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Aranz Scanning FastSCAN Cobra User Manual

Fastscan cobra and scorpion 3d handheld laser scanner user manual
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TM
FastSCAN
TM
TM
Cobra
and Scorpion
Handheld Laser Scanner
User Manual
printed March 2014
Revision 4.0

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  • Page 1 FastSCAN Cobra and Scorpion Handheld Laser Scanner User Manual printed March 2014 Revision 4.0...
  • Page 2 Copyright c 1998–2014 by Aranz Scanning Ltd 110 Papanui Road Merivale, Christchurch, 8014 New Zealand PO Box 3894 Christchurch, 8140 New Zealand www.aranz.com www.fastscan3d.com All rights reserved. No part of this publication may be reproduced, stored in a re- trieval system, or transmitted in any form or by any means—mechanical, photocopy- ing, recording or otherwise—without the prior written permission of ASL.

  • Page 3: Before You Begin

    FastSCAN Before You Begin... Please read and fully understand Section 12: Safety Guidelines before using the FastSCAN Scanning equipment. This section contains important safety informa- tion.

  • Page 4: Table Of Contents

    FastSCAN Contents 1 Introduction 2 Hardware and Software Setup Components ........Computer Requirements .
  • Page 5 FastSCAN Basic Surface ........Basic Surface Parameters ......5.2.1 Smoothing .
  • Page 6 FastSCAN 14 Customer Service 15 Limited Warranty and Limitation of Liability 16 Indemnity Against Patent Infringement...

  • Page 7: Introduction

    FastSCAN 1 Introduction Thank you for purchasing a FastSCAN 3D laser scanner. Your scanner will quickly and conveniently digitize the surface of any object into a series of points that fit to- gether in 3D space. The FastSCAN software then transforms this data into a detailed 3D object, in a file format that suits your needs.

  • Page 8: Hardware And Software Setup

    FastSCAN 2 Hardware and Software Setup 2.1 Components You should have received the following components with your FastSCAN package: Wand (1) Processing Unit (PU) (2) Transmitter (3), options are: 4 inch 2 inch (standard) 1/2 inch (short ranger) 1/2-inch Reference receiver (small cube) (4) Wand cable (color coded) (5) PU’s power supply and power cable Wand pad...
  • Page 9 FastSCAN Optional Items Mechanical Stylus Optical Stylus...

  • Page 10: Computer Requirements

    FastSCAN 2.2 Computer Requirements Windows Vista or XP (SP2) 32 or 64 bit OS, or Windows 2000 SP4. 1 GHz Intel Pentium III or greater (2 GHz Intel Pentium IV or greater recommended for RBF processing) 512 MB RAM or greater. USB port.

  • Page 11: Connecting It All Together

    FastSCAN 2.4 Connecting It All Together Note: Ensure that the PU is switched off before any of the front panel leads are connected or disconnected, or the Wand is detached from its cable. 1. Place the PU near the computer and plug it into a power source using the power pack and cable.

  • Page 12: Running Fastscan

    FastSCAN 5. It is normal for Windows to report that FastSCAN drivers have not passed Windows Logo testing/are not digitally signed by Microsoft. Click Continue Anyway each time when prompted until the drivers are installed. Note: This procedure needs to be repeated when plugging the scanner into a different USB port.
  • Page 13 FastSCAN Figure 3: The FastSCAN startup screen. Figure 4: The Scanner Properties dialog box.
  • Page 14 FastSCAN 4. The status indicator at the bottom right of the screen (labeled 1 in Figure 3) should change from Scanner disabled to Scanner initializing... After approx- imately 10 seconds this should change to Scanner on-line, indicating that the system has initialized. Note: Do not depress the trigger while the Wand is initializing.

  • Page 15: Scanning

    FastSCAN 3 Scanning 3.1 The Scanning Environment An area of subdued lighting is ideal for scanning, with no external light entering from windows. Scanning errors can arise when the scanner’s camera views direct sources of strong, bright light, such as the sun or a powerful incandescent light. Keep the scanning area at least one meter away from the Processing Unit, computer, and any other significant metal objects.

  • Page 16: The Wand

    FastSCAN Note - Multiple standard FastSCAN systems will not work alongside one another without interference. This can be remedied with a replacement Frequency Module. Contact your vendor if required. 3.2 The Wand The FastSCAN Wand is available in 2 models—the Cobra and the Scorpion The Cobra is a light and compact single-camera Wand suited to most applica-...

  • Page 17: Wand Controls

    FastSCAN Handling the Wand The Wand is a sensitive optical instrument—handle it with care at all times. Place the Wand carefully on the Wand pad when not in use. After finishing your scanning session switch off and return the Wand to its protective case.

  • Page 18: Wand Sensitivity

    FastSCAN Scanning position (trigger pulled in completely): displays laser profiles and surface data on the screen in real-time and stores them in memory illuminates both the Laser and Scan LEDs. Note: If the scanning equipment is set up incorrectly the Laser and Scan lights may flash alternately when the trigger is depressed into either position.

  • Page 19: Scanning With The Wand

    FastSCAN 3.3 Scanning With the Wand The Transmitter is Reference option is the default setting for a typical scanning situation (a small–medium size stationary object; the Tx icon selected) and normally this button should always be selected. To scan unstable or large objects you may need to use the Receiver as Reference (Rx icon)—see Section 3.5.
  • Page 20 FastSCAN For best scan results: allow the wand to warm up for 5 minutes before scanning an object minimize the distance of the Wand from the object to increase the accuracy of the scan. Also keep the Wand as close to the transmitter as conveniently possible each sweep of the Wand should be a smooth action, as if spray-painting use both hands on the Wand to improve steadiness remove any metal objects from the scanning environment before beginning...

  • Page 21: Scanning Resolution - Limits Control

    FastSCAN 3.3.2 Scanning Resolution - Limits Control In some situations you may wish to place a limit on the resolution at which data is collected, e.g. to reduce memory and processing requirements. This can be achieved by adjusting the Best Scanning Resolution in the Scanner Limits Control dialog box (accessed from Scanner/Limits Control).

  • Page 22: Undoing Scans

    FastSCAN You can control the amount of smoothing using the Profile Smoothing option in the Scanner Limits Control dialog box (High, Medium, Low (default), or Off—see Fig- ure 10) (Note: Smoothing cannot be turned off when using the Scorpion ). Chang- ing this value affects newly captured profiles—it cannot change data that you have already collected.

  • Page 23: Using The Secondary Receiver - Rx As Reference

    FastSCAN 3.5 Using the Secondary Receiver - Rx as Reference By attaching a secondary receiver (Rx) to the subject it becomes possible to move and/or reposition the subject while building up the scan, allow- ing full 360 coverage. This can also be used to compensate for small movements that may occur in the subject while scanning or to scan large objects.

  • Page 24: Scanning Large Objects

    FastSCAN 3.5.3 Scanning Large Objects You can also use the Reference Receiver to scan extra large objects. Fix the Receiver to the center of the object and place the Transmitter midway between the Receiver and the Wand. As you move around the object also move the Transmitter, keeping it within 100 mm and 750 mm of the Receiver and Wand (Figure 13).

  • Page 25: Viewing Options

    FastSCAN 3.6 Viewing Options 3.6.1 Data View/On Screen Format The appearance of the data can be changed by clicking on View and choosing from the 3 options: Points, Wireframe and Solid, or their icons in the toolbar. These allow you to view the data in different formats and use this information to get the best possible scan.
  • Page 26 FastSCAN Bounding Box: The Bounding Box enclosing the perimeter of the data is used in the RBF surfacing process and, in coordination with the Extents Window, gives the physical size of the object. It can also be useful for users needing a file for CAD systems or wanting a watertight model or closed object.

  • Page 27: Other Viewing Variables

    FastSCAN 3.6.2 Other Viewing Variables Viewpoint: The data/object can be moved on-screen by clicking and dragging with the mouse or by clicking on View/Viewpoint and selecting the desired direction. Shortcut keys to use these functions via the keyboard are also listed here. Movement: Clicking on View/Movement allows you to set the speed at which the data/object changes position when manipulating it using the View/Viewpoint op- tions or the keyboard.
  • Page 28 FastSCAN Tracking: View/Tracker Positions enables you to see where the Transmitter, Wand and Reference were during the scan, which can assist in improving the quality of your scanning. Lighting and Colors: Settings/Lighting and Colors allows you to change the object, laser and background colors as well as altering the position and strength of the light- ing on the object, enabling easier viewing of hard to see areas, or those previously in shade.

  • Page 29: Processing Scanned Data

    FastSCAN 4 Processing Scanned Data 4.1 Surfacing Options The FastSCAN software deals with three surfaces: the Sweeps Surface, the Basic Surface and the RBF Surface. Figure 16 shows the path taken to generate these three surfaces. Figure 16: Objects and processes in the FastSCAN program.

  • Page 30: Basic Surface

    FastSCAN 4.1.2 Basic Surface The Basic Surface is generated from the Sweeps by: merging overlapping sweeps changing and filtering the data standardizing the resolution simplifying the triangular mesh (optional) limiting the number of objects (pieces of data contained in the Sweeps (optional)).

  • Page 31: Scan Files

    FastSCAN 4.3 Scan Files 4.3.1 Opening and Saving Scans New Scan: To commence a New Scan click on File/New or the New icon in the toolbar. Open: To Open a scan click on File/Open or the Open icon in the toolbar. Only .fsn and .hls file formats can be opened.

  • Page 32: Editing Raw Data

    FastSCAN 4.4 Editing Raw Data 4.4.1 The Sweeps During scanning your data appears on-screen as the Sweeps. You can revert to this view at anytime during the surfacing process by clicking on View/Sweeps or on the Sweeps icon in the toolbar. 4.4.2 The Sweeps List You can view a log of all the sweeps in a scan by clicking on Edit/Sweeps List..
  • Page 33 FastSCAN (a) With some sweeps highlighted, and Se- (b) With some sweeps highlighted, and Se- lected Sweep Transparent box unchecked. lected Sweep Transparent box checked. Figure 18: Scan with highlighted sweeps, showing color differences. With (a) only visible parts of selected sweeps shown (b) all parts of selected sweeps shown, with different color shades.

  • Page 34: Selecting And Deleting Data

    FastSCAN Use the Flip Sweep button to turn the selected sweep(s) inside out. This reverses the orientation of the sweeps, and can be used to make a mould with further processing. 4.4.3 Selecting and Deleting Data It is possible to delete unwanted or inaccurate areas of the scan. Change the cursor to a selection tool by either choosing Edit/Select, clicking on the Select icon in the toolbar or by holding down the Ctrl key.

  • Page 35: Generating A Basic Surface

    FastSCAN 5 Generating A Basic Surface 5.1 Basic Surface Creating a Basic Surface removes redundant points in overlapping sweeps. The scanned points can be repositioned and the minimum dis- tance between them fixed to determine the amount of detail present in the final surface.

  • Page 36: Decimation

    FastSCAN Figure 19: The Generate Surface dialog If the FastSCAN program does not merge the overlapping sweeps correctly when it creates the Basic Surface, the surface will appear ‘blistered’. Figure 21 shows how the blistering occurs as the Basic Surface jumps between the points in the two sweeps. 5.2.2 Decimation: Increasing the Decimation value in the Generate Surface dialog box (Figure 19) re- duces the number of points and triangles.
  • Page 37 FastSCAN (a) Smoothing at 0.5 mm. (b) Smoothing at 2 mm. Figure 20: Two Basic Surfaces generated from the same Sweeps using different Smoothing parameters. In (a) the sweeps did not combine correctly, while in (b) they did. Figure 21: An illustrative example of how a blistered surface (black line) can form between two misaligned sweeps (gray lines).

  • Page 38: Limit Objects To

    FastSCAN (a) 6 mm Decimation (b) 9 mm Decimation Figure 22: The same object at different decimation values. The 6 mm version (a) has 1378 triangles, while the 9 mm version (b) has only 704 triangles. (Scorpion models only, refer Section 10.3). Perform a User Calibration to ensure the optics are correctly aligned (see Section 10).

  • Page 39: Apply Basic Surface

    FastSCAN 5.2.5 Apply Basic Surface: When you have set the Basic Surface Processing values click on the Apply Basic Surface button to generate the Basic Surface. 5.3 Registering the Sweeps The various sweeps of the scan may not always overlap perfectly. This may be due small errors in the scanner measurements metal objects interfering with the magnetic locater the object or reference moving unintentionally during scanning.

  • Page 40: Batch Processing

    FastSCAN (a) The object with artifacts visible on the Basic Surface. (b) The object after Register Sweeps has been used. Figure 23: Register Sweeps is used to better align the Sweeps and remove any arti- facts. 5.5 Batch Processing The Batch Processing interface allows you to process and export several scan files at once, each with different parameters if required.
  • Page 41 FastSCAN Figure 24: The Batch Processing dialog. Generate Surface Settings... button opens the Generate Surface dialog, where you can specify the surface parameters for the Basic Surface or RBF Surface. The Output control displays and allows you to change the output file’s format and filename. The default output filename is the scan filename.

  • Page 42: Generating An Rbf Surface

    FastSCAN 6 Generating an RBF Surface See the FastRBF Extensions Manual for instructions on how to generate an RBF surface. While an RBF surface may be generated with the unlicensed FastSCAN software, a license is required to enable saving of the surface.

  • Page 43: Exporting A Surface

    files into your 3D application, try exporting another variant or format. If you continue to have difficulties, please go to our website (www.aranz.com or contact Aranz Scanning Ltd (scanning@aranz.com) with the following informa- tion: the file format used to export from FastSCAN the importing program’s application name and version...

  • Page 44: Export Formats

    FastSCAN 7.1.2 Export Formats FastSCAN lets you export your data in the following formats: Polyworks Line Scan (.psl) A binary file format for saving the sweeps only. It con- sists of raw scan data requiring further processing. 3D Studio (.3ds) The file format used by 3D Studio and supported by 3D Studio Max;...
  • Page 45 FastSCAN Matlab (.mat) A binary data file format used by The MathWorks MATLAB. Sup- ports cloud of points or triangle mesh data, both with optional vertex normal vec- tors or pseudo gray-scale values. The file will contain five MATLAB variables at most: Points: A 3-by-N matrix where each column is a vertex location.

  • Page 46: Delta

    FastSCAN 7.2 Delta Click on the Delta icon to load the scan data directly into Delta software—you must have Delta installed. Delta is a stand alone tool that enables comparison of surface distance and volume variations between two objects. You will need a license to use the Delta software.
  • Page 47 FastSCAN Figure 26: Example of a Saved Snapshot file Figure 27: The Save Snapshot dialog box (with advanced options).

  • Page 48: Hotkeys & Optional Features

    FastSCAN 9 Hotkeys & Optional Features 9.1 Hotkey List Menu Item Shortcut File/New Scan Ctrl+N File/Open Ctrl+O File/Save As Ctrl+S or F4 File/Export Surface Edit/Undo Ctrl+Z Edit/Redo Ctrl+Y Edit/Select Ctrl+left mouse button Edit/Delete Backspace Edit/Sweeps List Ctrl+W Edit/Stylus Marks List Ctrl+T Edit/Generate Surface Ctrl+G...

  • Page 49: Optional Features

    Normal commercial glass has a Refractive index of approximately 1.52, however this may vary for low lead or tinted glass. For more information on scanning through glass refer to the Refraction Correction Manual or contact Aranz Scanning (scanning@aranz.com, www.aranz.com, www.fastscan3d.com). (A license is required to enable this function.) 9.2.2 Cast Inversion Mode...

  • Page 50: Laser Pointer/Mark With Mouse/Stylus Mode

    For more information on Mark with Mouse/Stylus Inversion refer to the Mark with Mouse/Stylus Manual or contact Aranz Scanning Ltd (scanning@aranz.com, www.aranz.com, www.fastscan3d.com). (A license is required to enable these functions.)

  • Page 51: Calibration

    FastSCAN 10 Calibration The Wand is fully calibrated before it leaves the factory. However, for optimum per- formance you may need to check the calibration from time to time. This process is quick and convenient. You should check the Wand calibration if: the Wand has been knocked or dropped you notice the visual quality of the scans has deteriorated you have not used the FastSCAN...

  • Page 52: Calibration Correction Procedure

    FastSCAN Figure 29: The Transmitter with the Calibration Target attached. Note: While in Calibration Correction mode, the FastSCAN program monitors the Wand-to-Target distance and will only accept data when the distance is within 20 mm of the nominal value. 100 mm data: range is 80 mm to 120 mm. 200 mm data: range is 180 mm to 220 mm.
  • Page 53 FastSCAN 4. Start the FastSCAN program (if you are running Windows 2000 or XP then you must have at least Power User privileges). 5. Click on Scanner/Calibration Correction..The background color of the FastSCAN window will change to black and the Calibration Correction dia- log box will appear (Figure 30).
  • Page 54 FastSCAN Figure 30: Three of the four calibration spot clusters are visible (for the Scorpion and the Calibration Correction dialog box. Notes: You must collect the 100 mm data first. Windows 2000 or XP users must have Power User privileges or greater. If desired the most recent sweep (or the point in this case) can be removed with a double click of the trigger, or all data can be removed with a triple click.

  • Page 55: Alignment Check (Scorpion Users Only)

    FastSCAN 10.3 Alignment Check (Scorpion Users Only) The Alignment Check is a simple test to assess the alignment of the optics and is independent of the tracking system. Perform an Alignment Check as follows: 1. From the FastSCAN software, select Scanner/Alignment Check. 2.

  • Page 56: Troubleshooting/Faqs

    FastSCAN 11 Troubleshooting/FAQs Q. The status bar of the FastSCAN program continues to show ‘Scanner off-line’— what has gone wrong? A. Run through the following checklist: Ensure you do not have another FastSCAN program still running from an earlier session (possibly minimized). Ensure that power is getting to the PU.
  • Page 57 FastSCAN object’s surface during scanning, but no closer than 80 mm to keep within the camera’s field of view. If you are using the Receiver, parts of the surface closer to it will scan more accurately. Try to keep the Transmitter close to the Wand and Receiver, as accuracy deteriorates with distance, but no closer than 100 mm to avoid signal overload.

  • Page 58: Safety Guidelines

    FastSCAN 12 Safety Guidelines 12.1 FCC Statement This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against interference when the equipment is operated in a commercial environment.

  • Page 59: Use For Medical Applications

    FastSCAN Operate the device so that it is pointing away from windows, doors, mirrors and other shiny reflective surfaces, and areas where other people are working. There are no controls, adjustments or user serviceable parts that can affect the laser output. In the event of equipment failure, return the Wand to the manufac- turer or agent for repair and servicing.

  • Page 60: Warning Labels And Locations

    FastSCAN 12.4 Warning Labels and Locations (a) The Wand displaying warning labels. (b) Warning labels. (c) Close-up of the laser aperture (circled), and two- (d) Wand control panel showing position trigger switch (bottom). Laser-On indicator light (top- right LED)

  • Page 61: Distributors

    EST, Engineering Systems Technologies VR Logic GmbH &Co. KG www.vrlogic.com www.est-kl.com Denmark/Finland: Contact sales@polhemus.com Australia: France: Aranz Scanning, StormFX Pty Ltd CADvisionS.A.S, Immersion SA www.aranz.com www.cadvision.fr www.fastscan3d.com www.stormfx.com.au Germany: VR Logic, EST Engineering Systems Technologies GmbH & Co. KG Belgium: www.vrlogic.com www.est-kl.com...
  • Page 62 Taiwan: www.id-dreams.com/020115/044/ PC from Expert/Apexsun welcome frame.htm www.pcexpert.com.tw Netherlands: Thailand: IMAQS Contact sales@polhemus.com www.imaqs.com Turkey: New Zealand: Contact sales@polhemus.com Aranz Scanning www.aranz.com United Kingdom: www.fastscan3d.com Virtalis Limited www.virtalis.com Portugal: Aplein Ingenieros S.A www.apleiningenieros.com/ NORCAM Engenharia E Design Industrial LDA www.norcam.pt/norcam/index.html...

  • Page 63: Customer Service

    FastSCAN 14 Customer Service If you encounter any problems with your FastSCAN system, help is just a telephone call away. Call 802/655-3159 (800/357-4777 U.S. and Canada) and ask for Customer Service. For the most part, our Customer Service engineers can handle your prob- lems over the telephone and get you back into the fast lane right away.

  • Page 64: Limited Warranty And Limitation Of Liability

    FastSCAN 15 Limited Warranty and Limitation of Liability 15.1 Polhemus warrants that the Systems shall be free from defects in material and work- manship for a period of one year from the date ownership of the System passed from Polhemus to Buyer. Polhemus shall, upon notification within the warranty period, correct such defects by repair or replacement with a like serviceable item at Polhe- mus’...
  • Page 65 FastSCAN 15.5 Warranties shall not apply to any Systems which have been: (a) repaired or altered other than by Polhemus, except when so authorized in writing by Polhemus. (b) used in an unauthorized or improper manner, or without following normal oper- ating procedures;...

  • Page 66: Indemnity Against Patent Infringement

    FastSCAN 16 Indemnity Against Patent Infringement Polhemus shall have the right at its own expense, to defend or at its option to settle, any claim, suit or proceeding brought against Buyer on the issue of infringement of any United States patent by any product, or any part thereof, supplied by Polhemus to Buyer under this Agreement.

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