eCapture eyesmap User Manual

USER MANUAL

Version 1.0
Revision A
June 2015

EYESMAP

Contents

1. Introduction .......................................................................................................................... 5

1.1. EyesMap Tablet ............................................................................................................. 6

1.2. How does EyesMap work? ............................................................................................ 7

1.3. Eyesmap Standard Configuration Package.................................................................... 8

2. Technical Specifications ........................................................................................................ 9

2.1. Tablet ........................................................................................................................... 10

2.2. Cameras ....................................................................................................................... 11

2.3. Depth Sensor ............................................................................................................... 11

2.4. GPS .............................................................................................................................. 11

2.5. IMU .............................................................................................................................. 12

3. Starting up with EyesMap ................................................................................................... 13

3.1. General Security Information ...................................................................................... 14

3.2. Charging the battery ................................................................................................... 14

3.3. Transport ..................................................................................................................... 15

3.4. Power Supply ............................................................................................................... 15

3.5. Switching on the tablet ............................................................................................... 15

4. EyesMap Applications ......................................................................................................... 17

4.1. Main Application Screen ............................................................................................. 18

4.2. Standard Windows and Buttons ................................................................................. 19

4.3. Target Types and Their Use ......................................................................................... 20

5. EyesMap Modules ............................................................................................................... 22

5.1. Menu ........................................................................................................................... 23

5.1.1. Main Application Screen ..................................................................................... 23

5.1.2. Project Management ........................................................................................... 23

5.1.3. Camera Calibration .............................................................................................. 28

5.1.4. Camera Orientation ............................................................................................. 29

5.1.5. Updating/Restoring EyesMap ............................................................................. 31

5.2. Point-to-Point Photogrammetry ................................................................................. 32

5.2.1. Photograph Capture and Management .............................................................. 32

5.2.2. Image Gallery ...................................................................................................... 36

5.2.3. Image Viewer....................................................................................................... 36

5.2.4. Choosing Orientation Mode ................................................................................ 37

5.2.5. Scaling with the StereoTarget ............................................................................. 41

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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. Model Resolution Screen .................................................................................... 54

5.3.5. stereoTarget Scaling Screen ................................................................................ 56

5.3.6. Master and Secondary Image Selection Screens ................................................ 57

5.3.7. Results Screen ..................................................................................................... 63

5.4. Depth Sensor ............................................................................................................... 65

5.4.1. RGBD Menu ......................................................................................................... 65

5.4.2. Capture a 3D Model ............................................................................................ 66

5.4.3. Post-Processing Software .................................................................................... 71

5.4.4. 3D Viewer ............................................................................................................ 77

5.5. Orthophoto ................................................................................................................. 78

5.5.1. Photo Development and Management Screen ................................................... 78

5.5.2. Image Gallery ...................................................................................................... 81

5.5.3. Image Viewer....................................................................................................... 81

5.5.4. Final Results Quality Selection Screen ................................................................ 82

5.5.5. Projection Plane Selection Screen ....................................................................... 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

on the X Axis ........................................................................................................................ 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 X Axis ........................................................................................... 90

5.6. GPS .............................................................................................................................. 92

5.6.1. Protocols.............................................................................................................. 92

5.6.2. COM Port Properties and Changing COM Port ................................................... 93

5.6.3. Real-Time Data Screen ........................................................................................ 96

5.6.4. Change Protocol .................................................................................................. 98

5.6.5. Post-Processing ................................................................................................. 102

6. Viewers .............................................................................................................................. 108

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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

7. 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. Use of Targets .................................................................................................... 146

7.2. 3D Photomodelling .................................................................................................... 151

7.3. Depth Sensor ............................................................................................................. 161

7.4. Orthophoto ............................................................................................................... 168

7.5. GPS ............................................................................................................................ 181

8. Orientation Errors ............................................................................................................. 192

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1

1. Introduction

In this chapter, we shall see:

 EyesMap Tablet

 How does Eyesmap work?

 Eyesmap Standard Configuration

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1 Introduction

 High Processing Capacity
 Simple and intuitive Interface
 High mobility due to the portability

and light weight of the device

 Attractive and ergonomic design
 High connectivity through USB,

Micro SD and HDMI.

 Speed
 High Resolution 3D models

generated.

 Integrated inertal system
 Integrated GPS
 High speed data communication

through WLAN and 3G.

This document describes the detailed operation of the Eyesmap Tablet for each
individual module and feature. 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.

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 mid­sized and big objects containing millions of points. It allows real-time measurement of
coordinates, distances and surfaces and generation of real orthophotos. All these
results can be positioned geographically in real time thanks to the integrated GPS.

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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.

In the following image the position of the cameras is displayed.

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 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.

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1 Introduction

4

2

3

6

5

1

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. 40 symmetric Point Targets
b. 20 Asymmetric Targets
c. 1 Stereo Target for small objects
d. 1 Stereo Target for big objects

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2

2. Technical Specifications

In this chapter, we shall see:

 Tablet

 Cameras

 Depth Sensor

 GPS

 IMU

2 Technical Specifications

2.1. Tablet

Find below the technical specifications of the main components of the Eyesmap Tablet.

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2 Technical Specifications

 Number of cameras: 2
 Base Line Length: 230 mm
 Field of View: 67º (Diagonal)
 Focusing distance: 2.8 mm
 Pixel size: 1.4um x 1.4um
 Depth of field: 10 cm
 Optical distortion, Interior &

exterior orientation: Yes

 Cameras Calibration: < 1 px
 Calibration stability: 2 px
 Calibration of other sensors vs.

Cameras: Yes

 Manual and Auto Focus
 Macro
 Digital Stabilizer

 Typical precision:

1,5mm@1m 2,2mm@2m
30mm@3m
(Post-processing) : 2-3mm@2m

 Maximum scanning range in

motion: Unlimited

 Maximum depth scanning

distance: < 6 m

 Post-processing time: > 3 min.

Depends on total scanning time
and complexity of the section
scanned.

 Export Formats: Ascii, .DXF, .pts,

.ply, .xyz, .csv, .las, .PN, .PV, .obj

 L1 – Single Frequency
 GPS, GLONASS, GALILEO,

QZSS, COMPASS & SBAS L1

 Nr. Of Channels: 32 GNSS
 Data output w/o processing:

pseudo-distance, Carrier Phase
and Doppler.

 Data Protocols: NMEA 0183 / IEC

61162-1, binary (BINR) and
RTCM SC-104

 Typical precisions

Real Time: 1.5 m aprox.
Post-processing: 30 cm aprox. (at
10 minutes of field data capture)

2.2. Cameras

2.3. Depth Sensor

2.4. GPS

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2 Technical Specifications

Acelerometer

Acceleration Measurement
Max

± 8 g

Acceleration Measurement
Resolution

976.7 μg

Accelerometer White Noise σ

2.8 mg

Accelerometer Minimum Drift
σ

1.9 mg

Accelerometer Optimal
Averaging Period

286 s

Gyroscope

Gyroscope Speed
Max

± 2000°/s

Gyroscope Resolution

0.07°/s

Gyroscope White
Noise σ

0.59°/s

Gryoscope Minimum
Drift σ

0.0019°/s

Gyroscope Optimal
Averaging Period

8628 s

Compass

Magnetic Field Max

5.5 G

Compass Resolution

3 mG

Compass White Noise σ

1.2 mG

Compass Minimum Drift σ

87 μG

Compass Optimal Averaging
Period

52 s

2.5. IMU

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3

3. Starting up with EyesMap

In this chapter you will find:

 General Security Information

 Charging the battery

 Transport

 Power Supply

 Switching on the tablet

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.

 Contact authorized service personnel in the following situations:
 The power cable is damaged.
 The Tablet has been exposed to rain, water or other liquids.
 The Tablet has been dropped or damaged.
 The Tablet does not work normally when following the operating instructions.
 Do not expose the Tablet to extreme temperatures. Do not use the Tablet near

to artificial heating sources.

 Do not use the Tablet in strong magnetic or electric field areas.
 Do not submerge the Tablet in water.

Consult your authorized dealer or [e-mail] 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:

 Only use the charger as provided by e-Capture to charge the battery.
 Don not charge the Tablet when it is stored in the carrying case.
 It is recommended to charge the battery at temperatures between 5ºC (41°F)

and 35ºC (95°F).

To charge the battery, connect the charging cable plug to the DC IN input port of the
Tablet.

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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.

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.

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3 Starting up with EyesMap

3 1 2

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.
 NotePad++
 Winrar
 Drivers of all the components installed
 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).

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4

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

4 EyesMap Applications

In this chapter, the tablet’s main application screen shall be explained, as well as the
different buttons which are common to all modules.

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.

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.

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4 EyesMap Applications

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.

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.

Find the location of these icons on the following image:

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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.

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)

59 cm

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 photomodelling 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.

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4 EyesMap Applications

Sample of Asymmetric Targets (20
different ones in total)

Targets (40 in total)

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).

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

Asymmetric Targets and Targets work together in order to:

 Carry out automatic orientation with Targets in the point-to-point

photogrammetry module.

 Carry out orientation of the stereo cameras in the orientation module.
 Take precise measurements in the point-to-point photogrammetry module.

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5

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
o Point-to-Point Measurement Screen
o Results Screen and Export of Results

 3D Modelling

o Photograph Capture and Management
o Model Resolution Screen
o stereoTarget Scaling Screen
o Master and Secondary Image Selection Screens
o Results Screen

 Depth Sensor

o RGBD Menu
o Capture a 3D Model
o Post-Processing
o 3D Viewer

 Orthophoto

o Photo Development and Management Screen
o Final Results Quality Selection Screen
o Projection Plane Selection Screen
o Screen for Indicating the Projecting Plane on the Image
o Image Selection Screen to Choose the Control Points and the

Reference Points on the X Axis

o 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

 GPS

o Protocols
o COM Port Properties and Changing COM Port
o Real-Time Data Screen
o Change Protocol
o Post-Processing

5 EyesMap Modules

The location designated for storage of projects is the directory
EyesMapProject in C:\.

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.

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

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 with each
one.

5.1.2. Project Management

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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.

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”).

Everything processed in the new project which has been created will
be saved automatically in the selected/created directory using the
project structure that was mentioned previously.

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.

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5 EyesMap Modules

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
the folder with the project name and
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.

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5 EyesMap Modules

Load Project

Click to load the temporary project that you were working on.

New Project

Click to discard the project that you were working on and create a
new project.

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.

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5 EyesMap Modules

Save Project

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
project, it will be eliminated upon exiting the application. If it's a
loaded project, the changes made will be saved automatically.

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 it is 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.

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5 EyesMap Modules

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.

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. Check with [e-mail] for
more information on new calibration configurations.

Click this option to manage camera calibration.

5.1.3. 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.

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5 EyesMap Modules

Calibration

Click to calibrate the EyesMap cameras.
To complete this action, consult [e-mail].

Load Calibration

Click to load one of the calibration configurations stored in the
directory “Calibrations.”
Remember that you must select the folder whose name matches
the name which was assigned when calibration was carried out.

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
any other case, EyesMap will calculate the
external orientation of the images in situ.
For storage of orientation, an “Orientations”
directory has been created at
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.

5.1.4. Camera Orientation

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5 EyesMap Modules

Orientation

Click to set camera orientation.
To complete this action, consult [e-mail].

Load Orientation

Click to load one of the orientation configurations stored in the
directory “Orientations.”

Remember that you must select the folder whose name matches the
name which was assigned when orientation was carried out.

When you select the camera orientation option, the application shows the main screen
where the two available options appear: set orientation of cameras and load
orientation.

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5 EyesMap Modules

EyesMap has an automatic online update module to obtain, easily
and quickly, any patches and new features that have been
developed for the application.

Click to launch the automatic update module of EyesMap when you
are connected to a wireless network.

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
already up to date, you will see the following message: "You have
the latest version! Update is not required."

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.

5.1.5. Updating/Restoring EyesMap

When you select this option, the update and restore module shall launch and the
EyesMap application will close.

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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.

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.

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
selected 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.

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5 EyesMap Modules

Single Camera

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.

You have three options:

If you choose the option to activate the Stereo Camera, EyesMap will display the
following screen:

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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. 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 100%, 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 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).

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.

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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.

Click to change the camera's settings.

In the photograph capture and management window, you will find the following buttons:

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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.

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:

 Zoom the photograph (lower left image).
 Restore zoom with a double click (lower right image).
 Delete the image by clicking the "Discard Image" button.
 Go forward and backward through the images with touch movements, as has

been explained with the gallery.

Zoom the Photograph Restore Zoom

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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.

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.

5.2.4. Choosing Orientation Mode

EyesMap has three methods to orient images: automatic, manual and with automatic
target detection.

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5.2.4.2. Manual Orientation

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 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.

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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.

Looking for homologous

points in all images.

Automatic search for homologous points.

This option is selected by default and it searches for the
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 matching
points to orientation.

Add automatic orientation points.

If you select this option (de-selected by default), the points found
with automatic orientation will be added to your manual
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.

The tools included in the interface are the following:

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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.

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.

5.2.4.3.1. Methodology for Orientation with Targets

To carry out orientation with targets, it is necessary to take the following considerations
into account:

 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.

 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.

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In addition to being used as orientation points, EyesMap will supply the three­dimensional 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.

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No

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

Si

Click if you wish to scale with the stereoTarget.

Two new groups of options will appear:

 Type of stereoTarget used: large (selected by

default) or small.

 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 photographs. In this way, we avoid the processing
time used for unnecessary automatic searching of images.

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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.

 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.

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-to-point measuring screen in
which you can obtain the coordinates, distances and surfaces of any object or
environment captured.

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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.

Distance Measurement

Select this if you wish to measure the distance between two points. Once
you have activated this option, you must select each one of the two
points as if they were simple coordinates.

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:

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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. Click finish to close the surface.

IMPORTANT: select points in a clockwise or counter-clockwise direction,
NEVER randomly.

Target Recognition

Choose this option to automatically recognise targets.
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

Click to confirm an orientation point which has been selected.

Look for homologous
points in this number of
adjacent images.

Automatic search for homologous points.

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
represented in blue, for a value of 2 in this property. The
minimum value is 1.

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* 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).

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.

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.

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Deletion Tool

Click to delete the selected elements.

Stretch Image Tool

Click to stretch the image to the size of the screen after having
zoomed in on a part of the 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.

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.

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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.

The characteristics of the different export formats are as follows:

 TXT Data Results (*.txt): The results are exported to a text file with the same

format as that shown in the results box.

 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.

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 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.

 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.

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Single Camera

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.

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).

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 Photomodelling 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:

If you choose image capture with the cameras, they activate and are shown on screen.

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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 100%, 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 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).

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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.

Click to change the camera's settings.

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:

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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.

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:

 Zoom the photograph (lower left image).
 Restore zoom with a double click (lower right image).
 Delete the image by clicking the "Discard Image" button.
 Go forward and backward through the images with touch movements, as has

been explained with the gallery.

Zoom the Photograph Restore Zoom

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Model Quality

Click on a button to choose the quality of the
final model (high, medium or low resolution).

The high resolution button is selected by
default.

5.3.4. Model Resolution Screen

Use this screen to choose the quality of the point cloud that you wish to obtain.
EyesMap gives 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.

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Advanced Options

Click to modify the resolution parameters.

Change the point density for the final model.

Image Resolution

Choose the resolution level (high, medium or low)
that you wish to use for the photos taken.

High Resolution: 2592 x 1944
Medium Resolution: 1296 x 972
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.

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.

Point Density: 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.

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No

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

Si

Click if you wish to scale with the stereoTarget.

Two new groups of options will appear:

 Type of stereoTarget used: large (selected by

default) or small.

 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

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.

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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.

5.3.6. Master and Secondary Image Selection Screens

Some 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:

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Step 1. Choose a master image (marked in green).

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.

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 you wish to select more or, if

you only need one master image, advance to the next screen.

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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.

It is recommendable to assign one or two secondary images to each master image for each
side.

Click to confirm the selected secondary images.

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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
the sky

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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.

Type of Brush

Select the type of brush that you wish to use (square or
round).

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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.

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.

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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.

If you select a master image and delete it, your secondary
images and your masks will also be deleted automatically.

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.

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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.

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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.

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 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.

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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.

It has the following 4 buttons:

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.

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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.

5.4.2.2. Workings of the Interface

The interface is divided into 4 parts:

 Application status bar:

This allows you to minimise, restore and close the application.

 Toolbar with available buttons:

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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 post­processed) is stored by default in the directory in which you are working,
called “sequence_” and followed by the time of capture.

-It 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.

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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. This button does not do any additional processing – it
will only help you to take the sequence of shots correctly and improve post­processing 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.

 Real-time camera viewer:

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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.

Once capturing has begun, the viewer offers you the following information:

 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.

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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.

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.

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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.

 Information box: this offers information on the process being undertaken.

 Toolbar with available buttons:

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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.

In the event that the selected directory is incorrect or does not contain a sequence, the
following message will be displayed:

When you have chosen the correct key frame sequence, post-processing will begin.

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The application buttons will remain inactive while post­processing 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, post­processing has finished.

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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.
.

Save

Press this button to save the post-processed key frames.

The following files are generated:

 k0.ply to k7.ply contain each one of the correctly-oriented key frames.
 Project.aln allows for the opening of the previously-mentioned PLYs with

MeshLab.

 Sampling.ply is a sub-sample of the entire oriented sequence of key frames.
 The rest of the files contain temporary information which the post-processing

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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.

Rotation, move and zoom.

Click to view only the representative key frames while post­processing is undertaken. This saves space in the tablet's
memory and the process will end sooner.

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.

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Click to open and view a 3D model created with the depth sensor.

5.4.4. 3D Viewer

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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.

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, unlike 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.

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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 100%, 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 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).

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.

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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.

Click to change the camera's settings.

In the photograph capture and management window, you will find the following buttons:

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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.

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:

 Zoom the photograph (lower left image).
 Restore zoom with a double click (lower right image).
 Delete the image by clicking the "Discard Image" button.
 Go forward and backward through the images with touch movements, as has

been explained with the gallery.

Zoom the Photograph Restore Zoom

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Error which appears when a minimum of 4
photographs have not been taken.

High Resolution

This button is selected by defect and indicates that the orthophoto shall
be high resolution.

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.

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Advanced Options

Click to modify the resolution parameters.

If this is not clicked, the model will be high resolution.

Change the point density for the final model.

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.

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.

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Select the image to define
the projection plan, clicking
on the desired image. The
image will turn green.

If you selected the wrong
image, just click the desired
image and the previous
image will automatically de­select.

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:

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.

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Choose the type of brush: square or round.

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.

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.

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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.

- Control Points: These are the 3D points which assist the system in the

generation of 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.

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- 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). 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.

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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.

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.

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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.

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.

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

Click to delete the selected elements.

Stretch Image Tool

Click to stretch the image to the size of the screen after having
zoomed in on a part of the image.

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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

Axis), click on the icon to begin generating the orthophoto.

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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.

5.5.9.1. Error with Control Points or the Projection Plane

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.

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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 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.

- NMEA*: 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 post­process 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

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Current port properties:

COM7: COM Port Number

Baud rate: 115200

Protocol type: NMEA

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 communication 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.

5.6.2.1.1. Modification of Properties

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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.

Check the properties every time you switch the GPS on. Below, we include the
necessary steps to guarantee the system's proper workings.

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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.

To check if the port number is correct:

1. Go into the PC's device manager.

2. Open the "Ports" tab (COM and LPT).

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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.)

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.

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.

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.

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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”)

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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.

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.

2. Change the baud rate to 115200.

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4. Click on “Apply Settings” to apply the protocol
change.

5. Click OK.

3. Choose option 3 - BINR

The protocol is now changed.

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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; 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.

1. Click the button.

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