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Mobile Terrestrial Laser Scanning Workflow Development

1. S SLIDESLT rewind S width 459 height 384 gt lt A gt lt A HREF javascript SLIDESRT hotlink IMG name SLIDESIMGRT src Sdir FR Sfrimage alt Slideshow image width 369 height 384 gt lt A gt 2 gt lt P gt lt FORM gt lt INPUT TYPE button VALUE start onClick SLIDESLT next SLIDESLT o DESCT next SLIDESCT P SLIDESRT next SLIDESRT play SLIDESBR next SLIDESBR ee DESBC next SLIDESBC play SL ro next SLIDESBL play S uo next SLIDESBD play gt lt INPUT TYPE button VALUE stop onClick SLIDESLT pause SLIDESCT pause SLIDESRT pause SLIDESBR p ause SLIDESBC pause S1 ESBL pause SLIDESBD pause lt INPUT TYPE button VALUE 2 rewind O DI U S U u SLIDESRT p D U u nClick SLIDESLT previo DESCT previous SLI pu rewind revious SLIDESRT rewind SLIDESBR previous SLIDESBR rewind SLIDESBC previous SLIDESBC rewind SLIDESBL pr Mni DESBL r
2. Neither the name of Sun Microsystems Inc or the names of contributors may be used to endorse or promote products derived from this software without specific prior written permission This software is provided AS IS without a warranty of any kind ALL EXPRESS OR PLIED CONDITIONS REPRESENTATIONS AND WARRANTIES INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE OR NON INFRINGEMENT ARE HEREBY EXCLUDED SUN MIDROSYSTEMS INC SUN AND ITS LICENSORS SHALL NOT LICENSEE AS A RESULT OF USING MODIFYING OR DISTRIBUTING THIS SOFTWARI UJ Lr rA TABLE FOR ANY DAMAGES SUFFERED BY amp o J DERIVATIVES IN NO EVENT WILL SUN OR ITS LICENSORS BE LIABLE FOR ANY LOST REVENUE PROFIT OR DATA OR FOR DIRECT INDIRECT SPECIAL CONSEQUENTIAL INCIDENTAL OR PUNITIVE DAMAGES HOWEVER CAUSI LH D AND REGARDLESS OF
3. THE THEORY OF LIABILITY ARISING OUT OF THE USE OF OR INABILITY TO USE THIS SOFTWARE EVEN IF SUN HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES 147 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation You acknowledge that this software is not designed intended for use in the design any nuclear facility uri import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import import ava awt G ava awt I ava io Fi C CJ UJ UJ UJ UJ GJ CJ CJ javax swin construction ava awt BorderLayout ava awt Container ava awt GridBagLayout ridLayout nsets le mage javax swin javax swin javax swin javax swin javax swin javax swin javax swin javax swin javax swin javax swin C4 C4 C4 Cj q q Ki q abel Button Component Dialog FileChooser JFrame Panel IScrol ITextArea TextField javax swin javax swin javax swin javax swin java io com linuxe ava lang ava io Fi UJ C ct UJ Cj
4. 4 eere eee esee eese tn aetate seta tune tan 90 Figure C 2 Left Scanner black area has no LiDAR return and the red area low reflectivity represents the wet ASPNAlE persi ERE 90 Figure C 3 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 90 Figure C 4 Front Center Camera view eee eee e eee essen enses enata tuse tasas enses oes suse ta sone anosa sees sosta sone ta an 91 Figure C 5 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt 91 Figure C 6 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 91 Figure C 7 Front Center Camera View eee eee esee essen testen enata tuse ta sons tasto enses suse tasse oossoo seose ossa otosi Ss 92 Figure C 8 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt 92 Figure C 9 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 92 Figure C 10 Front Center Camera view eee eee reete eese tn enata tosta sins tn sesta sesso seta sone ta sens enses sosta asosio 93 Figure C 11 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt 93 Figure C 12 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 93 Figure C 13 Front Center Camera view eerie eee ese
5. Support Document None i Develop data archiving best practices Coordinate MX8 schedule Working with northern districts to coordinate MX8 work schedule Revise MTLS specifications Working with the district surveyors to revise training materials Status not complete Support Document MX8 calendar setup Status completed Revise MTLS specification for 2 unit procurement Status not complete Develop justification for 2 MTLS unit procurement if applicable Status not complete Support Document Revised training materials Stat completed Support Document Revised MTLS specifications Status not complete 2 MTLS justification Status not complete Figure 3 2 Caltrans MTLS deployment plan in central and southern California districts Copyright 2015 AHMCT Research Center UC Davis 15 Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation CHAPTER 4 CALTRANS MTLS DEPLOYMENT STATUS AND USAGE Caltrans MTLS Usage Caltrans MTLS project data statistics shown in Table 4 1 Figure 4 2 4 3 and 4 4 were collected from November 2012 to May 2014 19 months The Caltrans MTLS vehicle was actively deployed for eighteen months for data collection during this period The vehicle system was offline for one month repairing the vehicle roof rack and replacing the two laser scanners Ninety MTLS projects were sc
6. These are private variables this slides new Array this current 0 this timeoutid 0 Public methods T this add slide function slide Add a slide to the slideshow For example SLIDES1 add slide new slide sl jpg link html var i this slides length Prefetch the slide image if necessary if this prefetch 1 slide load this slides i slide this play function timeout This method implements the automatically running slideshow If you specify the timeout argument then a new default timeout will be set for the slideshow Make sure we re not already playing this pause If the timeout argument was specified optional then make it the new default if timeout 109 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation this timeout timeout If the current slide has a custom timeout use it otherwise use the default timeout if typeof this slides this current timeout undefined timeout this slides this current timeout else timeout this timeout After the timeout call this loop this timeoutid setTimeout this name loop timeout this rewind function timeout This method implements the automatically running
7. QUO 0 0 0 O O O O Q q Math le ava io IO ava util ava awt GridBagConstraints ava awt event ActionEvent ava awt event Action Listener con lPane r orderFactory RadioButton uttonGroup ext nse javadbf Exception ava util Calendar ava text Ly CJ Ly UJ UJ GJ GJ GJ CJ ava util java sql Date GregorianCalendar ava text SimpleDateFormat DateFormat ava util TimeZone java sql SQLException java util logging Level java util logging Logger be pw jexif JExifInfo licensed or Operation or maintenance of 148 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation import be pw jexif JExifTool import be pw jexif exception ExifError import be pw jexif exception JExifException import be pw jexif enums tag ExifIFD import be pw jexif enums tag ExifGPS import be pw jexif enums tag IFDO import static be pw jexif enums DataType RAT64U import be pw jexif internal util TagUtil import org sl f4j LoggerFacto ry SwingFileChooserDemo java is a 1 4 application that uses these files images Ope A public class nl6 gif images ExifWriter exte Sav
8. 147 Listing E 1 LAS archive tool code eerie eee esee essen enses testen tuse ta senten statu sees so seta sens ta senatus sesso seta sone 165 X Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation LIST OF ACRONYMS AND ABBREVIATIONS Center for Devices and Radiological Health Database File DMI Distance Measuring Instrument DOP Cilution of Precision O Digital Terrain Model fps frames per second Inertial Measurement Unit Internet Protocol Log ASCII Standard Megapixel xi Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation OB CalansOffice of Photogrammetry PB 1 Petabye i O Postmile ROI Return on Investment Ultraviolet xil Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation ACKNOWLEDGMENTS The authors thank the California Department of Transportation Caltrans for their support in particular Mark Turner John Adam Kevin Akin John Gilmore and Robert MacKenzie with the Division of Right of Right of Way and Land Surveys and Arvern Lofton with the Division of Research Innovation and System Information The authors thank Headquarters and District 1 2 3 and 4 surveyors and manag
9. Determine if the browser supports filters var dofilter false if this image amp amp typeof this image typeof this image e ilters undefined amp amp ilters 0 undefined va X dofilter true Load the slide image if necessary slide load Apply the filters for the image transition if dofilter If the user has specified a custom filter for this slide then set it now if slide filter amp amp this image style amp amp this image style filter this image style filter slide filter this image filters 0 Apply Update the image this image src slide image src Play the image transition filters 111 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation if dofilter this image filters 0 Play Update the text this display text Call the post update hook function if one was specified if typeof this post_update hook function this post update hook Do we need to pre fetch images if this prefetch gt 0 var next prev count Pre fetch the next slide image s next this current prev this current count 0 do Get the next and previous slide number Loop past the ends of the slideshow if necessary if next gt
10. var www photolog2 images session name full FC var www photolog2 images session name small FC and similar Make sure images are readable especially full and directories are executable 9 Confirm functionality at http merlin ahmct ucdavis edu photolog2 slideshow php id sessionID or using pull down menu to select Note database must have at least gpsDate county route postmile latitude longitude altitude and heading Figure 6 5 Workflow to convert MTLS data to photolog 37 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation The workflow utilities require Java and Perl as well as the Linux shell bin sh and bin bash it should be possible to convert the scripts for automation in Windows using batch or PowerShell files In addition the imagemagick software suite must be installed to use batch processing to crop and resize the photolog images see www imagemagick org Alternative approaches for cropping and resizing the photolog images are available using Photoshop or Gimp however these approaches are less automated The Perl utility setPostmile pl requires two Perl modules caltransConversions pm and geospatialTools pm which are copyright California Department of Transportation Division of Research Innovation and System Information DRISI The listing for these modules is omitted from Appendix D These
11. Figure 5 11 Reflectivity measurement of various reflective tape on the right blue is more reflective and photo of various reflective tape on the left 6 wide 3M Scotchlite reflective sheeting on top left 4 wide Avery Dennison reflective tape second from top 4 wide reflective traction tape from McMaster second from bottom left reflective traction tape from a MTLS services provider on the bottom left 28 Figure 5 12 Dust and dirt accumulate on the square reflective tape target on the left and sweeping off dirt off target on the right before scanning eeeeeee esses ee seen eee ee eene tn senten sts tn sten tn seta sse ta sens en ses en sees tuse ta snae 28 Figure 5 13 Trident Image Converter export options recommendations DAT TXT SHP TopoDOT options CHOCKEG E T EEE E EEEE EEEE IE II IEE NE E E 29 Figure 6 1 Photolog viewer prototype cscssccscsssssscsscsscsscssssscsssnessssssscssessessessnessssnescessessessessnesssssessessessoseoees 31 Figure 6 2 Full size uncropped front center camera image corresponding to Figure 6 1 ee 32 Figure 6 3 Controls and status information panel eee eee e eee esee ee enses tn aetates tasse thats tastes suse ta sonata an Figure 6 4 Photolog select dropdown list 4 eee eee estet seen ense enne ta sins tn stato sets so seta sone ta sens tasses sosta sone ta an Figure 6 5 Workflow to con
12. LAS files las LAZ files laz options initialdir C options initialfile myfile las options parent root options title This is a title defining options for opening a directory self dir opt options options initialdir C options mustexist False options parent root options title This is a title self cwd os getcwd os sep routine to get a destination directory def getDestination self self dir opt title Select destination directory destdir tkFileDialog askdirectory self dir opt if destdir destdir string replace destdir os sep return destdir f routine to zip a single LAS file 166 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation def zipfile self Zips selected file nun self file opt options self file opt defaultextension las self file opt filetypes LAS files las all files get filename self file opt title Select input file filename tkFileDialog askopenfilename self file opt filename string replace filename os sep if filename destdir self getDestination open file and compress it if filename and destdir cmd fullExecPath laszip odir destdir filename 4 LER L ES i print cmd os syst
13. System out println GPSDate is gpsDate String ql SELECT county route postmile FROM photolog WHERE String q2 dist dist AND image imaget AND gpsDate gpsDate String query qlt q2 System out printin Query t query Statement st con createStatement ResultSet rs st executeQuery query rs next String county rs getString county String route rs getString route String postmile rs getString postmile String slat ConvertLat rowObjects 3 offset System out println lat slat 0 slat 1 String slong ConvertLong rowObjects 2 offset System out println long slong 0 slong 1 153 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation System out printin Altitude rowObjects 4 offset System out println Image rowObjects 1 double delta Double parseDouble String rowObjects 5 offset double delta Double rowObjects 5 offset double mp milepost milepostSign delta 1609 344 System out println Milepost mp I if idx 5903 idx 5904 try 4 JExifTool tool new JExifTool
14. 1500 EOUT 100 1000 function setSlideTimeout timeout SLIDESLT timeout timeout SLIDESCT timeout timeout SLIDESRT timeout timeout SLIDESBL timeout timeout SLIDESBC timeout timeout SLIDESBR timeout timeout SLIDESBD timeout timeout lt SCRIPT gt lt The slideshow source gt lt SCRIPT type text javascript src js slideshow js gt lt SCRIPT gt 122 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation lt php Suser root input real password below Spassword password Sdatabase piwigo mysql connect localhost user password mysql select _db database or die Unable to select database Load Ssess from URL parameter NOTE No error checking for now Ssess GET id LH A bit of error checking Doesn t handle ID not in database if sess 1 die Session ID must be 1 or higher Squery SELECT FROM sessions WHERE Id sess Sresult mysql query query num mysql numrows result i 0 while Si lt Snum Ssessionname mysql result result i sessionName Sdir images sessionname small Slinkdir images Ssessionname full Si Squery SELECT COUNT FROM photolog WHERE sessionId sess AND dire
15. Clock Language and Region Ease of Access Figure A 15 Windows 7 control panel data source ODBC user interface D Click on the Add icon as shown in Figure A 16 66 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 4 ODBC Data Source Administrator xj User DSN System DSN File DSN Drivers Tracing Connection Pooling About Microsoft Access dBASE Driver dbf Excel Files Microsoft Excel Driver xds xlsx 2d long_run05122014 Microsoft Access Driver mdb acc MNO120U Microsoft Access Driver mdb acc MS Access Database Microsoft Access Driver mdb acc panel test cal20141005 Microsoft Access Driver mdb acc target20140513 Microsoft Access Driver mdb acc Visio Database Samples Microsoft Access Driver mdb acci Y An ODBC User data source stores information about how to connect to E3 o lore heen Tag je o sagan hang and can only be used on the current machine Figure A 16 Data source ODBC user interface E Select the Microsoft Access Driver mdb accdb and click the Finish button as shown in Figure A 17 Select a driver for which you want to set up a data source Name Vers Microsoft Access dBASE Driver dbf ndx mdx 14 0 zh Microsoft Access Driver mdb accdb 14 0 Microsoft Access Text Driver bt csv 1
16. Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation py2exe extends Distutils with a new command If you ve installed third party Python modules then there s a good chance you ve seen at least one distutils command C Tutorial gt python setup py install install is a Distutils command that installs something typically a Python module or package The details Distutils needs to do that installation are contained in setup py and sometimes other associated files py2exe is a new Distutils command that is added when you import py2exe To use py2exe you need to create a setup py file to tell Distutils and py2exe what you want to do Here s a setup py whose simplicity is appropriate for our sample program setup py from distutils core import setup import py2exe setup console hello py Notice that this is ordinary Python Let s go through it line by line When working with py2exe the only part of Distutils we ll typically need to reference directly is the setup function so that s all we ll import Once Distutils is loaded we need to load py2exe so that it can add its command Call setup and tell it that we want a single console application and the main entry point is hello py 3 Run your setup script The next step is to run your setup script Make sure to give the py2exe command and expect to see lots and lots of ou
17. Free Point Cloud Visualization Software Bentley Cvelone Autodesk Autodesk Autodesk Autodesk Cloud Cyclone Toi AutoCAD ds Pointools Navisworks 3DS Max Navisworks Revit Compare Viewer pintos i ReCap Viewer Viewer N P p Figure 5 1 MTLS data post processing data flow diagram 21 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation The procurement testing and evaluation of feature extraction software were initiated before this project Because of the complexity and diversity of deliverables and feature extraction the feature extraction workflow has not been finalized Currently a few software packages are being used for feature extraction Each software package excels in a few specific feature extractions or in creating certain deliverables Users often have to use a few software packages to complete the entire deliverable data set required by the customers For example Cyclone is often used to create point cloud fly through movies and has an excellent point cloud visualization engine PolyWorks and Virtual Geomatics are used for lane line and edge line extraction because of their reliable semi automated tools for lane line and edge detection A TopoDOT license was recently acquired and TopoDOT is currently being evaluated The future goals are refining the feature extraction wo
18. Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Table A 2 Point spacing on a scan line at 50 meter range vs scan and measurement rate 150 000 200 000 300 000 380 000 550 000 Rate pts s pts s pts s pts s pts s pts s 100 Hz Scan 0 687 ft 0 515 ft 0 344 ft 0 271 ft 0 187 ft Rate 150 Hz Scan 1 031 ft 0 773 ft 0 515 ft 0 407 ft 0 281 ft Rate 200 Hz Scan 1 374 ft 1 031 ft 0 687 ft 0 543 ft 0 375 ft Rate Table A 3 Point spacing on a scan line at 75 meter range vs scan and measurement rate 150 000 200 000 300 000 380 000 550 000 Rate pts s pts s pts s pts s pts s pts s 100 Hz Scan 1 031 ft 0 773 ft 0 515 ft 0 407 ft 0 281 ft Rate 150 Hz Scan 1 546 ft 1 160 ft 0 773 ft 0 610 ft 0 422 ft Rate 200 Hz Scan 2 061 ft 1 546 ft 1 031 ft 0 814 ft 0 562 ft Rate Table A 4 Riegl VQ 450 laser scanner maximum range vs measurement rate Point Measurement Rate pts s 150 000 200 000 300 000 380 000 550 000 37 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation MXS Startup Procedures Startup Summary MXS vehicle driver and operator should follow the MX8 System Checklist see Appendix B The startup steps are 1 2 3 pi m om 10 11 12 13 14 15 16 17 Vehicle pre op check Start engine Remove all camera and laser scanner cove
19. STATE OF CALIFORNIA DEPARTMENT OF TRANSPORTATION ADA Notice TECHNICAL REPO RT DOCUMENTATION PAGE For individuals with sensory disabilities this document is available in alternate TR0003 REV 10 98 formats For information call 916 654 6410 or TDD 916 654 3880 or write Records and Forms Management 1120 N Street MS 89 Sacramento CA 95814 1 REPORT NUMBER 2 GOVERNMENT ASSOCIATION NUMBER 3 RECIPIENT S CATALOG NUMBER CA14 2517 4 TITLE AND SUBTITLE 5 REPORT DATE Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation june 14 2014 6 PERFORMING ORGANIZATION CODE 7 AUTHOR 8 PERFORMING ORGANIZATION REPORT NO Kin Yen Bahram Ravani and Ty A Lasky UCD ARR 14 06 14 01 9 PERFORMING ORGANIZATION NAME AND ADDRESS 10 WORK UNIT NUMBER AHMCT Research Center UCD Dept of Mechanical amp Aerospace Engineering Davis California 95616 5294 11 CONTRACT OR GRANT NUMBER 65A0416 Task 2517 13 TYPE OF REPORT AND PERIOD COVERED Final Report October 2012 June 2014 12 SPONSORING AGENCY AND ADDRESS California Department of Transportation P O Box 942873 MS 83 Sacramento CA 94273 0001 14 SPONSORING AGENCY CODE Caltrans 15 SUPPLEMENTARY NOTES 16 ABSTRACT This report documents the research project Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation The primary goal of this project was to de
20. c WGS84 D The software shall be capable of producing point clouds in US Survey feet and metric units E The software shall be able to display the digital images and the point cloud data side by side or overlaid for comparison and processing VIII Installation The supplier shall provide support for installation of the MTLS system onto a Caltrans vehicle The vehicle may be a sport utility vehicle truck or van All hardware necessary 173 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation XII XI for the installation will be provided at no additional cost other than the rate set forth in the terms of this contract Training and Consultation The system provider at their expense shall provide a qualified factory authorized service representative not a salesman to provide two training classes for operators This training not a sales presentation shall consist of hands on operation safety service and adjustments for the operators This training shall be for two 8 hour days or longer as the system provider or State deems necessary and the date s of the training will be arranged by the Training Coordinator The full cost of this service shall be included in the bid The first training class shall be accomplished within 45 days of acceptance and receipt of the unit at the shop indicated on the Invitation for Bid unless otherwise mutua
21. 135 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Listing D 14 Java utility to populate photolog database table Populate java import java sgql Connection import java sql DriverManager import java sql PreparedStatement import java sql SQLException import java util logging Level import java util logging Logger import com linuxense javadbf import java io import java lang String import java io IOException import java awt BorderLayout import java awt Container import java awt GridBagLayout import java awt GridLayout import java awt GridBagConstraints import java awt Insets import java awt event ActionEvent import java awt event ActionListener import java io File import javax swing lImagelcon import javax swing JButton import javax swing JComponent import javax swing JDialog import javax swing JFileChooser import javax swing JFrame import javax swing JPanel import javax swing JScrollPane import javax swing JTextArea import javax swing JTextField import javax swing JLabel import javax swing BorderFactory import javax swing JRadioButton import javax swing ButtonGroup import javax swing text public class Populate extends JPanel implements ActionListener static private fin
22. 3 Primary GNSS Data 4 IMU Data 200 Hz 5 Event 1 6 Event 2 7 PPS Data 8 Logging Status 9 GAMS Solution Ki L1 EI DJ EJ E1 I IS D ED ET IS S POSPac Deselect All KBytes Remaining Time Remaining Status r Logging Control Auto Log Group 1 Output Rate 1 Hz Filename Enter Date of Survey stop Logging Start Logging See wy Logging Group Select 16 Time tagged Gimbal data 17 User Time Data 20 lin solution status 21 Modem Status 1 22 Modem Status 2 25 Integrated DGPS Status 26 Integrated DGPS Beacon Station 30 Event 3 31 Event 4 32 Event 5 33 Event 6 99 Version and Statistics 10001 Primary GNSS data stream 10002 IMU data stream 10003 Raw PPS data POSPac Deselect All Media Status KBytes Logged KBytes Remaining Time Remaining Status Logging Control Auto Log Group 1 Output Rate 1 Hz Filename Enter Date of Survey Start Logging Sem Any Stop Logging Figure A 13 POSPac Removable Media Logging Control user interface Copyright 2015 AHMCT Research Center UC Davis 64 Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation n Removable Media Logging Control H E Media Status KBytes Logged 0 33 Event 6 Ho v 99 Version and Statistics KByte
23. AN Sr Sb Sq AN Sr Sf Sq AN Sr Sf Sq AN uery SEI ECT image Fl D directio n BC Sql query q ROM photolog WH ERE idx uery cImage mysql result result 0 image ECT image Fl esult my uery SE D directio esult my n BD sql query q ROM photolog WH ERE H idx uery uery SEI ECT image Fl D directio n 2 BIL s Sql query q ERE r dImage mysql result result 0 image ROM photolog WH idx uery ECT image Fl esult my esult my uery SEI D directio n BR Sql query q ERE h lImage mysql result Sresult 0 image ROM photolog WH idx uery uery SEI ECT image Fl D directio n2 FC Sql query q ERE H rImage mysql result result 0 image ROM photolog WH idx uery ECT image Fl esult my uery SEI D directio esult mysql query q lImage mysql result Sresult 0 image n FL H ERE cImage mysql result result 0 image ROM photolog WH idx uery uery SEI D directio n FR ECT image FROM photolog WH H ERE idx AND AND AND AND AND AND AND sessionl sessionl session
24. Client Computer UPS UPS On Off Switch ME n x Swe SOS arr Figure A 8 MX8 computer rack front view Step 6 Turn on server and client computers There are two computer systems in the computer rack located in the rear of the vehicle The top computer is the server and the bottom computer is the client see Figure A 8 First turn on the 60 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation server computer by opening the server computer front cover and pressing the black power button as shown in Figure A 9 Second turn on the client computer similarly The computer power indicator located on the far left of the computer see Figure A 9 should light up green A single keyboard and mouse are shared for the server and client computers user input To allow the keyboard and mouse to switch between the server and client computers the user must hit the Scroll Lock key on the keyboard twice after both computers are completely booted up After that the user can switch the keyboard and mouse between the server and client computer by moving the mouse pointer to the desired computer to be controlled 2TB Removable HD Seagate Barracuda ST2000DM001 Computer On Off USB Ports Figure A 9 MXS server and client computer front view with its cover open Step 7 Turn on Applanix GNSS IMU system The operator sho
25. Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 40 39 35 E 30 a amp 25 e 3 20 2 17 E Z 15 13 12 F E 10 5 2 3 1 0 0 i 0 0 0 T T T T T T T T E T T B T 1 1 2 3 4 5 6 7 8 9 10 11 12 Caltrans District Figure 4 3 Number of projects scanned in each Caltrans district 16 14 12 Jul 13 E Number of Scanned Projects pa ON FH CO O Nov 12 aa Dec 12 M Jan 13 EN Aug 13 WW Feb 13 W Oct 13 MEENNENNENNEENI Apr 13 E Jun 13 B Sep 13 NW Nov 13 T Jan 14 BENE Feb 14 E Mar 44 DW Apr 14 EX May 14 EX May 13 Es Dec 13 X Mar 13 Time Figure 4 4 Number of projects scanned by month during deployment period In practice the district MTLS surveyors will get a few MTLS projects ready ground target layout and survey and scan all the projects either on the same day or week After that their work will focus on post processing the data and feature extraction When initially ramping up after training this can take a few months because of a lack of trained personnel for feature extraction Additional delays can occur if there are insufficient software licenses and suitable computer hardware Since then these limitations have been addressed and removed Figure 4 4 illustrates this behavior The projects scanned tend to come in w
26. Raw data collected from MTLS and GNSS base station GNSS Applanix Trimble MX8 Data Base GNSS Data IMU DMI GPS Video AVI amp RINEX Data files LiDAR LAS N N Alternate Point Cloud i Microsoft Adjustment Method TeraCopy Optional for file transfer Access Unadjusted Georeferenced Point Cloud LAS 1 2 i _ Trident n Software Applanix p cu POSPac MMS Best Position xd Gri 55553 GNSS IMU amp Orientation GRE A Post processing Estimate p Virtual QA QC Geomatics lt Report J Suite W T 888 Geoferenced Contro Adjusted 7 Photo Images jpg Point Cloud APE LAS 1 2 E Point Cloud Feature Extraction Software Compressed Point Cloud LAZ LASzip Trimble i RealWorks Surve R v Terra Trident Virtual Classified Model TopoDOT Cyclone Software PolyWorks Geomatics 3 3 y T Point Cloud Suite Suite Suite LAS J l Traffic Ops Bridge Maintenance Lane Line Curb Photolog Caltrans GIS Line Road Sign amp Caltrans Earth GIS etc f 4 Data Archive CAD Model Photo Point Cloud Bridge Clearance C v m Point Cloud Animation Software VDC Software
27. e Scanning wet concrete and asphalt pavement testing Development of a photolog viewer e Recommendations and future work ii Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation TABLE OF CONTENTS Table of COntenls siissscivasescasievaansaanssouiacshcnndeatussessiovavainnss Soutaapeavsanedesbunsnseabarvessseaaashivaneniavesies iii List OF Figures uiae toa GAO AA ALTA CR VPE KM VE iaaa Ris vi List M EP E ix Code Listin GS us RECO NOR ERES OA OAD EE x List of Acronyms and Abbreviations scccsssccesssccssnsccssssccssscccsssccesssccsssscssssscssesscesesseeseseceeeas xi ACKNOWILEA BINENIS scsecesscsessncesnsvisscsvadevsaseauinas SEXTA WE NE A E we svabersagndogwes TURO ua xiii Chapter Ts IHIFOOUCUDR oho cn PORA ERE BAV EECQE FLOR Ra VD DAN f odo E XR DER ESER 1 ludum ES 1 lande M 4 Re scarch Approach M 4 Overview of Research Results 4 eere eee eese eese eee eese ee Eense ESen Ees Es ESE seta sesso osasse 4 Chapter 2 Vehicle Integration see eee xtv e te a oe IHE oes QUY ESSE EnS PV ai eaea 5 Ba CK rou nd s 5 Trimble MX8 MTLS System DeScription ccsccsssscssssccssssssssccsssscssssssssssssssesssssssssssssssssssssasees 5 MKJuietaliui
28. external drives Support Document None IT hardware for central and southern district offices for post processing Workstations Status completed Portable external hard drives Status completed Support Document IT Justification Status completed used northem districts approved justification Workstation specification Status update needed Portable hard drive specification Status update needed Pilot projects selection participating districts Working with the district survey gt supervisors to select pilot projects for MTLS Status in progress Support Document None Personnel selection for each participating district Working with the district survey supervisors to select personnel for MTLS training Status not complete Support Document MTLS driver personnel requirements job description Status update needed MTLS operator personnel requirements job description Status update needed MTLS data post processing personnel requirement job description Status update needed Run pilot projects participating districts Coordinate with Trimble for on site training Working with Trimble to schedule for data post processing training Status not complete Obtain PosPAC MMS amp Trimble Trident temporary licenses Status not complete Working with the district surveyors to run MT
29. 2009 Suburban 2500 82 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure A 40 Removing Applanix DMI adapter plate mounting bolts 5 Be sure to collect all the spacers when taking the bolts out Figure A 41 Removing the Applanix DMI adapter plate 6 Pull off the three cylindrical collets Note the direction of the collets in relation to the wheel nut clamp The end with the interior tapper should point toward the wheel 7 Pull the wheel nut clamps off of the lug nuts 83 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Installing DMI 1 Press wheel nut clamps on every other lug nut 2 Insert the cylindrical collets onto the wheel nut clamps Make sure the tapered side of the collets are pointing toward the wheel Tap the collars with your hand do not use hammer and make sure the collars are seated properly Place spacers onto the collars Install the 14 28 bolts and DMI hub adapter and tighten the bolts by hand Care should be taken to make sure the bolts screw in without cross treading After that use the nut driver to tighten each bolt 4 turn at a time on each bolt The DMI unit should go on the hub adapter shaft smoothly with little insertion force Do not force or tap the DMI unit onto the shaft with hammer Doing so c
30. 36 Error No eno mj r GPS Port Com6 115200 NMEA 5 00 Hz 1 26 kb s Figure A 32 Trimble Trident Capture for Imaging Client Camera Control user interface Step 15 Start Trident Capture for Laser Scanning Client programs A Double click on the Trident laser capture program icon on both server and client computers to launch the client laser capture program for each laser 76 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Configure Icon Scan Frequency Laser N p Trimble Trident Capture for Laser Scanning File View Help A States Laser synch Connection Network Q PPS Q Frequency Hz Points sec Distance At 0 Input Voltage intemal temp Recorded points File data size Written data sec Laser data buffer Disk cache buffer Filename Controler 0 00 0 000 Mb 0 00 Mb sec 0 0 Filename IH Rotation 0 00 rad Zoom Factor 50 00 Grid Size 0 5 m skissa Disconnect Icon re e dese 254 ee ee ee ee en RIT rrr GPS Info ax Field Figure A 33 Trimble Trident Capture for Laser Scanning Client user interface B Click on the Configure icon to configure to the Riegl Laser Scanner setting in each Trident laser capture client program By default the Right passenger
31. 5 11 Reflectivity measurement of various reflective tape on the right blue is more reflective and photo of various reflective tape on the left 6 wide 3M Scotchlite reflective sheeting on top left 4 wide Avery Dennison reflective tape second from top 4 wide reflective traction tape from McMaster second from bottom left reflective traction tape from a MTLS services provider on the bottom left Figure 5 12 Dust and dirt accumulate on the square reflective tape target on the left and sweeping off dirt off target on the right before scanning 28 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Data Archive Recommendations The following files or directories should be archived at the end of projects 1 The MTLS data including the Applanix POSPac directory and all files and folders in the Trimble Trident folders Access database LAS GPS and AVI files should be archived 2 Exported LAS files version 1 1 1 2 or 1 4 with folder name or readme txt to indicate map projects geoid model used LAS 1 4 recently was made available with more information LAS files may be compressed using LASzip before archiving A developed Python wrapper with user friendly graphic user interface may be used Detail shown in Appendix E 3 Exported lens rectified JPG with DAT TXT SHP and TopoDOT options checked JPG image time location and or
32. CAiCE digital terrain model e Manipulate data with Caltrans computer software CTDAP and CTDC e Create computer plots with MicroStation software e Create spreadsheets and word processor documents with computer software e Create neat and accurate computations and notes e Communicate effectively verbally and in writing e Establish and maintain friendly and business like relations with those contacted in the course of work SUPERVISION EXERCISED OVER OTHERS This position does not supervise other employees but may act as a lead worker CONSEQUENCE OF ERROR RESONSIBILITY FOR DECISIONS The incumbent is responsible for checking all surveying data that is transmitted to the requestor and construction staking crews to mitigate errors When errors are not detected it could cause an incorrect design or construction stakes being set in error which could cause delays and construction claims PUBLIC AND INTERNAL CONTACTS The incumbent is often in contact with project engineers and resident engineers therefore documenting the conversations and following through with requests is essential Interaction between the survey field office and other public agencies may be required Contact with consultant surveying and engineering firms may be required The incumbent must work effectively with others and must communicate effectively orally and in writing 184 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning
33. Evaluation SLIDESBR new slideshow SLIDESBR lt php Sdirection BR Squery SELECT image FROM photolog WHERE sessionId Ssess AND direction BR Sresult mysql_query query for Sindex 0 Sindex lt S count Sindex Simage mysql result result S index image echo SLIDESBR add_slide new slide Sdir Sdirection Simage Slinkdir Sdirection Simage n 3 SLIDESBD new slideshow SLIDESBD lt php Sdirection BD Squery SELECT image FROM photolog WHERE sessionId Ssess AND direction BD Sresult mysql query query for Sindex 0 Sindex lt Scount Sindex t Simage mysql result result S index image echo SLIDESBD add slide new slide S dir direction S image S linkdir S direction image n P var county new Array var route new Array var postmile new Array var lat new Array var longitude new Array var alt new Array var head new Array setSlideTimeout timeout php query SELECT gpsDate FROM photolog WHERE idx 0 AND sessionlId sess AND direction FC Sresult mysql query query gpsDate mysql result result 0 gpsDate echo year substr SgpsDate 0 4 Squ
34. GOOD Hoses condor GOOD Aux Batey Breaker CLOSED Main Banery Breaker CLOSED Interior Check Item Recommended Status P Fuel level FULL a Tools and Supplies STOWED and SECURE EN Notes Driver Page 1 of 2 Year Month Day Operator _ CoRtePM _ Project _ _ 87 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation MX8 System Start up Check Item Recommended Status as EGRE GERINGE Inverter ON WAIT for Start sequence Monitor Aux Battery voltage as current load increases When vehicle is stopped place in PARK with foot OFF of brake pedal Power supplies ON ON check both on in mirror ae UPS O N o SeverCompuer ON Olent Computer ON 0000 o Weak ON tases ONION MX8 System Shut down Check Item Recommended Status Glen Camera Capture Programs CLOSED Laser Capture Programs CLOSED and SHUTDOWN LASERS Server Camera Capture Progam CLOSED AoplanixPOSLY Viewer Program STOP DATA LOGGING and CLOSED CS MEN Server Computer SHUFDOWN O o OlmCompuer satoo i o LN NEN L NENNEN MEN Storing or Transporting Vehicle Note any configuration changes Checkltem Recommended Status o Vehicle Mileage NOTED OOO O O Oooo Lasers amp Cameras COVERED Power Supplies REMAIN ON a DM REMOVED FOR LONG DISTANCE TRANSPORT BEEN Notes Driver Page 2 of 2 Year
35. Latitude of image location longitude Longitude of image location altitude Altitude of image location in meters WGS84 Ellipsoid height postmile Postmile of image location county County of image location route Route number of image location image Image file name dist Distance from start of scan in meters gpsTime GPS time in seconds gpsDate GPS date gpsDateTime GPS date time gpsDist GPS distance from scan start in meters heading Vehicle heading in degrees roll Vehicle roll in degrees pitch Vehicle pitch in degrees hdop Horizontal Dilution of Precision DOP velocity Velocity in km hr 34 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation The photolog database table is populated during the conversion process described in detail in a subsequent section Input Data Requirements The photolog information is generated based on MTLS data and database information provided by Caltrans surveyors in this section referred to as the user In addition to the actual MTLS images the following items are required from the user or must be contained in the DBF file generated from the MTLS data 1 The session description obtained from the user E g Colusa SR20 2012 11 14 0 Here the format is typically Location route date scan number 2 Almost all information used to generate the photolog database and the Exchang
36. MX8 system 1 Auxiliary battery and battery isolators with circuit breakers were added to provide scanner electrical power The battery isolators prevent the MX8 from over draining the main battery when the engine is not running Figure 2 5 Extra battery and battery isolators with circuit breakers added in the engine compartment 2 The factory alternator was replaced with a 250 amp alternator with a smaller pulley wheel to increase current power output at engine idle 3 An automatic engine idle adjusting system was added to maintain voltage output at engine idle by increasing the engine idling speed Typically the engine idle speed is about 800 to 1 200 engine rpm when the MX8 is running with the vehicle in Park and brake pedal not depressed Sufficient power is provide to the MX8 system However when the brake pedal is applied the vehicle engine controller overrides the idle adjusting system and lowers the engine idle speed to normal engine idle speed In this situation the MX8 system relies on the batteries to supplement power to address reduced power output from the alternator Typical MX8 current consumption ranges from 60 to 80 amps depending on the MX8 equipment electrical load and supply voltage 4 Four Thule roof racks were added to mount the MX8 sensor pod rack 8 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 5 The front passeng
37. Month Day ___ Operator _ CoRtePM _ Project _ 88 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation APPENDIX C CALTRANS MTLS SYSTEM SCAN ON WET PAVEMENT TEST RESULTS 89 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Wet Asphalt Scanning Performance Test Setup A short section of asphalt was wetted A total of eight passes runs were driven to scan the wet asphalt pavement Run 0 to 7 collected point clouds on asphalt as the pavement dried Each run took about 1 min From Run 0 to 3 each run is separated by about 1 min There is a 4 min pause to wait for the pavement to dry between Run 3 to Run 4 Run 0 Result Scan just after wetting the asphalt surface with water puddle Lu s a tie y 1 Figure C 2 Left Scanner black area has no LiDAR return and the red area low reflectivity represents the wet asphalt pc j f e a i OL A Y A af i LT Figure C 3 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 90 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Run 1 Result Scan just after Run 0 in opposite travel direction to Run 0 7h Figure C 5 Left Scanner black
38. Platform XMP EXIF Exchangeable Image File Format data fields in JPEG images XMPTag java e Java utility for setting EXIF data fields in JPEG images ExifWriter java 38 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation CHAPTER 7 MTLS IMPACT STUDY Beneficial Impacts Caltrans ownership of an MTLS system has significant positive impact It also presents challenges for the organization to overcome and fully adopt this transformative technology MTLS major benefits are 1 Improved worker safety 2 Reduced survey time and cost 3 Decreased lead time from data requested to data delivery 4 Reduced number of return site visits to collect additional data 5 Reduced travel delay to general public 6 Provides high resolution 3D virtual reality data for public outreach related to project design and delivery 7 Enables Caltrans to do more geo spatial data collection such as asset management mandated by the Federal Moving Ahead for Progress in the 21st Century Act MAP 21 8 MTLS enables cost effective means to collect necessary data for data driven decision making processes as well as asset condition assessment data for accurate and genuine performance measure The deployment of MTLS in Caltrans has confirmed previous research findings 3 4 that MTLS reduces survey time and cost by drastically reducing personnel time in the field for data
39. Processing Sf convert resize 612x512 f processed S f done Listing D 11 Shell script to scale and crop front left images flProcess sh using convert utility from imagemagick bin bash if d processed then mkdir processed fi for fan 2 pg do echo Processing Sf convert resize 612x512 crop 492x512 0 0 f processed f done Listing D 12 Shell script to scale and crop front right images frProcess sh using convert utility from imagemagick bin bash if d processed then mkdir processed fi for f in jpg do echo Processing f convert resize 612x512 crop 492x512 120 0 f processed Sf done 133 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Listing D 13 Java utility to set up session database table populateSession java import java sql Statement import java sql ResultSet import java sql Connection import java sql DriverManager import java sql PreparedStatement import java sql SQLException import java util logging Level import java util logging Logger public class populateSession public static void main String args Connection con null PreparedStatement pst null Statement st null ResultSet rs null String url jdbc mysq1 localhost
40. Scanning wet concrete and asphalt pavement testing Development of a photolog viewer Recommendations and future work 17 KEY WORDS 18 DISTRIBUTION STATEMENT LiDAR Mobile Terrestrial Laser Scanning No restrictions This document is available to the public through the National Technical Information Service Springfield Virginia 22161 19 SECURITY CLASSIFICATION of this report 20 NUMBER OF PAGES 21 COST OF REPORT CHARGED Unclassified 200 Reproduction of completed page authorized Copyright 2015 AHMCT Research Center UC Davis DISCLAIMER DISCLOSURE STATEMENT The research reported herein was performed as part of the Advanced Highway Maintenance and Construction Technology AHMCT Research Center within the Department of Mechanical and Aerospace Engineering at the University of California Davis and the Division of Research Innovation and System Information at the California Department of Transportation It is evolutionary and voluntary It is a cooperative venture of local State and Federal governments and universities This document is disseminated in the interest of information exchange The contents of this report reflect the views of the authors who are responsible for the facts and accuracy of the data presented herein The contents do not necessarily reflect the official views or policies of the State of California the Federal Highway Administration or the University of California This publicatio
41. Select the a information to be embedded in the image Custom Video Modes Mirror i horizontal flip RE l Camera Information Y16 Endianmess a ni White balance Camera Registers Big endian IIDC 1394 DCAM Y16 mode V Gain V Frame counter Trigger Strobe Little endian PGR specific Y16 mode V Shutter Strobe pattern Brightness GPIO pin state R v ure F ition High Dynamic Range Pattern 1 id Look Up Table Pattern 2 Select All Unselect All Frame Buffer None Auto Range Control WEE EM ee Property Channel 1 System Information Min 256 Max 768 Note Saving to the default memory channel restores the camera to factory defaults Get Range Set Range Help Support ae R Bus Topology Bus Speed Control teyne Sen Isoch Speed S800 Y Camera is streaming Figure A 27 Point Gray Research Fly Capture Camera Control user interface 73 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation r q FlyCapture2 2 2 3 14 Point Grey Research Grasshopper GRAS 50S5C 12233653 acie Camera Settings Camera Information Standard Video Modes mer Serial Number 12233653 Custom Video Modes Ga GRAS 50S5C re Camera Registers Sensor Sony ICX625AQ 2 3 2448x2048 CCD Trigger Strobe Resolution 2448x2048 Interface IEEE 1394 Advanced Camera Settings Bus Speed S800 High Dynamic Range PCle Bus Speed 25GT s Look Up
42. System out printin file String rowObjects 1 File file new File dir String rowObjects 1 trim System out println getName file getName System out println getParent file getParent System out println exists file exists System out println isFile file isFile System out println exists2 new File dir FC 29371 05904 jpg exists System out println exists3 new File file toString exists System out println isDirectory file isDirectory System out println canRead file canRead System out println getAbsolutePath file getAbsolutePath JExiflInfo gpsInfo tool getInfo file gpsInfo setGPSInfo slat 0 slat 1 slong 0 slong 1 Double rowObjects 4 offset toString 0 gpsInfo setTagValue ExifIFD FOCALLENGTH 8 5 gpsInfo setTagValue IFDO MAKE Point Grey Research Grasshopper GRAS 50S5C gpsInfo setTagValue IFDO COPYRIGHT California Department of Transportation 2013 as gpsInfo setTagValue ExifGPS GPSDOP Double rowObjects 15 toffset toString gpsInfo setTagValue ExifGPS GPSSPEED Double rowObjects 16 offset toString gpsInfo setTagValue ExifGPS GPSSPEEDREF K g
43. Table IDC Version 131 Firmware Version 0 9 30 Firmware Build Time Tue Nov 29 00 47 24 2011 Data Flash Driver FirePRO Driver PGR1394 sys 2 3 3 24 System Information Frame Buffer Copy to Clipboard Bus Topology Help Support Advanced Time since initialization 2h 26m 57s Time since last bus reset 2h 26m 35s Transmit failures 0 Reset Pixel clock frequency 60 00000 MHz Horizontal line frequency 31298 9 Hz Figure A 28 Point Gray Research Fly Capture Camera Control user interface Configuration GPS Run Layer General Camerasinformation Auto lis Connection Camera Frame Rate TTL signal configuration Capture format Compressor Multiple AVI file Compressor PlCVideo M JPEG 4 64 bit VW Codec Config AVI file size 1GB C AVI files Compressor PlCVideo MJPEG 4 64bit DirectShow Config AVI file size 4GB Figure A 29 Trimble Trident Capture for Imaging camera recording control user interface 74 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Use the PPS signal Extemal Trigger Frame rate Image interval Frames per sampling DMI Distance per pulse BDS DMI L Pulse Rotation Frequency sampler Your vehicle cannot exceed 271 56 Km h Figure A 31 Set Contrast Stretch to 1 75 Copyright 2015 AHMCT
44. Technical Support and Evaluation I my Sstmt UPDATE photolog SET county route postmile WHERE id my Srv Sdbh gt do Sstmt undef ScrpHashLongLatBased county ScrpHashLongLatBased route ScrpHashLongLatBased postmile id SDBI err amp amp die SDBI errstr warn Problem in retrieving results Ssth gt errstr An if Ssth gt err Ssth gt finish Sdbh gt disconnect 144 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Listing D 16 Java utility to support setting Extensible Metadata Platform XMP Exchangeable Image File Format EXIF data fields in JPEG images XMPTag java import static be pw jexif enums DataType RAT64U import static be pw jexif enums DataType INT8U import static be pw jexif enums DataType STRING import be pw jexif enums DataType import be pw jexif enums tag Tag public enum XMPTag implements Tag APERTURE VALUE xmp ApertureValue false false false RAT64U CONTRAST xmp Contrast false false false INT8U EXPOS
45. Trimble Trident Capture for Laser Scanning Client user interface Figure A 34 MX8 Trident Capture for Laser Scanning user interface for setting laser configuration server and chent COMPUTED esp H M 78 Figure A 35 Trident Capture for Laser Scanning user interface for setting laser filename prefix and suffix server and client computer 4 eee eee eee sees eese eee cessas sissoo oroe issie toss tane ta setas etas eta seta sete sete sete stesse ese ossos 78 Figure A 36 Trident Capture for Laser Scanning shutdown laser interface eese eerte 79 Figure A 37 MXS data storage hard drive Seagate Barracuda 2TB ST2000DM001 ceres 81 Figure A 38 Data transfer using USB3 4 bay drive dock eee eee eee eese seen einen atn enses ense tatu neta an 81 Figure A 39 Applanix DMI mount diagram eese eee esee eene e tenen aeta tuse tatnen sesta sets suse tasse ta sens en sees ense tes n etna 82 Figure A 40 Removing Applanix DMI adapter plate mounting bolts eeeeeeee eee eee entere enne enean 83 Figure A 41 Removing the Applanix DMI adapter plate eerie eee esee tenens entes ta tne tn stato seen sosta tune ta an 83 Figure A 42 Applanix DMI mounting adapter plate eerie esee ee etes ee seen enata enne ta suns ta sens en stesso seta su notan 84 Figure C 1 Front Center Camera view of the wet asphalt pavement
46. Trimble personnel conducted data collection training and in office data post processing training The data collection training session was recorded on video One surveyor from each northern California district 1 2 3 amp 4 participated in the training Due to the limited seating available in the MTLS vehicle only two surveyors could be trained at a time for data collection Since then the four trained surveyors have trained other surveyors in their district to operate the MTLS system for data collection as well as data post processing 1289190 Figure 3 1 MTLS field data collection training at HWY20 Yuba County CA Performing 5 minute static GNSS IMU data collection at the end of the project data collection The video recordings of the data collection training have been edited by Caltrans personnel into a series of condensed training videos for future personnel training In addition the Caltrans Trimble MX8 Operation Manual Appendix A herein was written for data collection training The Caltrans Trimble MX8 Operation Manual provides a concise procedure and information for system startup software setup for data collection and shutdown procedures A detailed Trimble MXS user manual is provided by Trimble A Caltrans MX8 Vehicle Checklist was also created to ensure all necessary steps are followed and assure that MTLS data are collected properly and consistently Recommendations MTLS data collection and post processing is
47. Workflow Development Technical Support and Evaluation WORK ENVIRONMENT While at the base of operations employee will work in a climate controlled office under artificial light However due to periodic problems with the heating and air conditioning the building temperature may fluctuate PHYSICAL MENTAL AND EMOTIONAL EQUIREMENTS The incumbent may be required to sit for long periods of time using a keyboard and video display terminal He or she may also be required to move large or cumbersome plans and maps from one location to another MINIMUM QUALIFICATIONS Six years of progressive experience in land surveying Possession of a valid LSIT may be substituted for two years of experience 185 Copyright 2015 AHMCT Research Center UC Davis
48. a variety of computers plotters and software in the preparation of various construction staking notes for field survey crews Such notes include but are not limited to clearing stakes slope stakes rough grade stakes finish grade stakes drainage stakes curb stakes structure stakes and wall stakes Analyze drainage systems for staking and produce computer plots of those systems Creates digital alignments for mainlines ramps returns drainage bridge abutments and wingwalls Process construction staking requests from resident engineers to the field survey office as they are received This includes locating previously prepared notes from files briefing survey crews prior to fieldwork distributing completed staking notes to the appropriate construction personnel and maintaining internal project files in a current status Develop digital terrain models from Caltrans Total Station Survey System TSSS file formats This process includes creating a project in CAiCE and then importing the TSSS file resolving survey chains creating a digital terrain model developing cross sections for surface checking and line code checking creating contours obscuring the triangles of the triangular irregular network and zipping final digital files for delivery to the district office for processing General office duties This includes but is not limited to answering the phone relaying messages ordering supplies routing accounts payable invoices arrangi
49. and the log to this panel add buttonPanel BorderLayout PAGE START add logScrollPane BorderLayout CENTER JPanel panel new JPanel panel setLayout new BorderLayout 10 10 JPanel textPanel new JPanel new GridLayout 0 1 JPanel textFieldPanel new JPanel new GridLayout 0 1 panel add textPanel BorderLayout CENTER panel add textFieldPanel BorderLayout WEST panel setBorder BorderFactory createEmptyBorder 10 10 10 10 add panel public void actionPerformed ActionEvent e 137 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Handle open button action if e getSource openButton int returnVal fc showOpenDialog Populate this if returnVal JFileChooser APPROVE OPTION File file fc getSelectedFile This is where a real T i application would open the file getName 4 myn log append Opening fil dbfread file getParent else newline file getName newlin Ve eM cf log append Open command cancelled by us log setCaretPosition log getDocument getLength Handle save button action else i e getSource saveButton int returnVal
50. data collection training at HWY20 Yuba County CA Performing 5 minute static GNSS IMU data collection at the end of the project data collection eere eeeeeeeeeeee 14 Figure 3 2 Caltrans MTLS deployment plan in central and southern California districts 15 Figure 4 1 MTLS deployment at HWY 580 in District 4 Urban multi lane highway eere 17 Figure 4 2 Number of highway miles scanned in each Caltrans district eee eee eee eene entente 17 Figure 4 3 Number of projects scanned in each Caltrans district eee eee eee eee eese entente enean 18 Figure 4 4 Number of projects scanned by month during deployment period eee 18 Figure 4 5 Point cloud collected from MTLS system eeeeeee esee eese eee ee een tn sento sten tuse tasse ta sens ea sesso setas n eta an 19 Figure 4 6 Caltrans MTLS system vehicle scanning on the new San Francisco Oakland Bay Bridge before ignorari TP aneso snas 19 Figure 4 7 Caltrans MTLS system vehicle on the new San Francisco Oakland Bay Bridge during night time scanning before the bridge opening e eres eere etie eee ee neenon neta setas ta setas tto sete stesse aseo setas etas sense ease tasa ta 20 Figure 4 8 Inside Caltrans MTLS system vehicle during a night time scanning on the new San Francisco O
51. eese eee eee eene 69 Figure A 21 Trimble Trident Capture for Imaging Server user interface eee eee eee tette 69 Figure A 22 Trimble Trident Capture for Imaging Server user interface eee eee eee ettet 69 Figure A 23 Trimble Trident Capture for Imaging Server user interface eee esee 70 Figure A 24 Trimble Trident Capture for Imaging Server user interface eese eee eee ettet 70 Figure A 25 Trimble Trident Capture for Imaging Server user interface eese eee eee 71 Figure A 26 Trident Camera Control software eee eee eese esee eese tn statuae ta tuse tasse tasto senses ense tasse tano 73 Figure A 27 Point Gray Research Fly Capture Camera Control user interface eee 73 Figure A 28 Point Gray Research Fly Capture Camera Control user interface eee 74 Figure A 29 Trimble Trident Capture for Imaging camera recording control user interface 74 Figure A 30 Trimble Trident Capture for Imaging image capture setting esee eee eee eene eerte ente nne 75 Figure A 31 Set Contrast Stretch to 1 eee eee eee esee eese entente enne ta sins sieo stesso seta sene kossa sento setas n eta an 75 Figure A 32 Trimble Trident Capture for Imaging Client Camera Control user interface 76 Figure A 33
52. for Conversion from MTLS Data to Photolog 131 Appendix E LASZIP Python Wrapper Utility c eee eee eee seen esee ee ener en nee 157 dada EEEE 157 INE VoM TU I 157 How to Distribute LAS Archive Tool e eeeeeee reset tees etes essen atten neta stessa tosta sens snae 158 Appendix F MTLS Specifications sscsccacosccsosssesiesscasdscoanstesenssseeasseudhesssndssseneavsinivsnnebsesennsbeneee 170 Technical Requirements for Mobile Terrestrial Laser Scanning MTLS System 171 Appendix G MTLS Personnel Skills Descriptions eere eee eese eere eene en ener en eee 176 MTES Vehicle Driver RR 176 MTLES TepIScu ue 178 MTLS Data Post processing Personnel 4 eee e eee eee eene eren eee te seen nest ense etas tse sten a seas 180 iv Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation MTLS Feature Extraction Personnel ccccccccsssssssssssssccssssssssscsccccsesscsscsscccessssssssssseceseeseseses LOO Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation LIST OF FIGURES Figure 1 1 Caltrans Trimble MX8 MTLS vehicle at San Francisco Oakland B
53. lane stripe cutting higher cost Paint with Any size Low material cost high Template required higher glass beads reflectivity labor cost Reflective Various tape Easy to remove adhere to Not suitable on traveled tape width 4 6 pavement 4 to 6 month life way short life or 12 suitable for temporary target on scenic highways or structures 27 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Four different reflective tapes were tested for reflectivity on the road surface at various ranges All reflective tape performed well in close range However some tape s reflectivity drops more as the distance to the scanner increases Figure 5 11 shows the reflectivity of various reflective tapes Red points are laser return from the black asphalt surface and blue and green points are from the return on the reflective tapes The darker blue points represent higher reflectivity and green yellow point represent lower reflectivity While both 3M Scotchlite reflective sheeting and Avery Dennison are gray they have higher reflectivity than the white reflective traction tape with glass beads In addition they adhere better to both asphalt and concrete surfaces The 6 wide 3M Scotchlite reflective sheeting was used in the new Bay Bridge projects The 4 wide Avery Dennison tape was employed in a research project for target optimization Figure
54. modules and permission for their use were obtained from Mr Sean Campbell of Caltrans DRISI The setPostmile pl utility uses a Simple Object Access Protocol SOAP web service call to obtain county route and postmile information from a Caltrans server This server is located on the Caltrans network The actual SOAP calls can be found in geospatialTools pm Proper function of the setPostmile pl utility is dependent upon this web service being available and accurate No problems were encountered during the photolog viewer prototype development and subsequent use The code to support the workflow and conversion to photolog is provided in Appendix D The code files are e Shell script to set up session database table doSession sh e Shell script to populate photolog database table doPopulate sh e Shell script to set Exchangeable Image File Format EXIF data fields in Joint Photographic Experts Group JPEG images doExif sh e Shell scripts to scale and crop images using convert utility from imagemagick bcProcess sh bdProcess sh blProcess sh brProcess sh fcProcess sh flProcess sh frProcess sh e Java utility to set up session database table populateSession java e Java utility to populate photolog database table Populate java e Perl utility to determine county route and postmile from latitude and longitude setPostmile pl via call to Caltrans postmile LRS web service e Java utility to support setting Extensible Metadata
55. much more functionality However the capabilities in LAS archive tool were seen as the most important for Office of Land Surveys and only that set was implemented to keep the tool simple LASzip includes various types of filtering by coordinate by classification or return by various criteria transforms by coordinates by other criteria such as intensity and projection It also allows clipping of the input moving zooming rotating running of multiple jobs on multiple cores breaking of files into file segments of a given chunk size etc If these more advanced features are needed direct use of the LASzip command line or GUI tool is recommended How to Distribute LAS Archive Tool This section is copied essentially directly from http www py2exe org index cgi Tutorial It is included here for archival purposes as this procedure is essential in the distribution of LAS archive tool The distribution process relies on py2exe from http www py2exe org py2exe turns Python programs into packages that can be run on other Windows computers without needing to install Python on those computers Python is needed on the computer where py2exe itself is run because py2exe is a Python program and it includes parts of Python in the package that is built From the py2exe tutorial To successfully complete this tutorial you ll need to know the basics of Python you can get started at python org s getting started page You ll also need to know how t
56. one step in the reverse direction The next gt button advances the photolog image one step in the forward direction The slower button slows down the photolog playback one speed step The faster button speeds up the photolog playback one speed step There are internal settings for minimum and maximum playback speeds Once these are reached the corresponding speed change button will have no further effect The status information is located below these control buttons The information again should be self explanatory The Year is the year that the MTLS scan was performed The County Route and Postmile is the postmile Linear Reference System LRS information corresponding to the current image The Latitude Longitude and Altitude are the GPS location for the current image The Heading is the vehicle compass heading from GNSS and IMU for the current image 30 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Clicking on Select photolog in Figure 6 1 or Figure 6 3 displays a dropdown list of available photologs as shown in Figure 6 4 Selecting one of the photologs from the list and then clicking the Submit button to the right of the list will then bring up the corresponding photolog in the web browser 5 MTLS based Photolog x WW 1 Q fi merlin ahmctucdavis edu photolog2 slidesh
57. provides code listings for viewer code and the shell scripts and utilities used in the conversion from MTLS data to photolog Photolog Viewer Prototype Photolog Viewer User Perspective From the perspective of the end user the photolog viewer prototype consists of a web page as shown in Figure 6 1 Here the top tiled images are the front left front center and front right camera views The bottom tiled images are the back right back center and back left camera views The back down camera view is at the very bottom Each of the individual scaled and cropped images is a link to the original full size uncropped image For example clicking on the front center image in the photolog viewer brings up a separate web browser window showing the full size uncropped front center camera image shown in Figure 6 2 All images are scaled All but the two center images are cropped The photolog controls and status information are located in the middle between the front and back camera views Figure 6 3 provides a close up of the controls and information panel The control buttons are intended to be self explanatory but will be described briefly here The start button begins playing the photolog images in the forward direction at a default speed The stop button pauses the photolog playback The rewind button begins playing the photolog images in the reverse direction at a default speed The lt prev button advances the photolog image
58. query query for Sindex 0 index lt Scount index4 ha log WHERE sessionId Ssess AND t Simage mysql result Sresult S index image echo SLIDESRT add_slide new slide Sdir Sdirection Simage S inkdir S direction image n gt SLIDESBL new slideshow SLIDESBL lt php Sdirection BL Squery SELECT image FROM photol direction BL Sresult mysql query query bg log WHERE sessionId sess AND for Sindex 0 Sindex lt Scount index 4 Simage mysql result result S index image echo SLIDESBL add_slide new slide Sdir Sdirection Simage S SLIDESBC new slideshow SLIDESBC php Sdirection BC Squery SELECT image FROM photol direction BC Sresult mysql query query for Sindex 0 index lt Scount index4 inkdir S direction image n zx log WHERE sessionId sess AND by Simage mysql result result S index image echo SL DESBC add_slide new slide Sdir Sdirection Simage S inkdir S direction image n gt Copyright 2015 AHMCT Research Center UC Davis 124 Mobile Terrestrial Laser Scanning Workflow Development Technical Support and
59. reader nextRecord null By now we have itereated through all of the rows inputStream close catch DBFException e System out println getMessage catch IOException e System out println e getMessage catch SQLException ex Logger lgr Logger getLogger ExifWriter class getName lgr log Level SEVERE ex getMessage ex finally try if con null con close catch SQLException ex Logger lgr Logger getLogger ExifWriter class getName lgr log Level SEVERE ex getMessage ex public static void main String args Schedule a job for the event dispatching thread creating and showing this application s GUI javax swing SwingUtilities invokeLater new Runnable public void run createAndShowGUI 156 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation APPENDIX E LASZIP PYTHON WRAPPER UTILITY Overview Compression of LAS files is important in order to manage file size and network bandwidth There are existing tools for compressing LAS files e g the command line and graphical user interface utility LASzip http www laszip org created by Martin Isenburg LASzip is able to compress LAS files into laz file
60. session with the Applanix system I Leave the Applanix system on and logging throughout the scanning session J Click on the Stop Logging icon after the 5 minute static GNSS session at the end of mission completion T File Settings Logging View Tools Diagnostics Help Status POS Mode IMU Status DMI Status Nav Status GAMS Logging Attitude Accuracy Attitude Heading Position RMS Accuracy 0 084 0 084 3 214 Nav Aligned OK ZUPD Pri DGPS Not Ready Idle 0 605 1 113 56 700 Roll deg Pitch deg Heading deg Speed km h Track deg NIA Disk Usage Position Latitude Longitude Altitude m Dynamics Longitudinal Transverse Vertical 08 11 2012 37 42 23 2 122 10 25 5970 W 1 Angular Rate deg s 18 57 40 GPS Figure A 11 Applanix POSPac LV software interface Velocity RMS Accuracy m 788 N 0 353 0 355 9 801 0 550 Accel m s 0 000 0 000 0 000 0 000 0 000 0 000 0 49 30 POS Copyright 2015 AHMCT Research Center UC Davis Velocity 0 000 0 000 0 000 North m s East m s Down m s Events Time Event 1 Event 2 PPS 0 009 POS Monitor 63 RMS Accuracy 0 006 0 006 0 006 Count 18 57 40 000000 GPS Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Removable Media Logging Control Logging Group Select 1 Navigation Solution 2 Performance Metrics
61. shown in Figure A 29 Occasionally the Trident program crashes and the camera may remain set in recording mode The user should verify that the Trigger Control Enable disable trigger box is unchecked by launching the camera configuration by first clicking the main Configuration menu and then the Camera s Manufacturer Configuration menu as shown in Figure A 26 If the Trigger Control Enable disable trigger box in the Trigger Strobe Control tab is checked the user should uncheck the Trigger Control Enable disable trigger check box by clicking the box as shown in Figure A 26 This should be verified if the Trident programs crashes or does not record images This step must be performed on all Trident Server and Client programs 72 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation n reum o re Maso CE 4 FlyCapture2 22314 Point Grey Research Grasshopper GRAS 5055C 12233653 mu IM system configuration E E Camera Settings Trigger Strobe Control Camera Display Grasshopp f Contrast Stretch Gamma Ax a I Trigger C Pin Direction Control k e le disable trigger F Enable disable delay Custom Video Modes 0 This is usually ordy used Mode v riu UNE Camera Information 0 0000 eae PEE ar
62. slideshow in reverse If you specify the timeout argument then a new default timeout will be set for the slideshow Make sure we re not already playing this pause If the timeout argument was specified optional then make it the new default if timeout this timeout timeout If the current slide has a custom timeout use it otherwise use the default timeout if typeof this slides this current timeout undefined timeout this slides this current timeout else timeout this timeout After the timeout call this loopback this timeoutid setTimeout this name loopback timeout this pause function This method stops the slideshow if it is automatically running if this timeoutid 0 clearTimeout this timeoutid this timeoutid 0 110 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation this update function This method updates the slideshow image on the page Make sure the slideshow has been initialized correctly if this valid_image return Call the pre update hook function if one was specified if typeof this pre update hook function this pre update hook Convenience variable for the current slide var slide this slides this current
63. technical information 10 Ability and experience working long periods on roadway near fast moving vehicle traffic as well as knowledge of placing traffic warning devices and acting as a flagman SUPERVISION EXERCISED OVER OTHERS This position does not supervise other employees but may be requested to act as a lead worker REQUIRED KNOWLEDGE AND ABILITIES 1 Knowledge of basic field surveying skills in order to perform assignments The incumbent should be able to identify survey requirements and be in a position to help the survey crew 180 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation in obtaining the required data The incumbent should be able to reduce field data to useable form which will require some analysis to resolve conflicts and the ability to identify potential problems 2 Individuals are required to have the following abilities e Basic knowledge of GNSS static survey and post processing including basic understanding of RINEX data file geoid datum state plane and UTM coordinate systems e Basic knowledge of point clouds and various point cloud file formats such as LAS and PTS e Employ various methods to produce DTM and survey data from point cloud using various software e Knowledge of fundamental plane surveying principles methods equipment materials and safety Carry loads up to 50 Ibs unassisted over dif
64. the delivery of the system A Four licenses copies total of GNSS IMU data post processing software 3 years software maintenance and support and standard training for 6 people B Four licenses copies total of the MTLS point cloud producing software 3 years software maintenance and support and standard training for 6 people C Extended 3 years of system software maintenance and license D Extended 3 years of hardware maintenance and warranty The extended warranty shall cover an annual sensor calibration calibrating the system to the manufacturer s specifications 174 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation XII XIII Inspection Each unit will have a final inspection at its delivery destination shown on the Purchase Order to verify acceptability At the State s discretion the vendor may be required to survey a one mile test course in Sacramento process the data and provide the completed point cloud to the State to verify system accuracy The system must produce accuracies of at least 0 10 ft vertical and 0 10 ft X and Y at 9596 confidence level when compared with survey control points Units not meeting the above accuracy will be rejected The State will have fifteen 15 working days after delivery of a unit to conduct the final inspection of said unit Units delivered to the final Purchase Order destination will be accept
65. thread safety i path this method should invoked from the event dispatching thread private static void createAndShowGUI hav Mak 0 nic Sur Ww window decorations JFrame setDefaultLookAndFeelDecorated true JDialog setDefaultLookAndFeelDecorated true Create and set up the window JFrame frame new JFrame frame setDefaultCloseOperation JFrame ExifWriter EX Create and set up the content pane JComponent newContentPane new T ON CLOS LH x ExifWriter 151 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation newContentPane setOpaque true content panes must be opaque E frame setContentPane newContentPane Display the window frame pack frame setVisible true public static String ConvertLat Object lat 4 Double latitude Double lat String ref if latitude gt 0 ref N else ref Wet return new String String valueOf Math abs latitude ref public static String ConvertLong Object longi Double longitude Double longi String ref X if longitude gt 0 ref EU else ref W r return new String String valueOf Math abs longitude ref public static void dbfread String dir String na
66. traffic warning devices and acting as a flagman SUPERVISION EXERCISED OVER OTHERS This position does not supervise other employees but may be requested to act as a lead worker REQUIRED KNOWLEDGE AND ABILITIES 1 Knowledge of basic field surveying skills in order to perform assignments The incumbent should be able to identify survey requirements and be in a position to help the survey crew in obtaining the required data The incumbent should be able to reduce field data to useable form which will require some analysis to resolve conflicts and the ability to identify potential problems 176 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 2 Ability to operate most surveying instruments in order to take clear and accurate notes 3 The individual may be required to perform any of the following e In depth knowledge of the MTLS vehicle Suburban 2500 operation including manual gear changes use of tow haul mode air conditioning front and rear change of vehicle clearance tire pressure check oil check vehicle inspection and pre op check Fundamental plane surveying principles methods equipment materials and safety Carry loads up to 50 Ibs unassisted over difficult terrain Handle brush clearing tools in heavily vegetated areas Climb slopes and hike through various types of terrain and vegetation including poison oak Identify
67. vcredist_x86 exe which is itself redistributable by anyone and then run that as part of your application installation The installer puts a copy of the DLLs in the directory C WINDOWS WinSxS XP inside subdirectories with mangled names The manifest file is in the Manifests subdirectory again this will have a mangled filename You can still discern the text Microsoft VC90 CRT and 9 0 21022 8 within the mangled file and directory names to find the files It is possible to take a copy of these files and remove the filename mangling to embed them in your application as described in 5 2 1 6 Build an installer if applicable py2exe is not an installer builder it merely assembles the files needed to run your Python program There are plenty of good installer builders out there including some that are open source e g NSIS and some that are free e g Inno Setup Listing E 1 LAS archive tool code usr bin python LAS archive tool Wrapper for LASzip program available from http www laszip org LASzip originally developed by Martin Isenburg Provides simple user interface for key commands from LASzip Supports compression of LAS files up to version 1 3 and decompression Copyright 2014 AHMCT Research Center University of California Davis Developed by Ty A Lasky 6 18 2014 import Tkinter Tkconstants tkFileDialog import os import string global fullExecPath class TkFileDialogExam
68. was specified for the slide then it opens a new window var mywindow If this slide does not have a link do nothing if this link return Open the link in a separate window if this target If window attributes are specified use them to open the new window if this attr mywindow window open this link this target this attr 107 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation else If window attributes are not specified do not use them this will copy the attributes from the originating window mywindow window open this link this target Pop the window to the front if mywindow amp amp mywindow focus mywindow focus else Open the link in the current window location href this link slideshow object function slideshow When we reach th This is the constructor ed automatically when you create a new object It is call For exampl e slideshowname voy unction for the slideshow object ss new slideshow Name of this obj ss ect required if you want your slideshow to auto play For example this name slideshow SL D Roy slideshow again this rep
69. 015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation MINIMUM QUALIFICATIONS Six years of progressive experience in land surveying Possession of a valid LSIT may be substituted for two years of experience 182 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation MTLS Feature Extraction Personnel Under general supervision by District Senior Transportation Surveyor providing paraprofessional work that requires a degree of independent performance in the field office in support of Survey field crews The experience required for this position is reflected by the duties and functions one must possess as listed below DUTIES AND FUNCTIONS 1 2 3 4 5 6 7 8 Maintain basic knowledge of the MTLS system operation and its requirements Develop in depth knowledge of the project site and the project limits Perform QA QC check of point cloud data against local controls Utilize a variety of software packages to extract DTM and other survey features and data from point cloud data This duty also includes exporting and importing point cloud and extracted survey data from one software package to another These software packages includes Trimble Trident 3D Analyst Virtual Geomatics software suite Civil 3D CAiCE TopoDOT Cyclone PolyWorks and MicroStation Utilize
70. 3306 piwigo String user root String password pw try for String s args System out printin s String sessionName args 0 String sessionDesc args 1 con DriverManager getConnection url user password pst con prepareStatement INSERT INTO sessions sessionName sessionDescription VALUES pst setString l sessionName pst setString 2 sessionDesc pst executeUpdate String query SELECT Id from sessions WHERE sessionName sessionName System out println query st con createStatement rs st executeQuery query while rs next int id rs getiInt Id System out println Session ID is id catch SQLException ex 134 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Logger lgr Logger getLogger populateSession class getName lgr log Level SEVERE ex getMessage ex finally try if rs null rs close if st null st close if pst null pst close if con null con close catch SQLException ex Logger lgr Logger getLogger populateSession class getName lgr log Level SEVERE ex getMessage ex
71. 4 0 Microsoft Excel Driver xis xlsx xlsm xlsb 14 0 SQL Server Figure A 17 ODBC user interface select Microsoft Access Driver F Fill in the Data Source Name following the project naming convention G Click on the select button as shown in Figure A 18 then select d drive and the project folder created in Step 11 After that click on the project database file and click OK button as shown in Figure A 19 After that click the OK button shown in Figure A18 67 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation ODBC Microsoft Access Setup Data Source Name Description Database Database System Database None Database Create l Repair Compact Options Figure A 18 ODBC interface for creating Access database link and name List Files of Type Access Databases m gt target 20140513 20140513 1030 20140513 12 C3 20140513 1330 Select Database Database Name Directories target20140513 mdb d target20140513 mdb EM E d ProjectData Drives d DATA Cancel Heb jJ C Read Only C Exclusive mem Figure A 19 ODBC interface for selecting the Access project data file after clicking on the Select button Step 13 Start Trident Image Capture Server progr
72. Center Camera view eeeeeee eee eese esee esee ee setas tasa toas toss toss tas etas e ease ta sete setate sees sese seta aeta ae 97 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt 97 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 97 Front Center Camera View A 99 Left Scanner black area has no LiDAR return and the red area represents the wet concrete 99 Right Scanner black area has no LiDAR return and the red area represents the wet concrete Front Center Camera View PTT X 100 Left Scanner black area has no LiDAR return and the red area represents the wet concrete 100 Right Scanner black area has no LiDAR return and the red area represents the wet concrete Front Right Camera View A 101 Left Scanner black area has no LiDAR return and the red area represents the wet concrete 101 Right Scanner black area has no LiDAR return and the red area represents the wet concrete Front Left Camera view Left Scanner black area has no LiDAR return and the red area represents the wet concrete 102 Right Scanner black area has no LiDAR return and the red area represents the wet concrete Front Center Camera VIeW 4 oe eee eeeves so edv ee be oon ded Se e een Vene ton en scsscesssuescessevecsiveesasSavsnes sosvsssssduves 103 Left Scanner black area has no LiDAR return and the red a
73. File View Run Layer Configuration Capture Help f Open a Project DB Remove a Project DB X 307 V 9 X e a Project DB Camera Display Select Run Layer New Inventory Open Inventory Save Inventory File Selection and System Status nx Curent drive I 98 30 Gb Free CPU usage I 6 Clip size 0 Mb Memory usage H 8 Clip name Auto file incrementation Statistics List of Devices Camera Control File Selection and System Status System States ax GPS 0 PPSstate Connected GPS Port Com6 115200 NMEA 0 00 Hz 0 00 kb s Server ITA FACE PPS Serve Figure A 20 Trimble Trident Capture for Imaging Server user interface Trimble Trident Capture for Imaging bd j You are about to remove a connection on a project database If there o are files that have been opened through this connection they will be closed and removed from the current session Do you want to continue Figure A 21 Trimble Trident Capture for Imaging Server user interface Remove Project Database Connection mm Select the project database connection to remove SF101 280 20140612 U v Cancel Figure A 22 Trimble Trident Capture for Imaging Server user interface 69 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation E Setup the conn
74. For example power users would need to access the high resolution point cloud data for more complex data analysis and feature extraction using specialized software On the other hand general users such as a maintenance worker may prefer browsing visualizing and making basic measurements using a web browser e Provide unified user interface for other internal and external geo spatial data sources to provide users with a central temporal geo spatial clearing house Examples of existing rich external geo spatial data sources are Google Street View Google Maps Microsoft Bing Maps Google Earth and aerial LiDAR Such a temporal geo spatial management and distribution solution does not exist yet for Caltrans However other government and university institutions have developed web portals for distribution of temporal geo spatial data For example the National Land Survey of Finland provides a web portal https tiedostopalvelu maanmittauslaitos fi tp kartta lang en for anyone to browse and download their LiDAR data in various formats In addition the Digital Coast NOAA Coastal Services Center delivers their LiDAR data through their website http csc noaa gov dataviewer index html action advsearch amp qType in amp qFld projectid amp qVal 1005 An effective and user friendly geo spatial data delivery web portal must be integral to the Caltrans temporal geo spatial data storage management and distribution solution Potential available soluti
75. HMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure 7 1 Culvert inlet in MTLS point cloud To maximize the Caltrans MTLS ROI Caltrans must extend the use of MTLS to central and southern California and expand its application beyond pavement survey to areas such as asset management bridge clearance legal Outdoor Advertising Photolog replacement and MAIT The current limiting factor on completing MTLS projects is the availability of trained personnel for MTLS operation data post processing and point cloud feature extraction as well as feature extraction software licenses and suitable computer hardware Recently additional extraction software licenses and suitable computer hardware are being purchased and made available to the districts However this is a continuing process that may require more workstations and software licenses as the number of MTLS projects increases Therefore the focus of MTLS deployment will be on personnel training particularly on data processing and feature extraction At the same time survey management will discuss the advantages of MTLS with potential customers to solicit their support for applying MTLS technology to better solve their problems Depending on the demand and capacity for MTLS project processing a second MTLS system may be required in the future Data Management Challenges MTLS collects large point cloud and imagery d
76. LCD monitors keyboard and trackball mouse A diamond plate built up floor was installed behind the rear seats to allow for mounting the MX8 computer rack A custom plastic shield was mounted on the driver s side rear door window to allow the sensor pod cable to pass through The MX8 system consists of a sensor pod mounted on the vehicle roof rack DMI mounted on the driver side rear wheel computer rack mounted in the vehicle rear and monitors and accessories mounted to the workstation as shown in Figures A 1 A 2 A 3 and A 4 MX8 system drivers and operators should carefully note the minimum height clearance of 10 feet 6 inches and should operate the vehicle accordingly 52 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation B Pri GNSSAntenna r as 4 BD Camera MONG cha a mm Riegl VQ450 jJ 7 y Laser Scanner Pri GNSS Antenna FL Camera FC Camera Riegl VQ450 FR Camera Laser Scanner mre Figure A 2 Caltrans Trimble MX8 MTLS system sensor pod front view 33 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure A 3 MXS user interface dual monitors keyboard and trackball mounted next to the driver Figure A 4 MX8 computer rack mounted in the vehicle rear 54 Copyright 2015 AHMCT Research Center UC Davis M
77. LIDESBL hotlink gt lt IMG name SLIDESIMGBL src S dir BL SblImage alt Slideshow image width 369 height 384 gt lt A gt lt br gt lt IMG src images dot clear gif width 369 height 1 gt lt A HREF javascript SLIDESBD hotlink IMG name SLIDESIMGBD src Sdir BD SbdImage alt Slideshow image width 459 height 192 gt lt A gt 129 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 2 gt lt P gt lt SCRIPT type text javascript gt if document images SLIDESLT image document images S1 ESIMGLT SLIDESLT textid SLIDESTEXT SLIDESLT update SLIDESCT image document images SLIDESIMGCT SLIDESCT textid SLIDESTEXT SLIDESCT update SLIDESRT image document images SLIDESIMGRT SLIDESRT textid SLIDESTEXT SLIDESRT update SLIDESBL image document images SLIDESIMGBL SLIDESBL textid SLIDESTEXT SLIDESBL update SLIDESBC image documen
78. LS pilot projects Data Collection Status not complete Post processing Status not complete Feature Extraction Status not complete Support Document None i Support Document None Document lessons learned i MXS post processing personnel training Training MX8 post processing personnel in southern amp central districts Status not complete Working with the district surveyors to run MTLS pilot projec Data Collection Status not complete Post processing Status not complete Feature Extraction Status not complete Refine feature extraction workflow Working with district surveyors to revise training materials Status not complete Support Document Revised training materials Stat complete Support Document Training manual amp video Status not complete Support Document lessons learned revised software and hardware requirements MX8 driver amp operator personnel training Run regular projects participating districts Training MX8 drivers amp operators in southem amp central districts Status not complete Support Document Training manual amp video Status completed update as needed District surveyors to run MTLS projects by themselves Data Collection Status not complete Post processing Status not complete Feature Extraction Status not complete
79. OWSsystem32NS HELL32 dll KERNEL32 dll C WINDOWS system32 KERNEL32 dll 161 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Two directories will be created when you run your setup script build and dist The build directory is used as working space while your application is being packaged It is safe to delete the build directory after your setup script has finished running The files in the dist directory are the ones needed to run your application 4 Test your executable Now that the package has been created it is ready to test C Tutorial gt cd dist C Tutorial dist gt hello exe Hello World Excellent it works NOTE for LAS archive tool you will need to be sure to copy the two executable files laszip and laszip exe into the dist directory You can then provide a zip of the dist directory for Windows users Most of the distribution process is automated However this copy step must be done manually 5 Providing the Microsoft Visual C runtime DLL NOTE This step has not been necessary for LAS archive tool as of publication of this report The Python interpreter was compiled using Microsoft Visual C so your new program needs the Microsoft Visual C runtime DLL to run If you have installed appropriate versions of Python or Visual Studio then you will already have this DLL on your computer If some of your users might not alread
80. Of Precision 0 90 Velocity Velocity in km hr 96 86 Postmile route and county are determined during the processing via a web service call to the Caltrans postmile LRS tool based on the latitude and longitude The process for conversion of MTLS data into photolog format is partially automated as described herein However the process still remains intensive with some user interaction required There is room and need for further automation if the photolog viewer moves beyond the prototype stage The workflow to go from MTLS data to viewer ready photolog data is shown in Figure 6 5 This workflow is with respect to the researcher s directory structure and host Utilities and Workflow to Convert MTLS Data to Photolog 36 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Most work occurs in mtlsEval photolog 1 Populate SQL database in mtlsEval photolog a Populate Session once for whole set doSession sh sessionName Session Description Here Session Description from the user is typically Location route date scan number and sessionName for example is 7004797Colusa_sr20_20121114 2 b populate once each set of images doPopulate sh sessionID select dbf files Note that sessionID is output by populate session 2 Set postmile in SQL database once each sessionID in mtlsEval photolog perl setPostmi
81. Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Step 14 Start Trident Image Capture Client programs In this step the user double clicks on the Trident Image Capture icon three times on the server and three times on the client computers to launch all six of the client image capture programs one for each remaining camera The Trident Image Capture Server program first launched on the server computer controls the front right camera by default The user should wait for each client program to completely start before launching the next client The user may then choose to close a particular camera image capture client program if it is not desired to record that camera image KE amp Trimble Trident Capture for Imaging C Eh File View Run Layer Configuration Capture Help H4 z z Camera Display Grasshopper GRAS 50S5C 1223365 4 x Camera Control nx Exposure 4 fo gt 358 T Shutter 4 a gt 7400 0 sec iv Gan 4 ERA gt 2sc00 w Wis l 3 poov r Deer List of Devices Camera Control File Selection an System States 4 Xx 10 08 28 Error No enor 10 08 29 Error No enor 2 10 08 30 Error No enor 10 08 31 Error No eno Error No enor GPS PPS state Error No enoi 10 08 34 Error No eno Connected 10 08 35 Error No enor ok oo oc ec Ww WN 10 08
82. S S S S S S S S S S S S S S S try owObjects 2 offset EE set yz tri d 153 g image g direction String dl String d g dalt g postmil g route g county Stri gpsTime gpsDate gpsDateTi gpsDist heading roll pitch hdop St velocity St e tri tri tri tri trin tri tri Lr rr tri tri tri tri St QaQgagaeaQqaQgaQqaQuaa con DriverMa pst at long ng dist Tu TB iT 0 00 Dt BD String val instanceof String 1 String rowObjects 1 String name substring 0 2 String valueOf rowObjects 3 of String valueOf rowObjects 2 offset ng valueOf rowObjects 4 offset String valueOf rowObjects ueOf rowObjects String val ueO me String String val val ueOf String val X ueO ring valueO E d ring valueO Ei con prepareStatement sessio idx latitude postmile gpsTime gpsD gpsDist head huss acer 2 epu lo cou out printlin S setStrin setStri setStri setStri setStri setStri pst pst pst pst pst pst OY 01 WN ES QQ OQ Qu d ud ngitude al nty route ate gpsDat nager getConnection url rowObjects lueOf rowObjects rowObjects 1 rowObjects 1 rowObjects 1 String valueOf rowObjects rowObjects 1 String valueOf ro
83. Support and Evaluation s update this textarea textareaobject this display text this set_textid function textidstr This method is deprecated you should use the following code instead s textid mytextid s update this textid textidstr this display text 121 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Listing D 2 Code slideshow php to be located in var www slideshow2 lt DOCTYPE lt html gt JavaScript Slideshow by Patrick Fitzgerald http slideshow barelyfitz com html head title MTLS based Photolog lt title gt style in marg in eft 140px lt style gt label check 1 lt SCRIPT type text javascript gt abel position absolute text align right width 130px textarea margin left 140px label radio position relative text align left If need to load URL parameters in Javascript use this function getUrlVars var vars var parts window location href replace amp amp amp gi function m key value vars key value return vars var MAXTIM var MINTIM var timeout EOUT
84. This step may be performed at any time before Step 16 Step 4 Turn on inverter Power up inverter by switching the Xantrex inverter remote switch located next to the center console The Xantrex inverter remote control unit also provides information on the power supply voltage current draw and power output as shown in Figure A 7 The vehicle driver should constantly monitor the input voltage when the vehicle is idling or going downhill The input voltage should be kept at 12 5 volts or higher Because of the high current draw the vehicle alternator may not provide enough power if the engine speed is below 900 rpm Shifting the manual gear selection mode and selecting a lower gear allows the driver to increase the engine speed rpm and alternator power output xantrex Inverter a Supply Voltage Inv erter Current Draw Inv erter Power Output Inv erter On Off Switch Figure A 7 Xantrex inverter remote 59 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Step 5 Turn on UPS Power up the UPS by press and holding the UPS on off switch for a few seconds until the shaped green LED comes on When the shaped green LED comes on the UPS is on Scanner amp Applanix Power Supply Gigabit Switch Applanix USB Storage Applanix Power Button Multiplexer Scanner amp Cooling Fan Power Supply T Server Computer
85. Tools use LWP Simple use XML Simple use DBI use Xbase my SsessionID SARGV 0 initialize conversion hashes my ScountyNameToCountyCodeHash caltransConversions getCountyNameToCountyCodeHash my prefixRouteNameToRouteNameHash caltransConversions getPrefixRouteNameToRouteNameHash my directionNameToDirectionAbbreviationHash caltransConversions getDirectionNameToDirectionAbbreviationHash initialize crpHash and SlongLatHash my dcrpHash geospatialTools getDCRPHash my longLatHash geospatialTools getlongLatHash my dbh DBI connect DBI mysql piwigo root pw die Could not connect to database SDBI errstr my Ssth dbh prepare SELECT FROM photolog WHERE sessionId i sessionID Ssth gt execute die Couldn t execute statement sth errstr while my Grow sth gt fetchrow array print id Srow 0 tlat Srow 4 tlong Srow 5 n my Sid row 0 my Slat Srow 4 my Slong row 5 SlongLatHash latitude Slat SlongLatHash longitude 1ong find crpHash based on longLatHash my crpHashLongLatBased geospatialTools longLatToCRP4 longLatHash 143 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development
86. URE TIME xmp ExposureTime false false false RAT64U COPYRIGHTOWNERNAME xmp CopyrightOwnerName false false false STRING COUNTRYCODE xmp CountryCode false false false STRING COUNTRYNAME xmp CountryName false false false STRING PROVINCESTATE xmp ProvinceState false false false STRING SUBLOCATION xmp Sublocation false false false STRING CREATORREGION xmp CreatorRegion false false false STRING USERCOMMENT xmp UserComment false false false STRING COUNTRY xmp Country false false false STRING STATE xmp State false false false STRING CITY xmp City false false false STRING Don t forget TagUtil register XMPTag class private final boolean avoided private final boolean unsafe private final boolean protectedField private final String name private final DataType type param avoided indicate that the tag is avoided param unsafe indicated that the tag is unsafe param protectedField indicate that the tag is protected param name the name of the tag iparam type the data type of the tag iP private XMPTag final String name final boolean unsafe final boolean avoided final boolean protectedField final DataType type this avoided avoided this unsafe unsafe this protectedField protectedField this name name this type type inheritDoc ae Copyright 2015 AHMCT Research Center UC Davis 145 Mobile Terrestr
87. a highly perishable skill if not used Computer workstation and software installation and setup should be completed before training In addition MTLS projects should be made ready for MTLS data collection and post processing after the MTLS training Performing MTLS projects immediately after training provides operators with practical experience to reinforce and engrain their training and learning into long term memory 14 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Based on the lessons learned from the northern California deployment the MTLS Deployment Plan for central and southern California districts shown in Figure 3 2 was developed MTLS Deployment Plan in Central and Southern California Districts Procure software licenses Applanix PosPAC MMS Status 2 Caltrans 1 UCD more needed Trimble Trident Imaging Hub LM0033 00 00 Status 5 Caltrans PolyWorks Status UCD 5G Caltrans TopoDOT Status 1000hr Caltrans Virtual Geomatics Status UCD 1 D4 Install software on workstation participating districts Support Document IT software approve list Status completed Install software and make available for MTLS personnel in southern amp central districts Status in progress Deployment of MX8 in central and southern California districts Procure IT workstations amp
88. akland Bay Ono E soisin 20 Figure 4 9 Point cloud of the new San Francisco Oakland Bay Bridge MTLS project 20 Figure 5 1 MTLS data post processing data flow diagram eee eee eee esten eese enata tna en tuse ta tune ta an 21 Figure 5 2 Point cloud intensity value distribution before rescaling eee eeee ee esee eese ee eene enean etna tn ana 22 Figure 5 3 Point cloud intensity value distribution after rescaling 4 eee ee eee ee etes eee ee eee n eene etna tn sna 22 Figure 5 4 Point cloud before intensity value rescaling eere eee eee etes essen ense tenentis tastes tastes suse ta sone ta an Figure 5 5 Point cloud after intensity value rescaling eere esee esee ee enses enata tenete tne tn senten stesso seta su sean Figure 5 6 MTLS scanning supported by a chase vehicle 4 eee eee eese esee eee eene sene tn nennen seen tosta su nean Figure 5 7 Rolling lane closure using CHP and a shadow vehicle Figure 5 8 Typical GNSS base station setup over local control at the project site eere 25 Figure 5 9 Cross target on the left and reflective temporary striping tape square target on the right 26 Figure 5 10 Example ground control targets located on the road shoulder eee 26
89. al String newline Xn JButton openButton saveButton JTextArea log JFileChooser fc 136 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation public Populate String sessionId super new BorderLayout System out println In Populate sessionId sessionId this sessionId sessionId Create the log first because the action listeners need to refer to it log new JTextArea 5 20 log setMargin new Insets 5 5 5 5 log setEditable false JScrollPane logScrollPane new JScrollPane log Create a file chooser fc new JFileChooser Create the open button We use the image from the JLF Graphics Repository but we extracted it from the jar openButton new JButton Open Database createImagelIcon images Openl6 gif openButton addActionListener this Create the save button We use the image from the JLF Graphics Repository but we extracted it from the jar saveButton new JButton Save a File createlImageIcon images Savel6 gif saveButton addActionListener this For layout purposes put the buttons in a separate panel JPanel buttonPanel new JPanel use FlowLayout buttonPanel add openButton buttonPanel add saveButton Add the buttons
90. am The Trident system requires at least one camera operating in order to collect laser data The first Trident Image Capture launched on the server computer will be the Trident Image Capture Server program It controls the data storage location and global camera settings The default camera for the server program is the Front Right camera The camera naming convention is FR Front Right FC Front Center BD Back Downward BC Back Center etc A Start the Trident Capture for Imaging program by double clicking on the Trident Capture for Imaging on the server computer desktop B Ifthe Trident Capture has been used for another new project the project DB must be removed first in the Trident Capture program The Trident Capture server program will use the last project database by default Click on the Run Layer menu and select Remove a Project DB as shown in Figure A 20 If the data collection is to be continued for the previous project this step should be skipped Confirm remove connection on a project database by clicking Yes in Figure A 21 Note that removal of project database connection does not delete the project database file D Click on OK to remove the project database connection as shown in Figure A 22 Copyright 2015 AHMCT Research Center UC Davis 68 Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Trimble Trident Capture for Imaging babas
91. ameter y Camera Registers Erde i as a trigger source Trigger S Min trigger delay 0 00000s j EL GPIo0 GPIO1 Max trigger delay 0 00000s GPIO0 In Out Advanced Coma Su l GF02 G03 sire trigger GPIO1 In Out File Selection and System Status 9x i 1 a ome 173220 Gb Free cue 7 e None Fire Software Trigger GPIO2 In Out Dp ae OMb Memory usage MN 8 Look Up Table Trigger Polarity E G Opname El Low High GPIO 3 In Out PAN Frame Buffer Suec Sytem Data Flash Strobe Control E GPIO GPIO 1 System Information Enable strobe for this pin Enable strobe for this pin High y 00 amp Hi 10 00 Bus Topology pig D I Dolay Mi m Delay List of Devices Camera Control Fie Selection and System Status 9 Low Duration 0 00 Low Duration 0 00 System States Help Support ES GPIO2 GPIO 3 F Enable strobe for this pin Enable strobe for this pin PPS state Hi fo 5 Hi oo iE Comecied pus 0 o Dew Es pis 9 eh De Low Duration 0 00 H Low Duration 0 00 GPS Port Com6 115200 NMEA 0 00 Hz 0 00 kb s Server Port 5555 C Figure A 26 Trident Camera Control software n I FlyCapture2 22 3 14 Point Grey Research Grasshopper GRAS 50S5C 12233653 LL Camera Settings Advanced Camera Settings i V Raw Bayer output Embedded Image Information Only foc Y8 and Y16
92. anned in eight different Caltrans districts The majority of the MTLS projects were to generate pavement Digital Terrain Model DTM MTLS projects included rural and urban multi lane divided highways rural undivided highways bridges and tunnels Two MTLS projects data were used in AHMCT research projects for the Caltrans Division of Maintenance Northern California districts 1 2 3 amp 4 are the primary users They have performed work for other Caltrans districts including 6 9 10 and 11 The Caltrans Office of Photogrammetry OoP in Headquarters has been performing feature extraction for some of the data collected by the MTLS system Table 4 1 Caltrans MTLS deployment statistics MTLS Project statisties S o centerline miles scanned Caltrans Division of Maintenance Number of MAIT projects Number of bridge clearance projects Bo Number of projects for outdoor advertisement PB 16 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure 4 1 MTLS deployment at HWY 580 in District 4 Urban multi lane highway 240 229 25 220 200 180 160 140 120 100 80 69 3 60 513 40 33 7 Total Scanned Centerline Miles 20 16 14 z 15 MERE sooo 1 2 3 4 5 6 7 8 9 10 11 12 Caltrans District Figure 4 2 Number of highway miles scanned in each Caltrans district 17
93. area has no LiDAR uem and the red area represents the wet asphalt Rd s DEN aia Mise Figure C 6 Right Sene black area has no LiDAR return and the red area PESU the wet asphalt 91 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Run 2 Result Figure C 7 Front Center Camera view LIS dog dut UEM Figure C 9 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 92 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Run 3 Result Figure C 10 Front Center Camera view A ES ieee sA rn qe Mu IS mi Figure C 11 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt Bie apse Bert ea Figure C 12 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 93 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Run 4 Result After 4 min drying time APER Lac A NE siio rei Aida b ddl iu t e eus Figure C 14 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt the wet asphalt 94 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial L
94. aser Scanning Workflow Development Technical Support and Evaluation Run 5 Result Figure C 17 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt 2 Stc uten da i sip ae high BF e ree ie E ere 3 Co ELLA ORA Figure C 18 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 95 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Run 6 Result Figure C 20 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt E XE x ie Sane a poke Ev SIE NI i oy mode Rud d c La k s A th jen pays d BUR M S A iO oe a Er SIE EH UR she ERARE ERE aN 231 APER MUS Eat La uo Figure C 21 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 96 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Run 7 Result Figure C 23 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt Figure C 24 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 97 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Conclus
95. ata sets These can lead to challenges in storage transfer processing and distribution of data sets Traditional approaches use a single server for storage network transfer to users and processing on a single high end workstation The large storage demand will quickly exceed the storage capacity of a single file server or storage array The growth rate of the data will also outpace current trends in storage technology 42 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation advances Caltrans will have to store manage and distribute data to stakeholders Currently geo spatial data are stored at various locations with different portals for information access A central temporal geo spatial information clearinghouse will greatly simplify and improve data access for users and consequently will result in timely and data driven decision making For example Caltrans Division of Maintenance can use the data to plan and schedule maintenance activities and develop budget justifications Data Storage requirement for MTLS and other geo spatial data Data growth is the rate at which MTLS data is collected and post processed The system collects GNSS IMU data seven 5 MP images at as little as four meter intervals and laser scanners LiDAR output data The MTLS sensor data rates are listed in Table 7 1 GNSS IMU data is collected at a fixed time rate throughout th
96. ator can check camera internal temperature with Internet Explorer Camera web addresses are stored in O O O O the bookmarks e Vehicle speed photo spacing scan rate rotations per second measurement rate pulses per second and first or last return selection o Scan line spacing and points per square meter requirement o Vehicle speeds are generally limited by the need to have dense scan of targets to accurately acquire target positions from scan e Refer to Caltrans Survey Manual Chapter 15 for further information 55 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure A 5 CHP and shadow vehicle rolling traffic break Table A 1 Scan line spacing vs vehicle speed and scan rate Vehicle Speed Scan line spacing 100 Hz Scan line spacing 150 Hz Scan line spacing 200 Hz MPH scan rate ft scan rate ft scan rate ft 0 293 0 196 0 147 0 440 0 293 0 220 40s 0 587 0 391 0 293 0 733 0 488 0 367 1 60 0 880 0 587 0 440 12 11 10 9 8 o0 7 S 6 100Hz Scan Rate o 5 5 150Hz Scan Rate c S 4 t 200Hz Scan Rate 3 2 1 0 5 10 15 20 25 30 35 40 45 50 55 60 65 Vehicle Speed mph Figure A 6 Scan line spacing vs vehicle speed and scan rate 56 Copyright 2015 AHMCT Research Center UC Davis
97. aves where there is a period of inactivity in scanning followed by a large number of projects scanned in a month Figures 4 2 4 3 and 4 4 18 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation showed that the MTLS system was well utilized However there is room to increase the system utilization for more MTLS projects The current limit on carrying out MTLS projects is the lack of trained personnel for data collection data post processing and feature extraction Feature extraction is comparatively the most time consuming Increasing the number of trained personnel will be the key to increase MTLS system utilization and the return on investment ROI Thus conducting training for central and southern California district surveyors to perform MTLS projects is a logical next step MTLS has significantly reduced lead time and cost as well as improving worker safety Figure 4 6 Caltrans MTLS system vehicle scanning on the new San Francisco Oakland Bay Bridge before the bridge opening 19 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure 4 7 Caltrans MTLS system vehicle on the new San Francisco Oakland Bay Bridge during night time scanning before the bridge opening Figure 4 8 Inside Caltrans MTLS system vehicle during a night time scanning o
98. ay Bridge Toll Plaza 2 Figure 1 2 Caltrans MTLS system scan data at HWY 20 Yuba County eerie eee ee esee ente sten tn seta tuse ta suus 3 Figure 1 3 Caltrans MTLS system photo collection on HWY 580 eeeeeeeeee esee esses eese enata ense ta tuse ta suus 3 Figure 2 1 Caltrans Trimble MX8 MTLS system sensor pod and DMI 4 eee cete eese eese ee seen stie stato nato 6 Figure 2 2 Caltrans Trimble MX8 MTLS system sensor pod front view eere cesses eene eene ee ette setas nato 6 Figure 2 3 MX8 user interface dual monitors keyboard and trackball mounted next to the driver 7 Figure 2 4 MX8 computer rack mounted at the vehicle rear 4 eere eee eee eese esee e eene neta senta atentos eta su seta suus 7 Figure 2 5 Extra battery and battery isolators with circuit breakers added in the engine compartment 8 Figure 2 6 Front passenger seat modification eere eee eee esee eee eene tesis tn stata sets tn seta sone ta sonata ses tn sete sonata suu Figure 2 7 Cracks developed at the front roof rack mounts eese eee eee eerte eene tete tn stata sten tuse ta sone ta an Figure 2 8 Custom roof rack made by mechanics at ESC eere eee ee etes eese nete sene tn stes tn seen snae ta tune ta sn Figure 2 9 Liquid droplet found inside the laser scanner head Figure 3 1 MTLS field
99. cedures isscccssscescecisstcstsocccsvscsnssevessosescendedeusesdeosvcsscnsheucsssensssesssoustesseasessoneesssseseees 58 System Shutdown Procedure si sscssscssesssssecssssonscsossssecvessbessosdessesacsesessseesssesacdenssnsetssesasssonsessecssesases 79 D ta Transter Pe 80 Uninstalling and Installing DMI eese eee ee ee ee eee eee ee sten aestas etta etna esten sese eae tese se sa aee saaa 82 DMI Calibration 4 cesses eese eene rossore ense sesso sses Saso aspie s Soia snae tastes sone orsa 85 Laser Alignment Calibration ccccsccssccssssssacsscsssssstesesecsesossesstesvencsonsastesseseonesssnesesssesssucsssvnsestesesens 85 Tool List for Caltrans MX8 System Vehicle Maintenance eee e ecce eese eee eee ee seen ae eenas 86 Appendix B Caltrans Trimble MX8 Vehicle Checklist Version 1 09 87 Appendix C Caltrans MTLS system Scan on Wet Pavement Test Results 89 Wet Asphalt Scanning Performance Test Setup csscccscssssscssscssccessssscscsssessssscesssesssssessees 90 Scan on Wet Concrete Surface Setup ccccccsscssssscsssssssssssssssssssssssscsssssccsssssssssessssssssessssssesssssaes 99 Appendix D Photolog Code Listings uia uenerat ttt exuta eaa Hu EE etienne viros 105 Iura Viewer COMO E 106 Code for Scripts and Utilities
100. clip name a Trimble Trident Capture for Imaging a ES File View Run Layer Configuration Capture Help woo BOs Camera Display Grasshopper GRAS 50S5C 12233653 X 307 Y 257 z File Selection and System Status nx Current drive i 1732 20 Gb Free CPU usage il 695 Clip size 0 Mb Memory usage E 8 Clip name IV Auto file incrementation System Statistics overload Click on the to select the data storage location folder and enter project date as the clip name File Selection and System Status Tab List of Devices Camera Control File Selection and System Status System States a x GPS PPS state Connected GPS Port Com6 115200 NMEA 0 00 Hz 0 00 kb s Server Port 5555 L ContrastStretch Icon Figure A 25 Trimble Trident Capture for Imaging Server user interface The operator should refer to the Trident manual and the MX8 training video for details 71 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Camera Control and Image Capture Methods Image capturing may be triggered based on distance by default or time In time based image capturing mode images are recorded based on a fixed time interval This is not recommended unless both DMI and GPS are not available or in camera testing In trigger mode distance based images are recor
101. collection As a result it also reduces surveyors exposure to the traffic and other road hazards as well as any traffic delay due to lane closure One unanticipated positive outcome of owning an MTLS system is remarkable reduction in the lead time for geo spatial data collection and delivery to designers and decision makers Shortened lead time cuts cost Contracting out for MTLS services usually incurs long lead for the contracting process and traditional surveys are comparatively slower and require numerous trips to the field Depending on the project site location travel to the field can be a significant time and cost overhead For instance CHP Multidisciplinary Accident Investigation Teams MAIT requested point cloud scan of three major accident investigation sites in District 2 The data were vital to conduct in depth investigations and analyses of major traffic collisions The uncontrolled MTLS point cloud data for each site was collected and processed in under 40 man hours and delivered within a couple of weeks Furthermore the MTLS system was able to scan the entire new San Francisco Oakland Bay Bridge immediately after completion and a few hours before the public grand opening event The MTLS system provided the high resolution scan of the as built structure vital to future maintenance and modification 39 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Eva
102. concrete surface is relatively dry and vehicle is closer to concrete Figure C 38 Left Scanner black area has no LiDAR return and the red area represents the wet concrete Figure C 39 Right Scanner black area has no LiDAR return and the red area represents the wet concrete 103 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Conclusions for Wet Concrete Run 11 and 12 data show that the laser scanner can detect laser return reliably from wet concrete pavement of the adjacent lane with the exception of an area with a puddle of water Run 13 and 14 results show that as the incident angle increases the scanner is unable to detect the laser return on the wet concrete surface Wet concrete surface degrade the laser scanner performance although not as much as wet asphalt surface as expected The laser scanner can effectively scan the vehicle travel lane and the adjacent lane if pavement is allowed to dry so that there is no visible puddle of water accumulated on the surface 104 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation APPENDIX D PHOTOLOG CODE LISTINGS The various photolog code listings are provided in this appendix They are divided into two sections e the code needed to support photolog viewing e and the code for scripts and
103. cript code for the slideshow viewer slideshow js is provided in Appendix D The actual photolog viewer web page is dynamically generated by PHP code The listing for the code slideshow php is provided in Appendix D This PHP code is driven by a MySQL database Generation of this database is described in a subsequent section This database named piwigo has two tables relevant to the photolog viewer The first table sessions is used to select photolog sessions Its fields are shown in Table 6 1 The second table photolog contains the detailed photolog information for each image Its fields are shown in Table 6 2 Table 6 1 Fields for photolog viewer database table sessions Field Description Id ID number of the session sessionName Searchable description of the session including the scan vehicle ID scan location route number date and scan number sessionDescription Text description of the session including scan location route number date and scan number Appears in photolog selection dropdown list Table 6 2 Fields for photolog viewer database table photolog Field Description Idx Index number to keep track of the order of the images sessionID Link to the corresponding session Id direction Two letter identifier to denote which camera the image corresponds to E g FC for front center latitude
104. cssnseseetesesesesdensseesesssescssnsseessasesenssseses 30 Input Data Requirement iiiscsescssessesissesootssves sosdssessecoacsosesoasvoes soseseossecvesonsusessecsesssedsodsssecssecas vest Uu 35 Utilities and Workflow to Convert MTLS Data to Photolog ecce ecce eene eene eene 36 Chapter 7 MILS Impact Study siescsisssssicvessstnssesdeascvecsusnsbusscsbavensatesouesaseasnsdanasoussesbevnsvadeavesses 39 ii Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Beneficial iine ce PP 39 Institutional Challenges er 40 Data Management Challenges ssssssscsssssssssscssssssssssssesccsssescsssesssescssessssssesssscssssscsesessssssessoass 42 Chapter 8 Conclusions and Future Research eee eee e eee e eee eee eene eene eee tn ener tn seen 47 Recommendations and Lesson Learned Summaary e eee eee ee eee esee ee eese en sette se taaseenus 48 Future ird 49 Referentes c nnns epa ex UR QU COUR PUR T ARGH OP a ed pa v dp RANK REDE et OO EXER 51 Appendix A Caltrans Trimble MX8 Operation Manual c eeeee eee eere ee eee n nen 52 Caltrans Trimble MX8 MTLS System Description e ssesssesssecesecesecesocesocesocesocssocssoossoosesosssossse 52 MFLS Mission PT PRSE 55 MX8 Startup Pro
105. ction FC Sresult mysql query query row mysql fetch row result Scount Srow 0 gt lt SCRIPT type text javascript gt SLIDESLT new slideshow SLIDESLT lt php Sdirection FL Squery SELECT image FROM photolog WHERE sessionId Ssess AND direction FL Sresult mysql query query for Sindex 0 Sindex lt Scount Sindex t Simage mysql result result S index image echo SLIDESLT add_slide new slide Sdir Sdirection Simage Slinkdir Sdirection Simage n SLIDESCT new slideshow SLIDESCT 123 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation lt php Sdirection FC Squery SELECT image FROM photolog WHERE sessionId Ssess AND direction FC Sresult mysql query query for Sindex 0 Sindex lt Scount Sindex t Simage mysql result result i ndex image echo SL DESCT add slide new slide S dir direction S image inkdir S direction image n gt SLIDESRT new slideshow SLIDESRT lt php Sdirection FR Squery SELECT image FROM photol direction FR Sresult mysql
106. ctory Trimble Trident Capture software stores the collected data in various locations The majority of the data are stored in the project directory set up by the user on D and E drives on both server and client computer For example the image data are stored in AVI files with the corresponding gps file that stores the image geolocations and metadata the laser scanner data is stored in LAS 2 0 files in the project directory The gps file stores the data collection vehicle path A Create a new project folder inside the server computer d WProjectData directory following the project naming convention Project naming methods a Postmiles PM rounded to full mile no decimals b CoRte PM Beg PM End YearMonthDay controlled or uncontrolled c 20r3 digits3 digits 3 digits 3 digits 4 digits2 digits2 digits C or U 65 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation d For example ALA080_001 010_20121217U and SJ580_000 005_20130128C ALA County 80 Route 001 begin PM 010 end PM 20121217 Date U Uncontrolled and C controlled B Create a new folder with name based on the data collection date inside the newly created project directory from Step 11A C Create another folder inside the folder created in Step 11B with name based on the data collection date This step is required because of a software bug feature Example of r
107. d crew of surveyors would operate the MTLS system and collect data for the districts The collected data would be post processed by the MTLS crew and the feature extraction could be carried out by individual district surveyors or the MTLS crew The advantages of the centralized approach are 1 A specialized MTLS crew can stay current and maintain competent skills by constantly performing MTLS projects It should be easier for a centralized crew to keep current than it 1s for districts who will have less frequent use of the MTLS system under any near term model 40 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 2 The MTLS vehicle scheduling and maintenance are coordinated by one crew 3 Caltrans districts are not required to retain and support a specialized MTLS surveyor crew in their own district A centralized approach will have to be carefully planned and executed If not centralization at either the Headquarters or regional level could impact Caltrans ability to meet project delivery schedules It could create a bottle neck in delivery of data for feature extraction or delays in data collection of other projects Some portions of the MTLS workflow will make sense to centralize while others will not The balance between centralized and distributed approaches will evolve depending on future procurement In addition some change is required t
108. d lead time from data requested to data delivery 3 Reduced survey time and cost 4 Reduced number of return site visits to collect additional data 5 Reduced travel delay to general public 6 Provides high resolution 3D virtual reality data for public outreach related to project design and delivery 7 Enables Caltrans to do more geo spatial data collection such as asset management by Federally mandated MAP 21 8 MTLS enables cost effective means to collect necessary data for data driven decision making processes as well as asset condition assessment data for accurate and genuine performance measure MTLS collects large point cloud and imagery data sets Caltrans will have to store manage and distribute data to stakeholders The large data storage demand will exceed the storage capacity of a single file server or storage array Furthermore other geo spatial data sets are stored at various locations with different portals for information access A central temporal geo spatial information clearinghouse will greatly simplify and improve data access for users and consequently will result in timely and data driven decision making The large data transfer will put a significant load on the existing network that may negatively impact other Caltrans IT services The immediate IT challenge will be developing and deploying a system for storing managing and distributing MTLS and other temporal geo spatial data for Caltrans and the public while minimi
109. ded at a fixed distance set by the program This is the recommended method for highway surveys The user may choose to use the DMI or GPS as the source of distance trigger DMI provides a more accurate distance measure compared to GPS Typical photo distances are 3 m for city slow speed and 4 m for highway high speed The camera trigger capture setting is shown in Figure A 30 The maximum camera frame rate in trigger mode is 12 frames per second fps and the maximum camera frame rate in free mode is about 15 fps Thus the camera may be unable to keep up if the trigger distance is set too small for the driving speed For reference 8 0467 m is 1 200 of a mile or 0 005 miles Generally the shutter and gain are set to automatic and the exposure is adjusted to user preference However automatic adjustment does not work well if the vehicle is driving in and out of shadows regularly In this case setting the shutter and gain manually would produce better results In addition manual setting should be used when capturing images in tunnels The user should drive one pass with camera setting for lighting condition outside the tunnel and drive another pass with camera setting for lighting condition inside the tunnel The Contrast Stretch Gamma setting should be set to 1 as shown in Figure A 31 The user may choose to record images in AVI or JPEG files AVI file format is recommended for ease of file transfer as well as to reduce the number of files as
110. dge of the MTLS system operation and its requirements downloading of data from MTLS system Have in depth knowledge of the project site and project limits and perform project planning activities such as target layout and setting targets Post process GNSS IMU data from mobile laser scanning system to produce best estimate vehicle trajectories using Applanix POSPac MMS software This duty also includes performing QA QC checks on the resulting data to ensure the project accuracy requirements are met In addition it includes downloading GNSS base station data from various public and private GNSS base station networks as well as uncompressing and converting the base station files to RINEX files Perform target registration and QA QC check of point cloud data against local controls Utilize a variety of software packages to extract DTM and other survey features and data from point cloud data This duty also includes exporting and importing point cloud and extracted survey data from one software package to another These software packages includes Trimble Trident 3D Analyst Virtual Geomatics software suite Civil 3D CAiCE TopoDOT Cyclone PolyWorks and MicroStation Perform other survey functions as assigned such as clearing brush while using an axe brush hook or machete and cleaning stocking and inventorying equipment and supplies Read and interpret right of way maps construction plans survey notes conveyance documents and other relevant
111. discrepancies and errors on highway construction plans and communicate them to the supervisor party chief PUBLIC AND INTERNAL CONTACTS The incumbent is often in contact with project engineers and resident engineers therefore documenting the conversations and following through with requests is essential Interaction between the survey field office and other public agencies may be required Contact with consultant surveying and engineering firms and the general public may be required The incumbent must work effectively with others and must always communicate in a polite manner orally and in writing PHYSICAL MENTAL AND EMOTIONAL REQUIREMENTS The incumbent must have the ability to multi task adapt to changes in priorities and complete tasks or projects with short notice The incumbent must be able to develop and maintain cooperative working relations with other field crew personnel WORK ENVIRONMENT The incumbent may be exposed to adverse conditions that may include but are not limited to extreme weather conditions rough terrain great heights poison oak insect bites and or bee stings loud noises dust fast moving traffic and chemicals Rotational assignments may also be required between various field crews and Surveys Field Offices MINIMUM QUALIFICATIONS e Six years of progressive experience in land surveying Possession of a valid LSIT Land Surveyor in Training may be substituted for two years of experience e Posses
112. e Graphics Repository but we extracted it saveButton new JButton Save a File createlImageIcon images Savel6 gif saveButton addActionListener this rrom Po rrom the the JLF j rj W X rrom po rrom the the JLF jar For layout purposes put the buttons in a separate panel JPanel buttonPanel new JPanel use FlowLayout buttonPanel add openButton buttonPanel add saveButton Add the buttons and the log to this panel add buttonPanel BorderLayout PAGE START add logScrollPane BorderLayout CENTER JPanel panel new JPanel panel setLayout new BorderLayout 10 10 JPanel textPanel new JPanel new GridLayout 0 1 JPanel textFieldPanel new JPanel new GridLayout 0 1 panel add milepostField BorderLayout CENTER panel add countyField BorderLayout CENTER panel add textPanel BorderLayout CENTER panel add textFieldPanel BorderLayout WEST panel setBorder BorderFactory createEmptyBorder 10 10 10 10 add panel public void actionPerformed ActionEvent e Handle open button action if e getSource openButton int returnVal fc showOpenDialog ExifWriter this 150 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scann
113. e Four different target shapes were used in various projects chevron square rectangle and cross as shown in Figures 5 9 and 5 10 The target size must be sufficiently large to collect 25 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation enough laser scan points on the target to accurately determine its location Each target shape s advantages and disadvantages are listed in detail in Table 5 1 Figure 5 9 Cross target on the left and reflective temporary striping tape square target on the right Figure 5 10 Example ground control targets located on the road shoulder Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Table 5 1 Registration target shape and size used in MTLS projects Target Shape Size Pro Com 12 x 12 or Auto detection works well Wide shoulder required 24 x 24 8 x18 Auto detection works well works Less points per target well in narrow hard shoulder Chevron two 4 x18 Easy manual target extraction Manual target extraction strip target point well defined required Cross 18 x18 Used in aerial targets Doesn t work well with either manual or automatic extraction Chevron targets are well suited for manual target extraction the surveyed point on the target is comparatively easily to visually ident
114. e destination directory Once you select the directory the file will be compressed and saved under the original file name but with the laz extension When you click on Unzip a LAZ File you will then see a dialog box allowing you to pick the input file Once you have done that you ll then see a dialog box allowing you to pick the 157 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation destination directory Once you select the directory the file will be uncompressed and saved under the original file name but with the las extension When you click on Zip a Directory of LAS files you will then see a dialog box allowing you to pick the source directory Once you ve done that you ll see a dialog box allowing you to pick the destination directory Once you select the directory the files will be compressed and saved under the original names but with the laz extension When you click on Unzip a Directory of LAZ Files you will then see a dialog box allowing you to pick the source directory Once you ve done that you ll see a dialog box allowing you to pick the destination directory Once you select the directory the files will be uncompressed and saved under the original names but with the las extension These four capabilities represent the complete set of functions provided by LAS archive tool Note that the underlying program LASzip has
115. e duration of the project data collection The LiDAR data is collected at a fixed time rate only in the area of interest chosen by the MTLS operator The photolog images are collected at fixed distance spacing in the area of interest controlled by the MTLS operator The data rate per mile of highway will depend on the vehicle speed and number of passes The number of passes required depends on the number of lanes and project requirements Typically two passes for each travel direction is adequate when the number of lanes is less than 2 or 3 A higher number of passes may be needed for more lanes on ramps and off ramps and intersections If we assume three passes at 30 MPH vehicle speed the data collected is about 46 GB mile Gigabytes mile Thus we used an estimate of 50 GB per highway mile which in includes post processed data and post processed data export e g LAS and JPEG files for data velocity and volume calculations for data storage requirements estimation The 50 GB per highway mile storage requirement does not include intersections on ramps and off ramps Table 7 1 Data rate of MTLS sensors Data Description Data Rate GNSS IMU raw and post processed data 1 GB hour Raw AVI files and JPG export The limiting factor for the amount of data collected per month is personnel availability for collecting and processing the data and MTLS application Based on the figures shown in Chapter 4 the current MTLS data growth rate is 2 5 TB
116. e essen enses testatus ta sons th sesta stesso Seona sens tasses suse saost Sote 94 Figure C 14 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt 94 vii Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure C 15 Figure C 16 Figure C 17 Figure C 18 Figure C 19 Figure C 20 Figure C 21 Figure C 22 Figure C 23 Figure C 24 Figure C 25 Figure C 26 Figure C 27 Figure C 28 Figure C 29 Figure C 30 Figure C 31 Figure C 32 Figure C 33 Figure C 34 Figure C 35 Figure C 36 Figure C 37 Figure C 38 Figure C 39 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 94 Front Center Camera view scssscsssssssssssscssccssscssssnccssccsecssccsscssscssscssssssssesesesecenecssessscssocssesssesesees 95 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt 95 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 95 Front Center Camera view eeeeeee eese ee sees esee ette setas tasa toss tone ease tas etas e ease ease te sete sete sense sees seas e eaae 96 Left Scanner black area has no LiDAR return and the red area represents the wet asphalt 96 Right Scanner black area has no LiDAR return and the red area represents the wet asphalt 96 Front
117. eable Image File format EXIF information stored in the image files is contained in the DBF file exported from the MTLS data Each set of images one set for each camera used should include its own DBF file Each row one for each image in the DBF file should contain the information fields shown in Table 6 3 Here negative values for longitude indicate a west longitude negative values for roll indicate roll toward the driver s side and positive values for pitch indicate pitch toward the rear of the vehicle 35 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Table 6 3 DBF fields required for each set of MTLS images Field Description Example Image The image file name The letters denote the FR_00004_00000 jpg camera e g FR is front right The first set of numbers comes from the GPS distance 4 m and the second set of numbers is a counter index X Longitude 120 43845037 Y Latitude 39 31690181 Z Altitude in meters WGS84 Ellipsoid height 1860 9 Dist Distance from start of scan in meters 8 14 GPSTime GPS time in seconds 82186 35 GPSDate GPS date 20121114 GPSDateTime GPS date time 41227 951230845 GPSDist GPS distance from scan start in meters 4 000480175 Heading Vehicle heading in degrees 99 89 Roll Vehicle roll in degrees 2 24 Pitch Vehicle pitch in degrees 2 09 HDOP Horizontal Dilution
118. eat true Number of 1 preload all name e last slide should we loop around to start the images to pre fetch images 0 load each image is it is used n pre fetch n images ahead of the current image recommend prel oading all images unless you have large images or a large amount of images this prefetch 5 For exampl this image ID of a DI le MAGE element on your HTML page document images SLIDES1IMG For examp Note after you set this variable you should call le the update V element on your HTML page that will contain the text slides2text method to update the slideshow display 108 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation this textid TEXTAREA element on your HTML page For example document SLIDESl1FORM SLIDESITEXT This is a depracated method for displaying the text but you might want to supply it for older browsers this textarea Milliseconds to pause between slides Individual slides can override this this timeout 1000 Hook functions to be called before and after updating the slide this pre update hook function this post update hook function
119. ection to the new project database by clicking the Run Layer menu and selecting Open a Project DB as shown in Figure A 23 F After that click on the pull down W menu next to the Add DSN button and select the new project database as named in Step 10 as shown in Figure A 24 G Then click on the Next button and then the Finish button Trimble Trident Capture for Imaging ojad File View Run Layer Configuration Capture Help Create a Project DB j ER A Open a Project DB z Camera Display emove a Project DB X307Y A X Open Inventory File Selection and System Status n x Curent dive 598 30 Gb Free cPUusave ff 5 Clip size 0 Mb Memory usage i 8 Clip name Iv Auto file incrementation Statistics List of Devices Camera Control File Selection and System Status System States ax GPs 0 PPSsae Connected JJ GPS Port Com6 115200 NMEA 0 00 Hz 0 00 kb s Server 07 17 00 Starting PPS Figure A 23 Trimble Trident Capture for Imaging Server user interface Open Project Database Connection Wizard Data Source Selection sem Open Project Database Connection Wizard Data Source Selection This wizard will open a connection on a Project Database This wizard will open a connection on a Project Database A Project Database is used to store information saved during captures such as file A Project Database is
120. ed only when all Purchase Order requirements have been met any shipping damages have been corrected and all required documents are received by the Department of Transportation These documents include as applicable the invoice operator s manuals service manuals and warranty information certifications questionnaires etc Units which are not accepted by the delivery date on the Purchase Order will be considered delivered late If the supplier receives notice that the unit s is not acceptable whether written or oral the unit s shipped to the Purchase Order destination shall be removed within seven 7 calendar days If the supplier fails to remove said unit s from the State s facilities within the specified period the State may forward said unit s to the supplier by common carrier at the supplier s expense and risk Delivery Inspection delivery and final acceptance of all units on the Purchase Order shall be within 120 calendar days after the Purchase Order date 175 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation APPENDIX G MTLS PERSONNEL SKILLS DESCRIPTIONS MTLS Vehicle Driver The vehicle driver is assigned to a survey field crew under general supervision by the District Senior Transportation Surveyor This position requires paraprofessional work characterized by standard assignments performed with considerable independence Work i
121. ed slideshow save position end 117 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation this noscript function This method is not for use as part of your slideshow but you can call it to get a plain HTML version of the slideshow images and text You should copy the HTML and put it within a NOSCRIPT element to give non javascript browsers access to your slideshow information This also ensures that your slideshow text and images are indexed by search engines Shtml An Loop through all the slides in the slideshow for i20 i lt this slides length i slide this slides i Shtml lt P gt if slide link Shtml a href slide link Shtml img src slide src ALT slideshow image gt if slide link Shtml lt a gt if slide text Shtml lt BR gt n slide text Shtml lt P gt n n Make the HTML browser safe html html replace N amp g amp amp html html replace g amp lt html html replace g amp gt return pre Shtml lt pre gt Private methods 118 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Las
122. el6 gif nds JPanel implements ActionListener static private final String newline n C JButton ope JFileChoose nButton saveBu JTextArea log E Le TextField milepostField J JTextField JTextField C countyField routeField JRadioButton incButton de tton cButton protected static final Str static double milepost static int milepostSign static Stri static Stri static Stri ng county ng route static Stri public Exif ng incString ng decString Vriter f super new BorderLayout ing textFieldString Milepost Ley Increment Decrement J7 Create the log first because the action listeners need to refer to it Copyright 2015 AHMCT Research Center UC Davis 149 Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation log new JTextArea 5 20 log setMargin new Insets 5 5 5 5 log setEditable false JScrollPane logScrollPane new JScrollPane log Create a fil fc new JFil le chooser leChooser Create the open button We use the image Graphics Repository but we extracted it openButton new JButton Open Database createImagelIcon images Openl6 gif openButton addActionListener this Create the save button We use the imag
123. em cmd print Done routine to unzip a single LAZ file def unzipfile self Unzips selected file self file opt options self file opt defaultextension laz self file opt filetypes LAZ files laz all files i 1 f get filename self file opt title Select input file filename tkFileDialog askopenfilename self file opt filename string replace filename os sep if filename destdir self getDestination open file and decompress it if filename and destdir cmd fullExecPath laszip odir destdir filename 4 LER L ES i print cmd os system cmd print Done routine to zip an entire directory of LAS files def zipdirectory self Zips all files in a selected directory nun 167 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation self dir opt title Select source directory dirname tkFileDialog askdirectory self dir opt if dirname self dir opt initialdir dirname dirname string replace dirname os sep destdir self getDestination if dirname and destdir cmd fullExecPath laszip odir 4 destdir dirname os sep las print cmd os system cmd print Done routine to unzip an entire directory of LAZ files def unzipdirectory self Unzips all files in a selected directory Woy self dir op
124. ement unit IMU and possibly other sensors such as precise odometers An IMU uses a computer motion sensors accelerometers and rotation sensors gyroscopes to continuously calculate and record the position orientation and velocity direction and speed of a moving object without the need for external references Within the MTLS the IMU is used to calculate change of XYZ position and orientation roll pitch and yaw of the sensor array between GNSS observations and during periods of reduced or no GNSS reception By combining the laser range scan angle scanner position and orientation of the platform from GNSS and IMU data highly accurate XYZ coordinates of the point scanned by each laser pulse can be calculated II Mobile Terrestrial Laser Scanning MTLS System requirements A The system provider shall provide a complete integrated hardware system B The system provider shall provide software and procedures for data collection sensor alignment bore sighting raw data post processing to produce geo referenced point clouds and digital photos and specified software to extract elements from the point cloud C The above post processing shall include the ability to adjust individual and combined point clouds from different runs to local transformation points for accuracy improvement D System shall be powered by 12 volt DC from the vehicle E The size of the MTLS system sensor platform shall be small enough so that it can be mounted
125. er Scanning Workflow Development Technical Support and Evaluation this loop function This method is for internal use only This method gets called automatically by a JavaScript timeout It advances to the next slide then sets the next timeout Tf the next slide image has not completed loading yet then do not advance to the next slide yet Make sure the next slide image has finished loading if this current lt this slides length 1 next slide this slides this current 1 if next slide image complete null next slide image complete this next else we re at the last slide this next Keep playing the slideshow this play this loopback function This method is for internal use only This method gets called automatically by a JavaScript timeout It advances to the previous slide then sets the next timeout If the previous slide image has not completed loading yet then do not advance to the previous slide yet Make sure the next slide image has finished loading if this current gt 0 next slide this slides this current 1 if next slide image complete null next slide image complete this previous else we re at the first slide this previous Keep playing the slideshow this rewind this valid image function Returns 1 if a valid i
126. er range vs scan and measurement rate sss 57 Table A 3 Point spacing on a scan line at 75 meter range vs scan and measurement rate eee 57 Table A 4 Riegl VQ 450 laser scanner maximum range vs measurement rate eeeeeeee esee eese entes te tno tnn 57 ix Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation CODE LISTINGS Listing D 1 Code slideshow js to be located in var WWW slideShOW2 js s scsssssssssssscesssscescssssessesssssesssssesees Listing D 2 Code slideshow php to be located in var WWW slideShOW2 csssesssssssscssssssessssssessesssscessessesees Listing D 3 Shell script to set up session database table doSession sh eere eee eee eene tette Listing D 4 Shell script to populate photolog database table doPopulate sh Listing D 5 Shell script to set Exchangeable Image File Format EXIF data fields in JPEG images n D Ege P C 131 Listing D 6 Shell script to scale back center images bcProcess sh using convert utility from imagemagick131 Listing D 7 Shell script to scale and crop back down images bdProcess sh using convert utility from EMA SEMA SICK dress Em 132 Listing D 8 Shell script to scale and crop back left images blIProcess sh using convert utility from TMASEMABICK does M 132 Listing D 9 She
127. er seat was replaced with a custom table platform for mounting the pure sine wave inverter dual liquid crystal display LCD monitors keyboard and trackball mouse as shown in Figures 2 3 and 2 6 The table platform is integrated to the power seat mount so that the computer table can be moved up and down as well as back and forth Figure 2 6 Front passenger seat modification 6 A diamond plate built up floor was installed behind the rear seats to allow for mounting the MX8 computer rack as shown in Figure 2 4 7 A custom plastic shield was mounted on the driver s side rear door window to allow the sensor pod cable to pass through as shown in Figure 2 1 System Calibration System calibration which includes DMI calibration and laser alignment is required after the MTLS system installation DMI calibration calibrated wheel rotation to the distance travel should be performed after tire change or rotation Detailed DMI calibration procedures are provided in the Caltrans Trimble MX8 Operation Manual in Appendix A Laser alignment calibration data collection is performed after DMI calibration and as part of data collection training Detailed laser alignment calibration is provided in the Trimble MX8 manual Laser alignment is required whenever the laser s sensor is removed from the sensor pod Lessons Learned Over nineteen months of operation the system was fairly reliable There were a few problems encountered Copyright 2015 AHMCT R
128. ers Nelson Aguilar Jeremiah Bean David Brubaker Pat Crites Thomas Dale Randy Haralson James Harcharik Matthew Herbert John Lehti Mike McCalligan Robert McMillan Aaron Ott Andrew Robertson Richard Ray Carlos Sablan Eric Vance C J Vandegrift Khin Voong and Nick Zike for their valuable participation and contributions We also thank Larry Orcutt and his staff at the Caltrans Division of Equipment for their active support on the MTLS vehicle integration We also thank Tony Tavares and the Division of Maintenance for their support of this research The authors acknowledge the dedicated efforts of the AHMCT team who have made this work possible xiii Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation CHAPTER 1 INTRODUCTION Problem Mobile Terrestrial Laser Scanning MTLS can produce accurate and precise geospatial data at or near highway speeds Mobile laser scanners have been effectively used in pavement condition surveys Their transportation application however is broader and has the potential for other California Department of Transportation Caltrans applications such as rapid project delivery structure clearance preliminary investigation asset management project management as built documentation bridge rehabilitation sight distance upgrades reconstruction and repair of sound walls heaving pavement and AC leveling culverts rai
129. ery SELECT county route postmile latitude longitude altitude heading FROM photolog WHERE sessionId sess AND direction VECES Sresult mysql query query for Sindex 0 Sindex lt Scount Sindex m mysql result result Sindex county echo county S index Sm n 125 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation m mysql result result Sindex route echo route index m n m mysql result result index postmile echo postmile Sindex Sm n m mysql result result Sindex longitude echo longitude S index m n m mysql result result index latitude echo lat S index S m n m mysql result result index altitude echo alt S index Sm n Sm mysql result Sresult Sindex heading echo head Sindex mMn SCRIPT lt SCRIPT type text javascript gt for var i 0 i lt SLIDESLT slides length s SLIDESLT slides i s target ss popup s attr i blank width 1440 height 1100 resizable yes scrollbars yes for var i 0 i lt SLIDESCT slides length s SLIDESCT slides i s target ss popup Sweater i blank width 1440 height 1100 r
130. es button to shut down the laser scanners After that the Trident laser capture program can be closed i Trimble Trident Capture for Laser Scanning xs The laser should be shut down before closing the power If you re B shutting down the laser you will have to power off then power up the laser before connecting to it It is highly recommended to shutdown the laser before power off Do you want to shutdown the laser Figure A 36 Trident Capture for Laser Scanning shutdown laser interface 2 Close the Trident server application program The Trident server application program must be closed last otherwise all the client programs will crash 3 Close the Applanix software after stopping data logging Shut down the Applanix system hold down power button 5 seconds until power light goes off Perform data transfer optional as needed Shut down client computer Bottom Shut down server computer Top Shut down UPS Shut down Inverter Important to double check otherwise the aux vehicle battery will be drained 10 Shut off engine optional as needed SO pe om 11 Place lens covers on the camera lenses and install laser scanner caps 79 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Data Transfer The MXS stores the collected data on both server and client computers The server computer saves the F
131. escaling Figure 5 3 Point cloud intensity value distribution after rescaling 22 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure 5 4 Point cloud before intensity value rescaling Figure 5 5 Point cloud after intensity value rescaling Rolling Lane Closure Best Practices A rolling highway closure traffic break using California Highway Patrol CHP and or shadow vehicle See Figures 5 6 and 5 7 helps reduce data artifacts in post processing It also mitigates shadows voids in scan data points created by large trucks and buses and reduces data post processing time The CHP is very effective in providing urban multi lane rolling closure in a typical divided highway as shown in Figure 5 2 Caltrans maintenance shadow vehicles have also been used to provide rolling closure by some districts providing positive results 23 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure 5 7 Rolling lane closure using CHP and a shadow vehicle GNSS Base Station Setup Best Practices The GNSS base station should be occupying CCS83 2010 00 or 2011 00 refer to Caltrans Survey Manual and COH88 datum control point The GNSS base station should be positioned so that GNSS baseline length is kept under 10 km or 6 miles In addition it should also be
132. esearch Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 1 Original factory roof rack failure The aerodynamic load from the sensor pod yielded large pull out forces on the roof rack mounts at the front of the vehicle These large pull out forces resulted in cracks developing at the roof rack mount points as shown in Figure 2 7 The original manufacturer s roof rack was replaced with a custom roof rack as shown in Figure 2 8 made by the mechanics at the ESC The custom roof rack is attached the vehicle roof by sandwiching the thin sheet metal vehicle roof between two thick steel plates thus reducing the likelihood of tear out Figure 2 7 Cracks developed at the front roof rack mounts 10 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 171 AA rz BONES ve Figure 2 8 Custom roof rack made by mechanics at ESC 2 Alternator upgrade The original alternator was upgraded to a 250 amp alternator because the factory installed alternator does not provide adequate power to the MX8 system at engine idle 3 Lens covers Lens covers 43 mm metal screw in lens caps and 43 mm snap on lens caps were added to cover all seven camera lenses to keep the lenses clean from bugs 11 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow De
133. esents the wet concrete 99 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Run 12 Result i ta Mii Figure C 28 Front Center Camera view Figure C 29 Left Scanner black area has no LiDAR return and the red area represents the wet concrete Figure C 30 Right Scanner black area has no LiDAR return and the red area represents the wet concrete 100 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Run 13 Result Figure C 32 Left Scanner black area has no LiDAR return and the red area represents the wet concrete Figure C 33 Right Scanner black area has no LiDAR return and the red area represents the wet concrete 101 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Run 14 Result Figure C 34 Front Left Camera view Figure C 35 Left Scanner black area has no LiDAR return and the red area represents the wet concrete Figure C 36 Right Scanner black area has no LiDAR return and the red area represents the wet concrete 102 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Run 15 Results wet
134. esizable yes scrollbars yes for var i 0 i lt SLIDESRT slides length S SLIDESRT slides i s target ss popup Sacer i blank width 1440 height 1100 resizable yes scrollbars yes for var i 0 i lt SLIDESBL slides length s SLIDESBL slides i s target ss popup S attr i blank width 1440 height 1100 resizable yes scrollbars yes for var i 0 i SLIDESBC slides length S SLIDESBC slides i i 126 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation s target Satti s S popup blank width 1440 height 1100 resizable yes scrollbars yes fo r var i 0 i SLIDES S SLIDES s target Sater Ss popup BR slides i BR slides length i blank width 1440 height 1100 resizable yes scrollbars yes fo r var i 0 i lt SLIDES S SLIDES s target S2atker Ss popup BD slides i BD slides length i blank width 1440 height 1100 resizable yes scrollbars yes lt lt SCRIPT gt php Find first images q AN Sr Sb q AN Sr Sb Sq AN Sr Sb Sq
135. esulting directory structure d ProjectData SJ580_000 005_20130128C 20130128 20130128 Step 12 Set up Access database for data collection for new project only The sensor alignment data and project meta information are deposited in the project Microsoft Access database The project database may be located anywhere in the server computer However it is a good practice to store the database in the project folder A project database template is available on the server desktop folder This step is not need if data are being collected for an existing project using an existing project database A Copy project database template on the server computer to the project directory folder created in Step 11 B Rename the project database following the project naming convention C Set up Windows 7 connection to the project database on the server computer Double click on the ODBC icon on the server desktop Alternative click on Control Panel from the Start menu then search for ODBC and double click on the Setup data source ODBC as shown in Figure A 15 Ge ODBC System and Security 1 O x L lE M e Control Panel System and Security v ama ka L j Control Panel Home a Administrative Tools 7 gt Set up data sources ODBC System and Security Network and Internet Search Windows Help and Support for ODBC Hardware and Sound i Programs User Accounts and Family Safety Appearance and Personalization
136. et Calendar YEAR month gc get Calendar DATE gpsInfo setTagValue ExifGPS GPSDATESTAMP gc get Calendar YEAR month gc get Calendar DATE XMP Tags TagUtil register XMPTag class gpsInfo setTagValue XMPTag COPYRIGHTOWNERNAME California Department of Transportation gpsInfo setTagValue XMPTag COUNTRYCODE USA gpsiInfo setTagValue XMPTag COUNTRY USA O h gpsInfo setTagValue XMPTag STATE CA NOTE Using Artist for county gpsiInfo setTagValue IFDO ARTIST county county NOTE Using DocumentName for route gpsiInfo setTagValue IFDO DOCUMENTNAME route route MILEPOST gpsInfo setTagValue ExifIFD USERCOMMENT postmile postmile tool stop catch ExifError ee System out printin ExifError System out printin getMessage catch IOException ioe System out printin IOException System out println ioe getMessage catch JExifException jee System out printin JExifException jee printStackTrace idx tt 155 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation while rowObjects
137. ewind SLIDESBD previous SLIDESBD rewind lt INPUT TYPE button VALUE amp lt prev onClick 2 SLIDESLT previous SLIDESCT previous SLIDESRT previous S LIDESBR previous SLIDESBC previous SLIDESBL previous SLIDESBD pr evious gt lt INPUT TYPE button VALUE next gt onClick SLIDESLT next SLIDESCT next SLIDESRT next SLIDESBR next SLIDESBC next SLIDESBL next SLIDESBD next gt lt INPUT TYPE button VALUE 2 slower onClick timeout timeout 100 if timeout gt MAXTIMEOUT timeout MAXTIMEOUT console log timeout timeout setSlideTimeout timeout gt lt INPUT TYPE button VALUE 2 faster 128 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation onClick timeout timeout 100 if timeout lt MINTIMEOUT timeout MINTIMEOUT console log timeout ti meout setSlideTimeout timeout gt lt FORM gt lt form name forml gt lt label gt Year lt label gt lt input class in type text name year gt lt label gt Latitude lt label gt lt input class in type text ame latitude br abel County label input class in type text name county abel Longitude lt label gt input class in type text ame longitude br label Route lt labe
138. fc showSaveDialog Populate this if returnVal JFileChooser APPROVE OPTION File file fc getSelectedFile This is where a real application would save the file log append Saving file getName newline else line r log append Save command cancelled by us new log setCaretPosition log getDocument getLength ey Returns an Imagelcon or null if the path was invalid protected static Imagelcon createlmageIcon String path java net URL imgURL Populate class getResource path if imgURL null return new ImageIcon imgURL else System err println Couldn t find file path return null and show it Create the GUI be invoked from the event dispatching thread 27 private static void createAndShowGUI String sessionI Make sure we have nice window decorations JFrame setDefaultLookAndFeelDecorated true JDialog setDefaultLookAndFeelDecorated true Create and set up the window For thread safety this method should d 138 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation JFrame frame new JFrame Populate frame setDefaultCloseOperation JFrame EXIT ON CLOSI LH Create and set up the content pane JC
139. ficult terrain Handle brush clearing tools in heavily vegetated areas Climb slopes and hike through various types of terrain and vegetation including poison oak Identify discrepancies and errors on highway construction plans and communicate them to the supervisor party chief PUBLIC AND INTERNAL CONTACTS The incumbent is often in contact with project engineers and resident engineers therefore documenting the conversations and following through with requests is essential Interaction between the survey field office and other public agencies may be required Contact with consultant surveying and engineering firms and the general public may be required The incumbent must work effectively with others and must always communicate in a polite manner orally and in writing PHYSICAL MENTAL AND EMOTIONAL REQUIREMENTS The incumbent must have the ability to multi task adapt to changes in priorities and complete tasks or projects with short notice The incumbent must be able to develop and maintain cooperative working relations with other field crew personnel WORK ENVIRONMENT The incumbent may be exposed to adverse conditions that may include but are not limited to extreme weather conditions rough terrain great heights poison oak insect bites and or bee stings loud noises dust fast moving traffic and chemicals Rotational assignments may also be required between various field crews and Surveys Field Offices 181 Copyright 2
140. fied manifest file and it is a violation of the license agreement to distribute only one of the dlls without the others though py2exe only needs MSVCR9O dll The pertinent passage from the redist txt file is as follows For your convenience we have provided the following folders for use when redistributing VC runtime files Subject to the license terms for the software you may redistribute the folder unmodified in the application local folder as a sub folder with no change to the folder name You may also redistribute all the files dll and manifest within a folder listed below the folder for your convenience as an entire set You must make py2exe copy the three dlls and the manifest file into your project s dist directory in a subdirectory called Microsoft VC90 CRT To achieve this add a data files option to your project s setup py from glob import glob data files Microsoft VC90 CRT glob r C Program Files Microsoft Visual Studio 9 0 VC redist x86 Microsoft VC90 CRT setup 163 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation data_files data_files etc With this in place running py2exe should put the files into your dist directory dist t Microsoft VC90 CRT E Microsoft VC90 CRT manifest msvcm90 dll msvcp90 dll msver90 dll l etc Now simply copying the whole d
141. handled as a distinct 1 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation system It would be very useful to have an integrated system that would link this data together for accessing and viewing At a minimum it would be useful to have an integrated system for accessing and viewing all geospatial images Utah DOT s UPlan initiative should serve as an excellent model as Caltrans considers efforts in this area 1 Figure 1 1 Caltrans Trimble MX8 MTLS vehicle at San Francisco Oakland Bay Bridge Toll Plaza Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation GE Figure 1 2 Caltrans MTLS system scan data at HWY 20 Yuba County Front Right Camera Image Image collected at HWY580 Back Down Camera Image at Altamont Pass Figure 1 3 Caltrans MTLS system photo collection on HWY 580 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Background Funding for an MTLS system became available due to a light winter snow storm season Caltrans procured a Trimble MX8 MTLS system The objective of the research is to facilitate effective deployment of the MTLS system in Northern California in conjunction with the Caltrans Office of Land Surveys AHMCT researchers were invo
142. his slides length while i this current Display the slide this goto slide i gCount 25 gIncr 0 0003550692857 ind 0 this formUpdate function document forml year value year document forml county value county ind document forml route value route ind document forml postmile value postmile ind toFixed 2 document forml latitude value lat ind toFixed 8 document forml longitude value longitude ind toFixed 8 document forml altitude value alt ind toFixed 2 document forml heading value head ind toFixed 2 113 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation this next function f This method advances to the next slide Increment the image number if this current this slides length 1 this current t else if this repeat this current 0 this update gCount t gIncr ind 1 if ind gt lat length ind 0 this formUpdate this previous function This method goes to the previous slide Decrement the image number if this current gt 0 this current else if this repeat this current this slides length 1 this update gCount gIncr ind 1 if ind lt 0 ind lat length 1 this for
143. ial Laser Scanning Workflow Development Technical Support and Evaluation Override public final boolean isAvoided return avoided inheritDoc my Override public final boolean isUnsafe return unsafe inheritDoc Bi Override public final boolean isProtectedField return protectedField inheritDoc NU Override public final String getName return name inheritDoc EK Override public final DataType getType return type 146 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Listing D 17 Java utility for setting Exchangeable Image File Format EXIF data fields in JPEG images ExifWriter java From http java sun com docs books tutorial index html Copyright c 2006 Sun Microsystems Inc All Rights Reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met x Redistribution of source code must retain the above copyright notice this x list of conditions and the following disclaimer Redistribution 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
144. id Highway Maintenance and Lean Construction evaluated MTLS software packages investigated means for accuracy improvements in MTLS and experimentally evaluated control target spacing needs vs accuracy requirements The second project Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation is this report s project and is intended to provide research and development support for Caltrans deployment and use of MTLS in its survey operations During this research period Caltrans also produced a Decision Document entitled Mobile Terrestrial Laser Scanning System which in part led to Caltrans acquisition of the MTLS system used in these two research projects and in regular Caltrans operations As part of the larger picture Caltrans has been pursuing related efforts related to asset management upgrading their photolog collection storage and retrieval system and in pavement management systems which also include significant roadway imagery as well as ground penetrating radar For example Caltrans has developed an IT Concept Paper for photolog system replacement and has also performed an extensive internal survey related to Caltrans use of photolog imagery Caltrans is developing a statewide Transportation Asset Management Plan TAMP All of these emerging or advancing efforts are increasing the amount of geospatial data and imagery that Caltrans will need to deal with In the past each has been
145. idge Test 2013 08 21 2 SFO Bay Bridge Test 2013 08 21 3 SFO Bay Bridge Test 2013 08 21 4 SFO Bay Bridge Test 2013 08 21 5 SFO Bay Bridge Test 2013 08 21 6 SFO Bay Bridge Test 2013 08 21 7 Mendocino US101 2013 12 03 0 Mendocino US101 2013 12 03 1 Figure 6 4 Photolog select dropdown list This represents the extent features and use of the photolog viewer from the user perspective Photolog Viewer Internal Details While the photolog viewer is intentionally quite simple from the user perspective the internal details are much more involved These details are documented here both for Caltrans information and as an internal record for AHMCT researchers Code is provided in Appendix D The server must be running the apache web server configured to support PHP and JavaScript web scripting languages The server must also be running the mysql database server The photolog server system has only been tested on a server running Linux however it should be possible to run the photolog viewer on other operating systems as the noted prerequisites are available The photolog viewer is based on a JavaScript slideshow viewer developed by Patrick Fitzgerald found at http slideshow barelyfitz com 33 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation The slideshow viewer was extended to allow multiple simultaneous images The JavaS
146. ientation information are stored in SHP DAT TXT and TopoDOT survey files All data field export options under Fields should be checked before exporting the JPG files Io Image Converter i Options Fields Export Options Parameters DAT Bos SHP Rectification IE TopoDOT Rotation E E D let pave test05092014ljpg export Browse meter s TC Folder DAT TXT SHP Incremental Figure 5 13 Trident Image Converter export options recommendations DAT TXT SHP TopoDOT options checked 4 Any project deliverable files 5 Optional Cyclone PolyWorks TopoDOT RealWorks etc files from LAS or TXT import 29 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation CHAPTER 6 PHOTOLOG VIEWER Overview With its imaging capabilities it is possible to use the MTLS system to provide photolog capabilities for scanned areas To investigate the technical feasibility and requirements for using MTLS to provide photologs AHMCT developed utilities and a web based viewer prototype for photologs This system is currently available for Caltrans use and evaluation As of this writing 19 data sets have been converted from raw MTLS data imagery location etc into viewable photologs This chapter provides the details of the viewer prototype the input data requirements and the utilities and workflows used to perform the conversion Appendix D
147. ify and extract manually However manual target extraction is very time consuming and labor intensive work On the other hand square or rectangular targets work well with built in auto extraction techniques in Trident software Cross targets are difficult to extract automatically or manually Cross targets are not being used in recent projects Caltrans surveyors experienced the best outcome from square and rectangular targets in recent projects using the Trident software automatic target extraction routine Target material Targets must have high reflectivity to foster identification and extraction from the point cloud Three different high reflectivity marking materials were used for target marking white striping paint with glass beads reflective tape and thermoplastic marking material used in lane stripes Templates are used for marking the target s center Generally reflective tape targets are used in specific case where the stakeholders prefer that all target marking be removed after MTLS survey For example reflective tape targets were used in the new San Francisco Oakland Bay Bridge MTLS project where the customer Bay Area Transportation Authority BATA did not want any paint marking left behind after the survey Table 5 2 High reflectivity target materials for MTLS projects Target Shape Thermoplastic 4 x36 Semi permanent high Difficult to remove limited marking for 4 x18 with reflectivity long life size and shape selection
148. ile corruption and the Applanix does not store a data backup copy in its internal storage with this option Logging GNSS and IMU data A Launch the POSPac LV program by double clicking on the program icon located on the desktop B Click on the Connect icon to connect to the Applanix system as shown in Figure A 11 The Applanix IP address should be 192 168 0 100 62 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation C Click on Removable drive data logging under the Logging menu The Removable drive logging option saves the data in the Applanix USB drive as well as internal flash storage The Applanix system internal flash storage data may be downloaded via FTP to 192 168 0 100 username guest password applanix D Input the log file name The file name should include the date of the data collection E Click on the POSPac logging button shown in Figure A 12 Change Group 1 Output Rate to 1 Hz from the default 200 Hz G Click on Start Logging icon DO NOT START LOGGING until the GNSS solution is available and the vehicle has been driven with the Applanix system on for at least 5 minutes The logging status should change to Writing instead of Idle H Before commencing scanner passes park in a safe location near a GNSS project control station that is logging 1 Hz data and perform a 5 minute static GNSS
149. ing Workflow Development Technical Support and Evaluation if returnVal File file This is where log append Opening H dbfread fil else log append Open JFileChooser APPROVE OPT fc getSelectedFile a real ON application would open the file Me newlin fil getParent getNam fm command cancelled by I file getName user newline log setCaretPosition log getDocument getLength Handle save button action else if e getSource saveButton int returnVal fc showSaveDialog ExifWriter this if returnVal JFileChooser APPROVE OPTION File file fc getSelectedFile This is where a real application would save the file log append Saving file getName newline else log append Save command cancelled by user newline log setCaretPosition log getDocument getLength Returns an ImageIcon protected static Imagelcon createImage java net URL imgURL if imgURL null return new ImageIcon imgURL else System err println Couldn t find file return null Create the GUI be and show it or null if the path was invalid con String path ExifWriter class getResource path For
150. ion shall be IEC CDRH Class 1 eye safe IV Digital camera requirements A B The digital camera sensor resolution shall be 4 megapixel or more The digital camera shall have a maximum frame rate of 3 frames second or more V Position and Orientation System POS GNSS IMU DMI The POS providing accurate continuous vehicle position and orientation for the MTLS system shall have one or more of each of the following components subsystems GNSS receiver s Inertial Measurement Unit s IMU and Distance Measuring Indicator s DMI A GNSS receiver s requirements B a GLONASS capable Capable of recording GPS L1 L2 L2C L5 frequency raw signal data 12 channel or more Raw GNSS data update rate 2 Hz or faster GNSS system shall have a GPS Azimuth Measurement System GAMS such as the Applanix POS LV 520 eo Aes Inertial Measurement Unit IMU requirements a The IMU shall not be subject to International Traffic in Arms Regulations ITAR b IMU Update rate 200 Hz or faster The IMU shall have a gyro bias of 0 1 degree hour or less d The IMU Random Walk noise shall be 0 02 degree sqrt hour or less G 172 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation C Distance Measuring Indicator DMI requirements a The DMI shall have an angular resolution of 0 1 degrees or less VI Data Acquisition Software and Data Sto
151. ions for Wet Asphalt Run 0 data shows that the laser scanner can detect laser return reliably from wet asphalt pavement area a lane width of the vehicle travel directly under the laser scanner However as the incident angle increases the scanner is unable to detect the laser return As the pavement dries the scanner performance improves The laser scanner can detect the majority of returns from the adjacent lane as shown in Figure C 23 and C 24 of Run 7 Wet asphalt surface degrades the laser scanner performance as expected However the laser scanner can reliably scan the vehicle travel lane The laser scanner can effectively scan the adjacent lane if the pavement is allowed to dry so that there is no visible puddle of water accumulated on the surface 98 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Scan on Wet Concrete Surface Setup Run 11 to 15 collected point clouds on a concrete surface as it dried by sunlight and ambient air The vehicle path moved further and further away from the wet concrete surface from Run 11 to 14 Run 15 traveled next to the concrete surface Run 11 Results Just after wetting the concrete surface with water puddle Figure C 26 Left Scanner black area has no LiDAR return and the red area represents the wet concrete Figure C 27 Right Scanner black area has no LiDAR return and the red area repr
152. ist directory to your users machines should now allow your application to run even on machines that don t have their own copy of the C runtime Note that this method of including the C runtime is used by several Visual C applications if you search your Program Files folder for msvcr90 dll you may find several applications that have this DLL and the associated manifest bundled alongside their executable like this Also note that despite all the above py2exe will complain that it cannot find MSVCP90 dll You must edit your setup py to add the path to the dlls to the sys path e g sys path append C WProgram Files Microsoft Visual Studio 9 O VC redist x86 Microsoft VC90 CRT 5 2 1 1 win32ui special case win32ui needs MFC DLLs to run exe see Py2exeAndWin32ui for extra information 164 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 5 2 2 Running the redistributable C runtime installer If you don t have rights to redistribute MSVCR90 dll then your users may install it on their machines by running the Microsoft Visual C 2008 Redistributable Package vcredist_x86 exe It is important not to use the SP1 version of this installer which contains the wrong version of MSVCR90 dll Either you can instruct your users to download and run this themselves or you could create an installer for your application see step 6 below that includes
153. l sessionl sessionl sessionl sessionl d sess d sess d sess d sess d sess d sess d sess Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Sresult mysql query query Sfrimage mysql result gt lt head gt lt body onLoad SLIDE 05 result 0 image LT update Jg H update SL iSBC update lt P gt lt php Image placeh olders wit 05 DESBL SLIDESCT update SLIDESRT update SL SLIDESBR update SLIDESBD update gt h first images echo lt A HREF javascript SLIDESLT hotlink IMG name SLIDESIMGLT src dir FL Sf lImage al height 384 gt lt A gt name SLIDESIMG A HREF j QT sre 5 t Slideshow image width 369 avascript SLIDESCT hotlink gt lt IMG dir FC SfcImage alt Slideshow image
154. l gt input class in type text name route gt label Altitude lt label gt input class in type text name altitude br label Postmile lt label gt input class in type text name postmile gt lt label gt Heading lt label gt lt input class in type text name heading gt lt br gt OAA label for session gt lt label gt lt select id session name session gt lt php Squery SELECT FROM sessions Sresult mysql_query query while row mysql fetch array result Sid Srow Id Sdesc S row sessionDescription echo lt option value Sid gt Sdesc lt option gt lt select gt lt INPUT TYPE button VALUE Submit onClick var e document getElementById session var strUser e options e selectedIndex value window open slideshow php id strUser self lt form gt lt php Image placeholders with first images echo lt A HREF javascript SLIDESBR hotlink IMG name SLIDESIMGBR src Sdir BR Sbrimage alt Slideshow image width 369 height 384 gt lt A gt lt A HREF javascript SLIDESBC hotlink IMG name SLIDESIMGBC src S dir BC SbcImage alt Slideshow image width 459 height 384 gt lt A gt lt A HREF javascript S
155. le pl sessionID 3 Generate EXIF data once each set of images in mtlsEval exifSet JdoExif sh select dbf files NOTE expect multiple warnings on this Be assured it is working 4 Delete auto generated backup jpg_ original files 5 Keep original full size photos 6 Scale photos automatic in Gimp or Photoshop all to 612 w x 512h recommended approach is bash scripts in the full size folders e g mtlsEval photologs scripts bcProcess sh scaling and cropping combined results end up in directory processed Requires imagemagick be installed on system Photoshop File Scripts Image Processing Gimp Filters Batch process David s Batch Processor use Input tab to select files 7 Crop scaled photos automatic in Gimp or Photoshop recommended approach is bash scripts in the full size folders e g mtlsEval photologs scripts bcProcess sh scaling and cropping combined results end up in directory processed Requires imagemagick Photoshop File Automate Batch select corresponding Action Gimp Filters Batch process David s Batch Processor use Input tab to select files FL crop right side by 120 px 492 px wide FC is uncropped FR crop left side by 120 px 492 px wide BL crop left side by 120 px 492 px wide BC is uncropped BR crop right side by 120 px 492 px wide BD crop top by 320 px 192 px high 8 Copy images as root into server directories need to use tar and make sure permissions are 755
156. ll script to scale and crop back right images brProcess sh using convert utility from TMA SEMAGBICK deos 132 Listing D 10 Shell script to scale front center images fcProcess sh using convert utility from imagemagick C A 133 Listing D 11 Shell script to scale and crop front left images flProcess sh using convert utility from TMA SEMABICK dee 133 Listing D 12 Shell script to scale and crop front right images frProcess sh using convert utility from TMASEMAGICK dus EA 133 Listing D 13 Java utility to set up session database table populateSession java eeeeeeeeeerene 134 Listing D 14 Java utility to populate photolog database table Populate java eereeeeeerene 136 Listing D 15 Perl utility to determine county route and postmile from latitude and longitude setPostmile pl 143 Listing D 16 Java utility to support setting Extensible Metadata Platform XMP Exchangeable Image File Format EXIF data fields in JPEG images XMPTag java e eeeeee esee ee eene eene enne en seta seta seta seta tonato 145 Listing D 17 Java utility for setting Exchangeable Image File Format EXIF data fields in JPEG images EXIPW duirapcpecr E
157. lly agreed to between the supplier and Training Coordinator The second training class shall be accomplished within one year of acceptance and receipt of the unit Equipment Calibration system providers shall provide procedures documentation and training for sensor alignment bore sighting Warranty and Warranty Repairs The system including but not limited to the GNSS receiver s IMU LiDAR scanners digital cameras and data collection computer s all modifications made to the unit prior to delivery etc and any optional accessories shall be free from defects in workmanship and materials and be covered parts and labor under warranty for one 1 year following the date the Department of Transportation Caltrans puts the unit into service Caltrans will notify the supplier by mail of the in service date and keep a record of the in service date A copy of the manufacturer s standard warranty for the unit any accessory optional equipment and components shall be supplied with each unit at delivery or upon request The manufacturer will be held responsible for warranty commencing from the date Caltrans puts the unit into service The annual warranty shall cover an annual sensor calibration calibrating the system to the manufacturer s specifications Customer Support Live technical support shall be available by telephone from 6 a m PST to 5 p m PST Monday Friday Additional Components The following accessories shall be furnished with
158. located near the center of the project for high accuracy work The base station GNSS receivers must be set to log GNSS data at 1 Hz and be GLONASS enabled The 5 minute static session at the beginning and end of the project must be performed close to the GNSS base station For 24 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation critical projects in which rescanning the area is difficult two GNSS base stations are highly recommended Figure 5 8 Typical GNSS base station setup over local control at the project site Geo referencing and Registration Ground Targets Ground geo referencing and registration targets are used for registration and quality assurance quality control QA QC Various target shapes and target materials were used in different projects Typical target spacing for projects is about 500 ft or 0 1 miles Some districts employed Caltrans Maintenance personnel to lay down the targets some districts relied on surveyors to lay down targets Using Caltrans Maintenance to lay down targets can reduce the time because Caltrans Maintenance has a large well trained labor force and equipment for performing work at the roadside On the other hand some districts prefer laying down targets and surveying the targets at the same time It can be more efficient for Surveys to place targets particularly when using thermoplastic material Target Shap
159. lop best practices of Mobile Terrestrial Laser Scanning MTLS data collection MTLS combines the use of a laser scanner s the Global Navigation Satellite Systems GNSS an Inertial Measurement Unit IMU and a Distance Measuring Instrument DMI on a mobile platform to collect accurate and precise geospatial data A previous study by the Advanced Highway Maintenance and Construction Technology AHMCT Research Center in collaboration with the Caltrans Office of Land Surveys OLS tested and determined the feasibility of using this technology for some Caltrans applications in highway maintenance and construction The current effort involved experimental evaluation and field testing of this technology as well as basic research on its improvement and its integration into Caltrans workflow The objective of the research was to facilitate effective deployment of the MTLS system in Northern California in conjunction with Caltrans OLS AHMCT researchers were involved in the MTLS system vehicle integration data collection training training material development documentation of best practices and workflow for MTLS data collection utilization analysis and MTLS impact study Key contributions of this research project included Report on MTLS system installation Report on MTLS usage results analysis and lessons learned Best practices workflow and training documentation for MTLS data collection Lessons learned from MTLS deployment and training
160. lopment Technical Support and Evaluation Tool List for Caltrans MX8 System Vehicle Maintenance Ladder 9 64 Allen key for taking off the DMI 6 mm Allen key for mounting rack 7 16 hex head driver Small flat screwdriver for taking serial connector off and on Tire pressure gauge 25 ft Power extension cord Windex Lens cleaning tissues Disposable alcohol wipes USB dongles for MX8 software USB drives for Applanix data storage USB dongles for POSPac MMS and Trident GNSS Thermometer sensor IR and air temperature Trimble GNSS base station controller and tripod USB 3 0 portable external hard drive for data transfer Flashlight S OR esp nori im a m ee oe me NYDN BW WN 86 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation APPENDIX B CALTRANS TRIMBLE MX8 VEHICLE CHECKLIST VERSION 1 09 Exterior Transporting vehicle from storage to project location Check Item RecommendedStatus Jo Rug ANNE overhanging signs gas station covers etc Vehicle Mileage NOTED ALL MXB mounting crews A screws checked and tightened as need e Rack Mounts SECURE RackSoews SECURE Twecondion GOOD Terese PS DM Condon sEcuRe NOTWOBBLNG VeticleLghing wonna OOO OOOO o SoCmdkn NODMMGE oo doo Engine Compartment Check Item Recommended Status Coene e C Bets condo
161. lose catch SQLException ex Logger lgr Logger getLogger Populate class getName lgr log Level SEVERE ex getMessage ex System out printin idx 1dx while rowObjects reader nextRecord null By now we have iterated through all of the rows inputStream close catch DBFException e System out printin getMessage catch IOException e System out printin getMessage 141 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation String sessionId public static void main String args final String sessionId args 0 System out printin SessionID sessionI Schedule a job for the event dispatching thread creating and showing this application s GUI javax swing SwingUtilities invokeLater new Runnable public void run createAndShowGUI sessionI d d Copyright 2015 AHMCT Research Center UC Davis 142 Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Listing D 15 Perl utility to determine county route and postmile from latitude and longitude setPostmile pl usr bin perl use strict use warnings use caltransConversions use Data Dumper use geospatial
162. lroad crossings structures damage assessments and replacements lean operations in maintenance and reconstruction and enhanced safety 3 4 MTLS systems have also proven to be a cost effective solution Based on previous Advanced Highway Maintenance and Construction Technology AHMCT research recommendations Caltrans completed the procurement of an MTLS system at the outset of this research project The primary motivation and use for MTLS within Caltrans is transportation project delivery with one related element being pavement elevation surveys As part of this research and in conjunction with Caltrans pilot studies it has been demonstrated that MTLS does meet Caltrans requirements for pavement elevation surveys The MTLS system also provides a replacement for the Vangarde system The purposes of the current project were to research proper integration of MTLS into current Caltrans workflow and to develop best practices in using MTLS for various Caltrans projects Caltrans began investigating possible investment in MTLS technology around 2009 It developed an Information Technology IT Concept Paper entitle Mobile Terrestrial Laser Scanning Mobile Laser Scanning for Lean and Rapid Highway Maintenance and Construction One essential goal was to replace the aging Vangarde system Following this concept paper Caltrans and AHMCT initiated two complementary research projects The first Application of Mobile Laser Scanning for Lean and Rap
163. luation MTLS scan data was found to be instrumental in fostering better understanding of a capital project design and its impact to the surrounding area during and after the construction Generally the public often has trouble reading and understanding 2D engineering plans drawings and PERT charts Using the point cloud scan of the surrounding area combined with the 3D design model engineers and designers could construct photo realistic animation and fly through movies to help the general public visualize and understand the project and its effect on area traffic Better communication is often a key to resolve issues that may arise based on the research from Virtual Design and Construction VDC Institutional Challenges Based on the experience in deploying the Caltrans MTLS system the training and knowledge in operating the MTLS system and post processing MTLS data is a highly perishable skill There are many little crucial steps that the user must execute for successful project completion To avoid making mistakes MTLS surveyors must perform MTLS scanning and post processing periodically without large time gaps particularly in the first year of training and usage MTLS surveyor personnel will have to specialize in MTLS constantly to stay proficient in their craft The MTLS owner must have dedicated personnel for MTLS operations Currently each northern Caltrans district 1 2 3 and 4 is responsible to maintain its own dedicated personnel fo
164. lved in the MTLS system vehicle integration data collection training training material development documentation on best practices and workflow on MTLS data collection utilization analysis and MTLS impact study Research Approach The current work builds on AHMCT s experience with Terrestrial Laser Scanning TLS and MTLS 2 4 The research work included e Support for vehicle integration with the MTLS system and system testing e Identification of projects for field evaluation of the system and pilot study e Performing case studies and evaluating experimental results from the field trials e Develop best practices and workflow documentation e Develop training material and conduct training sessions e MTLS impact study Overview of Research Results The results in this project final report include e Report on system installation and usage instructions e Lessons learned from MTLS deployment and training e Report on best practices and workflow documentation work e Scanning wet concrete and asphalt pavement testing e Development of a photolog viewer Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation CHAPTER 2 VEHICLE INTEGRATION Background The procured MTLS system did not include the support vehicle necessary to provide power operator support and mobility The support vehicle functional requirements are e Support sensor pod two la
165. m E iSSi 8 Syst m Calibration epe 9 Lessons Learne csccccscsssccssssssscesssscscssessccessssenscsscsscssssencesesssseneesessssssessscssesssseneesessssenessocsseses 9 Chapter dc DOUINBS a p OE PR PREFIERES GA EOS EE OOS 14 Backe9rOund ios eseeebecee esee etes T VES Fee ep ede eee e acera ove peo beo eee eN oL ep ed as AE 14 Recommendations Leere eee eee eee esses stent aetates ense tastes sone tasses osso sesso seta sees SSS aeeoo 14 Chapter 4 Caltrans MTLS Deployment Status and Usage eese esee eene eren enn 16 Caltrans MEES USAge Er 16 Chapter 5 Best Practices and Workflow eee eee eee esee ee eee nennen eee en nee ta sett tn seen 21 Rolling Lane Closure Best Practices ee ee eee e esee eee ee eene seen aetate seta sese enses eene tete seta aee eaaa 23 GNSS Base Station Setup Best Practices 4 eee eee eee ee eren ee eren ee eee seen aestas etate setae sten aee 24 Geo referencing and Registration Ground Targets eee eee eee eee ee eee eee eee e et enaee 25 Data Archive Recommendations eere eee ee esee eee en seen sesto aetas tns toss tastes sone tastes sens tn sena 29 Chapter 6 Photolog VIeWeracioidbeuet E dM AAAS ATOMS OE MEER EM E 30 OCOVETVIOW E EE NL LL LLBLIUL E EE 30 Photolog Viewer ProtOty Pescs scssscsscosssessssooesssassssesnssoeacesensesesen
166. mUpdate ie this shuffle function This method randomly shuffles the order of the slides var i i2 slides copy slides randomized Create a copy of the array containing the slides in sequential order slides copy new Array for i 0 i lt this slides length i 114 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation slides copy i this slides i Create a new array to contain the slides in random order slides randomized new Array To populate the new array of slides in random order loop through the existing slides picking a random slide removing it from the ordered list and adding it to the random list do Pick a random slide from those that remain i Math floor Math random slides_ copy length Add the slide to the end of the randomized array slides randomized slides randomized length slides copyli Remove the slide from the sequential array so it cannot be chosen again for i2 i 1 i2 lt slides copy length i2 slides copy i2 1 slides copyl i2 slides copy length Keep going until we have removed all the slides while slides copy length Now set the slides to the randomized array this slides slides randomized this get_text function This method
167. mage has been set for the slideshow 119 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation if this image return false else return true this getElementById function element id This method returns the element corresponding to the id if document getElementById return document getElementById element id else if document all return document all element id else if document layers return document layers element id else return undefined f Deprecated methods I don t recommend the use of the following methods but they are included for backward compatibility You can delete them if you don t need them this set_image function imageobject This method is deprecated you should use the following code instead s image document images myimagename s update if document images return this image imageobject this set textarea function textareaobject This method is deprecated you should use the following code instead s textarea document form textareaname 120 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical
168. me String url jdbc mysq1 localhost 3306 piwigo String user root String password pw Connection con null try create a DBFReader object InputStream inputStream new FileInputStream dir name take dbf file as program argument DBFReader reader new DBFReader inputStream get the field count if you want for some reasons like the following int numberOfFields reader getFieldCount 152 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation use this count to fetch all field information if required for int i20 i numberOfFields i DBFField field reader getField i do something with it if you want refer the JavaDoc API reference for more details System out println field getName Now lets us start reading the rows Object rowObjects int idx 0 int offset rowObjects reader nextRecord if rowObjects 2 instanceof String offset 1 else offset 0 con DriverManager getConnection url user password do String image String rowObjects 1 System out println Image is image String dist String valueOf rowObjects 5toffset System out println Dist is dist String gpsDate String rowObjects 8 offset
169. month Terabytes month or 30 TB year When MTLS is deployed to central and southern California Districts the data velocity could increase to 6 to 7 TB month 72 to 84 TB year Currently the primary use for MTLS is pavement surveys for Capital Projects Moreover the MTLS data collection and processing capacity will increase as more personnel are trained The data storage required in 10 years is expected to be over 1 Petabyte PB conservatively based on the current deployment plan and historical MTLS deployment data 43 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation In addition if MTLS technology use is expanded to asset management data collection the data growth rate could be increased over ten times According the Caltrans 2013 State of the Pavement Report Caltrans manages 15 000 centerline miles and 50 000 lane miles in California The MTLS data for the entire Caltrans roadway network will be about 1 5 PB without on ramps off ramps or intersections Collecting and maintaining a back up of the entire Caltrans road network for asset management will require an estimated 3 PB of storage for a single cycle To monitor the condition and update the changed roadway and roadside assets the data collection must be performed at a fixed period determined by the stakeholders To keep all the historical data the storage solution must be able to grow with the da
170. n does not constitute a standard specification or regulation This report does not constitute an endorsement of any product described herein For individuals with sensory disabilities this document is available in Braille large print audiocassette or compact disk To obtain a copy of this document in one of these alternate formats please contact the Division of Research Innovation and System Information MS 83 California Department of Transportation P O Box 942873 Sacramento CA 94273 0001 Copyright 2015 AHMCT Research Center UC Davis 4 AHMLT Advanced Highway Maintenance and Construction Technology Research Center Department of Mechanical and Aerospace Engineering University of California at Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Kin Yen Bahram Ravani amp Ty A Lasky Principal Investigator Report Number CA14 2517 AHMCT Research Report UCD ARR 14 06 14 01 Final Report of Contract IA65A0416 Task 2517 June 14 2014 California Department of Transportation Division of Research Innovation and System Information Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation ABSTRACT This report documents the research project Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation The primary goal of this project was to deve
171. n the new San Francisco Oakland Bay Bridge Figure 4 9 Point cloud of the new San Francisco Oakland Bay Bridge MTLS project 20 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation CHAPTER 5 BEST PRACTICES AND WORKFLOW The focus of the current project is establishment and documentation of the MTLS data collection workflow A detailed MTLS data collection workflow using Caltrans MTLS system is provided in Appendix A the Caltrans Trimble MX8 Operation Manual A high level overview of the MTLS system data flow diagram is presented in Figure 5 1 After the data collection and transfer from the MTLS vehicle computers the GNSS IMU data is first post processed with the local base station s and or Continuously Operating Reference Station CORS stations in the vicinity of the project site using Applanix POSPac software The best estimated vehicle trajectory data resulting from the GNSS IMU post processing is then used to update the Trimble GPS files and Log ASCII Standard LAS Light Detection and Ranging LiDAR files using Trimble Trident software Then Trident is used to first Colorize the point cloud with the camera images After the point cloud is registered to the ground control targets using Trident feature extraction for the final deliverable can begin using either Trident or other point cloud software with LAS data exported from Trident
172. net connection outside the intranet The commercial cloud has low startup cost However their long term lifecycle cost must be studied and compared to the private cloud option The storage solution selection must consider its eventual interaction with web portal services for Caltrans MTLS and geo spatial data distribution 46 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation CHAPTER 8 CONCLUSIONS AND FUTURE RESEARCH The Caltrans MTLS vehicle has been actively deployed for eighteen months for data collection during this research Ninety MTLS projects were scanned in eight different Caltrans districts The majority of the MTLS projects were used for pavement DTM MTLS projects included rural and urban multi lane divided highways rural undivided highways bridges and tunnels Northern California districts 1 2 3 amp 4 were the primary users They performed additional work for Caltrans Districts 6 9 10 and 11 The Caltrans OoP in Headquarters performed feature extraction for some of the data collected by the MTLS system The MTLS system will be deployed to central and southern California after users training in the second half of calendar year 2014 Ownership of an MTLS system by Caltrans provided significant positive benefit and presented challenges for the organization to overcome MTLS major benefits are 1 Improved worker safety 2 Decrease
173. ng repairs and filing REQUIRED KNOWLEDGE AND ABILITIES Knowledge of fundamental plane surveying principles methods equipment materials and safety Knowledge of mapping and drafting techniques e Plane surveying computations including computer applications and usage adjustments and state plane coordinate systems e Departmental plans standards policies and procedures for Design Right of Way and Construction relative to Surveys 183 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Elements in highway construction plans pertaining to construction staking for Surveys Methods to produce graphical terrain representations CAIiCE alignments coordinate geometry digital terrain modeling import and export of files MicroStation drafting software Caltrans topographic feature codes Standard deliverables for CAiCE project files for submission to the district office Computer file management Basic principles of trigonometry and geometry Ability to e Comprehend and analyze highway construction plans e Identify discrepancies and errors on highway construction plans and communicate them to the appropriate designer or resident engineer e Calculate slope elevation and offset e Create digital horizontal and vertical alignments with CAiCE software e Edit topographic field data with CAiCE software from a TSSS file to create a
174. nt computer front view with its cover open eereeeeeee eret eren en tne 61 Figure A 10 MX8 computer rack rear view 4 sees eese essen enses tn seen tonta sins th sens enses tuse ta sone ta sens enses sosta sone ta an 62 Figure A 11 Applanix POSPac LV software interface eee eee e eee ee seen enses teneas tasas tastes snae ta sone ta an 63 Figure A 12 POSPac Removable Media Logging Control user interface eee eee erect seen nete nn 64 Figure A 13 POSPac Removable Media Logging Control user interface eeeeeeeee eee eese eerte nete nne 64 Figure A 14 POSPac Removable Media Logging Control user interface A eee eee eee eese eren etta nn 65 Figure A 15 Windows 7 control panel data source ODBC user interface eere eee eee eene 66 Figure A 16 Data source ODBC user interface eee e eee eee sees eene testen aeneo stesso se tasse ta sens tastes sosta tone ta an 67 Figure A 17 ODBC user interface select Microsoft Access Driver eere eee eerte entente testen enata tne ta n 67 Figure A 18 ODBC interface for creating Access database link and name eee eese esee eene tnn 68 Figure A 19 ODBC interface for selecting the Access project data file after clicking on the Select button 68 Figure A 20 Trimble Trident Capture for Imaging Server user interface
175. ntroller and the hard drive Copying a terabyte of data takes several hours and a 10 to 20 copying data rate increase can result in significant time savings j Seagate Barracuda 2000GB a ani MODE Mn Itootac Cy iL DNODNOOT TAI d y Het eee Figure A 38 Data transfer using USB3 4 bay drive dock 81 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Uninstalling and Installing DMI Mounting and dismounting DMI is required for changing the left rear tire Care must be taken to prevent damaging the DMI Detailed information is available in the Applanix manual Uninstalling DMI 1 Make sure the MX8 system is off 2 Disconnect the DMI cable by turning the DMI connector collar counterclockwise Secure the cable with a plastic bag over the DMI connector if the vehicle is to be driven without the DMI reinstalled 3 Dismount DMI from the wheel e Use an Allen key 9 16 to loosen the DMI shaft clamping screw see Figure A 39 e Pull the DMI assembly off of the Universal Hub Adapter Wheel Nut Clamp Figure A 39 Applanix DMI mount diagram 4 Unscrew three hex head bolts 1 4 28 mounting the DMI hub adapter to the wheel using a 7 16 hex nut driver or wrench see Figure A 40 Note the bolt locations on the hub adapter for reinstallation Bolts are installed in slot with 4 marking in the case of Vehicle 7004797 a
176. o the existing organizational structure at Caltrans Headquarters or in the regions for formation and addition of the specialized MTLS survey crew Currently Caltrans Headquarters does not have any survey field crew The closest thing to this is a field survey crew in OoP within the Division of Engineering Services DES Before hiring personnel for the MTLS crew the management must request extra funding and approval as well as deciding who will be managing this new crew To create a new MTLS crew will take time and commitment from the management The current distributed model of MTLS deployment will continue until a specialized MTLS crew at Headquarters is established In addition the central MTLS crew will be required to travel frequently throughout California Given general travel restrictions on California state employees particularly during budget deficits and delays special travel exceptions may have to be obtained by management Internal finance procedures also must be established for the central MTLS survey crew to charge the cost to the district project In some cases it may make sense to broker MTLS services and expertise between districts The current MTLS project demand would require multiple MTLS crews and several post processing personnel The immediate challenge is to train and ramp up trained personnel to handle the MTLS project demand The regional approach has worked well and meets the MTLS project demands 41 Copyright 2015 A
177. o run Python programs from the command prompt There are a few simple steps needed to use py2exe once you ve installed it 1 Create test your program 2 Create your setup script setup py 3 Run your setup script 158 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 4 Test your executable 5 Providing the Microsoft Visual C runtime DLL a Python 2 4 or 2 5 b Python 2 6 2 7 3 0 3 1 i Bundling the C runtime DLL 1 win32ui special case ii Running the redistributable C runtime installer 6 Build an installer if applicable The actual steps 1 Create test your program The biggest step is almost always the first one The good news is that py2exe typically has little or no impact on this step The vast majority of things you can do with Python will work with py2exe Many modules just work seamlessly with py2exe but some third party modules wil require a little extra work Luckily there is help available at WorkingWithV ariousPackagesAndModules Its important that you make sure everything is working before you use py2exe If py2exe fixes a broken program then that s probably a bug in py2exe that needs to be fixed The first example we ll use here is our old friend hello py print Hello World We need to make sure it s working C Tutorial python hello py Hello World Looks good 2 Create your setup script setup py 159
178. o take clear and accurate notes 3 Individuals are required to have the following abilities e Base knowledge of GNSS static survey and post processing including basic understanding of RINEX data file geoid datum state plane and UTM coordinate systems e Knowledge of fundamental plane surveying principles methods equipment materials and safety Carry loads up to 50 lbs unassisted over difficult terrain Handle brush clearing tools in heavily vegetated areas Climb slopes and hike through various types of terrain and vegetation including poison oak Identify discrepancies and errors on highway construction plans and communicate them to the supervisor party chief PUBLIC AND INTERNAL CONTACTS The incumbent is often in contact with project engineers and resident engineers therefore documenting the conversations and following through with requests is essential Interaction between the survey field office and other public agencies may be required Contact with consultant surveying and engineering firms and the general public may be required The incumbent must work effectively with others and must always communicate in a polite manner orally and in writing PHYSICAL MENTAL AND EMOTIONAL REQUIREMENTS The incumbent must have the ability to multi task adapt to changes in priorities and complete tasks or projects with short notice The incumbent must be able to develop and maintain cooperative working relations with other field crew
179. obile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation MTLS Mission Planning In addition to typical survey project planning MTLS requires extra considerations e GNSS base station occupying CCS83 2010 00 or 2011 00 refer to Caltrans Survey Manual and COH88 datum control point o Location keep GNSS baseline length 10 km or 6 miles and near the center of the project for high accuracy work o 1 Hz logging rate GLONASS enabled recommended e Location for 5 minute static session the MX8 should be close to the GNSS base station e Locations for ground targets e Time of data collection o Assess local traffic patterns avoid rush hour and possibly scan at night CHP traffic break and shadow vehicle See Figure A 5 help reduce data artifacts Sun location low sun angles may affect photo quality GNSS satellite availability and DOP Check weather forecast for rain snow and temperature Operating the cameras below 5 C will damage the camera CCD image sensor The stated camera operating temperature range is 0 to 40 C and storage is 30 to 60 C The camera can operate down to 5 C due to internal heating from the MX8 pod components However if the vehicle system were stored outside overnight the startup temperature of the system can be lower than the air temperature In this case starting up the camera with air temperature slightly above operating temperature may damage the camera CCD sensor The oper
180. omponent newContentPane new Populate sessionId newContentPane setOpaque true content panes must be opaque E frame setContentPane newContentPane Display the window frame pack frame setVisible true public void dbfread String dir String name Connection con null PreparedStatement pst null String url jdbc mysq1 localhost 3306 piwigo String user root String password pw try create a DBFReader object InputStream inputStream new FileInputStream dir name take dbf file as program argument DBFReader reader new DBFReader inputStream get the field count if you want for some reasons like the following int numberOfFields reader getFieldCount use this count to fetch all field information if required for int i20 i numberOfFields i DBFField field reader getField i do something with it if you want refer the JavaDoc API reference for more details System out println field getName Now let us start reading the rows 139 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Object in int rowOb jects t idx 0 offset rowObjects reader nextRecord E if r else do
181. on the roof of a sport utility vehicle van or truck F The weight of the MTLS system sensor platform shall be light enough so that it can be mounted on the roof of a sport utility vehicle van or truck G All system components mounted on the outside of the vehicle shall be dust and splash proof IP64 rated H The system shall have at least two 360 FOV Field of View LiDAR scanners mounted in a configuration such that shadows caused by line of sight obstruction from objects are minimized 171 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation The system shall have at least four digital cameras mounted on the sensor platform that can be adjusted for different fields of view The MTLS system operating temperature shall be 0 C to 40 C The MTLS system shall have sufficient local data storage for 200 miles or 4 hours of data collection III LiDAR scanner requirements A B C D E F LiDAR scanner Field of View FOV 360 degrees LiDAR scanner must be capable of detecting at least 4 returns from a single laser pulse LiDAR scanner Scan rate 200 Hz or more The scan rate refers to the revolution rate of the LIDAR scanner mirror LiDAR Scanner range accuracy less than 10 mm 1 sigma LiDAR scanner maximum range more than 75 meters for objects with surface reflectivity of 20 or less The LIDAR scanner laser classificat
182. ons Distributed storage and processing offers a solution well suited to handling MTLS data needs Data is processed locally i e where it is stored thus reducing the need to transfer large data files over the network It allows storage and processing of data on clusters of commodity hardware Point cloud and image data processing are well matched for such distributed storage and processing The demand of Big Data and large internet search engines spurred the development of distributed storage and processing solutions Apache Hadoop http hadoop apache org is an open source software framework for storage and large scale processing of data sets on clusters of commodity hardware Data nodes can be added as storage and processing demand increases The system can grow with the data growth EMC s Isilon http www emc com Isilon storage solution provides similar capability using propriety software The data storage can be expanded by adding data nodes However unlike Hadoop Isilon does not support distributed data processing Hadoop can be readily adopted for storing and processing MTLS data However distributed cloud processing software will need to be developed for feature extraction from the point cloud and image data A private cloud data storage and processing solution is an option for solving the MTLS data storage problem On June 27 2014 the California Office of Technology Services OTech announced that CalCloud services a priva
183. ou need is called MSVCR90 dll Py2exe is not able to automatically include this DLL in your dist directory so you must provide it yourself To complicate things there is more than one version of this DLL in existence each with the same filename You need the same version that the Python interpreter was compiled with which is version 9 0 21022 8 Through the remainder of these instructions hover your mouse over the dll file or the vcredist_x86 exe installer executable to confirm which version you ve got You ll need the vcredist_x86 exe that contains the Microsoft Visual C 2008 Redistributable Package published 29 11 2007 so not the VS2008 SP1 one tested with Python 2 7 1 As for older versions of Python you need to check redist txt within your Visual Studio installation to see whether you have the legal right to redistribute this DLL If you do have these rights then you have the option to bundle the C runtime DLL with you application If you don t have the rights then you must have your users run the redistributable C runtime installer on their machines 5 2 1 Bundling the C runtime DLL If you do have the rights to redistribute MSVCR90 dll there should be a copy of it in your Visual Studio install under VC redist x86 Microsoft VC90 CRT Since Visual Studio 2008 you can t just copy this DLL file you also need the manifest file that you ll find there The redist txt file states that you must distribute all three dlls and the unmodi
184. ould damage the glass encoder disc inside the DMI unit Connect the DMI cable connector and make sure the cable is routed properly without rubbing on the tire when the vehicle is driven Drive the vehicle slowly and make sure the hub adaptor does not wobble Remount the hub adapter if the wobbling is noticeable Figure A 42 Applanix DMI mounting adapter plate 84 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation DMI Calibration The MX8 system requires the DMI calibration value to be entered into the Trident software and the Applanix GNSS IMU system through the POSPac LV software whenever there is a tire change due to rotation or new tire As the wheel rotates the DMI sends pulses to the Applanix and the MX8 multiplexer Both subsystems require the exact value of the distance traveled per pulse to accurately track vehicle position and take photos at a fixed distance interval The distance traveled per pulse depends on the wheel encoder resolution and the tire diameter Since the rolling tire diameter depends on the tire pressure the tire pressure must be maintained and checked frequently The DMI has about 2 mm accuracy with the current Suburban tire size The Trident software provides two methods Via Linear Distance and Via GPS to calibrate the DMI The via linear distance method is preferred and it provides more accurate results Via Linea
185. ounted on the vehicle roof rack Distance Measuring Indicator DMI mounted on the driver side rear wheel computer rack mounted at the vehicle rear and monitors and accessories mounted to the workstation as shown in Figures 2 1 2 2 2 3 and 2 4 A detailed description of the Trimble MX8 system is available in the Caltrans Trimble MX8 Operation Manual in Appendix A Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Pri GNSS Antenna ue BD Camera ID us gM Riegl VQ450 re z y ahaa Laser Scanner a a BOS B Ur a BR Camera i 1 BL Camera 18 1 d Ul GAMS GNSSAntenna cd S m Pri GNSS Antenna FL Camera A FC Camera Riegl VQ450 FR Camera Laser Scanner nm 2 Figure 2 2 Caltrans Trimble MX8 MTLS system sensor pod front view Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure 2 3 MX8 user interface dual monitors keyboard and trackball mounted next to the driver Figure 2 4 MX8 computer rack mounted at the vehicle rear Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Vehicle Integration The Trimble MX8 MTLS system was installed on a Chevrolet Suburban with modifications in several areas to support the
186. ow php id 15 start stop rewind lt prev next gt slower faster Year 2012 Latitude 39 20402100 County NEV Longitude 421 26569700 Route po eH Altitude 29993 Postmile os Heading 264 17 Select photolog javascriptSLIDESCT hotlink Figure 6 1 Photolog viewer prototype 3l Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure 6 2 Full size uncropped front center camera image corresponding to Figure 6 1 start stop rewind lt prev next gt slower faster Year 2012 Latitude 39 20402100 County NEV Longitude 121 26569700 Route 20 7 Altitude 299 93 i Postmile 0 95 Heading 26447 Select photolog v Submit Figure 6 3 Controls and status information panel 32 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Select photolog Select PHotoioc Kingvale l 00 2012 11 14 0 Colusa SR20 2012 11 14 0 Colusa SR20 2012 11 14 1 Colusa SR20 2012 11 14 2 Yuba SR20 2012 10 28 35mph 0 Yuba SR20 2012 10 28 35mph 1 Yuba SR20 2012 10 28 35mph 2 Yuba SR20 2012 10 28 55mph 0 Yuba SR20 2012 10 28 55mph 1 SFO Bay Bridge Test 2013 08 21 0 SFO Bay Bridge Test 2013 08 21 1 SFO Bay Br
187. particular the program does NOT support the n LAS 2 0 format used by the Trimble MX8 self text pack side Tkinter LEFT application entry point if name main global fullExecPath fullExecPath os path dirname os path realpath file _ root Tkinter Tk TkFileDialogExample root pack root mainloop 169 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation APPENDIX F MTLS SPECIFICATIONS 170 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Technical Requirements for Mobile Terrestrial Laser Scanning MTLS System I Description of the Mobile Terrestrial Laser Scanning MTLS System The California Department of Transportation has a need for a vehicle mounted laser scanning system for land pavement survey and asset management throughout the state of California Mobile Terrestrial Laser Scanning MTLS uses laser scanner technology in combination with Global Navigation Satellite Systems GNSS and other sensors to produce accurate and precise geospatial data from a moving vehicle MTLS platforms may include Sport Utility Vehicles Pick up Trucks Hi Rail vehicles and other types of vehicles The position and orientation of the scanner s are determined using a combination of data from GNSS an inertial measur
188. personnel WORK ENVIRONMENT The incumbent may be exposed to adverse conditions that may include but are not limited to extreme weather conditions rough terrain great heights poison oak insect bites and or bee stings loud noises dust fast moving traffic and chemicals Rotational assignments may also be required between various field crews and Surveys Field Offices MINIMUM QUALIFICATIONS e Six years of progressive experience in land surveying Possession of a valid LSIT may be substituted for two years of experience e Possession of a valid California Motor Vehicle Operator s license e No traffic moving violations in the past 3 years 179 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation MTLS Data Post processing Personnel Post processing personnel will work under general supervision by the District Senior Transportation Surveyor This position requires paraprofessional work characterized by standard assignments performed with considerable independence Work is reviewed by supervisor upon completion based upon the complexity of the assignment The experience required for this position is reflected by the duties and functions one must possess as listed below DUTIES AND FUNCTIONS 1 2 3 4 5 6 7 8 9 Must take MTLS operator training class Must take Trimble Trident training class Maintain basic knowle
189. ple Tkinter Frame def init self root Tkinter Frame init self root 165 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation root minsize 300 100 self roo self roo r f define menus self root title LAS archive tool menubar Tkinter Menu self root self root config menu menubar fileMenu Tkinter Menu menubar fileMenu add command label Exit command self onExit menubar add cascade label File menu fileMenu helpMenu Tkinter Menu menubar helpMenu add_command label Help command self help helpMenu add_command label About command self about menubar add cascade label Help menu helpMenu options for all buttons button opt fill Tkconstants BOTH padx 5 pady 5 define buttons Tkinter Button self text Zip a LAS File command self zipfile pack button opt Tkinter Button self text Unzip a LAZ File command self unzipfile pack button opt Tkinter Button self text Zip a Directory of LAS Files command self zipdirectory pack button opt Tkinter Button self text Unzip a Directory of LAZ Files command self unzipdirectory pack button opt f define options for opening or saving a file self file opt options options defaultextension las options filetypes
190. psInfo setTagValue ExifGPS GPSTRACK Double rowObjects 12 offset toString gpsInfo setTagValue ExifGPS GPSTRACKREF T DateFormat format new SimpleDateFormat HH mm ss format setTimeZone TimeZone getTimeZone UTC double frac Double rowObjects 9toffset long day long Math floor frac frac frac day Date time new Date long 864000001 frac System out println time format format time String tstring format format time replace 154 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation System out println Formatted time tstring Double secs 86400 frac long whole long Math floor secs secs secs whole System out println fraction of sec secs String secStr String valueOf secs System out println String secStr substring 2 4 System out println Time format format time secStr substring 2 4 gpsInfo setTagValue ExifGPS GPSTIMESTAMP tstring secStr substring 2 4 GregorianCalendar gc new GregorianCalendar 1900 Calendar JANUARY 1 gc add Calendar DATE int day 2 NOTE Should be Lady but Y 2 works right String month String valueOf int gc get Calendar MONTH 1 System out println day from gpstime 4 gc g
191. pyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Listing D 7 Shell script to scale and crop back down images bdProcess sh using convert utility from imagemagick bin bash if d processed then mkdir processed fi for f in jpg do echo Processing Sf convert resize 612x512 crop 612x192 0 320 f processed f done Listing D 8 Shell script to scale and crop back left images blProcess sh using convert utility from imagemagick bin bash if d processed then mkdir processed fi for f an 2 pg do echo Processing Sf convert resize 612x512 crop 492x512 120 0 f processed S f done Listing D 9 Shell script to scale and crop back right images brProcess sh using convert utility from imagemagick bin bash if d processed then mkdir processed fi for f in jpg do echo Processing f convert resize 612x512 crop 492x512 0 0 f processed f done 132 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Listing D 10 Shell script to scale front center images fcProcess sh using convert utility from imagemagick bin bash if d processed then mkdir processed fi for f in jpg do echo
192. quare and rectangular shape ground control targets are recommended based on previous MTLS project experience 5 To support effective management planning and estimation for future jobs each MTLS project should be carefully documented This should include the number of lanes number of passes and number of lane miles 6 For future MTLS deployments the support platform vehicle should be selected in part for a reduced carbon footprint relative to the current vehicle 7 Data archival recommendations a The MTLS data including the Applanix POSPac directory and all Trimble Trident files directory Access database LAS GPS and AVI files should be archived b Exported LAS files version 1 1 1 2 or 1 4 with folder name or readme txt to indicate map projects and geoid model used LAS files may be compressed with LASzip open source LAS compression software c Exported lens rectified JPG with DAT TXT SHP and TopoDOT image location and orientation files d Any project deliverable files 8 Because of the MAP 21 mandate MTLS may be used for asset management data collection Workflows and standards should be developed to standardize the data collection and post processing of MTLS data for asset management applications 48 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 10 11 12 Since MTLS data collection and post processing i
193. r e i s 0 E s Laser configuration File Laser configuration File Prefix clip name R Prefix clip name LO Suffix clip name Suffix clip name Applytofolder v Applytofolder v Sees osse one cer one esee m ak A Figure A 35 Trident Capture for Laser Scanning user interface for setting laser filename prefix and suffix server and client computer 78 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Step 16 Start data capture on the server program e Press F5 or click on the Start Logging icon to start logging as shown in Figure A 25 e Press F9 or click on the Stop Logging icon to stop logging as shown in Figure A 25 Do not use F6 to pause logging pausing results in data gaps within an AVI clip segment Note user should avoid recording long runs over 15 minutes Step 17 Stop GNSS logging After completion of scanner passes perform another 5 minute static GNSS session as in Step 10 above Click on Stop Logging button after mission completion as shown in Figure A 12 System Shutdown Procedure 1 Close all Trident client application programs the order of client program closing is not important a When closing the Trident laser capture program first click on the Disconnect icon first and be sure to click on the Y
194. r amp Applanix Power Supply Power to Laser Scanner Multiplexer Scanner amp Cooling Fan Power Supply Camera Sync Cable FR FL FC BD Server Computer Firewire Cable to Serial Cable To Camera FR FL FC BD Applanix Com3 Cable to Multiplexer DO NOT UNPLUG USB License Keys amp 3 17 Num while computer is on RT E DO NOT REMOVE B P e an Client Computer Aa eb Firewire Cable to v x ER Camera BR BL BC p Z17Z71 UPS Figure A 10 MX8 computer rack rear view Step 9 amp 10 Start Applanix POSPac LV program and GNSS logging The Applanix POSPac LV program may be launched on either the server or the client computer Typically it runs on the client computer because of more available desktop space The user should first click on the Connect icon to connect to the Applanix 520 system The default settings particularly the GNSS antenna to IMU distance and orientation values should not be changed The user may log the data on the Applanix onboard USB drive or on the local computer through the network connection Removable drive data logging is more reliable and robust and is preferred In addition the Applanix system also keeps a backup data copy in its internal storage The backup data files are available via FTP When network logging is used the default data storage location is on the desktop of the computer This option is not recommended because any network interruption may cause f
195. r Distance This method requires an accurately measured length of pavement segment between 200 to 1000 feet long for the vehicle to drive on The vehicle is driven from the beginning point to the end point repeatedly a few times The number of pulses for each run is then recorded and compared to the other runs If the numbers of pulses for each run are within a few pulses of the other runs the average number of pulses per run is then used to calculate the distance per pulse Details of the DMI calibration are provided in the MXS training video This is the preferred method for DMI calibration Via GPS This method requires the vehicle to be driven at 40 mph or higher on a long section 5 miles or more of road with unobstructed GPS sky view It is generally less accurate than the Linear Distance calibration method Laser Alignment Calibration Laser alignment calibration is required only if the laser scanner has been taken off the sensor pod mount Please refer to the Trimble Trident Manual for detailed calibration alignment procedures and consult the Trimble Technical support for detail The sensors cameras and laser scanner orientation alignment data are stored in the project database template in Microsoft Access database format It is vital to use the correct project database with the proper calibration data for the MX8 system in use 85 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Deve
196. r MTLS operation Because of the long data post processing process an MTLS operator might not perform another MTLS project data collection for couple months however for most districts field data collection takes precedence over office processing unless there is a tight deadline for project delivery It can be difficult for someone to stay proficient under the current structure of a distributed model of MTLS deployment depending on the frequency of MTLS data collection and processing in a particular district Nevertheless all four northern California districts have sufficient MTLS projects to maintain MTLS operator and post processing personnel proficiency In fact more MTLS operators and post processing personnel are being trained Currently scheduling transferring and setting project use priority and vehicle maintenance are easily resolved with only four Caltrans districts However Caltrans MTLS vehicle scheduling conflicts may become more problematic when it is deployed to central and southern California Districts under the current deployment model MTLS specialty survey equipment is ideally suited for a centralized regional or statewide approach for deployment for smaller states Here centralization may be at the Headquarters level or if at least one more MTLS system is procured at the regional level If at the regional level each region would have a specialized crew and its own MTLS system In this deployment model a specialize
197. rage requirements A The data acquisition software and hardware shall provide the operator the ability to monitor proper functioning of the system and its components operations during the scan session The system health monitoring feature shall include but not be limited to b Degraded or lost GNSS reception c Distance traveled during or time duration of degraded or lost GNSS reception d Vehicle Speed e Proper functioning of the system and its subsystem including but not limited to the laser scanners digital cameras GNSS receivers IMU DMI and data logging system VIL POS LIDAR scanners and digital camera data post processing software requirements A GNSS IMU DMI post processing software requirements a The software shall be capable of post processing GNSS IMU DMI with GNSS base station s raw data to produce the position and orientation of the sensor platform trajectory b The software shall support processing of the platform trajectory using multiple GNSS base stations c The software shall provide error estimates for the trajectory solution B The software shall provide point cloud files in at least two ASCII formats a American Society for Photogrammetry and Remote Sensing ASPRS Log ASCII Standard LAS b XYZI RGB optional C The software shall have the ability to provide point clouds in at least each of the following coordinate systems a Universal Transverse Mercator UTM b California Coordinate System of 1983
198. rans Projects AHMCT Research Center Rept UCD ARR 07 06 30 01 2007 3 M J Olsen Guidelines for the Use of Mobile LIDAR in Transportation Applications Vol 748 National Cooperative Highway Research Program Transportation Research Board 2013 4 K S Yen K Akin A Lofton B Ravani and T A Lasky Using Mobile Laser Scanning to Produce Digital Terrain Models of Pavement Surfaces AHMCT Research Center Rept UCD ARR 10 11 30 01 2010 51 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation APPENDIX A CALTRANS TRIMBLE MX8 OPERATION MANUAL Caltrans Trimble MX8 MTLS System Description The Trimble MX8 MTLS system was installed on a Chevrolet Suburban with modifications in several areas to support the MX8 system Extra battery and battery isolators with circuit breakers were added to provide scanner electrical power and scanner system isolation from the engine s electrical system The factory alternator was replaced with a 250 amp alternator An automatic idle adjusting system was added to maintain engine rpm at 900 to 1 000 when the vehicle is in Park and the brake pedal is not depressed to provide sufficient power to the MX8 system An off the shelf roof rack was added with custom modifications by ESC to mount the MXS sensor pod rack The front passenger seat was replaced with a custom workstation platform for the inverter dual
199. rea represents the wet concrete 103 Right Scanner black area has no LiDAR return and the red area represents the wet concrete viii Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation LIST OF TABLES Table 4 1 Caltrans MTLS deployment statistics scscsscsssssssssssssssssscesssssesssssnesssssscesssssessessnessssnessessessoseeees 16 Table 5 1 Registration target shape and size used in MTLS projects scssssssssssscesssssescssenessssnssessessosseees 27 Table 5 2 High reflectivity target materials for MTLS projects scsscssssssssssssssssscsscsssessssesesssssessessessosseees 27 Table 6 1 Fields for photolog viewer database table sessions sscssssssssssssssssssesscssssssessssssessssnssessesseseeees 34 Table 6 2 Fields for photolog viewer database table photolog scsssssssssssssssssssscesssssessssssessssnessessessesseees 34 Table 6 3 DBF fields required for each set of MTLS images ccsscssssscssssssscsssssscesssssesssssnesssssessessessessoees 36 Table 7 1 Data rate of MTLS sensors sscscssccssssssssccsssscescsssescessnessesscscessessessesenessesnessessessesssssnessssnessessessossoeee 43 Table A 1 Scan line spacing vs vehicle speed and scan rate eee eee eee eee eene enses that tn seen tn seta sosta an 56 Table A 2 Point spacing on a scan line at 50 met
200. returns the text of the current slide return this slides this current text this get all text function before slide after slide Return the text for all of the slides For the text of each slide add before slide in front of the text and after slide after the text For example document write ul 115 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation document write s get all text li Wn document write N ul all text Loop through all the slides in the slideshow for i20 i this slides length i slide this slides i if slide text all text before slide slide text after slide return all text this display text function text Display the text for the current slide Tf the text arg was not supplied usually it isn t get the text from the slideshow if text text this slides this current text Tf a textarea has been specified then change the text displayed in it if this textarea amp amp typeof this textarea value undefined this textarea value text If a text id has been specified then change the contents of the HTML element if this textid r this getElementB
201. rkflow as well as selecting a reduced set of software needed to obtain deliverables required by customers from the point cloud data The detailed workflow for creating point cloud fly through movies using Cyclone was presented by Mr Hovig Devejian of Precision Civil Engineering Inc of Fresno CA at the Leica HDS Conference in 2009 His presentation can be found at http hardhat ahmct ucdavis edu mediawiki images 1 1b Precision_ Civil Engineering pdf High resolution movies should be made first and lower resolution movies may be created by down sampling the high resolution version To improve lane line extraction tool reliability in the current version of PolyWorks the point cloud intensity values from the Trident export may have to be rescaled using LAStools before importing into PolyWorks The intensity output values from the laser scanners do not distribute to occupy the full intensity value range as shown in Figure 5 2 As a result there is very little contrast in intensity values between pavement and the lane stripes as shown in Figure 5 4 Rescaling point cloud intensity values to occupy the full intensity value range improves the contrast as well as the reliability of lane line extraction by PolyWorks Other point cloud software such as Cyclone has built in functionality to adjust the contrast for better visualization without the need for intensity rescaling pre processing Figure 5 2 Point cloud intensity value distribution before r
202. rogram is used by default for data copying The user may queue up all the data copy at once using TeraCopy without waiting for the copying to finish Be sure to copy the Applanix data and the Trident project Access database 2 Copy the Applanix data A First eject the USB drive from the Applanix system and plug the USB drive into the client computer USB 2 port located at the front B Copy the Applanix data on the USB drive to the client computer hard drive project folder for backup as well as to the external USB 3 0 drive Depending on the space available on the USB drive 4 GB older files may need to be deleted After that the Applanix USB drive should be inserted back into the Applanix system Alternate Method Copying files in the office 1 Eject all four data drives as shown in Figure A 37 from the server and client computers two drives in each computer 2 Insert drive s into office computer with a trayless drive rack or USB 3 drive dock shown in Figure A 38 3 Copy the data from the data drives to internal or external storage drive 80 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Note Copying data via SATA III 6 Gb s is faster than USB 3 Based on small sample testing copying via SATA III yielded 70 to 150 MB s data rate and copying via USB 3 yielded 50 to 90 MB s data rate The copying rate will vary by the computer SATA co
203. ront Right Front Left and Front Center camera images on its D drive and it saves the right laser and Back Down camera on its E drive The client computer saves the Back Right Back Left and Back Center camera images on its D drive and it saves the left laser on its E drive The data size depends on the laser point rate vehicle speed image collection frequency and number of cameras used The data ranges from 10 to 25 GB per mile The Applanix data is stored on its own USB drive located inside the Applanix enclosure An external USB 3 0 drive should be used to minimize data transfer time be sure to use a USB 3 0 cable The only USB 3 0 port available is located on the back of the client computer The front USB ports on both the server and client computers are both USB 2 0 ports these are much slower Velcro is available in the toolbox to secure the external drive to the floor of the Suburban for data transfer while in transit Copying files onto USB 3 0 drive in the field 1 Copy files from the server and client computers A After plugging in the USB 3 0 external drive to the USB 3 0 port located at the back of the client computer close all Trident programs and the Applanix POSView program properly B Copy project folder in the ProjectData folder from both D and E of both server and client computers The server drives data are available to the client computer through network sharing by default as Y and Z drive The TeraCopy p
204. rs This step may be performed at any time before Step 16 Turn on inverter after engine has idled at least 30 seconds Turn on UPS after turning on inverter for at least 5 seconds Turn on the server and then the client computer after turning on UPS for at least 5 seconds Turn on Applanix GNSS IMU system after the server computer has been on for at least 5 seconds Check to see if both power supplies in the computer rack are on Start Applanix POSPac LV program and drive the vehicle with the Applanix System on while logging data for at least 5 minutes Before commencing scanner passes drive the vehicle with the Applanix system on for 5 to 10 minutes park in a safe location with an open sky view of the GNSS satellites and near a GNSS base station that is logging 1 Hz data and start a 5 minute static GNSS session Create the new project directory Copy and rename the project database template to the project directory Start Trident Image Capture Server program on the Server computer Start Trident Image Capture Client programs on both the Server and Client computers Start Trident Laser Capture Client programs on both the Server and Client computers Start data capture on the Server program and commence scanning After completion of scanner passes perform another static GNSS session near the GNSS base station Details of each step are discussed in the following Step 1 Vehicle Pre op Check Driver should follow standard Cal
205. s reviewed by the supervisor upon completion based upon the complexity of the assignment The experience required for this position is reflected by the duties and functions one must possess as listed below DUTIES AND FUNCTIONS 1 2 3 4 5 6 7 8 9 Must take defensive driver training class annually and practice defensive driving Must take MTLS driver training class Perform pre op check of the MTLS vehicle and MTLS system before data collection Drive the MTLS vehicle during MTLS data collection monitor battery and charging system voltage remove and install lens covers and laser covers on the MTLS system plan MTLS data collection route and MTLS static session location and assist MTLS operator Operate the MTLS vehicle rear air conditioning system to provide proper cooling to the system electronics at the rear of the vehicle Familiarity with MTLS system operation and its requirements familiarity in downloading of data from the MTLS system familiarity in the project site and the project limits Perform other survey functions as assigned such as clearing brush while using an axe brush hook or machete and cleaning stocking and inventorying equipment and supplies Read and interpret right of way maps construction plans survey notes conveyance documents and other relevant technical information Ability and experience working long periods on roadway near fast moving vehicle traffic as well as knowledge of placing
206. s Remaining 2569016 v 10001 Primary GNSS data stream Time Remaining 10002 IMU data stream Status Idle 10003 Raw PPS data v 10006 Raw DMI data stream Logging Control 10007 Auxiliary 1 GNSS data stream Auto Log 10008 Auxiliary 2 GNSS data stream i v 10009 Secondary GNSS data stream Group 1 Output Rate 1 Hz T 10010 Raw Gimbal data stream Filename n vi 10011 Raw Differential Corrections 1 vi 10012 Raw Differential Corrections 2 Enter Date of Survey vi 20000 Diagnostic n Applanix Diagnostics Start Logging I POSPac Deselect All Close Apply Figure A 14 POSPac Removable Media Logging Control user interface Applanix System POS LV520 For detailed Applanix system information please refer to the Applanix manual at http www applanix com media downloads support firmware updates PUBS MAN 003758 pdf The user should note that the GPS Azimuth Measurement Subsystem GAMS requires 6 or more of the same GPS satellites in view by the front and rear GNSS antennae In the MX8 system the Applanix Com 1 and 2 are connected to the Riegl scanners and Com 3 is connected to the server computer One Applanix serial port is available If the user has changed any of the settings the user must click on the Save Setting button otherwise the changes will not be saved into the Applanix System for the next session DO NOT redo GAMS calibration unless the antenna has been moved Step 11 Create the new project dire
207. s a highly perishable skill if not used computer workstation and software installation and setup should be completed before training Thus users can apply their learning immediately on MTLS data collection and post processing MTLS projects should be immediately ready for MTLS data collection and post processing after the MTLS training Performing MTLS project immediately after training provides operators with practical experience to reinforce and engrain their training and learning into long term memory The MTLS system specification should be updated based on the lessons learned from the current system In addition vehicle modifications and upgrades are required for MTLS operations a Original factory roof rack may have to be modified or strengthened to support the MTLS sensor pod b Alternator upgrade and additional battery and isolators are required c Lens covers are highly recommended d The side looking camera should point toward the roadside and downward to better capture the roadside features and road signs User adjustable camera mount is highly recommended e All display mounts should be strong enough to handle vehicle vibration A data archiving platform for storing managing and distributing MTLS and other temporal geo spatial data is needed Future Research Currently no one software tool or suite addresses all of Caltrans needs for feature extraction and Caltrans will in the near term need to maintain license
208. s for multiple packages in order to support productivity However as the software ecosystem evolves Caltrans should refine and standardize MTLS feature extraction workflows and narrow down software used for feature extraction Evaluate the use of multi spectral imagery infrared IR near infrared NIR and ultraviolet UV for plant identification feature extraction and tunnel imaging Improve the performance management and scalability of point cloud and imagery handling through distributed laser point cloud and imagery processing and storage a Evaluate distributed storage solutions to handle MTLS data needs b Evaluate ability of distributed laser point cloud or imagery processing to enhance performance and scalability Revise MTLS system specifications 49 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 5 Develop and optimize MTLS workflow for asset management 50 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation REFERENCES l R Dingess Better Reporting Utah Dot s Data and Planning Tools Provide a Guide to the Future and Power of Network Level Asset Data Roads amp Bridges 52 1 2014 2 J Hiremagalur K Yen K Akin T Bui T Lasky and B Ravani Creating Standards and Specifications for the Use of Laser Scanning in Calt
209. s that are only 7 20 of the original file size The compression is completely lossless i e it is completely reversible However LASzip has many options and is somewhat complex to use AHMCT has developed a wrapper utility in the Python programming language that provides basic LASzip capabilities zip and unzip files and directories of files The wrapper utility is called LAS archive tool The listing for this wrapper utility is provided at the end of this appendix LAS Archive Tool The basic user interface is shown in Figure E 1 The interface provides four buttons One zips a LAS file one unzips a compressed LAZ file one zips an entire directory of LAS files and one unzips an entire directory of compressed LAZ files The utility also provides minimal help Note that the utility does not handle spaces in file names or directory names Please use your operating system s file manager to assure that files and directories do not have spaces in them File Help Zip a LAS File Unzip a LAZ File Zip a Directory of LAS Files Unzip a Directory of LAZ Files Figure E 1 Main LAS archive tool user interface The tool is referred to as a wrapper since its primary function is to assemble LASzip commands and issue them to the LASzip program When you click on Zip a LAS File you will then see a dialog box allowing you to pick the input file Once you have done that you ll then see a dialog box allowing you to pick th
210. ser scanners IMU Inertial Measurement Unit GPS Global Positioning System antennae and seven cameras mounted on the roof of the vehicle e Provide room and cooling for the equipment rack mounted inside the vehicle e Provide sufficient power to the MTLS system during operation e Provide space for the operator to control and monitor the MTLS system e Preserve vehicle basic performance despite the added weight on the roof aerodynamic drag and change of vehicle center of gravity due to the sensor pod Other MTLS users have used large sport utility vehicles full size trucks and minivans to house the MTLS system Ideally a new vehicle should be used to house the new MTLS system However new vehicle procurement requires long lead time In order to speed up the deployment Caltrans North Region Office of Surveys provided a Chevrolet Suburban from their fleet for MTLS integration Caltrans Division of Equipment DOE personnel performed all the necessary vehicle modifications to support the Trimble MX8 integration Trimble and California Surveying and Drafting Supply vendor personnel installed the MX8 MTLS system with assistance from Caltrans Equipment Service Center ESC personnel in the Sacramento ESC facility The entire process including vehicle modifications and field testing took approximately one week Trimble MX8 MTLS System Description The Trimble MX8 is a commercial product of Trimble The MX8 system consists of a sensor pod m
211. show slide object function slide src link text target attr This is the constructor function for the slide object It is called automatically when you create a new slide object For example S new slide th Image URL is src Src Link URL is link th link Text to display this text text Name of the target window blank 106 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation this target target Custom duration for the slide in milliseconds This is an optional parameter this timeout 3000 Attributes for the target window width n height n resizable yes or no scrollbars yes or no toolbar yes or no location yes or no directories yes or no status yes or no menubar yes or no copyhistory yes or no Example width 200 height 300 this attr attr Create an image object for the slide if document images this image new Image Flag to tell when load has already been called this loaded false Ly this load function This method loads the image for the slide document images return if this loaded this image src this src this loaded true this hotlink function This method jumps to the slide s link If a window
212. side Riegl Laser Scanner IP address is 192 168 0 129 and the Left driver side Riegl Laser Scanner IP address 1s 192 168 0 128 The operator should not change the IP address or the Server Name and Port The operator may change the scan rate point measurement frequency and use of first or last laser return in the laser capture program Last return is recommended The measurement frequency should remain at 550 000 Hz C Click OK to spin up the scanner The operator must wait for both the scanners to spin up to the scan frequency set by the operator before starting data collection Operator should wait after the completion of the 5 minutes GNSS IMU static data collection session before spinning up the scanners Copyright 2015 AHMCT Research Center UC Davis 77 Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Laser configuration File r Laser connection IP Addr Host Name 192 168 0 129 Chanae IP Addr Host Name 192 168 0128 Change amie fo ihe Start angle poo Stop angle 360 000 Measure frequeny Target selection Alert Synchronization configuration Synchronization configuration GPS baud rate 115200 GPS baud rate 115200 X T ercca gt Font sack gt Sync sequence PSts x Sync sequence PPSts gt Figure A 34 MX8 Trident Capture for Laser Scanning user interface for setting laser configuration server and client compute
213. sion of a valid California Motor Vehicle Operator s license e No traffic moving violation in the past 3 years 177 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation MTLS Operator The MTLS operator is assigned to a survey field crew under general supervision by the District Senior Transportation Surveyor This position requires paraprofessional work characterized by standard assignments performed with considerable independence Work is reviewed by supervisor upon completion based upon the complexity of the assignment The experience required for this position is reflected by the duties and functions one must possess as listed below DUTIES AND FUNCTIONS 1 Must take MTLS operator training class 2 Operate the MTLS system software to perform MTLS data collection 3 Must take defensive driver training class annually and practices defensive driving 4 Must take MTLS driver training class 5 Perform pre op check of the MTLS vehicle and MTLS system before data collection 6 Drive the MTLS vehicle during MTLS data collection monitor battery and charging system voltage remove and install lens covers and laser covers on the MTLS system and plan MTLS data collection route and MTLS static session location 7 Maintain in depth knowledge of the MTLS system operation and its requirements downloading of data from MTLS system 8 Have in depth kno
214. storage and management challenges in the future A central temporal geo spatial data warehouse must be able to store manage and distribute these diverse data sets in addition to the MTLS data Increase network bandwidth demand The large MTLS data sets portend dramatic increases in network bandwidth demand Data synchronization and transfer between data center and end users of large data files would slow down other network traffic if the network bandwidth does not expand to accommodate the new demand When implementing the data storage and distribution solution for temporal geo spatial data Caltrans must also develop an appropriate plan to improve the network bandwidth on the Caltrans enterprise backbone as well as client computer network These network improvements will require time and cooperation from Caltrans Information Technology IT and possibly the California Office of Technology Services OTech Effective distribution of data to potential users The temporal geo spatial data is crucial for data driven decision making Therefore the data must be accessible by users easily and quickly Data management and distribution should e Handle the variety of temporal geo spatial data 44 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation e Show availability of temporal geo spatial data to users e Provide data in a format that users can handle and use
215. t title Select source directory dirname tkFileDialog askdirectory self dir opt if dirname self dir opt initialdir dirname dirname string replace dirname os sep destdir self getDestination if dirname and destdir cmd fullExecPath laszip odir 4 destdir dirname os sep laz print cmd os system cmd print Done just quit def onExit self self quit about the application def about self top Tkinter Toplevel self text Tkinter Text top height 14 width 50 background white self text insert Tkinter END This program was developed by the Advanced Highway Maintenance and Construction Technology Research Center at the University of California Davis n n The program is a frontend for LASzip by nMartin Isenburg n n Contact Ty A Lasky talasky ucdavis edu n n Copyright 2014 AHMCT UC Davis self text pack side Tkinter LEFT f minimalist help file def help self top Tkinter Toplevel self text Tkinter Text top height 20 width 50 background white self text insert Tkinter END The program does not handle spaces in file or ndirectory names n n 168 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Please rename files and directories as needed n n The program supports up to LAS 1 3 file format n In
216. t images SLIDESIMGBC SLIDESBC textid SLIDESTEXT SLIDESBC update SLIDESBR image document images SLIDESIMGBR SLIDESBR textid SLIDESTEXT SLIDESBR update SLIDESBD image document images SLIDESIMGBD SLIDESBD textid SLIDESTEXT SLIDESBD update lt SCRIPT gt lt php mysql close gt lt body gt lt html gt 130 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Code for Scripts and Utilities for Conversion from MTLS Data to Photolog Listing D 3 Shell script to set up session database table doSession sh bin sh javac cp lib populateSession java java cp lib populateSession Q Listing D 4 Shell script to populate photolog database table doPopulate sh bin sh javac cp lib N Populate java java cp lib Populate 1 Listing D 5 Shell script to set Exchangeable Image File Format EXIF data fields in JPEG images doExif sh bin sh javac cp lib XMPTag java javac cp lib ExifWriter java java cp lib N ExifWriter Listing D 6 Shell script to scale back center images bcProcess sh using convert utility from imagemagick bin bash if d processed then mkdir processed fi for lt f 4a pg do echo Processing Sf convert resize 612x512 f processed S f done 131 Co
217. ta MAP 21 the Federal Moving Ahead for Progress in the 21st Century Act P L 112 141 was signed into law by President Obama on July 6 2012 It requires the Department of Transportation DOT to establish and implement a plan for asset management Eventually Caltrans is obligated to collect its assets location and condition by the Federal Government Caltrans is currently evaluating options for roadway and roadside data collection MTLS is a cost effective solution for collecting accurate high resolution data on above ground DOT assets another possibility for resource grade asset collection is photogrammetry based systems by Fugro earthmine Trimble MX2 without laser scanner and others Caltrans also has a variety of other temporal geo spatial data from different sources such as static fixed LiDAR scan data photolog pavement survey photolog aerial photo DHIPP aerial photos aerial LiDAR Geographic Information System GIS and culvert inventory These geo spatial data are also vital for timely data driven decision making process For example the biennial pavement survey collected two 2 MP 1920x1080 geo located images with 120 and 90 field of view at 10 meter spacing on every highway lane This photolog image dataset has 8 million images and its total size is about 16 TB There is about 1 TB of static scan data in District 4 Surveys While these data set sizes are small compared to MTLS data their total size and growth can present
218. te cloud managed by a contractor under the oversight of OTech with data storage located at OTech data centers will be available for California State agencies Detailed services costs and services availability can be found in http www servicecatalog dts ca gov services future calcloud docs CalCloudBrochure pdf and http www servicecatalog dts ca gov services future calcloud rates html Detailed exploration 45 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation and discussions with OTech will be needed to determine if CalCloud could handle 3 PB in the near future as well as the needed data connection bandwidth between OTech s data center and Caltrans network CalCloud may not support distributed data processing of point cloud and image data Using distributed storage and processing technology several companies provide commercial cloud storage and processing solutions with their data centers in the US and worldwide Amazon Web Services Google Cloud Platform and Microsoft Azure provide both enterprise distributed storage and processing capability as a service On the other hand companies such as Box and Dropbox provide enterprise cloud storage for large data sets The internet bandwidth connection to these commercial clouds should be carefully examined Transferring large data sets can overload the existing bandwidth of the entire enterprise inter
219. this slides length next 0 roy if prev lt 0 prev this slides length 1 Preload the slide image this slides next load this slides prev load Keep going until we have fetched the designated number of slides while count lt this prefetch 4 this goto slide function n This method jumps to the slide number you specify If you use slide number 1 then it jumps to the last slide M You can use this to make links that go to a specific slide or to go to the beginning or end of the slideshow Examples onClick myslides goto slide 0 onClick myslides goto slide 1 onClick myslides goto slide 5 if n 1 112 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation n this slides length 1 if n lt this slides length amp amp n gt 0 this current n this update this goto random slide function include current Picks a random slide other than the current slide and displays it If the include current parameter is true then See also shuffle var i Make sure there is more than one slide if this slides length gt 1 Generate a random slide number but make sure it is not the current slide do i Math floor Math random t
220. tput C Tutorial gt python setup py py2exe running py2exe searching for required modules parsing results creating python loader for extension zlib creating python loader for extension unicodedata creating python loader for extension bz2 160 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation finding dlls needed create binaries byte compile python files byte compiling C Tutorial build bdist win32 winexe temp bz2 py to bz2 pyc byte compiling C Tutorial build bdist win32 winexe temp unicodedata py to unicodedata pyc byte compiling C Tutorial build bdist win32 winexe temp zlib py to zlib pyc skipping byte compilation of c Python24 lib StringIO py to StringlO pyc skipping many lines for brevity skipping byte compilation of c Python24 lib warnings py to warnings pyc copy extensions copy dlls copying c Python24 lib site packages py2exe run exe gt C Tutorial dist hello exe binary dependencies Your executable s also depend on these dlls which are not included you may or may not need to distribute them Make sure you have the license if you distribute any of them and make sure you don t distribute files belonging to the operating system ADVAPI32 dll C WINDOWS system32 ADV API32 dll USER22 dll C WINDOWS system32 USER32 dI1 SHELL32 dll CAWIND
221. trans vehicle pre op check procedures and fill out Cartag information In addition the operator should check that e Aux battery isolator is closed e Main battery isolator is closed e Cab battery isolator is closed e Fuel level is full Vehicle filling requires engine shutoff as well as shutting down the entire MX8 system Restarting the MX8 again for data collection requires a 5 minute static session at the beginning and end of the project data collection 58 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation e Tire pressure is correct particularly the tire with the DMI Step 2 Start Engine After starting the engine it should idle at 900 to 1 000 rpm Let the engine idle for at least 30 seconds before turning on the inverter Step 3 Remove all camera lens and laser scanner covers Operator should check and make sure all camera and laser scanner covers are removed and their windows are clear and free of bugs and dirt Bugs and dirt collected during data collection are generally not a big problem However if the vehicle has to travel a long distance to the project site an accumulation of bugs and dirt may degrade the camera image quality particularly for the front center camera Thus the covers should be removed immediately before data collection only Lens cleaning supplies are stored in the orange toolbox located at the back of the vehicle
222. uld turn on Applanix by holding the Applanix power button shown in Figure A 8 for a few seconds until the power button is illuminated In addition the Applanix will not properly detect the DMI without the server computer being on After starting the Applanix system it is preferable to only drive the vehicle forward initially The vehicle should be driven and turned several times with the Applanix system on for at least 5 minutes in an area with relatively open sky before starting the data logging and 5 minute static session Step 8 Check to see if both power supplies in the computer rack are on The operator should then check that both the power supplies power indicators located on the 12 V and 24 V power supply switches see Figure A 10 are illuminated red Both switches should always be kept in the ON position The power supplies power the camera cooling system laser scanners and Applanix system When the computers turn on power is supplied to all the cameras The camera CCD array may overheat and be permanently damaged when powered without the cooling system DO NOT connect or disconnect camera FireWire or CPIO cable to the multiplexer when the computer is on Doing so risks damaging the camera or the multiplexer 61 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 12V amp 24V Power Supply Switch kept at ON position Scanne
223. used to store information saved during captures such as file names file locations devices configurations and so on Project Database can be names file locations devices configurations and so on Project Database can be centralized in a sharing space from where data could be loaded within office tools like centralized in a sharing space from where data could be loaded within office tools like dips laser data etc dips laser data etc Select an ODBC data source Select an ODBC data source 7 Add DSN E Add sn ED050 018 020 20140225U E LAK29 2832 20140304C Refer to this connection with this name E PLA8O 031 032 20140501C SD05 4254 20140311C SD15 0506 20120312C 5D52 0406 20140310C SF101 PM2 3 20140609 C SF101 280 20140612 U ad lt Back Cancel Finish lt Back Next gt Cancel Finish Figure A 24 Trimble Trident Capture for Imaging Server user interface 70 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation H Select the location of project directory for the data to be stored in the File Selection and System Status tab by clicking the button next to the Clip name title as shown in Figure A 25 d ProjectData project folder name project date project dateV e g d ProjectData SJ580_000 005_20130128C 20130128 20130128 I Enter the project date for the
224. utilities to convert MTLS data into the photolog format 105 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Photolog Viewer Code Listing D 1 Code slideshow js to be located in var www slideshow2 js E SId slideshow js v 1 16 2003 10 14 12 39 00 pat Exp Copyright 2000 2003 Patrick Fitzgerald 3 http slideshow barelyf Th it th at your option is program is free software under the terms of the GNU e Free Software Foundation itz com you can redistribute it and or modify General Public License as published by either version 2 of the License or any later version This program is distrib uted in the hope that it will be useful without even the implied warranty of See the but WITHOUT ANY WARRANTY MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE GNU General Public License for more details You should have received a copy of the GNU General Public License along with this program if not write to the Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 USA There are two objects defined in this file slide contains all the information for a single slide slideshow consists of multiple slide objects and runs the slide
225. velop best practices of Mobile Terrestrial Laser Scanning MTLS data collection MTLS combines the use of a laser scanner s the Global Navigation Satellite Systems GNSS an Inertial Measurement Unit IMU and a Distance Measuring Instrument DMI on a mobile platform to collect accurate and precise geospatial data A previous study by the Advanced Highway Maintenance and Construction Technology AHMCT Research Center in collaboration with the Caltrans Office of Land Surveys OLS tested and determined the feasibility of using this technology for some Caltrans applications in highway maintenance and construction The current effort involved experimental evaluation and field testing of this technology as well as basic research on its improvement and its integration into Caltrans workflow The objective of the research was to facilitate effective deployment of the MTLS system in Northern California in conjunction with Caltrans OLS AHMCT researchers were involved in the MTLS system vehicle integration data collection training training material development documentation of best practices and workflow for MTLS data collection utilization analysis and MTLS impact study Key contributions of this research project included Report on MTLS system installation Report on MTLS usage results analysis and lessons learned Best practices workflow and training documentation for MTLS data collection Lessons learned from MTLS deployment and training
226. velopment Technical Support and Evaluation when transporting to and from the project site The lens covers are taken off before data collection The lens covers reduce the need for cleaning the camera lenses before data collection 4 Laser sensors replacement After several months of use liquid droplets were found on the inside of both left and right laser scanner optical windows as shown in Figure 2 9 Bearing seal failure may be the cause of the oil droplet deposits Both laser scanners were replaced under manufacturer warranty LES s Figure 2 9 Liquid droplet found inside the laser scanner head 12 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 5 Cooling fan failure A cooling fan inside the sensor pod was replaced under warranty 6 Display mount replacement The original monitor mounts shown in Figure 2 3 became loose due to the vehicle vibration They were replaced with an all metal dual LCD monitor mount as shown in Figure 2 6 7 Software Issue Part of the Trimble software Windows Registry related to photo logging was corrupted The Window Registry was promptly repaired by Trimble technical support 13 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation CHAPTER 3 TRAINING Background After the installation of the MX8 system
227. vert MTLS data to photolog ceres sees sees etes eee seen etna tn neto setas ta setas eta sena Figure 7 1 Culvert inlet in MTLS point cloud eere eee esee eese te senta aestas tento seta sns ta sens tasses sosta sone ta an Figure A 1 Caltrans Trimble MX8 MTLS system sensor pod and DMI e eeeeeeeeee esee e eee en setenta nn Figure A 2 Caltrans Trimble MX8 MTLS system sensor pod front view Figure A 3 MX8 user interface dual monitors keyboard and trackball mounted next to the driver 54 vi Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Figure A 4 MX8 computer rack mounted in the vehicle rear csscsscssssscssesssssssscesssssesessesesssssssessessesseses 54 Figure A 5 CHP and shadow vehicle rolling traffic break sssccsssscssssscsscssssssssssscesssssesssssnessssnessessesseseeees 56 Figure A 6 Scan line spacing vs vehicle speed and scan rate sccsesscssssscsscssesessesssscsesssessssssesessnessessessosseees 56 Figure A 7 Xantrex inverter remote eee eee esee eese enses thats ense ta tuse ta sone ta sesto sees suse tasse ta sens enses tuse tassa an 59 Figure A 8 MX8 computer rack front view 4 eee eee esee ee seen enean setas n staat s tastes suse tasse ta sens enses sosta sone ta an 60 Figure A 9 MX8 server and clie
228. wObjects NS ERT nid direction titude image eTime ing roll essionID sessionl direction dlat dlong dalt pitch hdop Paor ap o Dur op opa o aar a o ara A e F rtptp p tp ipti p pepepoepceptptrp sessionl va set l 5 offset toffset toffset 9 offset O offset 2 offset 3 offset 14 offset 5 offset l6 t offset 74 84 user password NTO photolog dist VALUI velocity ES d Integer toString idx d Copyright 2015 AHMCT Research Center UC Davis 140 Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation pst setString 7 postmile pst setString 8 county pst setString 9 route pst setString 10 image pst setString 11 dist pst setString 12 gpsTime pst setString 13 gpsDate pst setString 14 gpsDateTime pst setString 15 gpsDist pst setString 16 heading pst setString 17 roll pst setString 18 pitch pst setString 19 hdop pst setString 20 velocity pst executeUpdate catch SQLException ex Logger lgr Logger getLogger Populate class getName lgr log Level SEVERE ex getMessage ex finally try if con null con c
229. wledge of the project site and the project limits and perform project planning activities such as target layout and setting targets 9 Coordinate with GNSS base station operators for GNSS base station data logging 10 Perform other survey functions as assigned such as clearing brush while using an axe brush hook or machete and cleaning stocking and inventorying equipment and supplies 11 Read and interpret right of way maps construction plans survey notes conveyance documents and other relevant technical information 12 Ability and experience in working long periods on roadway near fast moving vehicle traffic as well as knowledge of placing traffic warning devices and acting as a flagman SUPERVISION EXERCISED OVER OTHERS This position does not supervise other employees but may be requested to act as a lead worker REQUIRED KNOWLEDGE AND ABILITIES 1 Knowledge of basic field surveying skills in order to perform assignments The incumbent should be able to identify survey requirements and be in a position to help the survey crew in obtaining the required data The incumbent should be able to reduce field data to useable form which will require some analysis to resolve conflicts and the ability to identify potential problems 178 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation 2 Ability to operate most surveying instruments in order t
230. y have this DLL then they will not be able to run your program The methods you may use to solve this depend on the version of Python you are using 5 1 Python 2 4 or 2 5 If you are using Python 2 4 or 2 5 then the DLL you need is called MSVCR71 dll This DLL will probably already have been included in your dist directory in which case you need do nothing more However the copyright on this file is owned by Microsoft and you need to check whether you have the legal right to redistribute it If you have a copy of Visual Studio check the file redist txt provided within the installation to see whether you have redistribution rights for this DLL Generally you have the right to redistribute it if you own a license for Microsoft Visual C but not if you use the Express Editions If you do not have the rights to redistribute MSVCR71 dll then your users must install it for themselves using the Microsoft Visual C 2005 Redistributable Package vcredist_x86 exe 162 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation Either you can instruct your users to download and run this themselves or you could create an installer for your application see Step 6 below that includes vcredist_x86 exe which is itself redistributable by anyone and then run that as part of your application installation 5 2 Python 2 6 2 7 3 0 3 1 For Python 2 6 the DLL y
231. yId this textid if r return false if typeof r innerHTML undefined return false Update the text r innerHTML text 116 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation this hotlink function this slides this current hotlink This method calls the hotlink method for the current slide Pf this save position function cookiename so when you return to this page the position won t be lost Saves the position of the slideshow in a cookie in the slideshow returns the slideshow to the previous state Get cookie code by Shelley Powers if cookiename cookiename this name slideshow var search cookiename if document cookie length gt 0 offset document cookie indexOf search if cookie exists if offset 1 offset search length set index of beginning of value end document cookie indexOf offset set index of end of cookie value if end 1 nd document cookie length this current parseInt unescape document cookie substring offset if cookiename cookiename this name slideshow document cookie cookiename this current J this restore position function cookiename If you previously call
232. zing the negative impact on the existing Caltrans network Therefore any storage and distribution solution must include network bandwidth upgrades at all levels of the network 47 Copyright 2015 AHMCT Research Center UC Davis Mobile Terrestrial Laser Scanning Workflow Development Technical Support and Evaluation infrastructure particularly to districts and satellite offices where the MTLS data processing personnel are located Recommendations and Lesson Learned Summary 1 To maximize the return on investment the MTLS vehicle should be deployed to central and southern California districts With the anticipated increased demand Caltrans should evaluate procuring a second unit This will be more strongly indicated if asset management becomes a regular use for MTLS As Caltrans has indicated the current pilot study has proven that in 18 months the cost savings is greater than the cost of the MTLS unit 2 To address the perishable skills issue Caltrans should consider moving to a centralized MTLS group at the Headquarters level or groups at the regional level that performs all MTLS data acquisition and post processing Feature extraction may be done by this group or by the districts Careful planning will be needed to appropriately balance centralized management vs the needs of the districts 3 Caltrans must develop clear guidelines and criteria to manage project priorities and broker the use of the MTLS system and skills 4 S

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