Method for recording inspection data

A method for generating an inspection report by recording inspection data of an environment in scale drawing space, comprising:

• providing a camera capturing a sequence of images,
• moving the camera along a camera path through the environment,
• receiving the sequence of images from the camera, as the camera is moved along the camera path,
• generating an estimate of the camera path in sensor space based on the sequence of images wherein the estimate of the camera path in sensor space is generated by performing visual odometry on the sequence of images, and wherein at least a part of the estimate of the camera path in sensor space is generated without taking into account global navigation satellite system (GNSS) data,
• for a first image of the sequence of images, taken at a first position on the camera path, obtaining a first position in sensor space and receiving a first user input indicative of a first position of the camera in scale drawing space, the receiving of the first user input comprising displaying a graphical representation of a scale drawing on a screen, and receiving an input event from the user indicative of the first position of the camera on the graphical representation of the scale drawing,
• for a second image of the sequence of images, taken at a second position on the camera path, obtaining a second position in sensor space and receiving a second user input indicative of a second position of the camera in scale drawing space, the receiving of the second user input comprising displaying a graphical representation of the scale drawing on the screen, and receiving an input event from the user indicative of the second position of the camera on the graphical representation of the scale drawing,
• calculating a first transformation between sensor space and scale drawing space based on the first position and second position in sensor space and the first position and second position in scale drawing space,
• at an inspection position on the camera path, receiving inspection data, and
• storing the inspection data together with data indicative of the inspection position in scale drawing space, and
• automatically generating the inspection report,
• wherein the inspection data comprises non-destructive testing data including at least one of
• a hardness value,
• ultrasonic data,
• ground-penetrating radar (GPR) data, and
• eddy current data,
• wherein the inspection report contains at least one of:
• a graphical representation of the scale drawing with position marks of the inspection positions,
• a graphical representation of the scale drawing with an indication of the camera path or an inspection area, and
• the inspection data together with a graphical representation of respective inspection positions on the scale drawing.