3DVEM – Register
Contents
1. 2 3DVEM Register orientation or registration of special design geometry cases see Fig 18 very common in real life practice with laser scanning which otherwise might not be automatically registered 2 eet i TF o nol O i O gt A a b A S jo a AN A o c Station O Target Sphere Point observed Fig 18 Special cases which can be automatically solved by 3DVEM Register Fig 18 presents some of the indirect registration possibilities that can be solved by 3DVEM Register such as target to target registration point to point registration and point to model registration The virtual reference network used for the resolution of the registration adjustment will allow users to solve immediately special cases either typical cases with lack of visibility between stations Fig 18a transverses for linear geometric projects Fig 18b or cases where a station is oriented making use of targets observed in multiple untie stations Fig 18c E Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i usversitar mi gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es e 222. characteristics The equipment might be placed on a point of known coordinates by a laser plummet and be oriented to another known point or make use of GNSS GPS GLONASS Galileo and INS t It is called Home Scanworld by the Leica Cyclone REGISTER software The main reference system is usually highlighted in the user interface aA Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i UNIVERSITAT mi gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es ce E Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir 3DVEM Register s Es 3DVEM 3D Viewer Editor amp Meter Beta of amp Project View Tools Render Help Oo ce A A A E E E s Es 3DVEM 3D Viewer Editor amp Meter Beta of X Project View Tools Render Help A i ele O Qe i Carr ie eng ee c SM Point clouds a feos O View 1 Points i ve Diana 1 Saas o Diana 2 a eS Diana 3 an amp Diana 1 Diana 2 Diana 3 Diana 1 Diana 2 Diana 3 Distances 4 SISSSSSS oO A E Press right button on a layer to perform actions individually b Fig 2 Top view of several coloured point clouds by station a raw unregistered b registered Indirect registration techniques will require the arrangement and identification of matching features in different
3. in case of Do Not Agree Agree Cancel Back Cancel lt Back a b Je 3DVEM Register ol amp s 3DVEM Register ole ls Select Installation Folder Confirm Installation The installer will install 3D VEM Register to the following folder The installer is ready to install 3DVEM Register on your computer To install in this folder click Next To install to a different folder enter it below or click Browse Click Next to start the installation Folder C Program Files x86 3DVEM 3DVEM Register Browse Disk Cost Install 3DVEM Register for yourself or for anyone who uses this computer Everyone Just me Cancel lt Back Cancel lt Back c d 3DVEM Register all 3 g 3DVEM Register allez Installing 3DVEM Register Installation Complete 3DVEM Register is being installed 3DVEM Register has been successfully installed Click Close to exit Please wait Please use Windows Update to check for any critical updates to the NET Framework e f Fig 1 Installing 3DVEM Register FE Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i avers aai gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es ai
4. of the rotations Omega rotation over the X axis and Phi rotation over the Y axis to the accuracy specified by the manufacturer Following this way the adjusted values for these rotations will be restricted to the specified values By default the imported scans are considered unlevelled Dual axis compensator instrument data used for the data acquisition The value will be introduced in seconds decimal degrees Null or negative values will not be allowed An accuracy value of 1 is set by default 4 4 3 Units Input it will determine the order of magnitude of the input measurements and subsequently the output magnitudes kilometres km meters m or millimetres mm gt An instrument is considered to be leveled when its normal to the vertical axis is horizontal Most of the times the user needs to check that the dual axis compensator is on alternatively the user needs to level carefully the instrument before acquiring data a Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i UNIVERSITAT mi gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es eo E Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir 16 2 3DVEM Register Output it will determine the units used to print the rotations Grades Grd Degrees Deg or Radians Rad 4 4 4 Matching The matching is automatically updated each ti
5. registration reset the adjustment and change language commands Fig 6 e Help shows the content of this document and provides details about the version and software copyright Fig 7 The pull down menus available in the toolbar are displayed next Figs 4 7 Mew Open Save Save as Generate Report Generate 3D Close Fig 4 Project menu Import Files Export Files Single Allin one To folders fls Fig 5 Data menu Register Reset Adjustment Remove Scan Recovery Original ID Language Fig 6 Tools menu Fig 7 Help menu FE Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering W Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i Universit DE VALENCIA GiFLE gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es 2 3DVEM Register 4 1 1 Project menu The software works with files written in XML language that allows saving the main project features The Project menu Fig 4 allows users to create a new project open an existing project and save the actual project The Project menu includes more commands 1 Save adjustment reports The software offers the possibility to generate a text file which will include a report with the adjustment results Furthermore it will contain all the information regarding loaded and adjusted data such as used files matching table nu
6. 29 0 0013 0 0052 10 3628 8 6511 47175 v3 3 Bosque_Scan_002 9 3642 3 0948 0 1864 0 0000 0 0000 0 0000 0 0000 9 3642 3 0948 0 1864 v5 3 Bosque_Scan_001 0 0848 4 9612 1 5386 0 0000 0 0000 0 0000 0 0000 19 4165 11 9551 6 0616 v6 3 Bosque_Scan_003 34 6638 12 5092 2 3430 0 0000 0 0001 0 0000 0 0001 16 0974 18 1001 1 1767 v 4 Bosque_Scan_003 8 5716 19 6313 1 0999 0 0025 0 0006 0 0000 0 0026 4 8341 20 3918 0 1682 v 4 2 Bosque_Scan_001 8 5721 19 6355 1 1002 0 0019 0 0013 0 0003 0 0023 19 6172 5 0814 5 6286 7 4 Bosque_Scan_002 8 5730 19 6334 1 0999 0 0000 0 0000 0 0000 0 0000 8 5730 19 6334 1 0999 Fig 16 Targets Spheres Points Coordinates and Residuals Panel Eo Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering Cii Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i UNIVERSITAT GiFLE gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es es 19 2 3DVEM Register 5 Adjustment possibilities Automatic Matching allows users to recognise automatically features Therefore there is neither need to follow any order on site when measuring targets spheres nor numbering them due to the automatic matching performance For Manual Matching special care has to be taken with numeric identifier assigned to features before running Register It is recommended to measure at least three features from each station With sl
7. Department of Cartographic Engineering Geodesy and Photogrammetry POLITECNICA Cai F L E DE VAL NCIA 3DVEM Register User Manual March 2014 r GiFLE 3DVEM Register Index L od 6 lt 10157 2 6 rn ee eee nee eee ee ee eee errr 2 2 Installing the SOP WANS ie cosiiiescsvatseescscateccochusvesncilsanssetbewsdteiiioveidedevsecuntiewretens 3 3 Introduction to the registration process ccccccccccesscecesceceneceeeeeeeeeeeees 4 4 Main Interface sonics noes cet spate vo nsetentiebanscuisss aun Sabapacten died oseantsbtacen dab asaeen dea ebeebaase 7 A MEN e E E E eer crane tenn A E 7 ALE PFO CUO o E EE 9 Ake DIa ONG er E N E 10 41 3 TOOls MENU pe ee eee 11 4 2 Workspace Ren ee eee 12 4 3 Targets Spheres Points Panel cccccccccccseessssseseesseseeeseeeeeeeesseseeeas 13 4 4 Preferences Panel scicicsececesniccsdcndsanndesataacvendabiaddaanscauascevaneesadeonanronsawwbanadeareoss 15 AA Adjustmentin a oe 15 MA2 6 E E O O EA EE E 16 AAS UNNS aAA AE E OA AA OAE OE EA 16 AAA MaC NINE senenin n nE EEA EEN 17 4 5 Adjustment Summary Panel ccccccsssecccssececessceeeeseeeeeeseceseeeceseeseeees 17 4 6 External Orientation Parameters Panel cccccceccccseseceeeeeeneeeeeeeeees 18 4 7 Targets Spheres Points Coordinates and Residuals Panel 19 5 Adjustment possibilities c cc cccccccsssccccsececeesceeeeeeeeeeeceeee
8. ased on a tolerance threshold or uncertainty while positioning targets By default this threshold is set to 0 01 m 4 5 Adjustment Summary Panel The user will be able to run the Register command in the Summary of the Adjustment Panel as well as check the overall result of the adjustment Figs 3 and 14 6 3 It is understood that there are no gross errors in measurements Otherwise more observables will be required Eo Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering aA Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i univensirat mi gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es cea 17 3DVEM Register Summary of the Adjustment Number of iterations 1 Register RMS im 0 0007 Oriented scans 33 Fig 14 Summary of the Adjustment Panel The Register button allows users to solve the indirect registration or alignment The software will calculate all possible solutions and will select as the best the one that yields higher percentage of success for the orientations higher number of scans successfully oriented and lower root mean square R M S error Number of Iterations the registration adjustment follows an iterative approach that will be mostly solved more than once Root Mean Square R M S error reports an overall quality estimate providing the user an idea of the average error Or
9. d 4 observables per station ideal case b 4 stations and 3 observables per station c 3 stations with obstruction in the central part and 3 or more observables d 3 stations and 3 observables per station In some cases the presence of some error during the data acquisition on site can be solved by adapting the tolerance point threshold to its true precision or introducing additional natural points measured in the point cloud or 3D model while processing Another rigorous alternative to remove the influence of gross errors whenever enough number of redundancies exists is to apply robust estimators 3DVEM Register offers two possibilities the Danish Modified Danish Mod method and the Minimum Sum Min Sum estimator Fig 13 In practice it might happen that there is not enough number of features between Stations The resolution of the registration alignment or orientation in 3DVEM Register will be performed by means of a virtual reference network which contains not only the points of the main reference system but also those included in the rest of scans oriented from the main reference system This fact allows users to solve the Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i canter POLITECNICA GiFLE gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es ee FE Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering Or 21
10. d formats for loading 3D data will be PTS and PTX Leica Geosystems FWS and FLS FARO LAS ASPRS LAZ ASC TXT and OBJ Worth mentioning is that the files should contain 3D data belonging to a single reference system In the case of point clouds acquired by a terrestrial laser scanning each file will contain scans from a single station PTS format files can handle point clouds as well as coordinates of the centroids of the targets spheres points measured from each station Following this way a single file will load both the point clouds and the points for registration Furthermore the FLS format allows users to include spheres measured in FARO SCENE When using other formats the coordinates of the points for registration will be stored in separate files and loaded afterwards in the program Alternatively the point coordinates can also be written on the Targets Spheres Points Panel Export Files 3D data export whether they are transformed or not may be undertaken in the following formats PTS PTX LAS LAZ ASC TXT VRML and OBJ Files can be exported following different ways e Single It will generate an output file for each input file e Allin one it will generate a single output file which will contain all the items contained in the partial scans transformed to the main reference system selected by the user e To folders fls The user has to specify the folder where all the raw fls subfolders downloaded from the system contain
11. d scan delete the selected scan from the Workspace export or generate a file with 3D data WRML or DXF format The context menu is displayed by clicking the right button on the existing scans FE Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering ae Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i universtray gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es e 12 3DVEM Register 4 3 Targets Spheres Points Panel Targets Spheres Points Panel will be enabled when the user selects one of the files on the Workspace Panel Figs 3 and 12 Targets Spheres Paints Al Go be X m Y m 12 4016 5 5175 36 6991 4 4893 13 5137 30 2428 Fig 12 Targets Spheres Points Panel The table displays the coordinates of the artificial points targets or spheres and or natural points extracted from the point clouds or digital model that will define the laser scanner coordinate system of the file selected in the workspace The list includes the numeric identifier ID assigned to the point If the identifier was not included it might be sequentially assigned or automatically matched followed by the coordinates of the points The PTS format allows users to include in the list targets spheres points features plus the scanned points Also the FLS format allows users to include spheres measured in FARO SCENE Natura
12. ding 7i niversita mi gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es oo 3DVEM Register 2 Installing the software 3DVEM Register works on Windows operating system Double click the file Setup exe to install the software Fig 1 shows the steps needed to install the software Once installed you can run the software double clicking the 3DVEM Register icon located on the desktop The license will have to be installed either in local or in network mode Contact gifle webs upv es to get a USB key otherwise the DEMO version will run 3H 3DVEM Register oo 53 3DVEM Register Lo 8 Welcome to the 3DVEM Register Setup Wizard License Agreement H The installer will guide you through the steps required to install 3DVEM Register on your computer Please take a moment to read the license agreement now If you accept the terms below click I Agree then Next Otherwise click Cancel English Spanish a 3DVEM REGISTER SOFTWARE END USER LICENSE AGREEMENT EULA 2013 Universitat Polit cnica de Val ncia from now on UPV WARNING This computer program is protected by copyright law and international treaties IMPORTANT Read carefully Unauthorized duplication or distribution of this program or any portion of it may result in severe civil or criminal penalties and will be prosecuted to the maximum extent possible under the law 3DVEM Register Software will be licensed for use
13. ecesseeeeeseees 20 Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir a Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i UNIVERSITAT gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es ii ep 3DVEM Register 1 Presentation 3DVEM Register has been implemented by GIFLE Photogrammetry amp Laser Scanning Research Group at the Department of Cartographic Engineering Geodesy and Photogrammetry Universitat Polit cnica de Val ncia Valencia Spain 3DVEM Register is a powerful low cost software that solves the registration also known as alignment or relative orientation of point clouds point clouds and 3D models as well as 3D models all of them registered from a sufficient number of matching homologous features identified in a variety of ASCII formats Matching features may be centres of targets and spheres among others as well as natural points or points extracted from digital models Matching features is automatic in principle since the software sets internally features and solves the indirect registration by means of either least squares or robust estimation depending on the option selected by the user E Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Buil
14. he rotation angles Omega and Phi will not participate in the adjustment 4 7 Targets Spheres Points Coordinates and Residuals Panel The Targets Spheres Points Coordinates and Residuals Panel Figs 3 and 16 shows for each one of the points loaded per scan its identifiers distinguishing between the assigned automatically by the software and the introduced by the user file the name of the scan it belongs to its transformed coordinates to the main reference system the one selected in the External Orientation Parameters Panel the residuals of the transformation the final error generated at the point and their coordinates in the Original input coordinate system The control allows user to sort values after clicking on the corresponding columns Targets Spheres Points Coordinates and Residuals Pt ID Scan X transf Y transf Z transf Rx m Ry m Rz m R M S m X orig Y orig Z orig v 1 1 Bosque_Scan_002 13 1087 5 1072 0 2619 0 0000 0 0000 0 0000 0 0000 13 1087 5 1072 0 2619 v 2 1 Bosque_Scan_001 4 8414 3 1998 1 0637 0 0022 0 0042 0 0009 0 0048 10 9737 16 3816 5 5931 75 1 Bosque_Scan_003 0 0853 4 9619 1 5384 0 0005 0 0007 0 0003 0 0009 11 8655 17 0359 0 2657 v 1 2 Bosque_Scan_003 13 1070 5 1056 0 2617 0 0020 0 0012 0 0002 0 0023 25 6505 8 0387 1 5185 v 2 2 Bosque_Scan_002 4 8454 3 1973 1 0628 0 0000 0 0000 0 0000 0 0000 4 38454 3 1973 1 0628 v3 2 Bosque_Scan_001 9 3693 3 0952 0 1851 0 0041 0 00
15. iented scans indicates the number of registered scans over the total 4 6 External Orientation Parameters Panel The External Orientation Parameters Panel Figs 3 and 15 shows the results of the least squares robust adjustment achieved for the scans included in the Workspace Panel The rotation units will correspond to those selected by the user on the Preferences Panel The translations will be fixed by the units from the input files Eecemal Orientation Parameters Scan ne Der k Tx im W Est_1 0 0000 0 0000 0 0000 0 0000 Est_2 0 004 0 0010 204 8696 2 3655 Est_3 0 0011 0 0002 123 6247 8 7188 Fig 15 External Orientation Parameters Panel Eo Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i usiversitar mi gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es eee 18 2 3DVEM Register 3DVEM Register sets as main reference system the most suitable scan It is marked as active tic on in the listed solution and fixes the origin of rotations and translations Selecting another scan from the list of solutions will cause a recalculation of all the transformation parameters to the new selected reference system If any scan can not be adjusted the fields will be marked with dashes When the Leveled box is on the adjustment solution is constrained and t
16. ii 2 3DVEM Register 3 Introduction to the registration process Most of laser scanning projects require several scans from different positions to complete the overall 3D digitization as well as avoiding possible occlusions Each scan will be referred to its own laser scanner system whose coordinate origin is the instrument s origin of measurements Fig 2a Therefore a correct visualization of the full point cloud integrated by all the partial scans will require some orientation processing alignment Fig 2b This three dimensional spatial orientation process whereby different scan coordinate systems are referenced to a common coordinate system is usually known as registration or alignment and corresponds to a 3D rigid body transformation The 3D rigid body transformation integrates 6 external also known as exterior orientation parameters 3 rotations and 3 translations each one on a coordinate axis This common coordinate system where all the points are finally referred to is usually known as main reference system in the field of topography Registration techniques are often divided in direct and indirect depending on the mode it is undertaken It is called direct registration or georeferencing when the instrument s position and orientation is known and allows users to obtain measurements and point clouds directly referenced The way of knowing its position and orientation depends on the available instrument and its
17. ing both the FLS file and the Main file that stores the attributes of the scan Fig 9 shows the steps to save the transformation parameters obtained from 3DVEM Register for each scan This option will only be displayed active on the Data menu if the project data are imported in FLS format Avoid activating automatic feature matching in FARO SCENE to work in a local laser scanner reference system In case of choosing both point clouds and targets while exporting data with Leica Cyclone r GiFLE Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir TGA Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i UNiveRSITAT gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es ee 10 2 3DVEM Register E 3DVEM Register Bosque xml Project Data Tools Help Preference amp Import Files j Workspace Adju Export Files gt i F p hanai Pts Bosque _ Targets Spheres Points 2 Pt X m 1 13 1087 2 4 8454 3 9 3642 4 8 5730 Matching Output Grd Deg Rad Automati E Export FARO Main Allin one 4 To folders fls 4 Minm iner ion m 0 001 Sque_Scan_ 4 r4 Minimum angle correction 3 Maximum iterations 7 Leveled C All F Bosque_Scan_001 Bosque_Scan_002 a ae Btemal Orientation Parameters Dual axis co
18. l points can be extracted from the digital model using the free software 3DVEM Viewer Editor amp Meter Fig 2 The software is license free but registration is required in advance before downloading 3DVEM Viewer Editor amp Meter contains tools that allow the efficient management of point clouds and three dimensional 3D models as well as the simple insertion and extraction of point coordinates It is possible to modify the contents of the tables using the following groups of tools 1 Edition of the table The Edit Table button Fa activates the chance to modify both the point ID and the coordinates This command is useful when 3DVEM Viewer Editor amp Meter http gifle webs upv es Index php E Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i univensinat gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es ce 13 3DVEM Register the user knows the identifiers of the listed points Also new points can be manually inserted by clicking on the Insert Point button E3 To validate the changes will be necessary to click on the Edit Table button Al There will be allowed neither numeric identifiers nor coordinates If either the names or the coordinates are edited the software will automatically switch to manual mode Manual Matching will be active on
19. ll be achieved firstly with spheres secondly with paddle targets and thirdly with printed artificial patterns ideally distributed in 3D space whenever their geometries are recognised and extracted by specific software The most common approach is to use registration targets provided by manufacturer and scan them with the laser scanner which will determine automatically their centroids and add their coordinates into the working file Other indirect registration possibilities such as cloud to cloud registration surface to surface registration and point to surface registration can be implemented in 3DVEM Register whereas the user measures interactively the points and include them in the corresponding files or typing for instance in the free software 3DVEM Viewer Editor amp Meter The functionalities and controls available in the 3DVEM Register software will be presented next E Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i universita mi gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es eo 2 3DVEM Register 4 Main Interface 3DVEM Register presents a single interface divided in seven different areas Fig 3 Menu Workspace Panel Targets Spheres Points Panel Preferences Panel Summary of the Adjustment Panel External Orientation Paramete
20. local LIDAR coordinate systems Since relationship between two laser scanning systems will be given by a set of 6 orientation parameters a minimum of three homologous features will be required for a least squares resolution although four are recommended or two in case of levelled instruments a GiFLE Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es UNIVERSITAT POLITECNICA DE VALENCIA 2 3DVEM Register fact that would constraint the rotations around X Omega and Y Phi axes In any case it is recommended to have more corresponding features to detect any errors in the spatial transformation Distinction in indirect registration techniques will be given by the provenance of these homologous features Normally and when accessibility allows it indirect registration will be performed using targets spheres or artificial patterns recognized by the instrument that yield high precision in measurements some software call this process target to target registration simply because targets are matched or point to point registration when natural points are identified in the point clouds In any case targets soheres or points are used to materialize the information that supports the 3D transformation The best results wi
21. mber of iterations root mean square error exterior orientation parameters per scanner position and related uncertainty used targets in the adjustment and associated residuals 2 Generate 3D Save optionally in VRML DXF format all the adjustment data to visualise interactively them in 3D Data such as control points the position and orientation of the LIDAR system and the digitised points with the chance to reduce the sample by percentage can be saved Fig 8 shows the window that allows users to generate 3D files by means of Generate 3D ES Generate 3D lo El mE Format RML VAML W Scan Points PAF _ Reductive factor 72 1 Color Scan W Position Size ud 0 5 Targets Spheres Points Radio fud 0 07 Save Single All in one Cancelar Fig 8 Options to generate VRML and DXF files 3 Exit application Eo Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i univensinat gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es eo ep 3DVEM Register 4 1 2 Data menu 3DVEM Register manages different file formats usually used by surveying photogrammetric and terrestrial and aerial LIDAR systems and 3D modelling software The Data menu Fig 5 allows 1 Import Files Accepte
22. me the workspace suffers any change in its content owing to adding a file deleting a file activating deactivating points editing the names of the points insertion deletion of points or modification of the tolerance Matching common features will be automatically carried out by an internal algorithm that recognises points Automatic Matching or from numerical identifiers assigned to loaded targets spheres points Wanual Matching If Manual Matching box is activated it is understood that the point identifiers are properly assigned So if the user does not identify or allocate convenient names to each point on the panel Targets Spheres Points the final adjustment would yield an erroneous result Similarly the Automatic Matching option will be taken into account not only when loading and editing the components of the workspace but also when solving the adjustment and creating the so called virtual reference network see Section 5 Adjustment possibilities Automatic Matching of targets spheres points in different coordinate systems will require a minimum number of three matches to be successfully performed In case of two matches the identification will not be automatically solved being necessary to activate Manual Match option identify manually homologous points and change the names of the points on the Targets Spheres Points Panel Point tolerance m the automatic search and validation of homologous features among different scans is set b
23. mpensator 1 ao ae of T Bosque_ 0 0114 0 0547 Units V Bosque_ 0 0000 0 0000 eee Pe ae E Bosque_ 0 1078 0 1528 oe saai E this els dieses cow caries E acraser Manual Targets Spher Pt ID eg _Aceptar E 2 1 Bosque SEIT TOFT 3 TIFE Toe f 14 4 Bosque Scan 8 5716 196313 1 0999 0 0025 W 4 4 Bosque Scan 8 5721 19 6355 1 1002 0 0019 71 2 Bosque Scan 13 1070 5 1056 0 2617 0 0020 W 5 1 Bosque Scan 0 0853 4 9619 15384 0 0005 716 3 Bosque Scan 346638 125092 23430 0 0000 715 3 Bosque Scan 0 0848 4 9612 1 5386 0 0000 Wi 1 Bosque Scan 13 1087 51072 0 2619 0 0000 Tz m 4h Scans 3 i Bosque_Scan_001 fls di Bosque_Scan_002 fls i Bosque_Scan_003 fls i Bosque_Scan_004 fls di Targets v 4 mw p A Crear nueva carpeta Cancelar OU 6 U36 gt O 11 8655 17 0359 0 2657 16 0974 18 1001 1 1767 19 4165 11 9551 6 0616 13 1087 5 1072 0 2619 0 0020 3 3 m Fig 9 Exporting FARO files 4 1 3 Tools Menu The Tools Menu Fig 6 contains key commands to operate 3DVEM Register such as register reset adjustment delete scan or compute matches and additional tools such as language selection More information is presented next 1 Register Starts the registration adjustment 2 Reset Adjustment Allows the user to clean the registration results while keeping the properties of targets such as name and
24. ow LIDAR systems this process might be time consuming due to the need to measure each feature specifically on site slowing down the data acquisition High end LiDAR systems provide dense and quick scans and the measurement process for multiple features can be carried out in the office either automatically or semi automatically as far as the features are measured with enough resolution Automatic search of homologous features from different station coordinate systems can be carried out as long as at least three common features exist within the established tolerance threshold On the contrary matching will not be automatically solved by the software Fig 17 shows some typical laser scanning surveys where the idea of placing spheres targets on site or measuring points is simple Worth noticing is the need of covering if possible the surroundings of the object to be digitised Therefore the idea is to plan well materialise and measure the 3D features on the working space E Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering a Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i niversita mi gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es ce 20 3DVEM Register A Station O Target Sphere Point observed Fig 17 Different cases of automatic resolution of indirect registration of a structure building or object a 4 stations an
25. rs Panel Ss ea SY Targets Spheres Points Coordinates and Residual Panel ES 3DVEM Register Sas Project Data Tools Help 1 Preferences Workspace Adjustment Robust Estimation Scan Pts Minimum linear correction m 0 001 2 Minimum angle correction 3 Maximum iterations 7 Leveled T All Extemal Orientation Parameters oe 1 Scan Q 9 oO K Tx m Ty m Tz m Units Input km m mm Output Grd Deg Rad 6 Matching Summary of the Adjustment Automatic Number of iterations Point tolerance m 0 010 RMS m G Manual Oriented scans Targets Spheres Points Coordinates and Residuals Pt ID Scan X transf Y transf Z transf Rx m Ry m Rz m R M S m X orig Y orig Z orig O Fig 3 Main window of 3DVEM Register 4 1 Menu The toolbar on top of the main window Fig 3 is organized in four pull down menus e Project includes the commands to manage projects save and generate reports and 3D visualisations Fig 4 Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i sae POLITECNICA GiFLE gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es es Eo Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering fa ita 3DVEM Register e Data contains the import export data commands Fig 5 e Tools contains the
26. status active inactive 3 Remove Scan Allows the user to remove the file selected in the Workspace Panel 4 Recovery Original ID Retrieves the number originally assigned to the targets spheres points This option will only be available when working in manual mode 5 Language Change the language of the application Fig 10 FE Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i GiFLE gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es Nae UNIVERSITAT POLITECNICA DE VALENCIA 11 3DVEM Register Espa ol English Fig 10 Language selection 4 2 Workspace Panel The Workspace Panel will include files with either the scanned point clouds or the 3D models that will be oriented as well as additional information Figs 3 and 11 ue Bosque Bosque_ Total 2 5 4 Fig 11 Workspace Panel The files are added to 3DVEM Register after selecting Data Import Files Fig 5 The table will display the names of the loaded files as well as the number of targets spheres or points included in each of them Similarly each time a file is included the matches will be automatically calculated among the rest of the scans Matches will be reflected in the table Three actions can be carried out from the context menu for each importe
27. the Preferences Panel Fig 3 The user will be able to change later to automatic mode Automatic Matching but the made changes on the point names will be lost 2 Import Export points Import Points button f allows users to insert new points from a file Points may be imported following the file formats PTS TXT ASC CSV XLS and DXF The PTS files do not allow the association of a numeric point identifier ID The rest of the files can have the following formats a XYZ b IDX YZ For a format file without identifiers and depending on the type of selected matching on the Preferences Panel while importing the 3DVEM Register software will assign an ID to each point either in a sequential way Manual Matching or in an automatic way Automatic Matching In any case it is recommended to make always use of the Automatic Matching unless it does not work For b format the ID entered for a point has to be an integer DXF file version 2000 onwards will contain the feature points POINT label In addition each point can be associated with a text ID Export Points button E allows users to export the selected point files in the Workspace Panel Points may be exported in the following formats PTS TXT ASC CSV and XLS 3 Delete points The Delete Points button Lx allows users to delete the selected points The points can be retrieved by clicking on the Undo Delete button B As changes continue 3DVEM Register will
28. thod or by the Minimum Sum Min Sum estimator Fig 13 This box is disabled by default Therefore the E Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i univensinat GiFLE gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es i 15 2 3DVEM Register adjustment will be solved by classical least squares method This is the recommended method Minimum linear correction Minimum angle correction the registration adjustment follows an iterative and convergent approach The user will fix a criterion to stop iterations The process will be interrupted when the obtained corrections for the external orientation parameters are below the thresholds specified by the user Minimum linear correction for translation parameters Minimum angle correction for rotation parameters By default the set thresholds are 0 001 m for translations and 3 for rotations Maximum iterations if the previous corrections are not reached while solving the adjustment a second stop criterion will be set The adjustment will stop after reaching the specified maximum number of iterations independently of the magnitude of the corrections Amaximum number of 7 iterations is set by default 4 4 2 Leveled If some of the scan stations are levelled the user will be able to constrain the tilt
29. update automatically the existing matches on the Workspace Panel read Geodesy and Photogrammetry Universitat Polit cnica de Val ncia C2 de Vera s n Building 7i UNiveRSITAT mi gifle webs upv es Tel 34 963877007 Ext 75532 gifle upv es eo E Photogrammetry amp Laser Scanning Research Group GIFLE Department of Cartographic Engineering oir 14 2 3DVEM Register 4 4 Preferences Panel The 3DVEM Register user will select on the Preferences Panel the options for the adjustment Figs 3 and 13 The panel is divided in four sections 1 Adjustment This section determines the method used for the adjustment the increments and the maximum number of iterations 2 Leveled This section specifies the levelled scans on site and the instrumental precision 3 Units The input and output units will be specified Matching This section determines whether the matching is carried out automatically by inserting a tolerance value or manually Preferences Adjustment Robust Estimation Minimum linear correction mj 0 001 Minimum angle comection 3 Maxdmum iterations T Leveled All Dual axis compensator 1 Units Input km m mm Output Gd Deg Rad Matching Automatic Point tolerance m 0 010 Manual Fig 13 Preferences Panel 4 4 1 Adjustment In case the Robust Estimation box is activated the registration adjustment will be solved either by the Danish Modified Danish Mod me
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