U-Mosaic Manual - Airelectronics
Contents
1. irelec tronics UAV AUTOPILOTS U Mosaic Manual v1 0 r f a rides U Mosaic User Manual Table of Contents A EN 3 LLCO TUN cionales eiii ooo aid 3 A A E 4 Pa ins GY a 1 WO is a een eo nea ee 4 2 2 RIQn Alea Map ODUONS screenees ctcterecensteced ns Resa E 4 2 9 gE Wars Ys bal MAOC ane ne ii 5 23 MANAGING tne PICTUS LS a denied den de 5 SO E a o id o o e 7 3 1 Select pictures OI ea nr ane ni tee 7 ES 68 6 MONIO eee ee re ae So a eo ER ae a 7 2 SEECP SOPUN S LE eee de a en dd ane 8 34 Select data DU OMS En RS died ner unten te 9 A TN 9 30 EOACING Ne DIC UNOS rss capillas 9 A Process Data FUNCION ii id eee iaa Doa 11 Bo Sd PA e PEO O ten ee ee Genres ae is 11 42 PTOCESSIMO GIAIO GUO ua A ROD 12 A N OUND Ua s cadens E nn ru ona 13 Vr A P Dale trente U Mosaic User Manual Introduction 1 Introduction U Mosaic software is designed to help the user to prepare the data collected during the UAV operation prior to process this data with third party software This software is typically used before processing the images with image imagery stitching software or 3D terrain modelling software dl y U Mosaic Airelectronics Beta Version 0 157 File Help Process Map View v Background Map v Images Plane Points _ Pointing Center _ Contours Transparency Filters Y Limit Roll 5 00 Picture A P D Y gt 191 IMG_1952. In order to make the loading process of a flight with its pictures easier the software has a Project Wizard that will guide the user through the loading sequence This wizard can be launched from the menu File gt Project Wizard Ed y Flight Data Wizard wa ws x Introduction a This wizard will guide you through the process of loading a flight along with its pictures and provide the required data to perform the projection AE Y gt 3 E EE TAR N UAV AUTOPILOTS stack Next gt Jl cancel Image 6 Project Wizard Introduction 3 1 Select pictures folder After a brief introduction the wizard will ask the user to select the folder where the pictures are stored 3 2 Select flight file After providing the pictures location the wizard asks the user the location of the pointing coordinates data file provided by U See software If the software detects any file that may match the pointing coordinates file format within the pictures folder it will automatically select this file Otherwise the user will have to provide the location of the file r A P 2 ralecronies U Mosaic User Manual Select pictures options 3 3 Select pictures options Flight Data Wizard w a a x Select Pictures Options You can establish some options to filter the images of the flight If you are not sure about this options you may want to leave them as they are Thumbnails Auto Enhance images only displaye
3. e Central widget containing a map or black area where the images are projected 2 1 Central Widget In the central area of the software window an image projection map is shown Loaded pictures will be presented within this area Besides the pictures themselves points representing the vehicle or the pointing position in the moment of the picture are shown 2 2 Right area Map options Map View Filters _ Background Map __ Limit Roll A Field of View t Plane Points cov x FOV Y _ Contours 60 00 A 46 00 Pointing Center 2e 0 deg v Transparency ONS Image 2 Map and image tools The widgets placed on the right side of the window hold the visualization options and some picture options The map visualization options are e Background map activates a background map using Google Maps sources e Images activates the visualization of the projected pictures e Plane points activates the visualization of the points representing the plane position in the instant when the picture was taken e Contours activates the image contours e Pointing centre activates the representation of the image centre point e Transparency with this slider the user can set the transparency of the projected images This feature is useful when trying to establish the joint quality of a moderate number of images In addition to the visualization options the user can modify some image parameters e Limit maximum roll i
4. ih 14 3 396 7 Image 3 Image managing 2 3 1 Managing the pictures From the image table a single right button mouse click shows a contextual menu providing the following options Activate the picture enables the picture to be shown in the map an exported to the output data file Deactivate the picture disables the picture preventing the picture from being displayed or exported to output file Discard this data marks the telemetry from the plane as invalid This means the data will not be taken into account matching the current picture with the next telemetry data This operation can be viewed as if the pictures are shifted forward one step Nr i 2 aleari e Discard this picture marks the picture as invalid This means the picture will not be taken into account matching the current data with the next picture This operation can be viewed as if the data is shifted forward one step U Mosaic User Manual Left area Image list In case a picture is discarded because of its data or picture a different contextual menu is displayed allowing the user to re enable the picture or the data The data provided in the table is describe in the next lines e Name of the image e A green check ve meaning the picture is enabled and active or an alert check A meaning the picture is enabled but inactive due to filters i e maximum roll If the picture is not enabled no icon is shown e Acameraicon meaning t
5. 0 1 North Camera horizontal 0 1 East Camera horizontal 0 1 Down Camera Latitude Degrees Camera Longitude Degrees Camera Altitude Meters UTC hour Hours UTC minutes Minutes UTC seconds Seconds Table 1 Airelectronics processed data format Pix4D format this format is generated as Pix4D software expects to receive it This format is described in the next table Data Units Picture Name String Aircraft Latitude Degrees Aircraft Longitude Degrees Aircraft Altitude Meters Camera Yaw Angle Degrees 0 360 Camera Pitch Angle Degrees 0 360 Camera Roll Angle Degrees 0 360 Table 2 Pix4D format 11 Nr i 2 attanies e Photogrammetry format this format is generated for general photogrammetry purposes as described here U Mosaic User Manual Output formats Data Units Picture Name Without String extension Aircraft Latitude Degrees Aircraft Longitude Degrees Aircraft Altitude Meters Camera Yaw Angle Degrees 180 180 Camera Pitch Angle Degrees 180 180 Camera Roll Angle Degrees 180 180 Table 3 Photogrammetry format e Agisoft format this format is generated to fit the Agisoft format Data Units Picture Name String Aircraft Latitude Degrees Aircraft Longitude Degrees Aircraft Altitude Meters Table 4 Agisoft format 4 2 Processing dialogue Once the
6. Process button ts clicked the processing dialogue will ask the user the output text file where the information will be saved using one of the formats described before ra o uMosaic D wwe CG Output File Select File _ Copy valid pictures to a new folder with the same name as the output file Select Output Agisoft v _ Cancel Start Image 10 Processing dialogue Besides the user can check the box requiring the active images to be copied to an output location If active this output location will be a folder with the same name as the output file and placed in the same directory Only active and valid images will be copied from the source directory to the output directory 12 A 1 a aleurone U Mosaic User Manual Processing the output 4 3 Processing the output Once the output processing has started it may take a while to complete if the copy images option is enabled During this period the user can cancel it in which case only a portion of the images will have been copied to the output folder and only the matching data lines will have been written to the output file Processing Pm Cancel Image 11 Output processing 13
7. 4 Select data options In the data options window the user is able to set the following options regarding the available data for the pictures e Limit maximum roll if the user wants to automatically deactivate the pictures taken with a roll angle of the plane above certain quantity it s possible using this option e Select an image skipping pattern In some applications that need multiple cameras some pictures are only taken for example one in three times In this case for each data line read the software should discard 2 lines If this is the case you should check the image skipping box and select the right number of skipped lines between valid data 2 for the described example a y Flight Data Wizard a a x Select Loading Options You can select in this step the data loading settings Maximum allowed vehicle roll If the roll of the plane was higher than the maximum roll value the picture will be disabled _ Limit Maximum Roll Maximum roll deg Image skipping f the automatic image skipping is enabled for each data line taken into account n lines will be ommited This number of ommited lines is configurable the the othe ote o oh Automatic Skipping Data number to Skip lt l lt Back Next gt Cancel Image 8 Data options 3 5 Summary Before processing the input data the wizard will show the selected options in text mode just for confirmation purposes 3 6 Loading the pictures Af
8. 9 JPG 4 6H ui 0 j o Field of View 2 s FOV X FOV Y 5 396 9 AS 3 gt 4 i 60 00 46 00 9 396 7 gt gt A Orientation 3 396 9 PE 2 395 9 gt a YE s a Y a 6 397 0 th 14 3 396 7 th 13 5 396 5 th 14 2 395 6 h 13 0 395 4 205 IMG_1973 JPG s fa th 6 3 369 0 206 IMG_1974 JPG H Fa 7 4 356 4 Image 1 Main software window 1 1 Core functionalities U Mosaic software uses the telemetry data provided by U Pilot and U See software to estimate the projection over the ground of the taken pictures The preview of the projected images allows the user to determine the global accuracy of the flight This pre visualization also gives the user the opportunity of detect errors and misalignments between provided data and pictures that may deteriorate notably the post processed data U Mosaic provides some functions to detect and correct this misalignments easily improving the final results with just a few clicks The software processes the data provided by the UAV and converts it to a specific software format making easier the interaction with third party applications 1 A A aleurone U Mosaic User Manual Main Window 2 Main Window The main window of the U Mosaic presents 3 principal areas Left bar where the loaded pictures are listed and can be previewed activated etc e Right bar with multiple options to handle the visualization of the images
9. d thumbnails _ Overwrite generated thumbails Camera Field of View Horizontal FOV deg Vertical FOV deg 46 Camera Orientation Camera orientation mounted on plane refered to the nose Clockwise rotation positive Le 0 deg 190 deg __ 180 deg 270 deg aA ee LL i rr g r Ir Tha pal D Back Next gt Cancel Image 7 Pictures options There are some camera configuration parameters that must be provided in order to project the pictures correctly This options are e Auto Enhance images enable auto levelling of the input images making low bright or low contrasted images visible in the projection widget Field of view of the pictures angles covered by a single camera shot e Camera orientation this option is important because it determines the rotation behaviour of the imagery in case the up side of the picture is not placed towards the nose of the plane o 0O degrees the up side of the taken pictures matches the plane nose direction o 90 degrees the up side of the taken picture is pointing the same direction of the right wing o 180 degrees the up side of the picture is pointing to the plane tail o 270 degrees the up side of the pictures is pointing to the left wing If you have any doubts about what orientation you must select or you camera mounting differs from standard i e gimbals please contact us 1 A P fa rolectronies U Mosaic User Manual Select data options 3
10. f the user wants to automatically deactivate the pictures taken with a roll angle above a quantity it s possible using this option U Mosaic User Manual Right area Map options A 1 at fe Camera FOV Field Of View modifies the camera field of views horizontal X and vertical Y in degrees Camera orientation allows to change the camera orientation This camera orientation is explained in detail within the Project Wizard section 2 3 Left area Image list The right bar of the software window is designed to manage the loaded pictures and pre visualize the selected one In the upper zone of this area the user can view the raw non projected image When an image is selected it is displayed in the left pre visualization area and highlighted in the central projection widget Below the image preview area the user can view a table styled list of images From this table the user is able to activate deactivate images and discard a single picture or data to match all the pictures Process Picture A P D Roll Altitude 191 IMG_1959 JPG 7 Ed h 0 5 395 6 192 IMG_1960 JPG 4 EH ih 0 7 396 3 193 IMG 1961 JPG Y fx th 0 5 396 9 194 IMG _1962 JPG 9 E 1h 0 7 396 8 195 IMG_1963 PG id h 0 9 396 7 196 IMG_1964 JPG 4 1h 18 3 396 9 197 IMG_1965 JPG lt P E 1h 20 4 396 3 198 IMG 1966 JPG fi ih 21 2 395 9 199 IMG_1967 JPG 4 fa th 4 6 397 0 200 IMG_1968 JPG oP 1
11. he current element has a picture e Abarsicon meaning the the current element has data e The roll angle in degrees e The flight altitude in meters IMG 0024 JPG E ih 0 5 1000 3 Image 4 Single picture information set For a line to be valid it has to have both a picture and data If any of this information is not present the image will not be valid and it will be presented with a grey background When a line has no data no image name is displayed In the other hand when a line has no picture the name is displayed but altitude and roll are set to zero IMG 0024 PG FFP 05 1000 3 IMG_0025 JPG fl th 0 1 999 9 ih 0 2 1000 1 IMG 0026 JPG sl 0 0 0 0 Image 5 Different image status In the previous illustration we can observe different cases e First line is an active and selected image e Second line is a non active image although it has both data and picture e Third line is a discarded data meaning data without picture This action is the right choice if the autopilot recorded a picture data but the camera did not actually took it e Fourth line is a discarded picture a picture without data This action is necessary if the camera took a picture and the autopilot did not record the data This event may happen during pre flight checks or if the data was not being recorded when the picture was taken r A P lt a ralectronies U Mosaic User Manual Project Wizard 3 Project Wizard
12. ter the user completes the Project Wizard the software begins to load the source pictures into the software In order to make the loading process lighter the software generates a thumbnail for each pictures making easier to work with numerous pictures 1 A Hlaletrnks U Mosaic User Manual Loading the pictures TES Progress Loading Images ATT Image 9 Image loading window This loading process may take a while during the first load and during this period the main user interface will be blocked with a dialogue that provides progress information and the cancel option 10 1 A f A ralearanits U Mosaic User Manual Process Data Function 4 Process Data Function Once the pictures and data have been verified and aligned the user can export the data to some usual formats for different software by clicking the Process button in the upper side of the main software window 4 1 Output formats Current exporting options are e Airelectronics format this data format is similar to the data provided by U See but it prepends the name of the picture to the line containing the data Data Units Picture Name String Aircraft Pitch Degrees Aircraft Roll Degrees Aircraft Yaw Degrees Aircraft Latitude Degrees Aircraft Longitude Degrees Aircraft Altitude Meters Camera Pan Degrees Camera Tilt Degrees Camera horizontal
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