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Think 3D STORMBEE Software User Manual

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STORMBEE
Software User Manual
Think 3D BVBA
30/09/2018

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  • Page 1 STORMBEE Software User Manual Think 3D BVBA 30/09/2018...
  • Page 2 STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 PAGE INTENTIONALLY LEFT BLANK...

  • Page 3: Version Control

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Version control Author Date Version Comments/Adaptations Jon Verbeke 26/04/2018 Initial version Jon Verbeke 30/09/2018 Updated to S20 production model...
  • Page 4 STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 PAGE INTENTIONALLY LEFT BLANK...

  • Page 5: Table Of Contents

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Table of Contents Version control ............................iii List of figures ............................vii List of tables ............................xi Symbols and abbreviations ........................xiii Introduction ............................. 1 System requirements ......................1 General workflow postprocessing ...................
  • Page 6 STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Visualisation postprocessed point cloud ................57 5.2.1 Import data files ......................57 5.2.2 Verify accuracy results ....................59 Examples post-processed data ....................68 STORMBEE and FARO scanner calibration procedure..............71...

  • Page 7: List Of Figures

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 List of figures Figure 1.1 STORMBEE post-processing software workflow ..............2 Figure 2.1 Remove SD-card from FARO scanner ..................3 Figure 2.2 Insert SD-card into computer ....................4 Figure 2.3 FARO scanner data *.fls folder structure ................
  • Page 8 STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 3.28 Applanix data base stations import list ................28 Figure 3.29 Applanix set SmartBase control station ................29 Figure 3.30 Applanix GNSS-inertial processor processing SmartBase ..........30 Figure 3.31 Applanix SmartBase website ....................
  • Page 9 Figure 5.21 3D model based on final post-processed point cloud data ..........68 Figure 5.22 2D drawing based on final post-processed point cloud data ..........69 Figure 6.1 STORMBEE hastag (#) calibration flight path example ............71 Figure 6.2 Folder containing all files required by BEEFLEX ..............72 Figure 6.3 FARO scanner calibration "config.ini"...
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  • Page 11: List Of Tables

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 List of tables...
  • Page 12 STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 PAGE INTENTIONALLY LEFT BLANK...

  • Page 13: Symbols And Abbreviations

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Symbols and abbreviations GNSS Global Navigation Satellite System Global Positioning System Inertial Measurement Unit Random-Access Memory xiii...
  • Page 14 STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 PAGE INTENTIONALLY LEFT BLANK...

  • Page 15: Introduction

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 1 Introduction 1.1 System requirements We recommend a performant laptop/desktop to perform all processing with as visualising the point clouds and processing all data is very demanding on the processor and graphical card and requires a lot of RAM.

  • Page 16: Figure 1.1 Stormbee Post-Processing Software Workflow

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 1.1 STORMBEE post-processing software workflow...

  • Page 17: Extracting Data From Faro Scanner And Gnss Module

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 2 Extracting data from FARO scanner and GNSS module 2.1 Extracting data from FARO scanner 2.1.1 Extraction 1. Ensure that the FARO scanner is powered off. 2. Remove the SD card of the FARO scanner. Please refer to the manual of your specific FARO scanner on how to do this.

  • Page 18: Format

    Figure 2.2 Insert SD-card into computer 2.1.2 Format The FARO scanner data is stored within a folder named “***.fls”. It should contain several files and subfolders. Each “*.fls” folder represents a single STORMBEE flight (Figure 2.3). Figure 2.3 FARO scanner data *.fls folder structure...

  • Page 19: Extracting Data From Gnss Module

    Data retrieval uses FileZilla Client Basic (or equivalent) software. Please download and install program from https://filezilla-project.org/. 1. Connect battery (1 is sufficient) Figure 2.4 Data extraction: connect battery 2. On the STORMBEE, power on the GNSS avionics (and FARO Focus scanner) by pressing the large button with the power symbol on it.

  • Page 20: Figure 2.5 Data Extraction: Turn On Gnss Avionics And Connect Ethernet Cable

    "Properties". You should now see the IP and DNS properties window. Here is where you need to set the manual IP address to be able to connect with STORMBEE. Usually this will be set to "apply automatic IP and DNS addresses". If it is filled in with other values or you use an ethernet cable for internet then you should remember to revert the following changes afterwards.

  • Page 21: Figure 2.7 Ethernet Settings 2

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 2.7 Ethernet settings 2 Figure 2.8 Ethernet settings 3...

  • Page 22: Figure 2.9 Filezilla Open Site Manager

    7. If you have already performed this step once, you can skip this step. For first use, you need to add the STORMBEE as a new “site”. If you have set this before, skip to step 7. Press “New Site”, change its name to STORMBEE by simply clicking on the text and fill in the following settings: Host: 192.168.53.100...

  • Page 23: Figure 2.11 Filezilla Connect To Stormbee

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 8. Connect to STORMBEE using the dropdown menu of the upper left icon and choose “STORMBEE”. FileZilla will connect to STORMBEE and show the file structure in the right-hand window.

  • Page 24: Figure 2.13 Filezilla File Transfer Progress

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 2.13 FileZilla file transfer progress 10. If all went well, the text window at the top will display: “File transfer successful”. Figure 2.14 FileZilla file transfer succesful 11.

  • Page 25: Applanix Pospac Uav

    3.1 Installation POSPac UAV POSPac UAV is differential GNSS-aided inertial post-processing software for georeferencing STORMBEE’s flight trajectory. It corrects STORMBEE’s flight trajectory, measured on-board by APX20 equipped with IMU and GPS antenna. It uses GPS satellite ephemeris (trajectory) and GPS base station data to achieve robust, centimetre level position and orientation information worldwide.

  • Page 26: Importing Gps Trajectories

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.2 Importing GPS trajectories The following files are required in order to process a trajectory in Applanix POSPac. ➢ Raw STORMBEE Applanix GNSS data files (Stormbee1_APX20.***), ➢ Satellite ephemeris files (supplied by POSPac UAV databases), ➢...

  • Page 27: Figure 3.3 Applanix License Activation Step 2

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 3.3 Applanix license activation step 2 3. In POSPac ribbon at the top, select “Project” → “New Default Project” (Figure 3.4). Figure 3.4 Applanix new default project 4.

  • Page 28: Figure 3.5 Importing Gnss Data Files From Pospac Ribbon

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 5. Import the raw STORMBEE GNSS data files into your project (Stormbee1_APX20.***). To import these files either “drag and drop” the files from Windows Explorer into the working window or use the import tool from the POSPac ribbon shown in Figure 3.5.

  • Page 29: Figure 3.7 Applanix Gnss Data Import Progress Window 2

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 3.7 Applanix GNSS data import progress window 2 7. Once imported, POSPac will ask you to set the antenna for the system in use (Figure 3.8). Please set “Type”...

  • Page 30: Figure 3.9 Applanix Trajectory With Zoomed View Of Orange Event Triangles

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 3.9 Applanix trajectory with zoomed view of orange event triangles Figure 3.10 Applanix import failure error message Figure 3.11 Applanix IMU data continuity check error message...

  • Page 31: Processing Raw Gnss Data To Refined Gnss Data

    APX20 which has an IMU combined with a single GPS to be more compact. To measure its initial heading, STORMBEE first has to fly a few seconds (and several meters forward) to allow the GPS position measurements of that time period to be used to estimate an initial heading (Figure 3.12). The default should be set to “Initialize from GNSS track heading”.

  • Page 32: Single Base Processing

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.3.1 Single base processing This is the default processing method when the distance between mission location and reference base station is below 50km. If the distance in-between is higher than 50km, using SmartBase (requires subscription) or own local base station might be a better choice depending on your accuracy needs.

  • Page 33: Figure 3.16 Applanix Data Base Import High-Rate Data Sites

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3. A new window will open. Please activate high-rate data base stations through search options (Figure 3.16). It is best to search within 50km of your mission location to achieve the highest accuracy.

  • Page 34: Figure 3.17 Applanix Data Base Import Single Base

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 3.17 Applanix data base import single base 5. The window will now list all possible base stations (Figure 3.18). The “Smart Select” command will choose the closest one to your mission site and download its data. Optionally, you could select another desired base station and press “Download and Import”...

  • Page 35: Figure 3.18 Applanix Data Base Stations Import List

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 3.18 Applanix data base stations import list 6. Once “Close” has been selected, the main window will have zoomed out and show your base station’s location with respect to your mission trajectory (Figure 3.19). Simply zoom into your mission area to see your trajectory in more detail.

  • Page 36: Figure 3.20 Applanix Set Single Base Station

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 7. You now need to explicitly set that base station as the base station for your mission. You need to activate the “Project Explorer” window on the left-hand side if it is not active already through the ribbon and the “View”...

  • Page 37: Figure 3.21 Applanix Single Base Station Data Quality Analysis

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Note: if the fixed solution percentage is below 70%, you should further investigate why this is. Please refer to section 3.3.4 “Quality control” for further instructions. Figure 3.21 Applanix single base station data quality analysis 9.

  • Page 38: Figure 3.23 Applanix Gnss-Inertial Processing Completed

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 3.23 Applanix GNSS-Inertial processing completed 10. Please go to sections 3.3.4 and 3.3.5 for quality control and data export.

  • Page 39: Smartbase Processing

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.3.2 SmartBase processing “For land-based applications a significant productivity improvement in Real-Time Kinematic (RTK) positioning has been achieved using the concept of a “Virtual Reference Station” or VRS. Here observables from a dedicated network of GNSS reference stations are processed to compute the atmospheric and other errors within the network.

  • Page 40: Figure 3.24 Applanix Gnss-Inertial Processor Smartbase

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.3.2.1 Automated SmartBase processing 1. Select “IN-Fusion SmartBase” from the dropdown menu and then click “Run” (Figure 3.24). Figure 3.24 Applanix GNSS-Inertial processor SmartBase 2. A new window will open (Figure 3.25). Select “Search the Internet for base stations”.

  • Page 41: Figure 3.26 Applanix Data Base Import High-Rate Data Sites

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3. A new window will open. Please activate high-rate data base stations through search options (Figure 3.26). It is best to search within 50km of your mission location to achieve the highest accuracy.

  • Page 42: Figure 3.28 Applanix Data Base Stations Import List

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Note: Make sure your country/region and language settings for notations of numbers are set correctly. Decimals should be dot (.) and grouping per thousand should be comma (,). Otherwise you will get an error when the base station data import window opens and you will not see a list of base stations.

  • Page 43: Figure 3.29 Applanix Set Smartbase Control Station

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 7. You now need to explicitly set one of the base station which you believe is most accurate as the control station for your mission. You need to activate the “Project Explorer” window on the left- hand side if it is not active already through the ribbon and the “View”...

  • Page 44: Figure 3.30 Applanix Gnss-Inertial Processor Processing Smartbase

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 9. Please go to sections 3.3.4 and 3.3.5 for quality control and data export. Figure 3.30 Applanix GNSS-inertial processor processing SmartBase 3.3.2.2 Manual SmartBase processing This is the free option, but you have to register yourself. Please note that the GNSS correction data of a VRS close by your mission location is not available until 48h after you finished your mission.

  • Page 45: Figure 3.32 Applanix Smartbase Login And Register For Free

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 2. If you have not registered a Trimble account, click on "Try it Free" and create your own account. Once you have an account, you can click on "Log In" (Figure 3.32).

  • Page 46: Figure 3.34 Applanix Smartbase Search Mission Location

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 4. Search you mission location in the upper right box (Figure 3.34 and Figure 3.35). Figure 3.34 Applanix SmartBase search mission location Figure 3.35 Applanix SmartBase mission location...

  • Page 47: Figure 3.36 Applanix Smartbase Mission Location Marker

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 5. Zoom in on your mission area and draw a marker in the middle of it. This will open a small window where you can press "Preview SmartBase" (Figure 3.36 and Figure 3.37).

  • Page 48: Figure 3.38 Applanix Smartbase Vrs Info

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 6. The SmartBase website will create a Virtual Reference Station (VRS) at the location of the marker using multiple (physical) base stations. It will provide you with an indication of the quality of the VRS data ranging from fail (very bad) to Excellent (very good).

  • Page 49: Own Base Station Processing

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 8. Unpack the *.zip file containing your VRS data (Figure 3.40). Figure 3.40 Applanix SmartBase VRS data (full) 9. Select and drag the relevant files from your Windows Explorer window into your POSPac trajectory view screen (Figure 3.41).

  • Page 50: Quality Control

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.3.4 Quality control 3.3.4.1 Quality control diagnostic report To verify the quality of the recorded flight and base station data, you can generate a report (PDF) which shows all quality control parameters and figures in a single document or you can use “Display Plots”...

  • Page 51: Figure 3.43 Applanix Quality Control Display Plots Overview

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 To investigate the quality control figures individually through the POSPac UAV interface go to the “Reports” ribbon and click on “Display Plots” (Figure 3.43). There are a number of possible graphs to view.

  • Page 52: Figure 3.44 Applanix Quality Control Display Plot Rmse

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.3.4.2 Position error (RMSE) Quality check: mandatory The overall accuracy for the trajectory is shown by the position error (Root-Mean-Square Error, RMSE) graph (Figure 3.44). In this instance, three graphs are shown together as seen on the left hand side. It is common that the result for the North and East error will be very similar and more accurate than the Down error.

  • Page 53: Figure 3.45 Applanix Quality Control Display Plot Number Of Satellites

    An error in these values will cause the final calculated trajectory to be offset by the lever arm error amount. This value was measured by Think3D – STORMBEE and is automatically saved into the Applanix raw trajectory log file. An example of these lever arm errors is shown in Figure 3.46.

  • Page 54: Figure 3.46 Applanix Quality Lever Arm Settings

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 3.46 Applanix quality lever arm settings Figure 3.47 Applanix quality control display plot PDOP...

  • Page 55: Figure 3.48 Applanix Quality Control Display Plot Cycle Slips

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.3.4.6 Cycle Slips Quality check: optional Constant lock onto the satellites is required. Buildings and other obstacles, as well as high roll values or quick directional changes can cause the system to lose lock. Checking the L1 and L2 signal lock graphs gives a good illustration of how consistent the calculated trajectory will be.

  • Page 56: Data Export

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.3.5 Data export In order to produce a refined final point cloud using the BEEFLEX software, two files are required from the POSPac process. Firstly, the LiDAR event data and secondly, the post-processed trajectory data.

  • Page 57: Figure 3.50 Applanix Export Trajectory Data (For Beeflex Processing) Step 1

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.3.5.2 Trajectory data Unlike the LiDAR event data, the post-processed trajectory data is not automatically exported in the required format. To export the trajectory data go to the “Tools” ribbon and click on “Export”. A new window will open where you can specify the directory in which to save the trajectory data.

  • Page 58: Troubleshooting

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.4 Troubleshooting If you encounter a problem and can’t find a solution within this manual, please contact Think3D- STORMBEE or your authorised reseller. You can also find the user manuals of Applanix POSPac UAV in its installation directory on your laptop: C:\Program Files\Applanix\POSPac UAV 8.3\Manuals...

  • Page 59: Checking Message Logs For Errors After Import

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 3.54 Applanix import error split files 3.4.2 Checking message logs for errors after import You can check the message logs of the imported flight data trajectory for the presence of any errors (Figure 3.55).

  • Page 60: Figure 3.57 Applanix Message Log Imu Data Continuity Checking (Step 1)

    IMU scan (Figure 3.58, @291178.573 seconds) so it has no influence on the scan data quality as the error occurred when the IMU was booting up while STORMBEE was still on the ground. If the error does occur within the start to end period, please look at the time interval and look at the timeline of the height profile in BEEFLEX to estimate where in your flight the problem occurred and do not select these portions of the flight for final processing (Section 4.2 ”Data processing”).

  • Page 61: Too Few Satellites (Below Five)

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 3.4.3 Too few satellites (below five) Whilst viewing the processing graphs, you may notice the number of satellites is not adequate. You are limited to the satellites observed at the time of flight, but the software automatically excludes all satellites below a 10 degree elevation above the horizon.
  • Page 62 STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 PAGE INTENTIONALLY LEFT BLANK...

  • Page 63: Beeflex

    Version N°1.1, last modified 30/09/2018 4 BEEFLEX STORMBEE's proprietary BEEFLEX software allows the user to create cm-accurate point clouds from the in-flight data. Industry-standard export formats (LAS and E57) are compatible with most post- processing software for point cloud optimization, analysis and feature extraction.

  • Page 64: Figure 4.2 Beeflex License Activation And Management

    BEEFLEX, you will have to register your email address, after which you will receive an email from STORMBEE containing a 25-character activation key which you can then enter. Depending on your type of purchase, the key will be valid for a limited or unlimited period. The number of days until the license becomes expired is shown on the bottom of the BEEFLEX program window.

  • Page 65: Data Processing

    1. Make a separate folder for each flight and ensure all relevant files of that flight are stored in this folder! “config.ini”: contains the STORMBEE FARO scanner and GNSS module calibration data “export*.txt”: contains the GNSS refined IMU data files “scan*.fls”: contains the raw FARO laser scanner point cloud data...

  • Page 66: Figure 4.6 Beeflex Import Raw Scan Data And Convert To *.E57-Format

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 4.6 BEEFLEX import raw scan data and convert to *.e57-format 4. Once the conversion is done, BEEFLEX shows the various scans in the left-hand menu (Figure 4.7).

  • Page 67: Figure 4.8 Beeflex Flight And Scan Data General Overview (Satellite View)

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 4.8 BEEFLEX flight and scan data general overview (satellite view) Figure 4.9 BEEFLEX data import possible error messages There should be one scan window (in the left-hand menu) per flight performed. Select the flight you want to visualise, and you can (optionally) change the name of the destination folder where the final processed point cloud data, generated by BEEFLEX, will be stored.

  • Page 68: Figure 4.10 Beeflex Select Relevant Section Of Flight

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 the section you desire to select. The selected section on the height trajectory will be shaded in green, while the corresponding section of the flight trajectory will be coloured green/blue (Figure 4.10). You can select multiple portions of the flight by simply repeating this clicking and dragging procedure (Figure 4.11).

  • Page 69: Figure 4.12 Beeflex Data Processing Run Information Window

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 6. Extract the relevant data for the final refined point cloud. BEEFLEX gives you the option to not only export the point cloud in E57-format, but also LAS-format.

  • Page 70: Figure 4.13 Beeflex Data Processing Progress E57-Format

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 4.13 BEEFLEX data processing progress E57-format Figure 4.14 BEEFLEX data processing progress LAS-format Figure 4.15 BEEFLEX refined point cloud data folder structure...

  • Page 71: Visualisation (Refined) Point Cloud

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 5 Visualisation (refined) point cloud Visualizing the raw E57-format point cloud generated by FARO SCENE and the refined point cloud (E57- or LAS-format) generated by BEEFLEX can be done with several software packages such as CloudCompare or Autodesk Recap.

  • Page 72: Figure 5.1 Cloudcompare Import Files Through Desktop Icon

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 5.1 CloudCompare import files through desktop icon Figure 5.2 CloudCompare import point cloud properties window...

  • Page 73: Verify Accuracy Results

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 5.3 CloudCompare import point cloud progress Figure 5.4 CloudCompare visualisation refined point clouds 5.2.2 Verify accuracy results To determine the final refined point cloud quality, it is necessary to verify that data points of different segments (of each and all flights) representing the same object/surface/edge are very close together and overlap as much as possible.

  • Page 74: Figure 5.5 Cloudcompare Selection Flight (Segment)

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 5.5 CloudCompare selection flight (segment) 2. Now assign a unique colour to that segment by going to “Edit” → “Colors” → “Set Unique”. A window will open that will allow you to select a colour (Figure 5.6). Repeat this for each flight (segment).

  • Page 75: Figure 5.7 Cloudcompare Flight (Segments) With Unique Colours

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 5.7 CloudCompare flight (segments) with unique colours 3. Select all point clouds of each flight (segment). Do not select the top folders but the individual point clouds with the small cloud symbol next to it (Figure 5.8).

  • Page 76: Figure 5.9 Cloudcompare All Point Clouds Selected In Navigation Menu

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 5.9 CloudCompare all point clouds selected in navigation menu 4. Go to “Tools” → “Segmentation” and left-click “Cross Section” (Figure 5.10). Figure 5.10 CloudCompare point cloud cross-section...

  • Page 77: Figure 5.11 Cloudcompare Cross-Section Properties Window

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 5. A new small window will open where you can modify the cross-section properties (Figure 5.11), but also arrows (“interactors”) will appear that can be dragged (press and hold mouse left button on arrow) or rotated (press and hold mouse left button on circle/donut around arrow) (Figure 5.12).

  • Page 78: Figure 5.13 Cloudcompare Point Cloud Cross-Section Narrow Slice

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 6. Now use the interactors (arrows) to cut the point cloud to a narrow slice (Figure 5.13), preferably with less than 1 meter wide. The width can be verified in the cross-section properties window.

  • Page 79: Figure 5.15 Cloudcompare Cross-Section Zoomed In (1 Meter)

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 5.15 CloudCompare cross-section zoomed in (1 meter) 8. Rotate that zoomed-in piece of the point cloud until you see it from its (in-plane) side for which the data points should be in one plane (Figure 5.16) and zoom in further (legend 0.25m).

  • Page 80: Figure 5.17 Cloudcompare Point Cloud Cross-Section Narrow Slice (Example 2)

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 9. Repeat steps 6 to 8 for other cross-sections with other flight (segments). You can press the reset button in the cross-section properties window if this helps to make a new cross-section slice. The goal is to compare each flight (segment) to another at least once.

  • Page 81: Figure 5.18 Cloudcompare Point Cloud Slice Zoomed In (Example 2)

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 5.18 CloudCompare point cloud slice zoomed in (example 2) Figure 5.19 CloudCompare cross-section in-plane quality control (example 2)

  • Page 82: Examples Post-Processed Data

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 5.3 Examples post-processed data The final point cloud (Figure 5.20) can then be used to generate 2D and 3D drawings and models of the inspected object with 3 party software (Figure 5.21 and Figure 5.22).

  • Page 83: Figure 5.22 2D Drawing Based On Final Post-Processed Point Cloud Data

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 Figure 5.22 2D drawing based on final post-processed point cloud data...
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  • Page 85: Stormbee And Faro Scanner Calibration Procedure

    Version N°1.1, last modified 30/09/2018 6 STORMBEE and FARO scanner calibration procedure The STORMBEE with the FARO Focus scanner mounted on it should be calibrated at regular intervals or after maintenance or repair to ensure the relative location and attitude of the GNSS module components with respect to the FARO Focus scanner are still accurate.

  • Page 86: Figure 6.2 Folder Containing All Files Required By Beeflex

    STORMBEE Software User Manual – Think 3D BVBA Version N°1.1, last modified 30/09/2018 STORMBEEs, you will have to send suitable inspection point cloud data made by each STORMBEE separately and track which point cloud data (calibration values) correspond with each STORMBEE to ensure you use the new calibration values with the correct laser scan data set.

  • Page 87: Figure 6.4 Faro Scanner Calibration Parameters (Heading, Pitch And Roll)

    4. Replace the “heading, “pitch” and “roll” values with the new values provided by Think3D for your specific STORMBEE. 5. Save the changes. 6. From now on, use this newly adapted “config.ini” file for all BEEFLEX data postprocessing of new ( or recent) laser scan data made by that specific STORMBEE.
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