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1. m Reference point 978 976 m 16 476 m Z 107 088 m Current point Ref point Distance 0 765 m Horizontal 0 764 m dX 0 547 m dY 0 534 m dZ 0 032 m X Y Z are coordinates of the reference point Distance is the distance between the current point and the reference point Horizontal is the horizontal part of the distance in the x y plane dX dY dZ are the differences between the current point and reference point in all three coordinate axes There are two different ways to define a reference point 1 Move the mouse over the point of interest Press and hold the CTRL key this will lock the data in the data readout window Press the button Set as reference point in the Cartesian coordinates 118 section 2 Move the mouse over the point of interest Press and hold the R key while clicking with the left mouse button on the point Resolution everytime cartesian coordinates are available This section shows the resolution of the scan distance between two measurements at the distance of the current point Analog to a scan it will also display the size of a pixel of an image when a default camera calibration is selected Everytime new cartesian coordinates are available the scan photo resolution is calculated from the angular scan photo resolution and the measurement range m Resolution Scan phi 0 0361 m Scan theta 0 0361 m CamCalib0t Photo phi 0 0062 m Photo theta 0 0069 m
2. To force a recalculation of the result click on the third button from right To remove a value from the list select the value first and click on the third button from left with the red X on it Note You can only add values of the same unit to the calculator That means if the first value added to the calculator represents a surface area you can only add further values of type surface area and so on Matrix comparison With this tool you can compare two matrices The difference will be displayed as offset in X Y and Z direction and as rotation about X Y and Z axis To load a matrix into the tool just drag a COP SOP or POP mairixl202 from the project manager and drag it onto one of the both matrix grids As an alternative you can also click with the right mouse button into the matrix grid and select load from the menu When two matrices have been loaded click on the button Calculate in order to calculate the differences Multiple SOP export You can use this tool to export all orientation and position matrices SOPs of all scan positions of the current project at one step e g for analysis in MS Excel On the left side of the window TARGET FOLDER you can select the destination folder this is where all exported files will be saved On the right side scan positionS you can select the scan positions of which the SOPs should be exported To control which files should be generated you can use the three boxes in the bot
3. c 2005 ff RIEGL Getting started 41 For the calibration the flat check pattern is captured by the camera to be calibrated several times The whole image area should be covered in total and in each image the complete pattern has to be visible The inner check pattern corners are detected automatically by the calibration software and are automatically linked to the 3D coordinates of the flat check pattern corners z is always 0 The calibration software calculates best estimates for the 10 internal parameters and for the 6 external parameters of each image in order to minimize the deviation The output of the calibration procedure is stored in a CamCalib_OpenCV node within the project for further use With every instrument a calibration file is delivered for the camera being part of the instrument Thus it is not necessary to recalibrate the camera as long as the lens parameters focus aperture or specimen are not changed Calibration based on reflector array Especially for telephoto lenses the calibration approach based on imaging flat check patterns is inconvenient as for a fixed focus of infinity the minimum range to the pattern has to be quite large and thus the dimensions of the flat check pattern has to be large too This second approach is based on imaging a field of reflectors of known coordinates in 3D addressed as reflector array subsequently The reflectors must not lie in a single plane but have to be distr
4. If the playback of an video file is running AVI the video will be stretched shrinked according to the size of the window To show the video 1 1 100 click on the button Show 1 1 Note Whether the media player is able to play a certain sub type of the AVI format depends on the installed video codecs Please contact the distributor of the video file in order to get the correct video codec Calculator The calculator is a tiny tool which enables you to calculate quickly the sum or difference between two or more values such as surface areas or volumes To add a value to the calculator just drag the value from the project manager and drop it onto the list To change the sign of a value select the value from the calculator s list and click on the button or On the bottom of the calculator window the result of the calculation is displayed If you want to save the result click on the button with a small floppy disk on it Example You want to calculate ValueA ValueB Proceed as follows e Open the calculator e Drag ValueA and drop it onto the calculator it gets automatically a in front of it e Drag ValueB and drop it onto the calculator e Select ValueB in the calculator e Click on the button e The result is displayed on the bottom of the calculator window To copy the result to the clipboard e g in order to use it MS Excel click on the second button from right c 2005 gt RIEGL Getting started 21
5. See Main menu 141 e Additional Recent projects and folders Sets the initial project folder and shows the recent projects e New project Sets the default settings for a new project e 2D Settings Marker settings Sets the marker style s of the 2D view window MARKER STYLE Set style for User defined Marker Font Ms Sans Serif 8 Cao seeded m Label position Symbol E eo a E ar Cross C Box COG Diamond Color not selected E Navy 7 Size of symbol pixel g v Use this settings for all marker types You can set the style for each tiepoint type This is useful when e g TPL SOCS and TPL IMAGE are displayed in an image With Label position you can select where the label name of the tiepoint should be placed This is useful when two tiepoints of different type e g a TP SOCS and a TP IMAGE are at nearly the same position Due 27 to the fact that the labels are on different positions you will be able to read the names of the tiepoints c 2005 ff RIEGL 28 RiSCAN PRO By clicking on Use these settings for all marker types all marker types will have this style So if you display different tiepoints in a 2D View they will all look the same e 2D Settings Other settings IN VALID POINTS IV Use invalid point color Invalid point color E Himmelblau v Use inval
6. Data registration 137 1 Create new scanposition 2 Acquire scans reflector extraction finescans 3 Start wizard Backsighting orientation 4 Define instrument position 5 Target selection 5 1 against north 5 2 via remote object 6 Alignment 6 1 1 from instrument 6 2 1 with inclination values 6 1 2 from file 6 2 2 without inclination values 7 Calculate matrix 8 Set matrix 1 Create a new scan position Setup the scanner accurately vertically head up Z axis anti parallel to the gravity vector Note If the instrument has built in inclination sensors and you decide to use option 6 2 1 you don t need to align the scanner accurately Create a new scan position by right clicking on the folder SCANS and selecting New scan position 2 Acquire scans reflector extraction finescans c 2005 F RIEGL 138 RiSCAN PRO Acquire the desired scans If you would like to use a reflector as remote target step 7 2 then you also have to do the reflector extraction and finescan the desired reflector ao Start wizard Backsighting orientation Open the wizard Backsighting orientation by right clicking on the SOP of the scan position and selecting Backsighting orientation A Define instrument position On the first page enter the scanner s own position in global coordinates If you use a GPS mounted on the scanner you can import the coordinates by
7. Delete selected area and create new polydata object Creates a new polydata object from the selected data and delete then all the selected data JDE Create new polydata object Creates a new polydata object from the selected data b 3 Hide selected area All selected data will be hidden how only selected area Only selected data will be visible how all All hidden data will be visible A Triangulate Starts triangulation mode E Smooth amp Decimate Starts smooth amp decimate action Triangulation for more information see triangulation of arbitrary point clouds 15 Smooth amp Decimate for more information see smooth amp decimate 155 a EEE EE ee ODE ma You can also define a plane from the selected data see Create planeh75 7 1 3 Filter You can manipulate data objects Scans and Polydata by defining some filter operations You can filter a single object but you can also do this with multiple objects e Single object Activate the popup menu of a scan or a polydata and select Filter data e Multiple objects To filter multiple objects just activate the popup menu of a POLYDATA folder you can locate such a folder in the project manager within a scan position or in the OBJECTS folder and select Create new polydata The following dialog appears c 2005 ff RIEGL 146 RiSCAN PRO w Filter data PolyData z iol x grorgesesesezeceseseeees Eusoeo
8. Tiepoint COORDINATES Name U Ye fi 735 7608642578 fi 116 1893310546 Pah Be ER ING Ero Reflector type Reflector size fo 0 pixel cmt i _ COORDINATES e Name select a name for the tiepoint e UandV these are the precise coordinates of the marker and should not be altered References e Reflector type select the proper calibration settings for the reflector e Reflector size enter the approximate size of the reflector in pixel Confirm the settings by clicking OK Open the tiepointlist by double clicking on the TPL image of the image SCANS gt ScanPosXX gt SCANPOSIMAGES gt ImageXXX Select the desired tiepoints and click the Finescan button from the menu Gs to start the fine scanning process The output will be saved in the directory TIEROINTSCANS and the tiepoints will be added to the TPL SOCS c 2005 ff RIEGL Data visualisation Data visualisation 95 5 Data visualisation RISCAN PRO can display the acquired data scans polydata images in either a 2D view 1 or a 3D viewl102 To open a view just double click on an item in the project manager or click with right mouse button on the item and select View If the selected item is a scan or a polydata this will show the following viewtype selection dialog vew Parameters View type 2D bi Type Intensity Sub type Histogram kd For a description of th
9. 15grad v 75grad all v 37 5qrad v 22 5grad v 30grad 45grad Y 30grad none v 52 5grad v 37 5grad z v 60grad 45grad invert v 7 5grad v 52 5grad M CALCULATION IV Delete existing tilt mount positions not scanpositions Import Cancel Help In this dialog you can see a summary of all acquired scan positions box OTHER scan positionS You can decide which scan positions should be used for the calibration by default all You have also to define the vertical scan position That is the scan position you have registered all other scan position on by default the first scan position If the pre selection of the vertical scan position is not correct please drag amp drop an other scan position from the list onto the box VERTICAL scan position To start the calibration calculation of the matrices for each tilt position click on the button Calculate tiltmount positions The matrices will be calculated You can see the result on the first page Positions of this dialog The calibration of the tiltmount is finished now To save the result please click on the button OK and save the project c 2005 ff RIEGL Data acquisition Data acquisition 65 4 Data acquisition 4 1 Scan acquisition General Before acquiring a new scan make sure that the device is correctly connected switched on and the communication ports are set properly for more information about com
10. Jp vector of camera unit vector scale factor for linear zooming ocal length of camera from Near clipping plane of camera read only ar clipp plane of camera read only Light source object LIGHTSOURCES Property Value No Position object POSITIONS Property Wale Commer No Show caption v hide position name No Color of position object e Modify SOP Change position and orientation of position See Data registration Manual coarse registration h3 e Corresponding objects You can perform some actions on the objects that belong to this position and which are also part of the same object view c 2005 ff RIEGL 112 RiSCAN PRO Scan object SCANS Property Value Corwen No Paint round points looks better but needs more No time for drawing Point size integer between 1 and20 Size of points in pixel Color mode Multi color Single color Point color Color Point color of scan object e Change view type Change current view type of scan object See Data visualisation Viewtypes 95 e Show as 2D Open scan object in 2D window The 3D view will not be closed e View You can set default views such as Bird s eye view Bottom view and so on which only use the bounding box of the object Thus you will not see the complete scene but only the selected object Polydata object POLYDATA c 2005 F RIEGL Data visualisation 113
11. Note This function needs much more memory and is no guarantee to eliminate the effect Please set the camera to use constant exposure time in order to avoid the effect To finally create the panorama image click on the button OK You will be prompted to enter a file name for the panorama image Afterwards the calculation process starts c 2005 F RIEGL Data exchange 190 RiSCAN PRO 8 Data exchange 8 1 Import You can import some different file formats To do so just right click on a POLYDATA folder and choose Import from the menu Select a file and the desired input format from the list For details about the input formats and their settings please refer to the specific chapters e ASCII e point cloud 3pf e Polyworks pol e STL stl e PLY ply e Documents i91 It is possible to define the source coordinate system and the source unit for every import unit is not available for ASCII import COORDINATE SYSTEM UNIT Scanners own coordinate system SOCS Unit m Choose the type of coordinate system and unit e Scanner s own coordinate system SOCS e Project coordinate system PRCS e Global coordinate system GLCS 8 1 1 ASCII The import dialog allows to import a lot of different formated data files The settings you have to make in order to import an ASCII file are Skip lines optional This causes the import function to ignore the fir
12. PARAMETERS V Remove unused points V Merge duplicated points Tolerance m o o e Remove unused points All points which are not referenced by any data array such as point cloud or triangulation will be removed this option is always activated because you can not take use of unreferenced points e Merge duplicated points Points with the same point coordinate will be merged to a single data point e Tolerance only available for point clouds If this value is greater than zero then points within a specified tolerance will be merged to a single data point This value is only used when Merge duplicated points is activated To finally start the cleanup procedure click on the button OK The resulting data will be saved in a polydata object located in the same folder as the source polydata object c 2005 ff RIEGL 148 RiSCAN PRO 7 1 5 Resample General aspects Scan data of RIEGL laser scanners can be addressed in most cases as an organized point The scan data are acquired sequentially on a more or less regular grid in a 9 plane where 9 and denote the polar o5 angle and the azimuth 03 angle respectively This data acquisition can also be addressed as taking the scan line by line in azimuth direction and measurement by measurement within one line in polar direction compare the left diagram in the Figure below 4 L a p p By re sampling a scan a new grid in the 9 plane is g
13. 2005 44 RIEGL 58 RiSCAN PRO orientation of the camera in the coordinate system of the TPL CALIB are updated 7 With the calibration results it is possible to check the accuracy of calibration by either displaying both the tiepoints of TPL CALIB and TPL IMAGE simultaneously in the images or by comparing the differences in pixel in the TPL IMAGE numerically TPL DSC_0126 IMAGE W ioe X X ele wl s 1875 200 1574 375 0 1875 296 1574 155 1871 545 1480 316 1871 766 1480 493 2099 702 1469 512 0 2099 493 1470 032 2365 688 1479 998 i 2366 114 1480 210 2427 970 1473 643 D D 2427 683 1473 478 2595 251 1469 035 i D 2595 298 1469 004 2765 294 1461 727 D 0 2765 047 1461 689 2946 670 1452 352 0 0 2946 574 1452 187 1374 702 1303 535 0 1374 658 1303 648 1769 601 1287 138 i 1769 800 1287 727 1256 437 1041 548 D f 1256 137 1041 624 1662 797 991 071 D 1662 671 991 330 2065 064 940 537 0 2065 185 940 299 M ALACA ACA TAT MAAD AONA ACATA lunits deg m 36 Tiepoints 0 selected a 8 Copy the Result_CamCalib for further use to the node CAMERA by right clicking on the camera calibration task and selecting Copy Result c 2005 4 RIEGL Getting started 59 3 5 1 3 Field of view To estimate the field of view of the camera use the following formula dx Nx 2 arctan rf Variable Meaning Value for Nikon D100 f focal length m
14. 241 8 3 8 VTP RISCAN PRO uses the XML based file format VTP out of the Visualization Toolkit VTK 2071 which is open source to save both point clouds and triangulated surfaces A detailed description of the VTP format can be found at http vtk org VTK pdf file formats pdf RISCAN PRO uses the standard arrays of the VTP format to save points and triangles arrays Points Verts Polys Additional information is saved in two more arrays within the tag lt PointData gt The arrays are named intensity and color and contain the intensity and color information for each point 8 3 9 World file Aerial viewshs are stored as raster data where each cell in the image has a row and column number In order to display these images it is necessary to establish an image to world transformation that converts the image coordinates to real world coordinates This transformation information is typically stored in a separate ASCII file This file is generally referred to as the world file since it contains the real world transformation information used by the image World files can be created with any text editor World file naming conventions It s easy to identify the world file which should accompany an image file world files use the same name as the image with a w appended For example the world file for the image file mytown tiff would be called mytown tiffw and the world file for redlands rlc would be redlands rlcw For workspaces that
15. DSC 0008 DSC 0009 DSC 0010 DSC 0011 DSC 0012 DSC 0013 DSC 0014 DSC 0015 DSC 0016 DSC 0017 DSC 0018 DSC 0019 1735 891 25464085 1729 67753027449 1460 82800697435 1001 82743758725 0 0609931 50448944 0 0325275587930736 0 000514514238489892 0 001001 2457565366 56 RiSCAN PRO Furthermore there is an additional page named Statistics This page shows charts representing the pixel distances of the transformed 3D crossing points to the 2D crossing points in different ways to reveal dependencies on the radial distance uncorrected radial distortion or the angular dependence uncorrected translational distortion or the crossing index number to reveal incorrect 3D coordinates due to an imperfect check pattern Copy the Result_CamCalib for further use to the node CAMERA by right clicking on the camera calibration task and selecting Copy Result 3 5 1 2 4 Based on reflector array The procedure to extract the calibration data based on a reflector array is 1 5 Generate a new node CamCalibTask in an existing project or make a new project first To do so right click on the CAMERA node and choose New calibration 3D Points from the menu Confirm with OK The new node is named CamCalibTask01 by default Right click on the node CamCalibTask01 and select Add image s Add all images taken by the camera to be calibrated showing the reflector arra
16. Generate a new node CamCalibTask in an existing project or make a new project first To do so right click on the CAMERA node and choose New calibration flat check pattern from the menu The following dialog will appear c 2005 F RIEGL Getting started 49 w New camera calibration based on flat check pattern Oj x DIMENSIONS Number of Columns 7 Rows 9 Point 1 Point 2 gt Height of rows Heigth of rows m 0 0998 Number of rows 14 Width of Images pix 3008 Height of Images pix 2000 Take image dimensions from first image Width of columns Width of columns m fo 0005 Number of columns 10 Cre Heo To initialize the camera calibration task set the values on the first page DIMENSIONS e Width and Height of Images in pixel here you can either enter the dimensions of the images directly or you can click on Take image dimensions from first image after importing the images of the check pattern see step 2 e Height of rows the height of one row of the check pattern in meters e Number of rows the number of rows of the check pattern c 2005 F RIEGL 50 RiSCAN PRO e Width of columns width of one column of the check pattern in meters e Number of columns the number of columns of the check pattern Confirm with OK The new node is named CamCalibTask01 the number will b
17. PARAMETERS e Tolerance defines the search radius the maximum distance between to corresponding points in order to recognize them as corresponding Minimum N defines the minimum number of point pairs Setting a value can accelerate the calculation and make it more precise So if you know that there are at least 10 corresponding points enter 10 into this field Note If you set this value too high you might get bad results because points might be linked together that are not related Close gaps in chained or ringed scan positions Activate this option if your scan positions are organized as a ring or a chain In both cases no modification of the SOP matrices is done only corresponding tiepoints are found in order to create a proper condition for the Hybrid multi station adjustment 47 e Rename Tiepoints Selecting this option will rename the tiepoints with the corresponding name of the linked tiepoint Examples e Chain SP1 SP2 SP3 SP4 SP5 SP6 At SP1 and SP6 controlpoints are available At first SP1 and SP6 will be registered by using the controlpoints Then SP2 is registered onto SP1 SP5 onto SP6 SP3 onto SP2 and finally SP4 onto SP5 If you call the Hybrid multi station adjustment 141 now it s possible that between SP3 and SP4 the deviations are enormous So it s important to create new tiepoints in order to connect SP3 and SP4 To do so run Find corresponding points for SP4 again select only SP3 and activate Close g
18. ScanPos01 TIEPOINTSCANS RNP The camera model is based on a camera coordinate system addressed within RISCAN PRO as CMCS The image below shows the Nikon D100 mounted on top of a LMS Z360 with the axes of the SOCS and CMCS The origin of the CMCS is the center of an equivalent pinhole camera CMCS is a right handed system with the x axis pointing from left to right in the image and the y axis from top to bottom The z axis is identical to the center of the field of view of the camera c 2005 ff RIEGL 38 RiSCAN PRO The camera model is described by 4 intrinsic parameters and 8 internal calibration parameters Additionally descriptive information can be stored within RISCAN PRO for documentation and data management in the field camera information Camera information is not used for any computation but as the internal calibration parameters are unique for every combination of camera specimen and lens specimen you should always make extensive use of the descriptive text Intrinsic parameters reflect basic parameters of the camera chip CCD chip Nx and Ny are simply the number of pixels in the horizontal direction x direction and the vertical direction y direction respectively The parameters dx and dy are the dimensions of a single pixel of the CCD sensor This parameter is commonly specified by the manufacturer for the Nikon D100 the pixel size is 7 8 um c 2005 Ff RIEGL Getti
19. ScanPos07 These positions have a link to the used tilt mount calibration ScanPos02 is linked to ScanPos01 so it inherits the tilt mount calibration TiltMount01 from ScanPos01 Due to this link ScanPos02 as well as ScanPos03 are already registered to ScanPos01 see also position B and C To final registration is done by registering ScanPos01 ScanPos04 and ScanPos07 to either controlpoints of the project coordinate system or to each other please refer to Registration of a scan position h25 How to calibrate a tilt mount The calibration of a tilt mount is based on finescans of a reflector field at each tilt angle of the tilt mount For each tilt position a new scan position is created and all scan position are registered onto the first i e the vertical scan position e Setup the scanner in the reflector field It s recommended to use the vertical position 0 as the first tilt position e Right click on the folder TILTMOUNTS in the project manager window and select Tilt mount calibration wizard from the menu and follow the steps of the wizard c 2005 ff RIEGL 62 RiSCAN PRO ii New scanposition 2 Acquire scan 3 Reflector extraction 4 Finescan all reflectors 5 Find corresponding points 6 Next scanposition a create new scanposition C vertical 0 or b drag amp drop a position lt none gt New scan position The first ste
20. Storing the data in this native format will allow to use an even more improved version of the library without compromising compatibility Geometry data can be retrieved in spherical or cartesian coordinates You choose the amount of information you need to get in a single call You may specify to get any number from a single point up to an entire scan per call The same is true for intensity reflectivity RGB true color or time data Error situations such as end of file wrong file or scanner types also are signaled via the windows message loop The library even will give you a plain text message string that can be used for display in your interface This message string automatically will be translated to the language that is installed on your system currently english and german available The library is able to interface to the scanner data port either through a PC parallel port or a TCP IP socket using the IB90 ETH box On Windows NT 2000 interfacing is via device driver RiPort resulting in very low processor overhead because of the use of interrupts On Windows95 98 there is no device driver available resulting in the need to constantly poll the port thereby incurring high processor load On Windows 95 98 in principle it is possible c 2005 F RIEGL Appendix 207 to use even an simple bidirectional not ECP capable port This interface however is not recommended at all since only very low data transfer rat
21. This plugin does not require meshes because it works on raw scans 3DD files Both plugins can be downloaded from the RISCAN PRO download page 202 and enable the user to create TRUE ORTHOPHOTOS from scan data and image data Additionally the module provides also depth information and orientation information in the project s coordinate system to the image data of the orthophoto This additional information contained in a separate file in a documented format Description of ZOP file format 1981 provides the ability to construct in 3D on the orthophoto in CAD applications e g AutoCAD Data generation is conducted by the user by specifying the orientation position resolution and size of the frustum of the orthophoto with depth information and the scans images to be used The orthophotos will be saved in the folder OBJECTS ORTHOPHOTOS of the project You can view the orthophoto in a 2D view by simply double clicking on it To view the orthophoto in a 3D view just drag it from the project manager and drop it onto an opened object view ho 7 4 1 Orthophoto plugin 1 Undistorting Images Generation of orthophoto is based on geometry information Scan data and image data Before the image information can be applied the images have to be undistorted Thus the first step is to undistort the distorted snapshots of the scan position where the scan data are located you intend to use for the orthophoto To do so select the images from the direc
22. To take a photo right click a scan position or on the OBJECTS IMAGES folder and select New single image This will show a dialog with several pages Sheet General On this page you can enter some comments about the photo location date settings of the camera Sheet Calibrations On this page you have to select the camera calibration according to the camera and the lens and the mounting calibration only available on images within a scan position When the project contains more calibrations you may also define one calibration as default In that case this calibrations will be selected automatically on this page To define a calibration as default calibration click with the right mouse button on the calibration and select Default from the menu Sheet Position amp Orientation The position and orientation of the camera see Embedding images into the project for more details This matrix is also called COP matrix The COP matrix is determined by RISCAN PRO automatically when the images are saved at the scan position When you acquire an image saved at the folder OBJECTS IMAGES the matrix stays unchanged In that case see Registration of project images h38 Sheet Summary This page will hold information about the photo after taking it such as size color depth and resolution Finally click on OK The photo will be taken and saved within the project structure Acquisition of a series of images With this functi
23. Z DEPTH 1 Depth value corresponding to pixel neighbouring upper left pixel to the right i e in the upper most line of image H_LENGTH Signed integer 16 bit Z DEPTH B_WIDT Depth value corresponding to lower right pixel of B_WIDTH H B_HEIGHT 1 orthophoto B_HEIGHT 1 c 2005 F RIEGL Appendix 202 RiSCAN PRO 9 Appendix 9 1 Download information RISCAN PRO Download information On the following web page you ll find the latest version of RISCAN PRO as well as RISCAN PRO documentation plugins and tools http Awww riegl com downloads restricted riscan_pro htm When prompted for a username enter 3DRIC When prompted for a password enter Z210LPM If you have any further questions please contact support riegl co at 9 2 Abbreviations Abbreviations used by RISCAN PRO and the documentation in alphabetical order e CMCS Abbreviation for Camera Coordinate System See Coordinate systems used CMCS 301 for more information e COP Abbreviation for Camera Orientation and Position note that COP has different meaning when applied to images depending whether the camera was mounted on top of a scanner or not see Embedding images into the project e CR Character carriage return ASCII character 13 e GLCS Abbreviation for Global Own Coordinate System See Coordinate systems used GLCS 301 for more information e LF Character line feed ASCII character 10 e POP A
24. only the view this is not saved to the image file Rotate clockwise Rotates the image 90 clockwise only the view this is not saved to the image file c 2005 PB RIEGL Data visualisation 99 e Show reflectors tj Show TPL SOCS Show TPL PRCS Show TPL GLES Hide all Use this menu to switch on off the display of tiepoints of a certain tiepoint list If a Show TPL xxxx is grayed then there are no tiepoints in this tiepointlist or this tiepointlist is not available for this view Hide all hides switches off all shown tiepoints To link two tiepoints together you can select them see mouse actions ho right click anywhere in the image and select Link tiepoints together from the menu Definition of tiepoints Within the 2D view you can also add a tiepoint to either the TPL IMAGE when an image is opened or the TPL SOCS when a scan is opened To do so click with the left mouse button somewhere in the view This will set a marker Click with the right mouse button on this marker and select Add point to TPL from the menu The corresponding dialog appears see Tiepointlist window 78 c 2005 ff RIEGL 100 RiSCAN PRO 5 2 2 Navigation Actions with left mouse button Action Key Mouseaction Comment Set a new marker Move a marker Select deselect a marker Delete a marker Make rectangle selection Select markers with a rectangle selection A
25. optional This causes the import function to ignore the first n lines from the file e g this is just a comment or anything else Comment tag optional Lines beginning with that character s will be ignored Column separator You have to set the column separator to the correct character in order to recognize the data columns from the file Normally this is the comma If you don t know the column separator you can try to click on the button Auto detect This function attempts to find the correct character Note that this function may get wrong results in very noisy files You can check the right setting of the column separator in the preview located on the bottom of the dialog c 2005 F RIEGL 86 RiSCAN PRO Column association After the column separator was set and you got a correct preview you can associate the columns This is needed in order to tell RISCAN PRO which column of the file contains which data of the tiepoint Just drag the column from the list box showing all columns and drop it on the corresponding column of the preview After all settings are made it is possible to save the settings This provides faster import by just selecting one of the pre defined format settings from the drop down list on the top of the dialog To save the settings click on the button with the plus on it You will be prompted for a name Enter the name Info Adding Default to one of the names will cause
26. or press key 3 The polyline will be saved in the folder OBJECTS POLYLINES and added to the current object view Create polyline from tiepoints Open a tiepoint list and select some tiepoints Then open the popup menu and select Create geometry object Polyline c 2005 F RIEGL Data postprocessing 173 Note At least 2 tiepoints must be selected in order to create a polyline Create polyline from point objects Select some point objects in the project manager and open the popup menu Select Compose polyline in order to create a polyline 7 5 3 1 2 7 5 4 Sphere Open the New object dialog to create a sphere as described in Create geometry objects h79 Define the center point of the sphere by either defining a point with the mouse h7 or enter the coordinates directly When you enter the coordinates directly click on the button beside the coordinates in order to update the position of the sphere in the 3D scene Define the radius of the sphere by moving the mouse or enter the radius directly When you use the mouse the action modify radius must be activated press key 1 to do so When you enter the radius directly click on the button beside the coordinates in order to update the radius of the sphere in the 3D scene To finally create Save the sphere click on the button Create sphere or press the key 3 The sphere is saved in the folder OBJECTS SPHERES and added to the cur
27. 2005 F RIEGL Getting started 37 b 4f2 dx a where f is the focal length of the lens in meters dx is the pixel size in meters and a is the aperture number of the lens In this case we get unblured images in the range from b 2 to infinity For example dx 7 8 um f 14 mm a 9 gives b 11 mand an operational range from 5 5 m to infinity The external camera calibration parameters especially the orientation of the camera when mounted on top of the scanner will be changed after detaching and mounting To account for these changes please refer to mounting calibrations 3 5 1 1 Camera model RISCAN PRO uses a camera model similar to the one used in the Open Source Computer Vision Library maintained by Intel see http Awww intel com research mrl research opencv for details The calibration parameters defining the camera model intrinsic and internal parameters are stored within RISCAN PRO in a tree node called CamCalib_OpenCV01 by default A complete camera model usually includes also external calibrations parameters defining the orientation and position of the camera in 3D space This information is held in RISCAN PRO in the mounting calibration matrix the COP matrix associated with each image at a scan position and the SOP information of the scan position Project Readout Project1 a CALIBRATIONS MOUNTING TD MountCalibo1 CAMERA T CamCalib_Opencv01 REFLECTOR 4 8 COLLECTIONS 6 SCANS
28. A lower frames per second rate will lead into smaller video files but the playback will be less fluently Compression You can decide which compression should be used to create the video file When you select Default the default video codec of the system will be used To force the usage of a particular video codec please select the entry Select When the generation of the video file is started you will be asked for the video codec Finally start the generation of the video file by clicking on the button Record A dialog comes up where you have to enter the filename of the video file to create The animation dialog disappears and a small window in the bottom left corner appears where you can watch the progress of the creation process You can pause the record by clicking on Pause in order to make changed to e g the draw mode of some objects or show hide some objects To restart the record click on the button Record again To completely stop the record click on the button Stop 7 8 Panorama images RISCAN PRO offers the possibility to create panorama images These panorama images are generated by concatenating the images acquired at one scanposition This is done by projecting all images onto the inner surface of a virtual sphere Create panorama images To create a panorama image select the desired images of one scanposition click with the right mouse button on them and select Create panorama image from the menu The followi
29. In the line between scan and photo resolution the name of the default camera calibration the basis for the calculation of photo phi amp theta is displayed To change the default camera calibration right click on any camera calibration and select Default from the menu Tiepoint display window The tiepoint display window is a tool window which gives the possibility to manage the tiepointlist and their tiepoints displayed in a 2D view Thereto this window shows a tree view showing all tiepoints displayed in the currently active 2D view c 2005 ff RIEGL 122 RiSCAN PRO To display a tiepointlist in the 2D view you can either use the corresponding menu see 2D View General s71 or you just drag the tiepoint list from the project manager and drop it onto the tiepoint display window To show or hide a tiepoint quickly click on the magnifier glass in front of the tiepoint To show or hide all tiepoints of a certain tiepoint list click on the icon in front of the tiepointlist To remove a tiepoint list from the 2D view click with the right mouse button onto the tiepoint list in the tiepoint display window and select Remove from the menu 5 6 Image browser window The image browser window offers a quick way to view thumbnails of all images contained in a project You can find the image browser in the menu View of the RISCAN PRO main window Image browser es IMAGES all Images ied Locate
30. NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED INNO EVENT SHALL THE AUTHORS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 9 8 Revision history 2005 07 14 Version 1 2 0sp1 Bugfixes c 2005 ff RIEGL 208 RiSCAN PRO Objectview Pointsize Linewidth is displayed as floating point number Objectview New point tiepoint Update button is working now Problem with camera plugin concerning CANON cameras solved 2005 06 23 Version 1 2 0 New features Triangulation of arbitrary pointclouds added Create cross sections added Object handling in object inspector improved Object view zoom with mouse wheel added Add clean polydata function OP_CLEAN This function removes duplicated points and unused points If a polydata has only points you can specify a tolerance Add 3D text to object view You can see now the name of the scanposition right of the scanner object Add a position object in the object view You can handle scanpostions
31. Project loaded read only Project saved Data acquisition started Data acquisition finished and also information warnings and errors Note The number of messages in the message list is limited to 5000 Everytime this limit is reached the first oldest 1000 messages are deleted e Thread control window This window shows a list of all running threads A thread is a process which may last very long such as data acquisition or image acquisition These threads are running in the background so you may continue working with RISCAN PRO although in a restricted manner Note that a running thread can lock items of the project tree in order to avoid errors by changing values during the process You can not save or close the project neither quit the program as long as threads are running and items are locked Info window This window shows some information of the currently selected object such as number of points file size and so on The main menu of RISCAN PRO Project Edit View Tool Window e Project menu c 2005 F RIEGL Getting started 17 Project Edit Yiew Tool Window Open Oho Ba kl as ll aei Save as Position F6 Save Ctrl 5 Scan F7 Close Image Ctrl I View ctrl Abort 1 Project1 Quit Ctrl Q In this menu you can load save or close a project The menu item Abort will quit all currently running threads like data or image acquisition With the sub
32. Property _ aliye ommen No For point cloud No Paint round points looks better but needs more No time for drawing In multi color mode the selected viewtype is used oe le color for coloring Color o This color is used in single color mode Hie nteger between 1 and 20 Size of points in pixel For triangulated surface No Paint round points looks better but needs more No time for drawing In multi color mode the selected viewtype is used ang le color for coloring Polygon color Colon This color is used in single color mode o o EAE Size of points in pixel used in point mode Width of line in pixel used in wireframe mode Polygon smooth Defines the static draw mode Use polygon draw Polygon flat mode to paint as closed surface For faster Wireframe drawing use the point draw mode Points Polygon smooth Jefines the dynamic draw mode Use polygon Polygon flat draw mode to paint as closed surface For faster Wireframe drawing use the point draw mode Paints Front face Real color Jefines how the front face will be displayed Single color Cull Back face Real color Jefines how the back face will be displayed Single color Select cull mode for faster drawing iis color is used in single color mode select in which draw state the wireframe overlay should be used Wireframe color Color This color is used for the wireframe overlay Full wireframe overlay Select if also hidden parts should be overlayed No e
33. Sensitivity of the algorithm A higher value means that more reflectors will be found Be careful with setting this value With high sensitivity the process lasts very long also depending on the size of the scan and it s quite sure that a lot of wrong objects are detected Note This is only available when use auto threshold is selected e Threshold detection Range 0 1 Default 0 85 Meaning Only objects with a higher intensity reflectivity than this value will be recognized as reflectors Note This value is only available when use auto threshold is not selected Threshold detection fo 85 a use auto threshold e Threshold calculation Range 0 1 Default 0 10 Meaning This is used within a found reflector to exactly determine the center c 2005 ff RIEGL 74 RiSCAN PRO e use auto threshold This switches between calculation of threshold detection and manual input of threshold detection e suppress single pixels Objects represented only by one single pixel will be ignored e free running laser Check this box when the scan was acquired by a scanner in free running laser mode e Range split Selecting this option will define the minimum distance between the reflectors This is important if reflectors are placed very close aside each other to ensure the scanner to detect each reflector C Reflectors e name prefix The name of the tiepoint starts with this prefix name postfix The
34. The y scale E is negative because the origins of an image and a geographic coordinate system are different The origin of an image is located in the upper left corner whereas the origin of the map coordinate system is located in the lower left corner Row values in the image increase from the origin downward while y coordinate values in the map increase from the origin upward The transformation parameters are stored in the world file in this order 20 17541308822119 A 0 00000000000000 D 0 00000000000000 B 20 17541308822119 E 424178 11472601280548 C 4313415 90726399607956 F 8 3 10 ZOP The format is defined to describe true orthophotos with depth information The true orthophoto is stored in a bitmap file extension BMP whereas the depth information is contained in a separate file with extension ZOP The ZOP file contains the depth for every pixel of the bitmap as a signed 16 bit integer value The ZOP file starts with a header containing the information where and how the orthophoto is positioned and orientated in the project coordinate system PRCS and additional information on the pixel size and data size The orthophoto is defined in an UVW coordinate system as sketched below c 2005 F RIEGL Data exchange 199 X The drawing plane of the bitmap is parallel to the UV plane The lower left corner of the orthophoto is specified in the header in the UVW system by U_LL V_LL W_LL The orig
35. and click on the button undelete Please refer to chapter Program settings 24 to see how to activate the trash Print You can print a report of the current project Attributes of the selected item Shows the attributes of the currently selected item of the project window scan image scan position tiepointlist and so on Cancel Use this button to cancel the current process data or image acquisition Help Shows this help file Tool windows aS me ssp S FE Ga Show project manager 14 Show object inspector t08 Show tiepoint displayh2h Show data readout window 18 Show message listl14 Window management c 2005 ff RIEGL 24 RiSCAN PRO 3 2 ama 5 e Arrange windows Use these buttons to arrange the windows horizontally vertically or overlapped e Previous Next window Use these buttons to quickly switch to the previous or next window Connection BBH This tool can check the network TCP IP connection of the scanner and the camera server see Creating a new project 32 For that purpose RISCAN PRO sends a ping to the specified network address and waits for the echo of the scanner or camera server If an echo is received within a certain time it s assumed that the connection is OK and a small hook appears on the button Otherwise a small x will be displayed in order to show that there s something wrong If the tool is deactivated or it s waiting for the first response a sm
36. by using the camera server default value of Port 20003 Page POP This page displayes the POP matrix see Coordinate systems 301 Page Scaling correction To achieve maximum accuracy for the range measurement set the atmospheric values to the actual values during data acquisition The GEOMETRIC CORRECTION can be entered by the user and is applied to the measurements ppm parts per million Note The values entered here will be the default settings for each new scan position c 2005 F RIEGL Getting started 35 H General Instrument POP Scaling correction About project ATMOSPHERIC CORRECTION Air Temperature C fi 2 0 Air pressure mbar 1000 0 C Dew point temperature C a 5 C Relative moisture Moisture pressure mbar a4 GEOMETRIC CORRECTION Geometric correction jo ppm Note These values will be used as default for each new scanpostion Restore default Page About project This page offers information about the project files such as location number of files and total size of the project 3 4 2 Create new scanposition To create a new scan position just click with the right mouse button on the folder SCANS and select New scan position A dialog as shown in the section below is displayed which allows you to set the attributes of the scan position The name of the new scan position will be set to ScanPosXX where XX is a
37. calculation of the Frame2D image scale factor is wrong Re Adjustment of mounting calibration displayed and used to much tiepoints also tiepoints of images which have an other mounting calibration assigned Bug in Wizard according the camera settings solved When the attributes of an image were displayed a camera and mounting calibration were selected although no calibration was assigned Bug in Image acquisition PropertySheet Cancel during SN Check failed Bug in ReflectorCalibration W H and D of a CUBE were not properly saved 2003 05 30 Version 1 0 2b9 c 2005 F RIEGL 216 RiSCAN PRO Changes Added a legend panel for the unionview Enables fast show hide and coloring of a point cloud Added a new panel Distance to the Readout window The reference point can be set with key D and left mouse button in a 3D view Re adjustment of mounting matrix implemented Position of the marker labels can now be changed top middle bottom left center right This provides better readability two markers at same place Added the scansequence functionality Now you can acquire a series of scans You can also calculate the average of the scansequence and convert them to one single scan Added a wizard Wizard Startup this will be called after the setup or by menu Add 2D filters to the 3D view unionview and point cloud view There are three filter methods rectangle circle and polylin
38. click on the directory VIEWS in the project manager and select New object view from the menu This will create a new object within the directory and opens a new window To add some objects drag and drop them into the object view or into the object inspector ho How to navigate within this view see Navigation hog Popup menu If you right click anywhere within an object view the following popup menu will appear General settings Fullscreen mode Fil New object gt Measure gt Create new animation Smooth and decimate Triangulate viewport gt Save screenshot General Settings c 2005 F RIEGL Data visualisation 103 Objectview settings x ee Static divider Dynamic divider fi fi 7 DISPLAY PARAMS Background color Silber z Pickpoint color Pickpoint size C Rot 4 000 V Show axes V Show grid V Show bounding box O Weih riety Si TEMNE Type Scale Arial z fi 000 e Static divider Is used while not navigating in the 3D scene e Dynamic divider Is used while navigating in the 3D scene usually set larger than the static divider Note With Static divider and dynamic divider you can reduce the number of points triangles displayed This makes navigation easier e Background color Set the background color of the object view window Pickpoint color Set the color for the pickpoint Pi
39. current viewpoint Note Almost all geometry objects who need at least one point defined offer the option to enter the coordinates directly The coordinates displayed and entered always belong to the coordinate system currently selected in the object inspector hob e Shortcuts Some of the create new objects dialogs have keyboard shortcuts define point 1 define point 2 create These shortcuts are only functional when the object view window has the input focus To set the input focus just click with the left mouse button into the object view window 7 5 1 Point Create point from geometry data 1 Open the New object dialog to create a point as described in Create geometry objects 170 2 Define the point with the mouse hb or enter the coordinates directly When you enter the coordinates directly click on the button beside the coordinates in order to update the position of the point displayed in the 3D scene 3 To finally create save the point click on the button Create point or press the key 3 The point will be saved in the folder OBJECTS POINTS and added to the current object view Create point object from intersection between a Polyline and a plane 1 Open create an object view and load the data you want to work with 2 Select a polyline and a plane in the object inspector 3 Open the popup menu of the plane and select Intersect in order to create and a new point object Note An intersection only occ
40. example above 17 targets By taking 20 images and extracting the reflectors each provides a virtual test field with about 340 targets So after setting up the test field by placing a number of targets as described above the scanner with the camera mounted on top is set up in front of the test field The procedure to extract the calibration data based on a reflector column using the scanner and the camera mounted on the scanner is Creating the new camera calibration task 1 Generate a new camera calibration task in an existing project or make a new project first To do so right click on the CAMERA node and choose New calibration reflector column from the menu 2 You are prompted to select an initial camera calibration and a initial mounting calibration You can either select a calibration from the list or import it from an other project i e the default project if copied during the setup of RISCAN PRO If you have no matching camera calibration you can also use the new camera calibration wizard 421 These calibrations are used for initializing the task The better these c 2005 F RIEGL Getting started 45 calibrations are the easier the data acquisition and thus the whole calibration task will be 3 You are also prompted to select a scan position where the scan the finescans and the images should be saved Click on create new to create a new scan position 4 Confirm the dialog by pressing on the but
41. folder attributes dialog of windows File size included into information of scans and imags Add ability to change axes display settings for the objectview to the options You can now define point tiepoint objects within the objectview You can also measure point coordinates You can change now the viewtype of multiple objects in the objectview at once PanoramaThread redesigned Trash can added Objects will be moved to the trash can than deleted permanently configureable Import of any files documents added Aerial views added Changes ImportFunctions deactivated when only the viewer license is installed The objectview is now able to view also jpg orthophotos Old 3D view replaced by object view Import Export functions now offer range unit selection Buttons 2D gt 3D and 3D gt 2D reactivated Backsight User can now select a TP GLCS as Own and Targetposition Behaviour of image selection box Color from images changed The box will automatically scroll to the first selected item SOP amp Linked positions tiltmount SOPs can NOT be imported modified when the scanposition is linked to an other scanposition now Behaviour of Tiltmount attributes changed If positions use the TiltMount you can not edit the it but display it s values Change render algorithm c 2005 ff RIEGL 210 RiSCAN PRO Object inspector Remove separate Position page and move it to objects Assignment of reflector types The vector of a dis
42. from 0 to 100 of ray length The four lines can be connected by a funnel in order to make the orientation of the image more recognizable c 2005 F RIEGL Data registration Data registration 125 6 Data registration The process of registration of the various scan positions in the PRCS is the determination of the respective SOP matrix This process is based usually on tiepoints within RISCAN PRO Tiepoints are managed by tiepoint lists TPL Tiepoints are usually defined by retro reflective targets showing up clearly in the intensity data of the scan data and which can be accurately localized by the use of total stations The tiepoint itself is commonly the center of a reflective target Every project can hold one tiepoint list in the project coordinate system TPL PRCS Usually the data are gained by measuring the position of the tiepoints with a total station or by other means e g DGPS If the tiepoint coordinates are available in global coordinates they should be entered into the global tiepoint list TPL GLCS and should be transferred into the TPL PRCS by defining an appropriate POP matrix to fulfil the requirement of single precision representation In order to register a single scan position into the project coordinate system a tiepoint list in the SOCS system have to be acquired which is done by fine scanning the retro reflective targets 781 visible from the specific scan position RISCAN PRO ex
43. is taken it is checked if it has the same dimension as the selected camera calibration Now its possible to define a new scan from an single image at the same position Added scanner control Tool gt Scanner control Now its possible to rename the project folder project name is changed on opening the project Connection of camera is no saved to project not program options Bug fixes Bug in Drag amp Drop a TPL into a FormView solved wrong display Reflector extraction based on TPL SOCS caused error when more images where selected and at least one image had it s TPL displayed When resampling a scan the threshold was ignored Bug in viewtypes fixed intensity 0 was handled as invalid measurement Orient HMSA message window caused crash on saving fixed Import CamCalib_OpenCV bug fixed Some improvements on the registration Some improvements on the camera server and camera client 2003 11 28 Version 1 1 0 Changes Backsight capability added New camera calibration based on reflector column added c 2005 F RIEGL 214 RiSCAN PRO New option for ASCII Export added ACI AutoCAD Color Index Creation of orhtophotos with depth information Re design of registration procedure Bug fixes some general bug fixes 2003 09 12 Version 1 0 2b30 Changes The default coordinate system for the DataReadout is now PRCS Unionview property sheet redesigned Font for Message list can be selected now Option
44. name of the tiepoint ends with this postfix Index offset Range at least 0 Zero The numbering of the tiepoints starts at this value This value is automatically set to the first unused number but can be changed by the user e Format width Range 1 20 Default 3 The number of digits used for the tiepoint naming process e Name preview This shows an example for a tiepoint name generated by the current name format settings 4 2 Image acquisition This chapter describes how to take a single photo or a series of snap shots from a scan position Important note the following conditions have to be met before the Image acquisition can be used e The camera must be properly connected to the PC laptop or camera server respectively e a camera type has to be assigned see Create new project 321 c 2005 F RIEGL Data acquisition 75 e the camera plugin has to be installed if the plugin is not installed download it from the RISCAN PRO download page foh e Ifyou notice problems when connecting to your camera directly through RISCAN PRO please check the USB protocol setting of the camera This value must be set to PTP for NIKON cameras and to normal for CANON cameras For changing this setting please refer to the product documentation of your camera With RISCAN PRO and the connected camera you can easily take a photo with the digital camera mounted on the scanner Taking a single photo with RISCAN PRO
45. new object view 104 3D Settings Color Settings Default color Default colors are used when you create a new object view 102 or when you display objects Runtime colors Selection color This color is used when drawing selections in selection mode Selected color This color is used when you have select some data Runtime colors influence the appearance of all object views 3D Settings Display settings These settings are used when you create a new object view ho For detailed description of these values see the object view 02 reference e 3D Settings Other settings PRU Ista SST WRENS Selection color O Weih Selection alpha fo 5000 c 2005 ff RIEGL 30 RiSCAN PRO Sets the default settings for a filter selection create new orthophoto he5 e Object view settings Control settings Mouse Defines the sensitivity of the mouse e Object view settings Save settings Define how an object view should be handled e never save the object view is only temporary e always save the object view is added to the project structure e ask user to save you will be asked before closing the object view e Calculation parameters Averaging Resample Set the default values for the averaging resample process f4 here If Always ask for parameters is checked you ll be prompted to enter the parameter each time you start the process Otherwise the process will start wi
46. point cloud truecolor singlecolor color of the selected points and color of the defined plane Third step At the third step you can select points in order to define the projection plane As an alternative you can load a previously saved plane and use this plane as your projection plane by clicking on the button Load plane see fourth step for information about saving a plane The camera for generating the orthophoto will be positioned at the center of that plane and is orientated anti parallel to the normal vector of the plane To select the points within the plane switch to selection mode by clicking on Selection mode or press key S The model will be fixed no zooming or rotation can be done Now you can select the points by drawing a fence Use the left mouse button to set the corner points of the fence Use the right mouse button to close the fence After drawing the fence click on the button Add selected points or press key A to add the points within the fence Note that only points within a certain depth defined by the deviation value are selected Thus for selecting large areas on a facade the facade has to be parallel to the imaging plane You can repeat the selection process as often as you like Finally leave the selection mode by clicking on Selection mode or press key S again Now you have to decide the orientation Three different orientations are available e vertical orientation Intended for genera
47. program settings This option is only of interest when you update RISCAN PRO to a newer version Disable this option to keep your program settings Otherwise they will be overwritten with default values e Default project Contains a RISCAN PRO project with default camera calibrations and camera mountings The default project will be copied to the selected project folder which will be defined on the next page e Startmenu shortcuts Add shortcuts links for RISCAN PRO to your startmenu e RiPort This installs the RiPort driver on your system Note RiPort is not needed on PCs with MS Windows95 98 or if you do not intend to use the parallel port for data acquisition If setup detects that RiPort is already installed you will be asked whether the installed driver or the driver of the RISCAN PRO package should be used If you decide to use the driver of the package the old driver is deinstalled and the new driver is installed Note This will result in rebooting the system twice c 2005 Ff RIEGL Installation 9 More information about RiPort bo e User information RiPort settings RiSCAN PRO Setup User Information RiPort Settings x User information RiPort Settings G D Insert the user license and RiPort information here Name Company License Key Note If you allready have entered a license key during a previous setup you don t need to re enter it Project folde
48. the camera The targets should 1 cover the vertical field of view of the camera and 2 should have a variation in depth it is not required that the calibration field is long term stable The camera to be calibrated is mounted on top of the scanner and the test field is surveyed by the laser scanner by carrying out a number of tiepoint scans on the automatically detected targets Then a series of images with flash is taken at different angular positions of the camera automatically carried out by the calibration task In every image the centers of the reflectors are extracted automatically and the extracted reflectors are linked automatically to the 3D coordinates of the targets By this procedure a virtual test field is generated covering in total the complete field of view of the camera The major advantage is that the test field can be put up easily no total station is required and the calibration task gives both the internal camera calibration parameters and the mounting calibration parameter Calibration based on flat check pattern images Especially for wide angle lenses for the Nikon D100 up to about 40 mm calibration based on flat check pattern images has been found useful One example of an image is shown below which shows a flat check pattern printed on white paper used to calibrate the camera with a 14 mm lens The size of one square is 0 1 x 0 1 m The check pattern is glued to a plane board to ensure the pattern is really flat
49. the camera itself e g dimensions of the images in pixels the focal length of the lens and the center of the camera image Furthermore you need information about the position and orientation of the camera for every image to e g apply the color of a pixel to a 3D surface RISCAN PRO provides the orientation and position information automatically in case the camera is mounted on top of the scanner Up to this point the parameters describe an ideal pin hole camera However in practice the lens introduces significant distortion This lens distortion is modelled within RISCAN PRO by up to 6 parameters For more details see Camera model used 371 The camera when ordered with the scanner is delivered with calibration information This information is gained by using the calibration procedure integrated in RISCAN PRO usually Based on reflector column 421 But please note the following The internal camera calibration parameters depend on e the lens itself even the same type of lens will lead to a different set of parameters e the setting of the focus e the setting of the aperture Thus it is recommended to fix the camera s focus and aperture BEFORE doing the calibration Setting the focus depends on the intended distance the camera will be used Please note that you always have a finite depth of the focus which is larger the higher the aperture number is chosen When we tolerate blurring of 0 25 pixels we can set the focus to c
50. the image file a so called world file h97 with the same name must be available This file contains the position and orientation of the aerial view The project has to be registered to the global coordinate system GLCS in order to import the aerial view correctly To view the aerial view just drag it from the project manager and drop it onto an opened object view 8 2 Export You can export some objects To do so just right click on it and choose Export from the menu Select a filename and the desired output format from the list For details about the output formats and their settings please refer to the specific chapters ASCII Crystalix asc 3DD with SOP 3DD point cloud 1941 3pf c 2005 F RIEGL 192 RiSCAN PRO Autocad 122 dxf points only e e Polyworks t cae pol Wavefrontho obj e VRMLl93 wrl e PLYh e STL 195 stl It is possible to define the target coordinate system and the target unit for every export unit is not available for ASCII export PSS sth Gale IIE J Prune invalid measurement points Project coordinate system PRCS Unit m GENERAL SETTINGS e Choose the type of coordinate system and unit e Scanner s own coordinate system SOCS e Project coordinate system PRCS e Global coordinate system GLCS e Prune invalid measurement points This will ignore invalid measurement points for the export
51. the tiepointlist of the linked tiepoint and selects the linked tiepoint e Show additional information This switches on off the additional information 78 c 2005 ff RIEGL 90 RiSCAN PRO e View all select invert no these functions set the visibility of each tiepoint Only tiepoints with the black binoculars in front of the tiepoint name in the tiepointlist will be displayed in a 2D or 3D view e Menu Combined adjustment e Use this tiepointlist This switches the usage of the tiepointlist for the combined adjustment on or off With Use this tiepointlist you can switch on off the usage for all tiepoints in this tiepointlist without changing the real switch status the checkboxes before the tiepoints will be grayed disabled but not unchecked e Use all selected invert This switches the usage of the tiepoints for the combined adjustment on or off 4 4 Tiepoint scans In order to determine the exact position of a reflector you can use a Tiepointscan l9 or a Fine scan via Scan 1 Make an Overviewscan 691 2 Extract reflectors see Reflector extraction 71 3 Make finescan s The tiepointlist window 78 via Image This procedure provides a very fast and convenient way to determine the position of a tiepoint Adapt the mounting and camera 371 calibration settings Right click on the directory SCANPOSIMAGES from the scan position and select New Single Image from the menu c 20
52. tiny tool to select all tiepoints matching a given criteria c 2005 ff RIEGL 88 RiSCAN PRO Select tiepoints x Selection filter Filter settings Value Range gt Invert Keep old selection select tiepoints where this value is empty C is below lt is equal is above gt is zero 0 Value for comparison 20 Canea Hao To use this tool just select a value column and the criteria above below equal to this value When Invert is checked the result of the filter tool is inverted When Keep old selection is selected all tiepoints selected before using this tool are also selected after using it works like an OR filter So you can realize a multiple selection by running these tools with different settings but Keep old selection checked e Find corresponding tiepoints only available in TPL SOCS see Registration via tiepoints 1125 e Set controlpoint state only available in TPL PRCS Use this menu entry to determine if the tiepoint is a controlpoint or not c 2005 F RIEGL Data acquisition 89 gt TPL PRCS own cs l O x Q A ow I Se i 0 000 0 000 n v AAAA ye tp002 Edit tiepoint iam i gM tp003 Set reflector type Set controlpoint state of selected tiepoints Tiepoint is link target Tiepoints are controlpoi
53. to the object view and configure their attributes color draw mode 3 Click with the right mouse button into the object view window and select Create new animation from the menu The following dialog will appear Create new animation xj Active view View01 Units Range m Angle deg Time s Speed m s Animation path Recorder m Pose list Pose properties x ij Z Position 581 76 457 11 437 12 Iv Direction 0 996 0 084 0 041 ie Up 0 042 0 00 0 999 o E Mode Cubic spine Plane normal Fosse 0 084 foot iV Center point 624 94 EE 436 51 M Are angle 180 000 Divider fi 8 Stepwidth 10 000 Name Pose003 Add pose s m Info Video length 0 0 Path length 0 0 Update J Show pose list sjt xix rPose000 69594 1 000 69 594 Pose001 1693 1 000 1 693 L Pose002 i T c 2005 F RIEGL Data postprocessing 185 The next step is to define the animation path The animation path may consist of several parts Each part is build up by two poses a travel mode and the duration The two poses define the start and stop position and orientation of the virtual camera All parts of the animation path are stringed together That means that the stop pose of the previous part is the start pose of the current part The travel mode defines how the path between start and stop poses should be calculated Following modes
54. using a uda file Format Name X Y Z by clicking on the button Read from file Open the uda file and select one entry position from the list Instrument height Insert the vertical offset between the well known ground point and the laser beam exit indicated at the scanner head 5 Target selection On the second page you can decide how to align the scanner either via remote object or against north 5 1 Against north If via remote object is selected enter the coordinates of a remote object in global coordinates There is also the GPS import via uda file available see step 4 5 2 Via remote object If against north is selected you should align the scanner against north see next paragraph 6 Alignment Now you have to define the rotation around the Z Axis of the scanner the orientation of the instrument called Northing angle 6 1 Northing angle In that case you have to turn the scanner until the remote target is within the telescope or the compass points to north respectively To use the northing angle click on Use northing angle PARALLAX Insert the horizontal offset between the center of the telescope and the center of the scanner 6 1 1 From instrument The retrieve the northing angle from the instrument please check the checkbox Connect to device You can now use the wizard to turn the instrument A single click on Turn left or Turn right will cause the scanner start moving To stop i
55. window or by right clicking anywhere within the Object view hoa window Sheet General this tab provides some settings on the view and the background color Sheet Init Data c 2005 ff RIEGL 156 RiSCAN PRO General Init data New data Init data Point count 14804 Poly count 27559 Color mode True color x Color Meu Static Witeframe gt Divider DOO Dynamic Witeframe ra fico e Show init data if this option is activated and changes have been applied the Initial data will be visible together with the New object in the bottom screen Note to better visualize a difference choose a different color for the Init data disable the option Apply change to all d p AS New data with Show init data New data without Show init data e Color mode choose between single and true color e Color if the color mode is set to single color select the desired color from the list e Static c 2005 F RIEGL Data postprocessing 157 select the type of structure that should be applied to the object Polygon smooth Polygon flat Wireframe Points e Divider reduces the amount of points that are shown The number of points is divided by the value entered here e Dynamic same as Static with the exception that these settings will be applied during any movement of the object Sheet New Data Provides the same information as the initial da
56. 0000061 4 0 999999528 0 000971496 0 000000000 0 000631610 0 000971 497 0 999999329 o 000000000 0 000000000 0 000000000 o 000000000 1 000000000 CALCULATION SETTINGS Scans ScanPos01 Pali Calculate The grid on top of the dialog shows the current SOP matrix normally the identity matrix On the bottom of the dialog a list displays all scans of the scan position To calculate the SOP select one scan and click on the button Calculate When the analysis of the scan is done the SOP is calculated and displayed in the grid To finally save the new SOP matrix click on the button OK Usage of inclination values in backsighting orientation Please refer to chapter Backsighting ha 6 3 Manual coarse registration With RISCAN PRO you can change the orientation and or position of a scan position or other objects e g planes aerialviews in 3D The following step by step description demonstrates the modification of the position and orientation of a scan position This guide is also applicable on other objects such as planes or aerialviews 1 Open or create an object view 2 Insert the scan position s you want to modify into the object view drag the scan position from the projectmanager and drop it onto the view window To get a visual feedback of the modifications you should also insert some data according to this scan position c 2005 44 gt RIEGL 132 RiSCAN PRO 3 Insert some refer
57. 05 F RIEGL Data acquisition 91 w New image NikonD100 Nikkorl 4mm v NikonD100 Nikkor20mm_Z360 E Sheet General e Description Provide additional information optional Sheet Calibration CALIBRATION e Camera Calibration select the desired camera calibration settings You can change the settings by clicking on the Edit Button see Camera Model 37 e Mounting Calibration select the desired mounting calibration settings You can change the settings by clicking on the Edit Button see Mounting Calibration TARGET FILE e Destination File Provide a name for the new image You can import an image by clicking on the Import Button not recommended for this purpose c 2005 fP RIEGL 92 RiSCAN PRO Click OK to confirm the settings and create the image The output will be stored in the directory SCANPOSIMAGES Adding Tiepoints Open the image from the directory SCANPOSIMAGES by double clicking it e select the desired tiepoint s in the image and click the left button of your mouse to set a marker place it in the center of the tiepoint This will position a symbol at the coordinates where you have clicked the button e right click on the created marker and choose Add point to TPL from the menu or Delete marker if you choose not to add the marker c 2005 gt RIEGL Data acquisition 93 New tiepoint x
58. 12 RiSCAN PRO It doesn t matter if you enter the license key with or without the dashes and blanks Also the case of the characters isn t important Editing a license key Select the license key by clicking with the mouse on it Click on Edit license key A dialog appears where the license key can be edited see format notes at Adding a license ke j Removing a license key Select the license key s you want to delete Click on Delete license key The selected license key s will be deleted without confirmation Removing all license keys Click on Delete all license keys Note There is no confirmation Do you really want to The keys will be deleted and can not be restored How to get the HDD ID In the bottom left corner of the license manager is a box showing the HDD ID of your PC By clicking on the button Copy the HDD ID is copied to the clipboard in order to be used in an e mail to support riegl com The HDD ID is also shown in the about box of RISCAN PRO Note If there is no valid license key left when you close the license manager you will be prompted to add a license the next time you start RISCAN PRO Note The built in license manager of RISCAN PRO only shows the licenses of RISCAN PRO To edit the license keys of any other RIEGL LMS software product or either a plugin of RISCAN PRO you have to use the RIEGL LMS License manager You ll find this program either in the
59. 2 bit floatvalue 48 Red 0 1 32bitfloatvalue 56 Green 0 1 32 bit float value 60 Blue 0 1 32 bit floatvalue 64 MIMIN ka H amp 5 S amp N B i a kol 5 a 8 3 3 COP SOP POP The COP SOP POP file format is used by RISCAN PRO to exchange matrices This format is already known from 3D RISCAN LPMSCAN c 2005 ff RIEGL 196 RiSCAN PRO Example of a POP Matrix exported as POP file tiltmatrix c00 0 65922099 c01 0 69496346 c02 0 28714722 c10 0 72800934 c11 0 68545556 c12 0 01237154 c20 0 18822891 c21 0 21720143 c22 0 95780659 position x 1040 33007813 y 1142 82165527 Z 1002 35168457 Where c00 c22 and x y z correspond with following matrix values c0O c10 c20 c01 c11 c21 c02 c12 c22 0 0 0 x lt N x lt k Note The offset is always in unit m see also Fileformats DAT h b 8 3 4 DAT The DAT file format is used by RISCAN PRO to exchange matrices It is a very simple format using a text file The matrix will be written into the file as is Example of a POP Matrix exported as DAT file 0 65922099 0 72800934 0 18822891 1040 33007813 0 69496346 0 68545556 0 21720143 1142 82165527 0 28714722 0 01237154 0 95780659 1002 35168457 0 00000000 0 00000000 0 00000000 1 00000000 The columns are s
60. 8 2 1 3PF Use intensity as color Select this to export intensity information instead of color information Append to existing file Select this to append the data to an existing file 8 2 2 DXF Following objects could be exported as dxf e Scan Polydata Only point information will be exported e Polyline e Section e Plane You can export multiple objects at the same time To do so select the objects you want to export and select Export from the popup menu Now enter a filename and decide if you want to create only one layer for all objects or a separate layer for every object Note Objects must be all of the same type c 2005 F RIEGL Data exchange 193 8 2 3 OBJ Only triangulated polydata objects could be exported in OBJ file format Export with texture If the polydata object is textured you can select if you want to export texture information Use intensity as color Select this to export intensity information instead of color information 8 2 4 POL Only triangulated polydata objects could be exported in POL file format Export with texture If the polydata object is textured you can select if you want to export texture information Use intensity as color Select this to export intensity information instead of color information 8 2 5 VRML Only triangulated polydata objects could be exported in VRML file format Export with texture If the polydata object is textured you can select i
61. 80ean j t joints General settings Select default view Fullscreen mode e General settings Opens the general settings dialog For more information see Object view hoa e Popup menu Shows the popup menu e Select default view Select one of the default views View View plane Direction Up Bird s eye view x y plane z vector y vector Bottom view x y plane z vector y vector Front view y z plane x vector z vector Back view y z plane x vector z vector Left view x z plane y vector z vector Right view x z plane y vector z vector e View all View the whole scene The orientation of the camera is not changed e Fullscreen mode Switch current object view to fullscreen mode The other toolbars are described in the corresponding chapters c 2005 ff RIEGL 118 RiSCAN PRO 5 3 5 Viewports A viewport is a particular position and orientation within a 3D view such as the standard viewports Bird s eye view Bottom view Front view Back view Left view Right view and Scanner view Add a viewport You can easily save your own viewports in the folder VIEWPORTS within the project To do so click with the right mouse button into the object view window and select Viewport gt Save A window appears which shows a summary of the parameters of the virtual camera Click on the button OK to save the viewport Edit a viewport Double click t
62. Change view type Change current view type of polydata object See Data visualisation Viewtypes 95 c 2005 Ff RIEGL 114 RiSCAN PRO e View You can set default views such as Bird s eye view Bottom view and so on which only use the bounding box of the object Thus you will not see the complete scene but only the selected object Tiepoint object TIEPOINTS Property _Walue__ Cemment___ No No Draw mode Paint aw mode for tiepoint object Reflector type Point size _ _ si Integer between 1 and 20 Size of point in pixel Is used in point draw mode Coor Color Color of tiepaint object Point object POINTS Property Wale Comme Position XAY a point number Position of point object Size _ Integer between 1 and20 Size of point in pixel Color of point object Polyline object POLYLINES propery Wale Commen No Integer between 1 and 20 Width of line in pixel lt ten between 1 and 20 Size of Polyline color Color Solo Node color Color Solo No e View You can set default views such as Bird s eye view Bottom view and so on which only use the bounding box of the object Thus you will not see the complete scene but only the selected object Section object SECTIONS c 2005 F RIEGL Data visualisation 115 Property Value Comment show hide section object N 0 Draw mode Line Draw mode for section object Po
63. F1_01 F1_01 Scan01 Img08 F1_01 F1_01 Scan01 Img09 F1_01 F1_01 Scan01 Img10 F1_06_T_02 F1_06 F1_06 Scan01 Img01 F1_06 Terrain_01 Img01 F1_06 Terrain_01 Img02 F1_06 Terrain_01 Img03 U6 Terain 01 Img04 F1_06 Terrain_01 Img05 F1_06 Terrain_01 ImgQ6 Terrain_01 3D SETTINGS Ray length m 20 0 X J Show funnel ow V Show image EEE Image type filter On top of the window you can select which type of images should be displayed distorted images undistorted c 2005 F RIEGL Data visualisation 123 images or all images Distorted images will be displayed in blue color Undistorted images will be displayed in black color Image list amp preview The middle part of the window shows a list of all images grouped by scan positions The preview will show the thumbnail of the currently selected image 3D settings This section only takes affect when an object view is opened If an object view is opened and an image is selected in the image browser the thumbnail of the image is displayed in the 3D view This is done by drawing four lines representing the field of view of the camera The length of these lines is set by Ray length The image itself is projected onto a plane which is normal to the center ray of the image The distance between plane and camera origin can be adjusted with the slider besides Show image This is a factor
64. Ga 2 Xx xX dele by TPL DSC_0125 IMAGE es Po TILE LARS SCE 1974 722 03 03 1971 553 04 04 2199 958 05 05 2466 024 06 06 2528 427 07 07 2695 770 08 08 2866 646 1475 498 1870 636 2853 257 1358 763 P gt Open the attributes window of the node CamCalibTask01 by double clicking or right clicking choosing Attributes Enter the focal length guess in mm into the edit field Use the number printed on the lens Initialise computation of calibration parameters by clicking Start All linked points are extracted from the lists and calibration parameters are calculated w Camera calibration task OpenCY OpenC Calibration Computing calibration data based on tie points Focal length guess mm fi 80 Start Log of calculation Processing image DSC_0128 36 linked points added Processing image DSC_0125 37 linked points added Processing image DSC_0126 36 linked points added Processing image DSC_012 36 linked points added Estimated focal length 179 384 mm Image DSC_0128 Pixel distance mean max Image DSC_0125 Pixel distance mean max Image DSC_0126 Pixel distance mean max Image DSC_012 Pixel distance mean max Caca H After successful calibration RISCAN PRO displays a statistical analysis for every image The calibration data are entered in the Result_CamCalib node and for every image the estimated position and c
65. INTS u v Point 1 The first point in the first row Point 2 fi 19 000 fra 000 The second point in the first row 79 000 73 000 Calc all crossing points cant we Select an image of the image list on the left side This will load the image into the window on the right side Now set two markers at the first two crossings in the first row by single clicking with the left mouse button hob like the image above shows Now you have to identify the points through a single right click on each marker and selecting its position from the menu the order is not important If you have done a faulty assignment you can simply overwrite it by doing the assignment a second time The button Calc all crossing points will cause RISCAN PRO to calculate all other crossing points which will take dependent on your computer configuration more or less time The result of the calculation will be displayed in the image by markers Distorted check pattern In some cases automated detection of corner points fails Especially when perspective distortion yields a ratio in width and height of the first square significantly different from 1 compare the subsequent image In this case try to define the opposite square as the first square Use again the clockwise orientation c 2005 ff RIEGL 52 RiSCAN PRO me Pane Cie we AD gt Ri ERY AIE A Example for an extremely distorted check pattern Process a
66. NS within the project 5 Animation playback simulation Change to the page Recorder To get an impression of the final animation click on the button Simulate and select Simulate with camera from the menu This will start the playback of the animation Note that the speed of this preview does not necessary correspond with the speed of the final recorded animation Especially when the object view contains a lot of data the speed of the preview is much slower than the speed of the resulting animation The speed of the complete animation not of several animation parts can be modified with the Time multiplier The default value is 1 To get twice animation speed and therefore half animation time set this value to 2 6 Record animation Modify the video settings to meet your requirements Dimension Width and height of the movie in pixel You can either enter a size directly or select a predefined size from the list Note If the selected dimension is smaller than the dimension of the object view window it s likely that the scene c 2005 F RIEGL Data postprocessing 187 will not fit into the video To solve this problem please adjust the parameter Scene scale of the virtual camera in the object inspector Dots per inch Default value is 96 DPI equal to the DPI of the screen To get best results you should set this value to the DPI value of the target screen Frames per second Default value is 25
67. Navig ti n ieiscsicsevitiecscscccedsansesccrssccunesatasensenecrssaeansvatcscnscbueravutandnabesddeabsirseabepdsutasatebuaratasandsabcsensenusrdeasabeveteecnsessirs 100 2005 Riegl LMS RiSCAN PRO 3 Part VI ooh won Part VII 1 RIDIT e a eE E A E JeasdudeduaucudeSeucduausawecuseveassdedeustuds SeucuiiacastanuecumesuuedausaudsSeacdudstuwscnuccuues ODISCE E a E E E E T E E E EE E E E E T Navigation oasisirsisiesiessroiivsreoss coccesseevseedebseccecresecs Object INSpector eecssesseeeseteeseeesseeeseeeeeeerees Toolbars csecevsdcrescteelieecticccscctueteccceiscreceti siete sceecs VIG WPOMES Re a EEEE E E E A E E E ecni vcey auederensuces Readout WINDOW sssini annann a anA EA AAAA SAA Tiepoint display WINdOW ssssnsesnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nnnnn nnmnnn nnna nnmnnn nnna IMaGe browser WINdOW ssssnsssuunnennnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn ennan nnmnnn nnmnnn nnmnnn nenna nnmnnn nenne Data registration Registration via tiepoints Registration via inclination sensors optional cccsecccceseeeeeeseeeeeeeseeeeeenseeeeeeeseeeeeenseeeeeenees 130 Manual Coarse registration ccccsecceceseeeeeeeeeeeeeeeseeneeeeseeeeeeeseeeeeeeseaeaeeeseaeeeeaseaeeeenseeeeeenseenenenees 131 Ba cksiohling sisis SANAE cece duesseqcuasecuecdweteceus 136 Registration of Project IMAGES cccesseeceeeeeeeceeesneeeeeeseeeeenseeeeeeeseeeeeens
68. PRO SETTINGS e Ignore current selection Activate this option if the current selection of the tiepoints should be ignored all tiepoints will be used as input of the filter e Apply filter to visible state of tiepoints This will set the visible states the magnifying glass in front the tiepoint name according to the filter output e Apply filter to selection state of tiepoints This will set the selection states the small hook in front of the tiepoint name according to the filter output 6 2 Registration via inclination sensors optional Automatic horizontal alignment of acquired scandata With RISCAN PRO you can automatically align the acquired scandata according to the information of the inclination sensors This is especially helpful when it s not possible to register the scan position to global coordinate system gained by totalstation or DGPS In that case you would set up the scanner at the first scan position acquire the data align the data horizontally with this function and register all further scan positions onto this scan position You can enter this function by right clicking on the SOP of a scan position and selecting Calc via inclination sensors from the menu The following dialog will appear c 2005 F RIEGL Data registration 131 w Calculate SOP via inclination sensors x Calculation TMATRIX SOP 0 999999801 0 000000000 0 000631610 0 000000000 0 0
69. RISCAN PRO Version 1 2 0sp1 D RIEGL LASER MEASUREMENT SYSTEMS RISCAN PRO 2005 Riegl LMS All rights reserved No parts of this work may be reproduced in any form or by any means graphic electronic or mechanical including photocopying recording taping or information storage and retrieval systems without the written permission of the publisher Products that are referred to in this document may be either trademarks and or registered trademarks of the respective owners The publisher and the author make no claim to these trademarks While every precaution has been taken in the preparation of this document the publisher and the author assume no responsibility for errors or omissions or for damages resulting from the use of information contained in this document or from the use of programs and source code that may accompany it In no event shall the publisher and the author be liable for any loss of profit or any other commercial damage caused or alleged to have been caused directly or indirectly by this document Printed July 2005 Contents l Table of Contents Part Part II 1 2 3 Part Ill A OD a Part IV 1 Foreword 0 Introduction into RISCAN PRO 5 Installation 7 SYSTEM r g eME S ra Er a aar cence de Lacie reaa a aaaea arra AE aaas seater Oa Ea a aAA aaae EAA REEE ania 7 Program instalation srssscssnn a segenueysccentasedunceysecnueayersenccysecucseteeduccesene 7 License Man
70. RISCAN PRO to use this pre defined format settings as default and click on OK Wrong or out of date pre defined format settings can be deleted by selecting them one by one from the drop down list and clicking on the button with the minus on it To finally import the tiepoints into the tiepointlist click on the button OK on the bottom of the dialog After importing points into a TPL PRCS you will be asked if these points are controlpoints see Set controlpoint state 781 e Reload This reloads the tiepoint list This refreshes the display and also recalculates the deviations only ina TPL SOCS e Layout You can select which columns should be displayed in which order When selecting this menu item the following dialog appears Column style configuration 0 x M COLUMNS Name Link ReflT ype Size KKAKKKAKE Column width pix m SETTINGS Use this settings for all TPLs of kind TPL GLCS Just check or uncheck the columns you want to display or hide by clicking with the left mouse button c 2005 gt RIEGL Data acquisition 87 into the box in front of the column name You can change the order of columns by dragging a certain column and dragging it over the place where it should be As an alternative you can select the column an push on of the arrow buttons on the right side of the dialog You can also change the size of each column Just select one
71. RiSCAN PRO 2 The additional information area only available in TPL SOCS In the additional information area the deviations between the tiepoints an their corresponding linked tiepoints is shown 3 The list showing the tiepoints This list shows all tiepoints of the tiepointlist The style columns to display of the list can be set with the layout editor 787 The checkbox in front of the name of the tiepoint shows the combined adjustment usage The binoculars in front of the name of the tiepoint shows the visibility state You can click on the symbols to change the states To link two tiepoints together you can drag one tiepoint and drop it over an other tiepoint of an other tiepointlist 4 Other functions available from the menu bar e Menu Tiepointlist e Calculate translation for POP only available in TPL GLCS This calculates and writes the translation in x y z direction for the POP matrix This transforms the huge numbers of the TPL GLCS to smaller numbers in the TPL PRCS to make all further calculations more precise Usage Select Calculate translation for POP from the menu adialog appears showing the calculated translation You can edit the translation To finally write the translation to the POP matrix press the button OK else hit CANCEL Optionally Use the Copy selected tiepoints to 781 TPL PRCS to copy and transform the tiepoints to the TPL PRCS e Export To export tiep
72. Version 1 0 0 Initial version c 2005 F RIEGL 218 RiSCAN PRO Index ae 2D navigation 100 2D view 96 3 3D navigation 105 3D view 102 3DD 194 3PF 192 194 A Abbreviations 202 Adding a license key 10 Angle definition 203 Animations 184 Atmospheric correction 35 Auto sensitivity 73 Azimuth angle 203 B Backsighting 136 Backsighting orientation 71 Base camera calibration 42 Beamwidening lens 70 C Calculator 14 Camera 36 Camera calibration 36 40 Camera model 36 37 Camera s field of view 59 Check pattern 48 Clean data 147 CMCS 30 202 Coarse alignment 71 Coordinate systems 30 COP 195 202 CR 202 Create geometry objects 170 Cross over cable 33 D DAT 196 Data readout window 14 Data registration 125 Data visualisation 95 Default settings 24 DHCP 33 Distance 178 Download 202 DXF 192 E Editing alicense key 10 Export 191 Fe Fast switching to 3D View 97 Field of view 59 70 Filter data 145 Finescan 78 Firewall 33 Frame angle 203 Fullscreen mode 102 G Geometric correction 35 Geometry objects 170 GLCS 30 202 H History 207 HMSA 141 How to get the HDD ID 10 Image acquisition 74 2005 Riegl LMS Index 219 Image browser 14 122 Import 190 Inclination sensors 71 130 Info window 14 Installation 7 Introduction 5 IP address 33 L LAN 33 Lay back 71 Lay front 71 LF 202 License 7 Lice
73. a acquisition finished Fie SC i 100 z af Dala acquisition finished Fie SC_ NN 100 Scanposition Koai Left Data acquisition stared f File Data acquisition finished File Scan01 3dd 90360 nmeasurenents Size 1 4 18 Tool windows of RISCAN PRO e Project manager This window shows a so called tree view of the project structure This tree view contains all items Scans images configurations calibrations and so on saved in the project To modify an item click with the right c 2005 Ff RIEGL 16 RiSCAN PRO mouse button on the item and select your desired action from the menu Shortcuts within the project manager window Enter perform default action e g view a scan open the tiepointilist ALT Enter shows the file attributes of selected object the standard Windows dialog will be displayed CTRL Enter lopen selected object in Windows explorer file path F2 rename selected object e Preview window This window is positioned on the bottom of the project manager and shows a thumbnail of the currently selected scan or image You can open and close the preview window by clicking on the pin beside Preview Message list window This window shows all messages created by several functions of RISCAN PRO These messages are saved with the project thus you have a complete summary of all actions done in this project Message examples Project loaded
74. aea SE E a a a a resence cwectaceeeesoaceees 196 ROT aa a a a a eee eds 196 RSP Project Tile ispiser arearen e rare apidae eaaa e piana aaa eie era Sa cheese cpocseteestedebuesgedececetdectsenuess 197 UDA e N eNO pope NA 197 TR e ET EE EE EE EE E E EE E E E beaeeeigesees teres 197 Worl E il e EEN E E E E E E E E E E E E E E E E 197 ZOP E a e a A AAE 198 Part IX Appendix 202 1 Download information osesscscnnsasin eeenee seen eeee seen enee sees nnee see nneeseeesneeseeesneeseseseeeseseseeeseeesnees 202 2 PADDIOVIATIONS occ suse nc sheet cuete test oe cece doe EEES EAA EEEE RAE 202 3 Angle definilo sesoses 203 4 Program SNOPMCUUS ssnin sececves seduces sedecvestceerdts 203 5 RIPO apaisar g eaaa ea aaea ae a ccua ae ete cates Ea eaaa Aran AAEE AEn eaaa Eai 205 6 RISGCGANLIB isss a ate acca ae es eee aaa aaa 206 T COPYright rema S arr aa aa arrear paranee Aaaa aa aaae aaa Aran e a Aaaa o Aa aaeeea EEEE AEREE i 207 VTK 9 Suet negate aE aa T iaaea ae aida ea da ee ae eae a S 207 8 Revision MStOTY 2ceczerc cts cesceute tes he ca E aN AARAA ARAARA RAANEI ERAN KARNAN ARAKAN AAA AANEREN KARANAA 207 Index 218 2005 Riegl LMS Introduction into RISCAN PRO 1 Introduction into RISCAN PRO 5 Introduction into RISCAN PRO RISCAN PRO is the companion software package to the RIEGL 3D laser imaging sensor of the LMS Z series It allows the operator of the 3D imaging sensor to perform a large number of tasks incl
75. agel icc cciccesiets ee haiti hadi deine Re eiateicke 10 Getting started 14 Main programi WINDOW 2 2 cc lt c002 cceceasacrecennacrecenceeeeennsneescodsagrecesacrscentaceeenntuersccdsa recesacessensueresensues 14 Program SCUINGS siisii aE EAE ESSA AEA 24 Coordinate SyStems i vcs 1 c0sccecesccestscesceceennecesete cescesceneceenerssecesenneeenteceseeedesaeesanceddeneeesnaeseseeeennecents 30 Create MEW PFOjO Ch cicic ices cnceeccc ete ecitendeeescceneedis cecnebeceecenucetnsctis sueevedecegnters maari aha raana Eaa HAREE 32 Project Settings i iciciccsiscsesdsctecesecsaseoascseneascerseaceb savasancszueseeacapasasdsaveaswsduvacasdsabesesddanscnvansbenabdsavecdusdbencarddabesandsanecsae 33 Create new SCAMPOSItiON 25 ii5 os coce cc eetceceecetecce cokceedccg sted ccuenates eaa AE EE eE AE aa Aaaa E eaaa Eaa a AEAEE 35 Galibrati ns ainia a aaa ease Sects cee dees wae ese See E 36 CAMGKa r r A E cence sduadatucsscesucaset ce bescesseuvsdvadeiesencestandeds 36 Gamera Model sses dea eee ie a aa aaa aE a a aea eaaa Ee eaa Aada aa iaaa N 37 Gamera Calibration nesir aa a A a aan aaa a eave reas 40 Bas Camera calibration ss cccviverssicescacsancunsahi casscceassneeantedceacancsnavascebaangen esugeeadedncesanasi ersacesnancueceaaenteasalisensae 42 Based on reflector Colm messessccscteicecisaciaazieaieasicngiis cbdnccague ss ccnayeanstecitngentesitceaaneivactaneiasercainzeaned Wesacveaseceael 42 Based on flat check Patternn eeeeeeeeeeeeeeneeee
76. alibration according to the camera the lens and mounting used TARGET FILE This will be the prefix of the saved photo generated automatically but editable In the example from above the photos will be named ScanPos01 Scan001 Image 001 ScanPos01 Scan001 Image 002 ScanPos01 Scan001 Image 003 c 2005 F RIEGL Data acquisition 77 ScanPos01 Scan001 Image 004 To finally start the image acquisition just click on the button OK 4 2 1 Reflector extraction This function extracts all retro reflective objects of an image and writes the coordinates of them into the corresponding tiepointlist The reflector extraction of an image is needed for calculating the camera mounting or the camera calibration To run the reflector extraction right click on an image and select Find reflectors This will show following dialog Reflector Extraction x REFLECTANCE THRESHOLD Threshold detection fo 0 850 Use TPL SOCS ee Be ORs Name prefix IMAGE_ Index offset fo Name postfix Format width 3 First TP name IMAGE_000 EXTRACTION RANGE Status no limitation Select from Image Selected pixels 6016000 Reset to whole Image IV Delete existing tiepoints of tiepointlist caret Hoe Reflectance threshold e Threshold detection Range 0 1 Default 0 85 Meaning Only objects with a higher intensity reflectivity than this value wi
77. all question mark will appear on the button e Network connection state of scanner To activate the tool click on the button with the scanner on it the button will stay pressed To deactivate it click on the button again a small question mark appears on the button e Network connection state of camera To activate the tool click on the button with the camera on it the button will stay pressed To deactivate it click on the button again a small question mark appears on the button e Interval for network connection check Click on this button to set the interval of the connection check Note This is just a simple tool to check the network connection It only checks IF something responds to the ping but it doesn t care WHAT responds That means if you enter the network address of an other PC instead of the address of the scanner the tool would pretend that everything is OK but communication with the scanner will not be possible unless you enter the correct address Program settings In the RISCAN PRO settings dialog you can set several options e General Default scanner settings DEFAULT SCANNER SETTINGS Beam focus ml Infinite F Automatically read out extended scanner parameters c 2005 F RIEGL Getting started 25 Beam focus This beam focus is used when you select a Overview 691 Panorama 7 scan INCREMENTS Increment for up down buttons for resolution Theta Ph
78. an position Right click on the desired polydata object from the folder POLYDATA within a scan position and select Texture from the menu c 2005 F RIEGL 162 RiSCAN PRO xi PARAMETERS IMAGES ScanPos ScanPos canPos01 Panorama001 Image003 gt ScanPos01 PanoramaQ01 Imaqe004 All None Toggle Current Position SETTINGS Maximum texture size 1024 x 1024 pixel gt Texture scale Lara amarante OTe Overlap factor _ _ 10 con f e The dialogs shows a list of all undistorted images of all scan positions The undistorted images of the scan position the polydata belongs to are selected automatically SETTINGS e Maximum texture size The images will be split into frames with the selected size the default value depends on the graphic card recommended is the highest resolution Texture scale With this factor you can scale the images before they will be used for the texture process The default value is 100 A smaller value leads into less data but also into less quality Overlap factor Since the images are split into frames with the size entered before it s likely that triangles need to be textured with two or more frames which is not possible Therefore an overlap factor can be set The borders of the image frames will not be strict the frames will overlap This will ensure that each triangle can be textured by using just one
79. ane To define this point use the mouse 170 or enter the coordinates directly When you enter the coordinates directly click on the button beside the coordinate in order to update the plane in the 3D scene The orientation of the plane is defined via the orientation of the virtual camera the plane will be aligned normal to the direction of the virtual camera If you want to navigate in the scene without modifying the orientation of the plane activate the option lock plane normal To tilt the plane about 180 deg activate the option Negate normal vector To finally create save the plane click on the button Create plane e From 2 points This mode is only available when the camera is set to orthogonal mode hob With this mode you can define a plane by defining two points These points define an axis which lies within the plane The rotation of the plane about this axis is determined by the orientation of the virtual camera the plane normal will be normal to the direction of the camera As soon as you enter this mode the navigation is locked you can not pan rotate or zoom To define the points of the axis click with the left mouse button into the view After you have defined the second point the plane will be created immediately The dialog of this function offers some tools to make axis definition easier Orientation e Free the axis can be defined in any direction e Horizontal the axis can be defined horizontally only e Vertical
80. aps in chained or ringed scan positions e Ring c 2005 ff RIEGL 128 RiSCAN PRO SES SP1 Possibly at scan position SP1 are controlpoints available Now SP2 is registered onto SP1 SP3 onto SP2 SP4 onto SP3 and SP5 onto SP4 There will by a huge deviation between SP5 and SP1 If Find corresponding points is called for SP5 using SP4 and SP1 it is possible that links between SP5 and SP1 tiepoints are created But if SP4 is misarrange related to PRCS due to the ringed formation it s probable that not all links are found And here s the point where the Close gaps in chained or ringed scan positions is used Run Find corresponding points for SP5 again select SP1 and activate Close gaps in chained or ringed scan positions 6 Proceed with step 4 with each scan position you want to register Possible problems e Not enough corresponding points found Try to activate more already registered neighboring scan positions Or acquire more tiepoints reflector targets e The process takes a lot of time and leads to no satisfactory results This generally occurs when too many tiepoints are available in the TPL SOCS Try to reduce the number of tiepoints by either deleting unnecessary tiepoints or just deactivate them the small hook in front of the name of the tiepoint in the tiepoint list window The deactivation of the tiepoints can be automatically done by RISCAN PRO Therefore use the second page of the F
81. are e add objects c 2005 ff RIEGL Data visualisation 109 remove objects change object properties visibility color rename object locate objects in the project manager Object inspector xj Active object view Active view ViewObjects Active coordinate system of object view button p Project coordinate system popecis SC a G GL_CAMERAS 1 A S GLCamera UGHTSOURCES 1 oy 9 Lightsource POSITIONS 1 ala ScanPos01 i A SCAR A NRE H POLYDATA 1 ANS E Textured D EPaNTS Lock state POINTS GA POLYLINES O SECTIONS PLANES C SPHERES Ge CYLINDERS ORTHOPHOTOS a DISTANCES Container for objects Number of contained objects fl Object icon visibility state Object color Properties Fo 2 Colored_Scan IV Visible Object properties Smooth points Point size 1 000 Color mode Multi color Point color BB Blau Units m deg YW The objects are arranged in special folders containers e g all scan objects are inserted into the SCANS folder Beside the folder the current amount of contained objects is displayed To add objects to the active object view drag and drop them to the object view window or to the object inspector The new added objects will be inserted into the folder structure Coordinate system To change the coordinate system click on the button and select either Scann
82. are already selected this state can be restored by pressing the button with the blue arrow pointing downwards You may select more images here e Parameters c 2005 F RIEGL Data postprocessing 169 z o xi Data Parameters PARAMETERS Mi le Name OrthoPhotoO01 Name Plane001 Near plane m 2 000 A 7 Origin m X 16 228 Y 52 638 Z 6 982 Normal X 1 000 Y 0 029 IZ 0 000 Far plane m 3 000 Up x 0 000 Y 0 000 Z 1 000 Resolution m 0 01 Width m 0 484 Height m 2 158 Gap filling threshold m 0 01 Color count E Visible count 3r Coordinate system PRCS z Image quality 80 E SaaS Cancel Help The left side of the dialog shows a summary of the parameters of the used projection plane Activate or deactivate the option Visible in order to show or hide the plane in the corresponding object view Hint When you click on the fourth button from left in the title bar of the dialog the dialog is minimized in order to give a better view of the object view Click again on this button to restore the dialog The right side of the dialog shows the parameters needed for the creation of the orthophoto e Name The name of the orthophoto to create Near plane amp Far plane These planes are parallel to the projection plane The values you enter are the distances along the normal vector of the projection plane between t
83. are available Linear interpolation Start and stop pose will be connected by a straight line No acceleration or deceleration of the movement will be done Cubic spline This mode calculates a smooth curve which connects all poses of the animation Also the speed of the flight is varying Arc With this mode you can configure a constant movement of the camera along an arc The movement will be simulated by several subparts with mode Cubic spline To control the duration of the travel from start pose to stop pose you can either define the speed or enter the time directly How to define a linear or cubic spline camera movement Navigate within the object view to the start point of this part of the animation the pose properties Position Direction and Up will be updated automatically each time you move the virtual camera As an alternative you can also enter the coordinates and vectors directly Define the duration of the movement This is done by either selecting Time or Speed and entering the speed of the movement or the time the movement should take Select Mode Linear interpolation or Cubic spline Leave all other settings unchanged and click on the button Add poses s Splitter You can define splitters in order to split the animation path This may be helpful when defining cubic spline movements Because all nodes of a cubic spline path have influence on the complete path and may lead to a wird movement of the cam
84. ation between two poses is approximately 10 deg a Divider of 18 for 180 deg arc angle Define the duration of the movement This is done by either selecting Time or Speed and entering the speed of the movement or the time the movement should take Note that the time parameter is set for each created pose and not for the complete arc Finally click on the button Add poses s How to edit the poses Click on the button Show pose list to show a list of all defined poses To delete a pose select if from the list and click on the button Delete pose with a red X on it To modify a pose double click on it in the list The virtual camera position and orientation will be set according to the pose Now you can modify the parameters either by moving the virtual camera or by entering the parameters directly When all modifications are done click on the button Modify pose To change the camera orientation of some poses select them and right click Choose Change orientation from the popup menu A new dialog will be opened and you can enter an angle to rotate around the three axes You must also define the last pose where the rotation should end The complete camera path will be displayed in the scene by a white line The poses will be represented by small red spheres on the line To save the animation path click on the button Save animation You will be asked for a name The animation path will be saved in the folder COLLECTIONS ANIMATIO
85. atively ethernet LAN interface Graphics requirements OpenGL accelerated graphics card nVIDIA GeForce series recommended GeForce 2 or better Peripherals 3 button mouse optical wheel mouse recommended 2 2 Program installation To install RISCAN PRO on your system just run SetupRISCAN_PRO exe This program will guide you through all parts of the installation process Steps of installation e License agreement At first of all you will be prompted to accept the license agreement Press on the button I agree in order to accept the license and continue the setup Otherwise the setup will be aborted without installing RISCAN PRO e Component selection c 2005 F RIEGL 8 RiSCAN PRO RISCAN PRO Setup Installation Options x Choose Components G Choose the components you want to install 5 Check the components you want to install and uncheck the components you don t want to install Click Next to continue Select the type of install Full Install X Or select the optional RISCAN PRO required es you wish to Default program settings Default project Startmenu shortcuts C RiPort Space required 20 4MB Nullsoft Install System v2 0a7 Cancel At this dialog it is recommended to select the Full Install option to make sure that all components will be installed Component description e RiSCAN PRO required The application itself e Default
86. b 3D Measure h77 Connection lA e Tool menu Hybrid multi station adjustment gt License manager Scanner configuration Scanner control Scanner orientation Scanner search Repair 3dd header Media player Calculator Matrix comparison Multiple SOP export RIEGL LMS License manager Terminal RITERM Options Hybrid multi station adjustment This menu is only visible when the HMSA plugin is installed see Hybrid Multi Station Adjustment 4h License manager Shows the license manager see License manager he Scanner configuration Shows the configuration dialog to configure the scanner without acquiring a new scan see Scanner control Shows a dialog to manually move the scanner c 2005 RIEGL Getting started 19 e Move use the bottons with the arrow to move the scanner in the resembled direction Pressing the button Halt center will stop the movement Alternatively use the following shortcuts A gt turn left D gt turn right W gt turn up S gt turn down e Angles provides information about the current alignment of the scanner Press the button Get position to refresh the information e Align Enter an angle for Theta vertical alignment and Phi horizontal alignment and press the button Align to manually set a position for the scanner The button Set park position will reset the scanner to a defined position Theta 0 P
87. bbreviation for Project Orientation and Position Orientation and Position of PRCS within GLCS e PRCS Abbreviation for Project Coordinate System See Coordinate systems used PRCS 30 for more information e SOCS Abbreviation for Scanner s Own Coordinate System See Coordinate systems used SOCS 30 for more information c 2005 F RIEGL Appendix 203 e SOP Abbreviation for Sensor s Orientation and Position within PRCS e TP Abbreviation for tiepoint In RISCAN PRO points of interest e g reflector targets are called tiepoints these points are managed in tiepoint lists 781 see The tiepointlist window 781 e TPL Abbreviation for tiepointlist A tiepointlist holds a set of tiepoints Related topics e The tiepointlist window 78 e Registration via tiepoints 1251 9 3 Angle definition e Phi azimuth and frame angles have the same meanings and refer to the horizontal alignment e Theta polar and line angles have the same meanings and refer to the vertical alignment 9 4 Program shortcuts The following shortcuts are program wide functional General program shortcuts c 2005 ff RIEGL 204 RiSCAN PRO Show help file Rename Create new scanposition New single scan Find reflectors Image acquisition New project image Open project Open last opened project Close program Save project Create new objectview Tool windows R
88. bout X and Y axes Lay back vertically aligned mounting plate down Irotation about Y and Z axes Top down horizontally aligned head down no values available Lay front horizontally aligned mounting plate up jno values available Unknown the tilt angle is out of range no values available Please note that the inclination sensors will only provide angle values at the alignments Standard and Lay back The left part of the dialog shows the current rotation of the scanner about the scanner axes either X amp Y or Y amp Z in both a numerical and a graphical manner On the bottom side of the dialog you can see a chart showing a log history of the inclination angles c 2005 F RIEGL Data acquisition 73 4 1 4 Reflector extraction This function extracts all retro reflective objects of a scan and writes the coordinates of them into the corresponding tiepointlist To run the reflector extraction right click on a scan and select Find reflectors Reflector Extraction x Reflector Extraction m Reflectance threshold Auto sensitivity 050 A M use auto threshold suppress single pixels Threshold calculation 010 JV free running laser Instrument Reflectors Name prefix socs_ Index offset jo Name postfix Format width Name preview SOCS_nnn Reflectance threshold e Auto sensitivity Range 0 1 Default 0 5 Meaning
89. byte had to be split c 2005 F RIEGL 206 RiSCAN PRO into 2 halves which is known as NIBBLE mode The next step was to allow a bi directional use of the 8 data lines which is known as BYTE mode The latest improvement has been the ECP and EPP modes which further gain speed improvements from a hardware supported handshake concept The ECP mode is expected to become a operating system supported feature The full fledged ECP mode is standardized in the IEEE 1284 document and also defines smooth interworking of the NIBBLE BYTE and ECP modes Since the standard is not yet implemented by the operating systems only a subset the NIBBLE mode already is we decided to use the high speed features of the ECP mode without the interworking features and supply you a driver which isolate you from the need to know the details of the protocol The interface is straight forward in use and allows us to implement more features in the future as the need arises without forcing you to rewrite your application 9 6 RiSCANLIB RISCAN PRO uses the RiScanLib to communicate with the scanner devices Introduction of the RISCANLIB The Riegl LMS Scanner Library is a set of functions that will help you interface to a Riegl scanner via parallel port serial port or network read logged data from a disk file decode data in a scanner independent manner set scanner parameters integrate the scanner interface using your preferred programming envir
90. c will now point to the scanposition Display of StdDev is now also functional for TPL PRCS Matrix compare Display more digits Support for instrument Z360I _NF added COP SOP POP Translation is now displayed in selected range unit Change display of axes in objectview ObjectView Switching between perspective and orthogonal view mode improved Create Orthophoto This modul can now also take PRCS polydata as input Animation Add plane object in arc mode to visulise the arc 2D view Right mouse click to open the context menu is now more movement tolerant 3 pixel radius A detailscan from an other scan now uses the raw coordinates for the angle readout DXF export Layer will now get his name from the corresponding object only when use separate layers is checked Associate 3DD and 3PF disabled New about box and splash screen added RISCAN PRO can now also be licensed onto a USB Dongle Enlarged number of recently opened projects to 9 CTRL A for TPL activated ImageBrowser now memorizes it s settings Registry xOP imports exports in the selected range unit now Objectview When pressing Shift DefaultView button eg Bird s eye view the distance from the camera to the pickpoint is the same UDA import now takes care of the selected unit program settings New toolbars for objectview added New object Measure UI of filter propertysheet will now be saved loaded Pressing I and click with the left mouse button into an obj
91. can position Triangulation of arbitrary point clouds 153 This function is more interactive The user defines which part of the point cloud should be triangulated Therefore it is an iterative process where small parts of the point cloud are triangulated until the desired result is reached This function can be used for any arbitrary point cloud located either at a scan position or in the folder OBJECTS project coordinate system 7 2 1 Triangulation of a scan Triangulation is a process to create a surface from a point cloud by connecting the points with triangles Right click on a scan and select Triangulate scan Triangulate data x SETTINGS TRIANGULATION SETTINGS poco Edge cleaning threshold m 0 050 Vv Prune invalid Depth factor fe measurement points Depth threshold ml 0050 Pieler etl Summary I theta T automatic The mesh will only include points in the given area determined by the angles Phi start and Phi Start angle deg f stop Stop angle deg V phi Stop angle deg Start angle deg automatic fi 50 30 Restore default I TRIANGULATION SETTINGS e Fisheye This function is used for debug purpose e Prune invalid measurement points Points that have angles but do not contain measurement information will be neglected e Edge cleaning threshold c 2005 ff RIEGL 152 RiSCAN PRO describes the quality of the
92. ce when the button is pressed Shortcuts the focus has to be on the view so the shortcuts should be applied during the definition of the points e press key 1 gt activate Define start point e press key 2 gt activate Define end point e press key 3 gt Add distance c 2005 ff RIEGL 180 RiSCAN PRO When a distance is added there will be a new object within the directory DISTANCE in the Object Inspector window Note if the created distance is not visible select the distance object from the Object Inspector window and increase the Line width in the Properties window 7 6 3 Measure volume and surface You can calculate the volume and the surface area from various data scans polydata by loading the data in an object view and defining a reference plane This plane is used to map the selected data onto it It is also a clipping plane That means that only data is used which is above this plane After defining the plane you can start the calculation process by locating the plane in the object inspector and right click on it with the mouse Then you have to select Calculate volume amp surface area or you right click with the mouse in the object view and select Measure gt Volume amp surface area When you do so the following dialog appears Calculate volume amp surface area x CALCULATION MODE Raster quick V VALUES JV Volume Heap IV Surface area Suta
93. cedrea PARAMETERS IV Create volume as triangulated mesh Raster size m 0 25 Filter mode Bilinear v Plane Ce e e CALCULATION MODE In this section you can select which calculation mode should be used c 2005 F RIEGL Data postprocessing 181 In both calculation modes the data is filled into a pattern which is defined by the raster size see also section parameters Example pattern e Raster This is a fast way to calculate the volume but the result is not very exact For every cell the volume of the according cuboid is calculated As result all cell volumes will be added If a cell is empty no volume can be calculated for this cell So you must adjust the raster size so that every cell is filled with a value Cuboid Volume Side view Reference plane Reference plane e Raster triangulation All raster points will be triangulated with a 2D Delaunay triangulation algorithm The Delaunay triangulation is computed from the 2D coordinates of the vertices mapped onto the reference plane The volume is calculated between the plane and the resulting surface Surface Volume c 2005 ff RIEGL 182 RiSCAN PRO Side view Reference plane Reference plane VALUES In this section you can select which values results should be calculated Surface area is only available in triangulation mode Beside the checkboxes you can enter the name for
94. center 3 Click on the button Get from center of view This will take the 3D point next to a virtual ray going through the center of the view window c 2005 F RIEGL Data registration 133 6 To display the a small sphere at the center of rotation select the option Show rotation center in view Define rotation and translation axis ScanPos02 E x M Change position amp onentation Define rotation center Define rotation amp translation axis JV Show axis in view PACS X CY CZ Tle es EAE Bh a User defined First point Second point x 4 364 m y 1 188 m kA z 0318 m At this step you can define the axis to be used for rotation or translation To define the axis you can use different methods e X Y Z axis of PRCS The X Y or Z axis of the project coordinate system will be used e X Y Z axis of object The X Y or Z axis of the object will be used see also option Show axes of object described below e User defined You may define any desired axis To do so select one of the following methods 1 Define axis by selecting two points from the view To select the first point click on the button First point Then press and hold the SHIFT key and click with the mouse button on a point in the object view see also step 7 Mode Click on the button Second point and repeat the point selection You select First point and Second point f
95. cess The default value is 1E 6 Values should range between 1E 4 and 1E 8 The parameter Focal length mm helps to speed up the optimization process in case the focal length is known The checkbox Initialise all image matrices re calculates the position and orientation of the camera for every image with respect to the check pattern every time you start a new fitting process In case you c 2005 Ff RIEGL 54 RiSCAN PRO have already run the fitting process once successfully and just want to see the impact of an additional parameter e g k3 on the error de select this option and also deselect the Focal length option Start the fitting process by clicking on the button in the lower right corner You can watch the progress by taking a look on the Present fitting error After the calculation has been completed successfully RISCAN PRO displays a statistics section in the calculation log The statistics contains the maximum and mean distances of the real crossing points as specified by the check pattern parameters transformed by means of the camera calibration data into image coordinates c 2005 F RIEGL Getting started 55 gt Camera calibration based on flat check pattern Calculation started Calculation finished calculation time Om 22s 156hs Preparing camera calibration for statistical analysis Preparation done DSC_0003 DSC 0004 DSC 0005 DSC 0006 DSC 0007
96. ckpoint size Defines pickpoint size in pixels e Show axes Show hide axes symbol For more settings see the program settings 241 e Show grid Show hide grid only available in orthogonal mode e Show bounding box Show hide bounding box You can also select the color of the bounding box The bounding box shows the maximum extensions of all objects e Font type c 2005 ff RIEGL 104 RiSCAN PRO Select the font you want to display with the objects which have a caption e Font scale Select size of font This value is a factor that is multiplied with a default size Fullscreen mode Shortcut F11 You can switch the object view to fullscreen mode That means the whole screen will be used do display this object view To leave the fullscreen mode use the same menu item or press F11 Note Some operations will not be available in fullscreen mode New object See Data postprocessing Create geometry objects hzo Measure See Data postprocessing Measurements h77 Create new animation See Data postprocessing Animations h Smooth and Decimate This function modifies the surface structure of the polydata object by optimizing the point data smoothing and reducing the amount of triangles decimating See Data postprocessing Smooth amp Decimate 155 Triangulate See Data postprocessing Triangulation of arbitrary point clouds 153 Viewport See Data visualisation Viewpor
97. click on OK Wrong or out of date pre defined format settings can be deleted by selecting them one by one from the drop down list and clicking on the button with the minus on it To finally export the tiepointlist click on the button OK on the bottom of the dialog e Import Imports tiepoints from several external data formats Supported data formats are psi raw data from totalstations or Application Caddy and also any ASCII text file such as CSV comma separated values files When selecting the import function you will be prompted to insert the file you wish to import If you insert gis or a kor file the points will be imported without any dialog otherwise the following dialog will appear c 2005 F RIEGL Data acquisition 85 lolx IMPORT SETTINGS IMPORT FORMAT Pre defined settings CS Default El Column association IV Skip the first 1 7 lines Name gt column 1 Comment tag E COLUMN SEPARATOR blank Aut tect comma semicolon tabulator C other Z gt column 4 PREVIEW C IMPORT CSV 5 7 lines 7 848 1 188 17 93 6 573 1 201 16 944 85 934 3 socs 014 12 446 4 168 1 131 13 176 94 926 4 1 391 4 030 17 185 76 439 019 1 094 17 This dialog allows to import a lot of different formatted data files The settings you have to make in order to import tiepoints are Skip lines
98. co veri ened eed seers ened cdda gaaer ideaa see needs Measure point COOFdINALCS 222 scceccccscceces cadecccecedetestndssccecidegctaceceecsucedstestancesccecicedcaidecncesuaedtessncezececuiedcenedceetsuets Measure distance ccssccesseeeeesseeeeseeeeeees Measure volume and surface PADI AUN INS sce coo etn cock asec EE EE EEEE E E EE E 2005 Riegl LMS Contents III 8 Panorama IMAGES iaveectsccccenns decesecceteeeradeteesseceteenscdctesescceteessndeceedsedeceeetideeess secetveereceeeedvadeteestoueeests 187 Part VIII Data exchange 190 T impon _ canscnsonsstnminennan nna 190 ASCII A eee erence eed wen ert ene ee eee ete 190 Dool t iatt o iNES EEEN A E EEEE E E PEN E EPN E AE E E E EE E E E E E 191 PTAA WiIGWS E E E E E A A E E E E T 191 2 EXPONM eaaa EE E AEEA E 191 SPF a a A eect teseeerer 192 DXF eee clsceecececsttcecesncgeetescete cea Ceccessecessescteeccnesacesds eesecsvcscctuce cciececsttanetecusceas thee qesseeeeeareteteceuteeereseaneeuesee 192 OBJ Sl eee eee ee a a E a N 193 POL a a a a a E 193 VRME saa a ce do 193 SIE a a a neessps ec ctaescsessceeeeecseemseessstesects os 193 PLY ne are cc oer eae ear a aa a aaa R 193 3 PINCTONIM AES ses ao scee sono cee cca weet weet esate a a a 194 30D eee esteeege te eee sere cutee a teetnteea eeche ce eee ete theo 194 IPE O A A a ete cee eee a a E 194 COP SOP POP isiin pr E e tet E S a a N e 195 DAT O ee e e aree Ea a E Ee a e
99. ct attributes To set the project attributes double click on the project name top most entry of the Project manager The dialog Project appears The dialog has following pages Page General On this page you can insert comments like name of operator date location object description and so on Page Instrument On this page you must set the COMMUNICATION PORTS to enable communication with the instrument CT ij x General Instrument PoP Scaling correction About project COMMUNICATION PORTS e Serial amp Parallel Serial Baud Parallel COM1 z RiPTO z miS Network TCP Scanner IP Port s fi 92 168 0 234 DIGITAL CAMERA 19200 Camera model Nikon D100 lt IV Connect camera over TCP IP Host Port Timeout ms fi 92 168 0 235 20003 fi 5000 me e _ First select Serial amp Parallel or Network to determine the basic way of communication corresponding of the type of cabelling of your instrument Serial amp Parallel When Serial amp Parallel is selected you have to select the serial port COMx baud rate default is 19200 and the parallel port RiPTx according to the settings of RIPORT koh Network TCP When Network TCP is selected you have to enter the correct IP address of the device 192 168 0 234 per default The ports can not be modified and are only displayed for your information If you don t know
100. ctors may be applied to existing structures e g the supports of a bridge The targets should 1 cover the vertical field of view of the camera and 2 should have a variation in depth i e the targets should not be placed on a single plane normal to the principle axis of the camera On the right image the camera images is shown with the reflectors covering a vertical band of the field of view c 2005 F RIEGL Getting started 43 The image below shows an indoor scene with 9 reflectors attached to a column in about 3 m distance 7 reflectors at a distance of about 8 m and one reflector at a distance of about 13 m The image is taken with a flash so the targets show up clearly in the image c 2005 fP RIEGL 44 RiSCAN PRO This calibration field alone is insufficient for accurately determining the calibration parameters of the camera But as the camera is mounted on the rotating part of the scanner a sequence of images can be recorded and all extracted targets of all images cover the complete field of view of the camera and give thus a very good calibration field Usually a calibration field is surveyed by means of a total station As the laser scanner can provide the position of the targets in its own coordinate system very accurately by means of doing fine scans tiepoint scans no total station is required By arranging the targets as described above only few targets have been measured in the
101. d into three parts 1 The icon bar 2 The additional information area 3 The list showing the tiepoints 1 The icon bar The icon bar contains the most important functions available for the tiepointlist All these functions and a lot more are also available in the menu of the main window of RISCAN PRO e Switch On Off additional information only available in TPL SOCS This shows or hides the additional information Add a new tiepoint This will show the New tiepoint dialog With this dialog you can add a new tiepoint to the list The style of this dialog depends on the tiepoint you want to create Basically this dialog offers input fields for the coordinates TPL of a Image u and v otherwise X Y and Z and the tiepoint name c 2005 Ff RIEGL 80 RiSCAN PRO xi Tiepoint COORDINATES Name 40000 x m Y m Z m 5 791 5 442 3 290 AERE ra es I Reflector type Reflector size 0 050 m me f e _ With Reflector type you can select the type of the reflector represented by this tiepoint When you choose a reflector the coordinates are recalculated corresponding to the type and dimension defined in the reflector calibration Note that the coordinates will not change when Keep values on change is selected by default this option is not activated Note The usage of Weight is not implemented yet An alternative way to add n
102. d on geometry data scans polydata loaded into an object view ho e Create or open an object view e Add the objects of interest e Click with the right mouse button into the view window and select the menu item New object which offers a submenu with following items Point h7 Polyline 77 Sphere 173 Plane h75 Section 178 Tiepoint h77 As an alternative you can also click on a button of the toolbar 3D New object use the view _menu 114 to show the toolbar o Jem Nu the functions described above are ordered from left to right on the toolbar The parameters needed to create the geometry objects are described in the subsequent sections Common options e 3D Point definition via mouse Most objects need to define at least one point This is done interactively by holding the shift key and clicking near a point in the 3D scene To determine which point of the scene should be used two different modes can be selected 1 Closest point When you click into the 3D scene the closest point to the ray of sight is searched c 2005 F RIEGL Data postprocessing 171 Note Only points of loaded and visible datasets will be used The search may take some time when the view contains a lot of data 2 Point on surface When you click into the 3D scene the point is calculated as the intersection point between the ray of sight and the triangle or plane with the smallest distance to the
103. d will guide you through the steps for a basic configuration of RISCAN PRO e Wizard New camera calibration This wizard is used to create a base camera calibration used to start a new camera calibration task see Base camera calibration 4A e Save screenshot this will create a screenshot and save it to a specified directory and file e OpenGL info Shows some information about graphic card and graphic driver e About Provides basic information about the current version and RiDRIVERs installed The toolbars of RISCAN PRO To view the different toolbars select View gt Toolbars from the main menu and select a toolbar from the list c 2005 F RIEGL Getting started 23 The meaning of the different symbols and their usage will be explained in the specific documentation of the function it is used for Project management 2 Oxelgole New When a project is already opened pressing the symbol will show the New Scan 6 gt dialog otherwise the new project dialog will appear pressing the arrow will show the menu New 14 Open Shows the dialog to open a saved project Delete selected item Deletes the currently selected item of the project manager scan image scan position and so on Note If the trash can is activated the object will not be deleted permanently but moved to the trash can To restore deleted objects double click on the item TRASH in the project manager select an object
104. date the cooresponding scanposition in the view was not updated Bug in project load fixed Wrong project dtd was used Bug in SOP Wizard concerning inclination sensors fixed Bug in color thread fixed Wrong camera calibration was used when more than two images with different calibrations were used Bug in filter procedure fixed Bug in ZOP attributes solved The rotational part of the ZOP matrix was not displayed correctly it was transposed Bug in project dtd concerning camera calibration task chessboard fixed project rsp project dtd replaced by project dtd because the parser was not able to find the project dtd c 2005 ff RIEGL 212 RiSCAN PRO file project dtd problem fixed Bug in TiepointDisplay fixed Bug in ASCII import dialogs of polydata and tiepoints fixed Column association was not correctly loaded from presets Bug in online view of scansequence fixed TPL Bug in StdDev calculation fixed wrong values for links to TP GLCS Render Problem with dynamic devider gt 1 fixed Bug in TP naming solved ASCII Import improved Bug in TPL import fixed Empty lines caused errors Modify object The rotation axis is not also updated scan acquisition performance problems solved Bug in scan thread concerning inclination values and cache fixed TPL some update problems fixed Bug in volume thread fixed Question Use all was wrong evaluated Fix problem when scan parameters was saved perman
105. depending on lens d dimension of chip m 23 7mm Nx number of pixel in x direction 3008 pixel dx dimension of one pixel in x direction m 0 000 007 8m 7 8 um The following table shows for several lenses on a Nikon D100 focal length 180 mm 7 5 deg 50 mm 26 4 deg 20 mm 60 8 deg 14 mm 80 0 deg 3 5 2 Tiltmount What is a tilt mount With a physical tilt mount you can tilt the scanner around the horizontal axis to predefined positions The RIEGL tilt mount is able to tilt the scanner 180 degrees 90 up to 90 against the vertical axis The advantage of a tilt mount is the ability to enlarge the field of view of the scanner by scanning several times on the same position but with different tilt angles Z420 mounted on a tilt mount In RISCAN PRO the scans are organized in scan positions Everytime you move or tilt the scanner you have to create and register a new scan position When you use a tilt mount you can speed up the registration process by using a tilt mount calibration in RISCAN PRO This calibration contains a complete transformation matrix for each position you can tilt the scanner to This allows to automatically register all scan positions with the same c 2005 ff RIEGL 60 RiSCAN PRO setup position but different tilt angles together General workflow of how to use the tilt mount in RISCAN PRO 1 Create anew RiSCAN PRO project 2 Import the til
106. e You can also invert the selection and undo the last filter action Readout window GLCS for Unionview added The settings of the unionview propertysheet will now be saved in the project file Camera calibration based on flat check pattern added Undo function for all OP SOP POP COP added Bug fixes BoundingBox calculation was not correct when creating a colored scan Color from images Initial values of the 3D view and the union view was not set correct e g Show bounding box There were some navigation problems in the 3D view and the union view This should now work correct Displaying TPL PRCS in 2D images of scan data raised error messages sometimes field of view of camera was calculated incorrectly in some cases Made the csv import TPL more robust concerning text where no text should be The TPs of a SCAN were not correctly displayed when the scan image was rotateted by 90 or 270 Everything worked normal with 0 and 180 Hang ups during Find reflectors twice on a scan solved Bug in extraction range selection during the image reflector extraction when the image was rotated solved Saving projects on japanese operating systems didn t work c 2005 F RIEGL Appendix 217 2003 04 25 Version 1 0 1 Bug fixes Onlineview during scan hung up Bug in file naming convention Selecting Find Reflectors when the corresponding scan was already opened caused RiSCAN PRO to hang up 2003 04 16
107. e the scan If no communication with the instrument can be acquired the input fields stay locked and an error message will be shown Try the following 1 check the batteries 2 check the cables 3 check the communication port see Getting started Create new project Project settings 33 With the page Scanner configuration you can configure the scanpattern that the instrument should use to acquire the data The layout of this page depends on the used instrument At least the dialog looks like shown in the following image c 2005 Ff RIEGL Data acquisition 67 wt New single scan in ScanPos0O1 Sja x General Instrument settings Scanner configuration SCANNER CONFIGURATION Start angle deg SCANNER TYPE 50 000 F Z3601 Pt T_T TTT _ TTT TT Ty yt Pte tT tT TT Overview Panorama Resolution deg joo lal Load userdefined Save userdefined Calculate Stop angle deg fi 39 962 2 K Meas count 450 Object distance m Stop angle deg Resolution deg Start angle deg Line count 1800 10 000 e 359 850 lel o200 acca Measpts 810000 Est time 1 30 Beam focus m Distance m Laser rate 23950 Hz 655 340 z I use object distance for beam focus Serial 9994344_1 Online view Supply voltage 19 8 v t 20 view IV Set max laser rate I Save permanent Cancel Help The scanpattern is made up by following parameters phi sta
108. e 74 Singlescan 65 Smooth amp decimate 155 SOCS 30 202 SOP 30 195 202 Sphere 173 Standard 71 STL 193 Surface 180 System requirements 7 Te TCP IP 33 Terminal 14 Texture 161 Theta angle 203 Thread control window 14 Tiepoint 177 Tiepoint display 14 121 Tiepointnew 78 Tiepoint scan 90 Tiepointlist 78 Tiltmount 59 Tool windows 14 Top down 71 TP 202 TPL 202 Triangulation 150 Viewports 118 Viewtypes 95 Volume 180 VRML 193 VTK 207 VTP 197 W World file 197 Z Zoom 97 Zoom factor 97 Zoom to selection 97 Zoom to window size 97 ZOP 198 2005 Riegl LMS
109. e cases this will produce better results e Accumulate error to force incremental error update and distribution to surrounding vertices as the mesh is modified If this option is disabled the error will be computed directly from the mesh Note requires additional memory and time to compute e Target reduction specifies the reduction of the mesh Because of various constraints the desired level of reduction may not be achieved For highest reduction disable Preserve topology set the Absolute error to a high value and enable Allow splitting and Allow modification of boundary Note a higher value will lead to a greater reduction Valid values 0 1 1 0 default 0 9 e Absolute error set the highest offset for the coordinates of the points e Feature angle This angle is used to define edges i e if the surface normal between two adjacent triangles is greater or equal to the feature angle an edge exists e Split angle is used to control the splitting of the mesh A split line exists when the surface normal s between two edge connected triangles are greater or equal to the Split angle Restore default M Apply changes to all V Lightsource on off e Restore default all settings will be restored with the default values e Apply changes to all all the settings and views will be applied to the initial as well as the new data e Lightsource on off If the settings are complete initiate the smoothing decimate process by
110. e deviation is larger than a specified amount Scanner movement tolerance e deactivated nothing happens c 2005 ff RIEGL 26 RiSCAN PRO e warning continue image acquisition only a warning is printed into the message list e error abort image acquisition the current image acquisition will be aborted e General Optional Some optional settings e General Tiepoint scan See Reflector extraction Scan 731 e General Units Define physical units used in the whole program Angle e Degree deg e Radian rad e Gon gon Range e Meters m e Feet ft 1ft 0 3048m e US Feet ft 1ft 12 39 37m e Yards yd Amplitude Scale Unit e 0 1 e 0 255 e Additional Default viewtype Sets the default viewtype which is used when opening a new 2D 3D view See Visualisation of data s51 Online preview ONLINE PREVIEW View type Intensity scaled Default values Min 0 000 Z210 1 gt Min 0 0 Max 0 6 Max 0 400 Z36011 gt Min 0 0 Max 0 4 Z420 1 gt Min 0 0 Max 0 2 Select intensity scale factor for the online preview 0 1 You can set some default values by pressing one of c 2005 Ff RIEGL Getting started the Set buttons e Additional Naming convention You can define some default names that will be used when a new object is created e Additional Project manager Sets several ih A for the Project window
111. e increased due to existing tasks by default Right click on the node CamCalibTask01 and select Add image s Add all images taken with the camera to be calibrated showing the flat check pattern from different view angles take more images by tilting and panning the camera while taking shots The next step is to extract all crossing points corner points of two neighbouring black fields of the check pattern in all images Open the CamCalibTask01 double click or right click and select Attributes c 2005 F RIEGL Getting started 51 Camera calibration based on flat check pattern g loj x Check pattem parameters Crossing point extraction Calibration Statistics IMAGES Image 1 of 37 DSC_0024 OSC 0024 ponts DSC_0025 117 points DSC_0026 117 points DSC_002 117 points DSC_0028 117 points z DSC 0029 117 points Adai icles DSC 0030 117 points DSC 0031 117 points Besimi DSC 0032 117 points se DSC_0033 117 points sa a b plopierticamer DSC 0034 117 points oint 2 DSC_0035 117 points DSC_0036 117 points DSC_003 117 points DSC_0038 117 points DSC_0039 117 points DSC_0040 117 points DSC_0041 117 points DSC_0042 117 points DSC_0043 11 points DSC_0044 117 points DSC_0045 117 points DSC_0046 117 points DSC_004 117 points DSC_0048 117 points DSC_0049 117 points ha Cleanup 4LL Cleanup THIS M CROSSING PO
112. e marked o OO a Eee oogle selected area cs nmark selected area When this is activated the selected area will be unmarked When this is activated and a selection is applied all the data inside the selection are selected When this is activated and a selection is applied all the data outside the selection are selected nside filter il afm utside filter Select only triangles which have a normal vector pointing to the ront face Select only triangles which have a normal vector pointing away ack face from the camera ma This will select only those triangles that are completely elect only whole triangles selected elect all triangles Select all triangles that are partially selected Toogles the selected area All marked data will be unmarked Toogle selection and all unmarked data will be marked BRIGG Deselect data All marked data will be unmarked 7 1 2 Actions on selected data When you have selected some data you can perform several actions How to select data see Select data 143 In the table below you can see a description of available operations with the selected data c 2005 RIEGL Data postprocessing 145 Button Action Comment Show LSQ plane info Provides information about the selected data ri r Removes all selected triangles but the point information will A Remove selected traingles emain Delete selected area All selected data will be deleted
113. e measurement Color Any view Color R 182 G 161 B 116 This section shows the components red green and blue of the color of the pixel underneath the mouse cursor Timestamp 2D scan This section shows the time the measurement was acquired in seconds The timestamp starts with 0 0 at the first line smallest phi angle and increases with increasing phi angle Orientation 2D scan acquired with an instrument with built in inclination sensors 7 This section shows the coarse alignment of the instrument and the rotation around the X or Z respectively and the Y axes Orientation Orient stand up x 0 055700 deg Y 0 036400 deg The line Orient shows the coarse alignment of the instrument The value may be one of stand up lay back top down lay front unknown For more details please refer to chapter Inclination sensors 74 Camera center 2D image This sections shows the center of the digital camera which has acquired the image Direction vector 2D image This section shows the vector of the ray defined by the mouse In other words when you move the mouse over an image you define a direction and the vector of this direction is displayed Reference point everytime cartesian coordinates are available This sections can be used for quick distance measurements in any view and even between different views c 2005 F RIEGL Data visualisation 121 5 5
114. e point directly in the view by pressing the key R and clicking on the data point Cartesian coords x 14 899 m Y 9 219 m 2 3 410 m Set as reference point Note Coordinates coming from a 3D view are only coarse coordinates and should not be used for high precision measurement Polar coordinates everytime cartesian coordinates are available and SOCS is selected This sections shows the polar coordinates of the current data in the order Range Theta Phi Theta represents the rotation around the z axis of the scanner WGS84 everytime cartesian coordinate are available and GLCS is selected This sections shows the coordinates as geographical longitude latitude and height Note This section is only available when Global coordinate system is selected and your used global coordinate system is defined by means of D GPS Frame coords 2D scan and image This section shows the 2D coordinates u and v column and row within the 2D view of a scan or an image u increases from left to right v increases from top to down Intensity 2D scan This sections shows the intensity of the current measurement The intensity display can be scaled either from 0 1 or from 0 255 see chapter Program settings 2 for details c 2005 ff RIEGL 120 RiSCAN PRO m Intensity Intensity 96 E The bar on the bottom of the section gives a quick feedback about the intensity of th
115. e viewtypes see Viewtypes 95 If you have selected an image or an orthophoto no viewtype selection dialog will appear and the 2D view will be opened instead 5 1 Viewtypes Following viewtypes are available for 2D and 3D c 2005 ff RIEGL 96 RiSCAN PRO S Point color is determined via intensity black no intensity white full intensit Similar to Intensity direct but a histogram is used to scale the intensity of each point in order to get a better contrast The scale factor for the intensity is determined by counting the points having a the same intensity The more points the higher the scale factor will be Point color is linear scaled between two user defined colors according to the point intensit Similar to Intensity direct but no point coordinates are loaded less memory consumption but no coordinate readout Point color is determined via reflectivity range corrected intensity black no reflectivity Point color is calculated based on the height of the point above the X plane of PRCS ieee Falsecolor Height but with ee of the intensit Point color is calculated based on the distance between point and origin of the coordinate system Similar to Falsecolor Range but with influence of the intensit Falsecolor Height Intensity Range Intensity u Note Not all viewtypes are supported by both the 2D and the 3D view a ee E S TI E 5 2 2D view The 2D vie
116. eaeeeenseaeeeeaseeeeeenseeneeenses 139 Hybrid Multi Station adjustment ceceeceeeeeeeeeeeeneeeeeeneeeeeeeseeeeeeeseeeeeenseaeeeensaeeeenseeeeeenseeeeeenees 141 Data postprocessing 143 Data Manipulation ccceecccceseeeceeeseeeeeeennee seen seen seen seen see ENNA ANARAN NARRAN ARANNA ANNARRA RARA EN KARARAN ANAKNA e a a E E E E E E E E E E E E E ET Actions on selected data C a EE E E E E T GSAS S E N E E T E ES E E E A E E E E E E AT T Be LU ee TRV ULATION iaia EEAS EEA aana AA EEA Triangulation ofa SCAM sicc fez ce esecececcsscdecccade cates cegedeveccetencad vies eocstedeteoddd dda scuceuharseuey cousvadeinacsiseesctcester aSa Triangulation of arbitrary point ClOUS cccteesssseeeseneeessneeeeseaeeeeseneeesseeseseaeeeessneeesseesessaeeeaseneesnsneeenseneeeens 153 Triangulation ofa plane eea ea ara eaaa aa aeaa ear Aaa aa E caves Eae AE Aaaa aAA condos sans sucueaacussaussauesune atdey aneeueeens 155 Working with Meshes sasra annaa EEA EAA NAAA E E E E 155 Smooth amp decimate msr ara cca anea eee acc ee ete eee eee ee eee ee aS 155 Texture Create Orthophotos eee 164 Ortho photo ol LUL g ese Eee S E E E E A TA 165 City GRID Ortho PIlUJIN 2si scabs ceases se scce arennau naana a cat ecics is danaa cote cuctcnncneecteuceveceue race cccecuuccansai vest Eana AKAA Anua CESA pianis 168 Create geometry Objects ae 170 Point Polyline Sphere Plane Sections Tiepoint MEAS UPON CIES oirionn ec
117. ectview will display some information of the point closest to the line of sight in the info window Bugfixes New single scans Display of values is now common project dtd camcalibtask_freeimages image was missing c 2005 F RIEGL Appendix 211 Upgrade of mesh Error message Can not rename fixed Bug fixed Camera calibration free images failed when a lot of images where used PLY and VRML exports improved Error message TraceStart when the program was started several times simultanous solved Bug in TP s link and backlink system fixed Bug in desktop settings of Objectinspector fixed Bug in TPL import fixed Names will be imported correctly now Bug in TP link system concerning the trash solved TPL2 GSI lmport modified Now RTP is checked first TPL2 import Identical name bug fixed Bug in tiepoint attributes solved All values have been saved when User hits OK Now only modified values are saved Bug in import of scanpositions fixed Bug in tiepoint attributes solved Name wasn t saved on Init Bug in Resample thread fixed result was not saved TPL2 Bug in Create plane fixed Up vector was not correct Bug in finescan of image TP fixed name collision convert union view bug fixed Cancel bug fixed Find reflectors is now more tolerant in Use TPL SOCS mode Reflector size lt 0 05m is set to 0 05 Bug in triangulate dialog fixed Some checkboxes were disabled Objectview After SOP up
118. ed by a lot of parameters determined in the factory and saved in the data file gained by the instrument the 3DD file In case of any misadjustment of the instrument the point data is not correct due to wrong correction parameters To solve this problem it s necessary that the instrument is recalibrated in the factory The data files already acquired by the instrument while it was misadjusted possibly can be repaired by this tool After recalibration in the factory a template 3DD file is generated containing a new set of calibration parameters This template file can be applied to the faulty scan files To do so please proceed as follows e Open the project containing the faulty scan s c 2005 F RIEGL 20 RiSCAN PRO e Start the Repair 3DD header tool from the Tool menu e Select the SOURCE SCAN This is the template scan file provided after recalibration in the factory e Select the faulty scan files to repair e Click on the button OK to start the reparation Note This function is only applicable to acquired scans not colored or resampled with the same type of header preferably the same instrument Furthermore it depends on the kind of misadjustment whether you can use this tool or not Media player The built in media player of RISCAN PRO is able to play the following media file formats AVI WAV MP3 lt open file gt Ioj x Open media file OOOO Frame slider
119. ed or ringed scan positions minimize error inked tiepoint Restore default Cancel Help REFERENCE COORDINATE SYSTEMS Select the coordinate systems you want to use to register the scan position Select the first item Project coordinate system if the TPL PRCS holds controlpoints default Additionally you can select one or even more of the other already registered and neighboring scan positions this is obligatory if no controlpoints are available The algorithm tries to find corresponding points between the current TPL SOCS and the selected coordinate systems If correspondences between points of different scan positions are found a new tiepoint in the TPL PRCS is created and all concerned SOCS tiepoints have a link to this PRCS tiepoint The coordinates of the PRCS tiepoint are calculated averaged from all linked SOCS tiepoints If the algorithm succeeds the SOP matrix is calculated from the scan position If the algorithm fails no changes are made Restart the process and try to activate more already registered neighboring scan positions MODE e by Link the SOP will be recalculated without changing the corresponding points links e by Name retrieve the corresponding points by comparing their names the SOP will be recalculated c 2005 RIEGL Data registration 127 e minimize error default the point pairs will be detected automatically the SOP will be recalculated
120. ed you can not change the properties of this object except the visibility state It is also impossible to select or delete any data of this object Object properties Every object has its own properties These properties are displayed when you select the object You can also select multiple objects of same kind and change their properties at one step Following objects are available GLCamera hob Light source ho Position 1081 Scan hos Polydata t08 Tiepoint 108 Point 108 Polyline 108 Section hob Plane 1081 Sphere ho Cylinder 108 Orthophoto hobi Aerialview hob Distance ho8 The table below shows the available objects and their properties Each object type also has a specific context menu click with right mouse button Common menu entries and actions e Expand all Expand tree structure e Show all Make all objects of this container visible c 2005 Ff RIEGL Data visualisation 111 e Hide all Hide all objects of this container e Rename Rename object e Remove Remove object from object view Locate in project manager Locate and select object in project manager Double click on the object icon in order to view the complete object in the center of the screen GLCamera object GL_CAMERAS Property Value aa View mode of can Orthogonal Position XAD Floating point number Position of camera Direction Floating point number Direction vector of camera unit vector
121. edges Note if this value is set to a small value high quality the surface might contain holes e Depth factor defines the valid edges of a triangle Each two edges of the triangle have to satisfy the following criteria Depth criteria d lt s depth factor Scanposition Scanned surface e Depth threshold Points that are very close to each other may produce an unpredictable orientation of triangles Setting this value higher than the noise level would preserve these triangles FILTER Limit the output by selecting a range from the mesh e theta refers to the vertical output of the mesh Possible values range from 0 180 e phi refers to the horizontal output of the mesh Possible values range from 0 360 The triangulation process will create an image in the folder POLYDATA having the identical name as the scan You can view the generated image by double clicking it or by right clicking the image and selecting View If you are visualizing an image in 2D you can triangulate a part of the image by holding down the Alt key while pressing the left button of your mouse and moving the cursor to create a rectangle Click on the button Preferences from the menu and select Triangulate scan c 2005 F RIEGL Data postprocessing 153 7 2 2 Triangulation of arbitrary point clouds A 2D Delaunay triangulation algorithm is used to triangulate the data The Delaunay triangulation is comp
122. eeeeeeeaeeeeaeeeeeseaeeceeeeaeeseaeseaeesaeeeaeeseaeeeeeseaeesieeseaeesseeeeeeeeas 48 BaSed On fetlectOr Ant ay sirrien ieaie deaa iiaeaa iaae aasit 56 aele KoI ATA A ET A E E A E A E T 59 THRMOUNE a E 59 Data acquisition 65 SCAM ACQUISITION asinis insnii aniani sete ce cater csdencenteeencecvdeendesteseccuessdcedestuersueesencdestuerdvencciencestoeers 65 OVERVIEW SCAN sccsscccssetscccdceces coves E EEE E E E E 69 Panorama Scan sei scat csiteccceedeccseeBoc eee cectecdceckenetacccdaccenedvcccenectiedeneccuecauerseduenuc eecenectecdcesdonccauesvacdenstsueceeectecdeuesuareauessuee 70 Inclination Sensors optional sisiraan eieaa iaaea astana aaia aaa Eda a areae eeaeee aaide Saanaa iia aara dpuar ieii 71 Reflector extraction Sissis asi isara cccevshecevceectcecacetycetevies coceeauesetcedsacsauetbeetendey couveuteseecessteveaucsecerendeysceventugeteesetees 73 image acquisition ois cc see cct hee fesse techie Pectcc ct nA Anana Naa ANA RENAA KARANAA RARA AA ANAN NNA ANEAN AAAA ENARA RENAN ANNAAS 74 Reflector extraction csscccsscssecaccsssccensscnceseesasevssecsncnansdbsncnasavananevanacsssinuarsncoabenancarsvenuarsoabendsabasssnebuarsnasapenabassteanier 77 Tiepointlist WINGOW cceeeeeceeeeeeeeeeeneee ee en sence en neeeee en nnmnnn eg saaeeeegseaeeeedseaeeeeeseeeeesaseeeeesaseeeeeeesesenens 78 TIO POINT SCANS seseo 90 Data visualisation 95 MIGWLYPCS Sarun E A te ateced ovat be dczen ea gacwet A 95 UP MUCW 2 E E A E E E E 96 a E E A a T 97
123. ename currently selected item A project must be opened The scan will be added to the activated scanposition Find reflectors of the currently selected scan The images will be added to the activates ion A project must be opened The currently opened project will be saved and closed Ap c 2005 4 RIEGL Appendix 205 Comment Show image browser i Show data readout i Show info window Show object inspector Show project manager Show thread list Show tiepoint display Window manipulation Close window Previous window 9 5 RiPort The RiPort driver enables application interface to RIEGL LMS high speed Laser Distance sensors The Laser Sensor is connected to the PC using an ECP Enhanced Capabilities Port which usually is used to connect printers and page scanner devices Since almost every new PC already is equipped with this port this is a convenient interface comparable to the widespread serial RS 232 connection However the ECP port exceeds the data transfer speed of the serial interface due to the parallel transmission of information The parallel port originally only was able to transfer data out from the PC to a peripheral device the printer The port also had some control lines that could be driven by the peripheral i e to signal out of paper condition Soon people used these lines to transfer information from the peripheral into the PC Since a
124. ence data which will not be modified e g already registered scan positions into the object view 4 To change the position and or orientation right click on a scan position in the object inspector and select Modify SOP to modify other objects select Modify 5 Define rotation center only necessary if you want to rotate the scan position jump over to step 6 otherwise ScanPos02 E x Change position amp onentation gt Define rotation center Define rotation amp translation axis JV Show rotation center in view C origin of PRCS C origin of object User defined Define point by pressing SHIFT amp left mouse button x 4 643 m y 1 327 m gi z 0 081 m To rotate the scan position it s necessary to define a rotation center To define the center you can use different methods e Origin of PRCS The origin of the project coordinate system is used e Origin of object The origin of the object is used e User defined You may define any point that meets your requirements To do so select one of the following methods 1 Press and hold the SHIFT key and click with the left mouse button on a point in the object view see also step 7 Mode You can activate this mode from the object view by pressing 1 when you are in the modification mode 2 Enter the coordinates of the point directly Press the button beside the coordinates in order to update the display of the rotation
125. enerated The extents of the grid is defined by one of the original scans to be re sampled The resolution of the grid is defined by the user in a dialog During the process of re sampling all range and intensity data falling within one cell of the grid are averaged red dots in the figure below There are different options and parameters influencing the averaging which are discussed below in more detail The result of re sampling is a 3D data set with a strictly regular grid in the 3 plane compare the right diagram in the Figure above In the following cases re sampling scan data is of advantage e Reducing range and intensity noise by re sampling of a scan sequence or of a number of scans taken at the same scan position e Reducing range and intensity noise by re sampling a single scan with a lower scan resolution e Removing temporal targets from a scan sequence e g cars moving on a highway Controlling the averaging process During the re sampling process each grid cell will contain a number of data measurements before executing the averaging of range and intensity data The figure below shows three different examples for the distribution of range within a single cell of the grid Wether the final cell will have a valid range or not is judged on the basis of the standard deviation which is compared to a threshold In case 1 all the range data are distributed near an average range and the standard deviation is quite low In case 2 the
126. ent ObjectView Fix bug when defining a point in orthomode Improve triangulation in objectview Fix bug Volumsberechnung No points left for volume calculation Bug in CamCalibTaskScandataPropertySheet fixed Wrong No MountCalib was used TPL PRCS After registration to TPL GLCS the linked TP PRCS will NOT be modified anymore Improve rectangle filter in object view Points behind the viewing camera was also selected Bug in Frame2D Add point to TPL fixed OpenGL extensions for axes rendering are now checked during initialization of an objectview If extensions are not available a warning will be displayed Bug in RISCAN PRO startup fixed gt Doubleclick on rsp files produced some stange errors 2004 06 04 Version 1 1 1 Changes c 2005 F RIEGL Appendix 213 Object view replaces UnionView Object Polydata replaces point cloud 3PF is only supported as export and import format New Improved data export functions ASCII 3PF DXF Points 3DD with SOP POL OBJ VRML PLY STL New improved data import functions ASCII 3PF POL as polydata Filterfunctions added Rangegate Intensitygate Octree Pointfilter result is a Polydata object Wizard for a initial camera calibration added Datareadout redesigned Usage of tiltmounts implemented Hybrid Multi Station Adjustment without using images added Image acquisition pause implemented before the taking the image user input see options When an image
127. enuator The following dialog will appear when you are scanning without attenuator LASER CLASS 3R Finish configuration start scan When you have finished configuring the scanpattern you may want to save it To so click on the button Save user defined The scanpattern will be saved in the folder COLLECTIONS CONFIGS within the project for future usage Double click on a scanpattern to edit it To finally start the data acquisition click on the button OK A short summary of all settings will be displayed Acknowledge this information by clicking on the button OK Now the online view is opened if selected and the data acquisition is started You can watch the progress of the data acquisition either in the online view or in the thread list window 14 4 1 1 Overview scan The scanpattern Overview Overview scan is thought to give you a quick overview of the scan area The overview scan is a scan with full field of view of the scanner c 2005 ff RIEGL 70 RiSCAN PRO Example Z360 i 90 deg vertical and 360 deg horizontal field of view takes approx 1 5 minutes to acquire Z420 i 80 deg vertical and 360 deg horizontal field of view takes approx 1 5 minutes to acquire The angular resolution of the scan is set to 0 200 deg Each instrument has a smaller laser beam divergence than 0 200 deg Therefore there are gaps between the laser spots on the object see figure below Laserspots on the measured
128. eparated by at least one blank The lines are separated by a sequence of CR ASCII character 13 and LF ASCII character 10 see also Fileformats COP SOP POP h 8 3 5 ROT The ROT file format is used by the Multiple SOP export 141 tool of RISCAN PRO to save the matrices The ROT file is a text file of following format Rotation about Z axis lt CR gt lt LF gt Rotation about X axisS lt CR gt lt LF gt Rotation about Y axis lt CR gt lt LF gt lt CR gt lt LF gt Translation along X axiS lt CR gt lt LF gt Translation along Y axiS lt CR gt lt LF gt Translation along Z axiS lt CR gt lt LF gt c 2005 Ff RIEGL Dataexchange 197 Units Rotation in rad Translation in m 8 3 6 RSP Project file The project is saved in a text file with XML syntax project rsp For a description on how data is saved see project pdf which is installed in the program folder of RISCAN PRO Please also refer to the comments in project dtd to get a description of each XML tag The project dtd file is saved to each project and can also be found in the program folder of RISCAN PRO 8 3 7 UDA The UDA file format is a very simple file format used by RISCAN PRO to import position information from D GPS receivers The file format is defined as follows NameOfPosition01 xX Y Z lt CR gt lt LF gt NameOfPosition02 xX Y Z lt CR gt lt LF gt The unit of the coordinates is defined by the unit set in the program settings
129. epoints are de selected and vice versa e Selection filter This is a tiny tool to select all tiepoints matching a given criteria Select tiepoints x Selection filter M Filter settings Value Range z M Invert J Keep old selection M select tiepoints where this value ft is empty is below lt is equal is above gt C is zero 0 Value for comparison a ___ E To use this tool just select a value column and the criteria above below equal to this value When Invert is checked the result of the filter tool is inverted When Keep old selection is selected all tiepoints selected before using this tool are also selected after using it works like an OR filter So you can realize a multiple selection by running these tools with different settings but Keep old selection checked e Find corresponding points 7 only available in TPL SOCS see Registration via tiepoints h25 e Coordinate system not available in TPL IMAGE By clicking on the arrow below this icon you get a list of coordinate systems where the tiepoints should be displayed in By selecting one of the coordinate systems the data is reloaded and automatically transformed into this coordinate system By clicking on the icon itself you can reset the coordinate system to that one of the tiepointlist no transformation will be applied c 2005 ff RIEGL 82
130. er coordinate system Project coordinate system or Global coordinate system When you select Scanner coordinate system you will be prompted to select the scan position of which you want to use the coordinate system The coordinate system influences the data readout It is also used when you create a new tiepoint new sections and for the axes symbol of the object view c 2005 ff RIEGL 110 RiSCAN PRO Note When you open an object contained in a scan position in an object view the coordinate system will be automatically set to the corresponding coordinate system Otherwise the coordinate system will be set to PRCS Visibility state You can change the visibility state of an object by clicking on the object icon or change the Visible property If the object is invisible the icon will be grayed Note Making the object invisible is not the same as removing it from the view When you hide an object the object will stay loaded in main memory This influences the number of objects that can be displayed simultaneous and the time RISCAN PRO needs to open an view Object color Some objects have a color property If a color property is available it is displayed after the object icon When you click on the color icon you can change between single color mode and multi color mode only available for scans and polydata objects Lock state You can change the lock state by clicking on the lock icon When an object is lock
131. era How to define a camera movement along an arc Navigate to the start point of the arc As an alternative you can also enter the coordinates and vectors directly To get better results the camera should look approximate to the rotation center Uncheck the checkbox behind the pose properties Position Direction and Up This will leave the values unmodified when you move the virtual camera Now you have to define the normal vector of the plane the arc should lie in The normal vector can be defined by the direction of the virtual camera Example If you want to fly around and vertical aligned object you may use the bird s eye view to define the normal vector of the plane Uncheck the checkbox behind the pose property Plane normal to avoid unwanted modification of this vector The next step is to define the rotation center This is done by simply clicking into the scene The rotation c 2005 F RIEGL 186 RiSCAN PRO center will be marked with the pickpoint default is a red pixel Uncheck the checkbox behind the pose property Center point to avoid unwanted modification of this point Define the arc angle For a full rotation of the scene you have to enter 360 deg As mentioned above the movement will be built up by generating a number of poses lying on the arc with mode set to Cubic spline With Divider you can decide how many poses are created As a thumb rule you can set this value that way that the rot
132. es are obtainable Windows95 98 also needs a further precaution since none of the resource sharing functions for the parallel port are in use A simultaneous print attempt might crash the system For detailed information about the RiScanLib and how to use it please refer to the documentation of the RiScanLib 9 7 Copyright remarks 9 7 1 VTK RISCAN PRO uses the Visualization Toolkit VTK which is open source VTK License Copyright c 1993 2002 Ken Martin Will Schroeder Bill Lorensen All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution Neither name of Ken Martin Will Schroeder or Bill Lorensen nor the names of any contributors may be used to endorse or promote products derived from this software without specific prior written permission Modified source versions must be plainly marked as such and must not be misrepresented as being the original software THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT
133. eters found Clear Use all V Use parameters from camera calibration as initial parameters M fx 0s Myles M Csi Cp OO mamb mem meb mamb manj memb o OK Cancel Help On this page you can select which calculation method least squares fitting or robust should be used Figure of merit We recommend to use the default robust fitting which minimizes the sum of the absolute values The parameter Fitting accuracy defines the change in the residual error which stops the iterative optimization process The default value is 1E 6 Values should range between 1E 4 and 1E 8 The parameter Change parameter defines the absolute change of the ten calibration parameters The default value is 1E 6 Values should range between 1E 4 and 1E 8 Additionally you can select which of the parameters should be optimized Select or deselect the parameter by means of the checkbox to the left of the parameter The usage of K3 and K4 may improve the accuracy of the calibration especially for wide angle lenses The button Clear will reset the parameters and uncheck all parameters The button Use all will check all parameters all will be used for the calibration If you select Use parameters from camera calibration as initial parameters the parameters are c 2005 ff RIEGL 48 RiSCAN PRO initialized with the parameters from the initial camera calibration Use this the first time you start the calibra
134. ew tiepoints is by using the 2D Window or the 3D Window To add a new tiepoint via a 2D window set a marker fist by clicking with the left mouse button onto the pixel you want to add as a tiepoint You will see the marker Then right click on the marker and choose the option Add point to TPL The dialog shown above appears with the coordinates of the marked point To add a new tiepoint via a 3D window right click onto the point of the point cloud you want to add as a tiepoint to the TPL The point is highlighted as a pick point To improve the visibility of the pick point set the pick point size larger e g 5 pixels This can be done via the options settings in the 3D View or as a general setting in the program settings in the 3D section e Edit tiepoint Enables you to edit the tiepoint name coordinates and so on Note This function is only available when ONE tiepoint is selected The dialog to edit the values of a tiepoint is the same as the New tiepoint dialog see the section Add a new tiepoint 78 above for more information about this dialog e Delete selected tiepoint s x Deletes the selected tiepoint s after a confirmation Note You can NOT undo this action Delete all tiepoints Deletes all tiepoints after a confirmation c 2005 Ff RIEGL Data acquisition 81 Note You can NOT undo this action Invert tiepoint selection F Inverts the selection of the tiepoints Selected ti
135. f the mesh Non manifold smoothing only available with Windowed sinc smoothing smooth non manifold vertices Number of iterations determines the number of times the smoothing algorithm will be applied Note when using the Windowed sinc smoothing the value should be between 15 20 when using the Laplacian smoothing the value should be between 10 200 Relaxation factor only available with Laplacian smoothing defines the amount of displacement for the modification of the vertex coordinates Note as in all iterative methods the stability of the process is sensitive to this parameter In general small relaxation factors and large numbers of iterations are more stable than larger relaxation factors and a small number of iterations Default value 0 01 Pass band only available with Windowed sinc smoothing limits the frequency modes in a polyhedral mesh Valid values 0 0 2 0 default 0 1 Note a lower value will produce more smoothing Feature angle This angle is used to define edges between two triangles i e if the surface normal between two adjacent triangles is greater or equal to the feature angle an edge exists Edge angle Vertices are smoothed along their connected edges if the angle between their edges is less than the value entered here c 2005 F RIEGL Data postprocessing 159 Convergence only available with Laplacian smoothing limits the maximum point motion If the max
136. f you want to export texture information Use intensity as color Select this to export intensity information instead of color information 8 2 6 STL Only triangulated polydata objects could be exported in STL file format Select format e ASCII e Binary 8 2 7 PLY Only triangulated polydata objects could be exported in PLY file format Select format e ASCII e Binary Little Endian Big Endian Use intensity as color Select this to export intensity information instead of color information c 2005 F RIEGL 194 RiSCAN PRO 8 3 Fileformats 8 3 1 3DD The 3DD files contain the raw data gained by the instrument The data format is equal to the data output of the instruments To read 3DD files please refer to the RISCANLIB koe Note There s no format difference between 3DD and 4DD files The file extension 4DD is used for files containing more than one scan frame 8 3 2 3PF The 3PF file format is a very simple format for unorganized point clouds The point cloud is saved in an binary file of following format c 2005 F RIEGL Data exchange 195 ae eae hexadecimal decimal 5 2 3 8 identify a 3PF file Identifier Oo 59 O o B2 O c OO n O OOO M O aa a oe coe 4 O g O a E O D5 LEE number of bytes following the header n 24 9 B2 CC 1 AA 5 4C 4 cg 2E E D5 EE 17 FD signed 32 bit integer value Ym 3
137. frame You ll have to raise the overlap factor if the mesh you try to texture has rather big triangles e g the mesh was smoothed and decimated see post process default is 10 c 2005 ff RIEGL Data postprocessing 163 4 Overlap factor The triangle will not be recognized The triangle will be recognized and applied with texture After the texture process has finished a new polydata object will be created the postfix _ Textured will be appended to the name You can view the new polydata object by double clicking it see also Object view 102 Texturing polydata with the project coordinate system The method described above is only applicable on single polydata objects located at a scan position Combined meshes located at the project coordinate system folder OBJECTS POLYDATA can also be textured by using undistorted images of scan positions and undistorted free orientated images Right click on the desired polydata object from the folder POLYDATA within the folder OBJECTS and select Texture from the menu A dialog like that shown above will appear There are two additional parameters e Maximum tilt angle The texturing procedure takes every triangle and tries to find the optimal image to texture it The image has to meet several criteria such as smallest distance between camera position and center of triangle visibility of the triangle in image no other objects between camera po
138. h value usually 32767 in decimal notation 2 Unsigned integer 32 bit B_WIDTH Bit map width in pixels Unsigned integer 32 bit B_HEIGHT Bit map height in pixels 6 Single precision float U_LL Lower left corner of drawing plane in UVW system U coordinate 8 Single precision float V_LL Lower left corner of drawing plane in UVW system V coordinate 10 Single precision float W_LL Lower left corner of drawing plane in UVW system W coordinate 12 Single precision float PIX_SIZE Size of a pixel in UV direction in meters 14 Single precision float ZUNIT_SIZE Size of Z depth unit in meters 16 Double precision float XO Origin of UVW system in PRCS 20 Double precision float YO Origin of UVW system in PRCS 24 Double precision float ZO Origin of UVW system in PRCS 28 Double precision float r11 Coefficient of rotational matrix 32 Double precision float r12 Coefficient of rotational matrix 36 Double precision float r13 Coefficient of rotational matrix 40 Double precision float r21 Coefficient of rotational matrix 44 Double precision float r22 Coefficient of rotational matrix 48 Double precision float r23 Coefficient of rotational matrix 52 Double precision float r31 Coefficient of rotational matrix 56 Double precision float r32 Coefficient of rotational matrix 60 Double precision float r33 Coefficient of rotational matrix H_LENGTH Signed integer 16 bit Z DEPTH 0 Depth value corresponding to upper left pixel of orthophoto H_LENGTH 1 Signed integer 16 bit
139. hange the position of the plane use the cursor buttons The offset used for changing the position can be entered in the input field Additional constant Each time you click on one of the cursor buttons the plane will be moved by that offset in the selected direction Finally you can save the plane in order to use it again for other orthophotos Just click on the button Save plane and enter a name for the plane in the appearing dialog Saved planes can be used in the third step Fifth step At the fifth step you can define the near plane and the far plane These planes are parallel to the projection plane The values you enter are the distances along the normal vector between the projection plane and the near plane and the projection plane and the far plane Only triangles with all three edges between near and far plane will be used for the orthophoto Furthermore you can modify the so called Offscreen resolution An offscreen resolution about 0 01 default means that one pixel of the created orthophoto will represent one centimeter Note that smaller values will increase the size of the orthophoto and due to this the calculation time will increase enormous c 2005 F RIEGL 168 RiSCAN PRO 7 4 2 Now RISCAN PRO has got all information it needs to create the orthophoto so click on the button Create orthophoto The orthophoto will be created this may take some time depending on the size and saved in the fo
140. he projection plane and the near plane and the projection plane and the far plane Only triangles with all three edges between near and far plane will be used for the orthophoto Click on the button beside the input fields to update the 3D scene in the object view Resolution The resolution of the orthophoto That is the size of one pixel of the orthophoto Gap filling threshold Before the orthophoto is created the scan data is triangulated This value determines to which extend gaps should be closed Color count amp Visible count c 2005 ff RIEGL 170 RiSCAN PRO Both parameters are used to restrict the number of images for the visibility calculation during the texture procedure Per default all images are used To change this activate the checkboxes behind the input fields The higher these values are the longer the calculation procedure will last e Coordinate system The coordinate system in which the orthophoto should be saved e Image quality The orthophoto is saved as JPEG image This factor determines the compression quality of the image 0 100 default 80 To finally create the orthophoto click on the button OK The orthophoto will be saved in the folder OBJECTS ORTHOPHOTOS For further information about this module please contact company GEODATA IT GmbH www citygrid at or office geodata at 7 5 Create geometry objects This chapter describes how to create geometry objects base
141. he viewport in the project tree window project manager This will open the viewport dialog where you can edit the position orientation focus and the mode of the viewport Load a viewport To restore a previously saved viewport click with the right mouse button into an object view and select Viewport gt Load from the menu or drag and drop it into an object view The virtual camera of the view will be set to position saved in the viewport 5 4 Readout window e Readout window When a view 2D 3D or object view is opened and you move the mouse cursor in that view this window will provide information about the data underneath the current mouse position such as coordinates intensity color etc The style of the readout window may differ between 2D 3D or Object View window and depends on the available data To display the readout window select View Data readout from the main menu press CTRL Alt D or press the button Show Data readout window from the menu WE Itis also possible to display more than one readout window for different coordinate systems All these readout windows will show the coordinates of the same point but transformed into different coordinate systems Possible data sections of the data readout window follow below Text in brackets describes when the section will be available e Head always visible Readout SOCS xj Scan view ScanPos0t ScanPos0i Pat 2D Intensity Histogram Scanner c
142. hi 180 Scanner orientation With this tool it s possible to use the optional inclination sensors of the instrument to align the instrument see Inclination sensors optional 7 Scanner search You can use this tool to search for an instrument connected to the same network as the PC or even if the instrument is directly connected with the PC via a cross over network cable This function might be useful when you don t know the IP address of the instrument To search for the instrument on the complete local area network click on the button Start search You may also limit the search to a fixed IP address range by clicking on Search IP from and entering the IP addresses only when no search is currently running All found instruments on the network will be displayed on the list in the center of the window The columns of the list show the IP address the serialnumber and the name type of the instrument To apply the IP address to the communication settings of the currently opened project select the instrument from the list and click on the button Apply Note The search time depends on the network speed network load number of network instruments connected and the selected address range The button Apply is activated only when an instrument is selected and a project is loaded Repair 3DD header To get higher accuracy some corrections are applied to the raw data measured by the instrument These corrections are describ
143. his value is used to determine at which level counting from the reference plane the first section should be created The reference plane depends on the selected Mode The modes using a coordinate axis use the plane normal to the axis and starting at the origin of the coordinate system The modes using planes use the specified plane as reference Note At least one value Increment or Number of sections must be defined When you specify just one value the other one is calculated automatically but not displayed using the complete range given by the data Example Cross sections with 7 5m increment Create sections 7 5 6 Tiepoint Creating tiepoints is similar to creating points hi In addition to the other parameters you can also define the reflector calibration of the tiepoint To do so select the calibration from the list Type before you create the tiepoint To finally create save the tiepoint click on the button Create tiepoint or press key 3 The new tiepoint will be saved in the corresponding tiepointlist of the selected coordinate system 08 that means either TPL GLCS TPL PRCS or the TPL SOCS of the selected scan position 7 6 Measurements This chapter describes how to measure point coordinates distances volumes and surface areas in an object view 102 e Create or open an object view e Add the objects of interest e Click with the right mouse button into the view window and select the menu item Measure
144. i o o 0000 o o 0000 Increment for up down buttons for start and stop angles Theta Phi fo 1 00000 0 1 00000 Increment for up down buttons for resolution The value for the resolution degrees in the New Scan gt window is increased decreased by the amount set here each time the arrow is pressed Increment for up down buttons for start and stop angles The value for the resolution degrees in the New Scan 65 window is increased decreased by the amount set here each time the arrow is pressed 1 COMPATIBILITY Compatibility mode for legacy LMS 2210 instruments Some older LMS Z210 instruments are not capable of high pulse repetition rates Activate this option to reduce the rate A too high rate results in a higher number of invalid measurements General Image acquisition PARAMETERS Ask before taking image Scanner movement notification warning continue image acquisition Scanner movement tolerance 2 v times angle resolution Ask before taking image If you will be asked before taking an image during an image acquisition then activate this option Scanner movement notification During an image acquisition the position of the instrument will be read out twice for every image taken Once before taking the image and once after the image was taken The two positions will then be compared each other You can choose from three options what should happens if th
145. ibuted in a volume with sufficient depth In the example below the reflectors have been fixed to a building to both sides of one corner and also to the roof The reflector positions have been surveyed by means of a total station with mm accuracy Assign camera calibration to images The camera calibration can be either assigned to each image on by one image attributes 741 or you can assign the camera calibration to a couple of images at one step To do so please click with the right mouse button on the camera calibration and select Assign to images from the menu In this dialog you can define several filter settings At the bottom of the dialog you ll see a summary of the filter settings explaining which images will be modified in fact c 2005 ff RIEGL 42 RiSCAN PRO 3 5 1 2 1 Base camera calibration To start with a new camera calibration task based on reflector column 42 you need an initial camera calibration You can either use the camera calibration of an other camera of the same type and lens or you can use the new camera calibration wizard This wizard allows to create an initial camera calibration based on the information provided by the user such as camera type and type of lens The created camera calibration doesn t contain distortion parameters of course To use the wizard please proceed as follows Open or create a project Click with the right mouse button on the folder CALIBRATIONS CAMERA w
146. id point color Activate this option if you want to use a defined color Invalid point color for invalid measurements in a 2D view of a scan e 3D Settings Axes settings pile RA VETES ETIINGS V Show axes RUNTIME SETTINGS Size fi oo F pixel POSITION Top left Top tight Center Bottom left C Bottom right Transparency a es 0 Default settings e Show axes Activate this option if you want to display the axes when a new object view 104 is created Runtime settings This settings will influence the appearance of all object views e Size Define the size of the axes in pixels e Position Define the display position of the axes e Transparency Define the transparency of the axes c 2005 Ff RIEGL Getting started 29 e 3D Settings Camera settings CAMERA CONTROL Turn delta deg fi 0000 Is used when you navigate with cursor keys Move delta m 0 2500 Use up down and left right arrows Zoom delta m 1 0000 to move the camera POERFAULT CAMERA SETTINGS Scene scale 10 0000 Focal length 100 0000 Orthogonal mode DEFAULT VIEW Bird s eye view C Back view Scanner view C Bottom view C Left view C Front view Rigth view Camera control You can define the values for navigating with the camera in an object view ho Default camera settings amp Default view These values are used when you create a
147. imum motion during an iteration is less than the convergence the smoothing process will terminate Note if the value 0 the convergence will be ignored Sheet Decimate is a process to reduce the amount of polygons and points in the mesh Smooth Active Decimate Active Y Decimate V Preserve Topology Allow splitting Allow modification of boundary Pre split the mesh J Accumulate error Target reduction 0 1 fos o ooo Absolute error m foo Feature angle deg joo 8080 Split angle deg 00 8 Decimate if this option is active the settings will be applied to the New data Preserve topology a condition for the smoothing algorithm If enabled the mesh splitting and hole elimination will not occur Note a greater smoothing reduced mesh may be achieved if the topology does not have to be preserved Allow splitting if enabled the mesh will be split at corners along edges at non manifold points or anywhere else a split is required Note Turning splitting off will better preserve the original topology of the mesh but may not obtain the desired reduction c 2005 ff RIEGL 160 RiSCAN PRO e Allow modification of boundary if enabled vertices at boundaries are deleted e Pre split the mesh if this option is enabled the mesh will be split according to the specified split angle into semi planar patches that are disconnected from each other In som
148. in of the UVW system in PRCS is specified by X0 YO ZO The rotation matrix is specified by nine parameters r11 to r33 Please note that the bitmap information is stored in the bitmap file starting at the upper left corner The pixels are contained in a line by line order Pixels in a line are contained from left to right and lines are contained from top to bottom The depth information in the ZOP file follows the same order left to right and top to bottom Given the pixel coordinates in the orthophoto i and j with i defined increasing from left to right and j increasing from top to bottom the coordinates in the UVW system are computed by u i 0 5 x PIX SIZE ULL Poy yl B_HEIGHT j 0 5 x PIX_SIZE VIL w Z_DEPTH i jB_WIDTH x ZUNIT_SIZE W_LL By forming a rotation matrix RZOP and a translation vector ril r12 r13 X0 Rapp 721 r22 723 Trop YO r31 r32 r33 Z0 every point in UVW i e Puyw u v w c 2005 ff RIEGL 200 RiSCAN PRO is transformed into PRCS by Ppres x y 2 Rzop Puvw Tzop The ZOP file is organized in records of 2 byte length When interpreting a record or a sequence of records byte order is in low byte high byte order also addressed as little endian notation Record Type Parameter Remarks Position 0 Unsigned integer 16 bit H_LENGTH Length of header in units of 2 bytes i e 64 1 Signed integer 16 bit Z INVALID Value of z depth indicating that there is no dept
149. inates in the global system may contain very large numbers Camera Coordinate System CMCS is the coordinate system of the camera which is optionally mounted on top of the scanner system providing high resolution images In almost all applications data acquisition is based on taking scans from different locations in order to get a complete data set of the object s surface without gaps or scan shadows The different scan locations are addressed as scan positions When starting a new project i e starting a new data acquisition campaign you have to initialise a new scan position by default ScanPos01 before acquiring data from the scanner This scan position will hold all data acquired at that specific setup of the scanner A scan position is characterized by its own local coordinate system SOCS i e the position and orientation of the scanner within the project coordinate system Position and orientation can generally be described by 6 parameters c 2005 F RIEGL Getting started 31 3 for position 3 for rotation or by a transformation matrix RISCAN PRO makes use of a 4 x 4 matrix MSOP addressed as SOP information SOP for sensor s orientation and position My Ty Ty 4 r r r 21 22 23 2 M sop Fa Fa Fa f 0 0 O 1 The matrix consists of 9 parameters reflecting the rotation r11 to r33 and 3 parameters for the translation t1 to t3 The use of homogeneous coordinates allows computation of rota
150. ind corresponding tiepoints dialog called Filter c 2005 gt RIEGL Data registration 129 w Find corresponding points xj Settings Filter JV Filter functions enabled J Maximum range m 500 000 4 POINT METRICS IV Maximum size m o0 4 J Minimum distance m foo S m SETTINGS J Ignore current selection Apply filter to visible state of tiepoints JV Apply filter to selection state of tiepoints POINT RANGE Restore default Cancel Help These filter functions allows you to reduce the number of tiepoints by the definition of a range gate Minimum range amp Maximum range and the point metrics Maximum size and Minimum distance e Filter functions enabled Enable the filter functions by activating this checkbox POINT RANGE e Minimum range All tiepoints with a distance lower than this value will be deactivated default 2m e Maximum range All tiepoints with a distance higher than this value will be deactivated default 30m POINT METRICS e Maximum size All tiepoints with a size higher than this value will be deactivated default 0 3m e Minimum distance Defines the minimal distance between two tiepoints Tiepoints lying closer together will be deactivated especially helpful when the data acquisition is done on the street and a lot of car lights are detected as tiepoints c 2005 ff RIEGL 130 RiSCAN
151. ints Size integer between 1 and20 Size of section in pixel Color of section object e View You can set default views such as Bird s eye view Bottom view and so on which only use the bounding box of the object Thus you will not see the complete scene but only the selected object Plane object PLANES Property Value Comment No Color of plane object Position of plane object Direction vector of plane object unit vector Up vector of plane object unit vector Width of plane object Height of plane abject Draw mode Draw mode of plane object e Modify Change position and orientation of plane object This is described in the chapter Manual coarse registration l3 The same dialog is applicable on planes Invert plane normal Invert normal vector of the plane object i e rotation of 180 deg Calculate volume amp surface area See Data postprocessing Measure volume and surface hsb e New orthophoto CityGrid Ortho See Data postprocessing Create orthophotos CityGRID Ortho plugin hes Sphere object SPHERES Property Value Comment N o Radius Floating point number Radius of sphere object Position KAY Floating point number Position of sphere object Color of sphere object c 2005 ff RIEGL 116 RiSCAN PRO Cylinder object CYLINDERS Property Wae eomme o ouou No Height Floating point number Height of cylinder object Radius of cylinder object Position of s
152. ints To register a project image it is necessary that at least 3 points of the TPL PRCS are visible in that image If not you may create helping points by defining a tiepoint in a scan TPL SOCS and copying it to the TPL PRCS Define image tiepoints c 2005 F RIEGL 140 RiSCAN PRO Now you have to add image tiepoints for each PRCS tiepoint which can be seen in the current image see 2D view Generall971 Hint To make the next step easier it s recommended to name the image tiepoints like the corresponding PRCS tiepoints Link image tiepoints to PRCS tiepoints Open the TPL PRCS and the TPL of the image Establish the links between the corresponding tiepoints via drag and drop e g drag the image tiepoint and drop it onto the corresponding PRCS tiepoint Registration of image Click with the right mouse button on the image within the project manager and select Attributes from the menu In the attributes dialog of the image switch over to the page Position and orientation Within this page switch over to the page Calculate matrix via tiepoints x General Calibration fl ni Summary Matrix Calculate matrix via tiepoints PU Se el a S Front_bottom Front_bottom Front_center Front_center Front_left Front_left Front_right Front_right Front_top Front_top CALCULATION Start Std deviation pix n v Min deviation pix n v calculation Mean deviation pix n v Max devia
153. ion procedure with a new point selection until the surface meets your requirements You may also use the triangulation for hole filling First of all select the surrounding triangles of the hole Then perform the triangulation described above Initial Mesh Select surrounding triangles perform triangulation after triangulation c 2005 fP RIEGL Data postprocessing 155 7 2 3 Triangulation of a plane RISCAN PRO offers the possibility to triangulate a plane objecti To do so click select on ore more planes in the project manager Right click on the selected plane s and select Create polydata from the menu A dialog to configure this process appears Resolution enter the maximum triangle size here Combine data activate this option in order to create just one polydata object containing all planes If this function is deactivated a polydata object for each select plane object is created Click on the button OK in order to create the polydata object s 7 3 Working with meshes 7 3 1 Smooth amp decimate This function modifies the surface structure of the polydata object by optimizing the point data smoothing and reducing the amount of triangles decimating This menu can be called by right clicking on an object from the directory POLYDATA te object has to be triangulated see Triangulation of a scanhs and Triangulation of arbitrary point clouds 53 but must not be textured within the project manager
154. ithin the project manager Select New camera calibration wizard from the menu Step 1 Define camera model At this step you can either select your camera type from the list or you have to enter the camera parameters on your own The parameters you have to enter are the camera model just for your own information the number of pixels and the size of one pixel of the image chip in both directions vertical and horizontal Step 2 Define lens model At this step you can either select your lens model from the list or you have to enter the lens parameters on your own The parameters you have to enter are the lens model just for your own information and the focus in millimeter Step 3 Define additional data At this step you can enter additional information such as camera settings and serial numbers of camera and lens Although it s not necessary to enter values at this step it is strongly recommended to do so This makes it easer to keep an overview which camera calibration belongs to which camera and lens Finally enter a name for the new camera calibration and click on the button OK to create it 3 5 1 2 2 Based on reflector column This task allows the user either to check the camera calibration or to execute the camera calibration by means of an easy to set up calibration field The basic idea is to have a number of retroreflective targets positioned in a vertical column in a scene The images below show an example of how the refle
155. ition is done On this page you can select the vertical scan position allready preselected by the wizard Click on the button Start to show the Find corresponding points dialog In the box REFERENCE COORDINATE SYSTEMS the vertical scan position is preselected Click on the button OK to start the procedure Next scan position The data acquisition of the current scan position is done c 2005 F RIEGL Getting started 63 e f there are tilt positions left to be calibrated than click on the button Start The wizard continues with step 1 e f the data acquisition of all tilt positions is done click on the button Acquisition finished The following dialog appears Tilt mount x Positions Calibration GENERAL INFORMATION This function helps you to calibrate the tiltmount 1 Drag the scanposition where the scanner was mounted vertically and drop it on the VERTICAL SCANPOSITION box 2 Select which other scanpositions should be used to calculate the tiltmount positions 3 Click on the button Calculate tiltmount positions V VERTICAL SCANPOSITION Name of vertical scanposition vertical OTHER SCANPOSITIONS v 15qrad v 75qrad v 60grad Select v 22 5orad v 90grad v 7 5grad v 30grad v
156. ition along the positive axis Use the button to move then scan position along the negative axis Rotate Define the rotation increment Use the button to rotate the scan position clockwise around the axis Use the button to rotate the scan position counterclockwise around the axis Clicking once on the or buttons will move or rotate the scan position one step according to the defined increment Holding down the button for some time will repeatedly move or rotate the scan position until you release the button Example Aligning two meshes by modifying the corresponding position c 2005 F RIEGL Data registration 135 This mesh belongs to the position that will be modified se Position of green mesh Symbolized by a scanner model hii eTA Modification mode for the position is activated Rotation translation axis Rotation center a Coordinate system of position tesse e c 2005 ff RIEGL 136 RiSCAN PRO The two meshes are aligned after the modification operation You can see Modified position that the position has new coordinates 6 4 Backsighting Calculate orientation and position via backsighting You can use this tool to register approximate the scan position using the well known coordinates of a certain point and the coordinates of a remote object e g a church Flow chart of general workflow c 2005 F RIEGL
157. ject gt Sections Create new sections x Active view ViewDbjects M Create new sections Name Sections Select prefix of resulting sections Mode along Z axis PRCS Select creation mode JV Increment fo m Select increment between two sections Number of sections 10 Select number of sections Close gaps smaller than joo m Select distance for gap closing Offset joo m Select offset Note Define increment and or number of sections Mode Some modes to determine the orientation of the sections are available e Along X Y Z axis Create parallel cross section s along one of the three coordinate axes The coordinate system is defined by the object inspector SOCS PRCS GLCS e One plane Create cross section s parallel to one plane e Two planes Create cross section s between two parallel planes Note The modes One plane and Two planes need additional information about the plane s to use To define which plane s to use select them in the object inspector Increment Defines the increment between two sections Number of sections c 2005 F RIEGL Data postprocessing 177 Defines the number of sections to generate Close gaps smaller than You can close gaps within a section by defining this value larger than zero The gap will be closed with a straight line connecting the two intersection points surrounding the gap Offset T
158. lder ORTHOPHOTOS folder OBJECTS with the name OrthoPhotoXYZ XYZ is an consecutive number CityGRID Ortho plugin Undistorting Images see Orthophoto plugin Undistorting images t6 Open or create an object view Add data scans 3DD files Since the scan is only needed to define the projection plane step 4 you can also add a different scan instead of the scan s used for the orthophoto The scans used to create the orthophoto are defined at step 6 Note This plugin only handles scans Polydata objects can not be used Create the projection plane This plane defines the eee and size of the orthophoto see Create geometry objects Plane 1731 Save the project It s necessary to save the RISCAN PRO project before you can start CityGRID Ortho because the module works directly on the project file Start CityGRID Ortho Click with the right mouse button onto the projection plane in the object inspector and select New orthophoto CityGRID Ortho from the menu The configuration dialog appears The dialogs consists of two pages e Data On this page you can select which scans and images should be used to create the orthophoto The tree view on the left side shows all scans of the project whereas the scans present in the object view are already selected You may select additional scans here The tree view on the right side shows all images of the project whereas the images of the same scan positions as the selected scans
159. ll be recognized as reflectors e Use TPL SOCS When you active this option the tiepoints are searched based on the tiepoints of the TPL SOCS transformed into the image The found tiepoints will be linked with the corresponding SOCS tiepoints automatically This function can be used for the camera calibration and for the readjustment of the Mounting calibration Reflectors e Name format c 2005 ff RIEGL 78 RiSCAN PRO see Reflector extraction Scan Name format 73 for information about formating the reflector name Extraction range You can select the range within which the reflector search will be done This is usefull when there are a lot of light spots in the image which should not be handled recognized as reflectors The default extraction range is the complete image So Status is no limitation and Number of pixels selected shows the total number of pixels of the image To select the range just click on Select from Image This will hide the dialog and show the image You can now make your selection Rectangle selection Hold down the ALT key and the left mouse button and move the mouse to draw the rectangle window After you have done the selection hit the right mouse button to return to the Reflector Extraction dialog By clicking on OK the reflector extraction will be done only within the selected range 4 3 Tiepointlist window Within the tiepointlist window you can ma
160. ll images sequentially in this way The buttons Cleanup ALL and Cleanup THIS will delete the found crossing points of all images or of the current image 4 Now proceed by switching to the page Calibration On this page you can select which calculation method east squares fitting or robust shell be used Figure of merit We recommend to use the default robust fitting which minimizes the sum of the absolute values c 2005 Ff RIEGL Getting started 53 w Camera calibration based on flat check pattern Check pattem parameters Crossing point extraction Calibration Statistics CALCULATION LOG INTERNAL CALIBRATION PARAMETERS y SETTINGS w Figure of merit Fitting accuracy Present fitting error fo robust fi E 6 V fx pix 1800 Iv fy pix 1800 IV Focal lenath mm 1 Cx pix 1504 Z Cy pix 1000 fia i kii oO iv k2 1 fo Initialise all image matrices M k3 fi fo M k4 o Start fitting process of internal F pitt bo V piy pO OoOO O camera calibration parameters me e _ Additionally you can select which of the parameters shell be optimized Select or deselect the parameter by means of the checkbox to the left of the parameter The usage of K3 and K4 may improve the accuracy of the calibration especially for wide angle lenses The parameter Fitting accuracy defines the change in the residual error which stops the iterative optimization pro
161. lso for tiepoint Also for tiepoint and rectangle selection Also for tiepaints c 2005 F RIEGL Data visualisation 101 Middle mouse button and mouse wheel Action Key Mouseaction Comment hold move Jnly if enlarged Zoom in out fixed spin mouse wheel up down Increase decrease zoom sensitivity spin mouse wheel up down Increase decrease intensity spin mouse wheel up down Actions with right mouse button Action Key Mouseaction Comment Zoom in out fixed means that the image scan is scrolled depending on the zoom factor and direction So the point witch was under the mouse cursor before zooming will be under the mouse cursor again after zooming This makes zooming more comfortable and orientation easier Note Tiepoints can NOT be moved or deleted like normal markers use the tiepoint menu instead c 2005 ff RIEGL 102 RiSCAN PRO 5 3 3D view In the 3D view the complete geometrical information is used As a 3DD data set basically represents a point cloud every measurement is represented as a point in 3D space The color of the point for visualisation may again be chosen to represent range height intensity or similar 5 3 1 Object view The object view provides a way to visualize several different objects e g scan polydata For more information which objects could be displayed see the Object inspector 108 To create a new object view right
162. menu New you can either create a new project or create new items scans views scan positions images in the project e Edit menu This menu offers actions like edit rename show attributes delete and so on that can be done on the currently selected item of the project window The number and kind of actions offered depends on the selected item This menu is identical with the menu that appears when you click with the right mouse button on an item of the project manager e View menu view Tool Window Project manager Ctrl Alt P Message list Ctrl Alt M Data readout Ctrl Alt D Object inspector Ctri Alt o Info window Ctrl Alt 1 Thread control Ctrl Alt T Image browser Ctrl Alt B Tiepoint display Ctri Alt Toolbars lav Project management gt SF v Tools windows v Window management v 3D Select v 3D Control v 3D Modify v 3D New object v 3D Measure v Connection With this menu you can open the following windows if they are not already opened Project manager 141 Message list hA Data readout 18 can be opened more than once Object inspector 108 c 2005 Ff RIEGL 18 RiSCAN PRO Info window 141 Thread control 141 Image browser 122 Tiepoint display 12h and the following toolbars Project management 141 Tool windows 14 Window management 14 3D Select 143 3D Control 17 3D Modify 14 3D New object t7
163. mn separator This character will be inserted between the exported columns e g tabulator will be useful for import into a MS Excel spreadsheet Coordinate system Select one of the coordinate systems from the drop down box Coordinate system The exported c 2005 F RIEGL 84 RiSCAN PRO coordinates will be transformed into the selected coordinate system Note The available coordinate systems depend on the tiepointlist you want to export Default file name extension This extension will be added automatically to the filename if not extension is given default csv Header format You can decide between three header formats none no header will be exported just titles only the column titles will be exported e g Name X Y Z full the column titles and some other useful data will be exported e g date time exported name of the project amp tiepointlist Comment tag This character or even characters will be placed before the header in order to mark it as no data After all settings are made it is possible to save the settings This provides faster export by just selecting one of the pre defined format settings from the drop down list on the top of the dialog To save the settings click on the button with the plus on it You will be prompted for a name Enter the name Info Adding Default to one of the names will cause RISCAN PRO to use this pre defined format settings as default and
164. munication ports see also Getting started Create new project Project settings 3 Each acquired dataset is saved in a scan file 3DD within the folder SINGLESCANS SCANSEQUENCES or TIEPOINTSCANS within the scan position In which folder the scan is saved depends on the type Scan type overview Singlescans Contain just one view also called frame of the selected range This represents a 3D snapshot of all targets within the field of view of the instrument at acquisition time Scansequences Contain several views frames acquired directly after each other Scansequences can be used for instance to scan a frequented street Because each frame is acquired at different time it is likely that almost all interfering targets cars pedestrians can be filtered out by combining all frames See Data postprocessing Resample 1148 Tiepointscans Tiepointscans are high resolution scans of points of interest i e reflectors See Tiepoint scans 9h Scan acquisition In order to make a new scan click with the right mouse button on a scan position and select New single scan or New scansequence from the menu As an alternative you can also make a detail scan of an already acquired scan just click on the scan instead of the scan position A dialog containing three pages appears General On this sheet you can insert comments like operator date location and so on Instrument settings This sheet provides a tree view wi
165. must adhere to the 8 3 naming convention the first and third characters of the image file s suffix and a final w are used for the world file suffix Therefore if mytown tif were in a an 8 3 format workspace the world file would be mytown tfw If redlands rlc was in an 8 3 format workspace its world file would be relands rcw For images that lack an extension or have an extension that is shorter than three characters the w is added to the end of the file name without altering it Therefore the world file for the image file terrain would be terrainw the world file for the image file floorpin rs would be floorpin rsw World file contents c 2005 F RIEGL 198 RiSCAN PRO The contents of the world file will look something like this 20 17541308822119 0 00000000000000 0 00000000000000 20 17541308822119 424178 11472601280548 4313415 90726399607956 The image to world transformation is a six parameter affine transformation in the form of x1 Ax By C yi Dx Ey F where x1 calculated x coordinate of the pixel on the map y1 calculated y coordinate of the pixel on the map x column number of a pixel in the image y row number of a pixel in the image A x scale dimension of a pixel in map units in x direction B D rotation terms C F translation terms E negative of y scale dimension of a pixel in map units in y direction x y map coordinates of the center of the upper left pixel Note
166. n OK Wrong or out of date pre defined format settings can be deleted by selecting them one by one from the drop down list and clicking on the button with the minus on it To finally import the ASCII file click on the button OK on the bottom of the dialog 8 1 2 Documents You can also import documents of any file type into a RISCAN PRO project To do so please create a folder within the project first by right clicking on the project and selecting New folder from the menu This will create new folder within the project Import documents To import documents click with the right mouse button onto the folder and select Import from the menu Select the file to import The file will be copied into the project When you double click on the file in the project manager the application registered to this file type is started and the file is loaded Create links You can also create links to files either locally saved or on the internet To do so click with right mouse button onto the folder and select New url from the menu Enter the url either manually or drag and drop a file or link from the Windows explorer 8 1 3 Aerial views RISCAN PRO offers the possibility to import aerial views and display them together with the acquired scan data To import an aerial view click with the right mouse button on the folder OBJECTS ORTHOPHOTOS and select Import Select the aerial view you want to import Note In addition to
167. n unique number You can rename the scan position and give it a more meaningful name To finally create the scan position click on the button OK scan position attributes To modify the attributes of a scan position click with the right mouse button on the scan position and select Attributes A dialog appears showing the following pages Page General Enter comments or a basic description here Page Tilt mount see Calibrations Tiltmount 5 Page SOP This matrix will be used to align the scan position within the project coordinate system see Coordinate systems 301 c 2005 ff RIEGL 36 RiSCAN PRO Page Scaling correction ATMOSPHERIC CORRECTION Instrument 23601 ir Temperature C fi 2 0 fo 0 ppm Air pressure mbar fi 000 0 fo 0 ppm C Dew point temperature C fas i 1 0 ppm Relative moisture 59 8 Moisture pressure mbar 8 4 Total atmospheric correction fo 0 ppm GEOMETRIC CORRECTION Geometric correction o o ppm Restore default Cancel Help Choose an instrument from the list and adapt the values for the ATMOSPHERIC CORRECTION to ensure exact measurements Note These values are initialized with the project settings see Project settings 3s1 3 5 Calibrations 3 5 1 Camera In order to make use of the image data acquired within RISCAN PRO you need calibration data of the camera used These calibration data include data on
168. nage the tiepoints The style of the tiepointlist window depends on the tiepointlist it represents and on the user defined column selection The following graphic shows a screenshot of a TPL window of a scan position with the most important columns c 2005 F RIEGL Data acquisition 79 inixxi Project Edit View Tiepointlist Tiepoints Tiepoint scan View tiepoints Combined adjustment Tool Window 2 x g SUA amna aall E i Oe saxx Malle OOOO Kael e Corresponding tiepoints 6 Avg radial deviation m 0 0032 Standard deviation m 0 0056 Avg azimuth deviation m 0 0008 Avg polar deviation m 0 0011 Name tink x y z Rage Theta Phi al 400 socs_oe1 9 412 8 066 5 526 14 009 117 767 139 404 400 socs_062 TP_002 9 938 8 121 4 660 13 654 109 957 140 745 400 socs_063 TP_001 10 067 2 816 4 890 11 541 115 068 164 372 SOCS_O64 TP_O10 10 771 2 588 5 081 12 187 114 643 193 510 SOCS_065 TP_011 10 233 2 551 6 870 12587 123 082 194 001 SOCS_O6 TP_O0 11 876 8 084 5 522 15 391 111 024 214 244 M socs_o69 TP_008 13 281 13 407 6 036 19 813 107 736 225 270 gM socs_o70 24 657 41 077 10 945 49 144 102 869 239 026 SOs O7 n 43 226 84 289 15 595 96 001 99 349 242 850 M socs_072 39 754 80 690 45611 a1 295 99 845 243 772 M socs_073 9 584 27 328 5 848 29 544 101 417 250 674 xl Units deg m 19 tiepoints 1 selected The tiepointlist window is divide
169. ned plane These coordinates are displayed in the datareadout window h18 as usual You can also drag amp drop a plane from the project manager onto the image window in order to define a drawing plane To switch back to default mode undefined the drawing plane click on the button Remove drawing plane in front of the name of the drawing plane in the tool bar of the view window c 2005 44 gt RIEGL 98 RiSCAN PRO T IQQQQQ gt Drawing plane PlaneXY001 Save screenshot Use this function to save the current scan image to a file Print Use this function to print the image scan Viewtype This will open the viewtype property sheet see Data visualisation Viewtypes 95 Fast switching to 3D View only applicable on scans This will open a new object view and display the scan in 3D The 2D view will not be closed Zoom factor Use this list to zoom to predefined zoom factors Zoom in zoom in by one sensitivity unit Zoom out zoom out by one sensitivity unit Zoom 100 Sets the zoom factor to 100 1 1 This means that one pixel of the image one measurement of the scan is represented by one pixel on the screen Zoom to window size Sets the zoom factor in order to fit the image into the window size Zoom to selection Zooms to the last rectangle selection hob If there is no selection it will zoom to window size Rotate counterclockwise Rotates the image 90 counterclockwise
170. ng dialog appears c 2005 ff RIEGL 188 RiSCAN PRO Create panorama image xj RANGE JV Auto detect range of panorama image from source images Start angle deg Stop angle deg E SATEN IV Scale a a a 50 of source images Horizontal ERI fo 100 Vertical Theta fa 100 pe StS 1p 1 LIMITER JV Average images needs more main memory Restore default Cancel Help Range In this section you can define the angular extensions of the panorama image in phi horizontal and theta vertical direction If you want to have this values determined automatically from the selected images activate the option Auto detect range of panorama image from source images Resolution In this section you can define the angular resolution of the panorama image in phi horizontal and theta vertical direction You can either enter these values directly or activate the option Scale In the latter case you can define the scale factor relative to the resolution of the source images Note Be careful with setting the resolution Too high resolution low values will lead into enormous main memory consumption and long calculation times Misc settings Activate Average images in order to reduce nasty transitions between two neighboring images with different brightness This is done by calculating the average of all relevant source pixels for the particular pixel of the panorama image
171. ng started 39 Camera calibration OpenCY x Camera Model M CAMERA INFORMATION Camera Model Camera Serial 564 1 12 Lens Model Nikkor 20 mm Lens Serialt 673452 Settings focus approximately 5 m aperture fixed to 9 INTRINSIC PARAMETERS dx m 7 86 6 dy m 7 8E 6 Nx pix 3008 Ny pix 2000 M INTERNAL CALIBRATION PARAMETERS fx pix 2351 65402091572 fy pix 2350 72791213303 Cx pix 1504 23580208417 Cy pix 990 250298140205 kin 0 150753807736204 k2p 0 20202437054187 k3 0174375531674108 k m 0 0983140982267566 pti 0 00266262116637001 pati 0 0013738532149103 _ Import Cancel Help Internal calibration parameters can be divided into parameters describing more or less an ideal camera i e a so called pinhole camera This is the focal length and the center of projection the orthogonal projection of the pin hole onto the chip surface Two potentially different focal lengths fx and fy are used to account for the potentially different pixel size in x and y direction and to account for different focal length s of the lens cylindrical lens error The parameters fx and fy are normalized by the pixel size The physical focal length is fx dx In the example above fx dx is 18 3 mm pretty close to the nominal 20 mm of the lens The center of the image is Cx Cy in pixels Usually i e for low distortion lenses Cx N
172. nse manager 10 14 Line angle 203 Matrix comparison 14 Measurements 177 Media player 14 Message list window 14 Modify data 144 Modify SOP 131 Multi SOP export 14 N Navigation2D 100 Navigation3D 105 Network 33 New project 32 New scanposition 35 New tiepoint 78 O OBJ 193 Object inspector 108 Object view 102 OpenCV 37 Options 24 Orhophotos 164 Overview scan 69 P Panorama images 187 Panorama scan 70 Parallel 33 Phi angle 203 Plane 173 PLY 193 Point 171 POL 193 Polar angle 203 Polyline 171 POP 195 202 PRCS 30 202 Preview window 14 Program settings 24 Project file 197 Project folder 7 Project new 32 Project settings 33 Project window 14 R Readout window 14 118 Reflectance threshold 73 Reflector array 56 Reflector column 42 Reflector extraction 73 77 Registration 125 Removing a license key 10 Removing all license keys 10 Repair 3dd header 14 Requirements 7 Resample data 148 RIEGL LMS License manager 14 RiPort 7 205 RiSCANLIB 206 RiITERM 14 ROT 196 Rotate clockwise 97 Rotate contra clockwise 97 RSP 197 2005 Riegl LMS 220 RiSCAN PRO S Scaling correction 35 Scan acquisition 65 Scanner configuration 14 65 Scanner control 14 Scanner search 14 Scanposition attributes 35 Scanposition new 35 Sections 176 Select data 143 Serial 33 Settings in 2D View 97 Setup 7 Shock detection 71 Shortcuts 203 Show TPL 97 Single imag
173. nts toggle state Tiepoints aren t controlpoints Delete selected tiepoint s Del Delete links of selected tiepoint s Edit list of referrers Delete all tiepoints Ctrl Del 4 Units deg m A Delete links of all tiepoints In this example tiepoints tp001 tp002 and tp003 are controlpoints underlined and light gray background color while tp004 tp005 and tp006 are normal tiepoints e Menu Tiepoint scan only available in TPL SOCS e Fine scan selected tiepoints Use this to make tiepointscans 90 of all selected tiepoints The scanner will automatically fine scan all selected tiepoints After this process the coordinates of the tiepoints are overwritten by the new more precise coordinates of the fine scanned tiepoints Note The tiepoints will automatically be sorted by phi before they are scanned in order to make this procedure faster The scanning order is not the order the tiepoints are displayed e Recalculate tiepoint positions This searches the reflector positions of existing tiepointscans and sets the coordinates of the corresponding tiepoints All listed tiepoints All tiepoints of the tiepointlist will be treated this way selected tiepoints Only selected tiepoints of the tiepointlist will be treated this way from finescans not listed tiepoints You can use this function to restore tiepoints from existing tiepointscans e Menu View Tiepoints e Show linked tiepoint This opens
174. o detect all reflector targets 4 1 3 Inclination sensors optional Some RIEGL LMS 3D laser scanners can optionally be equipped with inclination sensors With this inclination sensors it s possible to measure the inclination of the instrument around the X Y and Z axes These sensors have a measurement range from approximate 5 deg to 5 deg This chapter describes how these sensors can be used in RISCAN PRO Shock detection during data acquisition During the data acquisition RISCAN PRO checks the change of inclination values from data line to data line If the change is greater than 0 5 degrees e g when somethings hits the scanner or the tripod RISCAN PRO displays a warning message in the message list This warning is also displayed everytime you open the scan Aided manual alignment of the instrument c 2005 ff RIEGL 72 RiSCAN PRO RISCAN PRO has a built in level tool With this tool you can manually align the instrument vertically or horizontally To open the tool please click on the menu Tool and select Scanner orientation from the menu The following dialog will appear Scanner orientation x X deg o 0864 Orientation Standard Y deg 1 6072 i a On the right side of the dialog you can see a sketch of the instrument representing it s coarse alignment This sketch will show one of the following five alignments Standard vertically aligned head up rotation a
175. object 4 1 2 Panorama scan The scanpattern Panorama Panorama scan is used to acquire data within the complete field of view of the scanner with higher angular resolution than the Overview scan 62 With the Panorama scan any reflector target within the field of view and range of the scanner will be detected Example Z360 i 90 deg vertical and 360 deg horizontal field of view takes approx 4 minutes to acquire Z420 i 80 deg vertical and 360 deg horizontal field of view takes approx 4 minutes to acquire The angular resolution of the scan is set to 0 120 deg Concerning the Z360 i that means that the laser spots are side by side without gaps the complete surface is scanned Laserspots on the measured object c 2005 gt RIEGL Data acquisition 71 Concerning the Z420 i which has a lower laser beam divergence that means that there will be gaps between the laser spots as it can be seen in an Overview scans Therefore this instrument has an beamwidening lens With this lens it is possible to enlarge the laser beam divergence and to make a Panorama scan without gaps compare figures below Beamwidening lens deactivated laser beam divergence 0 25 mrad Laserspots on the measured object Beamwidening lens activated laser beam divergence equal to angular resolution 2 mrad Laserspots on the measured object When using the Z2420 i it s recommended to activate the beamwidening lens in order t
176. of the building The PRCS has to be a right handed system The GLCS in the example is a left handed system e g northing easting and elevation A number of scan positions are indicated by Spi where the scanner has been set up for data acquisition see the detailed description on scan positions below Each scan position has its own local coordinate system SOCS resembled by the axes Xsp1 Xsp1 Zsp1 c 2005 ff RIEGL 32 RiSCAN PRO Za Yal 3 4 Create new project Generally you can create a new empty project by selecting Project gt New gt Project from the menu You will be prompted for a filename and location of the new project It is recommended to use the default project 71 instead of creating a brand new project To do so open Project Open the project and save it under another filename and or folder Project gt Save as Using this project as a template enables you to use the existing calibrations Camera Mounting Reflectors You just have to delete not needed items Note You need write permission for the target folder in order to create a new project The default project can not be changed because it is write protected per default After you have created a new project continue with the steps described in the next chapter Project settings 351 c 2005 F RIEGL Getting started 33 3 4 1 Project settings The next step is to set the proje
177. of the columns and resize it by editing the width in the Column width pix box By clicking on the button OK the settings will be applied but only for the current tiepointlist until RISCAN PRO is closed If you want to save the configuration permanent and for all tiepointlists of this type you have to check Use these settings for all TPLs of kind Note The first column normally this is Name can NOT be moved or deactivated e Menu Tiepoint New see Add a new tiepoint 761 Edit see Edit TP 781 Set reflector type Selecting this function allows you to set the reflector calibration See also Add a new tiepoint 781 Delete all selected tiepoints Use these functions to delete the selected tiepoints or all tiepoints of the tiepointlist You can not undo this function Copy tiepoints to This copies the selected tiepoints to the selected destination TPL The coordinates of the tiepoints will be transformed by using the SOPs and the POP between the source and the destination TPL The copied tiepoints are automatically linked with their originals Calc X Y Z from linked TP This causes RISCAN PRO to recalculate the coordinates of the selected tiepoint by taking the linked tiepoint and transforming it into the coordinate system of the local tiepoint Select all invert no With these functions you can quickly select all tiepoints no tiepoint or invert the tiepoint selection Select tiepoints This is a
178. oints in a common format text file select some tiepoints and select Export from the menu Tiepointlist If no tiepoints are selected you will be asked if all tiepoints should be exported To configure the export format use the following dialog which appears after clicking on Export c 2005 F RIEGL Data acquisition 83 w Export tiepointiist EXPORT SETTINGS EXPORT FORMAT Pre defined settings CSV Defaut E B Columns to export Range Theta Phi t Link Finescan ReflT ype Size None Pixels Intensity O delta x x Width Precision Unit lt none gt 7 COLUMN SEPARATOR Coordinate system C blank socs x comma Default file name extension KUKKIA semicolon CSV tabulator Header format full C other Comment tag E f Cancel Ressecsssssssssssessesssssessessscsseeet There are several settings you can make Column selection and order You can select which columns should be exported in which order by checking unchecking and dragging amp dropping the columns Value width and precision Select a column containing numerical data e g X Y or Z and set the width and precision to serious values Value unit Select a column containing data with physical units e g X Y Z heta Phi and select the unit from the drop down box Unit Colu
179. on Comment Perspective Walk in out hold move up down i Change position F Orthogonal Zoom in out hold move up down A Change scene scale Roll camera hold move left right Left to right gt Magnification Rectangle zoom hold move Right to left gt View all Note Make sure that the mouse buttons are not exchanged To check this open the mouse settings dialog and disable Switch primary and secondary buttons c 2005 ff RIEGL 108 RiSCAN PRO Actions with keyboard Other pete eek Gif LEELEE EEE EEE EE Rahat db ETT E feted GELE ana aaan Cen nee l C A Action Additionalkey Key Comment poe Sa em EO Too s key pressed mouse click Accelerate mouse nae old this cey press eq rotation zoom uring mouse actio Slow down mouse action old this key eg rotation zoom e during m Hold current pickpoint 5 3 3 Object inspector The object inspector is the interface between the objects of a project e g scan polydata and an object view There is only one object inspector window for the whole program If the window is visible it will be activated automatically if an object view gets active To show the object inspector select View gt Object inspector from the main menu or use the shortcut STRG ALT O With the object inspector you can manage all the objects that are displayed within an object view The main features
180. on you can take a series of photos in order to cover a given area During this process the digital camera is mounted on the scanner and the scanner is turning from one snapshot position to the next At each snapshot position the scanner stops and the camera takes a photo To start the image acquisition process right click on a scan or a scan position and select Image acquisition from the menu This will show the following dialog c 2005 F RIEGL 76 RiSCAN PRO x Snap Shot TANGLE Azimuth cE r H Stop angle deg Overlap Start angle deg 240 12 han hns Pictures needed 4 CALIBRATION Camera calibration CamCalib_OpenC01 bi Mounting calibration MountCalib01 b MIA RGETTENCE Destination file Prefix S canPos01 Scan001 Image ANGLE You can adjust the area which the photos should cover by editing the start and the stop angle The overlap factor means how much in percent of the images will be overlapped default value is 10 Pictures needed shows how much pictures will be taken in order to cover the whole area Note that this value isn t recalculated when you change the angles the overlap factor or the camera calibration To recalculate this value you just have to click on Pictures needed and the correct number of pictures will be shown CALIBRATION In this area you have to set the camera calibration l8 and the mounting c
181. onment using COM technology convert geometry data to cartesian or spherical coordinates and apply corrections The library is packaged as COM objects that are located in files named scannermod dll and scancnfmod dll Once the library has been registered into your system your compiler will be able to read its type library and generate the necessary interfaces You then call the functions as if they were native functions in your programming environment e g Visual C Delphi Since the library is coded in COM technology you even will be able to create multiple instances of interfaces as you would like when interfacing to more than one scanner at a time or when reading data files at the same time The library is running in a separate thread asynchronously to your application This will ease your interface coding since you almost never will be blocked when you call any of the interface functions thereby avoiding the annoying hourglass cursor To this end the library maintains an internal data buffer for storage of the scanner data and controls access to it via a semaphore mechanism The windows message passing system is used to inform you of the relevant events such as start of a scan receipt of a single scan line or end of a scan A logging facility also is built into the library You can use this feature to create files that will store any data the scanning unit is able to deliver even if there is no interface function to directly access it
182. oordinate system The head of the readout window displays the name of the view underneath the mouse cursor in the first two lines With the lock button left button you can lock the data of the readout window no updates are done when you move the mouse You can also lock the data by holding down the CTRL key while you move the mouse With the copy button second button from left you can copy the data of the readout window into the c 2005 Ff RIEGL Data visualisation 119 clipboard e g for further usage in MS Excel Note Only data of visible expanded sections will be copied This gives you the chance to control what data is copied to the clipboard With the coordinate system button the right button you can modify the coordinate system in which the point coordinates and vectors should be displayed Note Scanner coordinate system SOCS is only available when the data was transmitted by either a 2D View scan or image or an object view with a SOCS defined as base coordinate system Cartesian coordinates 2D amp 3D scan object view 2D image with activated drawing plane This section shows the cartesian coordinates of the point underneath the mouse cursor in the defined coordinate system see section Head 118 The button Set as reference point enables you to uses the current coordinates for the reference point This enables the section Reference pointa You can also define a referenc
183. oose a position of the tilt mount that is the tilt angle In case of the first scan position you have to select option b and a proper tilt mount calibration from the list 5 Do the data acquisition c 2005 F RIEGL Getting started 61 6 Ifthe tilt angle changes but the position remains unchanged right click on the base scan position e g ScanPos01 click on New linked position and select the current tilt angle position from the dialog The relationship between the scan positions will be reflected in the project manager window that way H 4 ScanPos02 ScanPos01 7 Repeat steps 5 and 6 as long as the position of the scanner isn t changed Otherwise proceed with step 3 8 When the data acquisition is done you may have a project similar to that example Name of Scanner tinkt Used tilt mount scanposition Position Tilt angle calibration ScanPos01 A 0 09 TiltMount01 TiltMountO1 ScanPos02 A 45 0 ScanPosO1 TiltMount01 ScanPos03 A 450 ScanPos01 TiltMount01__ ScanPos04 B 900 TitMount01 TiltMountO1 ScanPos0S B 450 ScanPos04 _TitMount01 ScanPos06 B 00 ScanPos04 _ TitMount01 ey a es eee ee eeee In the example the scanner was located at three different positions A B C with several tilt angles at each position Two different tilt mount calibrations have been used TiltMount01 and TiltMount02 Base positions are ScanPos01 ScanPos04 and
184. ork with the scanner determined by the key Connections to other scanners will be refused Dongle Lock Alternatively a USB dongle is available The advantage of the dongle is that you can work on any PC equipped with a USB port with just one license key and all instruments With the built in license manager of RISCAN PRO you can add edit and delete licenses of RISCAN PRO To show the license manager click on License manager in Tool menu of RISCAN PRO c 2005 F RIEGL Installation 11 Hybrid multi station adjustment gt License manager Scanner configuration Scanner control Scanner orientation Scanner search Repair 3dd header Media player Calculator Matrix comparison Multiple SOP export RIEGL LMS License manager Terminal RITERM Options The license list shows currently existing license keys for RISCAN PRO RISCAN PRO licenses x License manager ae X id till Serial m Edit license key f Add new license key X Delete license key 2 Delete all license keys To receive a license key contact us via e mail support riegl com HDOD ID sataman Copy Cancel Help The icon near to the license key shows the state of the license key V the key is valid gt the key is NOT valid e Adding a license key By clicking on Add new license key a new dialog appears where the new license key can be inserted Note c 2005 f RIEGL
185. p is to create a new scan position To create the scan position with a defined name a select either vertical 0 or enter a name and click on the button Create The new scan position will be created and the name is written at b Click on the button Continue Acquire scan Now you can acquire a scan an Overview scan 69 That scan should contain all desired reflectors of the reflector field By clicking on the button Start the normal scan dialog is opened Please choose the proper scan area and scan pattern and start the data acquisition Reflector extraction Now the reflector extraction can be done On this page you can see modify the scan used for the reflector extraction To start the reflector extraction click on the button Start The extracted targets will be added to the TPL SOCS of the current scan position Finescan all reflectors At this step all reflectors of the TPL SOCS of the current scan position are fine scanned Of course you can modify the TPL SOCS before the finescans are started e g to delete faulty detections not needed targets Therefore the TPL SOCS is opened automatically at step 3 Cleanup the TPL SOCS and click on the button Start in order to start the data acquisition Find corresponding points If this is the first scan position of the calibration procedure you can skip this step you will be asked by the wizard Now the registration of the position onto the vertical i e the first scan pos
186. phere object Up vector of cylinder object unit vector Color of cylinder object Orthophoto object ORTHOPHOTOS Property Value No Draw mode of orthophoto object Points Point size integer between 1 and20 Size of points in pixel Is used in point draw mode Aerialview object ORTHOPHOTOS Property alive Comment _ _ Origin COV gin Position of aerialview object irection vector of aerialview object unit vector Jp vector of aerialview object unit vector Width of aerialview object fread only eight of aerialview object read only Image jack face draw mode Cull Interpolation ne image will be interpolated No e Modify Change position and orientation of aerialview object This is described in the chapter Manual coarse registration l3 The same dialog is applicable on aerial views Distance object DISTANCES c 2005 F RIEGL Data visualisation 117 Property Value Comment No Start point KAYA Floating point number 10 End point Ys Floating point number Second Line width Integer between 1 and 20 Width of Point size integer between 1 and 20 Color of de distance object it of distance joint of distance ine in pixe distance object Color of Note Distance objects can only be created in an object view You can also display them only in that object view 5 3 4 Toolbars 3D Control Popup menu View all J S 88
187. ple parameters and the dimension angular extents c 2005 ff RIEGL 150 RiSCAN PRO w Select basic scan x Objects Scan info ScanPos01 Beamw idening_Panorama001 ScanPos01 Scan001 Start 50 o 0 o mee The next step will be to set up the resample parameters Description see above 1481 Choose averaging resample paramters x PARAMETERS Threshold m fo oo Phi resolution deg jo 20 Theta resolution deg fo 20 Scan resolution Phi resolution deg fo 120 Theta resolution deg fo 120 last target only i Cancel Help You can use the buttons to set the output resolution equal to the scan resolution 7 2 Triangulation Triangulation is the process to create a surface out of a point cloud where the surface is made up by triangles connecting the data points Triangulated data also called mesh gives a better representation of the scanned object Additionally triangulated data can be textured e with the high resolution images taken by the digital camera which leads to a nearly photo realistic model c 2005 f RIEGL Data postprocessing 151 In RISCAN PRO two different functions to triangulate data are implemented e Triangulation of a scan lish This function can be used to triangulate a point cloud a 3DD file automatically This function is only applicable on point clouds acquired with a scanner and thus located at a s
188. points into the octree and stopped as soon as a given minimum cube size is reached Increment X Y and Z usually between 0 1 and 1 0 m After generation of the octree one cube contains one point which is the center of gravity of the averaged points representing in general a larger number of points Note The resulting object contains only point information no matter what type of source data you have selected Point filter Only each n th point is added to the resulting polydata object n is the user defined factor c 2005 F RIEGL Data postprocessing 147 e All points All points will be added to the resulting polydata object you can use this filter to clone objects or to combine objects The result of a filter operation is always a polydata object Note When you ve started the filter action from the folder OBJECTS POLYDATA the place the resulting polydata object is saved depends on the setting of the Combine data option Combine data activated All data will be saved within one single polydata object located in the folder OBJECTS POLYDATA Combine data deactivated For each selected source polydata object a new polydata object in the same folder will be created containing the filtered data 7 1 4 Clean You can clean up the data of a polydata object by selecting it in the project manager and activate the popup menu Then select Clean data and following dialog appears Clean data x
189. pressing Apply changes c 2005 F RIEGL Data postprocessing 161 The object will be recalculated according to the settings and show the results in the New Data window bottom To save the new data click OK This will apply the changes and save the created object to the folder POLYDATA Recommend workflow First step e Windowed sinc smoothing 20 iterations pass band 0 086 Second step e Laplacian smoothing 200 iterations feature edge smoothing active feature angle 30 deg e Decimate Rate 0 6 feature angle 25 deg Third step e Decimate Rate 0 7 feature angle 15 deg 7 3 2 Texture The texture function joins the scaninformation polydata triangulated meshes with the high resolution photographs Prerequisites Images taken by the camera might be slightly distorted by the lens Before RISCAN PRO can texture the mesh the images have to be undistorted To do so please select the desired images right click on them and select undistort from the menu All undistorted images will be saved in the folder UNDISTORTED IMAGES Note this procedure will also create at least one new camera calibration which will be assigned to the undistorted images This camera calibration is a copy of the original camera calibration except the lens distortion values Do not assign this camera calibration to images taken by the camera nor change the calibration values Texturing polydata within a sc
190. pulation 7 1 1 Select In an object view you can select data in order to do some operations with the selected parts If you want to select data you have to activate the selection mode and set the selection properties You can find a description of the available properties in the table below After selecting some data you can see the selected areas colored with the selection color which you can define in the program options 241 In the status bar of the object view you can also see how many points and triangles are selected How to work with selected data see Actions on selected datali c 2005 ff RIEGL 144 RiSCAN PRO Button Action Comments rh Activate deactivate selection mode You can also activate this p Selection mode 5 f T selection mode by pressing the SPACE key in the object view Keep the let mouse button pressed while moving the mouse to Rectangular selection l create the desired rectangle za Paone salei Press the left mouse button to define the edges of the polyline ae y The right mouse button will finish the selection AeIE CIAN Keep the left mouse button pressed while moving the mouse to create the desired selection A rans selection ja e left mouse button to select the corresponding triangle Mark selected area When this is activated the selected area will be marked All marked data of the selected area will be unmarked and all unmarked data of the selection will b
191. r RiPort Settings Reo x This name will be used by your oramai RiPTO XJ application program later Connect to parallel port jipti x Nullsoft Install System v2 Gay lt Beck cancel e Name amp Company Enter your name and company name here e License key Enter the license key here The license key can be entered with or without the dashes between the numbers Also the characters can be uppercase or lowercase A or a If you do not enter a license key you can use the license manager 10 of RISCAN PRO to manage your licenses later If you do not enter a license key a default viewer license key will be installed which allows you to run RISCAN PRO but you are not able to acquire data Note If you just update RISCAN PRO to a newer version you do not have to enter a license key because the old one s are taken The license keys of RISCAN PRO are saved in a per user manner Therefore every windows user has to enter the license key in order to run RISCAN PRO e Project folder Enter the folder where the projects and the default project if selected should be saved The default folder is Riegl Scans located in your documents folder You can also modify this folder in the Program settings ad c 2005 ff RIEGL 10 RiSCAN PRO e RiPort settings Select the port name of the new RiPort and the parallel port it is assigned to The setup program will install the RiPort Dri
192. r generating orthophotos of the floor or ceiling The plane s normal vector is parallel to Z axis The X axis has to be defined see next mode Free orientation Free orientation In this mode you have to define the X axis bottom edge of the plane by two points Start point and End point To do so click on the button Start point or press key 1 and click on the corresponding point 17b in the 3D scene Proceed this way with the second point End point key 2 As an alternative you can also enter the coordinates of the two points directly In that case click on the button beside the coordinates in order to update the axis in the 3D scene To finally create the plane click on the button Create plane Note All 3 modes always use the currently selected coordinate system 108 either PRCS or GLCS The created plane is saved in the folder OBJECTS PLANES and will be added to the current object view c 2005 ff RIEGL 176 RiSCAN PRO Create plane from tiepoints Open a tiepoint list and select some tiepoints Then open the popup menu and select Create geometry object Plane Note At least 3 tiepoints must be selected in order to create a plane 7 5 5 Sections You can create cross sections from triangulated data Polydata by viewing the data of interest in an object view You may also select only a part of this data Then click with the right mouse button in the object view and select New ob
193. range data are distributed fairly wide giving a quite large standard deviation The data may arise from measurements taken at e g walking pedestrians In case 3 we have two distinct ranges with low variation each c 2005 F RIEGL Data postprocessing 149 The averaging process is controlled by the option remove near range clutter signals and the threshold defined within the Options Averaging Resample by Oo Case 1 g ar o 2 Case 2 Case 3 Range last target only OFF In this case the standard deviation of all range data with every cell is calculated and compared against the threshold value In case the deviation is smaller than the threshold the range in the cell is set valid and is set to the average range In the examples described above only in case 1 a valid range would be calculated last target only ON This mode allows to suppress near range clutter signals In this case only the range values larger than the maximum range minus five times the threshold value are considered for standard deviation calculation and averaging In the examples described above cases 1 and 3 will give valid ranges Resample example If you want to resample one or more scan s then mark the scan s and click the right mouse button Choose Resample from the context menu If you decide to resample more than one scan you have to define the basic scan That means that this scan is used to adjust the resam
194. red in order to have the reflectors in the center of the image Before taking the second image the scanner will turn to the next position see Turn angle between two images 42 The image aqcuisition will be continued this way until no reflector can be extracted from the image Configure the image acqusition see Description of the input fields 421 for more details and start the image acquistion by clicking on the button Start c 2005 ff RIEGL 46 RiSCAN PRO CamCalibTask01 E zi l Acquire new single scan 2 Reflector extraction 3 Finescan all reflectors 4 Image acquisition 5 Calibration Turn angle between two images fiyio rov idl 5893504881 deg Number of images tapprox 10 Sensitivity reflector extraction J 0 5 Number of trials for k aj A 4 reflector extraction J Continue with image s Start Description of the input fields e Turn angle between two images Images will be taken in that angular distance Either select one entry of the list on the left side or enter the angle on the right side The list contains some default values expressed as fraction of the vertical field of view FOV of the camera default is 1 10 FOV e Number of images approx This shows the approximate number of images which will be taken Note that this value depends on the quality of the initial camera and mounting calibration and may differ from the ac
195. rent object view Note If Modify radius is activated the radius is modified everytime you move the mouse To be a able to click on the button Create sphere you have to deactivate this option first To do so press the key 2 Plane Create plane from geometry data To create a plane please proceed as follows 1 2 Open or create an object view Add the objects of interest Click with the right mouse button into the object view and select New object Plane from the menu As an alternative you can also use the corresponding button of the toolbar 3D New object 176 When you click on this button for the first time a menu is opened offering the functions described below This menu can also be opened when you click on the small arrow beside the button When you have selected a function and you click on the plane button the next time the same function will be executed e Co planar with the x y plane This will create a plane parallel to the x y plane of the currently selected coordinate system e Co planar with the x z plane This will create a plane parallel to the x z plane of the currently selected coordinate system e Co planar with the y z plane This will create a plane parallel to the y z plane of the currently selected coordinate system e From 1 point c 2005 ff RIEGL 174 RiSCAN PRO With this function you can create the plane by defining just one point This point will be the origin of the pl
196. rom the object view you can also press keys 2 first point and 3 Second point 2 Define axis via input of coordinates of two points To enter the coordinates of the first point click on the button First point Then enter the coordinates of the first point Click on the button Second point and repeat the procedure Use the button beside the coordinates in order to update the display of the axis 3 Get from camera direction When you click on this button the axis normal to the screen surface is used To display the axis as a line in the 3D scene select the option Show axis in view c 2005 ff RIEGL 134 RiSCAN PRO 7 Finally rotate translate the scan position Mode Closest point Point on surface JV Show axes of object Translate 0 01 m Rotate 1 0 deg lt e Mode With that mode you can determine which point should be used when you define the rotation center or the rotation translation axis e Closest point The 3D point next to the mouse cursor will be taken e Point on surface The intersection point between the surface triangle or plane and the ray defined by the mouse cursor will be taken With the option Show axes of object you can decide whether to display the axes of the object or not This is especially helpful to define the rotation axis as described above Translate Define the move increment Use the button to move the scan pos
197. rt angle phi resolution phi stop angle horizontal scan area theta start angle theta resolution theta stop angle vertical scan area Beamfocus only available for instruments Z360 and Z360i To configure the scanpattern you can either use one of the default scanpattern buttons Overview 6 Panorama 7 load a previously saved scanpattern button Load user defined or enter the parameters manually When you enter the parameters manually click on the button Calculate in order to update the information shown in the bottom right corner of the dialog Visual scan area definition The grid in the center of the dialog can be used to define the scan area start and stop angles The grid has a resolution of 20 deg To define the scan area move the mouse over the grid hold down the ALT key press the left mouse button and draw a rectangle by moving the mouse Unpress the left mouse button to finish the selection the start and stop angles are updated Note When you have opened this dialog by clicking on a scan see above Detail scan 6 instead of the grid the scan will be displayed c 2005 F RIEGL 68 RiSCAN PRO Measure object distance only available for detail scans 6 described above To get a quick reference for the distance of a certain scanned object click with the left mouse button onto the object This will set a marker You can also click several times In that case Object distance will di
198. s dialog Support for Z420I added Added support for the Canon Powershot G3 and the Canon EOS 1 Ds Added a resample routine for single scans Added an ASCII export for single scans and point cloud Added an Crystalix export for single scans and point cloud Added the possibility to select several markers tiepoints with a rectangle Frame2D Two selected tiepoints of a 2D view can now be linked gt context menu without showing the tiepointlist UDA Import added Tiepointlist redesigned Find corresponding points added the possibility to clear the link results before this process Auto linker function added to Frame2D automatical link of a TP IMAGE and TP SOCS ZOP Orthophoto Export added Bug fixes Within the finescan of a reflector the reflector constant was lost Selected TPs in a 2D view where not allways selected in the tiepointlist Save as function did not work correctly with Camera Calibration Tasks When use 2D filters in a view the file reference was not set If during an image acquisition an error occurs the thread got frozzen c 2005 F RIEGL Appendix 215 The export functions of a scan point cloud are also available now when the project is readonly The button scan reflectors in a 2D View was shown for images also now only for scans Bug in UDA Import fixed to bottom right cell of the SOP matrix was set to zero instead of 1 The calculation of the preview image scale factor was wrong The
199. separately now Add a new info window for info text Calculate SOP via inclination sensors implemented TPL2 Added function CreatePolyline TPL2 Added function CreatePlane TPL2 Added function CreateBarycenter Add point object to GeometryObjects Intersection between a polyline with 2 points and a plane object gt Result Point object automatically added to the object view Add STL import Object view select object with key S and mouse click Object view increase and decrease navigation speed with keys A and D Backsight This function is now able to use the inclination sensors by extracting the inclination values from a finescan For that the user selects a tiepoint with a tiepointscan Chart to analyse the inclination values gained by the scanner Object view Added 2D grid in orthomode Delete points from scan implemented in object view Objectview fullscreen mode added c 2005 F RIEGL Appendix 209 Export of planes as DXF is now possible Planes Display if DIP Dir und DIP Angle added Planes Export as ASCII und DXF Image acquisition Instrument position before and after image acquisition is compared now gt warning Locked property of objects in an objectview will now be saved Add tiepoints to objectview Support for ParamlD 7 0 added Project manager shortcut CTRL ENTER added Locate file folder in windows explorer Project manager shortcut ALT ENTER added Show file
200. sition and triangle and smallest angle of view With Maximum tilt angle you can configure a filter which removes all images where the angle alpha between the triangle normal and the ray of sight see sketch below is larger than the given value The higher the angle alpha is the less pixels of the image can be mapped on the triangle and thus the worse the quality of the texture will be c 2005 ff RIEGL 164 RiSCAN PRO P P Pa edge voints of triangle 1 2 3 gt ay NOT al Vecto of langie J N m l vector of tr l P position of camera V ray of sight angle between F y and Fe e Keep untextured triangles Triangles which have no texture at the end of the process will not be present in the resulting mesh Enable this option in order to keep them Note Not textured triangles will be copied from the source mesh to the new mesh as they are That means that they will have wrong color or no color information at all 7 4 Create Orthophotos RISCAN PRO offers the possibility to create true orthophotos from scans using the color information from the acquired high resolution images For that two plugins are available c 2005 Ff RIEGL Data postprocessing 165 e Orthophoto plugin fih This plugin was developed by RIEGL LMS It is based on triangulated and textured meshes e CityGRID Ortho plugin he This plugin was developed by company GEODATA IT GmbH www geodata at
201. soecsessesoseesesed Range gate i0 000 100 000 Intensity gate 0 255 El Remove isolated points Octree Point filter Step 10 J all points Combine data PARAMETERS Please select a filter mode to change it s parameters Cancel Help In this dialog you can define some parameters for different filters When filtering multiple objects you can also select which data objects you want to use on the page called Data which is not visible on this screenshot and whether you want to combine all selected data to one single data object Combine data Following filters are available e Range gate Only data within a specified range is added to the resulting polydata object The range is always calculated in the coordinate system of the object Intensity gate Only data within a specified intensity range is added to the resulting polydata object e Remove isolated points A point is added to the resulting polydata object when at least a minimum number of surrounding points has a distance smaller than a given value This filter is only available for a scan 3DD file e Octree This filter procedure is done by using an octree structure That structure is based on a cube which is divided into 8 equally sized cubes which are again divided and so on The extension of the base cube can be entered in the dialog min and max X Y Z The division into sub cubes is done on demand by filling the
202. splay the average of all measurements To see how you can move and delete markers please refer to Data visualization 2D view Navigation hob Online view during data acquisition You can observe the scanning progress by selecting the online view property There are three items lt none gt no online view is displayed 2D view a 2D online views is displayed 3D view a 3D online view o is displayed Note On slower PCs please select 2D view or even disable the online view Otherwise you will risk loss of data because of performance problems Scanpaitern and instrument information In the bottom right corner you will see some additional information of current scanpattern Meas count 750 number of measurements per line Line count 3000 number of lines per frame Meas pts 2250000 number of points to measure Est time 4 99 estimated time Laser rate 24050 Hz Serial tt 9993954 serial number of scanner device IV Set max laser rate sets the laser rate to the maximum recommended Save permanent all parameters will be saved permanent in the instrument Setting the beamfocus only available for instruments Z360 and Z360i To set the beam focus use the Beam focus list You can select Infinite or set a beam focus by yourself That means that you can edit the Beam focus combo box by input a distance to which you want to set the focus Beam focus m Infinite a When you acti
203. st n lines from the file e g this is just a comment or anything else Comment tag optional Lines beginning with that character s will be ignored Column separator You have to set the column separator to the correct character in order to recognize the data columns from the file Normally this is the comma If you don t know the column separator you can try to click on the button Auto detect This function attempts to find the correct character Note that this function may get wrong results in very noisy files You can check the right setting of the column separator in the preview located on the bottom of the dialog Column association After the column separator was set and you got a correct preview you can associate the columns This is needed in order to tell RISCAN PRO which column of the file contains which data Just drag the column from the list box c 2005 4 RIEGL Data exchange 191 showing all columns and drop it on the corresponding column of the preview After all settings are made it is possible to save the settings This provides faster import by just selecting one of the pre defined format settings from the drop down list on the top of the dialog To save the settings click on the button with the plus on it You will be prompted for a name Enter the name Info Adding Default to one of the names will cause RISCAN PRO to use this pre defined format settings as default and click o
204. start menu in the group Riegl LMS gt Support or in the Tool menu of RISCAN PRO This program doesn t display whether the installed license keys are valid or not due to security reasons c 2005 F RIEGL Getting started 14 RiSCAN PRO 3 Getting started 3 1 Main program window The main window of RISCAN PRO is modular You can decide which tool windows should be displayed and where they should be placed The configuration visibility and position will be saved on shutdown and restored the next time you start RISCAN PRO The following screenshot shows RISCAN PRO with a default configuration c 2005 F RIEGL 15 Getting started Main menu amp toolbars ee y Object inspect Active VOY Sra EAA AAEE Project Edk Wew Took Window 2 3 5xs f 0 6 J gAng j amale B Alyy i AEA iln Proiect manager Readout socs Project manager 2004_06_Chile_Moai E CALIBRATIONS E COLLECTIONS SCANS J Moai Let amp HE SCANPOSIMAGES E SCANSEQUENCES H TIEPOINTSCANS E PROFILESCANS H E UNDISTORTED IMAGES a POLYDATA Object Project coordinate system Readout window behind inspector i SOP TPL SOCS ME Color_Scan01 Main A Scandi working w Moai_Right area ScanPos03 S ScanPos04 RP ScanPos05 SO VIEWS A Moai ViewObjects01 amp OBJECTS ER TPL PRES 4 POP e TPL GLCS gy Trash Thread control A Dat
205. t again click on the button Stop turning As an alternative you can press the keys A and D on the keyboard to turn left and right The scanner will move as long as you press the key To regulate the frame speed use the slider left means less speed right means higher speed After the scanner has been aligned click on the button Get angle from device to read the phi angle from the scanner the Northing angle field is not updated after every movement c 2005 F RIEGL Data registration 139 6 1 2 From file The northing angle can also be loaded from file Thereto you need a standard text file containing the northing angle Such a file can be created manually or it can is created with the wizard by a click on the button Save to file 6 2 Use tiepoint In that case you need a finescanned reflector step 2 The northing angle is automatically calculated from the reflector position gained by the scanner To use a tiepoint click on use tiepoint and click on the button Select tiepoint Select the desired tiepoint from the list 6 2 1 With inclination values If the instrument has build in inclination sensors you could use these measurements to automatically align the scanner vertically To inclination values are saved to each scan If you check the checkbox Use inclination sensor values the inclination values of the finescan of the selected tiepoint will be used 6 2 2 Without inclination values In
206. t mount calibration from your default project please refer to How to calibrate a tilt mount 591 To do so open the folder CALIBRATIONS from the Project manager window Right click on the folder TILTMOUNTS and select New tilt mount Click on the button Import in the lower left corner to import a tilt mount from another project 3 Setup the scanner no matter what tilt angle and create a scan position 4 To assign a tilt mount right click on the scan position in the project manager window and select Attributes The following dialog will appear Position ScanPos01 xi General Tilt mo SOP Scaling correction CY TILT MOUNT Link to scan position a A No suitable scan position available see below Assign tilt mount b TiltMount01 td Position of tilt mount vertikal 0 000 deg X 4 scan position can a be linked to another scan position having a tilt mount assigned and not linked to another scan position or b have a own tilt mount assigned and can serve as host position for other positions to be linked to cn __ TILT MOUNT e link to scan position a select the link target That is the scan position which has already a tiltmount assigned normally this would be the vertical position e assign tilt mount b assign a tilt mount to a scan position in order to make this scan position the base scan position for others e position of tilt mount ch
207. ta for the new object Sheet Smooth is a process to optimize the coordinates of the point data to make the surface smooth while preserving the amount of polygons and points Smooth Active Decimate Active Y Smooth Mode Windowed sinc smoothing x Feature edge smoothing V Boundary smoothing T Non manifold smoothing Number of iterations jo 0860 Relaxation factor foo ooo Pass band for Feature angle deg joo Edge angle deg joo 8080 Convergence m foo ooo e Smooth if this option is enabled the settings will be applied to the New data e Mode c 2005 ff RIEGL 158 RiSCAN PRO a filter to make cells better shaped and vertices more evenly distributed Laplacian smoothing the coordinates are modified according to an average of connected vertices to reduce high frequency information in the geometry of the mesh Windowed sinc smoothing the coordinates of each vertex are modified using a windowed sinc function interpolation kernel Taubin describes this method in the IBM tech report RC 20404 90237 dated 3 12 96 Optimal Surface Smoothing as Filter Design G Taubin T Zhang and G Golub Feature edge smoothing Excessive smoothing may lead to a loss of important details and the surface may shrink towards the centroid Enabling this feature will help reduce this effect Boundary Smoothing enables the smoothing operation of vertices that are on the boundary o
208. th several extended settings and information about the instrument Which and how many settings are available depends on the instrument you use Example for Z360 c 2005 ff RIEGL 66 RiSCAN PRO 4 New single scan in ScanPos01 i zaxi General Instrument settings Scanner configuration TACANNERTSETTINGS General E Instrument name 23601 Instrument ID 23601 Instrument mod STANDARD Instrument built number lt undefined Serial number 99943441 Current time 11 43 11 Current date 02 06 04 Total operating time _ 140 38 17 Instrument product Laser on time 70 31 46 name Motor on time 16 33 12 Temperature 40 Supply voltage 198 Software version 56 1 2312103 130634 Communication TCPIP address 192 168 000 217 TCPIP gateway 192 168 000 255 TCPIP sub net mask 255 255 255 000 Measurement Target selection Measurement of LAST TARGET OPTIONAL Maximum 255 chars Scanner configuration displayed as first page When the dialog is displayed this page is displayed at first and RISCAN PRO tries to connect to the instrument and requests several settings Try connecting to S 4COM1 19200 During this procedure no changes can be done the input fields are locked gray color and the dialog can only be closed by clicking on CANCEL no scan will be taken When this procedure succeeds the input fields will be unlocked white color and you can start to configur
209. th the default values e Calculation parameters Find corresponding points Sets the default settings for Finding corresponding points See Registration of a scan position 251 3 3 Coordinate systems RISCAN PRO uses different coordinates systems the most important ones are described below Scanner s Own Coordinate System SOCS is the coordinate system in which the scanner delivers the raw data Consult the user s manual of the scanner for the definition of the coordinate system The data of every RIEGL 3D laser imaging sensor contains for every laser measurement geometry information Cartesian x y Z coordinates or polar r P coordinates and additional descriptors at least intensity optionally color information Thus the output of a RIEGL 3D laser imaging sensor can be addressed as a organized point cloud with additional vertex descriptors in the scanner s own coordinate system Project Coordinate System PRCS is a coordinate system which is defined by the user which is for example an already existing coordinate system at the scan site e g a facility coordinate system RISCAN PRO requires that all geometry data within this project coordinate system can be represented by single precision numbers 7 significant digits For example if mm accuracy is required the maximum coordinates should be less than 1 km Global Coordinate System GLCS is the coordinate system into which the project coordinate system is embedded Usually coord
210. that case you have to ensure that the scanner is vertically aligned see also step 1 Uncheck the checkbox Use inclination sensor values 7 Calculate matrix On the fourth page you can see a summary of the given data and the calculated matrix At this step you can still go back to one of the previous pages in order to correct wrong settings 8 Set matrix To really write the matrix to the SOP of the scan position click on the button Set SOP Before the matrix is written to the SOP RISCAN PRO checks if a modification of the POP matrix is necessary If so you will be prompted to confirm these values and the SOP is modified according to the new POP Finally click on the button Close to close the wizard 6 5 Registration of project images Images saved at project level are images which may have been acquired for instance while the camera was not mounted on the scanner such as detail images Thus these images are not registered within the project coordinate system RISCAN PRO offers a function to register these images via defining relations between image points and project points It s recommended that you do the registration of project images not before you have registered all scan positions and the project The following step by step description shows how to register a project image e Define tiepoints in PRCS During the registration of the scan positions the TPL PRCS should have been filled with coordinates tiepoints and or controlpo
211. the IP address of the instrument you can also use the tool Scanner Search ha c 2005 ff RIEGL 34 RiSCAN PRO Note If you have problems while connecting to the instrument please make sure that you have used the correct cables If you use a firewall please make sure that bidirectional communication over the ports displayed on this page is allowed Note Please make sure that your PC has a valid IP address To do so check the TCP IP settings of the network connection If obtain IP address automatically is selected it is necessary that a DHCP server is installed in your network If no such server is installed and of course when you connect the instrument directly to the PC via a cross over cable you have to set a fixed IP address in the same logical network IP address range as the instrument e g 192 168 0 233 and a proper subnet mask e g 255 255 255 0 Please refer to the help file of MS Windows or contact your network administrator On this sheet you can also set the camera type in case your instrument is equipped with a camera If you notice problems when connecting to your camera directly through RISCAN PRO please check the USB protocol setting of the camera This value must be set to PTP for NIKON cameras and to normal for CANON cameras For changing this setting please refer to the product documentation of your camera Select Connect camera over TCP IP if the camera should be accessed via the network
212. the axis can be defined vertically only Note Horizontal and Vertical are related to the screen Orientation relative to previous e Parallel the axis will be defined parallel to the previous e Perpendicular the axis will be defined perpendicular to the previous To leave this mode click on the button Close e From selected area Before you can use this function select some points 143 in the object view The function will create an unlimited plane that is calculated by the least squares fit algorithm from the coordinates of the selected area The plane will be displayed limited only by the bounding box of the object view e From selected area limited Creates a plane like the function described above Additionally the orientation of the plane can be set c 2005 F RIEGL Data postprocessing 175 Create new plane x Active view View Create new plane Name Plane001 Mode C Vertical orientation PACS Free orientation Axis Start point End point x 19 143 m if 41 746 m al Z 1 008 m Closest point Point on surface Note Define start and stop point of X axis if necessary point is defined by pressing SHIFT and the left mouse button Select mode and click Create plane e Vertical orientation Intended for generating orthophotos of facades The plane is strictly in parallel to Z axis Horizontal orientation Intended fo
213. the value PARAMETERS Create volume as triangulated mesh when you activate this option a polydata object will be created containing the triangulated surface Raster size select raster size of pattern Filter mode select filter mode for calculation Plane select reference plane In the BiLinear filter mode all the input points will be averaged in every cell of the pattern In the Min Max filter mode only the point with the smallest largest normal distance to the reference plane is filled into the cell Example c 2005 F RIEGL Data postprocessing 183 Reference plane Point cloud Create mesh ss Calculate volume x 2 2 gt tal 846 563 Units m h c 2005 Ff RIEGL 184 RiSCAN PRO 7 7 Animations The object view within RISCAN PRO has the ability to produce animations of the 3D scene it displays The animation is based on user defined camera positions and camera orientations called pose The camera path between two poses is calculated by RISCAN PRO in order to get a fluently camera movement The created animation can be saved as AVI file whereas all installed video codecs can be used to compress the video file Step by step description 1 Open or create an object view To get better results make sure that the parameter Scene scale of the camera of the view is set to 1 2 Add all objects scans polydata planes polylines of interest
214. ting orthophotos of facades The plane is strictly in parallel to Z axis of the project coordinate system horizontal orientation Intended for generating orthophotos of the floor or ceiling The plane s normal vector is parallel to Z axis of the project coordinate system The X axis has to be defined see free orientation free orientation In this mode you have to define the X axis by two points X1 and X2 To do so click on the button Define first point X1 and click on the corresponding point in the 3D scene Proceed this way with the second point X2 Finally calculate the projection plane by clicking on Define plane The plane position size and orientation will be calculated and the plane is displayed A screenshot of step three c 2005 F RIEGL Data postprocessing 167 Create Orthophoto Z0P x Select some points in selection mode Clear selected points Selection mode Deviation m fo 5 Add selected points Selected points 7187 Alter selecting some points choose plane orientation and press Define plane to create a plane Westical orientation Define plane Load plane Cancel lt lt Back Help Status OK Fourth step At the fourth step you can modify the projection plane s position and size Just edit the input fields Plane width and Plane height and click on the button Apply dimension changes To c
215. tion Finally start the calibration by clicking on the button Start The calibration will by started and you can watch the progress in the CALCULATION LOG After the calibration has finished you can switch to the third page Statistics On this page you will see a table showing all images and their mean minimal and maximal pixel distances between tiepoints of the image and the tiepoints of the scan At the current state an average pixel distance about 0 5 can be considered as a good result To use the results in another project just import the camera and mounting calibration by right clicking on CALIBRATIONS and selecting New OpenCV to import a mounting New mounting from the menu On the following dialog click on the button Import to import the calibration Hints Problems during camera calibration may be based on faulty assigned camera mounting calibrations Please make sure that the correct camera and mounting calibration is assigned to all images Always assign the resulting calibrations located within the calibration taskk 3 5 1 2 3 Based on flat check pattern To do the calibration on your own you need a check pattern The pattern has to be as flat as possible and as regular as possible with a high contrast In the help directory you find a pdf file CheckboardScaled pdf showing a check pattern of 11 columns and 15 rows The procedure to extract the calibration data based on a flat check pattern is 1
216. tion pix n v con e _ In the box TIEPOINTS you can see a summary of the tiepoints which will be used for the calculation The left column shows the names of the image tiepoints and right column shows the name of the linked tiepoints To activate or deactivate tiepoints click on the small box in front of the name of the image tiepoint hook displayed activated hook not displayed deactivated To finally start the calculation click on the button Start calculation In the box on the bottom of this page you can see a log of the calculation When the calculation is finished the quality of the registration is written to the boxes deviation and the resulting COP matrix transforming from image coordinate system to project coordinate system is written to the first page Matrix To save the result click on the button OK Hint If the result seems to be bad please check the linkage of the tiepoints and deactivate some tiepoints if necessary c 2005 Ff RIEGL Data registration 141 6 6 Hybrid multi station adjustment The Hybrid Multi Station Adjustment HMSA is a RISCAN PRO plugin which tries to improve the registration of the scan positions For that purpose the orientations and positions of each scan position are modified in several iterations in order to calculate the best overall fit of them Note The menus described below are available only when the plugin is installed Where
217. tion and translation in a single matrix multiplication The translation vector is the scanners position and the column vectors r1i r2i r3i T are the directions of the local coordinate axes in PRCS A 3D data point in homogeneous coordinates is represented by its 3D coordinates x y and z by yT Pon X 21 Note Changing the scanners orientation at a specific location requires to use a new scan position even if the scanner position has not changed Each scan position holds the scan data taken at this scan position stored in the scanner s binary data format with extension 3DD Furthermore each scan position holds its SOP information In order to transform data from SOCS into the project coordinate system data points are simply multiplied with the SOP matrix MSOP of the scan position In case a data point P has to be transformed from a specific scan position into the global coordinate system multiply first with the MSOP matrix of the scan position to get into the project coordinate system and multiply subsequently with the MPOP matrix which transforms from the project coordinate system into the global coordinate system M SOP M pop M M sop 7 Pop The sketch below shows an example for the coordinate systems GLCS PRCS and SOCS The object is a building scene from a bird s view A project coordinate system is defined with the Ypr axis being parallel to the nave of the building and the origin of the PRCS coinciding with a corner
218. to get the plugin You will find the plugin on the RISCAN PRO download page 202 How to use the HMSA 1 2 First of all do the registration as usual see Data registration h25 Select the scan positions to be modified By default each registered scan position will be included into the calculation To change this open the TPL SOCS of the scan position you want to disable and deactivate it see The tiepointlist window 1781 Start the HMSA click on the menu Tool gt Hybrid Multi Station Adjustment and then select Start calculation The HMSA begins the calculation You can watch the progress in the Messagelist or the Threadlist When the HMSA is finished the SOPs of all activated scan positions will be modified according to the calculation results Also the position of the tiepoints in the TPL PRCS not controlpoints will be modified To check the results you can compare the deviations displayed on to top of the TPL SOCS of each scan position If you are not satisfied with the result you can undo the calculation by clicking on Tool gt Hybrid Multi Station Adjustment and selecting Undo last calculation This will restore the original SOPs As an alternative you can also restore just single scan positions by right clicking on the corresponding SOP and selecting Undo from the menu c 2005 ff RIEGL Data postprocessing Data postprocessing 143 7 Data postprocessing 7 1 Data mani
219. tom right corner EXPORT SETTINGS Possible file formats are SOPh DAT 198 and ROTh To start the export click on the button OK For each selected scan position the files will be saved to the target folder whereas the filename corresponds with the name of the scan position RIEGL LMS License manager This tool manages the licenses for all Riegl products it can be also reached via Start gt Programs gt Riegl LMS gt Support gt License manager Terminal RiTERM This tool is a terminal program for testing a connection it can be also reached via Start gt Programs gt Riegl LMS gt Support gt RiITERM Options Shows the dialog RISCAN PRO Settings see Program settings 24 e Window menu This menu will arrange the windows in the specified manner Horizontal Vertical Cascade Previous Next Close all c 2005 ff RIEGL 22 RiSCAN PRO e Horizontal the windows are aligned in a horizontal manner e Vertical the windows are aligned vertically e Cascade the windows are aligned behind each other e This menu will provide the help file and some wizards to guide you through the program Contents Fi Wizard Startup Wizard New camera calibration Wizard Import Save screenshot OpenGL info About Contents This will open the help file It can also be reached by pressing the key F1 Wizard Startup This wizar
220. ton OK 5 A small wizard will appear on the top right corner of RISCAN PRO This wizard will guide you through the steps of the data acquisition needed for the camera calibration task Once you have closed the wizard you can re start it by right clicking on the camera calibration task and selecting Acquire calibration data from the menu Calibration data acquisition step by step with the wizard 1 Acquire new single scan The first step is to acquire a scan of your calibration field This scan should contain all reflectors of your calibration field Click on the button Start configure the scan as usual e5 and start the scan 2 Reflector extraction The second step is to extract the reflectors of the scan made at step 1 Select the scan from the list should be already pre selected and click on the button Start Configure the reflector extraction as usual 73 The TPL SOCS of the scan position will be displayed showing all reflectors extracted Please open the scan and display the TPL SOCS in order to check if all reflectors where extracted and delete all reflectors not needed faulty detection or wrong targets 3 Finescan all reflectors The third step is to make tiepoint scans 90 of all reflectors extracted at step 2 By clicking on the button Start all reflectors of the TPL SOCS will be fine scanned 4 Image acquisition The fourth step is to acquire images containing all reflectors The first image will be acqui
221. tory SCANPOSIMAGES you want to undistort and right click on one image Select undistort from the context menu Now all selected images will be undistorted using the assigned camera and mounting calibrations this may take some time The undistorted images will be saved in the folder UNDISTORTED IMAGES at the current scan position Note If you modify either the camera or the mounting calibration the already undistorted images get invalid and you must restart the undistort process 2 Creating meshed data The second step is to create a triangulated mesh from the single scan you intend to use for the generation of the orthophoto see Triangulation liso 3 Texturing the mesh Texturing a mesh requires a texture mesh AND texture coordinates for every point of the mesh to be textured see Texture ten 4 Creating the True Orthophoto To create a orthophoto open the folder OBJECTS of the project structure and right click on the folder ORTHOPHOTOS Select New orthophoto from the context menu The appearing dialog consists of several steps First step On the first page of the dialog you can select the meshes you want to use for the orthophoto After selection c 2005 ff RIEGL 166 RiSCAN PRO click on the button Next step gt gt The meshes will be loaded and displayed this may take some seconds Second step At the second step you can select how the data should be displayed triangulated
222. tracts retro reflective targets from an so called overview scan or panorama scan and supports the automatic subsequent sequential fine scan 78 of the targets Once sufficient tiepoints have been gained the SOP matrix can be determined and the scan data can be transferred into the project coordinate system if desired 6 1 Registration via tiepoints How to register a scan position 1 If available import the external acguired point data total station or DGPS into the TPL PRCS see The tiepointlist window Import 781 and define the tiepoints as controlpoints you ll be asked after import 2 Do the reflector extraction and fine scanning for each scan position 3 Nocontrolpoints available In this case you have to decide which scan position represents your project coordinate system usually the first Right click on the desired scan position and select Registered from the menu Note the SOP should be the default matrix and make sure that the TPL PRCS is empty 4 Open the TPL SOCS of the scan position you want to register 5 Click on Find corresponding points the following dialog appears c 2005 ff RIEGL 126 RiSCAN PRO Find corresponding points Settings Fiter REFERENCE COORDINATE SYSTEMS Current scanposition ScanPos01 ScanPos02 ScanPos03 MODE PARAMETERS C by link Tolerance m 10 100 Minimum N 5 by name Close gaps in chain
223. ts h Save screenshot Saves a screenshot of the current object view JPEG or BMP c 2005 F RIEGL Data visualisation 105 5 3 2 Navigation Actions with left mouse button Action Key Mouseaction Comment Set pickpoint Rotate around pickpoint Rotate around vertical axis Rotate around horizontal axis The object will be marked in Salact objact the object inpsector Set reference point i s used in the readout window Define point coordinates for some operations Set center of camera Show some information of the Show information i point closest to the line of sight in the info window c 2005 4 RIEGL 106 RiSCAN PRO Middle mouse button and mouse wheel Action Key Mouseaction Comment Perspective Walk in out Change position of camera Orthogonal zoom in out apg tea nest teen Change scene scale of camera Perspective Zoom in out spin mouse wheel up down Change scene scale of camera hold move Pan along horizontal axis hold move left right Pan along vertical axis hold move up down Increase decrease point size spin mouse wheel up down The angle for rotation is defined Pitch camera spin mouse wheel up down J 0 0 In program settings Turn camera spin mouse wheel up down Roll camera spin mouse wheel up down c 2005 Ff RIEGL Data visualisation 107 Actions with right mouse button Action Key Mouseacti
224. tually taken images e Sensitivity reflector extraction With this slider you can set the sensitivity for the reflector extraction of the images The Range is 0 up to 1 default is 0 5 If the images are very bright try to raise this value and vice versa e Number of trials for reflector extraction The algorithm will try Number of trials times to extract one single reflector of the image until it fails default is 4 e Continue with image If you start the image acquisition the first time you can leave this setting as it is If the image acquisition was interrupted because i e something got wrong during the reflector extraction power loss of the camera or the reflectors where covered by something else you can restart it by clicking on the checkbox and selecting the number of the image which should be the next image acquired 5 Calibration After the image acquisition has finished you can calibrate the camera To do so click on the button Start The following dialog will appear c 2005 F RIEGL Getting started 47 w Camera calibration based on reflector column loj x General settings OpenCV Calibration Statistics M CALIBRATION COMPUTING Computing calibration data based on reflector column camera mounted on scanner Figure of merit least squares fitting Y Fitting accuracy fi E 6 change parameter fi E 6 M CALCULATION LOG m BEST RESULTS Internal calibration param
225. uding sensor configuration data acquisition data visualization data manipulation and data archiving using a well documented structure RISCAN PRO is project oriented All data of a project is stored within a single directory structure containing all scan data calibrated photographs registration information additional descriptors and processing outputs We publish our project structure to allow our software partners to directly access all useful data gained within a scan project The structure of the project is stored in a text based and documented project file making use of the XML language see Data exchange Fileformats RSP 197 The name of the project file is project rsp Within RISCAN PRO all data is organized in a tree structure for comfortable access and clarity c 2005 F RIEGL Installation Installation 7 2 Installation 2 1 System requirements Before you install RISCAN PRO on your PC please make sure that the system meets the following requirements Operating system Windows 2000 Service Pack 2 or above Windows XP Professional recommended Memory requirements 256 MB RAM minimum 1024 MB or more recommended Disk space requirements approximately 30 MB for the program approximately 700 MB for the example project only included in the CD version of RISCAN PRO at least 40 GB recommended for own projects Interface for scanner communication Serial and ECP parallel interface or altern
226. urs if a line segment of the polyline intersects the plane If the polyline has only one line segment this segment is treated as ray and therefore the intersection point does not need to lie within the segment 7 5 2 Polyline Create polyline from geometry data c 2005 ff RIEGL 172 RiSCAN PRO 1 Open the New object dialog to create a polyline as described in Create geometry objects 11701 xf Active view ViewObjects02 Create new polyline Name Polyline001 Points Action Define new node Modify existing node Mode Closest point Point on surface JV Close polyline Note Select action mode and click into the view to define the nodes node is defined by pressing SHIFT and the left mouse button Info Length 0 0 m 2 Click on the button Define new node or press key 1 3 By defining a point 170 a new polyline node will be added The new node will be displayed in the list 4 Repeat step 3 until all nodes of the polyline are defined and continue with step 5 5 To create a closed polyline polygon enable the option Close polyline 6 To modify a polyline node select the node in the list click on the button Modify existing node or press key 2 and re define the pointi Instead of adding a new node the coordinates of the selected node will be modified 7 To finally create save the polyline click on the button Add polyline
227. uted from the 2D coordinates of the points mapped onto the computer screen 1 Right click in an object view window and select Triangulate The following dialog will appear x Active view ViewObjects i Triangulate Max edgelength m 1 0 Max angle deg 75 0 Note Select some points you want to triangulate and click Apply TRIANGULATION SETTINGS e Max edge length Defines the maximal length of the edges for a triangle That means if one edge of a triangle is larger than the specified value the triangle is removed e Max angle Defines the maximal angle between the triangle normal and the ray of sight If the angle is larger than the specified value the triangle is removed 2 Select some points of the point cloud you want to triangulate 3 As mentioned above the triangulation is done from the current point of view Thus rotate the point cloud in order to get a good viewpoint Overlapping points should be avoided 4 Then adjust the settings and click Triangulate The resulting triangles will be marked as highlighted so if you are not satisfied with the result you can easily undo the last operation by pressing the button Remove selected triangles Example c 2005 ff RIEGL 154 RiSCAN PRO 10500 points 21000 triangles Hint If the point cloud represents a very complex surface it s better to select at one step just a small area and to repeat the triangulat
228. vate the option Use object distance for beam focus the current selected object distance see above will be taken to set the beam focus not always available Additional settings for scansequences c 2005 F RIEGL Data acquisition 69 SCANSEQUENCE Scan mode Frame count Continous bidirectional fio F o 7 Line scan mode There are 3 scan modes Continuous bidirectional the scanner is scanning in two directions Triggered unidirectional the scanner is scanning in only one direction Triggered bidirectional the scanner is scanning in two directions controlled by software Frame count Number of scans within one scansequence You can also set this to infinite Line scan mode Perform only a single line scan at the horizontal start angle defined Additional laser settings for Z420 and Z420i LASER SETTINGS beam widening lens is activated laser beam attenuator is inserted Beam widening lens The instruments Z420 and Z420i have a so called beam widening lens This lens enlarges the laser beam divergence from 0 25 mrad to 2 0 mrad The beam widening lens is used within a Panorama scan 7h in order to enhance the probability to detect all reflector targets within the scene Laser beam attenuator applies only to Z420 The laser beam attenuator is an optical filter reducing the laser beam intensity when inserted ATTENTION Be cautious when using a scanner without laser beam att
229. ver and add a new RiPort with the given settings gt More information about RiPort 205 Note If you select to NOT install RiPort RiPort settings will be shown but disabled the lists only contain not used e Installation Directory On this page you can choose the folder where RISCAN PRO should be installed to The default folder is Riegl_LMS RISCAN_PRO in your applications folder e Complete installation By clicking on Install on the Installation Directory page the installation is completed Now all needed files are copied on your system 2 3 License manager To run RiSCAN PRO it is necessary to enter a valid license key once This can be done during the installation A or anytime while RISCAN PRO is running The license keys of RISCAN PRO are saved in a per user manner Therefore every windows user has to enter the license key in order to run RISCAN PRO Generally a key has two criteria e Time unlimited This key has no date of expiration limited This key is only valid till a certain date After this date and no other valid license key is available you can not work with RISCAN PRO On startup the license manager appears e Device HDD Lock The key is only valid on a PC with a certain harddisk ID In this case RISCAN PRO works with all RIEGL LMS scanners Device Lock This key in only valid in combination with a certain scan device In this case you can start the program but you can only w
230. w is able to display following objects e Scans 3DD files In the 2D visualisation 97 the angular data polar 203 and azimuth 203 scan angles is neglected and the measurements are put in a plane rasterisation of the image according to the indices within a 3DD data set The pixel color may be determined by range height intensity or true color c 2005 Ff RIEGL Data visualisation 97 e Images e Orthophotos Orthophotos generated by RISCAN PRO 65i or the CityGRID Ortho lea 5 2 1 General The toolbar of the 2D view T a QQQQQ9 R w Items of the toolbar described from left to right e Properties menu qf ae Rotate gt Zoom gt Select drawing plane Save screenshot Print Yiewtype Rotate Use this menu to rotate the image scan 90 deg left or right Zoom This offers to zoom in and out Increase Decrease zoom sensitivity changes the zoom sensitivity for dynamically zoom by 10 percent steps The value of the zoom sensitivity can be between 10 300 Keep in mind that a value of 100 will double the size of the image Select drawing plane This function is only available for images Use this function to define a drawing plane When a drawing plane is defined you can readout 3D coordinates while you move the mouse over the image The 3D coordinates are calculated as intersection between the current ray of sight current mouse position and the defi
231. which offers a c 2005 ff RIEGL 178 RiSCAN PRO submenu with following items e Point coordinate 178 e Distance between two points 1178 e Volume and surface area h80 As an alternative you can also click on a button of the toolbar 3D Measure use the view _menul 14 to show the toolbar Ket w the functions described above are ordered from left to right on the toolbar The functions are described in the subsequent sections 7 6 1 Measure point coordinates See Create geometry objects Pointl7 7 6 2 Measure distance e distance between two points c 2005 F RIEGL Data postprocessing 179 Measure xf Active view ViewObjects02 Measure distance between two points gt Name Distance001 Start point x 0 0 m ie 0 0 m n F 0 0 m End point x 0 0 m Action Define start point Define end point Mode Closest point Point on surface Note Select action mode and click into the view to define the points 4 point is defined by pressing SHIFT and the left mouse button Info Distance 0 0 m Add distance MEASURE DISTANCE BETWEEN TWO POINTS Mode e Closest Point the nodes will be defined with the coordinates from the closest point available e Point on surface the nodes will be defined with the coordinates from the cursor when the mouse button is pressed Note the mouse has to be positioned within a surfa
232. x 2 and Cy Ny 2 Deviations account for a decentered lens and or chip d fx p X m focal length m dx m Lens distortion is modelled by at least two radial and two tangential coefficients k1 k2 p1 p2 respectively In case k3 and k4 are both 0 the camera model is identical to the one described in OpenCV The parameters k3 and k4 account for higher order modelling of the radial distortion The details on how the parameters are applied to transform from undistorted coordinates i e ideal pinhole camera to distorted coordinates are contained in the c 2005 ff RIEGL 40 RiSCAN PRO appendix describing the XML project file 3 5 1 2 Camera calibration Prerequisite for calibrating a camera is one or more images showing identifiable objects with precisely known coordinates The first step to obtain a data set for calculating the model parameters is to e determine the image coordinates of the object i e find the image points and to e link the objects to the image points i e to find the correspondences There are three different approaches that differ in the way the object coordinates in 3D are obtained and the way the correspondences are determined All approaches are implemented in RISCAN PRO and are described subsequently Based on reflector column The basic idea is to set up a test field made up of a number of retroreflective targets positioned in a vertical column in a scene when viewed by
233. y One image is sufficient if the reflectors cover the whole image area Otherwise take more images by tilting and panning the camera while taking shots on the reflector array At least 6 reflectors have to be visible in each image Import the tiepoints into the tiepoint list TPL CALIB Process all images sequentially For every image you have to identify the reflectors either manually or by automatic extraction Find reflectors The automatic extraction works only in case the images have been taken with the flash of the camera and the reflectors show up Clearly in brightness compared to the other objects For the manual extraction flashing during taking the images is also of advantage Zoom into the image set a marker with a left click open the menu with a right click on this marker and add the point to the TPL IMAGE Add point to TPL Delete marker For every image set the correspondences between the TPL IMAGE tiepoints and the TPL CALIB c 2005 4 RIEGL Getting started 57 tiepoints This is done by simultaneously displaying both tiepoint list as shown below Establishing a link defining the correspondence is done by drag and drop Left click on an item s name in the TPL CALIB and drag it over the corresponding name in the TPL IMAGE and drop You see the link in the link column You are assisted by using the same numbering in the TPL IMAGE which is defined in the above step o x

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