Method for visual inspection and logging

1. A method performed by an arrangement for visual inspection of a pipe, the pipe being for at least one from the group consisting of oil and gas, the arrangement comprising an inspection tool arranged to record, during the visual inspection, a plurality of images by a recording means comprising at least one fisheye lens, the method comprising:

guiding the inspection tool in the pipe; and

recording by the recording means a plurality of fisheye images of the inside surface of the pipe while guiding the recording means through the pipe;

transforming the recorded plurality of fisheye images into corresponding rectilinear images by:

mapping the fisheye images onto a virtual projection dome using a linear scaled mapping function;

placing a virtual camera in the center of the virtual projection dome;

applying, by the virtual camera, a rectilinear pinhole projection to project the virtual projection dome into a planar view; and

generating the corresponding rectilinear images based at least in part on the application of the rectilinear pinhole projection and a rendering of the virtual projection dome as a 3D object using GPU 3D rendering; and

adapting the corresponding rectilinear images for view in a graphical user interface enabling a user to virtually move in the rectilinear images.

2. The method according to claim 1 , further comprising assigning each of the recorded plurality of fisheye images a respective time stamp according to a running clock.

3. The method according to claim 2 , the inspection tool including at least one depth sensor, the method further comprising:

sensing the depth of the inspection tool during the moving; and

assigning a respective depth to the corresponding time stamps.

4. The method according to claim 3 , further comprising indicating depths corresponding to the respective time stamps associated with currently viewed rectilinear images in the graphical interface.

5. The method according to claim 1 , wherein the user is enabled to virtually move in the rectilinear images for at least one from the group consisting of zooming, tilting and panning the virtual camera in the virtual projection dome.

6. The method according to claim 1 , wherein a sketched area in a graphical sphere of the graphical interface is indicating which part of a cross section of the pipe corresponding to the virtual projection dome is currently being viewed in the rectilinear images.

7. A system for visual inspection and logging of a pipe, the pipe being for at least one from the group consisting of oil and gas, the system comprising:

an inspection tool arranged to record a plurality of images by recording means comprising at least one fisheye lens;

guiding means adjusted to guide the inspection tool in the pipe while recording, by the recording means, a plurality of fisheye images of the inside surface of the pipe while guiding the recording means through the pipe; and

transforming means adjusted to transform the recorded plurality of fisheye images into corresponding rectilinear images by:

mapping the fisheye images onto a virtual projection dome using a linear scaled mapping function;

placing a virtual camera in the center of the virtual projection dome;

applying, by the virtual camera, a rectilinear pinhole projection to project the virtual projection dome into a planar view; and

generating the corresponding rectilinear images based at least in part on the application of the rectilinear pinhole projection and a rendering of the virtual projection dome as a 3D object using GPU 3D rendering; and

rectilinear means adjusted to adapt the corresponding rectilinear images for view in a graphical user interface enabling a user to virtually move in the rectilinear images.

8. The system according to claim 7 , further comprising an assigning means adjusted to assign each of the plurality of fisheye images to a respective time stamp according to a running clock.

9. A computer hardware including computer readable code units which when executed to by the computer hardware, causes the computer hardware to perform the method according to claim 1 .