01Spatial Documentation

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Scan with Feima

A Feima Pocket 3D project contains panoramas, one pose table (pano_pos.txt), and a LAS point cloud. Portal matches image filenames against pose records before mapping.

Feima data requires neither 01Spatial Reference Boards nor Map Configurator; upload it and start the build.

Prepare files

  1. The project's pano/ folder, zipped. It holds the panoramas (JPG, JPEG, PNG, TIF, or TIFF) and the pose table pano_pos.txt. Zipping the folder is what keeps hundreds of 8K images to a single upload.

    You can zip the whole Pocket 3D project folder instead — Portal picks the panoramas, pano_pos.txt, and the point cloud out of the archive and ignores the rest.

  2. pano_pos.txt has no header row; each line holds nine whitespace-separated columns:

image timestamp x y z qw qx qy qz

Every image name must match its uploaded filename exactly, including extension and letter case.

  1. The LAS point cloud from the project's temp/ directory (optimised_*.las) generates the map's mesh. Upload it separately, or leave it inside the ZIP. Without a point cloud the map still localizes, but no mesh is produced.

Panorama poses are taken from pano_pos.txt. Do not substitute pano/external/pos/camera0_pos.txt, which describes the individual fisheye lens rather than the panorama.

Upload

  1. Create a Feima map in Spatial Maps.
  2. Under Panoramas, select the .zip of the pano/ folder.
  3. Under Poses, select pano_pos.txt only if it is not already inside the ZIP.
  4. Under Point cloud, select the .las file unless it is already inside the ZIP.
  5. Review the number of matched images and poses, then select Build.

Keep the page open until upload and extraction complete. If the match count is lower than the image count, correct the filenames in the pose table first.

Validate

When Ready, check camera order, coordinate direction, area connections, and alignment between the LAS point cloud and visual Points. Complete localization tests from different locations and viewing directions.