Leica ScanStation P30 Basic Training Manual
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Leica ScanStation P30 Basic Training Manual

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Table Of Contents
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Table of Contents

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See also: User Manual , Manual
ScanStation P30/40 & Cyclone
Basic Training Manual
August 2015

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Summary of Contents for Leica ScanStation P30

  • Page 1 ScanStation P30/40 & Cyclone Basic Training Manual August 2015...
  • Page 3 Introduction This training manual covers the basics on using Leica Geosystem’s Terrestrial Laser Scanner Hardware as well as our Cyclone point cloud processing software. The course runs through the whole workflow from setting up the instrument and capturing your scene to downloading and combining the captured data into a common coordinate system (registration) all the way to extracting information and creating end-deliverables from this data.

  • Page 5: Table Of Contents

    Table of Contents Module 1.0 - Scanning with ScanStation P30 ................1 HDS - ScanStation P30 ....................3 Set up the ScanStation P30 ................... 6 MMI (Man Machine Interface) - Overview ..............12 Operating P30 using Onboard Graphical Interface ............31 Remote Control of the P30 ..................

  • Page 6: Table Of Contents

    Module 4.1 - Texture Mapping ...................... 1 Texture Mapping with imported images................3 Texture Mapping with Cube-Maps ................16 Module 4.2 - Cyclone Keyplan ...................... 1 Create a Keyplan ......................3 Working with a KeyPlan ....................8 Module 4.3 - Cyclone TruSpace ....................1 Open and View a TruSpace .....................
  • Page 7 09:15 Module 1.0: Overview Scanning, Targets, Connect Scanners 09:45 Module 1.1: Scanning with ScanStation P30 / P40 10:30 Break 10:45 Module 1.1: Scanning with ScanStation P30 / P40 cont. 12:00 Lunch Break Afternoon Session (01:00pm – 5:00pm) 01:00 Module 2.0: Introduction to Cyclone 02:30 Break 02:45 Module 2.1: Point Cloud Import...
  • Page 8 Training Course Agenda Day 2 - Wednesday Morning Session (09:00am – 12:00pm) 09:00 Module 3.1: Basic Pointcloud Registration 10:30 Break 10:45 Module 3.2: Applied Registration Techniques 12:00 Lunch Break Afternoon Session (01:00pm – 5:00pm) 01:00 Module 3.2: Applied Registration Techniques cont. 02:30 Break 02:45 Module 4.2: Cyclone Keyplan 03:15 Module 4.3: Cyclone TruSpace...
  • Page 9 Training Course Agenda Day 3 - Thursday Morning Session (09:00am – 12:00pm) 09:00 Module 4.0: Organization & Visualization of Pointclouds 10:30 Break 10:45 Module 4.0: Organization & Visualization of Pointclouds cont. 11:15 Module 5.0: Cyclone Basic Modelling 12:00 Lunch Break Afternoon Session (01:00pm –...
  • Page 10 Training Course Agenda Day 4 - Friday Morning Session (09:00am – 12:00pm) 09:00 Execution of Scanning Project in the Field 11:30 Import Scans 12:00 Lunch Break Afternoon Session (01:00pm – 4:00pm) 01:00 Registration/ Aligning of Scans from the morning session Review of scanning project 01:30 Module 6.0: Export / Import 02:00 Module 6.1: Animation...
  • Page 11 Module 1.0 - Scanning with ScanStation P30 Introduction The Leica ScanStation P30 is the industry’s best performing ultra-high speed and easy to learn “Wave-Form-Digitized” scanner. The scanner is equipped with survey grade accuracy, range and field-of-view in combination with an integrated video camera, laser plummet, internal WiFi adapter and onboard set-up methods.

  • Page 12: Mmi (Man Machine Interface) - Overview

    Table of Contents 1 HDS - ScanStation P30 ......................3 ScanStation P30 Components ..................3 2 Set up the ScanStation P30 ..................... 6 Packing / Unpacking the System ..................7 Scanner Setup on Tripod ....................8 Setup over a Benchmark using the Internal Laser Plummet ..........8 Determine the Instrument’s Height ................
  • Page 13 The following chapter is showing several configurations and how to set up the scanning system. 1.1 ScanStation P30 Components System Components The Leica ScanStation P30 - 3D laser scanning system is consisting of: Figure 1 ScanStation P30/P40 GKL271 charging station and...
  • Page 14 Accessory Set The Leica ScanStation P30 accessory set is consisting of: Figure 2 GEV259 power cable GKL311 Single-bay Charger Professional 3000 GEB271 external battery pack GEB242 internal batteries GKL271 charging station AC/DC adapter for basic charger GEV225 AC power supply for GKL271...
  • Page 15 5 pin female with blue colour ring ON/OFF button USB socket Loudspeaker Stylus Touchscreen Battery compartment A Ethernet socket, 8 pin female with grey Figure 4 colour ring Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 5 - 60...
  • Page 16 Surfaces that directly illuminated by the sun cause an increased range noise Objects that are scanned against the sunlight or a bright spotlight can be dazzled 6 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 17 2.1 Packing / Unpacking the System When in its transport container, the ScanStation P30 can sit in face-up or face-down position. Figure 5 To take the instrument out of its container, grasp the handle and the base of the instrument and lift (See Figure 5).
  • Page 18 This topic describes an instrument setup over a marked ground point using the laser plummet. Geo-referencing of the ScanStation P30 is established by setting up over a known or assumed control point, with optional target extraction to set the azimuth direction, and establishing a local or global coordinate system.
  • Page 19 9. Center the instrument precisely over the ground point (i) by shifting the tribrach on the tripod plate. 10. Repeat steps 8 and 9 until the required accuracy is achieved. Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 9 - 60...
  • Page 20 Alternatively the instrument height can be measured with a common, 1:1 scaled measuring tape from the point on the ground to the little notch under the red Leica logo at both side covers of the scanner. This distance will then be from the ground point to the tilt axis.

  • Page 21: Internal Battery

    2.5 Power up the ScanStation P30 The ScanStation P30 is delivered with 4 internal batteries. It can also be powered with an external battery (See Accessories Box) or with an AC-Adapter. Internal Battery 1. Unlock and open the battery compartment.

  • Page 22: Main Screen

    Menu icon Selecting menu icons opens submenus SHIFT button Displays the second level of soft keys Soft keys Commands can be executed with the soft keys 12 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...

  • Page 23: Status Bar

    Internal battery B indicates the status of the battery in compartment B at the opposite side cover without a screen. Icon Description Range Mode Range mode enabled (P40 only) Range filter Range filter enabled Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 13 - 60...
  • Page 24 Active target type HDS B/W 4,5” target HDS B/W 6” target HDS Sphere target User defined target B/W 4,5” User defined target B/W 6” User defined target Sphere 14 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 25 Onboard WiFi adapter on and connected Onboard WiFi adapter off Onboard WiFi adapter on Icon Description Internal hard disk Empty 25% memory used 50% memory used 75% memory used Full Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 15 - 60...
  • Page 26 Empty 33% memory used 50% memory used 67% memory used Full Icon Description External battery / AC External battery connected Power supply AC power supply connected 16 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 27 Alphanumeric keypad c) Backspace d) Enter e) Toogle between letters and numbers/special characters f) Shift - Toogle between lower case and upper case characters Figure 13 Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 17 - 60...
  • Page 28 Numeric keypad d) Enter e) Toogle between positive and negative number f) Unit calculator (optional when distance units ft or fi are selected) Figure 14 18 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...

  • Page 29: Main Menu

    Manage Offers access to all commands for project, target and control point management. Status Offers access to all commands for the scanner’s status information. Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 19 - 60...
  • Page 30 Menu independent commands Command Function Escape Return to previous menu in menu hierarchy. Shift + Quit Return to main menu. Page Switch between pages in a menu. 20 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 31 The Main Menu will be displayed after the system boot process. Ready in the message bar indicates that the instrument is ready for scanning. For a complete description of all menus and commands refer to the Leica ScanStation P30 System Field Manual.
  • Page 32 From this menu the settings for Field of View (FoV), resolution for scanning, exposure time for taking images and the acquiring of targets can be made. Figure 18 22 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 33 The tilt sensor can be checked and its parameters can be updated. Current Calibration Current instrument parameters can be displayed and reset to factory default values. Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 23 - 60...
  • Page 34 Offers access to all commands for project management. Targets Offers access to all commands for target management. Control Points Offers access to all commands for control points management. 24 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 35 Status Menu In the Status menu all commands for the scanner’s status information are available. Figure 21 Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 25 - 60...
  • Page 36 Icon Command Function Connections WiFi Status information about internal WiFi. Enable/disable the internal WiFi adaptor. Bluetooth Status information about internal Bluetooth. Enable/disable the internal Bluetooth adaptor. 26 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...

  • Page 37: Configuration Menu

    Configuration Menu In the Configuration menu all commands for configuration of the system are available. Figure 22 Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 27 - 60...
  • Page 38 Set local time. Local Date Set local date. Switch on Power by On/Off. Language Language Select language for the user interface or delete a language from the list. 28 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 39 Tools Menu In the Tools menu all commands for disk formatting, data transfer, license management, display and instrument calibration are available. Figure 23 Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 29 - 60...
  • Page 40 License Manual Upload Upload license key file from USB memory storage device. Screen Calibration Recalibrate the touchscreen by clicking four points on the display. 30 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 41 4 Operating P30 using Onboard Graphical Interface Operation of ScanStation P30 can be performed easily and intuitive by using the onboard control panel. The benefit of this is that the user can make scans in the field without the need of a connected Laptop or PDA.
  • Page 42 From the following Scan Parameters menu, a single scan, image, or scan & image can be started. Targets can also be acquired from this menu. 32 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 43 In the Field of View tab 2 pre-defined areas can be chosen. Target All With the Target All setting the scanner’s whole field of view will be scanned. Figure 26 Figure 27 Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 33 - 60...
  • Page 44 A more comfortable way to define the field of view is to use the internal camera. On pressing the Camera button, a window will appear showing the real-time picture of the situation. Figure 29 34 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 45 Figure 30. Figure 30 The camera screen with the active fence can be accepted using the checkmark Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 35 - 60...
  • Page 46 3. Select with the lower right corner. 4. Press to accept. 5. Finally press to leave the camera screen and accept the fence. Figure 31 36 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 47 Hz / V Area text boxes, see Figure 32. Figure 32 At the Scan Mode there are three different settings available: Scan only • Images only • Scan & Image (default) • Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 37 - 60...
  • Page 48 Figure 34 Figure 35 The higher the selected Sensitivity the more range measurements for the same 3D point are collected (Accumulation). This reduces the range noise. 38 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 49 Resolution dependent project sizes: Figure 36 Use the Dist button to measure the distance to your object of interest. Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 39 - 60...

  • Page 50: Image Control

    640 x 640, 960 x 960 and 1920 x 1920 pixels resolution available. Every single image has a size of about 3.5MB and is stored in raw image format. 40 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...

  • Page 51: Start Scanning

    Using the left/right arrows previous scans can be looked up. If necessary - additional detail scans and pictures can be taken from this menu. Use the go-back button to close the view. Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 41 - 60...
  • Page 52 Figure 44 is showing 5mm resolution (point spacing) at the object, distance independently. From the Detail Scan Tab the scan can be started like in the Field of View Tab. 42 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 53 Figure 46 When done pick the return button and then the Meas (1 Face measurement) or 2FMeas (2 Face measurement) soft key from the Target Definition window. Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 43 - 60...
  • Page 54 OK or not. After doing the quality check you can go back to the Target Results window and save the targets with the Store soft key. 44 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...
  • Page 55 When all needed data is captured from this station the scanner can be shut down by clicking the escape button until the shutdown dialogue is coming up. Choose yes to switch off the system. Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 45 - 60...

  • Page 56: Software Installation

    Android device • On the Leica ScanStation P30, that should be controlled remotely, the firmware version 1.20 or later has to be installed. The remote control will not work with former firmware versions. The remote control solutions for all devices will be explained one by one.
  • Page 57 Control dialog by pressing of the appropriate dialog. General Remark The USB port of the Leica Viva Controller will not replace the USB port of the Leica ScanStation P30 while you are connected to the scanner. In order to download scanning projects, upload control point files, or system files you always have to use the USB port of the Leica ScanStation P30.
  • Page 58 5.2 Remote Control with Apple devices Prerequisite to remote control via Apple devices: Leica ScanStation P30 with FW 1.20.295 or higher installed. • Apple iPad running on iOS 5 or iOS 6 and with free app RDP Lite installed. •...
  • Page 59 After some seconds the ScanStation P30 screen with the active MMI is displayed and the WiFi icon in the status bar changed to ON. Use the arrow icon to minimize the RDP control bar and get full access to the ScanStation P30’s interface.
  • Page 60 5.3 Remote Control with Android devices Prerequisite to remote control via Android devices Leica ScanStation P30 with FW 1.20.295 or higher installed. • Android device with free app, e.g. Remote RDP Lite installed. • No additional external hardware needed. •...
  • Page 61 The created connection is listed as sbc@192.168.173.1. Select the sbc@192.168.173.1 to establish the remote connection from the Android device to the scanner. Hold sbc@192.168.173.1 to access the edit menu. Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 51 - 60...

  • Page 62: General Information

    Touch somewhere in the black area on the line of the device. Use the icon with the “x-arrows” to maximize the ScanStation P30 interface. Now there is the menu key from the Android device to access the main onscreen display.
  • Page 63 USB device can be removed. The data on the USB device is stored in following structure: Figure 53 The collected data can now be imported into Cyclone. Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 53 - 60...
  • Page 64 USB. It offers the possibility to download several projects in one step or just a subset of a project from the ScanStation P30 to a computer. The data stored on the scanner can easily be reviewed with the integrated MMI-style viewer. The already transferred data which is stored on your local drive can also be reviewed.
  • Page 65 Click the Select Scanner button from the button bar to open a list that displays all available scanners within the network. Highlight the scanner’s name and click OK to connect to the selected ScanStation P30 or P40, see Figure 57. Figure 57 Scanner &...
  • Page 66 The Refresh Content button is reloading the project structure from either the scanner or the locally stored data into the (1)Content Frame. This may be needed if the scanner is acquiring scans into a newly created project during the ScanStation P30 is still connected to your computer.
  • Page 67 When the Status Bar is showing Ready again the download is successfully finished. Exit the Data Data Copy Tool via pressing the cross in the top right corner. Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 57 - 60...
  • Page 68 Note: setting this to High, requires approximately four times the memory required for • Medium, so if your system lacks sufficient memory (lower than 32 GB) selecting this setting can take very long to process. 58 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...

  • Page 69: Troubleshoot

    HDD from all data. Be sure to safe all needed projects and scans to an external hard disk! Execute Tools | Format. • When running a format all data stored on the internal HDD will be lost! Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 59 - 60...
  • Page 70 60 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features...

  • Page 71: Module 2.0 - Introduction To Cyclone

    Module 2.0 - Introduction to Cyclone Introduction The Cyclone scanning and point processing software application was developed by Leica for the efficient operation all of the Leica HDS scanning systems. Cyclone has become the industry standard for capturing point-clouds, processing them, and integrating the information into conventional CAD applications.

  • Page 72: Cyclone Navigator Window

    Table of Contents 1 Cyclone Navigator Window ...................... 3 Start Cyclone........................3 Edit Preferences......................3 Customizing Cyclone Settings..................4 The Servers Folder ......................5 2 Managing Databases ....................... 5 Create a new, empty Database and add to the Server ........... 6 Remove / Destroy a Database..................
  • Page 73 1 Cyclone Navigator Window Using the workflow functions of Cyclone. 1.1 Start Cyclone Double Double- - - - click Double Double click click click on the Cyclone shortcut on your Desktop or the Cyclone.exe file in the Cyclone Programs directory. When you launch the Cyclone application, the first window appearing is the Cyclone Navigator Navigator...
  • Page 74 Figure 2 “Session” and “Default” Settings Changes made to preferences can be set at different levels. Any preference changes made at the Session level will only be in effect for the duration of the working session. Any changes made at the Default level will be persistent for the current and for all future sessions until changed.

  • Page 75: Managing Databases

    2 Managing Databases Cyclone databases are the central depository of all scans obtained from a Leica HDS scanner, or point clouds generated from another source. Once the original points are entered into the database they can not be altered. However ModelSpaces can be used to create models or modified data using the original points.
  • Page 76 2.1 Create a new, empty Database and add to the Server All data which is imported into Cyclone e.g. scans, georeferencing data or CAD drawings has to be stored into a Database. Execute the following steps to create a new, empty database from Cyclone Navigator within From the Configure...
  • Page 77 Select a new file location in your computer where you want the new database file to reside. In the File Name field type in “Test” and click Open Open Open to verify the file name as Open *.imp and Open Open Open again to create the file.

  • Page 78: Linking To / Loading An Existing Database

    In Windows Explorer, browse to the folder where your database was created and stored, or the default location – for example: C:\Program Files\Leica Geosystems\Cyclone\Databases to see that the file has not been deleted – it still exists, but is now not linked to Cyclone.
  • Page 79 Figure 12 Figure 13 Configure Databases Figure 13 Add Databases dialog appears ( ). Pick the Add Add… … … … button. The Figure 14 dialog appears ( Figure 14 Figure 15 Figure 14 Pick the icon to the right of the Database Filename field ( ) to open the Create/Select a Cyclone DB dialog (...

  • Page 80: Using The Online Help

    To expand the Server object, double double double- - - - click double click click on the icon or pick the “+” sign to the left of the click Figure 17 server name. The databases linked on this server are listed below the server name ( Figure 17 4 Using the Online Help The online Help is always available.

  • Page 81: Database Hierarchy

    5 Database Hierarchy Understanding Objects and Objects’ Hierarchy within the Database Expand the QUICKSTART database hierarchy. Using the mouse, Pick the ‘+’ signs to the left of: QuickStart QuickStart QuickStart QuickStart, then Project 1 Project 1 • Project 1 Project 1 ScanWorld 1 ScanWorld 1 •...
  • Page 82 By default, a ScanWorld contains a ControlSpace and three folders – One each for ModelSpaces, Scans, and Images. Each of these folders may contain additional folders as well. ScanWorlds can also contain Projects. A ScanWorld may contain only one frozen Registration..All objects part of a ScanWorld can be viewed in the ScanWorld’s TruSpace.

  • Page 83: Examine The Database's Objects

    Images Imported Files Other (subordinate) Projects KeyPlan • ModelSpaces contain ModelSpace Views • 6 Examine the Database’s Objects In this section we will examine the different objects in the QuickStart database. As you examine the database, familiarize yourself with how the project is laid out spatially. 6.1 Images Folder We will first look at the MultiImage taken for ScanWorld 1 and ScanWorld 2.
  • Page 84 Figure 21 Adjusting the view in a MultiImage is simple in that your viewpoint does not move from the camera’s location. You are, however, able to rotate about the camera’s nodal position and zoom as well to see the scanners full 360X270 FOV. View Mode Use the key below for reference on how to adjust your view in a MultiImage in View Mode.
  • Page 85 Figure 23 Figure 22 A MultiImage is taken from each scan position. In this case, a full 360x270 image was taken for both ScanWorld 1 and ScanWorld 2. By cross checking the MultiImage with the scan log and field notes, you should have a good idea on how the project has been planned. 6.2 Scans Folder –...
  • Page 86 The fact that we did not move the scanner while at this position, ScanWorld 1, • all of the scans are lined up correctly in relation to one another. Each scan references the MultiImage. This can be used for color mapping the •...
  • Page 87 Zooms in/out to focal point. + drag up/down As you can see in the Description column above every action is dependent to the focal point, located at the center of the screen. Practice viewpoint manipulation and examine several scans from both •...
  • Page 88 Double click Double click the existing ModelSpace View that belongs to ScanWorld 1. Double click Double click Figure 27 ModelSpace View Figure 28 Moving the viewpoint around in a ModelSpace View is identical to that of moving around in the Scan viewer a ModelSpace View .
  • Page 89 View Mode Action Cursor Description The image rotates around the focal point (as set by seek mode). + drag Pans the view (focal point is altered). + drag Zooms in/out to focal point. + drag up/down View Mode (modified) Action Cursor Description Rotates the scene around the nodal point of the...
  • Page 90 Pick Mode and Multi-Pick Mode Pick mode is used to select objects in the ModelSpace View ModelSpace View • Pick a point in any point cloud in a • Note how the picked point is marked with a white pick point and the cloud which that point belongs to is highlighted.

  • Page 91: File Management

    Coordinate System A red, green, and blue icon represents the current coordinate system’s origin (0,0,0). For ScanWorld 1 and ScanWorld 2, the origin is at the local scanner position. Summary ModelSpaces are where we will view, query, and model the point clouds. We access a view to ModelSpace View.
  • Page 92 Introduction to Cyclone 22 - 22 Module 2.0 – Navigator & Navigator’s Objects...

  • Page 93: Module 2.1 - Point Cloud Import

    / imported into processing software. The following module describes the steps of importing data acquired onboard with Leica Geosystems’ ScanStation Series and HDS 7000 into Cyclone. It also explains the import process and options when importing 3 party scan data as well as ascii formatted files.

  • Page 94: Importing Leica Scanstation Data

    Table of Contents 1 Importing Leica ScanStation data .................... 3 Before Import – Set Preferences ..................3 Import via Cyclone Navigator ..................3 Import Options General ....................5 Import Options Advanced ....................9 2 Importing HDS 7000 data (.zfs) ..................... 12 Before Import –...
  • Page 95 1 Importing Leica ScanStation data There are multiple ways to import Leica ScanStation data which was scanned via the MMI and stored onboard. 1.1 Before Import – Set Preferences Survey Mode Before importing the data from the ScanStation make sure to set the preferences for Survey Mode.
  • Page 96 Figure 2 • Navigate to the scanner project folder and select the project. A Scanner project folder contains a Project.prj for the P Series Scanners or a project.ini file for the C Series Scanners Figure 3 • Select the project and press OK 4 - 20 Module 2.1 –...
  • Page 97 1.3 Import Options General The following window offers optional functions Cyclone can already perform during import of the data. • Select the appropriate import options and press OK. The import process is starting. Figure 4 The time to import depends on the amount of data and options choosen. SubSample The user can choose to import all scanned points or a subset of each scan.
  • Page 98 Pre-Registration Options The following commands can be helpful for the later registration process either with Targets or Cloud-to-Cloud or both. Find black & white targets Selecting Find black & white targets will search all scan data for the presence of black &...
  • Page 99 • Exit will bring up a window asking whether all found targets should be copied to the ControlSpace or not and then close the interface.(Figure 7) Figure 7 Right-click on a target image offers the option Go to view. This will then bring up the complete ModelSpace environment with the selected target at the center.
  • Page 100 Thumbnail options Map Color Leica ScanStations can take images of the same scene. If this checkmark is set, these MultiImages are automatically mapped/ burnt onto the clouds, so that the point cloud can be viewed with true color information taken from these pictures.
  • Page 101 Normals can also be calculated after import. For this select the ScanWorld and execute Tools | Estimate Cloud Normals (multiple ScanWorlds can be selected to run this tool on a batch of files) Find Pipes Automatically This command searches all scans for any cylindrical shapes in the clouds and automatically fits cylinder objects into them.
  • Page 102 Compensator out of range (only if scanner movement detected) By default the Leica ScanStations are operated with an activated dual-axis compensator. If a movement of the scanner is detected during scanning which is outside the compensator’s range, this is being flagged in the raw data.
  • Page 103 Import of partial projects • The partial import option allows to browse to just a part of a scanning project and import this. This can be a particular Station or the scan data or images only within a specific Station. •...

  • Page 104: Importing Hds 7000 Data (.Zfs)

    2 Importing HDS 7000 data (.zfs) .zfs files originate from the Leica HDS 7000 and HDS 6x00 series. (Or Z&F Imager series). This data is typically captured onboard and after transfer to a local hard disk or USB can be imported directly into Cyclone.
  • Page 105 • Review and change any of the available filters. • Accept changes and close interface via OK. In general it is recommended that the filters be left to their default values 2.2 Import .zfs files Each .zfs file contains a single scan. A project therefore contains of a multitude of .zfs files all individually stored.

  • Page 106: Import Of Other Scan File Formats

    Cyclone can also import other scan file formats. This includes the vendor’s direct scan formats as well as binary and ascii files. Scanner formats supported include: • Leica ScanStation2 scan format: *.sc2 • Leica ScanStation / HDS3000 / 2500 / 2400 scan format: *.scan • Riegl *.3dd,* .rsp,*.rxp • Faro *.fls, *.fws, *.fpr •...

  • Page 107: Import As Auto Align Project

    4 Import as Auto Align Project With this command certain file types can be imported using the Auto and Visual Registration features. Auto Align Project runs on the following formats of imported scan data: Figure 17 • Open Cyclone Navigator •...

  • Page 108: Import Multistation Ms50 Data

    5 Import MultiStation MS50 Data This command is used to import scan data from the Leica MultiStation MS50. DBX and HeXML are the data formats that can be derived from the MS50 onboard software directly or from office software. Please find below information and differences of these formats: DBX data structure This format describes a database in which all job related information is stored.
  • Page 109 HeXML export option Same as Job This will export the HeXML file into the same directory as the DBX job and will include links to the original scan and imaging data. Files and folders needed for import in Cyclone: • *.XML HeXML file containing links to the scan and imaging data •...
  • Page 110 Import • Open Cyclone Navigator • Create a new database or select an existing database • File | Import MultiStation MS50 Data Figure 22 • Browse to the respective folder and select a project to import. Figure 23 Refer to section 1.2 for a full description of the options in the upcoming Import dialog 18 - 20 Module 2.1 –...

  • Page 111: Using Batch Import Tool

    6 Using Batch Import tool This tool is used to setup Batch jobs to import a variety of file formats and scan projects in one process. It can be accessed via the Cyclone Navigator. Following file formats are supported: Scan formats: •...
  • Page 112 This will bring up the following dialog • Click the Add Batch button to create a new Batch node • Using the Destination browse button you can select or change the database or project the scan files should be imported into •...

  • Page 113: Module 3.0 - Basic Registration

    Module 3.0 - Basic Registration Introduction Registration is the process of aligning all of a project’s ScanWorlds into a single coordinate system as a registered ScanWorld. This alignment is derived by a system of constraints, which specify that an object, geometric feature or cloud appear in the same position in two ScanWorlds.

  • Page 114: Auto Alignment Registration (Cloud Constraints)

    Table of Contents 1 Auto Alignment Registration (Cloud Constraints) ..............3 Auto Align ........................3 Inspecting Results of Groups ..................6 Optimize ScanWorld Groups ................... 8 Registration ......................... 10 Create ScanWorld /Freeze Registration ................ 11 Create and Open ModelSpace View ................12 2 Visual Alignment Registration (Cloud Constraints) ..............
  • Page 115 1 Auto Alignment Registration (Cloud Constraints) Enabling the Pre-Registration Options for import of any supported scan type will align scans automatically. During the import process a kind of Cube Image is created for each scanner position containing both image and scan data. Cyclone then does a pairwise comparison between the single scanner positions trying to find matching features in both images and scans.
  • Page 116 Please continue with section 1.2 Inspecting Results of Groups, if the scans were newly imported like in this scenario Regenerate ScanWorld Groups A dataset that was earlier imported with the Auto Align Scans option enabled can also be used to regenerate ScanWorld Groups from Alignment in a (new) Registration without re-importing scans: •...
  • Page 117 • Click Registration | Create ScanWorld Groups from Auto Alignment Figure 6 This command resets groups to the original state after importing. Use this command to reset groups without re-importing scans • In the upcoming window click Yes. Figure 7 This is an information, that if groups already existed (built e.g.
  • Page 118 1.2 Inspecting Results of Groups ScanWorlds that can be aligned to another ScanWorld will be placed in Groups. For ScanWorlds under Ungroup no constraints to other ScanWorlds were found. In this exercise all 3 ScanWorlds were auto-aligned and placed in Group 1 Figure 8 Home ScanWorld In a registration all ScanWorlds are translated and rotated to the designated Home ScanWorlds`...
  • Page 119 A Modelspace View will open and show the 3 scans from this Group. Figure 11 All scans in Group1 are valid if they are orientated to each other. • Close the Modelspace View without saving it Cloud Constraints During the Auto Align process Cloud-to-Cloud Constraints were created.
  • Page 120 1.3 Optimize ScanWorld Groups • Select Group 1 under ScanWorlds` Constraints and from the top menu go to Registration | Optimize ScanWorld Groups Figure 14 This command is used to pre-register a group to find out, if it is valid before continuing with the remaining registration •...
  • Page 121 • The Constraint ID column shows the name of the constraint. • The ScanWorld column shows the two ScanWorlds that the constraint exists. • The Type column indicates what type of constraint (Target or Cloud or Object). • The Status column indicates whether the constraint is toggled On or Off for the registration calculation.
  • Page 122 1.4 Registration To finalize the Registration the global error has to be computed. The Registration command computes the optimal alignment transformations for each ScanWorld in the Registration so that all constrained objects are aligned as closely as possible. • In the top menu go to Registration | Register •...
  • Page 123 Figure 20 • Close the temporary Modelspace View without saving Statistics for the successful Registration can be viewed using the Registration Diagnostics command in the Registration menu. Figure 21 1.5 Create ScanWorld /Freeze Registration The last step in a registration is to create a Scanworld and freeze the registration. With this step, a new registered ScanWorld is created, containing the contents of all 3 ScanWorlds.
  • Page 124 1.6 Create and Open ModelSpace View • In the Navigator, highlight the newly created registered ScanWorld. • Click Create | ModelSpace. • Double click the ModelSpace. • From the pop-up menu, click Create and Open ModelSpace View. A ModelSpace View will open containing the registered data of the ScanWorlds Figure 23 12 - 30 Module 3.0 –...

  • Page 125: Visual Alignment Registration (Cloud Constraints)

    2 Visual Alignment Registration (Cloud Constraints) In addition to the Auto Alignment during import process, the Visual Alignment is a set of tools used to complete a registration. The main tool sets are: • Scan Thumbnail window • Image Preview Window •...
  • Page 126 Re/Generate Scan Thumbnails after Import The Scan Thumbnails can also be generated without re-import. We will continue using this scenario for our exercise : • in the Database select the project folder containing scans or individual ScanWorlds • Go to the top menu and select Create | Re/Generate Scan Thumbnails Figure 25 The 2D Scan Thumbnails window can be opened from within the Registration window.
  • Page 127 2D Scan Thumbnails window Figure 29 In this exercise the scans are ungrouped in this viewer although it can also include groupings of 2D Scan Thumbnails. Tools available in this window: Selection Mode – Allows for the selection of pairs of scan images to be selected within a group.
  • Page 128 Options that allow modifying the appearance of the scan thumbnails in the viewer: • Right click on a selected thumbnail and choose Options for Scan Thumbnails from the menu Figure 30 • Max scan radius – specify the radius to use for thumbnail creation •...

  • Page 129: Image Preview

    Or from the right mouse button menu of a ScanWorld for a single scan thumbnail Select candidate scan thumbnails to register • Left click on the first thumbnail (Station-001: SW-001) • SHIFT+left click on the second thumbnail (Station-002: SW-002) • Note how the Selection Mode at the top changes color •...
  • Page 130 2.2 Visual Alignment This brings up a viewer which allows for pairs of scans to visually match and align with one another by using Cloud-to-Cloud registration. Figure 35 Scans start out viewed in plain view. Only the blue scan can be moved and rotated. The orange one is fixed.

  • Page 131: Factors That Determine The Effectiveness Of Pointcloud Constraints

    Start by moving and rotating the scans together & • Left click and move the scans together • Usually a common corner or obvious point is selected. Figure 36 & • Left click and hold to pinpoint a rotation point. •...
  • Page 132 Figure 39 • View the results in free 3D Navigation Mode • Close the Visual Alignment window and inspect the changes in the 2D Scan Thumbnails and the Registration window • Group 1 has been created from the aligned Station-001:SW-001 and Station-002:SW- •...
  • Page 133 2.3 Registration The registration command will also optimize the Alignments before registering in one step • go to Registration | Register.. Figure 43 After optimizing/registering the optimization RMS value will have changed and a value for the global registration error is given (see Error column). Inspect Result •...
  • Page 134 3 Factors that determine the Effectiveness of PointCloud Constraints Cloud constraints can be created in a Registration using the scanned overlapping areas between two point clouds. When registering with point cloud constraints, the 2 main factors that will determine the effectiveness of the constraint are: •...
  • Page 135 RMS is the root mean square error of the alignment. If the RMS error value is in the 1cm range for single points, the alignment is likely to be good. Single points have an RMS of 6mm (Leica Scanner) in general, but since the overlap measurement is often imprecise, the alignment RMS will generally be above 6mm depending on the geometry of the scene.
  • Page 136 (one sigma) of the half-bell curve should be approximately matching the accuracy of the scanner used to scan the cloud (6mm with Leica Scanners). If the histogram stays flat, this indicates that the initial guess was too far away for the optimize alignment algorithm to align the clouds.

  • Page 137: Target Registration (Target Constraints)

    4 Target Registration (Target constraints) In contrast to the previous sections we will now use Target constraints to register. With compensator off, or without a compensator, a minimum of 3 common targets is needed to adjust along 3 rotations and 3 translations (6-P-T). With an enabled compensator a minimum of 2 common targets is required.
  • Page 138 4.3 Auto-Add Constraints This function searches through the ScanWorlds` Controlspaces for possible tie point pairings. It searches for matching Registration labels and also for geometrically consistent objects that can be used in registration constraints. The search only looks through objects in the ScanWorld`s subordinate ControlSpace corresponding to the Registration.
  • Page 139 • In the Dialog several options are available • Click on Info button for further details on the settings Figure 55 For our exercise we will use the Auto-Add Constraints command: • Click on the Constraint List tab in the registration window. It is empty. •...
  • Page 140 You do not necessarily need to create Groups in order to complete a Registration. • Go to the ScanWorlds` Constraints tab • Multi select all 3 ScanWorlds and go to Registration | View Interim Results • Inspect the alignment of the pointclouds 4.5 Create ScanWorld/Freeze Registration The last step is to create a Scanworld and freeze the registration.

  • Page 141: Combined Registration

    5 Combined Registration Cyclone allows the combination of registration objects such as Vertices and Cloud-to-Cloud Constraints. In the following exercise we will learn to combine those types of constraints: 5.1 Add ScanWorlds • In the Navigator, select the database QuickStart. •...
  • Page 142 5.3 Add Target Constraints • From the top menu select Constraint | Auto-Add Constraints Note the new target constraints added next to the cloud constraint: Figure 61 5.4 Finalize Registration Next we will compute the overall error for all constraints added. •...

  • Page 143: Module 3.1 - Applied Registration Techniques

    Module 3.1 - Applied Registration Techniques Introduction Registration Chapter 3.0 introduced the basics of the Registration process, which is the process of integrating a project’s ScanWorlds into a single coordinate system as a registered ScanWorld. This Module will show how to apply these already learned basic registration techniques on a real project using a mixed set of constraints.

  • Page 144: Getting Started

    Table of Contents 1 Getting Started ........................3 Prolog ..........................3 Field Notes ........................4 ScanLog ......................... 5 2 Loading and importing Data ....................7 Adding the database ...................... 7 Imported Dataset with option “Auto Align Scans” ............8 3 Preparation before registering Scans ..................10 Acquiring Targets in the TruSpace ................
  • Page 145 Figure 1 1.1 Prolog This project was acquired with the Leica ScanStation P40 and consists of 14 Stations in total. ScanWorlds 2-6 are scans from the inner courtyard of the Blutenburg castle. ScanWorlds 1 and 8-14 are scans of the fortified walls of the Blutenburg castle taken from the outside. ScanWorld 7 was just a test scan and was taken out of the registration project.
  • Page 146 1.2 Field Notes Field notes are created to document a rough plan of the area being scanned, scanner placement, target placement and any other information that will be useful for reference to how the project was carried out. The information that is documented in field notes is an invaluable reference for all involved in a scan project.
  • Page 147 1.3 ScanLog A ScanLog is a quick way to document what has been scanned from which position. Below you will see the ScanLog for the inner courtyard and on the next page the outside part of the Blutenburg castle. Scanner Stations Scans Targets Comments...
  • Page 148 Scanner Stations Scans Targets Comments 360° Sensitivity = High Inner part Scanmode = Speed Resolution = 3.1 mm @ 10 m 360° Sensitivity = Normal Inner part Scanmode = Speed Resolution = 3.1 mm @ 10 m 360° 1, 2, 10 Sensitivity = Normal Outer part Scanmode = Speed...

  • Page 149: Loading And Importing Data

    2 Loading and importing Data Figure 3 2.1 Adding the database Locate the database named Blutenburg 2.imp and configure it in the Cyclone Navigator: Launch Cyclone In the Navigator, click Configure | Databases • In the Configure Databases dialog, click Add… •...
  • Page 150 2.2 Imported Dataset with option “Auto Align Scans” For time-saving reason, the raw data has already been imported into “Blutenburg2.imp”. File | Import ScanStation Data | Import ScanStation Project • The following import settings were used in this case. General Tab: Auto-Align Scans (Estimate Normals is automatically checked on as well) •...
  • Page 151 Import Results During import two steps have taken place. All ScanWorlds have been imported into the • database Blutenburg 2. In addition a registration object • Registration 1 has been created and all ScanWorlds are added automatically. Figure 8 shows the structure in the Cyclone Navigator after import.

  • Page 152: Preparation Before Registering Scans

    3 Preparation before registering Scans Figure 10 Mistakes can always happen in the field. The following section outlines how to address some of the typical mistakes which can happen specifically when working with targets: Targets not fitted in the field: Fit target in the office •...

  • Page 153: Registration

    Figure 11 Within the TruSpace we can then search for the target 2. Use the project layout drawing on Figure 2 for reference. From the TruSpace menu, use: Seek mode to point the black & white target • Zoom in to the target to have a better view •...
  • Page 154 In Cyclone Navigator select ScanWorld • Station-003: SW-003 Open ModelSpace 1 View 1 • Figure 13 Navigate to the target (review overview drawing for orientation) • Pick a point near the center of the target • Choose Create Object | Fit to Cloud | Black/White Target… •...
  • Page 155 In ScanWorld “Station-004:SW-004” two targets were acquired incorrectly. Target 25 was fitted incorrectly and requires re-fitting. Target 33 is positioned correctly, but was named wrong. It requires relabeling to TargetID 3. Delete Targets in ControlSpaces ControlSpaces contain constraint objects, but you cannot create any objects in ControlSpaces. They are always created in either a ModelSpace or TruSpace and then copied across to selective ControlSpaces.
  • Page 156 target. However by default any target scans are visually switched off in a ModelSpace. We will therefore first make this fine-scan visible and then extract the vertex. Open Tools | Scanner | ScanWorld Explorer • Set the visibility checkmark behind Scan 25 •...
  • Page 157 Figure 19 Select the vertex with the label 33. • Go to Tools | Registration | Add/Edit • Registration Label Change the label to 3 • Exit with OK • Figure 20 A message will come up, warning that • this label has been changed but no objects in any Controlspaces have been updated.
  • Page 158 An alternative way to rename a target is via Tools | Annotations | Add/Edit Annotations… However the user will then not get any warning about also having to change the objects in the ControlSpace(s). 16 - 52 Module 3.1 – Applied Registration Registration...
  • Page 159 4 Registration Figure 23 Once all preparation and editing is finished, the actual registration process can begin. We will learn how to register the project with cloud to cloud alignments combined with target constraints. Furthermore we will learn how to use the Grouping functions in Cyclone, which can help us to quickly register our project with a minimum of time investment.
  • Page 160 From the Cyclone Navigator open • Registration 1 via double-click There are 2 Groups which are pre-aligned • and ready for optimization. Group 1 contains Stations 1 to 4 Group 2 contains Stations 11+12 All ScanWorlds which have no constraints •...
  • Page 161 Figure 25 The 2D Scan Thumbnails window displays all Stations which are loaded into the Registration. It provides a top-down view of the scan captured from each Station. This is particularly helpful in cases where the user is not exactly sure which Stations have sufficient overlap to create a cloud constraint.
  • Page 162 Figure 26 Figure 27 Figure 28 Once you are happy with the visual alignment, start the point cloud optimization. From the Visual Alignment window go to Tools | Optimize Constraint • This will start the cloud alignment optimization. The algorithm will try to best fit the point clouds on top of each other using a variant of the iterative closest point (ICP) algorithm.
  • Page 163 Figure 30 Note the RMS value and the Point Count. The better the value at a large number of points – the more reliable the result. Do you want to use the cloud constraint to merge groups? • Press Yes. •...
  • Page 164 Yes will place these two ScanWorlds into a • new Group 3 If pressing No, these two ScanWorlds are • remaining in the Ungrouped collection. Figure 31 Close the Visual Alignment window. • Close the 2D Scan Thumbnails window. • Open the Constraint List tab from the Registration window to review the Cloud/Mesh 5 •...
  • Page 165 Merge two Groups via Visual Alignment Now the Stations taken in the courtyard are stored in two separate Groups. But there is so far no connection between Group 1 and Group3. In the next step we will create a visual alignment between Station 4 (Group1) and Station 5 (Group3).
  • Page 166 Figure 35 Do you want to use the cloud constraint to merge groups? • Press Yes. • ScanWorlds 5 and 6 are now merged into • Group 1. Close the Visual Alignment Window. • Figure 36 If the RMS and/or point count values are not satisfactory – the visual alignment can simply be repeated.
  • Page 167 Optimize a Group So far only pair-wise alignments have been executed. But a complete registration involves the adjustments of all constraints to achieve a best-fit of all ScanWorlds involved in the network. (least square adjustment). One benefit of working with Groups is the ability to optimize the relation between members of a group only, ignoring any additional Stations also loaded into the Registration.

  • Page 168: Quality Check

    All ScanWorlds from Group 1 are displayed now and the alignment can be visually checked. When happy with the results, this view can either be stored or discarded. Close the ModelSpace View • Select No when asked whether to save it •...
  • Page 169 Next execute the global registration of all Stations and all constraints (cloud and vertex). Go to Registration | Register • The optimization window will come up and optimize the cloud constraint between Station 11 and 12 (Group2). Cyclone will then compute the optimal alignment transformation for each ScanWorld in the Registration so that all constrained objects are aligned as closely as possible.
  • Page 170 Figure 43 Note how in the Cyclone Navigator you can now find a new ScanWorld object which is named ScanWorld [Registration 1], which contains the Registration 1 as well as a ModelSpaces folder. Execute Registration | Create and Open ModelSpace •...
  • Page 171 5 Quality Check Quality assurance is an important step and Cyclone provides both numerical/ statistical and visual ways to report and verify the accuracy and quality of an executed Registration. 5.1 Registration Diagnostics Figure 45 The Registration Diagnostics document supplies a detailed and complete overview about all ScanWorlds and constraints used in our registration as well as the translation/ rotations calculated in order to adjust all to each other.
  • Page 172 5.2 Visual Quality Check The errors in the Constraints List tab from the registration window and the Registration Diagnostics give a statistical overview of the registration quality of the project. However, it is recommended to also do a visual quality check of the point clouds once registered. There are several possible ways which can help us to have a better visual overview to do a quality check.
  • Page 173 Quickslice A simple visual quality check can be done with the Quick Slice function. This will cut out a horizontal slice through the point cloud and hence allow for better viewing the overlap of point clouds on features like walls of a building or house edges. We will use this tool to create a horizontal slice through the buildings.
  • Page 174 Navigate closer to an area where walls were • scanned from multiple locations, hence showing scan lines in multiple colors. Figure 50 The slice command in combination with the individual coloring allows for easy inspection to verify that point clouds from different setups are aligning properly. 32 - 52 Module 3.1 –...

  • Page 175: Geo Referencing

    6 Geo Referencing Figure 51 So far all scans have been aligned to each other only. The local coordinate system of Station 1 has been used and all other scans have been transformed to this one. (By default the first ScanWorld added to the registration) In this part of the exercise, we will learn how to register all ScanWorlds from the local coordinate system into a geo-referenced coordinate system of the Blutenburg castle.
  • Page 176 In the Cyclone Navigator go to ScanWorld • [Registration 1] Select the ModelSpace and delete it • manually (e. g. delete key) Figure 53 This is a safety setting to avoid any involuntary deletion of data. A registered ScanWorld can only be unfrozen if no ModelSpaces are present under it. Now we can open the registration object: Double click onto the registration object Registration 1 •...
  • Page 177 6.2 Import Survey Control File We will now import the survey control into the database as a ScanWorld, which can then be used in our registration. As indicated in the filename the units are in meters and the coordinate format is Easting, Northing, and Elevation.
  • Page 178 In the Import: ASCII File Format dialog, specify the Unit of Measure as Meters. • In the end the Import: ASCII File Format dialogue should look like shown in Figure 56 below: • Figure 56 The bottom half of the Import: ASCII File Format dialog allows you to see the results of your settings immediately.
  • Page 179 After the Import process is complete, a ScanWorld GeoReference Blutenburg.txt containing the imported control points is added to the Navigator. For each coordinate a Vertex has been created in the new Modelspace and a copy has been added automatically into the ScanWorld’s ControlSpace.
  • Page 180 In the ScanWorld’s Constraint Tab you can see that the ScanWorld Geo Reference Blutenburg.txt is now listed in the Ungrouped section. Select ScanWorld Geo Reference • Blutenburg.txt if not already selected In the main menu go to ScanWorld | Set •...
  • Page 181 Figure 60 Note that the values in the Error Colum are displayed in brackets. This is an indicator that the current registration is invalid and has not been updated since the last calculation. The global registration has to be calculated again with the inclusion of the newly added constraints.
  • Page 182 Figure 61 Improving results The maximum remaining Error between targets is 18mm, mostly referring to target 11. Since this error has increased with including the survey data it might indicate a general problem with this target. We will therefore disable this target from the calculation to see if this improves the overall accuracy of our network.
  • Page 183 Notice how all disabled targets (the status displays Off) now show even an bigger error – from 30 mm to 33 mm. They are not influencing our registration anymore, hence the algorithm is not trying to minimize these errors as well. Therefore the increase in error confirm the suspicion that there was an error in the total station data of target 11 and that disabling it was the correct thing to do.
  • Page 184 ScanWorld, which we imported from a text file. All data in the registered ScanWorld were then transformed into the coordinate system as defined by the control ScanWorld (measured by a Leica Total Station Instrument). After the registration has been completed we performed a quality assurance of the point cloud.

  • Page 185: Theory Excurse

    7 Theory Excurse This section provides some additional background information on the topics of Registration. 7.1 Six Degrees of Freedom As we have seen, constraints exist in ScanWorlds’ ControlSpaces. Alignment transformations of a ScanWorld in a registration are as accurate as its constraints describe. The key to successfully registering a ScanWorld is to constrain it in all six degrees of freedom (movement in X, Y, and Z and rotation around the X, Y, and Z axis).
  • Page 186 7.2 ControlSpaces A ControlSpace is similar to a ModelSpace View. It is used as a container for all objects attached to its parent ScanWorld that are designated as constraint objects or possible constraint objects for a Registration. Constraints are defined as pairs of equivalent or overlapping objects that exist in two ScanWorlds.
  • Page 187 A ScanWorld may contain several ControlSpaces for each Registration that involves that ScanWorld. Operations in a Registration affect only the corresponding subordinate Controlspace (e.g. adding or deleting constraints). Objects are generally added to a ControlSpace in one of the following ways: When a registration label is added to an object in a ModelSpace under the ControlSpace’s •...
  • Page 188 Creating Groups Groups can be formed in various ways: Upon import with the Auto Align Scans command • After import, from the Registration window: • Create ScanWorld Groups from Auto Alignment • Create ScanWorld Groups with targets • Create ScanWorld Groups from selection with targets •...
  • Page 189 Different ScanWorlds from different scanner locations ScanWorlds are compared pairwise with different algorithms during Cyclone import with Auto-Align Scans checked ON. Different Groups are created and collected in the Cyclone Registration window. Not aligned ScanWorlds are placed in the “Ungrouped” category as independent ScanWorlds without any cloud to cloud constraints or pre-alignments...
  • Page 190 The advantage is to have a tool that makes it easier to organize the scan data in (big) registrations and detect errors. In the following sections we will learn how to efficiently use functions designed for Group objects. Optimize ScanWorld Groups This command allows the user to select a group and perform a final optimization on just that •...
  • Page 191 In the Constraint List tab of the Registration dialog the Group column gives information of available constraints between Groups and provides hints for possible merge options: Group 1- there are constraints between • ScanWorlds in the Group 1 Group 1/Group 2 – there are constraints •...
  • Page 192 Find Constraints in ScanWorld Group command This command will work with targets only. You can find it from the Registration window Constraint | Find Constraints in ScanWorld Group… This function finds any available new targets constraints in a single group. This function has two useful cases: If two groups are merged with a Cloud to Cloud constraint additional targets constraints can •...
  • Page 193 • Registration | Unfreeze Registration to be able to modify an already frozen Registration. Only Leica ScanStation instrument data (from C and P series) can be used as leveled, since • the scanner has an integrated compensator (this will work, if the compensator has been switched to ON during scanning, only).
  • Page 194 52 - 52 Module 3.1 – Applied Registration Registration...

  • Page 195: Module 4.0 - Organization & Visualization Of Point Clouds

    Module 4.0 - Organization & Visualization of point clouds Introduction Cyclone offers convenient ways to organize categorize and manage (point cloud) information to facilitate further processing of this data. Using the UNIFY command is important as it speeds up further processing through optimising the point cloud data structure.

  • Page 196: Scanworld Explorer

    Table of Contents 1 ScanWorld Explorer........................3 2 View Properties ........................5 Set Object Visibility ......................7 Layers ..........................8 View As ........................11 3 Unify a Point Cloud / ModelSpace ..................12 Unify clouds from ModelSpace window ................ 12 Unify clouds from Navigator window................
  • Page 197 1 ScanWorld Explorer ScanWorld Explorer is an interface which enables the user to manage the point clouds which are originally obtained in a ScanWorld. You can retrieve original scan clouds and selectively switch them on or off (load/unload in ModelSpace). You can also make visible graphic representations of the field of view of each individual scan.
  • Page 198 Figure 3 ModelSpace Check/ un-checking the visibility box , load / unload a single scan from the • For each ScanWorld a single, multiple or all scans can be selected to load / unload. Alternatively select all ScanWorlds in the left column to display all involved scans in the right Scans section.

  • Page 199: View Properties

    2 View Properties View Properties window is an interface which allows the user to control visibility and selectability of all objects within the modelling environment. View Properties window contains three main tabs: Selectable/Visible • Layers • View • View Properties window can be opened through the menu: •...
  • Page 200 Open the View Properties window with • Hotkey Shift + S View • Click the maximize button from Properties window to dock the window to ModelSpace View window. Figure 5 • To hide and show the window use the arrow View Properties button on top of the...
  • Page 201 2.1 Set Object Visibility All object types available in Cyclone are listed in the Selectable/Visible tab. On activation / deactivation a box in the visibility column the objects are ModelSpace View shown / hidden in the When un-checking the box in the selectable column the objects are still visible but can no longer be selected.
  • Page 202 Layers Layers are a common method in CAD applications to organise data into manageable sub- portions. Layers can be made visible, selectable and assigned a default color. All objects can be assigned to layers. There is already some objects created in this ModelSpace, which will be assigned to a new layer.
  • Page 203 Create a new layer & Assign objects to it Assign the objects within the parking area to the new layer. This includes also the building. Click New • • Type Type Type Type in a name for the layer such as “Parking area”...
  • Page 204 Now assign the intersection to another layer: • Select the lines representing the intersection by clicking Selection | Select All Selection | Select All Selection | Select All Selection | Select All Click the New New button in the Layers interface •...
  • Page 205 • Click at the plus sign above the displayed RGB values Type in the values for white (1, 1, 1) • Click OK • Click again the highlighted Layer • Intersection It is also possible to select a Figure 15 color by first changing the Saturation slider and then clicking in the color field...

  • Page 206: Unify A Point Cloud / Modelspace

    By default each object is displayed with LOD – Full Range. This means just enough rendering (also based on distance) to allow the user to see what the object is. Notice how the surface of the pole is not perfectly round. And if zooming out it will at some point actually become square, taking in the level of detail a user needs at a certain range.
  • Page 207 The unification takes only effect on to the parent ModelSpace and there is no undo function for the Unify Clouds command. In the upcoming information window click “Unify Unify Unify Unify” to go on or “Cancel” to abort the process •...
  • Page 208 3.2 Unify clouds from Navigator window A ModelSpace can also be unified from the Cyclone Navigator window. • Select Select Select Select the ModelSpace to unify • Now go to Tools | Tools | Tools | Tools | Unify ModelSpace Unify ModelSpace Unify ModelSpace…...

  • Page 209: Limit Box

    4 Limit Box It is beneficial to hide point cloud points which are not useful for a specific task and to view the parts of the point cloud only which are necessary. One way to achieve this is through placing a Limit Box. Points inside this box are displayed, points outside are temporarily hidden from view.
  • Page 210 Figure 22 4.2 Edit a Limit Box The created Limit Box is aligned to the Viewpoint it has been created in. It can now be edited to finally encompass only the points of the silo. Change to the pick mode with hotkey ‘ hotkey ‘...
  • Page 211 Now rotate the Limit Box by showing and using rotation handles. • Edit Object | Handles | Show Rotation Handels Edit Object | Handles | Show Rotation Handels Edit Object | Handles | Show Rotation Handels Edit Object | Handles | Show Rotation Handels Pick Pick Pick...
  • Page 212 Figure 25 Switch between Limit Boxes: • Always only the Limit Box marked as the default which is defined by the bold lettering is displayed. Double-click on another one to activate it. • Close Close Close Close the Limit Box Manager. •...

  • Page 213: User Coordinate System

    For 3D laser scanning surveys that require the data be geo-referenced to an existing • coordinate system, Leica Geosystems highly recommends that the standard Registration process be used with a redundant amount of control points. Furthermore, even a geo-referenced dataset might require the set-up of a more local site- coordinate system.

  • Page 214: Cutplanes And Half-Spaces

    Cartesian coordinates [named after René Descartes], are a system for representing the relative positions of points in a plane or in space. In a three-dimensional space, a point is specified by three numbers (x,y, and z) representing the distances of the point from three intersecting straight lines (or planes), referred to as the x-axis and the y-axis and the z-axis.
  • Page 215 Figure 28 To hide the coordinate system axis go to View | Coordinate System | Show Coordinate System Axes View | Coordinate System | Show Coordinate System Axes • View | Coordinate System | Show Coordinate System Axes View | Coordinate System | Show Coordinate System Axes This command toggles (ON/OFF) the visibility of the coordinate axes in the ModelSpace viewer.
  • Page 216 5.2 Set User Coordinate System from Points You can set a UCS by using pick points. With this method, you can assign new coordinate values to a pick point, and assign a new azimuth and elevation. In this lesson you will set the User Coordinate System aligned to a facade, by placing the origin on the facade and have the coordinate system rotated to align the y-axis with the front of this building.
  • Page 217 • Specify pick point 1 as Reference Point and leave the coordinate values at 0 to define this point as the coordinate origin. Specify pick point 2 as the Azimuth Point • and leave the Angle at 0 to have the y-axis aligned from the origin to this point (horizontal rotation only) Figure 30...
  • Page 218 5.3 Save/Edit Coordinate Systems Using multiple user-defined coordinate systems can be very helpful in the navigation and analysis of large ModelSpaces. You may find it useful to define temporary coordinate systems based on objects that provide necessary axes and origins of interest for use in the insertion or editing of objects with, for instance, the rotate command.
  • Page 219 5.4 Set the User Coordinate System to an Object As a next option we will use already created objects as a basis and align the coordinate system of the ModelSpace to a selected patch. First we will create a patch on the façade opposite to the façade we worked on before. Navigate Navigate to the façade shown in the picture below •...
  • Page 220 • Make sure the patch is selected, look up the status bar View | Coordinate System | Set to Object View | Coordinate System | Set to Object View | Coordinate System | Set to Object View | Coordinate System | Set to Object The User Coordinate System is aligned to the selected patch, which means z is aligned to the patch normal, i.e.
  • Page 221 • View | Coordinate System | Save/Edit Coordinate Systems... View | Coordinate System | Save/Edit Coordinate Systems... View | Coordinate System | Save/Edit Coordinate Systems... View | Coordinate System | Save/Edit Coordinate Systems... Go to Save Save • Save Save Type in a name •...
  • Page 222 6 Cutplanes and Half-Spaces A Cutplane is a 3D plane with the primary function of "cutting" through objects in a ModelSpace to produce a 2D cross-section. There may be more than one Cutplane cutting through the ModelSpace, although only one is ”active” at any given time. The active Cutplane is the only Cutplane affected by user commands.
  • Page 223 Set Cutplane from active Reference Plane This command aligns the active Cutplane to the active Reference Plane. Raise Cutplane This command raises the Cutplane by the amount specified in the Set Offset command. Lower Cutplane This command lowers the Cutplane by the amount specified in the Cutplanes dialog offset parameter Set Cutplane Offset The Cutplane Offset dialog appears.
  • Page 224 6.2 Set the Cutplane Slice from Pick Points The command “Tools | Cutplane | Set Slice from Picks” set a Cutplane perpendicular to the selected axis, and its slice planes are positioned to pass through the two pick points. Create a slice along the z-axis – resulting in a horizontal slice through the point cloud. st st st st Working in a side View, pick the 1 pick the 1...
  • Page 225 • Select Tools | Cutplane | Set Slice Thickness Tools | Cutplane | Set Slice Thickness Tools | Cutplane | Set Slice Thickness..or Tools | Cutplane | Set Slice Thickness use the toolbar icon The Set Slice Thickness dialog appears. In the Slice Thickness field, enter a value enter a value.
  • Page 226 6.5 Deactivate Cutplanes Tools | Cutplane | Tools | Cutplane | View Slice View Slice • Tools | Cutplane | Tools | Cutplane | View Slice View Slice Or use the toolbar icon This command toggles (ON/OFF) whether or not the active Cutplane slices through the data, hiding all geometry beyond the specified thickness of the Cutplane slice.
  • Page 227 6.8 Managing Cutplanes Only one Cutplane/ Half-Space is visible or active at a time. By default each Cutplane will overwrite the previous. But it is possible to save several Cutplanes. Cutplanes can be controlled from the Add/Edit Cutplanes dialog box. Tools | Cutplane | Tools | Cutplane | Add/Edit Cutplanes Add/Edit Cutplanes.

  • Page 228: Review

    Cutplane Info. This displays the settings for the selected Cutplane. This toggles the visibility of Cutplanes. There is a checkbox for a red lock icon. This locks the selected Cutplane so that its properties cannot be changed. • Create a copy of your defined HalfSpace Cutplane. Rename it to “Slice”. It will automatically be set as the Actice Cutplane.
  • Page 229 Module 4.1 - Texture Mapping Introduction Texture mapping is drawing objects using colors from an image. The colors are assigned based on the mapping defined for the image (the texture in this context). Cyclone supports defining and applying texture maps to point clouds and meshes. Objectives The objectives of this training module will be learning how to: Adding images to the database...

  • Page 230: Table Of Contents

    Table of Contents 1 Texture Mapping with imported images ................... 3 Import images to Cyclone....................3 Create the point cloud object to texture ................ 4 Texture Map Browser ..................... 6 Adding constraint by selecting points................7 How to remove selected points ................... 10 Add constraints......................

  • Page 231: Texture Mapping With Imported Images

    1 Texture Mapping with imported images Load the database: Facade.imp 1.1 Import images to Cyclone Import relevant photos into the project from Navigator: • Highlight Highlight Highlight Highlight the ScanWorld or Images Folder • Go to File | Import File | Import File | Import File | Import Figure 1...
  • Page 232 The image has been imported to the Image Folder. Figure 3 1.2 Create the point cloud object to texture Texture mapping is done by object so you have to merge separate Clouds together by unifying or merging the point clouds you want to apply the texture to. ModelSpaceView Open the ModelSpace 1 View 1...
  • Page 233 Click Selection | Set Selectable... Selection | Set Selectable... • Selection | Set Selectable... Selection | Set Selectable... • H H H H ighlight ighlight ighlight the Point Cloud and click Select ighlight Select Select Select Note the Status Bar There are 6 point clouds selected. Figure 5 Go to Create Create Object | Merge...
  • Page 234 1.3 Texture Map Browser Start the process of mapping common points in point clouds to pixels in photos. • Select Edit Object | Appearance | Texture Map Browser Edit Object | Appearance | Texture Map Browser Edit Object | Appearance | Texture Map Browser Edit Object | Appearance | Texture Map Browser Figure 7 Click the A A A A dd...
  • Page 235 For convenience, images can be imported into the database from this dialog by pushing the Import button, then select one or more image files. Tick Tick Tick Tick the Perspective type • Click OK • Figure 10 Texture Map Type dialog In the , indicate the type of the image.
  • Page 236 Deselect Deselect any points currently picked on the point cloud in the ModelSpace View • Deselect Deselect Texture Editor (Image) • Resize the and navigate to the point cloud as shown. Figure 12 Note the color difference between scan and picture. Begin by selecting an area in the point cloud that can also be selected in the image.
  • Page 237 Continue with picking picking a point in the Texture Editor (Image) • picking picking Single Clicking and holding down left mouse button on picture automatically zooms in. Upon releasing mouse button the left mouse button, the view zooms out with the pick made. Texture Editor (Image), In the left...
  • Page 238 1.5 How to remove selected points • Single-Pick: Texture Editor (Image): Select the points again, the other pick will disappear. ModelSpace View : When Pick Mode is active select the points again, the other pick will disappear. Multi pick mode: •...
  • Page 239 • Click the Compute button With seven corresponding picks made between the texture in the Texture Editor and the Modelpsace View, the compute button is now enabled. Figure 18 Figure 19 Notice the error on the status line of the Texture Editor. The smaller the better. A 2 or 3 pixel error is usually acceptable.
  • Page 240 1.7 Replace points to get the desired accuracy You might get an error message: Figure 20 Points can be replaced until the desired accuracy is obtained. • H H H H i i i i ghlight ghlight ghlight ghlight the constraint you want to pick again. Click Replace Replace Replace.
  • Page 241 Pick Pick points on point cloud and image. • Pick Pick • Click the Replace Replace Replace Replace button again. • Click Compute Compute Compute..Compute Figure 23 1.8 Increasing the texture map tolerance You can increase the allowable pixel error. Click the Preferences Preferences button •...
  • Page 242 1.9 Writing texture map colors to the point cloud If you are satisfied with the result you can continue with recording the colors to the point cloud. Texture Editor Close the constraints dialog ( ) by clicking Close Close Close Close.
  • Page 243 Click Yes Yes to accept Recording of colors to point cloud. • CAUTION: Colors from Scanner will be lost once cloud takes the colors from photograph. Figure 28 Click OK OK on next message. • RESTART Cyclone RESTART Cyclone • RESTART Cyclone RESTART Cyclone Figure 29...

  • Page 244: Texture Mapping With Cube-Maps

    2 Texture Mapping with Cube-Maps After scanning, a camera, fitted to a special bracket, replaces the scanner. The bracket is placed on the same tribrach the scanner used. A fish eye lens mounted on the camera is positioned on the bracket so that the focal center of the lens matches the optical center of the scanner (this is important for accurate image-to-point cloud texture mapping).
  • Page 245 The image below shows the files after renaming is complete. Figure 31 2.2 Import Cube-Images into Cyclone Cyclone Navigator Open • Add the database “warehouse.imp” • Right click Right click on the Image Folder and choose I I I I mport mport •...
  • Page 246 Select Select all the Cube-Images and click Open Open • Select Select Open Open Figure 33 2.3 Create the point cloud object to texture Texture mapping is done by object so you have to merge separate Clouds together by unifying or merging the point clouds you want to apply the texture to.
  • Page 247 • Click Selection | Set Selec Selection | Set Selec Selection | Set Selectable... Selection | Set Selec table... table... table... Highlight Highlight the point cloud and click Select Select • Highlight Highlight Select Select Figure 35 Note the Status Bar There is 1 point cloud selected. Merge the clouds only if there is more than one point cloud you want to texture at once.
  • Page 248 2.4 Texture Map Browser Start the process of mapping common points in point clouds to pixels in photos. • Select Edit Object | Appearan Edit Object | Appearan Edit Object | Appearance | Texture Map Browser Edit Object | Appearan ce | Texture Map Browser ce | Texture Map Browser ce | Texture Map Browser...
  • Page 249 • Browse Browse Browse Browse to the Images Folder and highlight highlight highlight highlight it. Click OK • Figure 38 Note: The Select Project with Cube-Map-Image Window requires you to select a project within your ScanWorld. You could also click the Import” button and select pictures from your hard drive.
  • Page 250 2.5 Adding constraints by selecting points Texture maps are defined by correspondences (or constraints) between points in 3D with pixels on the image. The Texture Editor dialogs provide access to constraint creation and management. You need 3 pairs of matching picks to complete the texture mapping. ModelSpace View Deselect Deselect...
  • Page 251 Begin by selecting an area in the point cloud that can also be selected in the image. Change to Pick Mode Pick Mode • Pick Mode Pick Mode • Pick Pick Pick Pick the first point (e.g. a corner on the balustrade) Check the picked point on the point cloud by changing the focal point to the picked point and moving around.
  • Page 252 Figure 43 Texture Editor (Image), Right-Click on the and adjust the zoom if necessary. Texture Editor (Image) Single-Pick: Select one point in the and one in the ModelSpace View. Multi-Pick: Select all points in the Texture Editor (Image) and then all in the ModelSpace View.
  • Page 253 2.7 Add constraints If you have selected one pick on the picture and one in the point cloud continue: Texture Editor • Click the Add Add button in the constraint dialog ( Figure 45 Figure 44 Continue and select at least 2 more points on point cloud and image. Right click ht click in the Texture Editor (Image)
  • Page 254 Click the Compute Compute button • Compute Compute Figure 47 Figure 48 Notice the error on the status line of the Texture Editor. The smaller the better. A 2 or 3 pixel error is usually acceptable. Organization/Visualization Pointcloud 26 - 32 Module 4.1 –...
  • Page 255 2.8 Replace points to get the desired accuracy Points can be replaced until the desired accuracy is obtained. • H H H H ighlight ighlight ighlight the constraint you want to pick again. ighlight • Click Replace Replace Replace Replace Figure 49 You will be prompted to pick the points •...
  • Page 256 2.9 Increasing the texture map tolerance You can increase the allowable pixel error. Click the Preferences Preferences Preferences Preferences button • Figure 52 Texture Map: Tolerance: Maximum Error (Pixels) • Enter a value between 0.1 pixel and 100.0 pixels to set the maximum pixel error that any single texture map constraint can have for a valid texture map computation.
  • Page 257 2.10 Writing texture map colors to the point cloud If you are satisfied with the result you can continue with recording the colors to the point cloud. Texture Editor Close the constraints dialog ( ) by clicking Close Close Close Close •...
  • Page 258 Click Yes Yes to accept Recording of colors to point cloud. • CAUTION: Colors from Scanner will be lost once cloud takes the colors from photograph. Figure 56 Click OK OK on next message • RESTART Cyclone RESTART Cyclone • RESTART Cyclone RESTART Cyclone Figure 57...
  • Page 259 If you do not see the Cube-Map colors go to Edit Object Edit Object- - - - | Appearance | Appearance- - - - | | | | Global Color Ma Global Color Map p p p ..•...
  • Page 260 Click OK • Figure 61 Organization/Visualization Pointcloud 32 - 32 Module 4.1 – Texture Mapping...

  • Page 261: Module 4.2 - Cyclone Keyplan

    Module 4.2 - Cyclone Keyplan Introduction A Keyplan is a new navigation object that allows users to create a 2D-image from a map, a ModelSpace or an image from Google Earth for example. Then on this 2D-image, icons are placed, either automatically or manually, to represent the scanner locations. Below is a Keyplan made with an image from Google Earth showing the scanner locations: Figure 1 Objectives...

  • Page 262: Create A Keyplan

    Table of Contents 1 Create a Keyplan ........................3 Create a Keyplan from a database / project folder ............3 Create a KeyPlan from a ModelSpace ................6 2 Working with a KeyPlan ......................8 Viewing the KeyPlan....................... 8 Editing a KeyPlan ......................8 Other functions of the KeyPlan ..................
  • Page 263 1 Create a Keyplan The KeyPlan displays the locations and orientations of scanners relative to a background image that provides context. The background image will typically be a 2D-drawing or model. From the KeyPlan, convenient navigation to individual scanner positions is possible. A KeyPlan can be created in the Cyclone Navigator at the top level of the database, any project folder and from a ModelSpace.
  • Page 264 Figure 3 Then pick on the image to choose the location of the first ScanWorld (Figure 3). Figure 4 Select the next ScanWorld to align and pick on the image. After picking, the rest of the ScanWorlds will show up on the image. Then click OK OK (Figure 4).
  • Page 265 Figure 5 All the ScanWorld locations will turn into icons. Use these icons to open the TruSpace of the respective ScanWorlds (Figure 5). Organization/Visualization Pointcloud Module 4.2 – Cyclone Keyplan 5 - 10...
  • Page 266 1.2 Create a KeyPlan from a ModelSpace Creating a KeyPlan from a ModelSpace automatically places the icons on the KeyPlan and it is the easiest way to create a KeyPlan. In the Cyclone Navigator browse to a ModelSpace View from a single ScanWorld or a registered ScanWorld and open it by double click.
  • Page 267 Click Yes and then select the location you want the KeyPlan created in Click the ok button to create and view the KeyPlan. Figure 8 Figure 9 Organization/Visualization Pointcloud Module 4.2 – Cyclone Keyplan 7 - 10...

  • Page 268: Working With A Keyplan

    2 Working with a KeyPlan 2.1 Viewing the KeyPlan Predefined step zoom-in and out Zoom whole scene Centred on clicked pixel when zoomed in Pan after zoomed in Photoshop styled center on clicked pixel and zoom Pick mode Align mode Figure 10 2.2 Editing a KeyPlan There are several Icons on the top of the KeyPlan dialog to assist you in changing the location of...
  • Page 269 Reference Mode Place a temporary mark on the KeyPlan where the Rotate, Scale and Rotate & Scale modes work. Open a KeyPlan and click Reference mode. Then click on the KeyPlan, typically in the centre of the grouping of icons. This place is a temporary icon on the KeyPlan. Rotate, Scale Modes Next try all the modes related to the reference mode - Rotate, Scale and Rotate Scale mode.
  • Page 270 2.3 Other functions of the KeyPlan Open Associated ModelSpace You can open an associated ModelSpace View direct from the KeyPlan by going to File | Open ModelSpace View… File | Open ModelSpace View… File | Open ModelSpace View… File | Open ModelSpace View… Select the ModelSpace View from the dialog box and the ModelSpace will open.

  • Page 271: Module 4.3 - Cyclone Truspace

    Module 4.3 - Cyclone TruSpace Introduction Created from a ScanWorld a TruSpace is like a ModelSpace View of a single ScanWorld. In a TruSpace, you can easily rotate and zoom the view without getting “lost in space”, as the view is constrained to the scanner location.

  • Page 272: Open And View A Truspace

    Table of Contents 1 Open and View a TruSpace ...................... 3 Open a TruSpace......................3 Viewing a TruSpace ......................4 2 Tools and Functions within TruSpace ..................6 Change TruSpace range filter ..................6 Synchronize ModelSpace and TruSpace ................7 Open associated KeyPlan ....................
  • Page 273 1 Open and View a TruSpace In this chapter the opening of a TruSpace from different locations and the representation is explained. 1.1 Open a TruSpace You can only open a TruSpace from a ScanWorld from a single scan position (registered ScanWorld’s are not supported).
  • Page 274 Coordinate System The TruSpace will adopt the coordinate system of the ScanWorld where it was created from and also if opened from a KeyPlan it will adopt the coordinate system from where the KeyPlan was created. If a TruSpace is opened from a ScanWorld, outside of a registration, then the coordinate •...
  • Page 275 Color map There are three icons in the Point Cloud Rendering toolbar to quickly access different color maps. Colors from Scanner HUE intensity map Grayscale intensity map Figure 4 Adaptive Point Width Adaptive point width automatically calculates the correct point width depending on the density of the scan.

  • Page 276: Tools And Functions Within Truspace

    2 Tools and Functions within TruSpace The following chapter will explain some additional functions of a TruSpace. 2.1 Change TruSpace range filter From within a TruSpace a user can jump to another TruSpace. You can set by range which TruSpace icons are visible. 1) Open a TruSpace from a Keyplan with at least two neighbour ScanWorlds.
  • Page 277 2.2 Synchronize ModelSpace and TruSpace From a TruSpace you can open a ModelSpace and have the view synchronized from TruSpace to ModelSpace, but not the other way. Open a TruSpace • From the TruSpace got to menu File | File | •...
  • Page 278 Figure 10 Figure 11 2.3 Open associated KeyPlan If a KeyPlan exists that includes the already opened TruSpace, the KeyPlan can also be opened from inside the TruSpace. Go to File | Open KeyPlan File | Open KeyPlan File | Open KeyPlan File | Open KeyPlan 2.4 Copy modelled Objects into TruSpace A TruSpace can also contain modeled objects.
  • Page 279 Figure 12 Figure 13 2.5 Quick Limit Box The Quick Limit Box in TruSpace takes also effect to the ModelSpace when Synchronizing is enabled. The Limit Box created in TruSpace will create a common Limit Box in the ModelSpace. 1) Go to the toolbar in TruSpace and choose the Quick Limit Box button. 2) Click on an area of interest in the TruSpace and the Limit Box appears in the ModelSpace at the selected position.
  • Page 280 2.6 Measurements Point to Point measurement in TruSpace: 1) Multi-select two points and go to menu Measure | Point to Point Measure | Point to Point Measure | Point to Point Measure | Point to Point 2) The measurements will show up in the TruSpace and can be saved by clicking Measure | Save Measurements Measure | Save Measurements...
  • Page 281 Figure 19 6) The Replace Object in ControlSpace? Replace Object in ControlSpace? Replace Object in ControlSpace? Replace Object in ControlSpace? dialog allows to Replac Replac Replace e e e , Replace All Replac Replace All Replace All Replace All, Skip Skip Skip or Skip Skip...
  • Page 282 Figure 22 Figure 21 3) If the target is valid, fill in the target ID information and click OK. If the target is invalid simply click cancel and the target will be ignored. 4) Continue until all targets are added and / or ignored 5) Click the Display icon in the Find Black/White Targets From Picks Find Black/White Targets From Picks...
  • Page 283 3 Review From a TruSpace you can: • View the pointcloud in the panoramic mode • Change color map • Jump to another TruSpace and change the viewing of neighboring TruSpace Icons • Open an associated KeyPlan Open an associated ModelSpace •...
  • Page 284 Organization/Visualization Pointcloud 14 - 14 Module 4.3 – Cyclone TruSpace...

  • Page 285: Module 5.0 - Cyclone Basic Modelling

    Module 5.0 - Cyclone Basic Modelling Introduction The modelling process in Cyclone, in general, involves creating best fit geometric objects to the point clouds. Cyclone has several types of object fitting functions for the user to choose from depending on the topology of the scanned point clouds. Objectives The objective of this module is to introduce you to a general workflow for modelling point clouds.

  • Page 286: Point Cloud Selection

    1 Point Cloud Selection Efficient modelling of point clouds, involves an understanding of the different ways to select the point clouds or segments of point clouds we want to fit the surfaces to. In this section, we will look at the ways that we can effectively select point clouds or segments of point clouds in order to be able to model them accurately.
  • Page 287 Multi Pick Mode 1) Multi-Pick mode allows the user to pick multiple points/objects in a scene without having to press Shift. 2) In Multi-Pick mode, pick the white dotted point again to deselect this single point. Watch the status bar at the bottom to check your selection (number of objects selected, layers, coordinates, or distances).
  • Page 288 All point clouds within the fence are selected and drawn bright and all outside remain deselected and drawn dim. Note the status bar reads that one point cloud is selected. 3) Now, rotate the viewpoint to a top view. This top view will be advantageous as it will reveal points that are now sub-selected but hard to see from the previous viewpoint.
  • Page 289 Figure 6 The sub-selected points are opened in their own ModelSpace called Copy of ModelSpace 1 (see Figure 6). Notice this new ModelSpace now exists in the Cyclone Navigator as “Copy of ModelSpace1” (see Figure 7). Figure 7 7) Close Copy of ModelSpace 1 by clicking the Windows close button in the upper right corner or by clicking File | Close File | Close File | Close...
  • Page 290 Checking Merge into original ModelSpace will copy all contents of the closing • ModelSpace and paste into the original ModelSpace from which it was launched. • Checking Remove link from original ModelSpace removes any association that the closing ModelSpace was originally launched from its parent ModelSpace. In other words, the Closing ModelSpace Viewer dialog will not be displayed next time this ModelSpace is closed.
  • Page 291 Figure 9 6) Select the segmented point clouds on the façade wall. 7) Click Assign in the Layers tab. Clicking Assign in the Layers tab will assign any selected objects in the ModelSpace to the selected layer. With objects assigned to layers, in this case the segmented point clouds, it is easy to toggle the visibility or select the objects within the Layers tab.

  • Page 292: Fitting And Editing Patches

    2 Fitting and Editing Patches In Cyclone, a patch is a planar object. In this section, we will explore a few ways to model a patch. The methods we will use can be extended into the modelling of other objects as well such as cylinders, spheres, and steel shapes.
  • Page 293 2) Click Create Object | Fit to Cloud | Patch Create Object | Fit to Cloud | Patch Create Object | Fit to Cloud | Patch. Create Object | Fit to Cloud | Patch Figure 11 As seen in Figure 11: A blue patch will be fit to the sub-selected points and will be drawn with dark •...
  • Page 294 2.3 Region Grow Region Grow commands can be used to fit objects to a point cloud without having to first sub- select or segment the points. All that is required is a pick point on the cloud. However, in the following example, we will make a general point cloud sub-selection to limit the region grow.
  • Page 295 • Region Thickness defines a surface thickness outside of which points are excluded from the calculation. • Maximum Gap to Span defines a maximum distance between any two adjacent points included in the fit calculation. Region Size defines the radial distance •...
  • Page 296 Sub-selecting the area where the Region Growing will occur is not mandatory, but beneficial. • • For more on Region Growing, refer to Cyclone’s help files. (Press F1) Figure 15 Figure 15 shows the patch created from the region grow command. The size and the position of the patch is calculated from the white preview points shown when Region Growing.
  • Page 297 Figure 16 4) Without rotating the view, zoom/pan into one of the window panes. It is possible to lock the viewpoint rotation by clicking Viewpoint |View Lock | Viewpoint |View Lock | Viewpoint |View Lock | Viewpoint |View Lock | Rotate.
  • Page 298 Figure 18 7) In the Set Selectable tab of the View Properties dialog, turn back on the visibility of the planar patch object type. 8) Select the planar patch that is now visible, taking care not to move the viewpoint. 9) Click Edit Object | Patch | Subtract From Patch Edit Object | Patch | Subtract From Patch Edit Object | Patch | Subtract From Patch.
  • Page 299 Extrusion Extrusions are created with a specified thickness along a userspecified axis or along the patch’s normal. Now, we will give the patch some thickness by extruding it along its normal to a picked point. 1) Turn on the pickability of point clouds in the Set Selectable dialog (Selection | Set Selection | Set Selection | Set Selection | Set...
  • Page 300 2.5 Colours/Materials The Colour and Material Editor gives the user the ability to change individual objects’ colour and/or material. To change an objects colour: 1) Select a modelled object, such as the extruded patch created in the previous section. 2) Click Edit Object | Appearance | Edit Colour/Material Edit Object | Appearance | Edit Colour/Material Edit Object | Appearance | Edit Colour/Material.

  • Page 301: Fitting Continued

    3 Fitting Continued In a similar fashion as described above, fit other types of objects to the point cloud. 3.1 Cylinders See the area of interest illustrated below in Figure_23. We will model the cylinders supporting the larger pipe. To easily model these smaller radius pipes, we will sub-select the point cloud and launch a copy of the selection to another ModelSpace.
  • Page 302 2) Click File | Launch | Copy Selection To New ModelSpace File | Launch | Copy Selection To New ModelSpace File | Launch | Copy Selection To New ModelSpace. File | Launch | Copy Selection To New ModelSpace Figure 24 3) Pressing Shift, or in multi-pick mode, pick three or four points along the run of the pipe (see Figure 25).
  • Page 303 Region Grow: Cylinder 4) Click Create Object | Region Grow | Cylinder… Create Object | Region Grow | Cylinder… Create Object | Region Grow | Cylinder… Create Object | Region Grow | Cylinder… 5) Click OK in the Region Grow Cylinder dialog. (Refer to the Cyclone Help files for more on region growing) The pipe is fit to the points highlighted in white.
  • Page 304 Cylinder Edits Two or more fit cylinders that represent the same pipe can be merged together by selecting • the cylinders, then clicking Create Object | Merge Create Object | Merge (Figure 27 & Figure 28). Create Object | Merge Create Object | Merge A pipe can be extended to another pipes centerline by using Edit Object | Extend Edit Object | Extend commands...
  • Page 305 3.2 Elbows Elbow objects can be fit similarly to the methods used above. It is easier, however, to create elbows between two modelled cylinders. Once the elbow is inserted the elbow bend ratio can be adjusted, maintaining the run connectivity. The elbow bend ratio can be thought of as the radius of an arc, in that it is the distance from the vertex of an arc to the center line of the elbow.
  • Page 306 Figure 33 3.3 Pipe Run A quick and convenient way to create a pipe run is to use region grow. 1) Approximately sub-select the group of points representing two pipes connected with an elbow (see Figure 34). Note this step is not necessary for region growing a pipe run, though helpful for visualizing.
  • Page 307 2) Pick a point on the first pipe in the run. 3) Multi-pick the other pipes in the run in any order, with one pick per pipe. In this case there will be two picks. Figure 35 4) Click Create Object | Region Grow | Pipe Run…. 5) Click OK in the Region Growing dialog, to create the pipe run.
  • Page 308 The elbow inserted from the pipe run region grow may need adjustment. To adjust the elbow bend ratio of an elbow while maintaining the connectivity to the pipes, use the following method: 1) First, launch the modeled pipe run to its own ModelSpace to better visualize this process by selecting the pipe run objects then clicking File | Launch | Copy Selection to New ModelSpace.
  • Page 309 3.4 Box In this section, we will model a box. A box object has six sides, but can be fit to points that represent at least two sides. 1) Point cloud sub-select the beam that runs at an angle between the two buildings (just above where target 300_upper and 300_lower are set up) Figure 39 2) Click Create Object | Fit to Cloud | Box.
  • Page 310 3.5 Steel Shapes The following types of steel shapes are available for fitting in Cyclone: Angles, Channels, Tees, Rectangular Tubes, and Wide Flanges. Figure 41 In this section we will fit a wide flange to the point clouds representing the legs of the silo structure.
  • Page 311 8) Multi-pick two points on the web. It is important to pick these points in the center, away from the flanges. Also, it is helpful to space them out. (Figure 44) Figure 44 Refer to the Cyclone help files for a description of different methods for fitting steel shapes.
  • Page 312 Figure 45 More methods for fitting steel shapes is documented extensively in the Cyclone’s Help Files Summary Cyclone’s fitting commands allow us to model surfaces to the point cloud. In general, copying selections of points to new ModelSpace Views can ease and improve the modeliing workflow. Data Extraction 28 - 32 Module 5.0 -...

  • Page 313: Further Editing

    4 Further Editing 4.1 Handle Functionality All object types in Cyclone can be translated, resized, and rotated using their handles. Handles are colour-coded to indicate the type of handle behaviour. Handle Colour Key • Red = rotate • Orange = resize, translate, snap •...
  • Page 314 Translating To translate an entire object via its handles, drag one of the object’s blue handles, or press and hold Ctrl and then drag one of the object’s orange handles. Figure 47 Resize To resize an object using its handles, drag one of the object’s orange handles. Rotate To rotate an object using its handles, drag one of the object’s red handles.
  • Page 315 4.2 Moving / Rotating Objects Besides using an object’s handles, the Move/Rotate dialog is another means to move or rotate objects. For example, to move an object five meters in the X direction: 1) Select the object to be moved. 2) Click Edit Object | Move/Rotate…...
  • Page 316 Figure 50 8) In the Move/Rotate dialog, click Move to move the selected object(s) 5 meters in the X direction. Clicking Create Object | Copy… Create Object | Copy… results in a similar dialog to the Move/Rotate Create Object | Copy… Create Object | Copy…...

  • Page 317: Module 5.1 - Measurements

    Module 5.1 - Measurements Introduction The objective of this training module is to become familiar with measuring tools in Cyclone through the use of an exercise using a registered set of scans of an intersection and park area. For your convenience certain elements of the intersection and park area have already been modeled.

  • Page 318: Measurements

    1 Measurements ModelSpace view In the database Bishop Drive – San Ramon, open the under ScanWorld Registration 1 by double clicking on the icon or the words – Intersection View 1. Figure 1 The ModelSpace will be opened. Open the View Properties dialog choosing View | Lay View | Layers ers.
  • Page 319 Figure 2 Looking in the Layers tab Layers tab, check the visibility box for the layer “Intersection” and “Park area” • Layers tab Layers tab to display the objects on that layer. Pre-modeled objects should now be turned on along with the scans. At this point, turning off the visibility of the point cloud would be ideal to clearly see the modeled objects on the “Intersection”...

  • Page 320: Obtaining Measurements

    2 Obtaining Measurements There are several different ways to obtain and record measurements in Cyclone. First let’s have look at obtaining a point-to-point distance. Try finding the width of the street. Zoom into one of the modeled streets to a view like the one in the image below.

  • Page 321: Edit And Save Measurements

    3 Edit and Save Measurements Save the measurement to the database by: Selecting Tools | Measure | Tools | Measure | Edit Measure Edit Measurements ments • Tools | Measure | Tools | Measure | Edit Measure Edit Measure ments ments Pressing the “Toggle save measurements”...
  • Page 322 3.2 Point to Unbounded Surface To get the distance from the street to the building: • Pick a point on the line. Multiselect a second point on the surface of one box. • Take care to select a point on a face in the direction of the street. •...
  • Page 323 Try making more types of measurements, such as the angle between the pole and the baseline, the distance of the free throw or three-point line to the hoop, and the height of the rim from the ground (elevation). Allow these measurements to continue saving in the Measurements dialog.

  • Page 324: Copying Measurements

    4 Copying Measurements 4.1 Copying Measurements with the Measurements dialog When finished making measurements you can copy all measurements to any kind of text editor. This method can be a fast way to record the dimensions saved in the measurement dialog: •...

  • Page 325: Module 5.2 - Mesh Functions

    Module 5.2 - Mesh Functions Introduction A mesh is a series of triangles created using the points in a point cloud, vertices, polylines or any combinations of the three as vertices. For each adjacent trio of points in a cloud, a triangle is created.

  • Page 326: Mesh Creation And Editing

    Table of Contents 1 Mesh Creation and Editing ....................... 3 Create a TIN Mesh......................3 Mesh Editing/ Cleaning ....................5 Verify TIN ........................8 2 Creating Deliverables from Meshes ..................9 Measuring Volumes ......................9 Measure Surface Deviation................... 14 Contour Lines....................... 16 3 Enhanced TIN Mesh Creation and Editing ................
  • Page 327 1 Mesh Creation and Editing Cyclone knows three different kinds of meshes. Basic Meshing Basic Mes hing creates a basic mesh consisting of triangles drawn by using trios of adjacent Basic Mes Basic Mes hing hing points as triangle vertices. Complex Mesh Complex Meshing Complex Mesh...
  • Page 328 After the computation the mesh looks blue, hit SPACE BAR or ESC key and it will appear in its intensity colour. Figure 2 Data Extraction 4 - 28 Module 5.2 - Mesh...
  • Page 329 1.2 Mesh Editing/ Cleaning In order to clean the mesh and to get better results in the following applications remove some of the spikes from the mesh. For a better overview first copy the mesh to a temporary ModelSpace. • Select the mesh.
  • Page 330 • Define a fence around the incorrect triangles via Edit | Modes | Polygonal Fence Mode Edit | Modes | Polygonal Fence Mode Edit | Modes | Polygonal Fence Mode Edit | Modes | Polygonal Fence Mode. Select them via Selection | Select Fenced Selection | Select Fenced Selection | Select Fenced Selection | Select Fenced.
  • Page 331 • Click on the X X X X in the upper right corner of the window you are working in or go to File | | | | Close File Close. File File Close Close • The Window in Figure 7 appears. Choose the options “Merge into original ModelSpace”...
  • Page 332 1.3 Verify TIN TIN is a mesh in which there are no vertically overlapping faces. But during editing of a TIN mesh it can happen that the resulting mesh no longer conforms to this rule. Cyclone provides a tool to verify if the selected mesh still conforms to the definition of a Triangulated Irregular Network (TIN).

  • Page 333: Creating Deliverables From Meshes

    2 Creating Deliverables from Meshes Meshes can be used as a basis for further deliverables. The following will look at deriving volume and surface deviation measurements as well as creating contour lines based on TIN meshes. 2.1 Measuring Volumes Volumes can be calculated between a mesh and a reference surface or between two meshes. The workflow below describes the process of establishing a volume between the created TIN mesh and a flat surface (called reference plane) which first has to be positioned accurately.
  • Page 334 • This will measure the Highest Point within a default area of 0.5m on the selected Object. Increase this number, either by using the slider or if the slider is not enough, increase it manually, until the pink “Indication Zone” reaches the edge as shown in Figure 11. After finding the Highest Point confirm it by pressing the “Pick Point Pick Point”...
  • Page 335 • Ensure the plane is orientated to the local UCS by executing Tools | Reference Plane | Tools | Reference Plane | Tools | Reference Plane | Tools | Reference Plane | Set to UCS. Set to UCS. Set to UCS. Set to UCS.
  • Page 336 Figure 14 Data Extraction 12 - 28 Module 5.2 - Mesh...
  • Page 337 TIN Volume A TIN volume is calculated either above or below a reference plane or directly between two meshes according to the prismoidal method. This can only be calculated based on TIN meshes. Select the mesh. • Go to Tools Tools | | | | Measure Measure | | | | TIN Volume TIN Volume...
  • Page 338 Figure 16 2.2 Measure Surface Deviation The surface deviation tool measures the elevation differences between the existing (TIN mesh) and proposed surfaces (TIN mesh or Reference Plane). This can be useful for excavation and grading projects to establish where a surface needs to be cut (excavated) or filled to achieve the target surface grade.
  • Page 339 Select the mesh. • Go to Tools Tools | | | | M M M Measure easure | | | | Surface Deviation Surface Deviation • Tools Tools easure easure Surface Deviation Surface Deviation Checkmark all output options and change •...
  • Page 340 2.3 Contour Lines Create Contour Lines Contour lines can be created from any mesh object but are best created from TIN meshes due to their watertight properties. • Select the mesh. • Go to Tools Tools Tools Tools | | | | Contours Contours Contours Contours | | | | Create...
  • Page 341 Figure 20 Decimate Contour Lines This command is used to reduce the number of triangles in a selected contour line. This can be useful when export to another CAD package is required. When Cyclone reduces the number of vertices, it does so with a mandate of minimizing the deviation from the originating mesh.

  • Page 342: Enhanced Tin Mesh Creation And Editing

    • Select all contour lines to be reduced. (Selection | Set Selectable Selection | Set Selectable Selection | Set Selectable select Contours Selection | Set Selectable Contours Contours Contours) Go to Tools Tools Tools Tools | | | | Contours Contours Contours Contours | | | | Decimate...
  • Page 343 Figure 22 as seen • Using the Multi-Pick Mode select a series of points at the top of the curb of the road Figure 22 • Convert points into a polyline using Create Object | From Picked Points | Polyline Create Object | From Picked Points | Polyline Create Object | From Picked Points | Polyline.
  • Page 344 Figure 23 As an alternative the Create Object | Fit Create Object | Fit Create Object | Fit Create Object | Fit Edge tool can be used to create the curb break lines. 3.2 Creating a TIN Mesh from points and polylines A TIN mesh can be created from point clouds as well as vertices, lines and polylines.
  • Page 345 Figure 24 3.3 Including additional Breaklines Additional breaklines can also be incorporated into a TIN mesh after its creation. There are two options which will both be applied on the bottom curb. Extend the TIN to Polyline Extend the TIN to Polyline - This command re-shapes a mesh object to include the vertices Extend the TIN to Polyline Extend the TIN to Polyline contained in a selected polyline...
  • Page 346 Figure 25 • Select the polyline at the bottom of the curb (Figure 25). Execute Tools | Mesh | Breaklines | Project Tools | Mesh | Breaklines | Project Tools | Mesh | Breaklines | Project Tools | Mesh | Breaklines | Project •...
  • Page 347 • Press Edit Press Edit Press Edit Press Edit | | | | Undo Undo Undo Undo and now execute Too Tools | ls | ls | ls | Mesh | Breaklines | Extend TIN to Polyline. Mesh | Breaklines | Extend TIN to Polyline. Mesh | Breaklines | Extend TIN to Polyline.
  • Page 348 Figure 28 Go to Tools | Mesh | Decimate Mesh. Tools | Mesh | Decimate Mesh. • Tools | Mesh | Decimate Mesh. Tools | Mesh | Decimate Mesh. Press the Decimate button maintaining all other default settings • The mesh will now be reduced down to 10% of its original triangles whilst maintaining both boundary edges and breaklines (Figure 29).
  • Page 349 Figure 29 • Continue to reduce the number of triangles down to 1% using the interactive slider. (Ensure “Auto-Preview” is checked) Ignore Experience the effects when boundary edges and breaklines are set • In the end, decimate the mesh to 1% of the original, maintaining the boundary edges and •...
  • Page 350 Figure 30 Data Extraction 26 - 28 Module 5.2 - Mesh...

  • Page 351: Creating A Uniform Sample Grid Pattern

    4 Creating a Uniform Sample Grid Pattern Cyclone creates irregular triangulations. This means the triangles are not uniform in shape and size. Some processing packages however require regular triangulations. Therefore Cyclone offers the opportunity to create uniform grid pattern deliverables based on TIN meshings.
  • Page 352 • Place the new regular mesh onto a new layer and then switch off the original one on layer Default to view this one only (Figure 32). Figure 32 Notice how the orientation of the triangles is slightly slanted. This is due to the pattern being derived from the active reference Plane which in this case is based on the current coordinate system.

  • Page 353: Module 5.3 - Alignments & Sections

    Module 5.3 - Alignments & Sections Introduction Cyclone has specific tools for creating sections along an alignment, which in most cases is along a roadway or tunnel. An existing alignment can be imported or created within Cyclone, along which stations can be created at user specified intervals. Further, sections of point clouds can then be referenced relative to the established stations.
  • Page 354 Table of Contents 1 Getting Started........................3 Load the Database......................3 Unify point Clouds......................3 Copy the Modelspace ..................... 4 Delete Unneeded Points ....................5 2 Remove Car Noise ........................7 Region Grow, Smooth Surface..................7 3 Create an Alignment ......................11 Import Alignment ......................
  • Page 355 1 Getting Started 1.1 Load the Database ImolaBridge.imp Locate the database named and configure it to the Cyclone Navigator: 1) Launch Cyclone. 2) In the Navigator, click Configure | Databases. Configure Databases 3) In the dialog, click Add… Add Database 4) In the dialog, click the browse button to be able to browse to the database...
  • Page 356 3) In the Unify Clouds dialog, click Unify. Figure 3 Unify Clouds: Referenced 4) Click Yes in the Point Clouds dialog to begin the unification process. Figure 4 1.3 Copy the Modelspace Throughout the course of this module, work in a designated ModelSpace. Perform a simple copy and paste of the existing unified ModelSpace, and then rename it to something specific and recognizable.
  • Page 357 1.4 Delete Unneeded Points In this module, we will work primarily with the scanned points representing the road surface and pedestrian pathways. Delete any points that are not needed for this module. Alignment and Sections View 1) Open 2) In a top view, make a fence approximately encompassing scanned road surface. (Figure 6) Figure 6 3) Click Edit | Fence | Delete Outside.
  • Page 358 Figure 7 4) Rotate to a left or right view and draw a fence encompassing the roadway and pedestrian walkway. It may be easiest to do this in orthogonal projection mode. Figure 8 5) Click Edit | Fence | Delete Outside . 6 - 18 Module 5.3 –...

  • Page 359: Remove Car Noise

    6) Use the same methods to arrive at a portion of roadway that looks like Figure 9. Use the targets locations as approximate visual guidelines. Figure 9 2 Remove Car Noise 2.1 Region Grow, Smooth Surface The scan data shows points on the road where a car passed in front of the laser. We will use Create Object | Region Grow | Smooth Surface to segment the car noise from a sub-selected group of points.
  • Page 360 Figure 10 Multi-pick 2) In mode, pick a point on the flat region of the roadway. 3) Create Object | Region Grow | Smooth Surface… When finished running the calculation, the point clouds that will be segmented will be drawn Region Grow Smooth Surface white, and the dialog will look like Figure 11 below.
  • Page 361 If needed, use the sliders to adjust the smooth surface parameters: Region Thickness defines a surface thickness • outside of which points are excluded from the calculation. Maximum Gap to Span defines a maximum • distance between any two adjacent points included in the fit calculation.
  • Page 362 5) Select the point cloud of the car noise and click Edit | Delete. 6) Perform a Region Grow Smooth Surface on the pedestrian walkways to segment the hand rails, signage, and noise from the walkway. Hint: Use point cloud sub-selection techniques similar to the steps above to run the region grow on select groups of points.

  • Page 363: Create An Alignment

    3 Create an Alignment An alignment is a geometric path that consists of the bearings, distance, and orientation of the road design with respect to the designated coordinate system. It includes the transition points from straight to curved, intersections of curves, angles representing the curve, radii for curves, and other pertinent design criteria.
  • Page 364 3) Browse to the Alignment.coe file, highlight it, and then click Open. A ModelSpace and Alignments and ModelSpace View named Sections are created. Figure 17 4) Open the Alignments and Sections ModelSpace View. 5) Click Selection | Select All. 6) Click Edit | Copy. 7) Close the Alignments and Sections ModelSpace View.
  • Page 365 Figure 19 3.2 Create Alignment Assign the four imported arcs as the alignment object. 1) Multi-select the two arc objects. 2) Click Tools | Alignment and Section | Create Alignment… Create Alignment 3) Click OK in the dialog to accept the default start station value at 0.000.

  • Page 366: Create Sections

    Figure 21 • If the start station is assigned to the wrong end, click Tools |Alignment and Section | Switch Alignment Start/End. • When multiple objects are selected, such as this case, the objects must be geometrically connected in a single unbroken sequence. The object picked last provides the end-point at which the starting station is assigned.

  • Page 367: Sections Manager

    Create sections along the alignment object: 1) Select the alignment created in the previous section. 2) Click Tools | Alignment and Sections | Create Sections… Check Horizontal Alignment Arc Create Sections 3) Click Yes in the dialog. The dialog opens. The Create Sections dialog contains fields in which to enter appropriate criteria for creating sections.
  • Page 368 Figure 24 2) Select the yellow limit box first to see the orange handles. Adjust the limits of the section by clicking and dragging the orange handles on the limit box (yellow) to include the whole portion of the roadway. When finished, the result may look something like Figure 25 Figure 25 16 - 18 Module 5.3 –...
  • Page 369 3) In the Sections Manager, copy the Left, Right, Top, and Bottom values of the adjusted section to the rest of the sections. Adjust the value for a whole column by selecting the first in a column, then Shift select the last in the column. Click again in the last of the column and enter the desired value for the column then press Enter.
  • Page 370 Sections Manager 7) Select all sections listed in the , then click Section | Collect Points in Section. Collect Points in Section is used to segment the points that fall within the • extents of the selected section’s limit box. Figure 27 6 Review •...

  • Page 371: Module 6.0 - Export / Import

    Module 6.0 - Export / Import Introduction Cyclone provides different ways to export information from within Cyclone in picture, ASCII, Binary and CAD format. There is also a COE exchange format between Autodesk AutoCAD and Bentley MicroStation. Objectives The objective of this training module is to learn how to export and import data in various formats.

  • Page 372: Image Export

    1 Image Export Cyclone provides the option to take snapshots of ModelSpace Scenes or create Ortho Images of desired areas. 1.1 Snapshot The Snapshot function of Cyclone provides the option to take snapshots of ModelSpace Scenes and then exporting them as various picture formats. The tool bars will not be included in the snapshot but the actual model area.

  • Page 373: Export

    1.2 Ortho Image Ortho images can be exported from Cyclone as GeoTIFF files accompanied by TWF and TFW parameter files. Ortho images can be exported from the ModelSpace window. Figure 3 To export an ortho image: 1) Using orthographic projection, set the viewpoint in the ModelSpace viewer. This viewpoint will be used for the ortho image.

  • Page 374: Import

    2 Export The Export menu is activated in Cyclone Navigator window File | Export File | Export File | Export File | Export when a ModelSpace or a ModelSpace View is selected. From inside the ModelSpace View following export formats are available: Figure 4 The export from a ModelSpace View also provides the Intergraph SDNF.
  • Page 375 2.1 Export a point cloud as ASCII File Format (*.txt) When the “Text – All ASCII Files” format is selected from the file export format list and the Point Cloud Export Options Export: ASCII File export options are set to in the dialog the following Format...
  • Page 376 2.2 Export Objects as DXF File Format (*.dxf) Following figure is showing the Model from Figure 1 exported as AutoCAD DXF R12 Format and opened with AutoCAD 2010. Figure 7 There are two different dxf-Formats available - the common AutoCAD DXF R12 Format and the AutoCAD 2D DXF R12 Format.
  • Page 377 FLS is a single scan Faro *.fls, *.fws Registration FWS is a registration One text file with list of Registration with one scan Leica *.ptg binary data files (binary) or multiple scans (ASCII) Leica *.ptz, *sc2 One file with one scan...
  • Page 378 Import an ASCII file as a point cloud If you are in the Navigator window, select the Database, Project, ScanWorld, or ModelSpace into which you want to import the file. Select File | Import... File | Import... (for both the Navigator and ModelSpace windows). File | Import...
  • Page 379 If you have pre-defined ASCII file formats available, select the desired format from the Format pull-down list and click Import Import Import Import. Predefined formats can also be imported / exported as *.afr file. Select either Fixed Width or Delimited display as appropriate. If you select Delimited, you are offered a variety of delimiter options.
  • Page 380 Figure 11 Import When the button is clicked and the import is done the newly created ScanWorld contains the ModelSpace with geo referenced data. Figure 12 Data Export 10 - 12 Module 6.0 - Export / Import...

  • Page 381: Coe – Cyclone Object Exchange

    4 COE – Cyclone Object Exchange Quickstart Open the ModelSpace from Database , from which also the Screenshot in Section 1 was created. Go to Files | Export Files | Export and the Export to File dialogue appears. Files | Export Files | Export COE format Identify a location for the file, name the file to be created, then select...

  • Page 382: Export Pce Application Files

    ModelSpace View as a point cloud data file for use in pcE applications. Figure 14 pcE applications are: Cyclone II Topo • Leica ForensicMAP Pro • • Point CloudCAD For Cyclone II TOPO, a Cyclone II TOPO Work File will be created.

  • Page 383: Module 6.1 - Animation

    Module 6.1 - Animation Introduction In this lesson you will produce an animated flythrough of a ModelSpace. Animated flythroughs provide a powerful presentation tool by creating a movie along a user specified path. Objectives The objectives of this training module will be learning how to: Understand how to create a path through a ModelSpace for the animation •...

  • Page 384: Defining An Animation Path

    1 Defining an Animation Path In the flythrough, the camera runs along a user-defined path, orienting itself to face the direction that the user defines. The path is defined by a spline curve to provide a smooth transition from one position to another. The spline will pass through keyframes on the path, transitioning smoothly between different viewpoints.
  • Page 385 1.2 Assemble the path Multi-select the cameras in the order in which the viewpoints will be used during the flythrough, then execute Tools | Animation | Create Path Tools | Animation | Create Path Tools | Animation | Create Path Tools | Animation | Create Path to create the spline curve.

  • Page 386: Editing The Path

    1.3 Set the animation path If the cameras and path are all still selected from step 2, select Tools | Tools | Animation | Set Path Animation | Set Path. Tools | Tools | Animation | Set Path Animation | Set Path The cameras and spline are now marked as the animation path.
  • Page 387 In the Number of Frames between Keyframes, enter the number of frames you want in the animation and then click the Set Set button. Try 500. Figure 4 The keyframes are originally taken from each vertex in the spline used to set the path, but can be changed as done in step 2.

  • Page 388: Preview The Animation

    4 Preview the Animation In the previous step, the top half of the Animation Editor was used to set the number of frames in the animation. Now, use the bottom half of the Animation Editor to preview the animation. 1) Go to a frame number 1. By default, the number 1 is already inserted in the field under Frame Number.

  • Page 389: Generating The Frames

    5 Generating the Frames With the animation path and the number of frames along the path set, it is time to generate a sequence of frames. 1) Select Tools | Animation | Animate Tools | Animation | Animate to invoke the Animation Settings dialogue. Tools | Animation | Animate Tools | Animation | Animate 2) Adjust the resolution of the frames...
  • Page 390 Figure 9 Data Export 8 - 8 Module 6.1 - Animation...
  • Page 391 Precision, value, and service from Leica Geosystems. When it has to be right. Leica Geosystems HDS, LLC is widely recognized as the industry leader in terms of size, market share, product breadth and depth, and customer base. The division has representatives and customers in more than 40 countries.

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