A computerized method for capturing a set of image frames of a body, the method performed by a processing circuitry of an image capture system, the method comprising:
- a. providing the image capture system, the image capture system comprising:
- (i) a camera configured with a n imaging lens having a focal length in a range of 200-600 mm, said camera having an autofocus mechanism and being configured to capture a still image frame in a case of convergence and non-convergence of the autofocus mechanism;
- (ii) a camera mounting, configured to provide the camera with at least two angular degrees of freedom (DOF), to enable image capturing by the camera with a sequence of different imaging orientations of the camera;
- (iii) a mount base, configured to enable a base of the camera mounting to be substantially stationary during performance of said image capturing with the sequences of different imaging orientations, and configured to be transported to thereby transporting the camera mounting with the camera through successive image capturing positions, and enabling said image capturing with the sequence of different imaging orientations at each of the image capturing positions of the camera, said image capture thereby enabling imaging by said camera, of the body having at least 10 m height and width from a distance of at least 10 m, with a pixel instantaneous field of view (FOV) substantially not exceeding 15 micro-radians;
- and
- (iv) a movement controller, comprising a first processing circuitry, the first processing circuitry operatively coupled to the camera mounting and configured to repeatedly instruct the camera mounting to move the camera according to predetermined movement data indicative of the sequence of the imaging orientations,
- wherein the repeated instructions comprise a first instruction comprising movement in at least a first angular degree of freedom and a second instruction of the repeated instructions comprising movement in at least a second angular degree of freedom thereby providing said sequence of the different orientations of the camera generating a corresponding two-dimensional set of still image frames of a surface of said body being imaged, at each camera position,
- wherein the still image frames, of the two-dimensional set of still image frames, and at least some corresponding adjacent still image frames, of the two-dimensional set of still image frames, have an overlap amount of more than 50 percent of an image frame dimension,
- the image frame dimension being one of an image frame width and an image frame height,
- wherein said sequence of the different orientations of the camera provides that the two-dimensional set of still image frames comprises perimeter image frames and at least one non-perimeter image frame,
- the perimeter image frames lacking an adjacent image frame in at least one direction, the at least one non-perimeter image frame having at least one adjacent image frame in each corresponding direction;
- b. receiving information indicative of a focal length of the camera;
- c. receiving the overlap amount;
- d. receiving an indication of the boundaries of the scene;
- e. calculating the two-dimensional set of still images, based at least on information indicative of the focal length, on the overlap amount and on the indication of the boundaries of the scene;
- and
- f. capturing the set of images,
- thereby facilitating capture of each point in the at least one non-perimeter image frame also in at least one adjacent captured image frame along a direction corresponding to the image frame dimension, and enabling selection of the image frames satisfying a predetermined quality criterion for stitching of the image frames of each two dimensional set into a composite image of the surface of the body.