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eCapture eyesmap User Manual

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USER MANUAL

EYESMAP
Version 1.0
Revision A
June 2015

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  • Page 1: User Manual

    USER MANUAL EYESMAP Version 1.0 Revision A June 2015...

  • Page 2: Table Of Contents

    Contents Introduction .......................... 5 1.1. EyesMap Tablet ......................6 1.2. How does EyesMap work? .................... 7 1.3. Eyesmap Standard Configuration Package..............8 Technical Specifications ......................9 2.1. Tablet ........................... 10 2.2. Cameras ........................11 2.3. Depth Sensor ....................... 11 2.4.
  • Page 3 5.2.6. Point-to-Point Measurement Screen ..............43 5.2.7. Results Screen and Export of Results ..............47 5.2.8. Orientation Errors ....................49 5.3. 3D Modelling ....................... 50 5.3.1. Photograph Capture and Management .............. 50 5.3.2. Image Gallery ...................... 53 5.3.3. Image Viewer....................... 53 5.3.4.
  • Page 4 6.1. MeshLab Touch ......................109 6.2. Filters ......................... 111 6.2.1. Remove Outliers ....................111 6.2.2. Create Mesh ...................... 112 6.2.3. Clean Noise ......................114 Practical Cases ........................116 7.1. Point-to-Point Photogrammetry ................117 7.1.1. Methodology ..................... 117 7.1.2. Orientation with Targets................... 139 7.1.3.

  • Page 5: Introduction

    1. Introduction In this chapter, we shall see:  EyesMap Tablet  How does Eyesmap work?  Eyesmap Standard Configuration User Manual...

  • Page 6: Eyesmap Tablet

    It 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.

  • Page 7: How Does Eyesmap Work

    1 Introduction 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.

  • Page 8: Eyesmap Standard Configuration Package

    1 Introduction 1.3. Eyesmap Standard Configuration Package The Eyesmap package comes as standard in the following configuration: 1. Transport Case 2. Tablet 3. AC charger and Cable (Euro plug) 4. GPS Antenna 5. Keyboard 6. Set of Targets existing of: a.

  • Page 9: Technical Specifications

    2. Technical Specifications In this chapter, we shall see:  Tablet  Cameras  Depth Sensor  ...

  • Page 10: Tablet

    2 Technical Specifications 2.1. Tablet Find below the technical specifications of the main components of the Eyesmap Tablet. User Manual...

  • Page 11: Cameras

    2 Technical Specifications 2.2. Cameras  Number of cameras: 2  Cameras Calibration: < 1 px  Base Line Length: 230 mm  Calibration stability: 2 px  Field of View: 67º (Diagonal)  Calibration of other sensors vs.  Focusing distance: 2.8 mm Cameras: Yes ...

  • Page 12: Imu

    2 Technical Specifications 2.5. Acelerometer Gyroscope Acceleration Measurement Gyroscope Speed ± 8 g ± 2000°/s Acceleration Measurement Gyroscope Resolution 0.07°/s 976.7 μg Resolution Gyroscope White 0.59°/s Accelerometer White Noise σ 2.8 mg Noise σ Accelerometer Minimum Drift Gryoscope Minimum 1.9 mg 0.0019°/s σ...

  • Page 13: Starting Up With Eyesmap

    3. Starting up with EyesMap In this chapter you will find:  General Security Information  Charging the battery  Transport  Power Supply  Switching on the tablet...

  • Page 14: General Security Information

    3 Starting up with EyesMap 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  The maintenance and repair of the Eyesmap Tablet can only be done by qualified personnel authorized by e-Capture.

  • Page 15: Transport

    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.
  • Page 16 3 Starting up with EyesMap A variety of software programs are included as standard in Eyesmap to perform your everyday tasks and data processing:  Eyesmap Software  Internet explorer  Meshlab  Daemon tools lite.  Microsoft Visual Studio 2008,2010 and 2012.

  • Page 17: Eyesmap Applications

    4. EyesMap Applications In this chapter, we shall see:  Main Application Screen  Text Windows and Standard Buttons  Types of Targets and How to Use Them...

  • Page 18: Main Application Screen

    4.1. Main Application Screen When you start the “EyesMap” application, the main menu appears. The available modules can be selected from this menu. With this intuitive interface, you can take measurements, generate 3D models, create orthophotos, use the GPS and manage the projects you undertake.

  • Page 19: Standard Windows And Buttons

    4 EyesMap Applications 4.2. Standard Windows and Buttons The application has navigation buttons which will allow you to move with ease through the available features and tools. 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.

  • Page 20: Target Types And Their Use

    4 EyesMap Applications This image indicates that the application is processing data. Please be patient as, depending on the process, it may take several minutes. Information Boxes These boxes provide additional information which can be of help for you in the different steps that you must follow.
  • Page 21 4 EyesMap Applications 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 stereoTarget is used to scale the measurements taken (point-to-point photogrammetry module) and for scaling 3D models made with photogrammetry (3D photomodelling module).

  • Page 22: Eyesmap Modules

    5. EyesMap Modules In this chapter, we shall see:  Menu o Main Application Screen o Project Management o Camera Calibration o Camera Orientation o Updating/Restoring EyesMap  Point-to-Point Photogrammetry o Photograph Capture and Management o Choosing Orientation o Scaling with the StereoTarget...

  • Page 23: Menu

    5 EyesMap Modules 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.
  • Page 24 5 EyesMap Modules 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.
  • Page 25 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.
  • Page 26 5.1.2.1. Project Management when Opening EyesMap If, while using EyesMap with a temporary project, the application closes unexpectedly, 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.
  • Page 27 5 EyesMap Modules 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.

  • Page 28: Camera Calibration

    For storage of calibrations carried out, a “Calibrations” directory has been created at C:\EyesMapProject\AutoCalibration. 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.

  • Page 29: Camera Orientation

    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 any other case, EyesMap will calculate the external orientation of the images in situ.
  • Page 30 Orientation Click to set camera orientation. To complete this action, consult support@ecapture.es. Load Orientation Click to load one of the orientation configurations stored in the directory “Orientations.”...

  • Page 31: Updating/Restoring Eyesmap

    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.

  • Page 32: Point-To-Point Photogrammetry

    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.
  • Page 33 Take all the shots with a single camera. Stereo Camera Click if you wish to activate both cameras. Load Images Click if you wish to load previously-captured images. If you choose the option to activate the Stereo Camera, EyesMap will display the following screen: User Manual...
  • Page 34 5 EyesMap Modules 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.
  • Page 35 5 EyesMap Modules 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. Discard Images Select the photographs in the photo gallery and click to discard.

  • Page 36: Image Gallery

    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.

  • Page 37: Choosing Orientation Mode

    5 EyesMap Modules 5.2.4. Choosing Orientation Mode EyesMap has three methods to orient images: automatic, manual and with automatic target detection. 5.2.4.1. Automatic 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.
  • Page 38 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.
  • Page 39 5 EyesMap Modules The tools included in the interface are the following: 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.
  • Page 40 5 EyesMap Modules 5.2.4.3. Automatic Orientation with Targets 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.

  • Page 41: Scaling With The Stereotarget

    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.
  • Page 42 5 EyesMap Modules Click if you have not used the stereoTarget or you do not wish to scale the image with the stereoTarget. Click if you wish to scale with the stereoTarget. Two new groups of options will appear: ...

  • Page 43: Point-To-Point Measurement Screen

    5 EyesMap Modules EyesMap may require help in searching for the stereoTarget, asking the user to select the points manually. This may happen in the following situations:  If only 2 photographs have been taken and the stereoTarget has not been detected in one of them, or in neither of them.
  • Page 44 5 EyesMap Modules 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.
  • Page 45 5 EyesMap Modules 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 surface. As you are selecting points, you will see the surface formed being drawn on the image.
  • Page 46 5 EyesMap Modules * Definition of homologous points: between two consecutive images (A and B) with a large common area, two homologous points are those points that represent an object that the two images have in common (a common corner or frame between images A and B).

  • Page 47: Results Screen And Export Of Results

    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 well as in the results box located to the right of the screen.
  • Page 48 5 EyesMap Modules 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.

  • Page 49: Orientation Errors

    5 EyesMap Modules  JPG Image (*.jpg): This exports, in JPG format, the image displayed on 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.

  • Page 50: Modelling

    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 a 3D point cloud in colour (in PLY format, containing the X Y X coordinates and the R G B colour).
  • Page 51 5 EyesMap Modules 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.
  • Page 52 5 EyesMap Modules 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.

  • Page 53: Image Gallery

    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.

  • Page 54: Model Resolution Screen

    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.
  • Page 55 5 EyesMap Modules 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.

  • Page 56: Stereotarget Scaling Screen

    5 EyesMap Modules 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. Click if you have not used the stereoTarget or you do not wish to scale the image with the stereoTarget.

  • Page 57: Master And Secondary Image Selection Screens

    5 EyesMap Modules of the photographs. 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.
  • Page 58 5 EyesMap Modules 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).
  • Page 59 5 EyesMap Modules Step 2. Choose one or several secondary images to complete the master image (marked in blue). 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.
  • Page 60 5 EyesMap Modules Step 3. Paint a mask over the master image. Draw Sky Click to paint part of the sky in the image. It is not necessary for you to paint the entire sky. Everything will be modelled except for...
  • Page 61 5 EyesMap Modules 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 All Select this to model all the parts of the master image.
  • Page 62 5 EyesMap Modules Brush Thickness. Move the sliding bar towards 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.

  • Page 63: Results Screen

    5 EyesMap Modules Box showing the names of the master images and 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 button to erase the selected images from the list.
  • Page 64 5 EyesMap Modules You can automatically go to the folder or keep working and visualise the 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, example1, example2, example3, etc.

  • Page 65: Depth Sensor

    5 EyesMap Modules 5.4. Depth Sensor This EyesMap module uses the on-board depth sensor to capture scaled 3D models. Because of the device's nature, it is preferably used for interior scans or exterior scans in which sunlight does not directly shine into the sensor.

  • Page 66: Capture A 3D Model

    5 EyesMap Modules It has the following 4 buttons: Capture This starts the programme to capture, in real time, 3D models. Post-process This starts the programme to post-process a previously-captured model. 3D Viewer This opens the 3D viewer. Delete Captures This deletes all the actions carried out with the depth sensor in the current project.
  • Page 67 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, tracking of a set of visual features (generally characteristic points) is carried out in the succession of images captured by the camera.
  • Page 68 -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_”...
  • Page 69 5 EyesMap Modules 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 captured. The aim of this function is to help the user so that he/she closes in the same place where the process started.
  • Page 70 5 EyesMap Modules 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.

  • Page 71: Post-Processing Software

    5 EyesMap Modules 5.4.2.3. What happens if you get lost? 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.
  • Page 72 5 EyesMap Modules As can be seen in the image above, the interface is divided into 3 parts:  Application status bar: This allows you to minimise, restore and close the application.  Point cloud viewer: This shows the 3D model which is being post-processed.
  • Page 73 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.
  • Page 74 5 EyesMap Modules 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.
  • Page 75 5 EyesMap Modules 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 less calculations. The higher this value is, the more probability there is of finding closure, but the process will also take more time.
  • Page 76 5 EyesMap Modules 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 sooner. Change the number of points to be viewed in order to lower computation time.

  • Page 77: Viewer

    5 EyesMap Modules 5.4.4. 3D Viewer Click to open and view a 3D model created with the depth sensor. User Manual...

  • Page 78: Orthophoto

    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 same validity as a cartographic map.
  • Page 79 5 EyesMap Modules 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.
  • Page 80 5 EyesMap Modules 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. Discard Images Select the photographs in the photo gallery and click to discard.

  • Page 81: Image Gallery

    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.

  • Page 82: Final Results Quality Selection Screen

    5 EyesMap Modules 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 influence results. Option 1: Take the orthophoto in high resolution. Recommended for less-experienced users.
  • Page 83 5 EyesMap Modules 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.

  • Page 84: Projection Plane Selection Screen

    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:...
  • Page 85 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. Choose the type of brush: square or round. Brush thickness: move the sliding bar towards...

  • Page 86: Image Selection Screen To Choose The Control Points And The Reference Points On The X Axis

    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.

  • Page 87: Control Points And Reference Points On Axis X Selection Screen

    5 EyesMap Modules Reference Points on the X Axis mark the model's horizon line. This shall be defined with two 3D coordinates. Reference 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).
  • Page 88 5 EyesMap Modules 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 Points on the X Axis Two points must be chosen to mark the reference points on the X axis.
  • Page 89 5 EyesMap Modules Automatic find matching points. 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.

  • Page 90: Additional Image Selection Screen To Choose More Control Points And More Reference Points On The X Axis

    5 EyesMap Modules 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.
  • Page 91 5 EyesMap Modules 5.5.9.1. Error with Control Points or the Projection Plane This is an error when choosing control points or painting the projection 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.

  • Page 92: Gps

    5 EyesMap Modules 5.6. 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.

  • Page 93: Com Port Properties And Changing Com Port

    5 EyesMap Modules 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).
  • Page 94 5 EyesMap Modules Check the properties every time you switch the GPS on. Below, we include the necessary steps to guarantee the system's proper workings. 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 –...
  • Page 95 5 EyesMap Modules 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-assigned. If there is a problem with the COM port, check to ensure that the port number is correct.

  • Page 96: Real-Time Data Screen

    5 EyesMap Modules 3. Look at the COM Port number for Silicon Labs CP210x USB to UART Bridge (COM4 in this case). 4. Change the COM port number to the correct one in the settings where properties can be modified.
  • Page 97 5 EyesMap Modules 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!” Check that the COM port is correct (Section 5.6.2.2 – “COM Port”)

  • Page 98: Change Protocol

    5 EyesMap Modules 5.6.3.2. Error: “No connection to receiver!” 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.
  • Page 99 5 EyesMap Modules 3. Choose option 3 - BINR 4. Click on “Apply Settings” to apply the protocol change. 5. Click OK. The protocol is now changed. User Manual...
  • Page 100 5 EyesMap Modules As can be seen, after this procedure, the protocol change has been correctly carried out – something which can be checked in the area marked in red. 5.6.4.2. Change from the BINR Protocol to the NMEA Protocol If you want to gather data in real time again, you have to have the NMEA Protocol activated;...
  • Page 101 5 EyesMap Modules 2. Change the baud rate to 115200. 3. Change the protocol to 2 – NMEA 4. Click on “Apply Settings” to apply the protocol change. 5. Click OK. User Manual...

  • Page 102: Post-Processing

    5 EyesMap Modules The protocol change has been correctly carried out. 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 improve the accuracy of the position.
  • Page 103 5 EyesMap Modules 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. Incoming data source.
  • Page 104 5 EyesMap Modules 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."...
  • Page 105 5 EyesMap Modules 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.
  • Page 106 5 EyesMap Modules Click "Stop" to stop collecting data. 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.
  • Page 107 5 EyesMap Modules 5.6.5.2.2. To carry out conversion to RINEX of a previously-saved file. Choose the data source “From File.” Click to open the binary file which was previously saved. Click on "Start." Continue with the steps of section 5.6.5.2.1.

  • Page 108: Viewers

    6. Viewers In this chapter, we shall see:  MeshLab Touch  Filters o Remove Outliers o Create Mesh o Clean Noise...

  • Page 109: Meshlab Touch

    6 Viewers In this chapter, how to view and edit 3D models generated with EyesMap is explained. To accomplish this, MeshLab has been modified (http://meshlab.sourceforge.net) so that it can be used on your tablet. This modified version of MeshLab is already installed on your tablet.
  • Page 110 6 Viewers 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.

  • Page 111: Filters

    6 Viewers 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 With this filter, you can delete outlier points to soften the noise in the point cloud. An example is shown below.

  • Page 112: Create Mesh

    6 Viewers 6.2.2. Create Mesh 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: “Normals”...
  • Page 113 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;...

  • Page 114: Clean Noise

    6 Viewers 6.2.3. Clean Noise This filter removes noise from the point cloud using automatically-generated mesh. The parameters are shown below: “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.
  • Page 115 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...

  • Page 116: Practical Cases

    7. Practical Cases In this chapter, we shall see:  Point-to-Point Photogrammetry o Methodology o Orientation with Targets. o Use of Targets  3D Photomodelling  Depth Sensor  Orthophoto ...

  • Page 117: Point-To-Point Photogrammetry

    7.1.1. Methodology Bellow, the correct methodology is shown for taking measurements of coordinates, 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.
  • Page 118 7 Practical cases Medium Object User Manual...
  • Page 119 7 Practical cases Small Object User Manual...
  • Page 120 7 Practical cases 7.1.1.2. Photo Development and Management User Manual...
  • Page 121 7 Practical cases Small Objects User Manual...
  • Page 122 7 Practical cases Large and Medium Objects We take different photographs of the object following the recommended graphic for photogrammetry: 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 –...
  • Page 123 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...
  • Page 124 7 Practical 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.
  • Page 125 7 Practical cases Click on "confirm" and the orientation point is recorded: 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.
  • Page 126 7 Practical cases 9 Orientation Points: User Manual...
  • Page 127 7 Practical cases Review the photographs to ensure that all the orientation points appear in all the photographs. Click on "Next." We indicate that we have used the stereoTarget and we click on the icon to search all the images. User Manual...
  • Page 128 7 Practical cases The target will automatically be searched for in all the photographs. Click on "Next." 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 stereoTarget squares must be marked as shown in the images below.
  • Page 129 7 Practical cases Click on "Confirm." User Manual...
  • Page 130 7 Practical cases The distance of the stereoTarget will be saved. Click on "Next." User Manual...
  • Page 131 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"...
  • Page 132 7 Practical cases 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. User Manual...
  • Page 133 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 (d0), we can select the second one and click "confirm." When both points are marked, the distance will be shown on all images.
  • Page 134 7 Practical cases User Manual...
  • Page 135 7 Practical cases Measure a Surface Select the first point on the surface to be measured. Repeat the same process for the next points on the surface. 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.
  • Page 136 To close the surface, select the first point on the surface again and click on "confirm." 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.
  • Page 137 7 Practical cases 7.1.1.5. Results. Click on the "export" button to export to the different formats which are shown below: - 3D Coordinates. - JPEG Image: This can be used as a sketch of the measurements taken. User Manual...
  • Page 138 7 Practical cases 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). User Manual...

  • Page 139: Orientation With Targets

    7 Practical cases 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, plastic 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 façade 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...
  • Page 140 7 Practical cases 4. It is recommendable to check the quality of the photographs before continuing with the process. To do so, double click on the thumbnail in the gallery. 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.
  • Page 141 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. 8. Select the "orientation with targets" option and click "Next." 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”...
  • Page 142 7 Practical cases 10. The application begins to process the images, looking for the stereoTarget and locating the targets on the façade, displaying the message “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.
  • Page 143 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, a thumbnail of the point that was selected in the first image.
  • Page 144 7 Practical cases 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).
  • Page 145 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. User Manual...

  • Page 146: Use Of Targets

    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.
  • Page 147 7 Practical cases Click on the "Next" button to continue. The images which shall be processed are the following. 4. 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.
  • Page 148 7 Practical cases 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.
  • Page 149 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”...
  • Page 150 7 Practical cases 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.

  • Page 151: Photomodelling

    7 Practical cases 3D Photomodelling 7.2. To generate a 3D point cloud of an object, 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.
  • Page 152 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.
  • Page 153 7 Practical cases 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). User Manual...
  • Page 154 7 Practical cases 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. 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.
  • Page 155 7 Practical cases 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. User Manual...
  • Page 156 7 Practical cases 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.
  • Page 157 7 Practical cases We choose a second master image, undertaking the same process for this image as with the first one we chose. Two secondary images are assigned and "confirm" is clicked. User Manual...
  • Page 158 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. In the top image, we can see the image taken, and in the bottom, the mask which has been painted is displayed.
  • Page 159 7 Practical 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. Click on "Next." After processing, we obtain the resulting 3D model. Results Screen: User Manual...
  • Page 160 7 Practical cases The name "alcazaba" has been assigned and, when the viewer button is clicked, the folder where the 3D model is found opens. 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.

  • Page 161: Depth Sensor

    7 Practical cases 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.
  • Page 162 7 Practical cases 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. Now, move around the room slowly while the desired environment is captured.
  • Page 163 7 Practical cases 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.
  • Page 164 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:” The contents of the directory for the real-time shots is as follows: Do not delete or modify these files and directories, which have been automatically generated.
  • Page 165 7 Practical cases 19. The post-processing programme opens. Click on the “Last” button, which will automatically load the last capture taken in real time. User Manual...
  • Page 166 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.
  • Page 167 7 Practical cases Select the directory where you wish to save the results. In this case, a directory called "result" has been created inside "sequence_1724." Click on “Select Folder” and wait until the data save process finalises. The "result" directory will contain the following files: The file “samply.ply”...

  • Page 168: 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.
  • Page 169 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. 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.
  • Page 170 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 selected (high resolution) and EyesMap will select the default parameters for you. User Manual...
  • Page 171 7 Practical cases 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.
  • Page 172 7 Practical cases 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.
  • Page 173 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. Select the image onto which you wish to set the projection plane and click on "Next." In the next image, different planes can be seen depending on the different depths.
  • Page 174 7 Practical cases 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.
  • Page 175 7 Practical cases The selected image and the two adjacent images will load so that points can be selected on them. 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...
  • Page 176 7 Practical cases 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 are 4 control points selected and 2 X axis reference points (Note: you cannot select more than 2 X axis reference points).
  • Page 177 7 Practical cases The number of points you have selected is indicated in the information box found in the lower part of the screen. The minimum number of points has not been fulfilled; another image is selected to choose more control points and X axis reference points. User Manual...
  • Page 178 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. Said points should also be distributed throughout the entire scene.
  • Page 179 7 Practical cases 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.
  • Page 180 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). The final result is the desired orthophoto. Input a name in the field "Orthophoto Name" to save your work.

  • Page 181: Gps

    7 Practical cases Recommendations for optimal results: If the orthophoto has errors in the upper/lower part, try not 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.
  • Page 182 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. The first step undertaken to begin to gather data, is to check that the port configuration parameters are correct by clicking on the “Settings”...
  • Page 183 7 Practical cases 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.
  • Page 184 7 Practical cases 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. We change the port parameters in the right-hand side of the interface as follows: Baud rate: 115200 Protocol: 3 - BINR User Manual...
  • Page 185 7 Practical cases 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. 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...
  • Page 186 7 Practical cases EyesMap takes us to a new screen with a different interface. From this interface, we will be able to save a file of binary observations for subsequent conversion to RINEX files. The first step is to choose the correct COM port (see section 5.6.2.2 on the GPS in the...
  • Page 187 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.”...
  • Page 188 7 Practical cases Now that the file is defined, we click on "start" to begin to take data. 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.
  • Page 189 7 Practical cases 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. In this case, we have saved the files in the “GPS”...
  • Page 190 7 Practical cases 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. 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.
  • Page 191 7 Practical cases User Manual...

  • Page 192: Orientation Errors

    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.
  • Page 193 We are going to delete them. Images: list 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 Modules...
  • Page 194 Modules 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. User Manual...
  • Page 195 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 Modules Error. Please, check that there aren't identical images.

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