Uploading a generic E57 file with its camera path in CSV format

Created by John Tapia, Modified on Fri, 06 Oct 2023 at 10:43 PM by Nicholas Czarnick

The data that is expected by Cintoo Connect for unstructured scan data is the following:

  1. The unstructured point cloud in E57 format
  2. The walking /scanning path in CSV format

There might be 2 cases:

If the equipment has no camera (so no panoramic images has been produced):

  • You must create a CSV file that contains the X, Y and Z location for each new 3D scan position that you will want to create.
  • Use comma (,) as column separator.
  • Name the columns as x, y and z.
  • x, y and z values must be in meters, in the same coordinate system as your scans.
  • When processing the point cloud data, Cintoo Connect will create a 3D scan position at each one of these XYZ location, together with a panoramic image made from the point cloud (with or without color if the point cloud is colorized or not).

If the equipment has captured panoramic images:

Your 360° images must be stored in a single folder together with a CSV file containing the information about the location and orientation of each panorama. The expected formats are the following:

  • All the 360° images will need to be spherical images in Jpeg or PNG. Example spherical image:
  • The same folder will need to include a CSV file that contains 360° image name (with extension), location and orientation, for each 360° image.
  • The CSVfile will need to be as follows:
    • Use comma (,) as column separator.
    • The column for the file name must be named filename.
    • Filenames should have their extension (.jpg or .png).
    • For the position, name the columns as x, y and z.
    • x, y and z values must be in meters, in the same coordinate system as your scans.
    • The orientation needs to be given as a quaternion or as a simple heading.
    • Important: Since both quaternion notation and heading are supported as orientation, you cannot have heading and quaternion in the same CSV. It is either one or the other, otherwise Cintoo Connect will reject it.

  • If you are using quaternions for the orientation:
    • Name the columns as qx, qy, qz, qw.
    • That way, your first column should look like (the order doesn’t matter): filename, x, y, z, qx, qy, qz, qw
    • It would be qw = 1 and qx = qy = qz = 0 for “no rotation” with quaternions.

  • If you are using a heading value for the orientation:
    • Create a column named ‘heading’ in the CSV file.
    • The heading parameter represents an angle in degrees, a rotation around the Z axis. From the top view, a positive angle represents a rotation in the clockwise direction (towards east).
    • Important: when using heading there will be no rotation applied around the X or Y axes. We assume that the 360° images are well aligned vertically (the plane crossing the “equator” line of the must be parallel to the XY plane), otherwise the image will look as it is not straight (ex: a straight building would look like it has some slope).
    • The angle takes as reference the middle of the image and the north direction:

  • Heading set to 0 means that you will see the middle of the image when looking towards north (+Y). Heading set to 90 degrees means that you will see the middle of the image when looking towards east (+X).
  • Heading set to 180 degrees means that you will see the middle of the image when looking towards south (-Y). Heading set to 270 degrees (or -90 degrees) means that you will see the middle of the image when looking towards west (-X).
  • Note that the Navigation Map on the bottom right corner can help you to find out to which direction you are looking at.
  • Regarding the ‘Blur faces’ option: 
    • It is checked by default, thus enabling the automatic blurring of people captured in any panoramic images included in the scans being uploaded to Cintoo.
    • Uncheck this option to prevent the automatic blurring any people in the panoramic images.
    • Blurring cannot be undone in Cintoo after the scans have been uploaded.
    • Any files uploaded without the 'Blur faces' option enabled must be deleted from the Cintoo project and re-uploaded with the option checked in order to apply automatic blurring.

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