Eyesis4Pi

Overview


Elphel Eyesis4Pi is high resolution full sphere stereophotogrammetric camera. Camera is calibrated to compensate for optical aberrations allowing to preserve full sensor resolution over the camera FOV. Distortion calibration is performed for precise pixel-mapping to automatically stitch images into panoramas, and also for photogrammetryand 3D reconstruction.  

There are 24 x 5MPix sensors in the camera head, resulting in 120 MPix image acquisition. Panorama image resolution after stitching is 64 MPix. High-precision Inertial Measurement Unit IMU (ADIS 16375, 2400 samples per second) is integrated with the camera, as well as 5Hz GPS () to provide precise position and orientation of the camera. Images, synchronized with IMU and GPS data, are recorded to internal Solid State Drives (SSD) or to an external computer over the network. Eyesis4Pi camera system includes Eyesis computer for image downloading and post-processing with pre-installed SDK and Free and Open Source Software for camera calibration, image acquisition and panorama stitching.

Eyesis4Pi can be mounted on a car for outdoor panoramic applications or carried by a person, which lets successfully create panoramas of small and narrow spaces.^**
Automated panoramic imagery and 3-dimensional panoramas are 2 main applications of Eyesise4Pi camera.

Main Features

• 64 MPix total resolution after stitching
• 2 FPS - recommended frame rate
• Integrated high-precision IMU and GPS
• Recording to internal SSDs
• Web Based GUI
• Free Software and Open Hardware

Camera models

• Eyesis4Pi

24 x 5MPix sensors in the camera head plus 2*5MPix sensors positioned in the camera pole. This camera is better suitable for photogrammetry and 3D reconstruction.

• Eyesis4Pi-16

360*120’ panoramic camera with 16 image sensors. Does not cover nadir.

• Eyesis4Pi-24

360*180’ panoramic camera with 24 image sensors No sensors in the camera pole;

Other configurations are possible upon request.

^{** Car and backpack mounts are not included}

Image Samples

Panorama Image Samples are available.

There are several ways to view panoramas made Eyesis4Pi:

• WebGL viewer: spherical view, which can be rotated around you as an observer. This viewer requires a browser supporting WebGL like Firefox4 or Chrome
• Equarectangular projection of spherical panorama (link to wikipedia) allows to see Jpeg image made for WebGL viewer.
• Screenshot images of panorama in WebGL viewer.

Elphel Eyesis4π models[[|]]

Eyesis4Pi:

There are 24 x 5MPix sensors in the camera head plus 2*5MPix sensors positioned in the camera pole. The total resolution is 64 Mpix after stitching images into panorama.

Eyesis4Pi Modifications:

Eyesis4Pi-16: 360*120’ panoramic camera with 16 image sensors (not covering nadir);

Eyesis4Pi-24: 360*180’ panoramic camera with 24 image sensors without 2 sensors in the pole sensors;

Other modifications are possible upon reques.

All the models include:

The Inertial Measurement Unit - IMU ( ADIS 16375, 2400 samples per second) is integrated with the camera, as well as 5Hz GPS. IMU provides precise position and orientation of the camera. Images are synchronized with the IMU and GPS data.

Images are recorded to internal Solid State Drives (SSD) or to an external computer over the network. Eyesis4Pi camera system includes Eyesis computer for image downloading and post-processing with pre-installed SDK and Free and Open Source Software for camera calibration, image acquisition and panorama stitching.

Panorama Image Samples are available on wiki: http://wiki.elphel.com/index.php?title=Eyesis4Pi_samples

There are several ways to view panoramas made Eyesis4Pi: WebGL viewer: spherical view, which can be rotated around you as an observer. (This viewer requires a browser supporting WebGL like Firefox4 or Chrome). Equarectangular projection of spherical panorama (link to wikipedia): Jpeg image made for WebGL viewer. Screenshot images of panorama in WebGL viewer.

Camera Parameters:

Sensor Front Ends: 24 High Resolution Sensor Front Ends:

	5 MPix  sensor (Aptina MT9P006),

Lenses (),

adjusted to reduce aberration.  Compact Optical Layout achieves lesser parallax. 

Data Storage: internal: 8 x 256 Gb SSDs (Solid State Drives); external: over the Network.

Position and Orientation Measurement: Inertial Measurement Unit (IMU) - ADIS 16375: 2560 recorded measurements per second. GPS receiver (Locosys LS20031): 5-10 Hz update rate. Odometer / Pedometer Input Interface Images are synchronized with IMU and GPS with 1Mu/s resolution GPS powered geo-tagging

Physical Characteristics: Weight 10 Kg; Size 230 x 1350 mm; Power Consumption – 50W; Weatherproof.

Image Capturing Recording Speed: 2.5 FPS (Frames per Second) recommended for final panorama image quality; 5 FPS maximum recording speed.

Recording Time: 11 hours at 2.5 FPS, to internal storage.

Recording Image Format: JP4 (RAW format), recommended; JPEG.

Recording Controls: Web based Graphical User Interface (GUI).

Camera Software:

Camera Internal Software (Firmware): SDK for internal camera software customization: shared with 10353E system board SDK;

Host computer software: Eyesis GUI for recording: Post-Processing Tools for creating panoramas:

All software is FOSS (Free and Open Source Software). It is experimental software that used to test the camera performance, and it continues to be developed. All updates are available for download from git repository at SorceForge. Software may require integration with customer software depending upon camera hardware configuration and application.

Camera Operation Workflow (table with minuts) (example: 100 panoramas = 50 hours ):

Starting the camera: Turn on PoE Switch

Run system tests: Setup parameters for recording: define data storage paths; select shooting settings: FPS, whiteballance, autoexposure parameters, mode Start Recording Stop Recording

Footage and Logs Download: copy to EyesisBox computer using WebGUI

http://wiki.elphel.com/index.php?title=Eyesis4Pi_User_Guide

Post-processing: Footage Preview and Panorama Set Selection (WebGUI), optional: Extracting, Creating KML, Previewing and Copying;

<Cloud Computing Distribution / Feeding Panorama Sets to Server Farm>

Image Enhancement (ImageJ): Applying pixel mapping information Aberration correction Distortion correction Vignetting correction Color correction Denoising Sharpening

Creating panoramas: Stitching enhanced images into panorama; Splitting into for WebGL Viewer/Editor FAQs:

Eyesis4Pi System Sales Kit: Eyesis4Pi camera; Computer* with Post-processing tools and SDK: Small form factor Shuttle PC; Intel Core i7-950 Quad-Core Processor; 16 GB DDR3 RAM; GeForce GTX 465 (Fermi) 1GB; 2 TB HDD; Ethernet switch ( ) Shipping and storying case*: 52”x15”x18” ( heavy-duty plastic case for safe shipping) ( photo)

• configuration is subject to change

List Prices:

Eyesis4Pi 95,000 USD; Eyesis4Pi-24 75,000 USD; Eyesis4Pi-16 60,000 USD;

GPL and Volume discounts are available.

How to buy:

We are directly accepting orders and ship worldwide. Please contact Elphel for Lead Time and Quotes:

Email (Sales Inquiry): sales@elphel.com Phone: (801) 783-5555 x 107 Toll-free: (888) 3 ELPHEL Fax: (801) 812-8267

Photogrammetry and 3D reconstruction (links to blog) Reference List and Terms List (links to terms, like WebGL, IMU, SDK etc.)

Post-Processing Tools for creating panoramas: Image Extraction and Indexing: splitmov.php – plugin for ImageJ or movie2dng Technical Specifications Table