 5 4 3 Post Processing SOMWA OC eios e ee c doe se ROV E E M e Dum 71 5 4 4 SD VIEWET aaea aE EE EO N R 77 S5 JOFthopliOLO Gut da an 78 5 5 1 Photo Development and Management SCreen cccccccssscceeessecesseseceseeeceeeeees 78 5 5 2 Maite Cali 81 5 5 3 MAS VIEWER 81 5 5 4 Final Results Quality Selection Screen cccoooccnnonnccnnnnnncnnnnnaconnonanonnonanonnnonaconnnnos 82 5 5 5 Projection Plane Selection SCreen cccoocccnnonncnononanonnnnnnonnnonaronnnnannnnonnncnncnnaconnnnos 84 5 5 6 Screen for Indicating the Projecting Plane on the Image 84 5 5 7 Image Selection Screen to Choose the Control Points and the Reference Points enis T P TET 86 5 5 8 Control Points and Reference Points on Axis X Selection Screen 87 5 5 9 Additional Image Selection Screen to Choose more Control Points and more Reference Points on the XAK Sii dead 90 cfr o MT eae 92 5 6 1 PrOtOCO A HP ERU 92 5 6 2 COM Port Properties and Changing COM Port occncnncccnncnnccnncnnncnnnonaconnonanonnnnnanos 93 5 6 3 Real Time Dita Screen adi 96 5 6 4 Change Protocol atada haud etes t aono dest Qu utto edid eL dude 98 5 6 5 POSEPTOCESSINE T 102 A EIL e 108 8 6 1 Meshlab To m 109 EMEN E et oaebaouetenss 111 6 2 1 REMOVE OUEIIBES ads 111 6 2 2 ene NE RR HERE 112
14. while using EyesMap with a temporary project the application closes unexpectealy it is possible to recuperate the temporary project that you were working on When the application opens again the temporary project recuperation screen will appear in which it will be possible to recuperate the project that you were working on or begin a new one A temporal project has been detected Load project New project Load Project Load project Click to load the temporary project that you were working on New Project New project Click to discard the project that you were working on and create a new project 5 1 2 2 Project Management when Closing EyesMap After clicking on the Close button a screen with two options will appear Save Project and Exit Application This is a dynamic screen in which the save option will vary depending on the current project If itis a temporary project the application will ask you if you want to save the temporary project or not Likewise if you have been working on a loaded project the application will inform you that the changes have been saved automatically allowing the user to save a copy of the project Do you want to save the temporal project Project name Save Project Bijestname The project will be saved with the assigned name within the directory C EyesMapProject Exit Click to exit the application If the current project is a temporary Exit project it will be
15. 3 6 2 2 5 EyesMap Modules Protocol Baud 115200 Binr JBinr2 Interval 1 Bin CRC From File v W Desktop Organize v New folder A Ww Favorites BE Desktop Downloads E Recent places Admin pc a This PC j This PC Lm je Desktop E Libraries E Documents Downloads m Music E Pictures E Videos Ejemplos pagina web Es Local Disk C 7 BD ROM Drive t Y e Network Fe v E Desktop Organize v New folder Favorites BE Desktop Downloads Admin pc E Recent places This PC jM This PC T um je Desktop Libraries E Documents Downloads m Music E Pictures Jii Videos Ejemplos p gina web i5 Local Disk C 7 BD ROM Drive t Y x Network File name 1 Cancel User Manual Check that this corresponds with your options Click to choose a file path for the data to be saved to Choose a folder and input the file name in the File Name field Choose binary RINEX file Click on Open to create the file 104 Source COMA Baud 115200 Interval 1 To File SOURCE SET Protocol w Binr Bir w C Bint CRC v s _ Split File by 24h Save To Source COMA Baud 115200 Interval CONVERSION Start SOURCE SET Protocol Bini Bow CHC 5 Dal Fix bu dh ToFl C UseissAdmin peXOesktopl
16. 6 Compute all Files Close Apply Normals Field Calculates the normals of the point cloud depending on the neighbours A high value for this parameter improves results but slows down processing A value between 10 and 1000 is recommended Octree Depth and Solver Divide fields These two fields are recommended to be set high in the event that the point cloud which is going to be filtered is relatively clean values between 10 and 12 are recommended for both fields If the point cloud is not optimised and has a lot of noise small values are recommended 6 for both fields To apply this filter to an entire project aln the option Compute All Files must be marked otherwise only the selected model will be filtered Observe the images displayed below to check results The first image is without filtering while in the second one the noise has been removed 6 Viewers If you have questions about the workings of other tools in MeshLab Touch check the following document http www cyi ac cy system files MeshLab 20Documentation1 pdf User Manual 115 7 Practical Cases In this chapter we shall see e Point to Point Photogrammetry o Methodology o Orientation with Targets o Use of Targets e 3D Photomodelling e Depth Sensor e Orthophoto e GPS 7 Practical cases 7 1 Point to Point Photogrammetry 7 1 1 Methodology Bellow the correct methodology is shown for taking measurements of coordinates
17. 6 2 3 AN A o ir UR 114 Practical Cases ria ia 116 7 1 Point to Point Photogrammetry oerset ea 117 PLL Mio A A sauetnaesauc nae aene 117 7 1 2 Orientadorn With Targen ad 139 7 1 3 Use Ot Tak gels diete bann eder dist Tc d MCI De HM E 146 72 SDBPlotomodelllossstessutetniideiste bu EP a 151 7 3 DEAS ON O oue dede nC EM M IMP CI EI 161 F s OVUMOD IO 168 Por GRO Ree PRE TREE CERES O 181 1 Introduction In this chapter we shall see e EyesMap Tablet e How does Eyesmap work e Eyesmap Standard Configuration This document describes the detailed operation of the Eyesmap Tablet for each individual module and feature lt intends to be a guide explaining the use of the different modules for you to get the best out of your Eyesmap tablet This manual will help you how best to capture 3D data in the field in order to obtain the best final results possible 1 1 EyesMap Tablet EyesMap is a High Capacity Tablet PC that allows measurement 3D modelling and documentation of the environment around us This measurement device with its two integrated and calibrated HR cameras is based on photogrammetry and in addition relies on other sensors to capture detailed 3D models of the environment and complex 3D geometric objects quickly and conveniently The results obtained by this tablet are 3D models of both small objects as well as mid sized and big objects containing millions of points It allows real time measurement of coord
18. 7 Practical cases In this case we are going to model some architectural remains from an Alcazaba in Merida To do so we have taken three pairs of photographs We took the first pair walked two steps to the right and took another pair and repeated this process once more We checked to be sure that the photos are clear and that the object to be modelled is centred Click on Next Final Model Resolution Screen Option 1 High Medium Low On this screen we have two options to set the quick 3D model generation mode by only choosing if we want a high medium or low resolution model or on the other hand to enter into the advanced options and define the parameters ourselves The first option high medium or low sets the parameters for the user In this case we ve chosen medium resolution User Manual 152 Model Resolubon Advanced Options Y e o e Click on Next stereoTarget Scaling Screen In this case the stereoTarget has not been used Had the stereoTarget been used we would have used the large stereoTarget for medium and large objects Scale using stereoTarget YES ego Click on Next Master and Secondary Image Selection Screen A master image has been chosen as can be seen below In said master image everything we wish to model has been included X Select one or more Secondary Images aa Imagen000 jp Imagen001jp magen002jp Imagen003jp Imagen004jp ImagenO
19. EA Modules Sorry orientation could not take place Images list of images don t have enough matches Continue to exit This error arises when not enough points are found to automatically orient the images being processed The process will stop This can happen because the images do not have enough overlapping or clarity The process should be repeated omitting the images listed or substituting them with others which better align with the capture recommendations Orthophoto Warning Warning Sorry the following images selected don t have enough matches We are going to delete them Images List 3D Photomodelling of images This warning is shown when for one or several non consecutive images enough common points are not found to carry out orientation EyesMap will delete these images from the 3D reconstruction process Warning Orientation may not be correct because the number of Point to Point points in common between images is Less than optimal Orthophoto 3D Anyway the whole process will be completed Photomodelling This warning is shown when for one or several images enough common points are not found to carry out orientation EyesMap can continue the process but the quality of results obtained is not certain Modules Orientation error Please list of adjacent images do not have enough matches Continue to exit This error arises when not enough points are found to orient a group of adjacent images T
20. Targets are being detected Afterwards the recognised targets are displayed on the screen 11 It is recommendable to check that the stereoTarget has been correctly recognised To do so click on the different images in the gallery and check that the stereoTarget is marked as shown in the image below 12 Once you have checked that it has been recognised in all the images correctly now is when you can begin to take measurements of coordinates distances and surfaces on the facade In this case two measurements are going to be taken As the Distance option was chosen in the main menu in step 1 it is now active Therefore we can now select the first distance point To do this double click on the point in the image if you have not zoomed in this action will zoom in on the area double click again to select the point Once it is selected if you so desire input an identifier for the distance and click on confirm Looking for homologous points in this number of adjacent images 2 C Adds automatic matching points to the orientation Modan Vilue 2 LA E Li inta Salaettha fret pomtofthe distance and click Con rm helo User Manual 142 7 Practical cases The point will automatically be searched for in all the images If it is not found in one of the images the application will show you the image where it was not found and you will have to manually select it The application also displays to guide you
21. USB to UART Bridge COM4 in this case gt Eg IDE ATA ATAPI controllers XA Imaging devices gt Z3 Keyboards gt n Mice and other pointing devices amp Monitors gt amp Network adapters d ee ee Silicon Labs CP210x USB to UART Bridge COMA gt om Print queues gt O Processors E Sensors gt Software devices gt amp Sound video and game controllers 4 Change the COM port number to the correct one in the settings where properties can be modified 5 6 3 Real Time Data Screen Below a description of the steps necessary to take a measurement and view the data in real time is set forth Click to begin to view data on the screen in real time Remember that if you have activated Logging in properties a file will also begin to be generated EMS m Alt m AltVel m s SVs Serial port settings PORZA Main Preferences PRONI Any NMEA message reserved Wait a few seconds and afterwards you ll be able to see the coordinates on screen latitude longitude and height based on the WGS84 ellipsoid 5 EyesMap Modules ID CIMU LOG window Click to stop seeing real time coordinates Data will also stop being stored and it will be saved in the file set for these purposes 5 6 3 1 Error COM port is busy or nor available E COM port is busy or nor available Check that the COM port is correct Section 5 6 2 2 COM Port User Manual 97 5 6 3 2
22. Unique Viewpoints DOME RECOUSTAUCT EIN gt amp eyframe 1 al 4 Only Rapreseninibes keyframes Sampling 18 The application buttons will remain inactive while post processing is being carried out so that execution errors do not arise Notice that the information box shows the number of post processed key frames which have been analysed and those which remain Once this message is displayed in the information box post processing has finished vSLAMOptimization i gt RECONSTRUCTION Kgyframe 1 of 4 Keyframe 2 of 4 keyframe 3 of Keyframe 3 of 4 RECONSTRUCTION DONE 4 4 s Unique viewpoints DOME RECONSTRUCTION Kayframa I of 4 Keyframe 2 of 4 keyframe 3 of 4 Kayframa 4 of 4 EXE RECONSTRUCTION DOHE 1 1 s 7 Unique viewpoints DONE Visualization mode Raw Point Cloud all keyframes gt Only Representative keyframes Rene path Sampling 10 Loop dosure check 23 10 74 Loop Closure In the event that the results obtained are not correct you can execute this option Adjust the Loop Closure Check bar to execute this algorithm with more or Closure less calculations The higher this value is the more probability there is of finding closure but the process will also take more time I mpide 1 Save Press this button to save the post processed key frames The following files are ge
23. are 4 control points selected and 2 X axis reference points Note you cannot select more than 2 X axis reference points User Manual 176 7 Practical cases Select an image with Double Click to select a Contro Point or Reference Points Axis X x Info You have selected 4 Min 4 Control Points and 1 Reference Points Axis X Min 2 Max 2 c P oo The number of points you have selected is indicated in the information box found in the lower part of the screen Info You have selected 4 Min 4 Control Points and 1 Reference Points Axis X Min 2 Max 2 The minimum number of points has not been fulfilled another image is selected to choose more control points and X axis reference points HE 23 e E x 2 E 3 x E n Jolie rech image V Automatically find matching point Info Select the point aga n Image 3 1 En JE A 4 User Manual 177 7 Practical cases On this image which has been selected and the two adjacent images another 5 control points and 1 X axis reference point have been chosen We strongly recommend that you select the greatest number of control points possible oaid points should also be distributed throughout the entire scene In this way results e Qo e will be better Once confirmed click on Next again The programme returns to the image selection screen once again Enough points have been selected for this practical case In total 9 control points and 2 X
24. assigned If there is a problem with the COM port check to ensure that the port number is correct To check if the port number is correct 1 Gointo the PC s device manager T Control Panel System and Security System v Control Panel Home T View basic information about your computer gi Manager Windows edition ememote settings Windows 8 1 Pro p System protection 2013 Microsoft Corporation All rights y Advanced system settings reserved HH System Processor Intel R Core TM i7 3537U CPU 2 0 Installed memory RAM 8 00 GB 7 87 GB usable System type 64 bit Operating System x64 based pr Pen and Touch Pen and Full Windows Touch Support Computer name domain and workgroup settings Computer name Admin Full computer name Admin s 2 Open the Ports tab COM and LPT File Action View Help cs Ae 4 y Admin gt amp Audio inputs and outputs gt E Batteries Bluetooth gt Computer gt 3 Disk drives gt EE Display adapters b E DVD CD ROM drives p tS Human Interface Devices gt Eg IDE ATA ATAPI controllers gt E Imaging devices gt 5 Keyboards gt hn Mice and other pointing devices gt LX Monitors gt a Processors E Sensors Software devices gt Sound video and game controllers gt amp Storage controllers gt pl System devices gt y Unrversal Serial Bus controllers 3 Look at the COM Port number for Silicon Labs CP210x
25. cases 7 1 1 3 Screen for Choosing the Orientation Mode In our case we will use the manual orientation option In this case orientation could also have been undertaken automatically as the images are heterogeneous enough for them to be oriented without the user s assistance But we prefer to demonstrate the manual method in this case It is very important to note at this point that if the images are not ideal for automatic orientation homogeneous textures or colours automatic orientation may generate errors which affect the measurements To avoid this type of errors in areas where textures are unfavourable manual orientation with targets is recommended Click on Next Orientation Poi IV Automatically find matching point _ Add matching point to the orientation Info To add a new orientation point select a point with double click and click Confirm You must choose at least 9 orientation points distributed in the image 77 r r n Next at least nine common points for all the images should be chosen To orient two images they should include these nine points The more common points there are amongst all the images the better It is possible that there are points in image 1 which are not in image 3 or image 4 In that case said points would be discarded To choose a point double click on the desired zone and define the point with your finger User Manual 124 7 Practical cases V Automat
26. communication protocols however in this manual we are only going to explain two protocols in detail as these are enough for the user to take real time measurements and obtain RINEX data for post processing NME Captures data only in real time o It allows you to view data on the screen in real time o If you save a file in this protocol in the real time screen it will be an ASCII file therefore it will be easy to read and to find coordinates this file cannot be converted to RINEX http www nvs gnss com support documentation item 31 nmea protocol specification html BINR Captures data in real time and is necessary to save a file which can be converted to RINEX this type of file is necessary to be able to carry out post process calculations and get better GPS accuracy o It allows you to view data on the screen in real time o The GPS GNSS must be set in this protocol for conversion to RINEX http Www nvs gnss com support documentation item 32 binr protocol specification html To begin to view data on the real time screen in general the GPS GNSS must be in the NMEA protocol although at times it can begin to collect data in the BINR protocol if in the previous session data was already gathered with said protocol To change the protocol type see section 5 6 4 Change Protocol 5 6 2 COM Port Properties and Changing COM Port 5 6 2 1 Properties In this section we will explain the communic
27. eliminated upon exiting the application If it s a loaded project the changes made will be saved automatically 5 1 3 Camera Calibration Cameras Calibration Camera calibration is the most important step so that 3D reconstruction processes and precise measurements can be carried out To calibrate a camera means to find the internal and external parameters as well as possible distortions The better the calibration of the cameras is the greater the accuracy will be in the models and measurements obtained de EyesMapProject For storage of calibrations carried out a 4 Ji AutoCalibration Calibrations directory has been created at EE M C EyesMapProject AutoCalibration AutoOrientation ProjectName All EyesMap devices have a default calibration configuration obtained in an optimal way and called calDefault It is highly recommended not to delete said calibration configuration under any circumstances and to use said configuration preferentially Check with support 2ecapture es for more information on new calibration configurations Click this option to manage camera calibration When you select the camera calibration option the application shows the main screen where the two available actions appear calibrate cameras and load calibration X Calibration Calibration Load Calibration Calibration Click to calibrate the EyesMap cameras To complete this action consult support ecapture es Load Cali
28. environment is captured Check that the 3D model is being generated in the following image User Manual 162 7 Practical cases R In the previous image the number of key frames that have been captured up to now is shown 18 in this case It should be noted here that due to processing constraints a sole depth sensor capture can have up to 400 key frames at maximum IMPORTANT Worse results are obtained if you pass over an area you have already captured several times Note how the 3D model is being generated as you move about opp O GB Use the rotate move and zoom buttons to view the model while it is being captured User Manual 163 7 Practical cases The desired area has been scanned so the programme can now be closed The binary data which will be post processed next has been automatically recorded in the 3DDepth directory of your project directory The directory where the data has been saved is sequence 1724 Inicio Compartir Vista 9 E Cortar x n 7 Nuevo elemento y 4 Abrir FH seleccionar todo B A ae Wee ff MJ Copiar ruta de acceso d t Fa cil acceso Modificar No seleccionar ninguno ar Pegar Mover Copiar Eliminar Cambiar Nueva Propiedades v o e a nombre carpeta B b Historial go Invertir selecci n Y T d gt Esteequipo C C EyesMapProject temporal 3DDepth v Buscar en 3DDepth P BE Escritorio ds Nombre Fecha de modifica Tipo Tama o
29. in real time again you have to have the NMEA Protocol activated therefore it is probable that you ll have to change from the BINR Protocol to the NMEA Protocol if this is the case NOTA if the GPS is already turned on data can continue to be collected in BINR To change from the BINR Protocol to the NMEA Protocol the GPS has to already be collecting real time data in the BINR protocol Change from the BINR Protocol to the NMEA Protocol 1 Click the button re Serial port settings 0B gt 50 5 EyesMap Modules Date 06 01 1980 Lat 0 0 00000N LatVel m s 0 000 ID CSM24 04 08 20 10 14 Time 00 02 46 Lon 0 0 00000E LonVel m s 0 000 Channels 32 RMS m 141432624 0 Alt m 18 000 AltVel m s 0 000 SS Receiver Test 11 gt 43 Serial port settings 0B gt 50 _ Software Revision 1B gt 70 ittepeferences OD Connection Test 26 gt 54 __ SV tracked 12 gt 47 Datum A2 gt A3 Heading and speed 13 gt 41 BINR Settings B2 gt C2 _ Receiver channels status 17 gt 42 Extended Preferences D7 gt E7 _ Extended channels info 18 gt 48 49 Ephemeris request send 19 gt 49 _ Time scale difference 1E gt 74 X Cancel all response packet 0e Time amp frequency parameters 1F gt 72 _ Almanac request send 20 240 KO Receiver Restart 01 L DOPs info 21 760 Local timezone 23 246 User packets SVs in view 24 252 Reseived Position and velocity 27 788 _ S
30. orientation with targets it is necessary to take the following considerations into account e Between contiguous photographs there should be at least 3 asymmetrical targets in common This type of target is not used as an orientation point but instead it is used as a pairing tool for the symmetrical targets e As has already been explained there should also be at least 9 symmetrical targets in common The following images show a pair of photo captures in which 6 asymmetrical targets and 16 symmetrical targets are recognised to be in common User Manual 40 5 EyesMap Modules In addition to being used as orientation points EyesMap will supply the three dimensional coordinates of the symmetrical targets centre points 5 2 5 Scaling with the StereoTarget On this screen you must specify if you wish to use the stereoTarget to scale the results or not Remember that if you do not use the stereoTarget you can always scale the results using a real measurement X Scale using stereoTarget User Manual 41 O No Click if you have not used the stereoTarget or you do not wish to scale the image with the stereoTarget Scale using stereoTargel NO amp o e Si Click if you wish to scale with the stereoTarget Two new groups of options will appear e Type of stereoTarget used large selected by default or small e Search in all images selected by default or choose the images in which th
31. parts of the image This orientation method has the drawback of being manual and requiring the selection of at least nine points thus increasing the time required for the work On the other hand it has the advantage of accuracy and flexibility in point selection 5 2 4 2 1 Selection of Orientation Points For the selection of orientation points EyesMap displays the screen shown in the image below The process cannot be advanced until at least 9 points on the image have been selected ED x Conhrm Orientation Point Jet e Automatically find matching point Add matching point to the orientation OKI r r r n Info To add a new orientation point select a point with double click and click Confirm You must choose at least 9 orientation points distributed in the image User Manual 38 The tools included in the interface are the following Orientation Point Orientation Point Allows you to select an orientation point by double clicking on the image This button is activated by default Confirm Click to confirm an orientation point which has been selected Scale If scaling has not been carried out with the stereoTarget or you wish to scale with a real distance which is known you can use the Scale tool You should input the real measurement of the distance and then select the two points which make up the distance This tool is treated with priority over the stereoTarget scaling
32. photos Error There are few Control Points or the Projection Orthophoto Plane was drawn incorrectly This error may be due to the lack of control points in the orthophoto you should add more or you may not have drawn the projection plane correctly it could be too small or more than one plane could have been drawn Ero Motes Error Radial distortion abnormally high Point to Point Orthophoto 3D Photomodelling This error may be due to the fact that you have an incorrect calibration configuration loaded or the images may be very blurry Ero 8 Motes Error Please check your calibration Point to Point Orthophoto 3D Photomodelling You may not have the correct calibration configuration loaded for the camera you are using Please load the correct calibration configuration E Motes Error Please report it Point to Point Orthophoto 3D Photomodelling If this error appears during the execution of EyesMap please get in touch with support ecapture es
33. precision is required the at least 10 minutes collected data can be post processed up to a best accuracy of 0 10m The integrated inertial system comprises a gyroscope an accelerometer and a magnetometer which provides us information of the tablet 3D movement speed orientation and gravitation forces in real time 1 3 accel gyro Inertial Measurement Unit 3 accelerometers 3 gyroscopes Eyesmap Standard Configuration Package The Eyesmap package comes as standard in the following configuration pr e ee De c Transport Case Tablet AC charger and Cable Euro plug GPS Antenna Keyboard oet of Targets existing of a 40 symmetric Point Targets b 20 Asymmetric Targets C d 1 Stereo Target for small objects 1 Stereo Target for big objects 2 Technical Specifications In this chapter we shall see Tablet Cameras Depth Sensor GPS IMU 2 Technical Specifications 2 1 Tablet Operating system Windows 8 1 64 bits Screen features Size 11 6 Resolution 1366x768 px HD P Cap Multi Touch 10 pt e Technical features Intel 17 Ivy Bridge processor HD SSD 128 Gb RAM 8 Gb Electrical Capacity 8000 mAh Battery 7 V Battery life 8 horas Wireless Technologies WIFI 802 11 a b g n 3G UMTS HSPA 850 900 1900 2100 MHz GSM GPRS EDGE 850 900 1800 1900 MHz Power Supply GPS 100 240V 50 60 Hz Output 19V 3 3A Battery charging time 3 horas In
34. tracking of a set of visual features generally characteristic points is carried out in the succession of images captured by the camera 5 4 2 2 Workings of the Interface The interface is divided into 4 parts e Application status bar E This allows you to minimise restore and close the application e Toolbar with available buttons Cua On Mi y User Manual Play When you click on this button the 3D model is generated The key frames will be oriented while the capture is being undertaken IMPORTANT To the maximum extent possible start taking the shot at a heterogeneous area This will help to improve the results of the entire process The binary data which can be post processed later is automatically saved Do not do the capture at a high speed let EyesMap compute the key frames to properly orient itself The data which is automatically saved and which can be post processed is stored by default in the directory in which you are working called sequence and followed by the time of capture lt is recommended not to scan the same surface two times as this noticeably worsens the results Pause Click to pause the real time capture process Click Play again to resume capturing Rotate move and zoom 5 EyesMap Modules Closure Closure In the event that you wish to circularly close the capture undertaken you can click on this button to show the first key frame ca
35. type is set to NMEA For more information read section 5 6 2 1 on the GPS module in the manual Once we have confirmed that all the settings are correct the configuration is applied by pressing OK User Manual 182 7 Practical cases on it m vort settings Pl references P MEA message ed The next step undertaken is to push Start on the main GPS screen in order to start to view data in real time and to be able to change the protocol type from NMEA to BINR this is necessary to create a file which can be converted to RINEX As can be seen in the image in the maroon square the GPS is already gathering latitude longitude and height coordinates in the WGS84 ellipsoid User Manual LatVel m s LonVel m s AltVel m s Serial port settings PORZA Main Preferences PKON1 Any NMEA message reserved 183 7 Practical cases 38 55 2011N qfLatVel ms 0 000 06 20 1450W f LonVel m s 0 000 AltVel m s _ Serial port settings PORZA Main Preferences PKON1 _ Any NMEA message reserved Now the protocol type is changed from NMEA to BINR To do this we click on the Serial Port Settings PORZA button which is highlighted in the following image 38 552011N LatVel m s 0 000 06 20 1450W LonVel m s 0 000 reserved We chang
36. was mentioned previously Load praject uj Save project Load Project Click to load an existing project and work on it Everything processed in the loaded project will be saved automatically To load the project you should select y EyesMopProject the folder with the project name and ES utoOrientation click OK Save Project It is important to remember that the EyesMap system automatically saves all the processes undertaken except the measurements taken by the point to point photogrammetry module in which case results must be exported in the desired format The option Save Project has two different behaviours depending on the type of project in question If the current project is a temporary project the application has been started and the project has not been saved with any name this option will save the current project with the name you choose If the current project is a project which was already generated and already has a name not a temporary project this option will save an exact copy of the project and the application will continue working with this new copy which has been generated Therefore this tool can be used to save a project for the first time or to create a copy of another project You must keep in mind that when you are working with a project which has already been loaded not a temporary project changes are saved automatically 5 1 2 1 Project Management when Opening EyesMap If
37. with each one 5 1 2 Project Management wj Project Management The location designated for storage of EyesMapProject in CA The structure of projects inside EyesMapProject is a main directory ProjectName which includes various subdirectories 3D 3DDepth GPS etc where all processes carried out in the project shall be stored X projects is the directory 2 di EyesMapProject de AutoCalibration i P AutoOrientation di 3D Le 3DDepth Li GPS di Measurements Li Ortho When you begin to work with the application the name of the project is set as temp by default thus all processes undertaken are automatically stored in the directory C EyesMapProject temp Click on this button to save the temporary project with another name create a new project or load an existing project When you select the project management option the application shows the main screen where the three available actions appear create a new project load an existing project and save the current project X New project Load project Save project New Project Click to create a new project You can select an existing folder which is empty or create a new one in both cases the name of the directory CANNOT be called temp New project Everything processed in the new project which has been created will be saved automatically in the selected created directory using the project structure that
38. you wish to select more or if you only need one master image advance to the next screen Step 1 Choose a master image marked in green Select an Image Master Confirm Master and Secondary Images already selected Select the image that you wish to set as master and confirm your selection If you have selected the wrong image just click on the desired image and the previous image will automatically de select Click to confirm the chosen master image Confirm otep 2 Choose one or several secondary images to complete the master image marked in blue Select one or more Secondary Images Ez Confirm Master and Secondary Images already selected Select the images that you wish to set as secondary If you have selected the wrong image just click on it again and it will automatically de select It is recommendable to assign one or two secondary images to each master image for each side Click to confirm the selected secondary images Confirm les otep 3 Paint a mask over the master image vol NAN Draw Sky Draw Mask Draw all Brush Types Square Brush Round Brush Thickness tay P 2p Draw Sky the sky Click to paint part of the sky in the image lt is not necessary for you to paint the entire sky Everything will be modelled except for Draw Sky User Manual EN DU AD ash n DL ECrijneN Narra NN AZ 1
39. 005 jp Confirm Master and Secondary Images already selected Two secondary images have been assigned to this master image In the secondary images almost the same part that we want to model should appear as in the master image 7 Practical cases Select one or more Secondary Images ls liis MS Ci aC CS magen000jp magen00ljp Imagen002jp Imagen003jp Imagen004jp Imagen005 jp Confirm Master and Secondary Images already selected oP A Once the secondary images have been chosen we click on confirm The next step is to paint with the round brush all the parts of the object that appears in the photo and which we wish to model X Draw Sky O Draw all Brush Types O O Square Brush Round Brush Thickness Restore User Manual 155 7 Practical cases Draw Sky Draw Mask Draw all Brush Types Square Thickness In the top image we can see the photo taken and in the bottom the mask which has been painted is displayed Therefore in the final 3D model only that part of the Alcazaba will be modelled For more information on master images secondary images and masks consult the photomodelling module in the manual Click on Next Salect other maga Master or Cornue ImagenO00 jp imagend0l jp iimagenD02 jp Imagen 03jp imagend01jp ImagentU5 jp Mester and Secondary Images alrandy selected e Imagen001 jpg Imagen000 jpg
40. 1T 8 e Toolbar with available buttons Coro BHO User Manual 72 5 EyesMap Modules Compute last Capture This post processes the sequence of key frames of the last 3D model undertaken in real time Open Sequence When you click on this button the following dialogue box opens Select the saved sequence that you wish to post process temporal gt 3DDepth gt vw Search 3DDepth Organize v New folder Name Date modified W amp This PC Jh Desktop J sequence 77 5 5 2015 7 08 AM E Documents J Downloads Jb Music Pictures B Videos amp Local Disk C Network P ie gt Select Folder Cancel In the event that the selected directory is incorrect or does not contain a sequence the following message will be displayed No plys could be found Select project folder When you have chosen the correct key frame sequence post processing will begin User Manual 73 5 EyesMap Modules a us LAMODti mization EN PE c OPO RECONSTRUCTION Keyframe 1 of 4 Keyframe 2 of 4 Keyframe 3 of 4 Keyframe 4 of 4 RECONSTRUCTION DONE 4 4 s Unique viewpoints DONE RECONSTRUCTION Keyframe 1 of 4 RECONSTRUCTION DONE Unique viewpoints DONE Neo User Manual rE RECDMSTRICTEN amp eyframe bof 4 keyframe 2 af 4 Keyfraime 3 of 4 amp eyframe 4 af 4 we RECONSTRUCT DONE 3 4 TT
41. 21 04 2015 17 09 Aplicaci n 7 CreatingMesh exe 21 04 2015 17 07 Aplicaci n amp Grupo en el hogar 4 meshlab exe 09 04 2015 11 20 Aplicaci n at M A 4 cuum m do P d a LI Previously we indicated to you the location of this programme on your tablet but all 3D models have already been configured to open automatically with MeshLab Touch Notice that the output generated by the 3D Photomodelling module and depth sensor is a aln file This file is a project with the MeshLab format which will allow you to open with just a click the files which contain the point clouds generated in a process ply format When you execute MeshLab you can load 3D models ply and projects aln from the Open File popup window A echa de modica Tipo Once the model is loaded you will be able to rotate move and zoom by choosing the corresponding buttons located in the toolbar User Manual 110 0 File Edit Filters Render View Windows Tools Help ds LT N TE WHY Z8 21H El uu gt A l You can change the model s centre of rotation by double clicking on the desired point 6 2 Filters This Touch version of MeshLab introduces 3 filters 6 2 1 Remove Outliers E With this filter you can delete outlier points to soften the noise in the point cloud An example is shown below The first image is not filtered while in the second image the outlier points have been deleted automatically
42. 3 7 Practical cases Distance _ Automatically find matching point d Ld Lad did Info Select the first point of the distance and click Confirm Cbd teh User Manual 134 7 Practical cases Measure a Surface Select the first point on the surface to be measured _ Automatically find matching point cid ii add did r r Repeat the same process for the next points on the surface Info Select the next surface point and click Confirm IMPORTANT select points in a clockwise or counter clockwise direction always in an ordered fashion selecting the external points of the surface without the points crossing over each other User Manual 135 7 Practical cases To close the surface select the first point on the surface again and click on confirm Distance _ Automatically find matching point adii Li Laid did P r n EyesMap can do more than one coordinate distance and surface measurement on the same screen To accomplish this the user just has to click the icon for the object to be measured and repeat the aforementioned operation Info Select the fist surface point and click Confirm Teg PP 24 0 e e Click on Next The system processes all the data and shows the results in the results and data export box User Manual 136 7 Practical cases Som x Result data COORDINATES pO 6 55 1 772 17 867 DISTANCES d0 11m SURFACES s0 4 22 m2 hd 9 Expor
43. 4 57 i Resen ed Position and velocity 27 228 Setting of position aad lime 32 59 Last postion solution 3 5845 Extrapolated position 38 285 Recener channels info 5987 Charnels measurements 04 544 i Jonospheric parameters 24 244 UTC parameters 1B gt 48 Jono amp Tropo comections 5C 5T tes muss and drop out 35 53 walia aniu X eb Tal Baud 115200 Interval 1 From File SOURCE SET SOURCE INFO EyesMap takes us to a new screen with a different interface From this interface we will Source From File Y Protocol Binr O Binr CRC Receive kB 0 Port Errors 0 O Binr2 Protocol Errors 0 Device Ver NO lonoModel NO GPS gt UTC NO GLN UTC SU NO Split File by 24h Save To CONVERSION First Observ NO Position NO Duration 00 00 00 UTC 00 00 00 The first step is to choose the correct COM port see section 5 6 2 2 on the GPS in the manual The other parameters are left the same as they are correct for this case User Manual be able to save a file of binary observations for subsequent conversion to RINEX files SOURCE SET Ms Bi From File C COM3 O Binr CRC Interval 1 S alis O Binr2 Baud Split File by 24h From File CONVERSION Save To SOURCE INFO Receive kB 0 Port Errors 0 Protocol Errors 0 Device Ver NO lonoModel NO GPS gt UT
44. 5 EvyaocN larn VAN AC D L y c gt V d IJ V U d u C 3 Draw Mask Click to paint the part of the image that you wish to model Select in white everything you wish to be modelled in the master image Draw Mask Draw All oelect this to model all the parts of the master image Draw all Type of Brush Select the type of brush that you wish to use square or round Round Brush Square Brush User Manual 6 AA B Y ef VA Sl a Thickness Brush Thickness Move the sliding bar towards the left or right for greater less brush thickness Restore a Click to erase everything you have painted selected on the Restore image Use this button if you have made a mistake or if you wish to improve your selection Step 4 Repeat the process to choose more master images or if you only need one master image advance to the next screen Keep in mind that you should select as many master images as you need Select other Image Master or Continue Master and Secondary Images already selected Imagen001 jpg Imagen000 jpg Imagen002 jpg E Delete from the list Master and Secondary Images already selected Imagen001 jpg Imagen000 jpg Box showing the names of the master images and Imagen002 jpg their associated secondary images You can select images in this list if you wish to delete a master secondary image from the selection Delete from the List Select this b
45. 7 Practical cases Capture e e e e m e Does bettie E E A ut i we 19 The post processing programme opens Click on the Last button which will automatically load the last capture taken in real time r3 Closure P Visualization mode Raw Point Cloud all keyframes Raw path Only Representative keyframes User Manual 165 7 Practical cases Note how the process begins loading and orienting each one of the 59 key frames that the sequence contains While this process is running the application buttons are blocked to avoid programme errors This process can take several minutes depending on the number of key frames and their nature vSLAMOptimization DES RECONSTRUCTION Keyframe 1 of 59 Keyframe 2 of 59 Keyframe 3 of 59 Keyframe 4 of 59 CET C Closure OPO Only Representative keyframes When the 59 keyframes are calculated the process finalises and the options become available again Review the model generated which has a high sub sample using the rotate move and zoom buttons to check that the results obtained are as expected 20 Now we can save the model to have a 3D model with a high point density Click on the Save icon j VSLAMOptimization bh OCH o User Manual 166 Select the directory where you wish to save the results In this case a directory called result has been created i
46. 70 _ Connection Test 26 gt 54 Datum A2 gt A3 _ BINR Settings B2 gt C2 Extended Preferences D7 gt E7 Lon X Cancel all response packet 0e E 115200 o Receiver Restart 01 User packets v English COM error As can be seen after this procedure the protocol change has been correctly carried ID CSM24 04 08 20 10 14 Channels 32 SVs 0 GPS 0 GLN Serial port settings 0B gt 50 _ Main Preferences 0D gt 51 _ SV tracked 12 247 Heading and speed 13 741 Receiver channels status 17 242 Extended channels info 1848 49 _ Ephemeris request send 19 49 Time scale difference 1E gt 74 Time amp frequency parameters 1F gt 72 Almanac request send 20 gt 40 DOPs info 21 gt 60 Local timezone 23 gt 46 SVs in view 24 gt 52 Reseived Position and velocity 27 788 Setting of position and time 32 789 _ Last position solution 37 784 Extrapolated position 38 785 Receiver channels info 39 587 Channels measurements D4 gt E4 _ Ienospheric parameters 2A gt 4A UTC parameters 2B gt 4B Iono amp Tropo corrections 3C gt 3D Satellites in use and drop out 35 gt 93 Statistical task control 30 gt 44 _ GF and SCO solution 31 gt 61 _ Time 1C 1D gt 73 diff correct OF gt 55 GLONASS time parameters DB gt EB out something which can be checked in the area marked in red 5 6 4 2 If you want to gather data
47. Automatic search for homologous points Looking for homologous This option is selected by default and it searches for the points in all images orientation point that was selected in one image in the rest of the images If the point is not found it shows the images in which said point has not been found so that it can be marked manually Add automatic orientation points If you select this option de selected by default the points found Add automatic matching with automatic orientation will be added to your manual points to orientation orientation so that both orientation methods are combined This has the advantage of increasing orientation points but orientation accuracy can decrease depending upon the quality of the shot 5 EyesMap Modules 5 2 4 3 Automatic Orientation with Automatic Target Targets Orientation This carries out orientation of images automatically by paring targets recognised Of the three types of orientation this is the one which provides the best accuracy but it also requires more processing time Like manual orientation it is necessary for there to be at least 9 symmetrical targets in common between consecutive images with areas not in common being able to be completed with the number of targets you wish As can be seen in the previous graphic between images 1 2 and 2 3 there are at least 9 symmetrical targets in common 3 25 3 T Methodology for Orientation with Targets To carry out
48. C NO GLN UTC SU NO FirstObserv NO Pasition NO Duration 00 00 00 UTC 00 00 00 186 7 Practical cases We click on the open folder button and next a new window opens where we can choose the folder where we want to save the file we are going to create In the File Name box we input the file name In this case it is P1 We click on Open SOURCE SET SOURCE INFO Binr C Binr2 Receive kB 0 rom File 4 Baud COMI C Binr CRC Part Errors Interval V Split File by 24h Protocol Errars Device ver NO Fram File wh lonokdodel NO GPS 3UTC MO GLIN SUTC GSUY NO CONVERSION First Observ HO E i M Duration 00 00 00 R a UTC 00 00 00 T b gps gt v Qj Search gps p Organize New folder z m e lE Desktop ds Name Date modified Type J Downloads l J punto 1 5 6 2015 340AM File folde Recent places ke This PC Ja Desktop E Documents J Downloads Jp Music Pictures KB Videos gt Local Disk C Network File name Py User Manual 187 7 Practical cases Now that the file is defined we click on start to begin to take data SOURCE SET SOURCE INFO Binr eri Recelwe kB 0 Baud 115200 JBinr CRC Port Errors 0 Interval Split File by 24h Protocol Errors Device Ver NO Fram File CAUserstAdmin paDesktopiapsiP1 lonoModel
49. C SUE OK CONVERSION First bserv OF Position OF Durabor O0 00 25 UTC 10 40 50 ToFl C 3UseissAdmin pexXDesktegl First obs 2015 05 05 10 40 5 6 5 2 1 To carry out direct conversion to RINEX of the file that was just saved Click to choose a file path for Save To saving the RINEX files CONVERSION Save To CL sersAdmin pesDesktaphgps Click on Run to start conversion The files created can be found in the chosen folder User Manual 106 un D 5 EyesMap Modules AXXA1250 15G AXXA1250 15N XXAA1250 150 5 6 5 2 2 To carry out conversion to RINEX of a previously saved file SOURCE SET Protocol 6 Bin _ Binr2 PM Choose the data source From Bin CAC File Split File by 24h From File CI serss amp dmin pesDesktap 1 Pb a o E a SOURCE SET Protocol Birr Binr2 Baud 115200 Bin CRC Click to open the binary file which was previously saved Interval 1 ka Split File by 24h From File C sersss amp dmin pesDesktap 1 Start A ee a E Start Click on Start Continue with the steps of section 5 6 5 2 1 User Manual 107 6 Viewers In this chapter we shall see e MeshLab Touch e Filters o Remove Outliers o Create Mesh o Clean Noise In this chapter how to view and edit 3D models generated with EyesMap is explained To accomplish this MeshLab has been modified h
50. ES fs Css aot Je 5 EyesMap Modules 5 4 2 3 What happens if you get lost SSP O a m v x Ya ee x crm d The message shown in the previous image RECOVERY point to the last view tells the user that the process has not found enough points to pair the last stored key frame with the current image In order to help with the continuing of the capture a window appears with the image of the last key frame captured Try to make the real time camera image line up with the image of the last correct key frame in order to continue the process 5 4 3 Post Processing Software This application allows you to improve a result obtained in real time Thanks to a high level of data processing the post processing application can correct possible orientation errors in the models generated in real time LB vSLAMOptimization HW No plys could be found Select project folder User Manual 71 5 EyesMap Modules As can be seen in the image above the interface is divided into 3 parts e Application status bar SEM This allows you to minimise restore and close the application e Point cloud viewer This shows the 3D model which is being post processed e Information box this offers information on the process being undertaken BLOONIETEOCTION ESCDMETEOCTION DONE 4 4 y DOnE e A 55 COTTON Lerena 8 pla A 2 gl d a Def 4 DU 4 pf a la oa
51. Error No connection to receiver Error ES A No connection to receiver OK Check that the protocol is correct Section 5 6 4 Remember that in general data should start to be viewed in the NMEA protocol however if in a previous session data was collected in the BINR protocol you may have to begin with this protocol 5 6 4 Change Protocol Use or change protocols in the event of the error No connection to receiver or if you want to create a binary file this type of file is necessary for conversion to RINEX and subsequent use for post processing 5 6 4 1 Change from the NMEA Protocol to the BINR Protocol To change from the NMEA Protocol to the BINR Protocol the GPS has to already be collecting real time data in the NMEA protocol 1 Click the button Serial port settings PORZA 00 00 0000N LatVel m s 0 000 ID CSM24 00700 0000E LonVel m s 0 000 Channels AltVel m s SVs LOG window 2 Change the baud rate to 115200 5 EyesMap Modules 3 Choose option 3 BINR Baud Rate 115200 Protocol e Request Settings 4 Click on Apply Settings to apply the protocol change la odi ge doa COM1 ciaiaiu 5 Click OK The protocol is now changed User Manual 99 Date 06 01 1980 Lat 0 0 00000N LatVel m s Time 00 02 46 0 0 00000E LonVel m s RMS m 141432624 0 Alt m 18 000 AltVel m s _ Receiver Test 11 gt 43 _ Software Revision 1B gt
52. Manual 36 5 EyesMap Modules 5 2 4 Choosing Orientation Mode EyesMap has three methods to orient images automatic manual and with automatic target detection Choose the onentation mode Orientation 7 r Automatic Target TU ini Manual Orientation Cirientstion M ematia L Automatic FA 5 2 4 1 Automatic Orientation Orientation Carry out orientation of images automatically by matching of the homologous points found Of the three types of orientation this one is the most automatic and the quickest It can be used in practically all circumstances provided that the object or surroundings captured has heterogeneous surfaces It is not advisable to use this orientation mode on homogeneous surfaces walls of a single colour glass or exposed brick where the search for common points may be difficult User Manual 37 5 EyesMap Modules 5 2 4 2 Manual Orientation Manual Orientation d You can manually carry out orientation of images With adjacent images you must select at least 9 points distributed throughout the image see the graphic Points shall be identified as opX Orientation Point X The greater the number of points you select the more robust and accurate your orientation will be As can be seen in the previous graphic between images 1 2 and 2 3 there are at least 9 points in common Areas not in common can have fewer points if desired in order to complete orientation on all
53. NO zi ses ING NO GLN TSU NO First Obsene NO Position NO Duration 00 00 00 ITC 00 00 00 In the image below we see that the duration of observation was 15 minutes and 5 seconds We remind you that best results are obtained with between 10 and 15 minutes of observation SOURCE SET SOURCE INFO Protocol Source COs Receive kB 120 e Binr Baud Tbe Binr CRC Port Errors 0 Interval 7 Split File by 24h Protocol Errors i Device Wer JK lonoModel OK ToFile CAUsers Admin pcyDesktop gps P1 GPSSUTO OK GLN UTCI SU OK CONVERSION First Obsers OK Save To Duration 00 15 05 Im Receiver CSM24 04 08 First obs 2015 05 06 10 42 We click on stop and we now have our observation file in binary format It is saved in the folder we specified previously User Manual 188 7 Practical cases Hama Share Kipy t k ops C Favontes ds Lb Date modified EB Desktop 5 6 2015 3 57 AM Ja Downloads lt gt Recent places We This PC ig Desktop P Documents ia Downloads Music amp Pictures diras 4 mers Now that we have this file it can be converted to the RINEX format To accomplish this in the conversion part of the interface we click on the button to open a folder and select the folder where we want to save the RINEX files that will be generated SOURCE SET SOURCE INFO Source amp Binr Binr Receve kB 120 Baud i Ch Bane CAC Port E
54. Points on the X Axis Two points must be chosen to mark the reference points on the X axis Double click to choose the first reference point on the X axis and confirm it Next select the second reference point on the X axis and confirm it You can select reference points on the X axis in different images Confirm Click to confirm an orientation point which has been selected Discard Image This is useful when you confirm a point on one image control point reference point on the X axis and its match does not appear in the remaining images or if you simply do not wish to mark it to increase accuracy we recommend you mark it if it appears In this case discard the image in which the homologous point does not appear Said point will be confirmed in the other images in which it does appear provided that it appears in at least 2 and it will be discarded if it only appears in 1 image 5 EyesMap Modules Automatic find matching points Looking for matching point Look for homologous points in this number of adjacent images Looking for matching point The application is looking for the matching point in the other photographs It is recommended not to undertake any other actions while this process is being carried out Selection Tool To delete an element it must first be selected Choose this tool to select the area where the elements which you wish to delete are located and drag your finger over the screen to dra
55. USER MANUAL EYESMAP Version 1 0 Revision A eca pt u re June 2015 Researc h Developmen Contents T q efr MC T 5 Ti I caules RR 6 1 2 HOw does EyesMap work cccccccssseccccsseccccessccceeseccceesececeeeceeeensecesseaeceseeeceeseeseeetes 7 1 3 Eyesmap Standard Configuration Package oocccccoocccnconocnncnnncnnnonanonnnnnncnncnnaconnonanonoss 8 Techhiea ne Ca TONS et 9 2e A 10 LEER o P ee 11 2 3 Depth ASO norte ee E ME MEE MEI UMEN UNE 11 OEC 11 22 AI O A P 12 Staring Up With EVes Map ositos 13 3 1 General Security Information scsi alli iii 14 32 Charging the PPP 14 Do EN O aria 15 S POWer UI ie 15 3 5 SWITCHING on the tablet assissisicsssrisesscrsreicisotsurisisca ris Ex rikr SEN EE S EN ANa Edo Coa E eoe MEE rae di 15 Eyes Map ADICON erotica ara 17 ql Mal ADDICaUOI SEFOBI siria da 18 4 2 Standard Windows and Buttons oooccccccccnncnnnnncnnncnnnnnnnnncnnnnnonnnonnnnnonnnnnnnnnnnnannnnnnnnnos 19 Q3 Target TUDBS OO Their USE een eens nee pO ee ie tiM Des Ite uui nee en 20 EVES MAD IV QUES ansioso atico 22 EEUU ee o A 23 Dub Main Application Screen cccccssseccccsseccccescccceesececeuseceeeeeeceeeeesecessuaecetsuneceeseges 23 9 1 2 Project MAaANageMe nl ccccseccsstccseccsecessceseceseceseccsectseccsectseetse
56. ady up to date you will see the following message You have the latest version Update is not required Update Depending upon the size of the update and the bandwidth available from the internet connection used the update process can take several minutes Once the process has finished the message update installed successfully will appear At this time you can close the update module and open EyesMap again 5 EyesMap Modules Backup Copy Every time that you update the software before this process starts a backup copy of the current version is made so that if the update fails for any reason the last version of EyesMap installed on the device can be restored Restore BackU If this icon is shaded out in grey it means that a backup copy does not exist Under normal conditions this will only occur if the update process has not been run 5 2 Point to Point Photogrammetry With the point to point photogrammetry module we can obtain using the captured images three dimensional coordinates distances and surfaces formed by different points Coordinate Distance Surface For the purpose of simplicity and clarity the main menu of this module has been broken down into three buttons coordinate distance and surface The three bring you to the same point to point photogrammetry window where all the options are available again but with the added advantage that the tool chosen in the main menu is already selec
57. are View k gt gps v G Search gps Favorites C Name Date modified Type E Desktop 5 6 2015 3 57 AM File h Downloads XXXX1260 15G 5 6 2015 4 59 AM 15G File 5 6 2015 4 59 AM 15N File XXXX1260 150 5 6 2015 4 59 AM 150 File Recent places XXXX1260 15N Nk This PC hu Desktop E Documents Downloads Jp Music Pictures ARA uu 4 items User Manual 191 8 Orientation Errors During data processing orientation of images is calculated in situ If a problem arises EyesMap lets you known about the situation with a warning or error These types of errors are associated with the point to point photogrammetry module the orthophoto module and the 3D Photomodelling module Because of the characteristics inherent to the depth sensor the possible errors associated with this module shall be treated specially Below possible errors and warnings produced during the image orientation process are listed The images List of images don t have enough matches with their adjacent images Please remove or replace the Point to Point images EyesMap cannot continue This error arises when not enough points are found to automatically orient the images being processed The process will stop This can happen because the images do not have enough overlapping or clarity The process should be repeated omitting the images listed or substituting them with others which better align with the capture recommendations ECT
58. ation properties that the GPS should have for real time and post processing measurements to be taken On the screen you can see the current properties of your GPS BM Control ver 04 30 ENG _ ES Dais Lat LatVel m s ID Ime Lon Lon Vel m s Channels Past praces RMS m At m AdiVel m s SV D e Current port properties COM7 COM Port Number 115200 Baud rate 115200 Protocol type NMEA 5 6 2 1 1 Modification of Properties Check the properties every time you switch the GPS on Below we include the necessary steps to guarantee the system s proper workings Port settings s RMS m ed 5 Vb L c Port COM Baud rate 115200 Protocol OFF Logging Alt AltVel m s SVs Serial port settings PORZA Main Preferences PK ONT Any NMEA message reserved Settings Click to change the GPS settings GPS GNSS Port Settings Port Check that the COM port is correct see section 5 6 2 2 COM Port Baud rate You should always choose 115200 Protocol NMEA see section 5 6 1 Protocols and section 5 6 4 Change Protocol Select Logging to save a file from the moment that you push start Only for the NMEA protocol if the GPS is in the BINR protocol this file will not be able to be read Click OK to save the changes 5 6 2 2 COM Port The number of the COM port depends on the device Generally the correct port number for your device will come pre
59. axis reference points have been chosen Click on Next User Manual 178 7 Practical cases Select an image with Double Click to select a Contro Point or Reference Points Axis X x e e e L Info You have selected 9 Min 4 Control Paints and 2 Reference Points Axis X Min 2 Max 2 de oo The programme begins to process the images to create the orthophoto Please wait until the process is complete The result is a grayscale image which arises from merging the images into one single image In this step you must choose paint only the part that you want to obtain as an orthophoto SS x Brush Types Q re Q Thickness e e Restore Info Draw the part of the orthophotography you wantto obtain Fe User Manual 179 7 Practical cases Use your finger to paint the part that you want to obtain as an orthophoto Note it is not necessary to select everything only what you want to obtain X Brush Types 00 Thickness F LA Info Draw the par af ie orhophotography you want to obtain The final result is the desired orthophoto Input a name in the field Orthophoto Name to save your work Orthophoto Name e e Once a name has been input click on Next Your orthophoto has been saved at the path YourWorkSpace Ortho Ortho User Manual 180 Hecommendations for optimal results lf the orthophoto has errors in the upper lower part try not
60. bration Click to load one of the calibration configurations stored in the directory Calibrations Hemember that you must select the folder whose name matches the name which was assigned when calibration was carried out 4 EyesMapProject 4 AutoCalibration E di Calibrations gt de calBridge i calDefault 5 1 4 Camera Orientation X y Z 1 Cameras Orientation In order to be able to reconstruct an object in 3D based on a pair of images it is necessary to know the position of said still images in space This is known as the external orientation of a pair and it represents the angular position and orientation associated with the pair of images The orientation defined here shall only be used if to take measurements with EyesMap only one pair of images has been used and stereoTarget has not been used to scale the model In a d EyesMapProject any other case EyesMap will calculate the eras external orientation of the images in situ Images For storage of orientation an Orientations directory has been created at de oriDefauit C EyesMapProject AutoOrientation All EyesMap devices have a default orientation called oriDefault obtained in an optimal way using targets for situations in which the capturing of objects to be measured is carried out from an approximate distance of 3 metres Click to manage the external orientation of the cameras When you select the camera orientation o
61. change the camera s settings Left Properties x Left Properties EN Video Proc Amp Camera Control Video Proc Amp Camera Control Auto ree Brightness 0 Contrast 15 Foc us 450 v Hue 0 Saturation 32 Sharpness 10 Gamma 100 White Balance 5000 Backlight Comp 1 Gain Low Light x Compensation faut ColorEnable PowerLine Frequency 60 Hz v Defau Anti Flicker Default 5 EyesMap Modules 5 2 2 Image Gallery At the bottom part of the window the gallery of loaded or captured images can be seen This is a touch controlled gallery in which the new images which are loaded or captured are added to the right of the previous ones Initially the button to discard images is not visible This button only becomes visible when at least one image is selected to be erased To select or de select one or several images you only have to click once on them The selected images stand out from the rest because a black frame appears around them Discard Image 5 2 3 Image Viewer To see the larger version of the image you can double click on the gallery thumbnail In this way the image shall be shown in the viewer where you can e Zoom the photograph lower left image e Restore zoom with a double click lower right image e Delete the image by clicking the Discard Image button e Go forward and backward through the images with touch movements as has been explained with the gallery Zoom the Photograph Restore Zoom User
62. distances and surfaces with EyesMap Accuracy is related to the number of photographs taken of the object the angle of convergence and the quality of the images Accuracies One shot 0 9 mm 4 m depends on the number of images taken and the texture quality of the object Max Range Depends on the image Export Format ASCII DXF pts ply xyz csv las PN PV obj gt 15 a LOW m MEDIUM 3 HIGH 2 6 1 26 Images ZI dd Choice of the size to be measured Large Object User Manual 117 7 Practical cases User Manual 118 7 Practical cases Small Object o Re Ce User Manual un D 7 Practical cases User Manual 120 7 Practical cases Small Objects User Manual 121 7 Practical cases Large and Medium Objects We take different photographs of the object following the recommended graphic for photogrammetry OBJECT e Photo shots are taken in situ with the capture button Four pairs are taken and in this case the left images are deleted to try to get a more homogeneous capture in all the photographs 4 photographs in total User Manual 122 7 Practical cases The photographs are observed one by one to be sure that they are well centred around the object to be measured to ensure they are clear and to make sure that none of them needs deleting Click on Next User Manual 123 7 Practical
63. e a simple photograph which will always have deformations due to the perspective from the camera the height of the camera or the speed that the camera is moved at Therefore an orthophoto combines the detailed features of a photograph with the geometrical properties of a map 5 5 1 Photo Development and Management Screen After selecting the orthophoto option the Image Capture and Management window appears e odo User Manual 78 At this step you must take three photographs which shall be used for the entire process In all photogrammetric captures the following considerations should be taken into account e ake clear photos try not to move while you are capturing Avoid the sun facing you Capture the entire object to be measured try to place said object in the centre of the image e Take different shots from the left to the right of the object from the right to the left from the top to the bottom or from the bottom to the top Try to have displacement between the shots never take two shots from the same position e he overlapping area between the two images should be 80 lf this overlapping can get to be almost 10096 it would be better for improved orientation e Not all objects are good for photogrammetry for example areas with a very homogeneous texture like walls painted a single colour plastic or glass objects or water are not good for photogrammetry as the system has trouble finding common points in the i
64. e projection plan clicking on the desired image The image will turn green Select an image to define the Projection Plane If you selected the wrong image just click the desired image and the previous image will automatically de select 5 5 6 Screen for Indicating the Projecting Plane on the Image Use the paintbrush to paint the plane you wish to use All elements shall be projected onto that plane when the orthophoto is generated User Manual 84 5 EyesMap Modules Be especially careful not to paint more than one plane as in this case the application can fail or the orthophoto may not be correctly generated Brush Types O 1 i d eoo Q O Choose the type of brush square or round 5quare Brush Round Brush Thickness Brush thickness move the sliding bar towards 5 the left or right for greater less brush thickness Restore Click to erase everything you have painted selected on the image Use this button if you have made a mistake or if you wish to improve your selection Restore User Manual 85 5 EyesMap Modules 5 5 7 Image Selection Screen to Choose the Control Points and the Reference Points on the X Axis Double click on the image you would like to use to set the control points and X axis reference points Select an image with Double Click to select a Control Point or Reference Points Axis X x Control Points These are the 3D points which assist the system in the generation o
65. e stereoTarget should be looked for If the stereoTarget appears in all images select the first option Otherwise select the second option and choose the images in which the search should be carried out at least two images This second option shall be useful above all in lineal captures in which the stereoTarget appears in only some of the photographs In this way we avoid the processing time used for unnecessary automatic searching of images EyesMap may require help in searching for the stereoTarget asking the user to select the points manually EyesMap StereoTarget not detected You should choose it manually This may happen in the following situations e f only 2 photographs have been taken and the stereoTarget has not been detected in one of them or in neither of them e If more than 2 photographs have been taken and the stereoTarget has not been detected in at least 3 of them If the stereoTarget is automatically recognised a cross appears in the centre of each target which makes it up 8 When performing manual selection it is recommendable to mark one of the corners in one of the squares and the same corner in the next square as shown in the image as manually marking the centre of the target with accuracy is quite difficult 5 2 6 Point to Point Measurement Screen Once the photographs have been captured and the capture orientation and scaling modes have been selected EyesMap displays the point
66. e the port parameters in the right hand side of the interface as follows Baud rate 115200 Protocol 3 BINH User Manual 184 7 Practical cases 82 Alt m 240 400 Alt Vel m s SVs 09 Lastly for these changes to take effect we have to click on the button Apply Settings We are automatically taken back to the main screen and as we can See in the image below we are already receiving data in the BINR protocol 06 05 2015 Lat 38 55 20074N LatVel m s 0 000 CSM24 04 08 20 10 38 53 6 20 14515W LonVel m s 0 000 32 5 80 Alt m 240 344 AltVel m s 0 000 E 5GPS 5 GLN Receiver Test 11 gt 43 Serial port settings OB gt 50 Software Revision 1B gt 70 Main Preferences 0D gt 51 Connection Test 26 554 SV tracked 12 247 Datum A2 gt A3 Heading and speed 13 gt 41 BINR Settings B2 gt C2 Receiver channels status 17 742 Extended Preferences D7 gt E7 Extended channels info 18 gt 48 49 _ Ephemeris request send 19 49 Time scale difference 1E gt 74 Time amp frequency parameters 1F gt 72 Almanac request send 20 gt 40 DOPs info 21 gt 60 Local timezone 23 gt 46 __ SVs in view 24 552 _ Reseived Position and velocity 27 gt 88 Setting of position and time 32 gt 89 _ Last position solution 37 gt 84 _ Extrapolated position 38 gt 85 Receiver channels info 39 87 __ Chan
67. e those points that represent an object that the two images have in common a common corner or frame between images A and B Selection Tool To delete an element it must first be selected Choose this tool to select the area where the elements which you wish to delete are located and drag your finger over the screen to draw the desired area The elements which are inside the selected area will turn yellow Select You must keep in mind that if you select a point of a distance or surface the entire surface or distance will be selected You can remove your selection by clicking on the selection tool again User Manual 46 5 EyesMap Modules Deletion Tool Delete Click to delete the selected elements Selection Stretch Image Tool Click to stretch the image to the size of the screen after having zoomed in on a part of the image Strech image Scale If scaling has not been carried out with the stereoTarget or you wish to scale with a real distance which is known you can use the Scale tool You should input the real measurement of the distance and then select the two points which make up the distance Scale FH This tool is treated with priority over the stereoTarget scaling 5 2 7 Results Screen and Export of Results After processing the data EyesMap shows the results of the coordinates distances and surfaces calculated Results can be seen in all images as w
68. ected high resolution and EyesMap will select the default parameters for you User Manual 170 High resolution qum x Model Resolution High resolution Advanced Options Y e 9 High Orthophoto Quality Resolution On the other hand if you wish to obtain the best possible results we recommend you set the advanced options In this practical case the advanced options will be used Manually choose the different parameters which will dictate the processing time and the quality of the final model Below the advanced options screen is shown To completely understand each one of the parameters we recommend that you read section 5 5 2 of the manual Final Results Quality Selection Screen Point Density Medium Number of images by group 3 66 m fe Er i Capture Methodology LL Dense matching take longer In line Level of Matching e Solos Advanced Options For this example a standard choice of parameters has been made said parameters usually work for the majority of cases These parameters are Point Density Medium It is not necessary to have very dense point triangulation in order to create an orthophoto a medium value is correct Capture Methodology In line Images should always be taken in line to create an orthophoto left to right or vice versa up to down or vice versa Number of images per group 3 Groups of 3 4 images are recommended when repetitive scenes are photograph
69. ecttemporal s00epthisequence_ d y APE RSSER SEES ETERNAS EEES NE EE itol FERRARI www Ue Vr Py tty bo P pur P 6 mn w mu w Kaye 3 E 0 C EyesMapProject temporal 3DD 1 C EyesMapProject temporal 30D 2 Cty 7 C EyesMapProje te al B C EyesMapProject t C EyezsMapProject temporal 3DD y yi 7 4 Orthophoto To generate a true orthophoto of a scene you should choose the orthophoto module from the main EyesMap menu This module uses different images of the object scan to create with photogrammetric methods a true orthophoto It is important to take into account the considerations which are explained in the manual before trying to create an orthophoto of any object In general terms it is important to note that not all objects are good for making an orthophoto and the success of said action depends on In order to create an orthophoto you must go through the following steps 7 4 1 1 Photograph Capture and Management In all photogrammetric captures the following considerations should be taken into account e ake clear photos try not to move while you are capturing Avoid the sun facing you Capture the entire object to be measured try to place said object in the centre of the image e Take different shots from the left to the right of the object from the right to the left from the top to the bottom or from the bottom to the top Try to have displacement between the shots never take two shot
70. ed in the example all the arches are similar This keeps the matching algorithm from making a mistake when it is paring the images Dense matching Checked It is recommended to activate the most powerful matching algorithm to obtain better results Level of Matching Medium The images have a favourable texture therefore medium matching is recommendable for this case Once the advanced options are set Click on Next 7 Practical cases 7 4 1 3 Select the projection plane Now the next step is to select the plane we wish to use to ortho project the orthophoto To do so the plane should be selected as follows oelect the image onto which you wish to set the projection plane and click on Next e e X Select an image to define the Projection Plane 3 e e e In the next image different planes can be seen depending on the different depths 00 Selected Projection Plane Sepa Round Br Painted in white User Manual 173 The projection plane is selected by painting on the image itself All elements will be projected onto this plane for the creation of the orthophoto Be especially careful not to paint more than one plane as in this case the application could fail Error Error There are few Control Points or the Projection Plane was Drawn Incorrectly Note If the depths are similar you can select them as a single plane as shown in the following example EMEN can n pe zs e asusime _
71. ell as in the results box located to the right of the screen Result data COORDINATES c it 4 VIVE e User Manual 47 Result data DISTANCES SURFACES Export Results Box In the results box the data which results from the coordinates distances and surfaces obtained is displayed by block This box is flexible and modifiable like notepad so that you can make notes on the data obtained so that for example the contents and notes can be copied and included in any type of document Export Tool Click to export the results to other formats TXT TXT 3D JPG DXF In the export window you must choose the file format its name and the directory where you wish to save it T Lb t New folder mAn Mew tolder X Favorites EB Desktop A Downloads z Recent places We This PC v file name Results Save as Type TXT Data resulte Det Hide Folders JPG Image jpg DAF Cad dx XT Date remite txt TAT 3D Coordinates bd Export data ES The characteristics of the different export formats are as follows e TXT Data Results txt The results are exported to a text file with the same format as that shown in the results box e TXT 3D Coordinates txt A text file is generated with the three dimensional coordinates x y z of each point of the coordinates distances and surfaces selected in that order e JPG Image jpg This exports in JPG format the image displayed on
72. eo Imagen002 jpg y o E D We are brought back to the master and secondary image selection screen 156 User Manual 7 Practical cases We choose a second master image undertaking the same process for this image as with the first one we chose X Salect other Image Master or Cornue Imagen D0 jp imagenD0ljp ImagenDU2 jp Imagen 03 jp hmagen 04 jp ImagenD05 jp Mester and Secondary images alrandy selected e Imagen001 jpg Imagen000 jpg o Imagen002 jpg zw o S E a E 5 the ist Two secondary images are assigned and confirm is clicked an x Salect other maga Master or Cornue imagen D0 ip Mmagen 0ljp Imagen U 2 jp imagen U3 jp imagend04jpP ImagenD05 jp Mester and Secondary images sirandy Imagen001 jpg 9 Imagen000 jpg o Imagen002 jpg 2 the bit User Manual 157 7 Practical cases Just as with the first master image the part of the object which we wish to model has been drawn with the brush X OO Draw Sky Draw Mask Draw all Brush Types B Square Brush Round Brush Thickness T X Draw Sky Draw Mask Draw all Brush Types a Square C Brush Thickness In the top image we can see the image taken and in the bottom the mask which has been painted is displayed Just like in the first master image the same part of the object to be modelled has been painted but from another point of view Click on Next User Manual 158 7 Prac
73. etseeteeseesesseetes 23 5 1 3 Camera Cair IO EE m m 28 5 1 4 Camera Ore nea O e 29 S 19 Updating Restoring EyesMap eeeee eene nnn nnns 31 5 2 Point to Point Photogrammetry cooocccccnnccnncnnocnnnnnncnnnonanonnonononnnonaronnonanonnonanonnnonarannnnas 32 5 2 1 Photograph Capture and Management ccccsssccccessececcesecceeesecessuecesseneceeeeees 32 5 2 2 Fe E E ya e O o A 36 5 2 3 Image VIS WE siii aiii diia 36 5 2 4 Choosing Orientation MOE sisas baii 37 5 2 5 Scaling with the StereoTarget ccccccssscccccsseccceseccceeecceseeseceeeeeceeeeeceeseseeeeas 41 5 2 6 Point to Point Measurement Screen ocococcncccononononenonononononononanononaniononenononenonono 43 5 2 7 Results Screen and Export of Results ed boe va ta iii 47 5 2 8 Orientation EFTOLS tuos tnb al to a eec eene a tae 49 Dios 3D MOdelllig aa 50 5 3 1 Photograph Capture and Management cccccsscccccsseccceesecceeesececseeceseeneceeeenes 50 5 3 2 Idee Galle teo it 53 5 3 3 Image VIS W OL eini bee AA a A ERR ote Dee cea s 53 5 3 4 Model Resolution Screen N sprene eerren nennen nennen nennen nnne nnns 54 5 3 5 stereoTargeb5calig creia adoos 56 5 3 6 Master and Secondary Image Selection Screens cccoocccnccnnccnnonanonnonancnnnnnnonononos 57 5 3 7 RESUIES SCEBOL tesisinin vin ati Tet ope bem Rd E an a eia A Dra NE OMEN OUS 63 540a DENS N O erae die Esca c RE M MM o a M T MM 65 5 4 1
74. etting of position and time 32 589 Last position solution 37 784 Extrapolated position 38 285 _ Receiver channels info 39 587 Channels measurements D4 gt E4 Ionospheric parameters 2A gt 4A _ UTC parameters 2B gt 4B Iono amp Tropo corrections 5C gt 5D _ Satellites in use and drop out 35 293 C Statistical task control 3044 C GF and SCO solution 31 561 C Time 1C 1D gt 73 diff correct 0F gt 55 GLONASS time parameters DB gt EB 2 Change the baud rate to 115200 3 Change the protocol to 2 NMEA 4 Click on Apply Settings to apply the protocol A pply S tt if gs change COM settings have been changed 5 Click OK User Manual 101 The protocol change has been correctly carried out Lat 00 00 0000N LatVel m s 0 000 ID CSM24 Lon 00 00 0000E LonVel m s 0 000 Channels Alt m 18 000 AltVel m s SVs Serial port settings PORZA Main Preferences PKON1 Any NMEA message reserved LOG window v English COM error 5 6 5 Post Processing In this module you can save a binary file for it to subsequently be converted to the RINEX format This RINEX file can be post processed with an external post processing software package for GPS data or with other RINEX data from reference stations in your area in order to
75. f orthophotos It is important to define plenty of control points being distributed throughout the entire scene which is to be calculated emphasising the upper and lower areas it is also important to mark the control points on different planes if they exist Control points distributed over an image User Manual 86 5 EyesMap Modules Reference Points on the X Axis mark the model s horizon line This shall be defined with two 3D coordinates Heference Points on the X Axis 5 5 8 Control Points and Reference Points on Axis X Selection Screen You can select the points on the image chosen and or on the two adjacent images left and right For a point to be confirmed it must appear in at least two of the three images At minimum 4 control points should be selected distributed throughout all the images and 2 points should be selected to define the X axis distributed throughout all the images You can move through the different photographs by simply selecting them in the image gallery at the bottom of the screen oQ o aa To add 3 new control point select a point and click to confirm point or 4 Jee e 3 loaded images User Manual 87 Control Points Reference Points Axis X Discard Image Control Points Click to assign control points this button is selected by default Double click to choose the image s control points Confirm the point when you are ready to do so Reference
76. for improved orientation e Not all objects are good for photogrammetry for example areas with a very homogeneous texture like walls painted a single colour plastic or glass objects or water are not good for photogrammetry as the system has trouble finding common points in the images due to reflection e Whenever possible we recommend taking photographs as perpendicularly to the object as possible This shall eliminate noise in the 3D model Even so in certain cases with difficult textures like glass or white walls it is possible to carry out point to point photogrammetry In this case you can use manual orientation or automatic orientation with targets At minimum 2 photographs should be taken It is important to review each one of them to delete those which are poorly focused poorly lighted or blurry accuracy can go down notably Hemember that you can modify the properties of each camera adjusting them to the light conditions which exist at the time of the shot It is important for there not to be significant differences between the two cameras In the photograph capture and management window you will find the following buttons Take Photographs Click to take photographs Load Images Click to load existing images The images must have been captured with the EyesMap cameras Load images Discard Images Select the photographs in the photo gallery and click to discard Discard Image E _ Click to
77. his can happen because the images do not have enough overlapping or clarity If this happens with the first images no 3D model will be obtained If this is not the case you may obtain part of the model generated with the main and secondary images which were selected before the group that caused the error 3D Photomodelling Ero Motes Error Orientation error Please check the overlap Point to Point between images Orthophoto 3D Photomodelling The images do not have enough overlap Choose other captured images or take new images bearing in mind that the overlap between consecutive images should be at minimum 80 Error File doesn t exist Point to Point Orthophoto 3D Photomodelling This error is produced if during orientation processing the user moves or deletes a file from the project or calibration directory Cannot determine internal calibration Point to Point Orthophoto 3D Photomodelling It is possible that you do not have calibration loaded correctly for the cameras you are using Error Modules Error Orientation failure Please check image Point to Point Orthophoto 3D Photomodelling This error indicates that orientation processing has failed The fault could have arisen between the image mentioned and its adjacent images It is recommended you take the photos with more overlap be sure they are well focused and don t stand too far away Error 0 Modules SO
78. hotomodelling module It is used solely for medium and large objects While it is not necessary for the stereo target to appear in all photographs it is recommendable for it to appear in as many images as possible so that scaling is more accurate In addition scaling can also be undertaken manually without the use of the stereoTarget See at chapter 5 1 4 StereoTarget for Small Objects 15 cm 15 cm This stereolarget is used to scale the measurements taken point to point photogrammetry module and for scaling 3D models made with photogrammetry 3D photomodelling module It is used solely for small objects While it is not necessary for the stereo target to appear in all photographs it is recommendable for it to appear in as many images as possible so that scaling is more accurate Asymmetric Targets Sample of Asymmetric Targets Targets 40 in total different ones in total Asymmetric Targets and Targets work together in order to e Carry out automatic orientation with Targets in the point to point photogrammetry module e Carry out orientation of the stereo cameras in the orientation module e Take precise measurements in the point to point photogrammetry module 5 EyesMap Modules 5 In this chapter we shall see o Main Application Screen o Project Management o Camera Calibration o Camera Orientation o Updating Restoring EyesMap e Point to Point Photogrammetry Photograph Capture and Manage
79. ic or glass objects etc the best option is to use targets for orientation In this practical case measurements will be taken and coordinates will be calculated on a facade of a single colour where it is not possible to use automatic orientation and doing it manually would be too complicated because of the absence of clearly identifiable points in the entire photograph 1 In the main menu you can select any of the three point to point buttons the coordinate button the distance button or the area button For your convenience as measurements are going to be taken click on the Distance button so that the correct option is directly selected Surface Photomodelling Coordinate Depth Orthophoto y nce 2 The photograph capture and management screen will appear in which the first step consists of selecting the image capture or load mode The option chosen in this practical case is Stereo Camera Single Camera Load images After selecting the stereo capture mode the cameras are activated and the images can be taken with the capture button a red button with a camera icon In this case 3 pairs are captured 6 photos in line notice the thumbnails in the gallery at the bottom of the screen 7 Practical cases Codi 4 VITA O LILELE L L 4 t is recommendable to check the quality of the photographs before continuing with the process To do so double click on the thumbnail in the ga
80. ically find matching point _ Add matching point to the orientation To add a new orientation point select a point with double click and click Confirm You must choose at least 9 orientation points distributed in the image 777 Click on confirm and the orientation point is recorded v Automatically find matching point n Add matching point to the orientation To add a new orientation point select a point with double click and click Confirm You must choose at least 9 orientation points distributed in the image 31 24 Repeat the process for at least 8 more points a minimum of 9 orientation points in total The application will not allow you to continue if you have not selected the 9 orientation points User Manual 125 7 Practical cases Orientation Peire EyesMap You must choose at least 9 arientation points distributed in the image Y Automatically find matching point _ Add matching point to the orientation Into To add a new eriantation point select a point with double click and click Confirm You must choose at least 9 orientation points distributed in the image yss I7 ze 9 Orientation Points Confirm n V Automatically find matching point ppr gt el alameda para wig Add matching point to the orientation f r P To add a new orientation point select a point with double click and click Confirm You must choose at least 9 orientation points d
81. improve the accuracy of the position Post Processing Click here to generate a RINEX file RINEX is the standardised format which allows for the management and storage of the measurements generated by a receiver as well as their offline processing by various computer applications in order to improve accuracy Postprocess tW f LA Hy B Y ef VA Sl t A e RINEX Converter v 4 0 1 3 DLL v 3 1 1 2 0 SES SOURCE SET SOURCE INFO Protocal Sn E j Y i urce From File amp Binr Blinr Recere kB Baud 15200 C 3Binr CRC Port Errors Interest 1 v Sali File bu 4h Protocol Errore U Deuce Ver HO From File cC lonoModel HG Start GPS gt UTC NO GLN UTC SU NO CONVERSION First Obseny HO h HO Sane To as E3 Position 3 Durston OUO 0 UTE 00 00 00 5 6 5 1 Save a binary file To be able to use this module first you must change the protocol type to BINR see section 5 6 4 To save the file use the first section of the interface SOURCE SET SOURCE INFO Source FromFile v Protocol l l e Binr O Binr2 Receive kB 0 Baud 115200 O Binr CRC E i mera E Split File by 24h Protocol Errors 0 Device Yer NO Fram File lonoModel NO GPS2UTC NO GLN gt UTC SU NO CONVERSION First Observ NO Save To E Position NO Duration 00 00 00 Run UTC 00 00 00 SOURCE Incoming data source oS Choose the correct COM port to gather data from the GPS GNSS See section
82. inates distances and surfaces and generation of real orthophotos All these results can be positioned geographically in real time thanks to the integrated GPS v High Processing Capacity v Speed v Simple and intuitive Interface v High Resolution 3D models v High mobility due to the portability generated and light weight of the device v Integrated inertal system v Attractive and ergonomic design Y Integrated GPS Y High connectivity through USB Vv High speed data communication Micro SD and HDMI through WLAN and 3G 1 2 How does EyesMap work The measurement modules and the 3D Photo modelling are based on photogrammetric techniques Photogrammetry is a technique to determine the geometric properties of an object from photographic images By orienting the different captured images of an object we can create stereoscopic view allowing the generation of 3 dimensional information In the following image the position of the cameras is displayed e 00 gt mt For 3D modelling indoors the use of the depth sensor is recommended This sensor is projector of infrared points combined with a CMOS sensor allowing to capture the environment in 3D in any light conditions The useful detection range of the depth sensor is up to 4 meter In the following image the position of the depth sensor is displayed The obtained 3D results can be geo referenced real time through the integrated GPS at a best accuracy of 0 6m If higher absolute
83. istributed in the image 1 20 User Manual 126 7 Practical cases Review the photographs to ensure that all the orientation points appear in all the photographs v Automatically find matching poir L Add matching point to the orient Ren ESSE e ATA A on i M Add matahinea naint tn tha nrientalies v Automatically find matching point n Add matching point to the orientati V Automatically find matching point AS S PEE PUES Click on Next We indicate that we have used the stereoTarget and we click on the icon to search all the images User Manual 127 7 Practical cases X Scale using stereoTargel E e e e amp The target will automatically be searched for in all the photographs E e Click on Next X e e e V Automatically find matching point Info To add a new coordinate select a point and click Confirm If the stereoTarget is not found automatically it can be found manually by selecting it with the stereoTarget point button activated the two upper right corners of the stereo Target squares must be marked as shown in the images below rn PP ad User Manual 128 7 Practical cases Jolie wel Str image Seale Y Automatically find matching point aun a Info To add a new coordinate select a point and click Confirm Click on Confirm e Looking for matching point Automatically find matching point
84. llery The viewer will open to allow you to see a larger version of the captured images Remember that you can pinch the screen to zoom and double click to adjust the zoom back to the original size You also have touch activated sliding movements to navigate between the images as shown in the thumbnails to the right imagen000 jpg x 5 In this case it has been decided to delete images 2 4 and 6 to simplify the process To do so select the images by clicking on them in the gallery and then click on the Discard Image button eee Image 6 The images which shall be processed are the following User Manual 140 7 Practical cases 7 Once the three images are deleted Click the Next button which is represented by three purple dots on the centre right portion of the screen X 0 O HEE CWE tll ag 8 Select the orientation with targets option and click Next Orientation drientation Av omatic Target a E 9 As we wish to scale with the stereoTarget and the stereoTarget appears in all the images on the stereoTarget selection screen click on Yes and leave the Big stereoTarget and Search in All Images options marked Now click on the Next button Scale using stereoTarget e 985 User Manual 141 7 Practical cases 10 The application begins to process the images looking for the stereoTarget and locating the targets on the facade displaying the message
85. logous points in this number of adjacent images 3 Info Select the first point of the distance and click Confirm User Manual 148 7 Practical cases 10 After processing the data the results window is shown The results box located at the right of the window contains the values obtained for the coordinates including those corresponding to detected targets distances and surfaces To save the results click on the Export button select the DXF format the file path where you wish to save the file and click on Save Result data COORDINATES p0 0 867 1 038 3 475 p1 0 062 1 036 3 365 p2 0 854 1 015 3 607 p3 0 338 0 2 3 388 p4 1 11 1 013 3 212 p5 0 089 1 032 3 503 p6 0 342 1 025 3 312 p7 1 116 0 214 3 289 EIJI A 4 T Lk Measurements gt Distances Organize New folder amp This PC i Desktop Documents J Downloads ly Music amp Pictures Videos E Local Disk C gt Removable Disk amp Network v lt File name Results txt Save as type TXT Data results txt ES 11 The DXF file you save can be opened with any type of external software that supports this file type for example AutoCad User Manual 149 AA Tr Incirseion A Inicio Inserci r Anotar Vista Administra pa P E A j is Desplazar Girar LA BILD re mest AR 2 z e a Copias Ay Simetr a 4i gt e PorCapa v g E Propiedade
86. mages due to reflection e Whenever possible we recommend taking photographs as perpendicularly to the object as possible This shall eliminate noise in the 3D model Even so in certain cases with difficult textures like glass or white walls it is possible to carry out point to point photogrammetry In this case you can use manual orientation or automatic orientation with targets At minimum 2 photographs should be taken It is important to review each one of them to delete those which are poorly focused poorly lighted or blurry accuracy can go down notably Hemember that you can modify the properties of each camera adjusting them to the light conditions which exist at the time of the shot It is important for there not to be significant differences between the two cameras In the photograph capture and management window you will find the following buttons Take Photographs Click to take photographs Load Images Click to load existing images The images must have been captured with the EyesMap cameras Load images Discard Images Select the photographs in the photo gallery and click to discard Discard Image H p Click to change the camera s settings Left Properties EE Left Properties EN Video Proc Amp Camera Control Video Proc Amp Camera Control Auto Auto Brightness 0 Contrast 15 us 450 v Hue 0 Saturation 32 Sharpness 10 Gamma 100 White Balance 5000 Backlight Comp 1 Gain Low Light
87. ment Choosing Orientation Scaling with the Stereo Target Point to Point Measurement Screen Results Screen and Export of Results odelling Photograph Capture and Management Model Resolution Screen stereoTarget Scaling Screen Master and Secondary Image Selection Screens o Results Screen e Depth Sensor o RGBD Menu o Capture a 3D Model o Post Processing o 3D Viewer e Orthophoto Photo Development and Management Screen Final Results Quality Selection Screen Projection Plane Selection Screen Screen for Indicating the Projecting Plane on the Image Image Selection Screen to Choose the Control Points and the Reference Points on the X Axis Control Points and Reference Points on Axis X Selection Screen o Additional Image Selection Screen to Choose more Control Points and more Reference Points on the X Axis O O e 3D O 0 0 0 O X 0 O O O O O O e GPS o Protocols o COM Port Properties and Changing COM Port o Real Time Data Screen o Change Protocol o Post Processing 5 1 Menu This module allows the user to manage the application s projects and to calibrate and orient the cameras In addition through this module the user can access the software s automatic update function Click on this icon to go to the menu s main screen 5 1 1 Main Application Screen Menu The four management options are found on the main screen of the module By clicking on any of the four options you can access the corresponding actions related
88. n you start the EyesMap application the main menu appears The available modules can be selected from this menu mect Name temporal Coordinate Distance Surface 3D Photomodelling Photomodelling Menu Depth Sensor Orthophoto With this intuitive interface you can take measurements generate 3D models create orthophotos use the GPS and manage the projects you undertake The application is made up of 8 modules The first 3 modules are for point to point photogrammetry for the measuring of coordinates distances and surfaces 3D Photomodelling this is the module used for creating 3D models with photogrammetric methods using the stereo cameras 3D Depth Sensor Generation of a 3D point cloud using the depth sensor Best for close up use max 4 metres and interiors Especially useful for homogeneous surfaces which do not have texture Orthophoto Generation of orthophotos which allow images of objects to be created with orthogonal projection This is very useful for architectural and archaeological applications GPS This module allows for the absolute positioning of the tablet s coordinates in real time The post processing module can also be used to improve accuracy Menu This module allows you to manage projects update the application and calibrate and orient the cameras 4 EyesMap Applications 4 2 Standard Windows and Buttons The application has navigation buttons which will allow you to move wi
89. nce results Option 1 Take the orthophoto in high resolution Recommended for less experienced users x lt Model Resolution High resoluti n Advanced Options Y E Lj High Resolution This button is selected by defect and indicates that the orthophoto shall High be high resolution resolution Option 2 Advanced options Recommended for advanced users You can manually choose the different parameters related to the quality of the model provided that you have enough knowledge to do so Results may be better with correct parameter selection Advanced Options Click to modify the resolution parameters Advanced Options W If this is not clicked the model will be high resolution Advanced Point Density Medium Hui Point Density Medium Change the point density for the final model The higher the point density you select high medium or low the more points the 3D point cloud generated will have Keep in mind that a higher point density does not imply better results An elevated point density can generate undesired noise in some cases 5 EyesMap Modules 5 5 5 Projection Plane Selection Screen What is a projection plane A projection plane is the plane onto which the model s elements will be projected orthogonally and therefore it must be defined by the user To define it follow the following steps select an image to define the Projection Plane Select the image to define th
90. nels measurements D4 gt E4 _ Ionospheric parameters 2A gt 4A UTC parameters 2B gt 4B Iono amp Tropo corrections C gt 5D Satellites in use and drop out 35 293 atistical ta ontrol 30 4 DIL These steps although we started working in real time and our objective is to obtain a valid file for post processing are completely necessary as we are preparing the port configurations which are necessary to be able to work with the post processing interface Once we have changed the protocol type and without closing the screen we are at we click on the post processing button User Manual 185 7 Practical cases E E D n5 2015 Lat 183855 Len 330 Alt m 020 3851 LenVel ms 240 544 Ave m s Receiver Test 11 543 O Software Revision 16 270 Connection Test 26 54 Dor APA BINR Settings 81 27 _ Extended Preferences D 5E 7 X Cancel all response packet De E Receiver Restart 01 LJ M User packets SESSIN Le ms 0 000 00000 000 Serial port settings 0B gt 50 Mm Preferences 01 415 SV tracked 12 47 _ Heading and speed 13 54 1 Recever channels states 17 242 Extended channels mfo 18 48 40 Ephemeris requestiseid 19 549 Time scale difference IE 7 74 Tone amp frequency perameters 1F 2 77 Aknenac request send 20 2400 DOPs mio 11 650 Local timezone 23 46 EVs in view 2
91. ner Only Representative keyframes Visualization mode Raw Point Cloud all keyframes Visualization mode Raw Point Cloud all keyframes Visualization mode Global Point Cloud octomap Change the number of points to be viewed in order to lower computation time Raw Point Cloud Shows all the points of all the key frames Octomap Shows only select points of each key frame Raw path Optimized path Sampling 10 The level of sampling dictates the level of data processing included in post processing The lower this number is the greater capacity for improvement post processing will have but it will take more time This value is recommended to be set between 5 and 15 Rotation move and zoom User Manua 5 EyesMap Modules 5 4 4 3D Viewer Qt 5 1 0 OpenCV 2 4 7 Click to open and view a 3D model created with the depth sensor User Manual 77 5 EyesMap Modules 5 5 Orthophoto EyesMap module for generating true orthophotos What is an orthophoto Orthophotography is the photographic presentation of an area in which all elements are of the same scale and the photo is free of errors and deformations having the Orthophoto same validity as a cartographic map An orthophoto is acquired through a set of images which have been corrected to create an orthogonal projection without the effects of perspective Therefore it is possible to use said orthophoto to take exact measurements unlik
92. nerated amp Project aln 21 04 2015 16 51 Archivo ALN 1 KB sampling ply 21 04 2015 16 36 Archivo PLY 13 518 KB 7 k4 ply 21 04 2015 16 36 Archivo PLY 9 086 KB E k3 ply 21 04 2015 16 36 Archivo PLY 8 099 KB C k2 ply 21 04 2015 16 36 Archivo PLY 9 174 KB k ply 21 04 2015 16 36 Archivo PLY 8 501 KB E k1 ply 21 04 2015 16 35 Archivo PLY 9 159 KB C k6 ply 21 04 2015 16 35 Archivo PLY 8 219 KB C k0 ply 21 04 2015 16 35 Archivo PLY 8 247 KB C k5 ply 21 04 2015 16 35 Archivo PLY 8 569 KB E camera Trajectory Opt tt 21 04 2015 16 35 Documento de tex 3 KB 5 camera TrajectoryRaw bd 21 04 2015 16 35 Documento de tex 3 KB 7 cloud ply 20 04 2015 16 20 Archivo PLY 4 889 KB E camera Trajectory txt 20 04 2015 16 20 Documento de tex 3 KB numKeyframes 20 04 2015 16 19 Archivo 1 KB de keyframes 21 04 2015 16 34 Carpeta de archivos Je keyframesPostprocessed 21 04 2015 16 34 Carpeta de archivos e kO ply to k7 ply contain each one of the correctly oriented key frames e Project aln allows for the opening of the previously mentioned PLYs with MeshLab e oampling ply is a sub sample of the entire oriented sequence of key frames e The rest of the files contain temporary information which the post processing application uses for calculations Do not delete or modify any data Click to view only the representative key frames while post processing is undertaken This saves space in the tablet s memory and the process will end soo
93. nside sequence 1724 Click on Select Folder and wait until the data save process finalises The result directory will contain the following files equipo C C EyesMapProject temporal 3DDepth sequence 1724 result Mombre amp Project aln amp sampling ply camera lrajectoryOpt bd camera rajectoryRaw txt amp k ply amp k1 ply amp k2 ply amp 3 ply amp k4 ply amp k5 ply amp k6 ply Fh LT nhe Fecha de modifica 07 05 2015 10 28 07 05 2015 10 28 07 05 2015 10 27 07 05 2015 10 27 07 05 2015 10 27 07 05 2015 10 27 07 05 2015 10 27 07 05 2015 10 28 07 05 2015 10 28 07 05 2015 10 28 07 05 2015 10 28 7 5 7201 5 1020 Tipo Archive ALN Archivo PLY Documento de tex Documento de tex Archive PLY Archivo PLY Archivo PLY Archivo PLY Archive PLY Archivo PLY Archivo PLY Archinen DIV The file samply ply contains a sub sample of the 3D model generated Tamana 3 KB 25 741 KB 7 KB 7 KB 9 454 KB 10 188 KB 10 081 KB 9 579 KB 9 547 KB 9 390 KB 9 568 KB RAR ER The text files cameraTrayectoryOpt txt and cameraTrayectoryRaw txt contain the relative position of each one of the key frames The files kO ply to k59 ply contain each one of the key frames correctly captured and oriented with a maximum density of 300 000 points per file The file Project aln will allow you to open all the key frames at once in MeshLab as shown below C EyesManProj
94. objects or water are not good for photogrammetry as the system has trouble finding common points in the images due to reflection Whenever possible we recommend taking photographs as perpendicularly to the object as possible This shall eliminate noise in the 3D model Even so in certain cases with difficult textures like glass or white walls it is possible to carry out point to point photogrammetry In this case you can use manual orientation or automatic orientation with targets At minimum 2 photographs should be taken It is important to review each one of them to delete those which are poorly focused poorly lighted or blurry accuracy can go down notably User Manual 51 Remember that you can modify the properties of each camera adjusting them to the light conditions which exist at the time of the shot It is important for there not to be significant differences between the two cameras In the photograph capture and management window you will find the following buttons Load images Take Photographs Click to take photographs Load Images Click to load existing images The images must have been captured with the EyesMap cameras Discard Images Select the photographs in the photo gallery and click to discard Discard Image Click to ch h i ICK to change the camera s settings Left Properties sg Left Properties E Video Proc Amp Camera Control Video Proc Amp Camera Control Auto
95. otographs In this way we avoid the processing time used for unnecessary automatic searching of images It is necessary for the stereoTarget to appear and be recognised in at least two photographs for the model to be scaled 5 3 6 Master and Secondary Image Selection Screens oome important concepts to understand this screen follow Master Image Everything appearing in the image designated as master shall be modelled in the resulting point cloud Secondary Images Images which are assigned to the master image and which help to complete the 3D model These images should have a lot of overlap with the master image We do not recommend selecting too many secondary images no more than 4 Mask The mask allows you to decide what parts of the master image are modelled and what parts are not Select only the part s which you wish to model Examples of the selection of master images secondary images and masks retire Wittens ur ws gt Master 3D Point Cloud 3D Point Cloud Choose the master and secondary images to create the 3D model The steps are as follows 1 Choose a master image 2 Choose one or several secondary images to complete the master image 3 Paint a mask over the master image Said mask shall indicate what part of the master image you want to model remember you do not have to model the entire master image if you do not wish to do so 4 Repeat the process to choose master images if
96. otomodelling options the Image Capture and Management window is shown Here the first thing that you should do is choose the photograph capture or load mode You have three options Single Camera Single Camera Take all the shots with a single camera Stereo Camera Click if you wish to activate both cameras Stereo Camera Load Images Click if you wish to load previously captured images Load images If you choose image capture with the cameras they activate and are shown on screen 5 EyesMap Modules oO EEEE O At this step you must take three photographs which shall be used for the entire process In all photogrammetric captures the following considerations should be taken into account Take clear photos try not to move while you are capturing Avoid the sun facing you Capture the entire object to be measured try to place said object in the centre of the image Take different shots from the left to the right of the object from the right to the left from the top to the bottom or from the bottom to the top Try to have displacement between the shots never take two shots from the same position The overlapping area between the two images should be 80 If this overlapping can get to be almost 10096 it would be better for improved orientation Not all objects are good for photogrammetry for example areas with a very homogeneous texture like walls painted a single colour plastic or glass
97. post processed data being reached The capture range must be less than 4 metres IMPORTANT The use of the stereoTarget to scale is not necessary models are already scaled 5 4 1 RGBD Menu The following image shows the main menu for the depth sensor utilities Capture Postprocess 3D Viewer Delete z E eoe It has the following 4 buttons Capture This starts the programme to capture in real time 3D models Capture Post process This starts the programme to post process a previously captured model Postprocess 3D Viewer This opens the 3D viewer 3D Viewer Delete Captures This deletes all the actions carried out with the depth sensor in the Delete current project 5 4 2 Capture a 3D Model When you click on the Capture button the vSLAM RGBD RealTime application opens This application captures 3D models in real time 5 4 2 1 Introduction The depth sensor generates a 3D point cloud for each still image called from now on a key frame and therefore the technology aligns all of said images on one coordinate system The algorithm applied to this type of capture is VisualSLAM 5 EyesMap Modules VisualSLAM consists of calculating at all times the position of the camera 6 degrees of freedom 3 revolutions to define the location and 3 rotations to define orientation in an unknown scene based upon the visual information the camera captures To accomplish this
98. ption the application shows the main screen where the two available options appear set orientation of cameras and load orientation gt X Orientation Load Orientation Orientation Click to set camera orientation To complete this action consult supportWecapture es Orientation Load Orientation Click to load one of the orientation configurations stored in the directory Orientations Hemember that you must select the folder whose name matches the name which was assigned when orientation was carried out Load Orientation 4 Ji EyesMapProject 4 AutoCalibration Calibrations E de AutoOrientation E di Orientations J oriDefault i oriSmallObjects 5 1 5 Updating Restoring EyesMap EyesMap has an automatic online update module to obtain easily and quickly any patches and new features that have been lt developed for the application Application Update Click to launch the automatic update module of EyesMap when you are connected to a wireless network When you select this option the update and restore module shall launch and the EyesMap application will close gt X Update Bac kl jp Update In order to update the software you must have an internet connection Once the module has detected the software version installed on the device it will tell you if it is necessary or not to update with the message new software updates are available or if the device is alre
99. ptured The aim of this function is to help the user so that he she closes in the same place where the process started This button does not do any additional processing it will only help you to take the sequence of shots correctly and improve post processing results Delete Click to delete the entire real time capture process undertaken Once it has been deleted the screen to start the real time capture process will be shown again Save Click to save a point cloud of the current process e Real time camera viewer User Manual 69 Once capturing has begun the viewer offers you the following information Indicator of the number of key frames undertaken The maximum number of key frames that can be processed in one single capture is 400 SLOW This is merely an informational message It tells you that a new key frame is going to be generated as there is new information in the capture being undertaken MOVE Informational message which tells the user that he she has not yet moved enough to generate a new key frame e Point cloud viewer This shows the 3D model which is being generated Notice in the following image that the point cloud being displayed is a sub sample as each key frame would have around 200 000 points For the sake of quickness and efficiency the density of the points viewed in real time is limited Patras Peer Site em Na al NS ERN x t SE Meis i Hu F d a C EI OS ene R
100. rface As you are selecting points you will see the surface formed being drawn on the image Click finish to close the surface Surface IMPORTANT select points in a clockwise or counter clockwise direction NEVER randomly Target Recognition a Choose this option to automatically recognise targets Target Consult section 3 4 2 3 3 to carry this process out correctly Identifier By default simple coordinates are assigned the identifier pX with X being the point number distances are given the identifier dX and surfaces are assigned the identifier SX You may include your own identifier or code for each coordinate distance or surface by introducing the desired code in this field before confirming the point Confirm Tom Click to confirm an orientation point which has been selected Automatic search for homologous points Look for homologous points in this number of adjacent images The value input in this property is the number of images adjacent to the one where we selected the point In said number of images the search for homologous points shall be carried out In the following examples the image where the point has been selected is represented in green The search images are p represented in blue for a value of 2 in this property The minimum value is 1 5 EyesMap Modules Definition of homologous points between two consecutive images A and B with a large common area two homologous points ar
101. rrors 0 Interzal v pla File by 24h Frotocol Errors 0 Device War CHA From Fae C Wsers Admin poaDesktapiapsiPl lanoModel Ok Star GPS UTC C GLM LITC SU OF CONVERSION FirstObsenc OF Postion OK Duration 0015 05 UTE 10 56 54 In this case we have saved the files in the GPS folder the same folder where we saved the binary observations and we clicked OK User Manual 189 7 Practical cases Select Folder for Output Files Ws This PC punto 1 Print Now that the path is specified as a last step we push the Run button This button will convert the binary observation file P1 to the RINEX format SOURCE SET SOURCE INFO Protocol Source COMI v Binr Binr Recere kB 120 Baud 115200 C Bin CAC Fon Errors imerval vi Split File by 24h Frotacal Emors 0 Deuce Ver CK lonoModel Ou Star GPS gt UTE OK GLN UTC SUY Of CONVERSION FirsiObsere OK Position OK Duration 00 15 05 UTC 10 56 54 From Fie CUlsersAdrrpoDlesktopigpsiF1 es Seve To CALIsersVAdmin peDesktopiaps a We open the GPS folder and find inside the RINEX files generated In order to improve accuracy these RINEX files generated from the P1 file can be opened with an external post processing software package for GPS data or they can be post processed with other RINEX data from reference stations in your area User Manual 190 7 Practical cases Home Sh
102. s from the same position e he overlapping area between the two images should be 80 lf this overlapping can get to be almost 10096 it would be better for improved orientation e Not all objects are good for photogrammetry for example areas with a very homogeneous texture like walls painted a single colour plastic or glass objects or water are not good for photogrammetry as the system has trouble finding common points in the images due to reflection Whenever possible we recommend taking photographs as perpendicularly to the object as possible Incorrect Correct 7 Practical cases Photo shots are taken in situ with the capture button The desired images are taken In this case a total of 66 photographs have been taken o9 AF MN TOA Photograph Capture Below the first 8 images which will be used to create the orthophoto in this example are shown to illustrate the recommended overlap between images User Manual 169 7 Practical cases The photographs are observed one by one to be sure that they are well centred around the object scene desired to ensure they are clear and to make sure that none of them needs deleting Click on Next 7 4 1 2 Model Resolution Quality The next step that you should undertake to create an orthophoto of the scene object selected is to indicate the quality resolution desired If you are a less experienced user we recommend you leave the default option sel
103. s x Insertar igualar A Estirar Bl Escala E Matiz Se decapa amp Y propiedades Linea Polilines Circulo Arco Grupo Medis x PorCaps Ik e Dibujo Modificar v Bloque Propiedades Grupos Utilidades Portapapeles Results dxf ADMINISTRADOR DE RECUPERACI J Vista personalizada Estructura alambnica 2E Archivos de copia seguridad YA No hay informaci n de copia de seguridad Detalles Vista preliminar PROPIEDADES No hay selecci n es General Color W PorCapa Capa 0 Tipo de l nea PorCapa Escala de tipo d 1 Grosor de l nea PorCapa Transparencia PorCapa Altura de objeto 0 Visualizaci n 3D Matenal PorCapa Visualizaci n de Proyecta y recibe so Estilo de trazado Estilo de trazado Tabla de estilos Ninguno Tabla de trazad Tipo de tabla d Indique una opci n Distancia RAdio ngUlo Re lumen Salir Distancia D Precise primer punto gt aE gt MEDIRGEOM Especifique segundo punto o puntos M ltiples MODELO ii ik y 4 d 117 0 Dibujoyanotaci n O o A Ver Modelo When exporting DXF files from EyesMap coordinates are saved as points distances are saved as lines and surfaces are saved as sets of continuous lines not polylines In this case there were 8 targets Therefore the resulting DXF file contains the 8 three dimensional coordinates calculated 7 29 3D Photomodelling To generate a 3D point cloud of an objec
104. s you two options Option 1 Recommended for less experienced users Select the quality of the model which you wish to obtain high medium or low Based upon this choice EyesMap will select the advanced parameters by default for you Higher model quality means more points will be included in the point cloud and in general the 3D model will be more detailed On the downside a higher number of points in the cloud may generate more noise than desired Likewise the greater the model s quality is the greater the processing time will be This is also true for the size of the PLY file generated X Modal Resolution Medium Low e v e E m 9 Model Quality Model Resolution 56 Click on a button to choose the quality of the final model high medium or low resolution High Medium Low The high resolution button is selected by default Option 2 Recommended for advanced users You can manually choose the different parameters related to the quality of the model provided that you have enough knowledge to do so Results may be better with correct parameter selection Advanced Options Advanced Options W Click to modify the resolution parameters E Point Density Medium Image Resolution r nea REM mum High Medium Low Point Density Medium Change the point density for the final model INL Point Density The higher the point density you select high medium or low the more points the 3D poin
105. t al ahaa ania mot prt a E 2L P Z 7 1 1 5 Results Archivo Edici n COORDINATES p 6 55 1 772 17 867 Formato Ver Ayuda DISTANCES dO 1 1 m SURFACES sa 4 22 m2 Click on the export button to export to the different formats which are shown below 3D Coordinates Archivo Edici n Formato Ver Ayuda 6 55025929564029 1 77173680184876 17 8673739565557 0 475018803882311 1 91840927462646 17 3840214894474 0 620024544014806 1 95341066017568 17 2873509960257 4 87019278927759 4 50851180526896 16 7556632822066 4 92852843185963 0 530020981173947 17 2956846592517 JPEG Image This can be used as a sketch of the measurements taken User Manual 137 DXF file This file is useful for using the points lines and areas in CAD formats as can be seen in the following image AutoCAD Bl ocu alimbrica 20 un titra Limo Liezplaznr irre K puntor Propieciscer de capa i E FI Anini ma 7 mm Lh da se a EN p S T o Un i L4 de Er rt i free 13 um 428 oo a fee Cy Lar CO ao Lg F vir i gE G 4 g ol a F tM o x F Y T mniucir E E ame hk iterencia EmTe COO mes E hehar Ueta rema 3 k x z ra mata no guardada Capo y via 11 Presentsciri rong indicus um factor de escala nX z nfi c 7 1 2 Orientation with Targets If you wish to take measurements of areas with a very homogeneous texture like walls of a single colour plast
106. t the Photomodelling module should be selected This module uses different images of the object to create with photogrammetric methods a dense point cloud It is important to take into account the considerations which are explained in the manual before trying to create a 3D model of any object In general terms it is important to note that not all objects are able to be modelled in 3D and the success of said modelling depends on The quality and clearness of the image The order of the images there should be an 80 overlap between two images it is recommended to have 100 overlap The texture of the object to be modelled should be heterogeneous and objects with homogeneous textures plastics water or glass should be avoided as these elements make it difficult or impossible to generate a 3D model Screen for selecting the use of one or two cameras or to load images i oO 5 e In this case as we are dealing with a medium sized object and we re going to take middle distance photos we will choose the stereo camera option We must consider that if small objects are modelled at a short distance only one camera should be activated as it is senseless to activate both cameras if the object does not appear in the two images The same thing happens with a large object at long distances A single camera should be chosen as the same part of the object will be seen in both photos Photo Development and Management Screen
107. t cloud generated will have Keep in mind that a higher point density does not imply better results An elevated point density can generate undesired noise in some cases Image Resolution Choose the resolution level high medium or low that you wish to use for the photos taken Image Resolution High Resolution 2592 x 1944 Medium Resolution 1296 x 972 High Medium Low Low Resolution 648 x 486 We do not recommend lowering image quality Only do so if you wish to obtain a very basic point cloud 5 3 5 stereoTarget Scaling Screen On this screen you must specify if you have used the stereoTarget or not and therefore if your point cloud will be scaled to a real scale or not X Scale using stereoTarget TO No Click if you have not used the stereoTarget or you do not wish to scale the image with the stereo Target Si Click if you wish to scale with the stereoTarget Two new groups of options will appear e Type of stereoTarget used large selected by default or small e Search in all images selected by default or choose the images in which the stereoTarget should be looked for If the stereoTarget appears in all images select the first option Otherwise select the second option and choose the images in which the search should be carried out at least two images This second option shall be useful above all in lineal captures in which the stereoTarget appears in only some of the ph
108. ted in the secondary window 5 2 1 Photograph Capture and Management After selecting any of the three options of the point to point module the Image Capture and Management window is shown Here the first thing that you should do is choose the photograph capture or load mode User Manual 32 5 EyesMap Modules You have three options Single Camera Single Camera Take all the shots with a single camera Stereo Camera Click if you wish to activate both cameras Stereo Camera Load Images Click if you wish to load previously captured images Load images If you choose the option to activate the Stereo Camera EyesMap will display the following screen 2 User Manual 33 At this step you must take three photographs which shall be used for the entire process In all photogrammetric captures the following considerations should be taken into account e ake clear photos try not to move while you are capturing Avoid the sun facing you Capture the entire object to be measured try to place said object in the centre of the image e Take different shots from the left to the right of the object from the right to the left from the top to the bottom or from the bottom to the top Try to have displacement between the shots never take two shots from the same position e he overlapping area between the two images should be 80 lf this overlapping can get to be almost 10096 it would be better
109. tem Brightness 0 Contrast 15 Fo cus 450 v Hue 0 Saturation 32 Sharpness 10 Gamma 100 White Balance 5000 Backlight Comp 1 Gain Low Light x Compensation f ColorEnable PowerLine Frequency 60Hz v Default Anti Flicker Default 5 EyesMap Modules 5 3 2 Image Gallery At the bottom part of the window the gallery of loaded or captured images can be seen This is a touch controlled gallery in which the new images which are loaded or captured are added to the right of the previous ones Initially the button to discard images is not visible This button only becomes visible when at least one image is selected to be erased To select or de select one or several images you only have to click once on them The selected images stand out from the rest because a black frame appears around them Discard Image 5 3 3 Image Viewer To see the larger version of the image you can double click on the gallery thumbnail In this way the image shall be shown in the viewer where you can e Zoom the photograph lower left image e Restore zoom with a double click lower right image e Delete the image by clicking the Discard Image button e Go forward and backward through the images with touch movements as has been explained with the gallery Zoom the Photograph Restore Zoom User Manual 53 5 3 4 Model Resolution Screen Use this screen to choose the quality of the point cloud that you wish to obtain EyesMap give
110. terfaces USB 3 0 Jack 3 0 Physical features HDMI Dimensions 303x194x56 mm SIM Card Weight 1 9 kg SD Card Find below the technical specifications of the main components of the Eyesmap Tablet User Manual 10 2 2 Cameras v Number of cameras 2 v Cameras Calibration lt 1 px v Base Line Length 230 mm v Calibration stability 2 px v Field of View 67 Diagonal v Calibration of other sensors vs v Focusing distance 2 8 mm Cameras Yes Y Pixel size 1 4um x 1 4um v Manual and Auto Focus Y Depth of field 10 cm v Macro Y Optical distortion Interior amp Y Digital Stabilizer exterior orientation Yes 2 3 Depth Sensor 1 v Typical precision Y Post processing time gt 3 min 1 5mm 1m 2 2mm 2m Depends on total scanning time 30mm 3m and complexity of the section Post processing 2 3mm 2m scanned v Maximum scanning range in v Export Formats Ascii DXF pts motion Unlimited ply xyz csv las PN PV obj v Maximum depth scanning distance 6m 2 4 GPS v L1 Single Frequency v Data Protocols NMEA 0183 IEC v GPS GLONASS GALILEO 61162 1 binary BINR and QZSS COMPASS amp SBAS L1 RTCM SC 104 Y Nr Of Channels 32 GNSS v Typical precisions v Data output w o processing Real Time 1 5 m aprox pseudo distance Carrier Phase Post processing 30 cm aprox at and Doppler 10 minutes of field data capture 2 5 IMU Acelerometer Z Q5 d X Acceleration Measurement Max
111. th ease through the available features and tools Lo Click to minimise the application Click to close the application Before closing the application definitively you will be asked if you want to save the work you have done or if you wish to exit without saving All running processes will be stopped Click to go to the next screen or return to the previous screen Find the location of these icons on the following image e Eyes P au Load mages User Manual 19 Processing This image indicates that the application is processing data L89B Please be patient as depending on the process it may take several minutes Information Boxes Info To add a new coordinate select a point and click Confirm These boxes provide additional information which can be of help for you in the different steps that you must follow 4 3 Target Types and Their Use A target is a piece of paper cardboard or another material on which a code is written in black and white and which is detected by the system automatically in the images taken The targets identified provide information for the orientation of images measuring of points or scaling of 3D models depending on the case stereoTarget for Medium and Large Objects 59 cm a Sm This stereoTarget the larger of the two is used to scale the measurements taken point to point photogrammetry module and for scaling 3D models made with photogrammetry 3D p
112. the results screen If you wish to export any other image of those used in the process along with the results you just need to select it in the gallery at the bottom of the screen e DXF CAD dxf This exports the results in DXF format so that they can be viewed and edited in different external pieces of software Coordinates shall be saved in the DXF file as points distances as lines and surfaces as a set of continuous lines 5 2 8 Orientation Errors During data processing orientation of images is calculated in situ If any problems arise an orientation error is shown which indicates what images have been problematic You must repeat the process with new images or omit the images listed in the error message Error ES Error Orientation error Please check the image Imagen001 jpg and followings 5 3 3D Modelling EyesMap module which allows for 3D models of objects with small medium and large sizes to be created The result obtained shall be 3 D a 3D point cloud in colour in PLY format containing the X Y X coordinates and the R G B colour Quale Photomodelling Almost all elements can be modelled except reflective surfaces glass water plastics etc or surfaces with very homogeneous textures If you want your point clouds to be scaled you should use the stereoTarget the small one for small objects the big one for medium and large objects 5 3 1 Photograph Capture and Management After selecting the 3D Ph
113. the Tablet in strong magnetic or electric field areas e Do not submerge the Tablet in water Consult your authorized dealer or support ecapture es for any questions or doubts you may have 3 2 Charging the battery The following safety precautions must be taken when using the Tablet with power cable connected e Only use the charger as provided by e Capture to charge the battery e Don not charge the Tablet when it is stored in the carrying case e t is recommended to charge the battery at temperatures between 5 C 41 F and 35 C 95 F To charge the battery connect the charging cable plug to the DC IN input port of the Tablet 3 Starting up with EyesMap 3 3 Transport When transporting the Tablet be careful not to drop it A strong impact may damage the unit and cause malfunctioning of the scanning function Always transport the Tablet in its original carrying case When shipping EyesMap by any means of transport please make sure to use the original shipping case and to place all components correctly to avoid possible shock and vibration Keep the tablet switched off during transport in the carrying case 3 4 Power Supply If you are storing the tablet for a long period of time be sure NOT to leave the battery completely discharged Make sure the tablet is stored clean and in its original case Keep all components in a low humidity environment The stored device shall be not subject to extreme temperatures
114. tical cases We are brought back to the master and secondary image selection screen For this case more images are not necessary But if we had more photographs more master images would probably be necessary a x Select other Image Master or Continue li MC C C C Imagen000jp imagen001jp Imagen002jp Imagen003jp Imagen004jp Imagen005 jp Master and Secondary images already selected Imagen001 jpg gt Imagen000 jpg S Imagen002 jpg gt Imagen004 jpg 9 Imagen003 jpg Imagen005 jpg e 9 O o Click on Next After processing we obtain the resulting 3D model Results Screen gt x 3D Model generated correctly Rename it alcazaba amp e E Open 3D model directory User Manual 159 The name alcazaba has been assigned and when the viewer button is clicked the folder where the 3D model is found opens Name Date modified Type Size alcazaba Merge aln 4 16 2015 3 53 PM ALN File 1 KB alcazaba0 4 16 2015 1 54 PM PLY File 13 225 KB alcazaba1 4 16 2015 1 55 PM PLY File There is a PLY file for each master chosen in this case two But if the file alcazaba Merge aln is clicked on all the PLY files created will open e MeshLab v1 2 1 alcazaba1 ply DNA I File Edit Filters Render View Windows Tools Help Dor 2 HSH 2 FQBRAME SC Here the final 3D result of the Alcazaba can be seen For more information on how to edit the point clouds obtained see section 4 on viewers
115. tion plane We recommend you select a higher number of control points and make sure they are better distributed throughout the scene to be processed and or paint the projection plane correctly Error ES Error There are few Control Points or Project Plane was drawing incorrectly 5 5 9 2 Orientation Errors During data processing orientation of images is calculated in situ If a problem occurs an orientation error message is shown which indicates the cause of the error if the error s cause has been identified if the error has not been identified please report the error to our team You must repeat the process with new images or omit the images listed in the error message Error ka Error Orientation error Please check the image Imagen001 jpg and followings 5 6 GPS The EyesMap module which allows for the capture and viewing of coordinates in real time and the capture of data in files for said data s subsequent conversion to RINEX Install the antenna on the upper right of the tablet if you wish to capture with the GPS This module helps the user to take measurements in absolute coordinates and in real time and if the user so requires to dispose of the necessary data RINEX files to undertake post processing and increase accuracy One can say in a very simplified way that a protocol is a way to capture data The results obtained depend on the protocol used 5 6 1 Protocols EyesMap s GPS can work with many
116. to point measuring screen in which you can obtain the coordinates distances and surfaces of any object or environment captured 5 EyesMap Modules v Looking for homologous pete in this number of adjacem images Into Select the frsr pant af ihe distance and atick Comin It is not necessary to select all points in the same photograph although it is recommendable You can move through the different photographs by simply selecting them in the image gallery at the bottom of the screen If you have used the stereoTarget for scaling check that it has been correctly detected in the corresponding images a cross is displayed in the centre of the detected target Remember that you can also do scaling with the Scale tool The tools available in this screen are the following Coordinate Measurement Select this if you wish to obtain the three dimensional coordinate of a point To make your selection you must first double click on the point in the image and then click on confirm Coordinate Distance Measurement Select this if you wish to measure the distance between two points Once Distance you have activated this option you must select each one of the two points as if they were simple coordinates User Manual 44 Surface Area Measurement Choose this option if you wish to obtain the area of a surface You must choose as if they were simple coordinates both points and vertices which make up the desired su
117. to take the photos so near the scene that you wish capture On the other hand it is extremely important to select control points in both the upper and lower part of the scene and over different images Try to make your images as perpendicular as possible to the scene which you wish to create and be mindful of having enough overlap between images 7 5 GPS This practical case will show you the steps to follow to obtain a RINEX file from a single point for subsequent post processing via external software Preparation before using the GPS GNSS Install the antenna on the upper right of the tablet Place the device outside in an exterior zone do not use it inside in a clear area 7 Practical cases Creation of a binary file When you click the GPS button on the main screen you arrive at the real time GPS screen LatVel m s Time LonVel m s m RMS AltVel m s i C Serial port settings PORZA Settings C Main Preferences PKON1 __ Any NMEA message reserved The first step undertaken to begin to gather data is to check that the port configuration parameters are correct by clicking on the Settings button LatVel m s LonVel m s AltVel m s IL Serial port settings PORZA __ Main Preferences PKON1 E Any NMEA message reserved To accomplish this we check the port number the baud rate and ensure that the protocol
118. ts can be used in addition to doing orientation in complex environments to detect accurately and automatically the points whose scaled three dimensional coordinates we wish to obtain In this way subsequent measurements plans or any other action can be undertaken with external applications through the EyesMap data export function In this practical case 8 points on the image are going to be obtained automatically via target detection This allows for the calculation of their three dimensional scaled coordinates and for the export of the results in DXF format 1 In the main menu you can select any of the three point to point buttons the coordinate button the distance button or the area button For your convenience as measurements are going to be taken click on the Distance button so that the correct option is directly selected Distance Surface Photomodelling Coordinate Depth Sensor Orthophoto 2 The photograph capture and management screen will appear in which the first step consists of selecting the image capture or load mode In this practical case we will use the stereo camera option 3 After selecting the stereo mode the cameras are activated and the images can be taken with the capture button a red button with a camera icon In this case 2 pairs are taken of the same object It is recommendable to check the quality of the photographs before continuing with the process To do so double click on the th
119. ttp meshlab sourceforge net so that it can be used on your tablet This modified version of MeshLab is already installed on your tablet If you were to download the MeshLab version which is provided on the official website you wouldn t be able to use the touch features on the tablet In addition a series of filters have been created which are not included in the official version either If your editing needs are more than what is offered by this software package we recommend you install professional editing software on your PC List of free viewers MeshLab http meshlab sourceforge net CloudCompare http www danielgm net cc Autodesk Free Recap http www autodesk com products recap download Blender https www blender org List of professional and paid viewers editors Geomagic http www geomagic com Polyworks http www innovmetric com Pointools http www bentley com en US Promo Pointools pointools htm skid CT PRI POINTOOLS B Others 6 1 MeshLab Touch MeshLab is a processing system for the editing filtering cleaning and rendering of 3D models MeshLab The location of this version of MeshLab on your tablet is the following 6 Viewers T CIC EyesMap ext meshlab meshlab src meshlab debug Dropbox Nombre Fecha de modifica Tipo Escritorio NOR filtros 22 04 2015 17 34 Carpeta de arc 5 Sitios recientes Ply 22 04 2015 17 34 Carpeta de arc A Clean exe
120. umbnail in the gallery The viewer will open to allow you to see a larger version of the captured images 7 Practical cases 4 Click on the Next button to continue In this case targets are going to be used so that the application detects the points automatically Likewise this is a heterogeneous image therefore we will use automatic orientation Select the automatic orientation option and click on the Next button Automatic urientation A As we wish to scale with stereoTarget and the stereoTarget appears in all the images on the stereoTarget selection screen click on Yes and leave the Big stereolarget and Search in All Images options marked Now click on the Next button User Manual 147 7 Practical cases oO 6 After processing the images the application displays the point to point measurement screen Click on the target detection tool 7 While the search is being carried out all the tools disappear and the message Targets are being detected is displayed 8 Once the search has completed the targets detected appear marked as points pO p1 pN and the target detection tool is hidden Both before and after carrying out automatic target searching you can take measurements of coordinates distances and surfaces In this case we are not going to take any additional data therefore we can click on the Next button pus A Y Looking for homo
121. utton X Result data p14 0 476 0 127 1 732 p15 0 724 0 166 1 725 p16 0 477 0 544 1 718 p17 0 621 0 346 1 721 p18 0 945 0 19 1 732 p19 0 93 0 367 1 709 DISTANCES High 0 437 m o Gap 0 031 m Lj v _ Adds automatic matching points to the orientation 14 When you click on the Export button the data export window will open in which you can choose to export the data as a TXT Data Results txt The results are exported to a text file with the same format as shown in the results box b TXT 3D Coordinates txt A text file is generated with the three dimensional coordinates x y z of each point of the coordinates distances and surfaces User Manual 144 7 Practical cases c JPG Image jpg This exports in JPG format the image displayed on the screen d DXF CAD dxf This exports the results in DXF format so that they can be viewed and edited in different external pieces of software L Measurements Distances Organize New folder IK This PC ie Desktop F Documents J Downloads A Music Pictures B Videos amp Local Disk C Removable Disk Network v lt File name Results txt Date modified Type No items match your search Save as type TXT Data results txt Hide Folders JPG Image jpg DXF Cad dxf User Manual 145 7 1 3 Use of Targets Automatic recognition of targe
122. utton to erase the selected images from the list If you select a master image and delete it your secondary images and your masks will also be deleted automatically Delete from the list If you select a secondary image and delete it the associated master image will be maintained provided that said secondary image was not the only one you had 5 3 7 Results Screen The screen which shows the final results If the 3D model has been correctly generated assign it a name to be saved in the folder Projects 3D Ply 5 EyesMap Modules You can automatically go to the folder or keep working and visualise the e e results when you wish Example If you have selected more than one master image and have input the name example the names of the point clouds will be successively example example2 example3 etc X 3D Model generated correctly Rename it example E E Open 3D model directory User Manual 64 5 4 Depth Sensor This EyesMap module uses the on board depth sensor to capture scaled 3D models 3 D Because of the device s nature it is preferably used for interior Depth Sensor scans or exterior scans in which sunlight does not directly shine into the sensor Depth Sensor This provides an advantage over photogrammetry as it can capture homogeneous areas and areas with little texture On the other hand the accuracy of the point cloud generated is less with accuracies of less than 1 cm in
123. w the desired area The elements which are inside the selected area will turn yellow Select You must keep in mind that if you select a point of a distance or surface the entire surface or distance will be selected You can remove your selection by clicking on the selection tool again Deletion Tool Delete Click to delete the selected elements Selection Strech image Stretch Image Tool Click to stretch the image to the size of the screen after having zoomed in on a part of the image User Manual 89 5 5 9 Additional Image Selection Screen to Choose more Control Points and more Reference Points on the X Axis Once you have chosen the points in an image you can and it is very recommendable to do so choose more points on other images You will return to screen 3 6 6 for choosing control points and reference points on the X Axis for the other selected images If you do not wish to set more points on other images and you have assigned the minimum number of points required 4 control points and 2 reference points on the X o Axis click on the icon to begin generating the orthophoto Select an image with Double Click to select a Control Point or Reference Points Axis X x Infa You have selected 4 Min 4 Control Points and 2 Reference Points Axis X Min 2 Max 2 5 5 9 1 Error with Control Points or the Projection Plane This is an error when choosing control points or painting the projec

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