Image management

Project

• Pictures folder must follow the .3dr when you share your project.

• Temp folder stores temporary images which are necessary while the project is open.

Image types

Type	Comment
Unknown/Abstract	This is the default type when the type is unknown.  Use Edit Images to set the image type.
Perspective	Type for pinhole images (usual photography from a camera).
Ortho-image	Similar to a raster map (contrary to perspective).  You can create such images using Extract OrthoImage.
Cubeface	They are a set of 6 images on a cube (images share the same position). This object is not created by Cyclone 3DR, but are either imported as 6 independent images or as a spherical image.
Spherical image	Also called pano(ramic). This image is equivalent to a cubeface.

Images from LGSx

With the capacity to stream images from LGSx files, it is not required to convert the project to visualize the camera images anymore. However, it remains necessary to convert them when the images are used for advanced processing:

Set of images

Perspective and spherical images can be stored either individually or grouped in a set of images. 

In a set of images, images are also grouped by position. These positions are displayed in the scene like any scan position (Image Navigation Toolbar) and these positions are the access point to display images through the 3D scene. 

Image display

	Position display in the 3D scene	Full display in the 3D scene	Display in a 2D layout
Spherical (individual or within an image set)	Activate the display of positions (Image Navigation Toolbar). This display can be toggled object per object using the treeview.	Double click a position to enter the image navigation mode where images are displayed like Go to camera viewpoint  (Refer to Image Navigation Toolbar ).  Use Go to camera viewpoint from the treeview to go the (first) position.	Individual images: use Image Preview from the ribbon or the treeview. Image set: double click an image set from the treeview to display the images individually. You will also be able to select which images to use for texturing. Refer to Edit Image Set.
Perspective (individual or within an image set)
Ortho-image		Use Go to camera viewpoint from the treeview.	Use Image Preview from the ribbon or the treeview.
Unknown

Display from the camera viewpoint (image navigation or "go to camera viewpoint")

This display will use external and internal parameters. Consequently, you can use the image to draw objects. 

How to import data?

• Images stored on your local or remote drive: Import

• Images stored in CloudWorx clouds (jsa, lgs): Convert Project (after opening the corresponding files)

• Images stored in e57: Import

• Images stored in a textured mesh:  Extract Textures

• Images stored in FIELD 360 jobs: Cyclone FIELD 360

• The maximum number of pixels to import is 2^30, which is about 1 073 million.

• Refer to SImage, SSurveyingFormat and SCwCloud classes to import images through a script.

How to complete data (External and Internal parameters)?

How to share georeferencing?

Ortho-Image: World files

This definition follows the ESRI standard (refer to word files).

Perspective: Excam and Incam files

These files are related to perspective images

Excam: External parameters (.excam)

This file stores parameters which define the point of view:

• position

• orientation

3DReshaper camera external parameters
X = 1.74146e+06
Y = 2.29867e+06
Z = 696.503
#Orientation is given with Euler angles in radians 
Omega = -0.659887
Phi = 0.884306
Kappa = 2.46287

Incam: Internal parameters (.incam)

This file stores internal camera data collected from a camera calibration:

• sensor size

• focal length

• PPA

• PPS

• distorsions

3DReshaper camera internal parameters
WIDTH=0.04896000027656555
HEIGHT=0.03672000020742416
PIXELSIZE=9.000000318337698e-06
PIXELRATIO=1
PPA=-2.499999936844688e-05; -0.0002979999990202487
PPS=-1.082631133721602e-06; 3.390730833438562e-05
FOCAL=0.03512400016188622
K0=0
K1=0.062675787745
K2=-0.30013658211
K3=0.29014370032
K4=0
K5=0
K6=0
P1=0.00014974133558
P2=-7.914469536399999e-06

Images rotation and standards

Perspective images

The original pose of a camera (without any translation or rotation) is given in the PATB convention. In this configuration the image point of view (optical center) is located on the scene origin, the view direction is oriented toward -Z axis, the top direction of the image is given by the Y axis and the right direction of the image given by the X axis.

This basic orientation is different from the image inner pixel axis regarding the Y axis. Other basic orientations exist and each image acquisition device or software giving external parameter is susceptible to use a different basic orientation. When applying to the image a rotation given within a particular basic orientation, a first rotation must be applied to switch from the PATB convention basic orientation to the considered basic orientation.

Spherical images

The original pose of a spherical image (without any translation or rotation) is the following. The spherical image center is located on the scene origin, the center of the spherical image corresponds to the X axis, the top direction of the image is given by the -Z axis and the right direction of the image given by the Y axis.

Photogrammetry angles (ω φ κ)

The main image orientation process consists in providing for each image to texture three photogrammetric angles that will define the image orientation in the scene. The supported rotation convention is the Standard Omega Phi Kappa (Euler Angles)

In this rotation configuration, the rotation is performed in the Order X => Y => Z.

The rotations values are given by omega, phi and kappa Ox(ω), Oy(φ), Oz(κ).

The rotation matrix corresponding to this rotation is computed as follows:

Perspective projection model

Classical perspective projection using a standard pinhole camera model coupled with lens radial and tangential distortions are expressed as follows:

Knowing a 3D Point P located at the coordinates  [X Y Z] in the world coordinate system, the first step is to compute the point P coordinates in the camera coordinate system. This point P in the camera coordinates system can be expressed as P' of coordinates [X' Y' Z'] such as P' = R P + t. With R the rotation matrix and t the camera position in the world coordinates as expressed in the camera external parameters.

The homogeneous coordinates of the point P' are computed to obtain the point p = [X' / Z' Y' / Z' Z' / Z'] = [x y 1]

This point p is then shifted according to the principal point of symmetry (PPS [x_p y_p]) location such as x' = x - x_p and y' = y-y_p

Using these centered coordinates the computation of the distortions is possible.

The distorted point coordinates are simply:

From these distorted coordinates, the final UV coordinates are obtained as:

How to texture?

You can texture and edit thanks to commands below: 

• Smart Texture

• Standard Texture

• Texture Material

• Texture From Cloud

• Adjust Texture

• Remove Texture

Texturing masks 

A mask is a black and white copy of the image saved in the same folder that can be displayed using Image Preview. Black  areas correspond to ignored areas when texturing with the Smart Texture command; white areas will be used when texturing.

These masks are generated automatically while importing images or using Edit Mask.

Note that: 

• images imported in 2022.0 and previous versions haven't got masks.

• the mask can be corrupted (wrong file path, mask image with another dimensions...). 

How to export data?