Menu: View / Spherical images
It is possible to incorporate spherical images into VisionLidar by specifying an images folder and loading a position file to accurately place the images in the project.
To begin, specify the folder where the images are stored in the Images folder. Next, select Load Path to load the TXT or CSV file which is associated to the images - this file should include the file name, timestamp, position and orientation. If many path files are being used, be sure to check the Append to existing option.
Each image can be expanded by clicking on the "..." button. Here it's possible to view the GPS time for the image and the angle values for roll(Rot X), pitch(Rot Y) and yaw(Rot Z). These can be modified as needed to adjust the image to the point cloud.
A toolbar offers a few options for managing the spherical images in the list.
| Icon | Description |
|---|---|
| Delete all selected images. |
| Identify an image in the list by clicking on an annotation pin on the screen. |
| Transparency | Change the transparency for the images when in spherical image mode. At 0 transparency only the image will be visible. Since changing transparency takes some time to compute, a check box is set to enable it. Disabling the transparency makes changes between photos smoother. |
| Will attribute the scan number to each image |
A few tools are available within the spherical images window. See these specific pages for more information:
- Image rotation
- Create an image from the point cloud
- Colorize the point cloud from the images
- Photogrammetry
- Convert images
Note: When viewing spherical images, the user is locked in the position of the image and cannot move freely as when viewing the point cloud. To exit spherical image viewing mode, either click on the ESC key or perform a right click in the main screen.
Once the images are loaded, each image is positioned on the main screen with an annotation pin. This pin displays the position of the image as well as the direction of the trajectory. Double click on the pin to open the image or click on the Show 
icon in the image list next to the desired image. Afterward, browsing from image to image can be either done by double clicking on the next pin in the main window or going to the next or previous image (or group of images some are skipped). The "<<" and ">>" buttons allow to go from images to images automatically changing after the timestamp specified in the "Time" field.
The "Show points" option will force points to appear over the image regardless of transparency.
Displaying a spherical image with the point cloud in the background
