3D Toolbox User s Manual Version 1.5

Transcription

1 3D Toolbox User s Manual Version 1.5 1

2 Table of Contents 1. 3D Toolbox System Components a Hardware b Software Quick Start Guide Seikowave Portfolio Getting Started with Seikowave Portfolio Capturing 3D Images Stitching 3D Images Getting Started with Pipeline Analysis Editing a 3D Image Feature Analysis Corrosion Analysis Analyzing Mechanical Damage Additional Pipeline Analysis Features Appendix A: 3D Digital Pit Gauge System Specifications Appendix B: 3D Controller System Specifications Appendix C: Contact Information and Additional Resources About Us

3 1. 3D Toolbox The 3D Toolbox is a portable, field ruggedized system for measuring and analyzing metal loss and mechanical damage primarily on pipes. Taking measurements with the 3D Toolbox is a simple three step process: 1. Measure the 3D shape of the pipe using the 3D Digital Pit Gauge 2. Analyze the 3D shape to identify features of interest 3. Export feature data for processing in RSRTENG or other software tools The entire process is guided by Seikowave Portfolio software. 1.1 System Components 1.1a Hardware The 3D Toolbox contains the following hardware. Figure 1.1 3D Toolbox Hardware 3

4 Figure 1.2 System Components Packed in Transit Case The hardware is delivered in a Pelican case (model im2650) and is packed as shown above. 1.1b Software The system controller is a ruggedized laptop that runs Microsoft Windows 7 and is preloaded with all of the necessary software. The software includes a license to use for one year. The software enables 3D image acquisition of pipelines and other objects, analysis of the 3D data to determine metal loss and mechanical damage, and determination of the maximum safe operating pressure using RSTRENG. Software can be run directly from the Start menu or from shortcuts on the desktop and taskbar. 4

5 1.2 Quick Start Guide Below is a step-by-step guide to making measurements: 1. Connect the system cable to the 3D Digital Pit Gauge (Figure 3) 2. Connect the power connector on the system cable to the DC power source (Figure 4) 3. Connect the monopod to the 3D Digital Pit Gauge (Figure 5) 4. Connect the LAN connector on the system cable to the LAN port of the system controller (Figure 6) 5. Position the 3D Digital Pit Gauge using the monopod if stabilization is necessary (Figure 7) 6. Launch 3D Toolbox (Figure 8) 7. Accept the terms of the license agreement to open 3D Toolbox (Figure 9) 8. Select the Open 3D Camera icon (Figure 10) 9. Select the Capture 3D image icon (Figures 10 and 11) (Section 2.2) 10. Select the Stitch 3D Images icon to combine multiple images in the Sandbox if the area of interest is large (Figure 12) (Section 2.3) 11. Import images to Pipeline Analysis (Sections 2.4 and 2.5) 12. Select the Analyze 3D image icon to open Pipeline Analysis and assess metal loss and mechanical damage (Figure 12) (Sections 2.6 through 2.9) Figure 1.2 Connecting the system cable to the 3D Digital Pit Gauge Figure 1.3 Connecting the AC/DC power adapter to the system cable 5

6 Figure 1.4 Connecting the 3D Digital Pit Gauge to the monopod Figure 1.6 Connecting the system cable to the System Controller, a Panasonic Toughbook CF-53 (left) or CF-52 (right) Figure 1.7 Using the monopod to stabilize and position the 3D Digital Pit Gauge for imaging 6

7 Figure 1.8 Launching 3D Toolbox The 3D Toolbox icon is pinned to the taskbar and the Start menu, and can be accessed from the desktop 7

8 Figure 1.9 Seikowave Portfolio Software License Agreement The software license agreement must be accepted before Seikowave Portfolio will open. 8

9 Figure 1.10 Seikowave Portfolio Data acquisition, viewing, and analysis functions are managed from the main window of the Seikowave Portfolio suite 9

10 Figure 1.11 Acquiring 3D Data To acquire a 3D image, select the Open 3D Camera icon, or select Open Scanner from the Camera menu. When ready to acquire data, select the Acquire 3D Image icon, or select Capture Image from the Camera menu. 10

11 Figure 1.12 Manipulating and Analyzing 3D data 3D images in the Sandbox, either loaded from disk or captured live, can undergo further analysis and manipulation, including stitching and analysis for metal loss and mechanical damage (see Section 2). 11

12 2. Seikowave Portfolio The 3D Toolbox is backed by the Seikowave Portfolio software suite. Seikowave Portfolio contains a variety of functions useful for all stages of the imaging process, including image capture, image merge, and feature analysis using Pipeline Analysis. 2.1 Getting Started with Seikowave Portfolio The basic functionalities of Seikowave Portfolio are accessible directly from the welcome screen. Figure 2.1 Seikowave Portfolio Welcome Screen The following functions are available from the welcome screen (from left to right): 1. Edit Worksite Info From here, information about the current worksite can be entered and will be associated with any following imaging. 2. Open 3D Camera After the 3D Digital Pit Gauge has been connected to power and to the system controller (Figures 1.3, 1.4, and 1.6), select this option to begin live video feed in Seikowave Portfolio. 3. Capture 3D Image After Open 3D Camera has been selected and live video feed has started, select this option to take a 3D image. 4. Stitch 3D Images If there are multiple, overlapping images in the Sandbox that cover a large area of interest, select this option to combine images. 12

13 5. Analyze 3D Image Select this option to launch Pipeline Analysis and begin analyzing metal loss or mechanical damage. 6. Load 3D Image Select this option to load an image into the Sandbox. 7. Save 3D Image Select this option to save a 3D image in the Sandbox as a 3D image file (.skw) or polygon file (.ply). 8. Delete 3D Image Select this option to remove an image from the Sandbox. 13

14 2.2 Capturing 3D Images Capturing 3D images can be done in only a few steps in Seikowave Portfolio. Figure 2.2 Connecting a Camera Once the 3D Digital Pit Gauge has been physically connected to the system controller (Section 1.2), setting up the system to begin taking images is straightforward. It is important to note that Wi-Fi should be turned off before attempting to connect the camera in order to get the best quality images. 1. Disable Wi-Fi capabilities on the system controller if they are enabled. 2. Open 3D Toolbox. 3. Select the Open 3D Camera icon to begin live video feed. 14

15 Figure 2.3 Adjusting the Exposure Adjusting the exposure allows the 3D Digital Pit Gauge to function well in different light levels and with different surfaces. For imaging at close range, in a well-lit area, or with a highly reflective surface, a lower exposure setting is suggested. For imaging at a longer range, in dim light, or with less reflective surfaces, a higher exposure setting works well. 15

16 Figure 2.4 Camera Settings Several camera options exist to assist in imaging of materials that may be difficult to capture. For the vast majority of imaging, these options will not need to be adjusted; however, in some difficult cases, adjusting the magnitude filter down or the movement filter up may allow for better image capture. 16

17 Figure 2.5 Image Capture Once the camera has been connected and the settings have been verified, select the Capture 3D Image icon to take a 3D image. Images are saved in the Sandbox for review. After reviewing an image in the Sandbox, select the Open 3D Camera icon again to return to live video feed. 17

18 2.3 Stitching 3D Images Seikowave Portfolio can be used to combine multiple images into one, making the process of analyzing a large feature area much easier and more efficient. Figure 2.6 Initiating the Stitching Process Pairs of overlapping 3D images can be combined using the stitching function in Seikowave Portfolio. To begin the process, select the Stitch 3D Images icon and select two overlapping images to combine them. Previously stitched composites can also be used as one or both of the images in this stage if they are loaded into the Sandbox. 18

19 Figure 2.7 The Stitching Window The stitching process begins with three views showing the selected images both individually, in the Top View and Bottom View windows on the right, and combined in the Merge View window on the left. Stitching 3D images can be accomplished in three simple steps: 1. Select reference points to align images (Figure 2.9) 2. Align images (Figure 2.10) 3. If the alignment is not satisfactory, repeat steps 1 and 2. Otherwise, glue the images together to create a single image file (Figure 2.10) 4. Save the newly merged image (Figure 2.11) 19

20 Figure 2.8 Stitching Functions The following functions are available in the stitching window (from left to right): 1. Align Images After selecting appropriate reference points to combine images, select this option to display a preview of the combined images. If the alignment is unsatisfactory, reselect the reference points and try again. 2. Glue Images If the alignment between the two images is satisfactory, select this option to merge the two image files into one. 3. Save Image Select this option to save a merged image. 4. Undo Select this option to undo the last action. 20

21 Figure 2.9 Selecting Reference Points Reference points can be selected to guide the stitching process. Reference points should be determined using identifiable features in images and should be at identical positions in both images. In order to get a good alignment between images, it is usually best to use three points in a triangle. 21

22 Figure 2.10 Stitching Images Selecting the Align icon will align the images according to selected reference points. If the composite image is satisfactory, selecting the Glue icon will merge the two images into one. 22

23 Figure 2.11 Saving Stitched Images Stitched images that have been saved can be viewed and manipulated in the Sandbox, and are ready to be exported for further analysis. 23

24 2.4 Getting Started with Pipeline Analysis Figure 2.12 The Pipeline Analysis Window Any 3D image in the Sandbox can be analyzed further in Pipeline Analysis. Once the Analyze 3D Image operation is initiated, the Pipeline Analysis window will open. This operation may take a few seconds to complete. Once Pipeline Analysis has opened, images can be viewed, analyzed, and edited as necessary. 24

25 Figure 2.13 Pipeline Analysis Features The following functions are available from the Pipeline Analysis window (from left to right): 1. Edit Image If an image requires further processing to remove noise or unwanted features, edit functions can be accessed here. 2. Analyze 3D Data If an image is ready to be analyzed, before or after editing, analysis functions can be accessed here. 3. Corrosion Analysis After selecting Analyze 3D Data, this option is available to evaluate metal loss in an image. 4. Dent Analysis After selecting Analyze 3D Data, this option is available to evaluate mechanical damage in an image. 5. Load 3D Image From here, 3D images saved in a PLY format can be imported into Pipeline Analysis. 6. Save 3D Image If an image has been edited, the image can be saved in a PLY format here. 25

26 2.5 Editing a 3D Image Figure 2.14 Editing a 3D Image If an image requires editing, select the Edit Image icon to access editing functions. Zooming in on the image allows closer inspection to ensure the best data can be selected. Care should be taken when editing images, as an improperly edited image can cause inaccuracies during the analysis process. See Figures 2.18 and 2.19 regarding proper editing. 26

27 Figure 2.15 Selecting Areas of Interest To select specific data in the 3D image, click the Select checkbox in the toolbar and click and drag over the image to select an area of interest. The area that is currently selected is highlighted in red. 27

28 Figure 2.16 An Edited Image If the highlighted area is satisfactory, select Keep to remove all undesired image data and keep only the highlighted area. If the highlighted area covers unwanted data, select Delete instead to remove the highlighted area. Selecting Reset will return the image to its original state. Once editing is finished, select the Analyze 3D Data icon to proceed. 28

29 Figure 2.17 Additional Edit Features The edit screen of Pipeline Analysis provides several other useful features. To access these features, select the down arrow next to the Close button. Similar to the Keep/Remove functions, Show Selected and Hide Selected will change the current view of the image to allow better focus on areas of interest. Show All resets the image view to include all data. Selecting the up arrow will hide this bar if desired. 29

30 Figure 2.18 A Properly Cropped Image Proper editing of 3D images is vital for collecting accurate measurements. When editing an image, it is important to make sure that features of interest are wholly visible and surrounded by a reasonable amount of parent metal. Rarely, images may also contain noisy points that should be removed before analysis. 30

31 Figure 2.19 A Poorly Cropped Image Improper editing of 3D images can make measurement difficult. Images such as this, with some features partially cropped and others surrounded by almost no parent metal, can cause issues with the analysis process and may affect the accuracy of any data collected. 31

32 2.6 Feature Analysis Figure 2.20 Feature Analysis Window After importing images into Pipeline Analysis, and editing them as necessary, images are ready to be analyzed for metal loss and mechanical damage. When an image is first opened in the data analysis function, the image will be shown with artificial coloring indicating detected anomalies. The image is also shown overlaid on a pipe cross-section. The fitting can be turned on and off using the Show fitted surface checkbox on the right-hand side of the window. Note that from this screen, the corrosion and dent analysis features are no longer greyed out and are selectable. 32

33 2.7 Corrosion Analysis Figure 2.21 Corrosion Analysis The corrosion analysis feature in Pipeline Analysis enables analysis of metal loss. The process of collecting corrosion data is straightforward and can be achieved in a small number of steps. 1. Select English or Metric units and set the thickness of the pipe. 2. Select the Corrosion Analysis icon to open the Corrosion Analysis window (Figure 2.21). If default analysis settings have been saved, they will load automatically when the Corrosion Analysis icon is selected. 3. Select a grid size to determine the number of data points that will be measured. Grids are available from 1/8 to 1. The smaller the grid size, the more data that will be collected. 4. Select a depth threshold to exclude features that are too shallow. Depth thresholds from 0% to 20% are included. 5. Select a minimum feature area, in either square inches or square millimeters, to exclude small features. 6. Select the interaction rule for feature detection. Both Canadian and American interaction rules are supported. 7. If American interaction rules are selected, adjust the longitudinal and circumferential interaction rules to combine interacting features as necessary. 8. Select the feature envelope. By default, rectangle is selected, which draws a rectangular grid over detected features. Convex hull is also available, which will draw a grid contained within a rough outline of each feature. 9. Select Apply. Apply must be selected to update the feature list. 10. To export data to RSTRENG, select Clipboard from the export drop down menu (Figure 2.21), select river bottom profile (depth) from the riverbottom drop down menu (Figure 2.21), and select the Export features button. 11. Open RSTRENG and set up a session. 33

34 12. Click the Paste button in RSTRENG to import data for further analysis. 13. To export Pipeline Analysis data to disk, select Disk from the export drop down menu (Figure 2.21), select the type of river bottom profile desired in the report, and select the Export features button. 14. Name the data file and save it to an accessible location. Files can be saved in an Excel report format or in an open data.csv format. 34

35 2.8 Analyzing Mechanical Damage Figure 2.22 Dent Analysis The dent analysis feature in Pipeline Analysis enables analysis of mechanical damage. As with corrosion analysis, the process here is straightforward: 1. Select the Dent Analysis icon to display displacement profiles through the deepest point of displacement (Figure 2.22). The crosshairs in the image display indicates the deepest point of displacement. 2. Adjust the profile display scale as necessary by degrees or inches/millimeters. The scale can be adjusted from 0.2 degrees to 6 degrees, or 1/8 to If desired, the offset, zoom, and plot type can also be set. Plots can be displayed in polar or real coordinates. 4. Select Browse to select a file name for export. 5. Select the desired export settings to either downsample or average the radius or delta radius measurements. 6. Select the to export button to create a comma separated values (.csv) file, which can be opened using Microsoft Excel or any other program. 35

36 2.9 Additional Pipeline Analysis Features Pipeline Analysis offers several different features for convenience. These features can be found by rightclicking in different areas of the main Pipeline Analysis window. Figure 2.23 Additional Fitting Features The Edit menu contains several image and data display options of interest. The first available option is Manually Select Parent Metal. This feature allows parent metal to be selected by hand, which will force the fitted cylinder and analysis process to treat the manually selected area as the reference surface when determining the depth of detected anomalies. Images that show substantial metal loss or images with very little parent metal present can be better analyzed this way. The Edit Menu also contains Manually Select Feature, allowing a bounding box to be drawn around a feature of interest. Clear All Features will clear the feature list if needed. 36

37 Figure 2.24 Additional Analysis Features Pipeline Analysis Software also offers several additional feature evaluation functions. Once corrosion analysis has been run, additional options are available from the Corrosion Analysis menu option in the Analysis menu. This brings up different view options, notably the option to view different loss measurement metrics, including levels 1, 2, and 3 metal loss as well as volumetric loss. Right clicking in the feature list also brings up these options, as well as options to clear one or all features from the list. 37

38 Figure 2.25 Additional Settings Functions Pipeline Analysis Software also offers several different options to customize analysis, report generation, and software appearance. These options are accessible from the Settings menu. The View menu item contains settings for the Pipeline Analysis window itself, such as adjusting the background color. The Feature Detection menu item contains analysis settings, such as the ability to set the analysis method to Global for dents or Local for corrosion. The Report Generation menu item allows a custom logo image to be uploaded for report generation. 38

39 Figure 2.26 Additional Display and Data Settings Right clicking in the main image window shows several more features of interest. The following options are available. 1. Zoom in image This option expands the image to fit the entire application window. 2. Clear all features This option is the same as the clear all features option in Edit menu and will remove all features from the image and the feature list. 3. Clear this feature This option will remove only the feature under the cursor from the image and the feature list. 4. Export this river bottom to clipboard Exports the river bottom data of the feature under the cursor directly to clipboard for use in RSTRENG. 5. Show river bottom Displays the river bottom profile of the feature under the cursor. 6. Show max depth Places markers on the deepest points at various levels, either per feature, per grid column, or per grid square. 7. Manually select feature Use this option to drag and select a custom feature. 8. Manually select reference point This option allows a reference point to be set with custom axial and clock position. The point can be set by clicking anywhere on the image after selecting the menu item. 9. Manually set pipe thickness This option allows the pipe thickness to be input manually for accurate data analysis. 39

40 Appendix A: 3D Digital Pit Gauge System Specifications Data Interface IEEE baseT Sensor resolution 659 x 493 Sensor Sensor type Sony ICX424 CCD Progressive Sensor size Type 1/3 Cell size 7.4 µm 3D acquisition rate Max frame rate at full resolution A/D On-board FIFO Working distance Measurement volume Resolution Operating temperature Power requirements (DC) Power consumption (12 V) Mass Dimensions (L x W x H in mm) Regulations < 90ms 120 fps 14 bit 16 MB 3D Measurements 400mm (minimum) 14 (minimum) 200mm X 150mm X 300mm 8 X 6 X mm / 16mils Operating conditions/dimensions -10 C C 14 F F 12 VDC, ac/dc adapter included; system may also be powered using a battery 10 W 2.4 kg / 5.3lbs 220mm X 120mm X 80mm 8.7 X 4.7 X 3.2 RoHS, Class A, IP67, meets one meter (3.3 feet) drop test requirements onto concrete 40

41 Appendix B: 3D Controller System Specifications Hardware and OS Model Operating System Processor Memory Hard Drive Display Panasonic Toughbook CF-52 Microsoft Windows 7 Service Pack 1 (64 bit) Intel Core i5 vpro 8GB SDRAM 250GB SATA 15.4 Widescreen Graphics ATI Mobility Radeon 5650 Software Seikowave Portfolio 3D Toolbox Pipeline Analysis RSTRENG Other MeshLab AVT GigE Viewer Physical Specifications Dimensions Weight 11.3 (L) x 14.0 (W) x 2.0 (H) 7.5 lbs 41

42 Appendix C: Contact Information and Additional Resources Please refer to these manufacturers for additional assistance with software products. AVT (GigE Viewer) Support: Refer to the manufacturer at MeshLab Support: Refer to the manufacturer at RSTRENG Support: Phone: x205 Toll Free: D Toolbox Support: Phone: x3201 Toll Free:

43 About Us Technical Toolboxes, Inc. Technical Toolboxes Inc. (TTI) is a leading global provider of integrated pipeline software and research documentation for pipeline engineering and technical professionals. The company was formed in 1996, and today our Toolbox software products are helping hundreds of large and small companies throughout the world meet the day-to-day demands of the pipeline and energy business. The integrated software products developed by Technical Toolboxes provide companies with engineering software productivity tools for standardization and training of their technical professionals. Technical Toolboxes works with many companies to enhance and improve their software products by utilizing new software technology and development methods. Technical Toolboxes, Inc Kirby Drive, Suite 520 Houston, Texas USA Phone: Fax: Seikowave, Inc. Seikowave, Inc. was founded to commercialize new technologies that can make high speed 3D measurements at reasonable costs suitable for diverse markets. Seikowave systems can acquire 3D point clouds with 350,000 points per point cloud at rates up to 1,000 point clouds per second. The key technologies are in the areas of digital signal processing, image processing, optical systems, and the interactions among these technologies. Seikowave manufactures both the 3D Digital Pit Gauge and the Seikowave Portfolio software suite, a major component of the 3D Toolbox. A264 ASTeCC Building Lexington, KY USA Phone: