Scanstation p30

ScanStation P30/40 & Cyclone
Basic Training Manual
August 2015
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Introduction
This training manual covers the basics on using Leica Geosystem’s

Terrestrial Laser Scanner Hardware as well as our Cyclone point cloud
processing software.
The course runs through the whole workflow from setting up the instrument and capturing your
scene to downloading and combining the captured data into a common coordinate system
(registration) all the way to extracting information and creating end-deliverables from this data.
The layout reflects the standard workflow progression as it is executed in the majority of cases.
Below is the basic flowchart on how a standard workflow progression looks like.
We believe that when you have been through these exercises you have sufficient information to
start and execute your own projects and understand the philosophy of the software well enough
to also use additional functionality within the software package which is not covered here.
All software parts are explained on example databases which are delivered with this class. This
allows you revisit and revise certain parts later on at your own pace and time.
Further information on specific items can always be found in the hardware user manuals and
system field manuals as well as the Cyclone Help.
All people involved in creating this documentation hope that you find this manual useful and find
yourself looking at it also in the future as a reference guide.
BASIC WORKFLOW CHART
Data
Data Capture Data Import Creating
Registration Organisation Export
&Transfer & Inspection Deliverables
& Cleanup
Introduction

Table of Contents
Module 1.0 - Scanning with ScanStation P30 ............................................................................... 1

1 HDS - ScanStation P30 ................................................................................................... 3
2 Set up the ScanStation P30 ........................................................................................... 6
3 MMI (Man Machine Interface) - Overview ..................................................................... 12
4 Operating P30 using Onboard Graphical Interface ........................................................ 31
5 Remote Control of the P30 .......................................................................................... 46
6 Data Management on P30............................................................................................ 53
7 Troubleshoot ............................................................................................................... 59
Module 2.0 - Introduction to Cyclone ........................................................................................... 1

1 Cyclone Navigator Window ............................................................................................. 3
2 Managing Databases ...................................................................................................... 5
3 Linking to / Loading an Existing Database ...................................................................... 8
4 Using the Online Help .................................................................................................. 10
5 Database Hierarchy ...................................................................................................... 11
6 Examine the Database’s Objects .................................................................................. 13
7 File Management .......................................................................................................... 21
Module 2.1 - Point Cloud Import .................................................................................................. 1

1 Importing Leica ScanStation data ................................................................................... 3
2 Importing HDS 7000 data (.zfs) ................................................................................... 12
3 Import of other scan file formats ................................................................................. 14
4 Import as Auto Align Project......................................................................................... 15
5 Import MultiStation MS50 Data .................................................................................... 16
6 Using Batch Import tool ............................................................................................... 19
Module 3.0 - Basic Registration .................................................................................................... 1

1 Auto Alignment Registration (Cloud Constraints) ........................................................... 3
2 Visual Alignment Registration (Cloud Constraints) ........................................................ 13
3 Factors that determine the Effectiveness of PointCloud Constraints ............................ 22
4 Target Registration (Target constraints) ...................................................................... 25
5 Combined Registration ................................................................................................. 29
Module 3.1 - Applied Registration Techniques .............................................................................. 1

1 Getting Started .............................................................................................................. 3
2 Loading and importing Data ........................................................................................... 7
3 Preparation before registering Scans ........................................................................... 10
4 Registration ................................................................................................................. 17
5 Quality Check ............................................................................................................... 29
6 Geo Referencing .......................................................................................................... 33
7 Theory Excurse ............................................................................................................. 43
Module 4.0 - Organization & Visualization of point clouds ........................................................... 1

1 ScanWorld Explorer ........................................................................................................ 3
2 View Properties .............................................................................................................. 5
3 Unify a Point Cloud / ModelSpace ................................................................................. 12
4 Limit Box ...................................................................................................................... 15
5 User Coordinate System ............................................................................................... 19
6 Cutplanes and Half-Spaces ........................................................................................... 28
7 Review ......................................................................................................................... 34
Table of Contents 1

Module 4.1 - Texture Mapping ...................................................................................................... 1
1 Texture Mapping with imported images.......................................................................... 3
2 Texture Mapping with Cube-Maps ................................................................................ 16
Module 4.2 - Cyclone Keyplan ...................................................................................................... 1

1 Create a Keyplan ............................................................................................................ 3
2 Working with a KeyPlan .................................................................................................. 8
Module 4.3 - Cyclone TruSpace .................................................................................................... 1

1 Open and View a TruSpace ............................................................................................. 3
2 Tools and Functions within TruSpace ............................................................................. 6
3 Review ......................................................................................................................... 13
Module 5.0 - Cyclone Basic Modelling ........................................................................................... 1

1 Point Cloud Selection ..................................................................................................... 2
2 Fitting and Editing Patches ............................................................................................. 8
3 Fitting Continued ......................................................................................................... 17
4 Further Editing ............................................................................................................. 29
Module 5.1 - Measurements......................................................................................................... 1

1 Measurements ............................................................................................................... 2
2 Obtaining Measurements ............................................................................................... 4
3 Edit and Save Measurements ......................................................................................... 5
4 Copying Measurements .................................................................................................. 8
Module 5.2 - Mesh Functions ....................................................................................................... 1

1 Mesh Creation and Editing ............................................................................................. 3
2 Creating Deliverables from Meshes ................................................................................ 9
3 Enhanced TIN Mesh Creation and Editing ..................................................................... 18
4 Creating a Uniform Sample Grid Pattern ....................................................................... 27
Module 5.3 - Alignments & Sections ............................................................................................ 1

1 Getting Started .............................................................................................................. 3
2 Remove Car Noise .......................................................................................................... 7
3 Create an Alignment .................................................................................................... 11
4 Create Sections ............................................................................................................ 14
5 Sections Manager......................................................................................................... 15
6 Review ......................................................................................................................... 18
Module 6.0 - Export / Import ........................................................................................................ 1

1 Image Export .................................................................................................................. 2
2 Export ............................................................................................................................ 4
3 Import ............................................................................................................................ 7
4 COE – Cyclone Object Exchange ................................................................................... 11
5 Export pcE Application Files .......................................................................................... 12
Module 6.1 - Animation ................................................................................................................ 1

1 Defining an Animation Path ........................................................................................... 2
2 Editing the Path ............................................................................................................. 4
3 Editing the Frames ......................................................................................................... 4
4 Preview the Animation ................................................................................................... 6
5 Generating the Frames ................................................................................................... 7
2 Table of Contents

Training Course Agenda
Day 1 - Tuesday
Morning Session (09:00am – 12:00pm)
09:00 Introduction: Student and teacher introduction.

Overview of the training schedule and training goals.
09:15 Module 1.0: Overview Scanning, Targets, Connect Scanners
09:45 Module 1.1: Scanning with ScanStation P30 / P40
10:30 Break
10:45 Module 1.1: Scanning with ScanStation P30 / P40 cont.
12:00 Lunch Break
Afternoon Session (01:00pm – 5:00pm)
01:00 Module 2.0: Introduction to Cyclone
02:30 Break
02:45 Module 2.1: Point Cloud Import
03:45 Module 3.0: Scanning and Registration Basics

Placing and using targets, scanning from different positions for registration. Registering
to survey control.
05:00 End of Day 1
Agenda 1-4

Day 2 - Wednesday
09:00 Module 3.1: Basic Pointcloud Registration
10:30 Break
10:45 Module 3.2: Applied Registration Techniques
12:00 Lunch Break
01:00 Module 3.2: Applied Registration Techniques cont.
02:30 Break
02:45 Module 4.2: Cyclone Keyplan
03:15 Module 4.3: Cyclone TruSpace
03:45 Module 4.4: Cyclone Publisher & TruView
05:00 End of Day 2
2-4 Agenda

Day 3 - Thursday
09:00 Module 4.0: Organization & Visualization of Pointclouds
10:30 Break
10:45 Module 4.0: Organization & Visualization of Pointclouds cont.
11:15 Module 5.0: Cyclone Basic Modelling
12:00 Lunch Break
01:00 Module 5.0: Cyclone Basic Modelling cont.
02:30 Break
02:45 Module 5.1: Measurements
03:00 Module 5.2: Mesh Functions
04:00 Module 5.3: Alignments & Sections
05:00 End of Day 3
Agenda 3-4

Day 4 - Friday
09:00 Execution of Scanning Project in the Field
11:30 Import Scans
12:00 Lunch Break
01:00 Registration/ Aligning of Scans from the morning session

Review of scanning project
01:30 Module 6.0: Export / Import
02:00 Module 6.1: Animation
02:30 Customizing Cyclone
03:00 optional: CloudWorx AutoCAD Demo
03:30 Review and Participants’ Feedback
04:00 End of Day 4
4-4 Agenda

Module 1.0 - Scanning with ScanStation P30
Introduction
The Leica ScanStation P30 is the industry’s best performing ultra-high speed and easy to learn
“Wave-Form-Digitized” scanner. The scanner is equipped with survey grade accuracy, range and
field-of-view in combination with an integrated video camera, laser plummet, internal WiFi
adapter and onboard set-up methods.
Ultra-high speed scanners (up to 1 million points per second) are known for their ultra-fast scan
speed and offer higher level of detail. To this, the break-through, compact Leica ScanStation P30
also brings unprecedented data quality at range (270m, max), plus outstanding environmental
capabilities, survey-grade tilt compensation and an industry first "Check & Adjust" capability.
With "Check & Adjust" users can electronically check the accuracy of their instrument and adjust
it themselves to ensure the highest level of performance, without having to send it to the
factory or service center (explained in the “Field Techniques” part of the manual).
Cyclone compatibility is given with the Cyclone 9.0 version. This software package is required for
import of ScanStation P30 data. Previous Cyclone versions do not support the ScanStation P30
format.
Objectives
When finished this module you will be able to:
• Set up a ScanStation P30

• Acquire scans, images and targets using the onboard functionality of ScanStation P30
• Acquire scans, images and targets using the WiFi connection for remote control
• Transfer the collected data to a computer for further processing
Files to Use
• -
Scanner & Scanning Features Module 1.0 - Scanning with ScanStation P30 1 - 60

Table of Contents
1 HDS - ScanStation P30 ............................................................................................................ 3
1.1 ScanStation P30 Components ........................................................................................ 3
2 Set up the ScanStation P30 ..................................................................................................... 6
2.1 Packing / Unpacking the System ..................................................................................... 7
2.2 Scanner Setup on Tripod ................................................................................................ 8
2.3 Setup over a Benchmark using the Internal Laser Plummet ............................................ 8
2.4 Determine the Instrument’s Height .............................................................................. 10
2.5 Power up the ScanStation P30 ..................................................................................... 11
3 MMI (Man Machine Interface) - Overview ............................................................................... 12
3.1 Main Screen ................................................................................................................. 12
3.2 Main Menu ................................................................................................................... 19
3.3 Onboard Controls ......................................................................................................... 21
4 Operating P30 using Onboard Graphical Interface ................................................................. 31
4.1 Preparation .................................................................................................................. 31
4.2 Scanning and Taking Images ........................................................................................ 33
4.3 Acquiring Targets ......................................................................................................... 43
5 Remote Control of the P30 .................................................................................................... 46
5.1 Remote Control with Leica CS10 and CS15 ................................................................... 46
5.2 Remote Control with Apple devices .............................................................................. 48
5.3 Remote Control with Android devices .......................................................................... 50
6 Data Management on P30 ..................................................................................................... 53
6.1 Data Transfer via USB device........................................................................................ 53
6.2 Data Transfer via Data Copy Tool ................................................................................. 54
7 Troubleshoot ......................................................................................................................... 59
2 - 60 Module 1.0 - Scanning with ScanStation P30 Scanner & Scanning Features

1 HDS - ScanStation P30
The following chapter is showing several configurations and how to set up the scanning system.
1.1 ScanStation P30 Components
System Components
The Leica ScanStation P30 - 3D laser scanning system is consisting of:
Figure 1
a) ScanStation P30/P40 g) GKL271 charging station and

GEB271 battery pack
b) GEV228 Ethernet Cable
h) Tribrach
c) GEB242 internal batteries
i) Tripod
d) GKL123 AC Power Adapter
j) Transport container for P30/P40
e) GEV259 power cable
k) Transport container for P30/P40
f) GEV225 AC power supply for GKL271 accessories

Accessory Set
The Leica ScanStation P30 accessory set is consisting of:
Figure 2
a) GEV259 power cable e) GKL311 Single-bay Charger

Professional 3000
b) GEB271 external battery pack
f) GEB242 internal batteries
c) GKL271 charging station
g) AC/DC adapter for basic charger
d) GEV225 AC power supply for GKL271 with daisy chain cable

Field of View (FoV)
The instrument has a rotating Scanhead and a rotating mirror that covers a 360° x 270° field of
view (FoV).
Figure 3
Scanhead Components
a) Antenna
b) Removable handle
c) Rotating mirror (laser and camera aperture)
d) Battery compartment B
e) Circular level
f) Socket for power supply,
g) 5 pin female with blue colour ring
h) ON/OFF button
i) USB socket
j) Loudspeaker
k) Stylus
l) Touchscreen
m) Battery compartment A
n) Ethernet socket, 8 pin female with grey
Figure 4
colour ring

2 Set up the ScanStation P30
The instrument should always be set up on its tripod. Using the tripod specified for the scanning
system guarantees maximum stability during scanning operations.
General Information
Do not set up the instrument directly on the ground for scanning operations.
It is always recommended to shield the instrument from direct sunlight and avoid uneven
temperatures around the instrument.
Unfavourable surfaces
Highly reflective objects (polish metal).
Highly absorbent objects (black surfaces).
Translucent surfaces (window glasses).
Unfavourable weather
Rain, snow and fog cause poor measurements.
Surfaces that directly illuminated by the sun cause an increased range noise
Objects that are scanned against the sunlight or a bright spotlight can be dazzled

2.1 Packing / Unpacking the System
When in its transport container, the ScanStation P30 can sit in face-up or face-down position.
Figure 5
To take the instrument out of its container, grasp the handle and the base of the instrument
and lift (See Figure 5).
Use caution due to the weight of the instrument (12 kg).
Pack the instrument the same way it is delivered.

2.2 Scanner Setup on Tripod
Figure 6
1. Extend the tripod legs to allow for a comfortable working posture. Tighten the screws at the
bottom of the legs.
2. Place the tribrach on the tripod and secure it with the central fixing screw.
3. Set up the tripod so that the tripod plate is as horizontal as possible.
4. Push the tripod legs firmly into the ground.
5. Place the instrument on the tribrach and secure it with the tribrach’s locking knob.
6. Level up the instrument using the instrument’s circular level. Turn two of the foot screws
together in opposite directions. The index finger of your right hand indicates the direction in
which the bubble should move. Now use the third foot screw to center the bubble.
2.3 Setup over a Benchmark using the Internal Laser Plummet
This topic describes an instrument setup over a marked ground point using the laser plummet.
Geo-referencing of the ScanStation P30 is established by setting up over a known or assumed
control point, with optional target extraction to set the azimuth direction, and establishing a
local or global coordinate system. The ScanStation P30 allows you to execute a traverse,
resection or free stationing. Known azimuth or known backsight measurements can be
observed.

It is always possible to set up the instrument without the need for a marked ground point.
The laser plummet described in this topic is built into the vertical axis of the instrument. It
projects a red spot onto the ground, making it appreciably easier to center the instrument.
The laser plummet cannot be used in conjunction with a tribrach equipped with
an optical plummet.
Figure 7
1. Extend the tripod legs to allow for a comfortable working posture (a). Position the tripod
approximately over the marked ground point, centring it as well as possible (b).
2. Place the tribrach on the tripod (c) and secure it with the central fixing screw (d).
3. Place the instrument on the tribrach (e) and secure it with the tribrach’s locking knob.
4. Turn the tribrach’s footscrews (h) to level the instrument.
5. Turn on the instrument by pressing the ON/OFF button (f). Go to Status, Level and Laser
Plummet, Plummet and activate the laser plummet (g).
6. Move the tripod legs (a) and use the tribrach’s footscrews (h) to center the plummet (i) over
the ground point.
7. Adjust the tripod legs (j) to level the circular level (k).
8. By using the electronic level (Status, Level and Laser plummet, Level) turn the tribrach’s
footscrews (h) to precisely level the instrument.
9. Center the instrument precisely over the ground point (i) by shifting the tribrach on the
tripod plate.
10. Repeat steps 8 and 9 until the required accuracy is achieved.

2.4 Determine the Instrument’s Height
To get an accurate height measurement use the GHM008 instrument height meter in conjunction
with the GHT196 distance holder that are both included in the scanner’s delivery.
1. Place tripod centrally over the ground

point, level instrument.
2. Click GHT196 distance holder to
tribrach. It must "snap" onto the
cover
3. Unfold measuring tongue, pull out
tape measure a little.
4. Insert GHM008 instrument height
meter in the distance holder and
attach.
5. Swivel measure in the direction of the
ground point, pull out until the tip of
the measuring tongue touches the
point on the ground, keep under
tension and do not allow to sag,
clamp if necessary.
6. Read height of the instrument
(ground - tilt axis) in the reading
window at the red marking (in the
example 1.627 m).
Figure 8
The tilt axis height of the ScanStation P30 is 250 mm. Take care to use the
GHM008 which has a special scale to measure the height of instruments with a
tilt axis height of 250 mm. Do not use a tape with any other scale.
Alternatively the instrument height can be measured with a common, 1:1 scaled measuring tape
from the point on the ground to the little notch under the red Leica logo at both side covers of
the scanner. This distance will then be from the ground point to the tilt axis.

2.5 Power up the ScanStation P30
The ScanStation P30 is delivered with 4 internal batteries. It can also be powered with an
external battery (See Accessories Box) or with an AC-Adapter.
Internal Battery
1. Unlock and open the battery compartment.

2. Remove the battery holder.
3. Remove the battery from the battery holder.
Insert the new battery into the battery
holder, ensuring that the contacts are facing
outward and that the tip on the holder fits
into the slot of the battery. The battery
should click into position.
4. Insert the battery holder back into the
battery compartment.
5. Turn the knob to lock the battery holder in
place.
6. Switch on the instrument to start the boot
process.
Figure 9
External Battery
1. Slide the battery pack into the charging

station. When connected, the three LEDs on
the charging station light up for 1 sec.
2. Connect the GEV259 power cable to port P2
of the charging station. Use the plug with the
red bend protection.
3. Connect the other end of the GEV259 power
cable to the power port of the instrument.
Use the plug with the blue bend protection.
4. Press the ON/OFF button on the instrument
to start the boot process.
Figure 10

3 MMI (Man Machine Interface) - Overview
When the scanner is correctly set up and completely booted the following MMI-Screen (Man
Machine Interface) appears in the graphical onboard display.
3.1 Main Screen
Figure 11
Element Description
Time The current local time is shown
Caption Shows location in menu system
Title bar Shows name of current screen
Screen area Working area of the screen
Message bar Shows messages
Status bar Shows current status information of the instrument
Escape button Returns to the previous screen
Menu icon Selecting menu icons opens submenus
SHIFT button Displays the second level of soft keys
Soft keys Commands can be executed with the soft keys

Status Bar
Status bar icons display status information of the instrument. Their appearance changes
accordingly to the system status.
Figure 12
Internal battery A indicates the status of the battery in compartment A which is located at the
same side cover as the touchscreen.
Internal battery B indicates the status of the battery in compartment B at the opposite side
cover without a screen.
Icon Description
Range Mode
Range mode enabled (P40 only)
Range filter
Range filter enabled

Icon Description
Active target type
HDS B/W 4,5” target
HDS B/W 6” target
HDS Sphere target
User defined target B/W 4,5”
User defined target B/W 6”
User defined target Sphere

Icon Description
Dual-axis compensator
(DAC) On and levelled
Off
On but out of range
Icon Description
WiFi Onboard WiFi adapter on and connected
Onboard WiFi adapter off
Onboard WiFi adapter on
Icon Description
Internal hard disk

Empty
25% memory used
50% memory used
75% memory used
Full

Icon Description
Status of external memory

Ready to be removed
Do not remove!
Icon Description
External memory
Empty
33% memory used
50% memory used
67% memory used
Full
Icon Description
External battery / AC
External battery connected
Power supply
AC power supply connected

Icon Description
Internal batteries A/B

Empty
(Symbols for the currently used
battery; the symbol for the
currently unused battery is
greyed out) 40% capcity
The internal batteries are hot
swappable
60% capcity
Full
User Input
The system offers two different virtual keyboards for user input:
1) If an alphanumeric input box is selected with the stylus, an alphanumeric keyboard pops up
offering letters, numbers and special characters.
a) Input field
b) Alphanumeric keypad
c) Backspace
d) Enter
e) Toogle between letters and
numbers/special characters
f) Shift - Toogle between lower
case and upper case
characters
Figure 13

2) If a numeric input box is selected with the stylus, a numeric keyboard pops up offering
numbers and some special character.
a) Input field
b) Backspace
c) Numeric keypad
d) Enter
e) Toogle between positive and
negative number
f) Unit calculator (optional
when distance units ft or fi
are selected)
Figure 14

3.2 Main Menu
The Main Menu will be displayed after the system boot process. Idle State in the message bar
indicates that the instrument is ready for scanning.
Switch between Simple and Advanced User Interface using Adv. UI, see Figure 15
Figure 16
Figure 15
Icon Function
Scan Offers access to all commands for scanner

setup and operation control.
Check & Allows determining and updating angular

Adjust parameters and tilting compensator, set range
offset.
Manage Offers access to all commands for project,

target and control point management.
Status Offers access to all commands for the

scanner’s status information.

Icon Function
Configuration Offers access to all commands for the

configuration of the system.
Tools Offers access to all commands for disk

formatting, data transfer, license management
and display calibration.
Menu independent commands
Command Function
Escape Return to previous menu in menu hierarchy.
Shift + Quit Return to main menu.
Page Switch between pages in a menu.

3.3 Onboard Controls
The Main Menu will be displayed after the system boot process. Ready in the message bar
indicates that the instrument is ready for scanning.
For a complete description of all menus and commands refer to the Leica ScanStation P30
System Field Manual.
Figure 17

Scanning Menu
In the Scanning menu all commands for the scanner setup and operation control are available.
From this menu the settings for Field of View (FoV), resolution for scanning, exposure time for
taking images and the acquiring of targets can be made.
Figure 18

Check & Adjust Menu
In the Check & Adjust menu all commands for checking angular parameters, setting range
parameters, checking the tilt compensator, and to check the current calibration settings are
available.
Figure 19
Icon Function
Check Angular Parameters Angular system parameters can be determined

by means of a field procedure and registered
in the instrument.
Set Range Parameters The range offset parameter, which must be

determined on a reference baseline, can be
registered in the instrument.
Check Tilt Compensator The tilt sensor can be checked and its
parameters can be updated.
Current Calibration Current instrument parameters can be

displayed and reset to factory default values.

Manage Menu
In the Manage menu are all commands for project, target and control point management.
Figure 20
Icon Function
Projects Offers access to all commands for project

management.
Targets Offers access to all commands for target

management.
Control Points Offers access to all commands for control

points management.

Status Menu
In the Status menu all commands for the scanner’s status information are available.
Figure 21

Icon Command Function
Battery & Memory Battery Status Information about internal

battery, external battery and AC power
supply.
Memory Status information about size and free

space of internal hard disk’s data
partition.
System Information Instrument Status information about instrument

type, serial number, equipment number
and system language.
Firmware Status information about installed

firmware version and firmware
maintenance expiry date.
Options Status information about installed license

for data usage in external software and
installed external camera option.
Legal Copyright information for installed

Information software.
Level & Ls Plummet Level Numerical and graphical display of

instrument’s tilt.
Plummet Switch laser plummet on/off.
Compensator Switch dual-axis compensator on/off.

Define how scanner should react when
compensator goes out of range.
Connections WiFi Status information about internal WiFi.

Enable/disable the internal WiFi adaptor.
Bluetooth Status information about internal

Bluetooth. Enable/disable the internal
Bluetooth adaptor.

Configuration Menu
In the Configuration menu all commands for configuration of the system are available.
Figure 22

Units & Formats Distance Unit Select unit for distances.

(Meter, Int Ft, Us Ft)
Distance Dec Select number of decimal digits for

distance display.
Date & Time Local Time Set local time.
Local Date Set local date.
Switch on Power by On/Off.
Language Language Select language for the user interface or

delete a language from the list.

Tools Menu
In the Tools menu all commands for disk formatting, data transfer, license management, display
and instrument calibration are available.
Figure 23

Format Format the complete data partition of

the internal hard disk.
All project data will be erased.
Transfer Projects Transfer selected project or all projects

to USB memory storage device.
System Files Upload new firmware or language file to

the instrument.
License Manual
Upload Upload license key file from USB memory

storage device.
Screen Calibration Recalibrate the touchscreen by clicking

four points on the display.

4 Operating P30 using Onboard Graphical Interface
Operation of ScanStation P30 can be performed easily and intuitive by using the onboard control
panel. The benefit of this is that the user can make scans in the field without the need of a
connected Laptop or PDA. The P30’s MMI (Man Machine Interface) gives the user full control of
the scanner and all functions can be accessed onboard.
4.1 Preparation
Set up the Scanner as described in chapter 2 - Set up the ScanStation P30 ff. Then start the
ScanStation P30 by pressing the power button. When the scanner is booted the Status Bar
shows Idle State. Now the pre-settings can be done.
Go to the Status Menu and choose Level & Laser Plummet.
From here you can:
• Level the scanner using the virtual bubble level.

• Switch off/on the compensator.
• Switch on/off the laser plummet to point onto the ground mark.
When done jump back to the Main Menu using the “go back” icon
If necessary, the measurement units and the decimals can be set.
The default settings are meters set to 3 decimal digits.

Create a Project
Every scan must be stored in a project. If no user defined project is created the default one is
used. The default project cannot be deleted and is always available.
To create a new project, go to “Scanning” in the main menu:
Figure 24 Figure 25
From there choose an existing project or create a new one pressing

and then the New soft key.
Enter the Name, Description and Creator information into the empty text boxes in the New
Project menu by using the onboard keyboard. Make sure to use only characters A-Z and numbers
0-9 and ‘-‘ without special characters. Otherwise a message will pop up in the information line,
saying that the given name is invalid.
When done, pick the Store button. The newly created project is shown in the project’s list. Then
hit the Cont button and the display is switching back to the Scan Begin Menu showing the newly
named project. With pressing the softbutton Cont again, you will enter the Scan Parameters
mask.
If you want to change the project just pick into the text box and a drop down list comes. Choose
a project and press Cont to continue in this project with the Scan Parameters window.
• Pressing Cont will write the subsequent scanned data in the current Station.
• Pressing StdStp a new Station object will be created and the following scanned data will be
stored in this station.
From the following Scan Parameters menu, a single scan, image, or scan & image can be started.
Targets can also be acquired from this menu.

4.2 Scanning and Taking Images
There are several tabs in the Scan Parameter menu from that you can define:
• Field of View
• Resolution
• Image Control
• Filters
• Detail Scan
Defining the Field of View (FoV)

In the Field of View tab 2 pre-defined areas can be chosen.
a) Target All
With the Target All setting the scanner’s whole field of view will be scanned.
Figure 26
Figure 27

b) Custom View – Enter Hz / V Area values
The values for Left & Right and Bottom & Top have to be entered by using the numeric on board
keyboard. It appears when picking into a text box.
Figure 28
c) Custom View – Draw a fence

A more comfortable way to define the field of view is to use the internal camera. On pressing
the Camera button, a window will appear showing the real-time picture of the situation.
Figure 29

By using following buttons, the area of interest can be found:
• Seek mode
to move the scanner in Hz and V
• Pick mode
to center the picked point
• Zoom in/out functionality
Using the:
• Fence tool
will create a fence by pick and drag, see Figure 30.
Figure 30
The camera screen with the active fence can be accepted using the checkmark

Using the :
• magic wand
will create a fence with extends that are bigger than the display.
1. Select with the upper left corner, see Figure 31.
2. Press to accept.
3. Select with the lower right corner.
4. Press to accept.
5. Finally press to leave the camera screen and accept the fence.
Figure 31

When the window is closed down by picking the Checkmark button the values for horizontal
and vertical angle are set in the Hz / V Area text boxes, see Figure 32.
Figure 32
At the Scan Mode there are three different settings available:
• Scan only
• Images only
• Scan & Image (default)

Defining the Resolution
In the Resolution tab there are two different EDM modes available: Speed and Range.
Speed is used as a default setting with a range of 120m.
Range is used for the extended range of 270m. (P40 only)
There are seven pre-defined resolution settings available. You can choose one of them with the
slider, or the + and – symbols and the value is shown in the text above the slider.
The resolution is based on a distance of 10m and restricted to the seven resolution steps with
0.8mm as the highest step and then doubled to 1.6mm, up to 50mm. Therefore these steps
cannot be adjusted by the user, e.g. as a user defined resolution, but the resolution on far away
objects can then easily be calculated by the intercept theorems.
Figure 33
There are also the two steps of the Sensitivity settings, that can be adjust like the resolution
with the slider or the +/- symbols. In the following spread sheets the scanning time is listed,
which is a result of the Sensitivity settings in dependence to the resolution. As the spread sheet
shows, a setting to a higher quality level will increase the scanning time:
Speed Mode (Target All) Range Mode (Target All)
Figure 34 Figure 35
The higher the selected Sensitivity the more range measurements for the same 3D point are
collected (Accumulation). This reduces the range noise.

Resolution dependent project sizes:
Figure 36
Use the Dist button to measure the distance

to your object of interest.

Image Control
In the Image Ctrl tab is the opportunity of setting the exposure time manually or using the
automatic adjusting.
Figure 37
To get a feeling for manually set exposure times the ChkExp soft key can be pressed and the
image from the camera is shown. Use the seek mode to navigate to the area of interest and the
slider on the right side to adjust the best exposure of the current situation. See Figure 38.
Figure 38 Figure 39
By pressing enter the chosen value will be entered as numerical value into the exposure time
field. See Figure 39.
From the Image Resolution pull down list the format of the taken images can be chosen. There
are 640 x 640, 960 x 960 and 1920 x 1920 pixels resolution available. Every single image has a
size of about 3.5MB and is stored in raw image format.

Start Scanning
From the first Tab Field of View you already have chosen the scanning method:
• Scan only
• Images only
• Scan & Image
Now press the Start softkey to start the scanning.
When choosing Scan & Image first the scan and second the image capturing will be performed.
The appearing progress bar will show the current status.
Figure 40 Figure 41
When the operation is completed the scanner is showing the scene in a separate viewer on the
display.
Figure 42
Using the left/right arrows previous scans can be looked up. If necessary - additional detail scans
and pictures can be taken from this menu. Use the go-back button to close the view.

Detail Scan
The detail scan can be accessed using the tab Detail Scan or
In every camera window using
• Detail scan
Here you can define the resolution for the detail scan fence.
It is possible to define many detail scans

with different resolution in a list.
Figure 43 Figure 44
Fixed Distance:
The scan resolution is based at the distance of 10m.
Figure 43 is showing 1,6mm resolution (point spacing) at 10m distance.
Distance to Object:
The scan resolution is based at the distance to the object center.
Figure 44 is showing 5mm resolution (point spacing) at the object, distance independently.
From the Detail Scan Tab the scan can be started

like in the Field of View Tab.

4.3 Acquiring Targets
It is also possible to acquire targets with the on-board controls.

In the Scan menu press the Target soft key.
Enter the Target ID, if necessary the target height and choose the Target Type from the pull
down list.
Figure 45
Make sure you select the correct target type from the list.
Go to the PickT soft key. In the opened real-time video image use the zoom and seek
functionality to navigate to the target.
Set the crosshair to the center of the target using or set a marking at the target using .
Figure 46
When done pick the return button and then the Meas (1 Face measurement) or
2FMeas (2 Face measurement) soft key from the Target Definition window.

Figure 47
After the target acquisition, the target is now listed in the Target Results.
Figure 48
From this list you can call up information regarding the target with the Info soft key.
Furthermore you can see from the “State” column, whether the acquisition of the target was
successful or not. If it was successful the “State” info will be “OK” otherwise acquired targets
will have the info “BAD”.
It is possible to check the quality of the acquired targets visually. To do this pick the soft key
View from this window and turn the perspective of the target with the . From this view you
will be able to make a solution if this scanned target is OK or not. After doing the quality check
you can go back to the Target Results window and save the targets with the Store soft key.

Figure 39
Acquire many targets

To add more targets, go again to the Target Def tab and repeat the steps described above until
all needed targets are picked and added.
Switch to the Target List tab to get control of the entered targets.
Figure 49
If the target was not acquired correctly through environmental influence the target can be
deleted by using the Del soft key.
The Targets have to be saved by pressing the Store button. Then the targets are removed from
the list and stored on the internal SSD.
When setting up the scanner on the next station and going to the Target Definition menu, the
previously acquired targets are available in the target ID pull down list. To acquire them, just
select the target ID and go to PickT soft Key. Navigate to the target with the chosen ID in the
real time image and hit enter when done. Continue until all targets are picked and click at least
the Continue button. The targets from the list will be scanned.
When all needed data is captured from this station the scanner can be shut down by clicking the
escape button until the shutdown dialogue is coming up. Choose yes to switch off the system.

5 Remote Control of the P30
The P30 Remote Control application is intended for controlling the Leica ScanStation P30
remotely via WiFi by a:
• Leica Viva Controller (CS10 or CS15 equipped with a WiFi adapter)

• Apple iPad, iPod, iPhone or any
• Android device
On the Leica ScanStation P30, that should be controlled remotely, the firmware version 1.20 or
later has to be installed. The remote control will not work with former firmware versions.
The remote control solutions for all devices will be explained one by one.
5.1 Remote Control with Leica CS10 and CS15
The following hardware is needed
• Leica Viva Controller (CS10 or CS15) equipped with a WiFi adapter.

Check the sticker “This device contains…” in the battery compartment of the Leica Viva
Controller. In case a WLAN module is listed, the controller is equipped with a WiFi adapter.
• Leica ScanStation P30 laser scanner
Software installation
Copy the installation file “P30_RemoteControl.CAB” onto a USB memory device. For detailed
installation information please see the Remote Control Manual for the Leica Viva controllers.
Enabling the WiFi adapter
• With the CS10/CS15 controller go to Start | Settings | Control Panel.

• Double-click on “Network and Dial-up Connections”.
• Select the icon of the WiFi device (e.g. “NXPWLAN1”) and press “File”.
• If the menu lists “Disable”, the WiFi device is already enabled.
• In this case leave the control panel without any changes.
• If the menu lists “Enable”, press “Enable” and leave the Control Panel.
Establish connection to the ScanStation P30

Switch on the Leica ScanStation P30 and wait for the boot process to finish.

Settings on the ScanStation P30
• Select Status | Connections.
• Switch WiFi Operation to Always On.

• In WiFi Connection choose Access point mode.
Figure 50
Settings on the Viva Controller
• Start the P30 Remote Control application on your Leica Viva Controller by
double-clicking the P30 Remote Control desktop icon.
• Within the ScanStation P30 Remote Control dialog press Find scanner and
wait for your Leica ScanStation P30 to be listed within the list of available
scanners.
• As soon as your Leica ScanStation P30 is listed, select it and press Connect.
• Close the Leica P30 WiFi… window as well as the ScanStation P30 Remote
Control dialog by pressing of the appropriate dialog.
General Remark
The USB port of the Leica Viva Controller will not replace the USB port of the Leica ScanStation
P30 while you are connected to the scanner. In order to download scanning projects, upload
control point files, or system files you always have to use the USB port of the Leica ScanStation
P30.

5.2 Remote Control with Apple devices
Prerequisite to remote control via Apple devices:
• Leica ScanStation P30 with FW 1.20.295 or higher installed.

• Apple iPad running on iOS 5 or iOS 6 and with free app RDP Lite installed.
• No additional external hardware is needed.

Figure 51
• Press Set to confirm these settings. Wait for the information line to change
from Enabling WiFi… to Ready.
• Check that the WiFi icon in the status bar changed from off to on.
• Press Cont to return to the Status Menu.

Settings on the Apple device
• Start the Apple iPad by pressing the ON/Off button and unlock the system.
• Select Settings to define the correct WiFi settings.
• In Settings, WiFi select the network P30_185xxxx with 185xxxx being the
scanner’s serial number.
• Enter the password of the scanner when connecting to this network for the
first time.
• The default password is abcd-abcd.
Initialize RDP Lite
• Install the free app Remote Desktop Lite (RDP Lite).

It provides access to a PC running Windows.
• In the App Store search for „rdp lite“ to find it.
• www.mochasoft.dk
Start the free app RDP Lite

In Mocha RDP Lite select Configure and go to Edit Connections.
In the configuration list create a connection with
Windows Workstation IP address = 192.168.173.1
Windows Workstation Port = 3389
User = sbc
Password = sbc
In Mocha RDP Lite select Connect and select the connection to the scanner.
RDP Lite will establish a remote connection on your Apple device to the scanner.
Use P30 MMI remotely

After some seconds the ScanStation P30 screen with the active MMI is displayed and the WiFi
icon in the status bar changed to ON.
Use the arrow icon to minimize the RDP control bar and get full access to the ScanStation P30’s
interface.
The P30 is now ready for remote control via iPad touchscreen (the little green dot represents
the point of selection).

5.3 Remote Control with Android devices
Prerequisite to remote control via Android devices
• Leica ScanStation P30 with FW 1.20.295 or higher installed.

• Android device with free app, e.g. Remote RDP Lite installed.
• No additional external hardware needed.

Figure 52
• Press Set to confirm these settings. Wait for the information line to change
from Enabling WiFi… to Ready.
• Check that the WiFi icon in the status bar changed from off to on.
• Press Cont to return to the Status Menu.

Settings on the Android device
• Start the Android device.

• Select Settings to define the correct WiFi settings.
• Access the WiFi network list by touching the WiFi entry.
• In Settings, WiFi select the network P30_185xxxx with 185xxxx being the
scanner’s serial number.
• Enter the password of the scanner when connecting to this network for the
first time.
• The default password is abcd-abcd.
Initialize RDP Lite
• Install the free app Remote Desktop Lite (RDP Lite).

• It provides access to a PC running Windows.
• In the Google Play Store search for „rdp lite“ to find it.
• www.mochasoft.dk
Start the free app RDP Lite

In Mocha RDP Lite select Configure and go to Edit Connections.
In the configuration list create a connection with
Windows Workstation IP address = 192.168.173.1
Windows Workstation Port = 3389
User = sbc
Password = sbc
Scroll down to Color and select Screen.

Select 640x480 from the pop up.
Use the Back button from the Android device to access the connections list.
The created connection is listed as sbc@192.168.173.1.
Select the sbc@192.168.173.1 to establish the remote connection from the Android device to
the scanner.
Hold sbc@192.168.173.1 to access the edit menu.

Use P30 MMI remotely
After some seconds the ScanStation P30 MMI is displayed.
Touch somewhere in the black area on the line of the device.
Use the icon with the “x-arrows” to maximize the ScanStation P30 interface.
Now there is the menu key from the Android device to access the main onscreen display.
Use Lock Scr to allow:
• Fencing from live video

• Fencing from scan
• Pan in scan viewer
General Information
For the detailed device configuration a Samsung Galaxy S II was used. The configuration of your
device might be slightly different from this description.
• Tested on Android versions 2.2.2 and 4.0.4

6 Data Management on P30
If a project is scanned onboard the data has to be transferred from the Scanner to a computer
for further processing. In the MMI - Management menu the projects available on the internal
HDD can be edited. Then the data can be transferred.
There are 3 different ways transferring the data from the scanner. Transferring the data via:
• USB device
• WiFi connection with Data Copy Tool
• Ethernet connection with Data Copy Tool
Ethernet with the Data Copy Tool is the fastest and most secure option.
6.1 Data Transfer via USB device
Make sure that the used USB-device has enough free space to store the data.
Remove the P30’s USB dust protection cap and plug in USB drive.
Some USB devices (e.g. HDDs) have high power consumption. Make sure the
scanner has enough power for the transfer left or use an external power supply
for the USB drive.
When the status bar is showing both the external memory device and the status with a green
arrow the transfer can be started.
There are two ways to transfer the dataset:
a) From the Main Menu go to Manage | Projects press Trans,

select the project and start the transfer with Cont.
b) From the Main Menu go to Tools | Transfer | Projects select the project from the scroll
bar and start the transfer with Cont.
Depending on the project’s size it may take a while to proceed. During the transfer the
“do not remove” icon is shown in the status bar. When the transfer is finished the green
arrow is shown again and the USB device can be removed.
The data on the USB device is stored in following structure:
Figure 53
The collected data can now be imported into Cyclone.

6.2 Data Transfer via Data Copy Tool
Pxx Data Copy is a stand-alone tool and provides direct data download from the ScanStation P30
to a computer without the need to copy to USB. It offers the possibility to download several
projects in one step or just a subset of a project from the ScanStation P30 to a computer.
The data stored on the scanner can easily be reviewed with the integrated MMI-style viewer. The
already transferred data which is stored on your local drive can also be reviewed.
Additionally, log files can be transferred to a computer.
• Set your computer’s internet protocol (TCP/IP) properties to

“Obtain an IP address automatically”.
• Boot up the ScanStation P30 and make sure the scanner is connected via data transfer cable
(recommended) or via WiFi connection (exeptional). The direct connection may take some
seconds to be established and your computer will indicate a local area connection with limited
connectivity.
Figure 54
The
• For WiFi: Connect with the P30 from Wireless Network Connection list link
ed
ima
ge
can
not
be
disp
in Windows.
lay e
d.
T…
Figure 55
• For enabling WiFi at the scanner, see Chapter 3.3 Onboard Controls.

Using P30 Data Copy Tool
Pxx Data Copy is started by double clicking the desktop icon “PxxDataCopy.exe”. After starting
the application the user interface appears. The Copy Tool program displays 4 buttons in the
button bar.
Figure 56
a) Click the Select Scanner button from the button bar to open a list that displays all available
scanners within the network. Highlight the scanner’s name and click OK to connect to the
selected ScanStation P30 or P40, see Figure 57.
Figure 57

The connection is successfully established when the ScanStation’s serial number is displayed in
the title bar next to the Data Copy Tool’s version number.
Figure 58
b) Click the Select Project Folder button to load a project folder stored locally on your computer
that contains at least one scanning project. The data can be reviewed within the (2)Viewing
Frame by selecting either a scan, a target or an image.
Figure 59
c) The Refresh Content button is reloading the project structure from either the scanner or the
locally stored data into the (1)Content Frame. This may be needed if the scanner is acquiring
scans into a newly created project during the ScanStation P30 is still connected to your
computer.

d) The P30 Data Copy Tool provides downloads of project data and log files. On the left side
data currently present on the scanner is listed. Select individual items with checkmark for
transfer. Click the “Start Download” button to copy the selected data within the Content
Frame (1) to a location of your choice. Within the upcoming window the destination folder on
the local device can be chosen.
Figure 60
During the download the (3)Status Bar is displaying a progress bar.
Figure 61
When the Status Bar is showing Ready again the download is successfully finished.
Exit the Data Data Copy Tool via pressing the cross in the top right corner.

Excurse: Filter Settings after importing P30 data into Cyclone
There is the Advanced import tab in Cylcone available only for ScanStation Pxx series.
While importing P30 data into Cyclone (from version 9) this Window appears:
Figure 62
The General tab was always there, but the Advanced tab contains filters that apply several filters
directly to the point cloud of P30 data. There are three main checkboxes:
Remove intensity overloaded pixels:

• Scan points measured from highly reflective surfaces (retro-reflective) can be removed by
setting the “Remove Intensity Overloaded Pixels” check box. As such points are often range
distorted, this filter is engaged by default.
Remove Mixed Pixels:

• As the measurement laser beam crosses edges and other discontinuities, the laser is
reflected from at different surfaces at the same time, resulting in a measured range which is a
mixture of the observed ranges. Scan points with such add-mixture ranges, called mixed pixels,
can be removed by setting the “Remove Mixed Pixels” Checkbox.
• You may adjust how many mixed pixels are removed by setting the Mixed Pixel Filter Slider to
either Low, for a small rate of removal, Medium, the default, or High, for a high rate of mixed
pixel removal. Depending on the circumstance and user preferences, retaining more (or fewer)
mixed pixels can help resolve the geometry of some objects, particularly at edges.
Do Tone Mapping:
• This CheckBox (set by default) converts images to cube mapped HDR, and tone maps them.
The default setting is Medium which will result in 2k x 2k images, while setting to High will result
in 4k x 4k images.
• Note: setting this to High, requires approximately four times the memory required for
Medium, so if your system lacks sufficient memory (lower than 32 GB) selecting this setting can
take very long to process.

7 Troubleshoot
ScanStation P30’s Log Files

Log files contain valuable information about the hardware itself and are captured and stored for
each scanner boot-up and any scanner operation. These are valuable when troubleshooting any
issues concerning the scanner hardware itself.
• Plug in a USB device with enough free disk space.

The log files are stored as text format and are not compressed. To get them into a smaller
file size use a .zip or .rar packing program.
• Navigate to the Transfer Menu (Tools | Transfer) and choose the Logs button in the soft key
bar.
The transfer will start immediately.
Format the internal hard disk

When the scanner is used a lot with onboard control the internal HDD can become fragmented
or sectors can become corrupted. The format command will fix the corrupted sectors and free
the HDD from all data. Be sure to safe all needed projects and scans to an external hard disk!
• Execute Tools | Format.

When running a format all data stored on the internal HDD will be lost!


Module 2.0 - Introduction to Cyclone
Introduction
The Cyclone scanning and point processing software application was developed by Leica for the
efficient operation all of the Leica HDS scanning systems. Cyclone has become the industry
standard for capturing point-clouds, processing them, and integrating the information into
conventional CAD applications.
This module is designed to introduce a new user to Cyclone and commonly used features. We
will look at a sample project with two scan positions and begin to understand some fundamental
concepts how to navigate through a cloud of points and general workflows.
Objectives
The objectives of this training module will be learning how to:
• Understand the basics of the Cyclone application.

• Use the Cyclone Navigator and its features, functions and tools.
• Manage Cyclone Databases.
• Open an existing database and explore the contents.
• Use on-line help.
Files to Use
• QuickStart.imp
Introduction to Cyclone Module 2.0 – Navigator & Navigator’s Objects 1 - 22

Table of Contents
1 Cyclone Navigator Window ...................................................................................................... 3
1.1 Start Cyclone.................................................................................................................. 3
1.2 Edit Preferences............................................................................................................. 3
1.3 Customizing Cyclone Settings......................................................................................... 4
1.4 The Servers Folder ......................................................................................................... 5
2 Managing Databases ............................................................................................................... 5
2.1 Create a new, empty Database and add to the Server ................................................... 6
2.2 Remove / Destroy a Database........................................................................................ 8
3 Linking to / Loading an Existing Database................................................................................ 8
4 Using the Online Help ............................................................................................................ 10
5 Database Hierarchy ............................................................................................................... 11
5.1 Definition of the Database’s Objects ........................................................................... 11
5.2 Hierarchy of the Database’s Objects ............................................................................ 12
6 Examine the Database’s Objects............................................................................................ 13
6.1 Images Folder .............................................................................................................. 13
6.2 Scans Folder – The Point Cloud Archive ........................................................................ 15
6.3 ModelSpaces ................................................................................................................ 17
6.4 ControlSpaces .............................................................................................................. 21
7 File Management ................................................................................................................... 21
2 - 22 Module 2.0 – Navigator & Navigator’s Objects Introduction to Cyclone

1 Cyclone Navigator Window
Using the workflow functions of Cyclone.
1.1 Start Cyclone
Double-
Double-click on the Cyclone shortcut on your Desktop or the Cyclone.exe file in the Cyclone
Programs directory.
When you launch the Cyclone application, the first window appearing is the Cyclone Navigator
window. The Navigator is the main window of the application and serves as a basis for operating
all scanners and for navigating databases on your local computer and remote servers.
The Navigator Window
The Navigator window is used to manage and

organize all of your data. It is also used to
start or exit the Cyclone application.
Figure 1
The Navigator window is used to create objects such as:
• Projects
• ModelSpaces and ModelSpace Views
• ScanWorlds
• Registrations
• KeyPlans
1.2 Edit Preferences
While working in Cyclone, the user has the ability to adjust various parameters in the Edit
Preferences dialog. From any Cyclone window, click Edit | Preferences to open this dialog (Figure
2). Preferences can be changed to offer a customized working environment or to specify a
desired output. For example, one might want to work in feet rather than meters or change the
way the point clouds are displayed.
While there are many adjustable preferences in Cyclone, this lesson covers those which might be
changed at the initial use of the system. For more information on any of the preferences, please
refer to Cyclone’s online help.

Figure 2
“Session” and “Default” Settings

Changes made to preferences can be set at different levels.
Any preference changes made at the Session level will only be in effect for the duration of the
working session.
Any changes made at the Default level will be persistent for the current and for all future
sessions until changed.
For example, you may want to always work in Cyclone in Feet by default. You would then change
the linear working unit’s preference to feet at the default level, ensuring that every time you
launch Cyclone all measurements will be in Feet.
Change preference for Units

• From any Cyclone window, click Edit | Preferences.
Preferences
• Change the level at which the preferences are to be changed to Default using
the Level dropdown list.
• Change the Units | Linear Units preference to Feet.

Feet
• Make any other preference changes as directed by your instructor.

• Click OK or Apply to confirm the changes.
Cyclone ships with preset default preferences. To return to the factory set preferences for the
active tab, click the Defaults button below the level dropdown list.
1.3 Customizing Cyclone Settings
The settings for defined tool bars and hot keys may be retained and exported / imported so that
you can always return to certain settings.
Export / Import Customizations

• In the Navigator select Edit | Export Customizations to export current settings.
• In the Navigator select Edit | Import Customizations to import saved settings.

During the course we will work with the default settings. These can however be changed to
personal preference at a later date.
1.4 The Servers Folder
To select an object in the Cyclone Navigator always click on the icon, or the name of the object.
Expand the Servers folder by clicking on the plus sign to the left of the Servers folder or by
double click onto the server’s icon.
Figure 3
Your local machine is added as a server by default. You will not be adding any
servers in these exercises; all exercises will be done with databases stored on
your local computer.
2 Managing Databases
Cyclone databases are the central depository of all scans obtained from a Leica HDS scanner, or
point clouds generated from another source. Once the original points are entered into the
database they can not be altered. However ModelSpaces can be used to create models or
modified data using the original points.
Cyclone databases can reside on your local hard drive or – given the appropriate licensing - on a
remote server. The remote server can be a network server or another networked workstation.
The advantages to having a database stored on a networked server are:
• Multiple users can easily access the database and work concurrently.
• Database integrity can be protected by limiting access to the host server.
Databases can be stored on a networked server and administered remotely from a user
workstation using the Configure Database dialog. This is a secure feature that requires the
database administrator to login by entering a password. Once the login has been authenticated,
the administrator can not only add and remove databases from the remote server, but can also
destroy and compact databases on the remote server.

2.1 Create a new, empty Database and add to the Server
All data which is imported into Cyclone e.g. scans, georeferencing data or CAD drawings has to
be stored into a Database. Execute the following steps to create a new, empty database from
within Cyclone Navigator.
From the Configure menu select Databases

and the Configure Databases dialog appears
(Figure 5).
Figure 4
Select the local server (the name of your

computer) to which you want to add a
database.
Click Add to open the Add Databases dialog.
Figure 5
By clicking on the “B
Browse”
rowse button a
browser window appears.
Figure 6

Select a new file location in your computer
where you want the new database file to
reside. In the File Name field type in “Test”
and click Open to verify the file name as
*.imp and Open again to create the file.
Figure 7
Confirm again Database Name and Location

with OK.
OK
Database Name is the name that will be
used to display the database in the
Navigator. It can be different from the
actual file name.
When the Database Name field is empty,
Cyclone will automatically use the name
Figure 8 from the Database Filename.
The Test database is now shown in the

Configure Database list. It is possible to
‘hide’ databases from the list displayed in
the Navigator window by toggling the
checkbox beneath the icon OFF.
This can be useful when you are not
working with a database but wish to have it
remain accessible.
Notice that the Test database is no longer
visible in the list of databases in the
Navigator Window. Keeping unused
databases hidden is a good idea to keep
the Navigator window less cluttered.
Toggling the checkbox on the Database will
Figure 9 be available in the Cyclone Navigator.
The new database is now available in

the Navigator below the server chosen
before.
Figure 10

Open the Windows Explorer and browse to the
location where you stored the new database.
Notice that the database Test.imp is created in a
subfolder also called “Test” and contains the
actual database as well as two subfolders.
Figure 11
2.2 Remove / Destroy a Database
Remove the link to database Test.imp

Select the Test database in the Configure Databases dialog (Figure 9). Click on the Remove
button and then the Close button to close the Configure Databases dialog. The Test database is
removed from the Navigator window.
In Windows Explorer, browse to the folder where your database was created and stored, or the
default location – for example:
C:\Program Files\Leica Geosystems\Cyclone\Databases
to see that the file has not been deleted – it still exists, but is now not linked to Cyclone.
Notice that the actual database file Test.imp still resides on your hard drive. This
is because the database file has not actually been deleted; it is only the active
link between Cyclone and the databases that has been cut.
Destroy a database
To actively delete the Cyclone database, use the Destroy command. If you select Destroy in the
Configure Databases dialog, the Test database will be deleted from your hard drive.
The file is then permanently deleted!
3 Linking to / Loading an Existing Database
You are now going to link an existing database to Cyclone.

In the Navigator window, find Configure | Databases and click Add…
Add…
Alternatively right click on the local server (the name of your computer) to which you want to
add a database. From the pop up menu, pick Databases (Figure 12).

Figure 12
Figure 13
The Configure Databases dialog appears (Figure 13). Pick the Add…
Add… button. The Add Databases
dialog appears (Figure 14).
Figure 14
Figure 15
Pick the icon to the right of the Database Filename field (Figure 14) to open the
Create/Select a Cyclone DB dialog (Figure 15).
Browse to your Training Folder or to a file location directed by your instructor to locate the
database called QuickStart.imp (Figure 15).
Select QuickStart.imp,
QuickStart.imp and then click on Open.
Open Finish by selecting the OK button. The database is
now linked to and can be accessed through Cyclone. (Figure 16)
Figure 16
Continue in this manner to add the additional databases as you are directed by your instructor.
Now click on the Close button to return to the Navigator window.

To expand the Server object, double-
double-click on the icon or pick the “+” sign to the left of the
server name. The databases linked on this server are listed below the server name (Figure 17).
Figure 17
4 Using the Online Help
The online Help is always available. Press the F1 function key while you are in any Cyclone
window or dialog. From the Help menu in any Cyclone window, select the Index command. If in
doubt about what commands are available perform a right click on your right mouse button.
Figure 18

5 Database Hierarchy
Understanding Objects and Objects’ Hierarchy within the Database
Expand the QUICKSTART database hierarchy.

Using the mouse, Pick the ‘+’ signs to the left
of: QuickStart,
QuickStart then
• Project 1
• ScanWorld 1
• ModelSpaces
ModelSpaces
• ModelSpace [ScanWorld1] View 1

Do the same for ScanWorld 2.
2
You will end up with a window that looks like

the image on the left.
Figure 19
5.1 Definition of the Database’s Objects
Definition of a Station
The new station object is a special type of Project folder that is used to store all the ScanWorlds
from one setup. This folder is not “hooked up” or linked to anything else (i.e. registration), for
now it is an organizational tool.
When scanning using the on-board controller with the C10 or using Cyclone Scan, ScanWorlds
from the same physical setup are collected in the same Station folder. The ScanWorlds can vary
in height and orientation – but not in X and Y direction.
Definition of a ScanWorld
A ScanWorld is a collection of scanned point sets (scans) that are aligned with respect to a
common coordinate system. If you take one or more scans without moving the position of the
scanner they can be considered to be part of a single ScanWorld since they are already aligned
with respect to each other. ScanWorlds can contain other ScanWorlds through a Registration
(covered later).
The original data associated with a ScanWorld are read-only and cannot be modified, although
entire ScanWorlds can be deleted.

By default, a ScanWorld contains a ControlSpace and three folders – One each for ModelSpaces,
Scans, and Images. Each of these folders may contain additional folders as well. ScanWorlds can
also contain Projects.
A ScanWorld may contain only one frozen Registration..
All objects part of a ScanWorld can be viewed in the ScanWorld’s TruSpace. This panoramic
viewer can be opened up through right-click on the single ScanWorld icon. TruSpaces for
registered data can be accessed via a KeyPlan (see below).
Next to visualization the TruSpace allows jumping to other scanner locations, target extraction as
well as point to point measurements.
Definition of a ControlSpace
When a ScanWorld is created, a subordinate ControlSpace is automatically created and placed
within the ScanWorld in the Navigator window. It cannot be moved, copied, or deleted.
A ControlSpace is similar to a ModelSpace View. It is used as a container for all objects attached
to its parent ScanWorld that are designated as constraint objects or possible constraint objects.
The ControlSpace is used to review, organize, or remove objects; it is also used to add
constraints manually. However, objects in the ControlSpace cannot be moved or resized.
When an object is removed from the ControlSpace, it cannot anymore be used in subsequent
registrations.
Definition of a ModelSpace
The primary ModelSpace folder contains various ModelSpaces. A ModelSpace contains certain
information from the Database that has been processed, modelled, or changed in a specific way.
The objects that are actually worked on are called ModelSpace Views.
Definition of a ModelSpace View

A ModelSpace View is the actual entity or object that is worked on or changed.
This is where you will make all changes to the point cloud or create models based on the points.
Definition of a KeyPlan
A KeyPlan can be created and added to the Navigator as a plan type interface for easy location
of ScanWorlds and launching the respective TruSpace hence circumventing a complex Navigator
hierarchy.
5.2 Hierarchy of the Database’s Objects
In Cyclone, most objects “belong” to another object, depending on their positions in the
hierarchy in the Navigator Window.
• Databases contain Projects

• Projects contain:
o ScanWorlds
o ModelSpaces
o Registrations

o Images
o Imported Files
o Other (subordinate) Projects
• KeyPlan
• ModelSpaces contain ModelSpace Views
6 Examine the Database’s Objects
In this section we will examine the different objects in the QuickStart database. As you examine
the database, familiarize yourself with how the project is laid out spatially.
6.1 Images Folder
We will first look at the MultiImage taken for ScanWorld 1 and ScanWorld 2.
The database has two project folders, Project1 and Registered. We will look at the Registered
project folder later. Expand the database and Project 1’s hierarchy down to ScanWorld 1’s
MultiImage object by clicking the “++” sign next to the objects.
Figure 20
Open the MultiImage by double click the object named “MultiImage 1” to open it in a separate
window.

Figure 21
Adjusting the view in a MultiImage is simple in that your viewpoint does not move from the
camera’s location. You are, however, able to rotate about the camera’s nodal position and zoom
as well to see the scanners full 360X270 FOV.
View Mode
Use the key below for reference on how to adjust your view in a MultiImage in View Mode.
Action Cursor Description
The image rotates around the nodal position of the

scanner.
+ drag
Zooms in/out.
+ drag up/down
Seek Mode
It may be more efficient to use seek mode to center your view on something in the viewer.
Then use view mode to zoom directly into it.
Open the MultiImages taken from both ScanWorld 1 and ScanWorld 2 to get an overview of the
scene from two separate scanner setups.

Figure 22 Figure 23
A MultiImage is taken from each scan position. In this case, a full 360x270 image was taken for
both ScanWorld 1 and ScanWorld 2. By cross checking the MultiImage with the scan log and field
notes, you should have a good idea on how the project has been planned.
6.2 Scans Folder – The Point Cloud Archive
In this section, we will look at the contents of the Scan folders for both ScanWorld 1 and
ScanWorld 2.
Expand the Scans folder for Scanworld 1.
Figure 24
Each object listed in the Scans folder is the archived scan belonging to its parent ScanWorld. As
you can see, we have taken 10 scans from this scan position.

• The fact that we did not move the scanner while at this position, ScanWorld 1,
all of the scans are lined up correctly in relation to one another.
• Each scan references the MultiImage. This can be used for color mapping the
image onto the points, and will be covered in a later module.
Note that the target scans are by default placed in their own folder named HDS
Target Scans.
• Open “360_Rough_Scene_Scan” by double-

double-clicking its icon.
Figure 25
Modes
Navigation in the Scan Viewer is different from the Image Viewer since the user is now in a 3D
environment in which the user can also change the viewing position.
• Rotation and translation is always in relation to a focal point centred in the

viewer.
• For efficient navigation through a scene, it is absolutely necessary to use seek

mode to set a focal point, and then use view mode to zoom, rotate,
and pan.
• See the guide below for reference on manipulating your viewpoint in a scan
window.
The image rotates around the focal point. (as set by

seek mode)
+ drag
Pans the view. (focal point is altered)

+ drag

Zooms in/out to focal point.
+ drag up/down
As you can see in the Description column above every action is dependent to the
focal point, located at the center of the screen.
• Practice viewpoint manipulation and examine several scans from both

ScanWorld 1 and ScanWorld 2. Close the Scan viewers when finished.
The Scans folder contains all scans taken from one scan position, or ScanWorld. The scan objects
serve as an archive of the scans acquired and cannot be modified, only viewed. They can,
however, via the Navigator, be renamed or deleted. We will see in a next section how we can
reference the scan data and modify it as well.
6.3 ModelSpaces
So far, we have been able to view the images and scans taken from our scanner positions,
ScanWorld 1 and ScanWorld 2. But how do we modify and query the data we have acquired?
We are able to view, modify, model, and query data in ModelSpaces.
Figure 26
ModelSpaces can be opened and modified via ModelSpace Views. ModelSpace Views are where
all of the modelling work is done. Note that ModelSpace Views are below the parent ModelSpace
in the Navigator hierarchy.
ModelSpace Views are simply a means by which we can edit, model, and query the scan data,
and save certain viewing settings. The settings that can be saved in a ModelSpace View can
include but is not limited to layers, object visibility, user coordinate systems, and saved
viewpoints. When a ModelSpace View is modified and then closed, all modifications are saved
automatically.

Double click the existing ModelSpace View that belongs to ScanWorld 1.
Figure 27
ModelSpace View
Figure 28
Moving the viewpoint around in a ModelSpace View is identical to that of moving around in the
Scan viewer. The next chapter reviews some of the basic movement through a ModelSpace View
and introduces some additional methods.

View Mode
The image rotates around the focal point (as set by

seek mode).
+ drag
Pans the view (focal point is altered).

+ drag
Zooms in/out to focal point.

+ drag up/down
View Mode (modified)
Rotates the scene around the nodal point of the

viewpoint. Focal point is disregarded (Similar to
+ + drag turning one’s head).
Rotates the viewpoint parallel to the viewing plane,

similar to a barrel roll (Viewpoint | Keep Viewpoint
+ + drag Upright must be toggled off).
Zooms in/out. (beyond focal point)

+ + drag
The viewpoint rotates around the focal point at a

slower rate (smoother movement).
+ + drag
The viewpoint rotates around the focal point; all

loaded points drawn while moving (no LOD).
+ + drag
Seek Mode
Sets focal point (viewpoint rotation) to clicked point.
Moves viewpoint position to clicked cloud’s scanner

position; view centered on clicked point.
+

Pick Mode and Multi-Pick Mode
Pick mode is used to select objects in the ModelSpace View.
• Pick a point in any point cloud in a ModelSpace View.

• Note how the picked point is marked with a white pick point and the cloud which that point
belongs to is highlighted. Other clouds become dim.
• Note the coordinates of the picked point on the status bar at the bottom of the ModelSpace
window.
• Press the spacebar to deselect the pick and return all point clouds to a similar viewing
brightness.
Selects an object with a pick point described in the

status bar.
Multi-picks object(s) with a pick point at each pick.

+
Multi-picks object(s) with a pick point at each pick.
Note that the distance between multi-picked points updates in the status bar at
the bottom of the ModelSpace View. This is useful for getting quick
measurements in the ModelSpace View. (Figure 29)
Figure 29
Perspective and Orthogonal Projection

The user is able to toggle between orthographic and perspective projections in a ModelSpace
View.
• In perspective projection, parallel lines may converge and relative depth may
be easier to visualize. The real world is viewed in perspective.
• In orthographic projection, parallel lines remain parallel, though perceived

angles may change. It may be difficult to determine relative depth, but this
view is often preferred by architects and engineers in top-down or side views.

Coordinate System
A red, green, and blue icon represents the current coordinate system’s
origin (0,0,0). For ScanWorld 1 and ScanWorld 2, the origin is at the local
scanner position.
Summary
ModelSpaces are where we will view, query, and model the point clouds. We access a view to
ModelSpaces via a ModelSpace View.
To view all of the contents of a ModelSpace View, click Viewpoint | View All.
All
As long as the original scan data inside the Scans folder is present, a new
working environment containing a fresh copy of the raw data can be created via
selecting the ModelSpaces folder and executing Create | ModelSpaces.
ModelSpaces.
6.4 ControlSpaces
to its parent ScanWorld that are designated as “constraint” objects or possible constraint
objects in the registration of that ScanWorld. Every ScanWorld by default has a ControlSpace.
Double-click a ControlSpace in the Navigator to open it.

• Double-
• Inspect the ControlSpaces for ScanWorld 1 and ScanWorld 2.
• Note the tie-points with registration labels in each.
The ControlSpace will contain all objects used in a registration. Every ScanWorld has at least one
ControlSpace.
7 File Management
Rename Objects to reflect use and/or location

You are strongly encouraged to always give specific or highly descriptive names to each of the
ModelSpaces, ModelSpace Views, and Registration Files.
• Any of the folders or objects can be renamed at any time.

• The only file name that you cannot change in the Navigator is the name of the Database.

Module 2.1 - Point Cloud Import
Introduction
Most scanning hardware offer on-board data acquisition and storage. This means that after the
execution of the field work the data has to be downloaded and opened / imported into
processing software.
The following module describes the steps of importing data acquired onboard with Leica
Geosystems’ ScanStation Series and HDS 7000 into Cyclone.
rd
It also explains the import process and options when importing 3 party scan data as well as
ascii formatted files.
Objectives
The objectives of this training module are learning how to:
• Import Leica ScanStation data

• Import HDS 7000 (and previous model) zfs files
• Import other scan file formats as well as ascii and binary
• Import Auto Align Project
• Import MS50 data
• Using Leica Batch Import
Files to Use
• none
Introduction to Cyclone Module 2.1 – Point Cloud Import 1 - 20

Table of Contents
1 Importing Leica ScanStation data ............................................................................................ 3

1.1 Before Import – Set Preferences .................................................................................... 3
1.2 Import via Cyclone Navigator .......................................................................................... 3
1.3 Import Options General .................................................................................................. 5
1.4 Import Options Advanced ............................................................................................... 9
2 Importing HDS 7000 data (.zfs) ............................................................................................. 12
2.1 Before Import – Set Preferences .................................................................................. 12
2.2 Import .zfs files ............................................................................................................ 13
3 Import of other scan file formats .......................................................................................... 14
4 Import as Auto Align Project .................................................................................................. 15
5 Import MultiStation MS50 Data.............................................................................................. 16
6 Using Batch Import tool ......................................................................................................... 19
2 - 20 Module 2.1 – Point Cloud Import Introduction to Cyclone

1 Importing Leica ScanStation data
There are multiple ways to import Leica ScanStation data which was scanned via the MMI and
stored onboard.
1.1 Before Import – Set Preferences
Survey Mode
Before importing the data from the ScanStation make sure to set the preferences for Survey
Mode.
Under Edit Preferences, if Scan | Survey Mode is set to "Yes", Cyclone creates Stations as part
of the Navigator project structure. If it is set to "No", Stations are not created, but the Station
name is prefixed to the ScanWorld name.
1.2 Import via Cyclone Navigator
This requires that the data has previously been downloaded from the scanner either through
copying to USB or using the Data Copy Tool. (see Module 1 - Scanner & Scanning Features)
Select the project

Once the data has been downloaded, it is available on the USB or local hard disk in the following
structure. Now the collected data can be imported into Cyclone.
Figure 1
• If you download via USB, connect the USB device to your computer.
• Open Cyclone and create a new database for the project to be imported into. Also an already
existing database can be chosen.
• Highlight the database by a single click in the Navigator and go to

File | Import ScanStation Data
• Depending on whether you want to import the whole Project or only part of the project
choose Import ScanStation Project or Import ScanStation Partial Project

Figure 2
• Navigate to the scanner project folder and select the project.
A Scanner project folder contains

a Project.prj for the P Series
Scanners or
a project.ini file for the C Series
Scanners
Figure 3
• Select the project and press OK

1.3 Import Options General
The following window offers optional functions Cyclone can already perform during import of the
data.
• Select the appropriate import options and

press OK.
The import process is starting.
Figure 4
The time to import depends on the amount of data and options choosen.
SubSample
The user can choose to import all scanned points or a subset of each scan.
To support subsampling a file *.fsf is created and stored in a (database name)FsfSets
folder in the same location as Eventlog and Recovery folder. By default Cyclone will
delete this file after full import.
Choosing SubSample will slightly speed up import times, however not relative to the
amount of the points. (I.e. importing ¼ will not result in an import speed 4 times faster).
If a subsample has been imported, additional points can be brought back later on via two
options:
• Select the ScanWorld in the Navigator. Execute Tools | Re-Import Scans to

import a higher percentage of the scans.
• Open the ScanWorld’s TruSpace to load all additional points within a fenced
area via Re-Import | Load Points Within Fence
Except for Faro, Riegl and some ASCII formats, all scan types can be subsampled.

Pre-Registration Options
The following commands can be helpful for the later registration process either with
Targets or Cloud-to-Cloud or both.
Find black & white targets

Selecting Find black & white targets will search all scan data for the presence of black
& white targets. If this option is checked, the summary of all targets found will be
presented to the user after import to be accepted or rejected (Figure 5).
• Select the proper size target from the pull down menu (3”, 4 ½” or 6”) and
click OK
• The upcoming dialog shows the targets found
Figure 5
• If all found targets are correct, choose Copy All Targets to Control Space
• Delete some incorrect results by marking them and click
Delete Marked Target(s)
• then accept all remaining via the upcoming interface.(Figure 6)
Figure 6

• Exit will bring up a window asking whether all found targets should be copied
to the ControlSpace or not and then close the interface.(Figure 7)
Figure 7
Right-click on a target image offers the option Go

to view. This will then bring up the complete
ModelSpace environment with the selected target
at the center.
Use this to review the target and its fitting in a
3D environment. Close when finished.
Figure 8 The ModelSpace interface can also be used to

add/edit a Target ID
(see Module 3 - Registration).
Only black & white targets can be extracted with this function. No HDS or Sphere
targets.
Auto-Align Scans
This command will run a scan matching algorithm, which compares Scans from different
scanner locations, identifies overlapping areas and then provides an initial alignment.
During the import process Cube Images are created and stored in a Scene.hds.files
folder next to the Database files.
These files are needed for the command Registration | Create ScanWorld Groups
from Auto-Alignment (see Module 3 - Registration).
Figure 9

After import a Registration object is created. The Registration window opens
automatically to inspect the auto-aligned Scans and Groups.
Generate Scan Thumbnails

2D Scan Thumbnails provide a top-down specialized view of each ScanWorld and are one
of the key elements of the Visual registration tools.
After the import process the 2D Scan Thumbnails window opens up automatically.
Figure 10
This window can also be opened from the Registration window menu
Visual Registration | 2D Scan Thumbnails
Please see Module 3.0 - Basic Registration for further information and details on
Thumbnail options
Map Color
Leica ScanStations can take images of the same scene. If this checkmark is set, these
MultiImages are automatically mapped/ burnt onto the clouds, so that the point cloud
can be viewed with true color information taken from these pictures.
The same command can be executed after import on the data. To do this right-
click on a MultiImage and select Apply MultiImage.
Estimate Normals
Selecting Estimate Normals will calculate point normals during import. This is generally
recommended.
A point normal is a line segment that is perpendicular to a surface at a particular
location. Within Cyclone a normal is estimated for each point.
They are required for various functions within Cyclone, including alignment to a scanner
position, rendering or shading functions, cloud-to-cloud registration, basic and complex
mesh as well as steel fitting.

Normals can also be calculated after import. For this select the ScanWorld and
execute Tools | Estimate Cloud Normals (multiple ScanWorlds can be selected to
run this tool on a batch of files)
Find Pipes Automatically

This command searches all scans for any cylindrical shapes in the clouds and
automatically fits cylinder objects into them.
Using this option will significantly increase import times.
Refer to the “Basic Modeling” section for more information.
Apply All
If more than one scan is selected, the above options are applied to all selected.
1.4 Import Options Advanced
The Advanced tab is only available when importing scan data from the P Series Scanners. It
contains various filter settings
Figure 11

Remove Intensity Overloaded Pixels
Scan points measured from highly reflective surfaces (retro-reflective) can be removed
by setting this check box. As such points are often range distorted, this filter is engaged
by default.
Remove Mixed Pixels

As the laser beam crosses edges and other discontinuities, the laser is reflected from
different surfaces at the same time, resulting in a measured range which is a mixture of
the observed ranges. Scan points with such add-mixture ranges, called mixed pixels, can
be removed by setting this filter.
You may adjust to how many mixed pixels are removed by setting the Mixed Pixel Filter
Slider either to Low (small rate of removal), Medium (default) or High (high rate of
mixed pixel removal)
Depending on the circumstances and user preferences, retaining more (or fewer) mixed
pixels can help resolve the geometry of some objects, particularly edges. (see also
Cyclone Online Help)
Do Tone Mapping
With this setting enabled, images are converted to cube mapped HDR and tone mapped.
The default setting is Medium which will result in 2k x 2k images, while setting to High
will result in 4k x 4k images.
Setting this to high, requires approximately four times the memory required for
Medium. So if your system lacks sufficient memory (lower than 32 GB) selecting
this setting can take very long to process.
Compensator out of range (only if scanner movement detected)

By default the Leica ScanStations are operated with an activated dual-axis compensator. If a
movement of the scanner is detected during scanning which is outside the compensator’s range,
this is being flagged in the raw data. When importing into Cyclone, the user is required to decide
how to treat this data.
• Select Do not import if this data

should not be used at all.
• Select Import all data – but mark

any ScanWorld containing out-of
range lines as unlevelled. This is an
indicator for Cyclone, that no
compensator was active (for
Figure 12 registration purpose).

Import of partial projects
• The partial import option allows to browse to just a part of a scanning project and import
this. This can be a particular Station or the scan data or images only within a specific Station.
• From the Navigator go to Files | Import ScanStation Partial Project

• Select the scan project folder (Figure 3).
• Select objects within this project to be imported (Figure 13).
Data cannot be imported into existing ScanWorlds, but a new ScanWorld will be created.
Figure 13

2 Importing HDS 7000 data (.zfs)
.zfs files originate from the Leica HDS 7000 and HDS 6x00 series. (Or Z&F Imager series).
This data is typically captured onboard and after transfer to a local hard disk or USB can be
imported directly into Cyclone.
2.1 Before Import – Set Preferences
Phase-based systems require filters to be defined to the specific scanner in order to receive as
clean as possible data.
The filter settings are applied during import hence they have to be adjusted (if required) prior to
this.
The default values are designed to work for the majority of all scanners in most
circumstances. When changing any values closely review the results on sample
scans before applying to a whole project.
• From Cyclone Navigator go to Edit | Phase-Based Scanner Filter Settings… (see Figure 14)
• Choose the respective Scanner model to view the active filter settings.
From a dropdown list following options can

be chosen for each filter setting individually:
Figure 15
• Apply...default settings to use the given

default filters (fields are greyed out).
• Apply…specified settings to customize

the filter (fields are active).
• Do not apply filter to not apply the filter

during import(fields are greyed out). This
is a default setting for Invalid(Skirt) and
Single Pixel as they are legacy filters.
Figure 14
View the Cyclone Help Topic “Phase-Based Scanner Filter Settings” for a
description of the individual filters.
• Use Scan File Mask corresponds to mask files written to the scan files by Z&F`s LaserControl
Software. It is recommended that this checkbox remain checked, even if the scan files do not
contain mask files.

• Review and change any of the available filters.
• Accept changes and close interface via OK.
In general it is recommended that the filters be left to their default values
2.2 Import .zfs files
Each .zfs file contains a single scan. A project therefore contains of a multitude of .zfs files all
individually stored.
• Open Cyclone Navigator.

• Create a new database or select an existing database and go to File | Import.
• Browse to the respective folder and select one or more .zfs files.
• Define if all data should be imported or a sub-

sampling of each .zfs file.
• Checkmark if black & white targets should be

searched for and presented to the user for
approval.
• Select if point-cloud normals should be

calculated.
• Select if pipes should be extracted.

• If more then one .zfs is selected, the above
options can be applied to all selected via
checking Apply All.
Figure 16
See section 1.2 for a full description of these options

The Auto Registration features Auto Align Scans and Generate Scan Thumbnails are not
available in this Import Dialog (see 4 Import as Auto Align Project)
Each .zfs is imported into a separate ScanWorld, carrying the name of the .zfs file.

3 Import of other scan file formats
Cyclone can also import other scan file formats. This includes the vendor’s direct scan formats as
well as binary and ascii files.
Scanner formats supported include:
• Leica ScanStation2 scan format: *.sc2

• Leica ScanStation / HDS3000 / 2500 / 2400 scan format: *.scan
• Riegl *.3dd,* .rsp,*.rxp
• Faro *.fls, *.fws, *.fpr
• Optech .ixf
• ASPRS (LIDAR system format) *.las
• Z&F *.zfc, *.zfs, *.zfprj
Binary formats:
• ASTM *.e57 binary

• Leica *.ptg, *.ptz, *.ptb
ASCII formats:
• Leica *.pts, *.ptx

• Japan Surveying Instruments Manufacturers Association (JSIMA) *.sim
• *.txt and *.xyz
• Open Cyclone Navigator

• Create a new database or select an existing one
• File | Import.
• Browse to the location of the scan file(s) and press OK.
• For each scan file an individual ScanWorld will be created.
For more information see Cyclone Help under search term “Importing Files”.
The Auto Registration features Auto Align Scans and Generate Scan Thumbnails
are not available in this Import Dialog (see section 4 Import as Auto Align
Project)

4 Import as Auto Align Project
With this command certain file types can be imported using the Auto and Visual Registration
features.
Auto Align Project runs on the following formats of imported scan data:
Figure 17

• Create a new database or select an existing one
• File | Import as Auto Align Project
• Browse to the location of the scan file(s) and press OK.
• In the upcoming Import dialog the

Auto Align Scans checkbox is enabled by
default and greyed out
• Since normals are required for this

command the Estimate Normals option
is also selected by default
Figure 18
See section 1.2 for a full description of these options

5 Import MultiStation MS50 Data
This command is used to import scan data from the Leica MultiStation MS50.
DBX and HeXML are the data formats that can be derived from the MS50 onboard software
directly or from office software. Please find below information and differences of these formats:
DBX data structure

This format describes a database in which all job related information is stored. It includes all of
the MS50 observations from the different type of measurements
Scan related information is stored under
• Images contains single and panoramic

images (*.jpg)
• Scans contains pointclouds (*.sdb and

*.bmp)
Figure 19
This format cannot be used for importing scans and images into Cyclone!
HeXML data structure

From the MS50 or office software a job can be exported into a standardized XML structure which
combines all information from the DBX files. Depending on how the job is exported from MS50
or office software the HeXML file does or does not contain a link to the scan and imaging data.
For import in Cyclone one of the following export options should be used as links to the scan
and imaging files will be stored inside the HeXML file:

HeXML export option Same as Job
This will export the HeXML file into the same

directory as the DBX job and will include links to
the original scan and imaging data.
Files and folders needed for import in Cyclone:
• *.XML HeXML file containing links to the

scan and imaging data
• Images contains single and panoramic

images (*.jpg)
• Scans contains pointclouds (*.sdb and

*.bmp)
Figure 20
HeXML export option Data
This will export the the HeXML, scan and

imaging files into a folder named Data. The
HeXML file contains a link to the scan and
Figure 21 imaging data that are copied into one separate
folder.
Files and folders needed for import in Cyclone:
• *.XML HeXML file containing a link to the

scan and imaging data in the separate folder
• project_xml contains single and panoramic

images (*.jpg) and pointclouds (*.sdb and
*.bmp)
A HeXML file containing a link to the scan and imaging data can be imported into Cyclone using
the Import MultiStation MS50 Data dialog.
It is important that the file names and directories of these scans and images should not be
changed after the export procedure. Otherwise it will lead to inconsistent data links in the
HeXML file and cause a failure in the later import of those data sets.

Import

• Create a new database or select an existing database
• File | Import MultiStation MS50 Data
Figure 22
• Browse to the respective folder and select a project to import.
Figure 23
Refer to section 1.2 for a full description of the options in the upcoming Import dialog

6 Using Batch Import tool
This tool is used to setup Batch jobs to import a variety of file formats and scan projects in one
process. It can be accessed via the Cyclone Navigator.
Following file formats are supported:
Scan formats:
• E57 Scan Format (*.e57)

• Faro Laser Scan (*.fls)
• Faro Work Space (*.fws)
• Faro project (*.fpr)
• Optech Ilris Binary Exchange (*.ixf)
• Binary PointClouds (*.ptg)
• HDS7000 Project (*.zfprj)
• HDS4500-HDS7000 Scan Format (*.zfs)
• ScanStation C5/10
• ScanStation P15/20
• MultiStation MS50
Binary formats:
• PTG Format (*.ptg)

• PTZ Format (*.ptz)
ASCII formats:
• PTX Format (*.ptx)
To start the Batch Import
• Open Cyclone Navigator.

• Create a new database and Project folder or
select an existing database/project folder.
• Select Project or Database and select File |

Batch Import
• or click with the right mouse button on the

Project/Database and Batch Import
Figure 24

This will bring up the following dialog
• Click the Add Batch button to create a new

Batch node
• Using the Destination browse button you can

select or change the database or project the
scan files should be imported into
• Either of the four Add Task buttons can be

used to add a mixture of scanner projects or
file types to the Batch node
• Options can be set individually for files and

scan projects by first selecting them and
setting the desired options
• To globally set all files/scan projects with the

same options in a batch, select the Batch
node and explicitly set the desired options
Figure 25 • Use the button Run Selected to start the

Batch process either on an individual Batch
Node or multi-selected several ones
• Delete will delete the selected files or scan

projects Batch nodes
For full details about the options please refer to section 1.2 Import via Cyclone
Navigator

Module 3.0 - Basic Registration
Introduction
Registration is the process of aligning all of a project’s ScanWorlds into a single coordinate
system as a registered ScanWorld. This alignment is derived by a system of constraints, which
specify that an object, geometric feature or cloud appear in the same position in two
ScanWorlds.
The registration process computes the optimal overall alignment transformations for each
component ScanWorld in the Registration such that the constraints are matched as closely as
possible in the resulting ScanWorld.
The objects involved in these constraints are maintained in the Controlspace, where they can be
reviewed, organized and removed.
In this section you will exercise to register using different methods and types of constraints.
Objectives
The objectives of this training module are:
• Register using Auto and Visual Registration Tools (Cloud Constraints)

• Understand the principle of Cloud Constraints
• Register using Target Constraints
• Combine different methods
Files to Use
• BasicRegistration.imp
Registration Module 3.0 – Basic Registration 1 - 30

Table of Contents
1 Auto Alignment Registration (Cloud Constraints) ..................................................................... 3
1.1 Auto Align ...................................................................................................................... 3
1.2 Inspecting Results of Groups .......................................................................................... 6
1.3 Optimize ScanWorld Groups ........................................................................................... 8
1.4 Registration ................................................................................................................. 10
1.5 Create ScanWorld /Freeze Registration ........................................................................ 11
1.6 Create and Open ModelSpace View .............................................................................. 12
2 Visual Alignment Registration (Cloud Constraints) ................................................................. 13
2.1 2D Scan Thumbnail ...................................................................................................... 13
2.1 Image Preview .............................................................................................................. 17
2.2 Visual Alignment........................................................................................................... 18
2.3 Registration ................................................................................................................. 21
2.4 Create ScanWorld /Freeze Registration ........................................................................ 21
2.5 Create and Open ModelSpace View .............................................................................. 21
3 Factors that determine the Effectiveness of PointCloud Constraints ..................................... 22
4 Target Registration (Target constraints) ................................................................................ 25
4.1 Create a Registration ................................................................................................... 25
4.2 Add ScanWorlds ........................................................................................................... 25
4.3 Auto-Add Constraints ................................................................................................... 26
4.4 Register ....................................................................................................................... 27
4.5 Create ScanWorld/Freeze Registration ......................................................................... 28
4.6 Create and Open Modelspace View .............................................................................. 28
5 Combined Registration .......................................................................................................... 29
5.1 Add ScanWorlds ........................................................................................................... 29
5.2 Add Cloud Constraints .................................................................................................. 29
5.3 Add Target Constraints ................................................................................................ 30
5.4 Finalize Registration ..................................................................................................... 30
5.5 Inspect results ............................................................................................................. 30
2 - 30 Module 3.0 – Basic Registration Registration

1 Auto Alignment Registration (Cloud Constraints)
Enabling the Pre-Registration Options for import of any supported scan type will align scans
automatically.
During the import process a kind of Cube Image is created for each scanner position containing
both image and scan data. Cyclone then does a pairwise comparison between the single scanner
positions trying to find matching features in both images and scans.
It automatically creates a Registration and places all scans into it. Also it creates Groups from
aligned scans.
1.1 Auto Align
For the Auto Alignment registration it is important to import the scan data with Pre-registration
Options enabled or Import as Auto Align Project. Only then the respective files are created, that
allow the Auto Alignment.
Import
• Create a new database and optional project folder (see Module 2.0 – Introduction to
Cyclone)
• Import the scan data with Auto Align Scans, Generate Scan Thumbnails and Find B&W Targets
option enabled (see Module 2.1 - Pointcloud Import)
• Once the import process is completed a

Registration window will open showing
the newly created Registration and a 2D
Scan Thumbnails window
• Groups of aligned ScanWorlds are

created.
• ScanWorlds that cannot be aligned to

another ScanWorld will be placed in a
group called Ungrouped.
Figure 1
• A new project folder is created in Cyclone

Navigator (BasicRegistration)
• Note the Registration 1 object that has

been created automatically in this folder
Figure 2
The 2D Scan Thumbnails window will be used for the next section 2 Visual
Alignment Registration. It can be closed for this exercise.

Please continue with section 1.2 Inspecting Results of Groups, if the scans
were newly imported like in this scenario
Regenerate ScanWorld Groups

A dataset that was earlier imported with the Auto Align Scans option enabled can also be used
to regenerate ScanWorld Groups from Alignment in a (new) Registration without re-importing
scans:
• Configure the database BasicRegistration

• In the Navigator, select the database named
BasicRegistration
• In the menu, click Create | Project.

• Name the project folder “My Registration_Auto
Align”.
Figure 3
• Select the project folder named “My

Registration_Auto Align”
• click Create | Registration from the top menu

• Name the newly created registration “Auto Align”.
Figure 4
Note that the newly created registration object, “Auto Align”, is represented with a black and
white icon in front of it.
Double-click the new registration object to launch the Registration window
Add ScanWorld
• Click ScanWorld | Add ScanWorld
• In the Select ScanWorlds for

Registration dialog, expand the Scans
folder to reveal ScanWorld 1, 2 and 3.
• Highlight all ScanWorlds using the

Control button on the keyboard to multi-
select.
• Click the arrow button in the middle

of the Select ScanWorlds for
Figure 5
Registration dialog to move the
selected ScanWorlds to the right pane of
the dialog.
• Click OK
• In the ScanWorlds` Constraints Tab select Ungrouped

• Click Registration | Create ScanWorld Groups from Auto Alignment
Figure 6
This command resets groups to the original state after importing. Use this
command to reset groups without re-importing scans
• In the upcoming window click Yes.
Figure 7
This is an information, that if groups already existed (built e.g. from Targets),
they will be overwritten by new groups built from the Auto Aligned cloud
constraints

1.2 Inspecting Results of Groups
ScanWorlds that can be aligned to another ScanWorld will be placed in Groups.

For ScanWorlds under Ungroup no constraints to other ScanWorlds were found.
In this exercise all 3 ScanWorlds were auto-aligned and placed in Group 1
Figure 8
Home ScanWorld
In a registration all ScanWorlds are translated and rotated to the designated Home ScanWorlds`
coordinate system.
The Home ScanWorld is always listed in bold text in the ScanWorlds` Constraints tab
(e.g. Station-001: SW-001).
The Home ScanWorld can also be set to another ScanWorld:
• In the ScanWorlds` Constraints tab select

respective ScanWorld
(e.g. Station-002: SW-002)
• Click ScanWorld | Set Home ScanWorld
Figure 9
Leveled
Note that the ScanWorlds are followed by “(Leveled)”. This indicates that the scans were
acquired by a ScanStation equipped with a dual-axis compensator. A ScanWorld known to be
leveled is registered such that it’s “up” vector remains the same ( 4 parameter transformation).
View Interim Results
• Select Group 1 and click Registration | View Interim Results
Figure 10

A Modelspace View will open and show the 3 scans from this Group.
Figure 11
All scans in Group1 are valid if they are orientated to each other.
• Close the Modelspace View without saving it
Cloud Constraints
During the Auto Align process

Cloud-to-Cloud Constraints were
created. This is an intitial
Alignment based on the Cube
Maps. The Constraints therefore
need to be finalized by
optimizing.
Note the Error Vector column
under the Constraints List tab
Figure 12 reads “not aligned” (see Figure
13)
Figure 13

1.3 Optimize ScanWorld Groups
• Select Group 1 under ScanWorlds`

Constraints and from the top menu go to
Registration | Optimize ScanWorld Groups
Figure 14
This command is used to pre-register a group to find out, if it is valid before

continuing with the remaining registration
• Each Cloud Constraint will optimize in turn

• The alignment of the two clouds will
commence.
Figure 15
See also chapter 3 Factors that determine the Effectiveness of Pointcloud

Constraints for further details about the histogram
Go to the Constraint List tab. It lists each constraint in the registration. Constraint information
is organized into columns. Each column can be sorted.
Figure 16

• The Constraint ID column shows the name of the constraint.
• The ScanWorld column shows the two ScanWorlds that the constraint exists.
• The Type column indicates what type of constraint (Target or Cloud or Object).
• The Status column indicates whether the constraint is toggled On or Off for the registration
calculation.
• The Weight column indicates the relative weight of the individual constraint used in
registration. The range is 0.0-1.0, with 0.0 indicating the constraint has no effect on the
registration.
• The Error column shows the error distance of each constraint pair. It is the global error for
the entire registration between two ScanWorlds.
• The Error Vector column shows the direction of the error. For Cloud Constraints the
alignment status and its [RMS] value is displayed
• The Group Error column shows the error of a particular Group after optimizing. It indicates
how valid that particular Group is.
• The Group Error Vector shows the direction of the error of a particular Group. For Cloud
Constraints the alignment status and its RMS value is displayed
• The Group column indicates the Group that the constraint exists.

Constraints for details about the Cloud Alignment Accuracy
Note the updated Error Vector column

1.4 Registration
To finalize the Registration the global error has to be computed.

The Registration command computes the optimal alignment transformations for each ScanWorld
in the Registration so that all constrained objects are aligned as closely as possible.
• In the top menu go to Registration |

Register
• The Error column will update to display the

errors of the registration (Figure 18).
Figure 17
Figure 18
The Error column lists the error of each constraint after global registration. In
general, this is the distance between two constraint objects after the optimal
registration transform has been computed for their ScanWorlds. For cloud
constraints, the error value indicates the increase in the error metric of the cloud
alignment when offset by the global registration from the optimal pair wise
alignment (i.e., the alignment computed by “Optimize Cloud Alignment”). The
global registration spreads the errors among the constraints
The Group Error and the Error column may display the same information,
depending on the situation, but when you register the only valid information is in
the error column.
In the left down corner it shows Registration is

valid.
This indicates that every ScanWorld added to
this Registration is aligned to at least one
Figure 19 another.
Inspect Results
• Select Group 1 and go to Registration | View Interim Results from the top menu
• Inspect the aligned scans in the upcoming Modelspace View
• Pick a point on a wall surface and go to Tools | Quick Slice
• Inspect the scan lines if they match together

Figure 20
• Close the temporary Modelspace View without saving
Statistics for the successful

Registration can be viewed
using the Registration
Diagnostics command in the
Registration menu.
Figure 21
1.5 Create ScanWorld /Freeze Registration
The last step in a registration is to create a Scanworld and freeze the registration. With this
step, a new registered ScanWorld is created, containing the contents of all 3 ScanWorlds.
• Next, click Registration | Create ScanWorld/Freeze Registration
• Inspect the Navigator to see what this step

has accomplished. The “Auto Align” object
now exists below a new ScanWorld based on
the registration we have just made.
Figure 22

1.6 Create and Open ModelSpace View
• In the Navigator, highlight the newly created registered ScanWorld.

• Click Create | ModelSpace.
• Double click the ModelSpace.
• From the pop-up menu, click Create and Open ModelSpace View.
A ModelSpace View will open containing the registered data of the ScanWorlds
Figure 23

2 Visual Alignment Registration (Cloud Constraints)
In addition to the Auto Alignment during import process, the Visual Alignment is a set of tools
used to complete a registration.
The main tool sets are:
• Scan Thumbnail window

• Image Preview Window
• Visual Registration window
Using these tools help to join scans together and quickly and easily align them visually. All of the
tools in Visual Registration are accessed through the Registration window.
2.1 2D Scan Thumbnail
The 2D Scan Thumbnails provide a top-down specialized view of each ScanWorld and are used to
visually recognize various scans for commonalities to identify overlapping areas.
Pointclouds and Targets are both displayed in the thumbnails and can be used for visual
orientation.
2D Scan Thumbnails can be generated during or after import of scan data.
Generate Scan Thumbnails during Import

Check the Generate Scan Thumbnails option in the Import dialog (see Module 2.1 – PointCloud
Import)
Once the import is completed a Registration window will open showing the newly created
registration and the 2D Scan Thumbnail window.
The thumbnail images of all scans are displayed and associated with Groups in the dialog.
Figure 24

Re/Generate Scan Thumbnails after Import
The Scan Thumbnails can also be generated without re-import. We will continue using this
scenario for our exercise :
• in the Database select the project folder

containing scans or individual ScanWorlds
• Go to the top menu and select

Create | Re/Generate Scan Thumbnails
Figure 25
The 2D Scan Thumbnails window can be opened from within the Registration window.
• In the Navigator, select the database

BasicRegistration.

Figure 26
• Name the project folder “My
Registration_Visual Align”.

Registration_Visual Align”
• click Create | Registration from the top

menu
Figure 27
• Name the newly created registration “Visual
Align”.
• Double-click the new registration object to launch the registration window

• Add ScanWorlds 1,2 and 3 from the Scans folder
• From the top menu select Visual Registration | 2D Scan Thumbnails
Figure 28
• The 2D Thumbnails window opens up showing the 3 ungrouped scans

2D Scan Thumbnails window
Figure 29
In this exercise the scans are ungrouped in this viewer although it can also include groupings of
2D Scan Thumbnails.
Tools available in this window:
Selection Mode – Allows for the selection of pairs of scan

images to be selected within a group.
Hold SHIFT key down for the second selection
Open in Image Preview – launches Preview Scan Image window

(see section 2.1)
Open In Visual Alignment – launches Visual Alignment window
Group Controls
Expand all Groups
Expand Groups with selected Thumbnails
Collapse All Groups
Thumbnail Size Controls

Small Thumbnails
Medium Thumbnails
Large Thumbnails

Options that allow modifying the appearance of the scan thumbnails in the viewer:
• Right click on a selected thumbnail and

choose Options for Scan Thumbnails
from the menu
Figure 30
• Max scan radius – specify the radius

to use for thumbnail creation
• Silhouette – Enables better definition

of the outlines of surfaces inherent in
the point cloud
• Color map – this pulldown menu

includes three selections that control
how the thumbnails images will be
rendered
Figure 31
• Scheme – this pulldown menu includes
five color schemes that control how
the thumbnails will be rendered
Select the Ellipses button for the

advanced settings:
• Number of colors –enter a value for

the total number of colors that will be
used by the color Scheme
• Value map range – select this to use a

cyclic color scheme
• Gamma correction – Select this to

accentuate subtle differences in
intensities.
• Vertex width – Set this to adjust the

length of the target line vertex
representation within each thumbnail
• Line thickness – Set this to adjust the

thickness of the target line vertex
representation within each thumbnail
• Image Width & height – Set the

number in pixels that you want the
thumbnail resolution to be
Figure 32
After modifying these options the thumbnails can be easily regenerated using
Create | Re/Generate Scan Thumbnails from the Cyclone Navigator for all scans

Or from the right mouse button menu of a ScanWorld for a single scan thumbnail
Select candidate scan thumbnails to register
• Left click on the first thumbnail

(Station-001: SW-001)
• SHIFT+left click on the second

thumbnail
(Station-002: SW-002)
• Note how the Selection Mode

at the top changes color
• Click the Open Image Preview

button
Figure 33
2.1 Image Preview
The Image Preview window opens and the scans can be further inspected.
Figure 34
• Cycle through the images by clicking the arrow buttons

• To align a pair of scans click the Open in Visual Alignment button

2.2 Visual Alignment
This brings up a viewer which allows for pairs of scans to visually match and align with one
another by using Cloud-to-Cloud registration.
Figure 35
Scans start out viewed in plain view. Only the blue scan can be moved and rotated. The orange
one is fixed.
Various tools are available in this window :
Top View – allows movement in XY plane
Move Point Cloud - only active when Top View enabled
Rotate Point Cloud- only active when Top View enabled
Elevation View – allows movement in Z plane-
Move Point Cloud in Z - only active when Elevation View enabled
View Mode – manually adjust the Viewpoint
• In XY plane when Top View enabled

• In XY plane when Elevation View enabled
• In 3D when Top and Elevation View disabled
Seek mode – reset focal point on the picked surface
Perspective Mode – can only be activated with Top and Elevation View disabled
Ortho Mode – default mode
Optimize Constraint – to further adjust a constraint between a pair of scans that have
been visually aligned

Start by moving and rotating the scans together
&
• Left click and move the scans together

• Usually a common corner or obvious point is
selected.
Figure 36
&
• Left click and hold to pinpoint a rotation

point.
• While holding the mouse button down, drag

away from the rotation point and then
rotate the blue cloud into place
• Continue adjusting by rotating and moving

the scans
Figure 37
&
• Align the elevation
Figure 38
• Use to rotate the View and check
alignment
• When alignment is complete click on to create a pre-aligned constraint
• A histogram is popping up showing the optimization of the constraint

Constraints for details about the histogram
• After completion of the optimization a dialog box appears where the user can select to use
the cloud constraint to merge groups. Selecting Yes will merge the scans into one group. (see
Figure 39)

Figure 39
• View the results in free 3D Navigation Mode

• Close the Visual Alignment window and inspect the changes in the 2D Scan Thumbnails and
the Registration window
• Group 1 has been created from the aligned

Station-001:SW-001 and Station-002:SW-
002
• Station-003: SW-003 remains in

Ungrouped since no alignment to another
ScanWorld exists
• Also inspect the Constraint list tab in the

Registration window. The Cloud/Mesh1
constraint has been added
Figure 40
• Repeat the single steps for Station-001:SW-001 and Station-003: SW-003
• After finalizing the alignment inspect the

results in the Registration window
• All scans should have been merged to

Group 1
Figure 41
Two cloud constraints are listed under the Constraint List tab
Figure 42
To finalize the alignment the pre-aligned scans still need to be optimized before registering.
• This can be done by selecting (or multi-select) the constraints and click on Cloud Constraint |
Optimize Cloud Alignment

2.3 Registration
The registration command will also optimize the Alignments before registering in one step
• go to Registration | Register..
Figure 43
After optimizing/registering the optimization RMS value will have changed and a value for the
global registration error is given (see Error column).
Inspect Result
• Select Group 1 and go to Registration | View Interim Results from the top menu
• Inspect the aligned scans in the upcoming Modelspace View
• Pick a point on a wall surface and go to Tools | Quick Slice
• Inspect the scan lines, if they match together
• Close the temporary Modelspace View without saving
2.4 Create ScanWorld /Freeze Registration
The last step is to create a Scanworld and freeze the registration.
• Click Registration | Create ScanWorld/Freeze Registration

• Inspect the Navigator to see the new ScanWorld [Visual Align]
Figure 44
2.5 Create and Open ModelSpace View
• In the Navigator, highlight the newly created registered ScanWorld.

• Click Create | ModelSpace.
• Double click the ModelSpace.
A ModelSpace View will open containing the registered data of the ScanWorlds.

3 Factors that determine the Effectiveness of
PointCloud Constraints
Cloud constraints can be created in a Registration using the scanned overlapping areas between
two point clouds. When registering with point cloud constraints, the 2 main factors that will
determine the effectiveness of the constraint are:
• The geometry of the overlapping points.

• The number and size of area of overlapping points (minimum 20%).
• Only small overlapping area on floor and wall

• no overlap on cube
• Geometry of overlapping scan area:
Underconstrained
• Number of overlapping points: Low
Figure 45
• Sufficient overlapping area on floor, back

wall, cube
• Constraining all directions

• Geometry of overlapping scan area:
Constrained
• Number of overlapping points: High
Figure 46
The geometry of the overlapping point clouds is a factor when creating a point cloud constraint.
For example, scans could have a 100% overlap, but the geometry of the overlap may only define
a single plane. Point cloud constraints with little spatial definition between the two clouds
involved can lead to an underconstrained registration. This is the most significant factor when
using point cloud constraints. The second factor that determines the effectiveness of a point

cloud registration is the number of overlapping points. The higher the number of points that are
sampled out of the overlapping surfaces the more accurate the cloud constraint will be in
general. Both factors mentioned above work hand in hand with each other.
The following methods can be used to check for accuracy:
Alignment RMS error

RMS is the root mean square error of the alignment. If the RMS error value is in the 1cm range
for single points, the alignment is likely to be good. Single points have an RMS of 6mm (Leica
Scanner) in general, but since the overlap measurement is often imprecise, the alignment RMS
will generally be above 6mm depending on the geometry of the scene.
If the scene contains large smooth surfaces and

the overlap is very good then the RMA may be
6 mm or lower.
However for scans of more complex geometry
such as a leafy tree or a field of grass, the RMS
will be higher since the overlapping points may
not always be from the same surface (e.g., a
nearby leaf or blade of grass may intervene)
Figure 47
Point Count
This is the number of points in the overlap area used to align the clouds. The value is expected
to be in the 100.000+ range of points (with 20% overlap area).
Having a good RMS, but a low point count usually means a bad fit.
The Point Count can be found in the Opimize Cloud Alignment Results window or in Show
Diagnostics :
Figure 48
Error Histogram
Look at the histogram during “Optimize Cloud Alignment”, the standard situation is that the
histogram starts out somewhat flat, and then gradually tightens up to the shape of a half-bell
curve.

The half-bell curve shape indicates that the
alignment has been optimized properly. The
width (one sigma) of the half-bell curve should
be approximately matching the accuracy of the
scanner used to scan the cloud (6mm with
Leica Scanners). If the histogram stays flat, this
indicates that the initial guess was too far away
for the optimize alignment algorithm to align
the clouds.
Figure 49
Sometimes it can help to improve the cloud alignment by optimizing some cloud alignment
parameters:
In Cyclone Navigator go to Edit | Preferences
Figure 50
• Default Subsampling Percentage – Specify a percentage of each cloud used with the
Optimize Cloud Alignment. The default is 3%, which is effective and efficient for typical scan
cloud sizes. In general, a value of 100% may give results up to twice as accurate as a value of
3%, but may take approximately ten times as long.
• Default Max Iterations – Maximum number of iterations before the process stops.
But sometimes more iterations are needed to come to a solution. In this case the value can
be changed.
Please refer to the Cyclone online help for further informations
View the Alignment

Viewing the results of the Alignment (View Interim Results) will give you a good sense of the
accuracy. If you see any gaps between surfaces that were stationary during scans, you should
optimize again or improve the Alignment.
If the alignment is underconstrained (e.g. two scans of a plane in which the
alignment could be translated along the plane without changing the quality of
the alignment) additional constraints, such as Targets, can be added. (see
section 5 Combined Registration)

4 Target Registration (Target constraints)
In contrast to the previous sections we will now use Target constraints to register.
With compensator off, or without a compensator, a minimum of 3 common targets is needed to
adjust along 3 rotations and 3 translations (6-P-T). With an enabled compensator a minimum of
2 common targets is required. Then the Z axis is fixed and only a rotation around Z axis as well
as 3 translations are calculated (4-P-T).
4.1 Create a Registration

BasicRegistration.

Figure 51
Registration_Target”.

Registration_Target”
• click Create | Registration from the top

menu
Figure 52
• Name the newly created registration
“Target”.
• Double-click the new registration object to launch the registration window
4.2 Add ScanWorlds
• Add ScanWorlds 1,2 and 3 from the

BasicRegistration folder
• Click OK
Figure 53

4.3 Auto-Add Constraints
This function searches through the ScanWorlds` Controlspaces for possible tie point pairings. It
searches for matching Registration labels and also for geometrically consistent objects that can
be used in registration constraints.
The search only looks through objects in the ScanWorld`s subordinate
ControlSpace corresponding to the Registration.
Three commands for Auto-Add Constraints are available in the Registration window top menu
Constraint :
Figure 54
Auto-Add Constraints (TargetID only)

This command considers only targets with matching Registration labels.
Since this process relies on accurately labeled Target IDs, any incorrectly labeled
Targets will be excluded from the registration process.
Auto-Add Constraint
This command adds constraints between user-specified ScanWorlds by matching registration
labels and geometric shapes.
It uses currently existing constraints, if any, then searches the ControlSpaces for
objects with matching registration labels. Next it attempts to infer additional
constraints from matching pairs of geometry in the involved ControlSpaces that
are mutually consistent.
Advanced Auto-Add Constraints

This command adds constraints by matching targets vertices and then registration labels.
It only uses target vertices as constraints, unlike the basic Auto-Add Constraints
command which can also include geometric entities, lines, cylinders,…etc.

• In the Dialog several options are available
• Click on Info button for further details on
the settings
Figure 55
For our exercise we will use the Auto-Add Constraints command:
• Click on the Constraint List tab in the registration window. It is empty.

• From the top menu select Constraint | Auto-Add Constraints
After a few seconds the view updates and list all constraints found between our 3 ScanWorlds.
Figure 56
Please see section 1.3 for details about the single columns.
Note the new Type of constraints using Targets
4.4 Register
To compute the global error we will register next. This time only the coordinate information of
the targets is used for the transformation.
• Click Registration | Register
Figure 57
Inspect Result
• Inspect the values in the Error and Error Vector columns

• By clicking on the Error field the column is sorted and the biggest/smallest value can be easily
identified.
Since the ScanWorlds are not grouped yet no value is shown under Group Error
and Group Error Vector.

You do not necessarily need to create Groups in order to complete a
Registration.
• Go to the ScanWorlds` Constraints tab

• Multi select all 3 ScanWorlds and go to Registration | View Interim Results
• Inspect the alignment of the pointclouds
4.5 Create ScanWorld/Freeze Registration
The last step is to create a Scanworld and freeze the registration.

• Next go to Registration | Create Modelspace
• Inspect the Navigator to see the new ScanWorld [ Target]
Figure 58
4.6 Create and Open Modelspace View
• In the Navigator double click the ModelSpace in the Modelspaces folder.

A ModelSpace View will open containing the registered data of the ScanWorlds.

5 Combined Registration
Cyclone allows the combination of registration objects such as Vertices and Cloud-to-Cloud
Constraints.
In the following exercise we will learn to combine those types of constraints:
5.1 Add ScanWorlds

QuickStart.

Registration_Combined”.
Figure 59 • Select the project folder named “My
Registration_Combined”
• click Create | Registration from the top menu.

• Name the newly created registration “Combined”.
• Next, add all ScanWorlds from the Scans folder (see section 1.1)
5.2 Add Cloud Constraints
• Go to Registration | Create ScanWorld Groups from Auto-Alignment

Note the Cloud-Constraints added under Constraint List tab
• Under ScanWorlds` Constraints tab select

Group 1
• Go to Registration | Optimize ScanWorld

Groups
This will optimize the relation

between all of the ScanWorlds
contained in an individual group
Note the Group Error under
Constraint List tab
Figure 60
• Select Group 1 under ScanWorlds` Constraints tab and select Registration | View Interim
Result to inspect the alignment of the scans

5.3 Add Target Constraints
• From the top menu select Constraint | Auto-Add Constraints

Note the new target constraints added next to the cloud constraint:
Figure 61
5.4 Finalize Registration
Next we will compute the overall error for all constraints added.
• Click Registration | Register

• Sort the Error column by clicking in the Error field
Note the biggest error value

• Next go to Registration | Create and Open Modelspace View
5.5 Inspect results
Figure 62

Module 3.1 - Applied Registration Techniques
Introduction Registration
Chapter 3.0 introduced the basics of the Registration process, which is the process of
integrating a project’s ScanWorlds into a single coordinate system as a registered ScanWorld.
This Module will show how to apply these already learned basic registration techniques on a real
project using a mixed set of constraints.
Objectives of this Module

The objectives of this exercise are to:
• be confronted and work with a real project situation

• learn how to handle and correct typical errors made in the field
• show how to combine various registration techniques (mixed constraint types)
• see how Grouping can aid in the registration process
• transform local scan coordinates into a world coordinate system (geo-referencing)
Files Used
• Blutenburg 2.imp
• Geo Reference Blutenburg GK.txt
Registration Module 3.1 – Applied Registration 1 - 52

Table of Contents
1 Getting Started ........................................................................................................................ 3
1.1 Prolog ............................................................................................................................ 3
1.2 Field Notes..................................................................................................................... 4
1.3 ScanLog ......................................................................................................................... 5
2 Loading and importing Data .................................................................................................... 7
2.1 Adding the database ...................................................................................................... 7
2.2 Imported Dataset with option “Auto Align Scans” .......................................................... 8
3 Preparation before registering Scans ..................................................................................... 10
3.1 Acquiring Targets in the TruSpace ................................................................................ 10
3.2 Acquiring Targets in the ModelSpace ............................................................................ 11
3.3 Edit existing Targets ..................................................................................................... 12
4 Registration ........................................................................................................................... 17
4.1 Registration Strategies ................................................................................................. 17
4.2 Registration via Auto Aligned Groups ........................................................................... 17
4.3 Registration via Visual Alignment ................................................................................. 18
4.4 Registration via Auto-Add Constraints .......................................................................... 26
4.5 Freeze Registration and Create a ModelSpace .............................................................. 27
5 Quality Check......................................................................................................................... 29
5.1 Registration Diagnostics .............................................................................................. 29
5.2 Visual Quality Check ..................................................................................................... 30
6 Geo Referencing .................................................................................................................... 33
6.1 Unfreeze the existing Registration ............................................................................... 33
6.2 Import Survey Control File ............................................................................................ 35
6.3 Set the Home ScanWorld ............................................................................................. 37
6.4 Global Registration ....................................................................................................... 38
6.5 Final Quality Check ....................................................................................................... 41
6.6 Summary ...................................................................................................................... 42
7 Theory Excurse ...................................................................................................................... 43
7.1 Six Degrees of Freedom ............................................................................................... 43
7.2 ControlSpaces .............................................................................................................. 44
7.3 Grouping Theory .......................................................................................................... 45
7.4 Raising the accuracy of a Registration.......................................................................... 50
2 - 52 Module 3.1 – Applied Registration Registration

1 Getting Started
Figure 1
1.1 Prolog
This project was acquired with the Leica ScanStation P40 and consists of 14 Stations in total.
ScanWorlds 2-6 are scans from the inner courtyard of the Blutenburg castle. ScanWorlds 1 and
8-14 are scans of the fortified walls of the Blutenburg castle taken from the outside. ScanWorld
7 was just a test scan and was taken out of the registration project.
The scans from the inner courtyard have been taken with sufficient overlap to allow cloud based
registration with just a minimum of targets as supporting constraints. All scans on the outside
haven been taken with sufficient targets to allow registration this way.
In addition, some targets have been captured with GNSS/TPS to be able to transform the data
into the national coordinate system.
On all Stations additional pictures were taken with the internal scanner camera which were
captured in HDR 1920 x 1920 pixel quality.
The whole project has been imported with the function “Auto Align Scans” enabled. This is a
semi-automatic registration step and designed to save time during the registration process.
Chapter 7.3 Grouping Theory is going more into detail on this.
The goal of this module is to learn how to choose the right strategy in the registration process
and how to handle and correct typical errors made in the field.
There are various registration techniques which will be explained in detail. At the end, we will
see how the different Grouping functions can aid in the registration process. A global
transformation into a geo-referenced coordinate system will close up our project.
Chapter 7 Theory Excurse outlines some of the theory behind the already applied registration
techniques.
Please note the flow chart, which will guide you through the typical registration
steps, starting with the field work and ending with the final quality assurance.
The grey shaded arrow indicates the current workflow step within the
registration process.

1.2 Field Notes
Field notes are created to document a rough plan of the area being scanned, scanner placement,
target placement and any other information that will be useful for reference to how the project
was carried out. The information that is documented in field notes is an invaluable reference for
all involved in a scan project.
Field notes should include at least:
• a plan sketch with a rough placement of buildings/structures

• scan positions
• target locations
Take a look onto the CAD drawing to have an overview of the whole scanning field and the
situation.
Figure 2 shows a CAD drawing which is a result from the field note sketch. We will use this as an
orientation plan for the project in this module.
Figure 2

1.3 ScanLog
A ScanLog is a quick way to document what has been scanned from which position.
Below you will see the ScanLog for the inner courtyard and on the next page the outside part of
the Blutenburg castle.
Scanner Stations Scans Targets Comments
P40 1 360° 1, 2, 3, - target 2 must be acquired

Sensitivity = High 25, 124 manually
Outer part Scanmode = Speed
Resolution = 3.1 mm @ 10 m
P40 2 360° 1, 3, 25
Sensitivity = High
Inner part Scanmode = Speed
P40 3 360° 3 - target 3 must be acquired

Sensitivity = Normal manually
P40 4 360° 3, 25 - target 25 fitted incorrectly; must

Sensitivity = Normal be deleted and calculated again
- target 33 must be renamed to 3
Table 1

Scanner Stations Scans Targets Comments
P40 5 360° 124

Sensitivity = High
P40 6 360° 124

Sensitivity = Normal
P40 8 360° 1, 2, 10
P40 9 360° 10, 11

Sensitivity = High
P40 10 360° 10, 11, 12

Sensitivity = High
P40 11 360° 11, 12, 13 - detail scan of target 13 with

Sensitivity = Normal resolution 8 mm@10m; Normal
Outer part Scanmode = Speed sensitivity and Range scanmode
P40 12 360° 11, 12, 13

P40 13 360° 12, 13, 30

P40 14 360° 2, 13, 30 - detail scan of target 13 with

Sensitivity = High resolution 3,1 mm@10m; High
Outer part Scanmode = Speed sensitivity and Range scanmode
P40 15 360° 2, 25, 30

Table 2

2 Loading and importing Data
Figure 3
2.1 Adding the database
Locate the database named Blutenburg 2.imp and configure it in the Cyclone Navigator:
Launch Cyclone
• In the Navigator, click Configure | Databases

• In the Configure Databases dialog, click Add…
• In the Add Database dialog, click the browse button to be able to browse to the
database file.
• The file will have an extension “.imp” and will usually exist in a folder with the same name.
• It will also be accompanied by an eventlog folder and recovery folder (See Figure 4).
Figure 4
• Click Open.
• Click OK.
• Click Close.
The database is loaded into the Cyclone Navigator under Servers:
Figure 5

2.2 Imported Dataset with option “Auto Align Scans”
For time-saving reason, the raw data has already been imported into “Blutenburg2.imp”.
• File | Import ScanStation Data | Import ScanStation Project
The following import settings were used in this case.

General Tab:
• Auto-Align Scans (Estimate Normals is automatically checked on as well)

The pre-alignment process has been executed
• Generate Thumbnails
Thumbnails are available for visual alignment
• Map Colors
HDR images are already mapped onto the clouds
Advanced Tab:
• Do Tone Mapping > High

To show best possible HDR image quality
Figure 6 Figure 7
See “Module 2.1 – Data Import” for further details on the import options.

Import Results
During import two steps have taken place.
• All ScanWorlds have been imported into the

database Blutenburg 2.
• In addition a registration object
Registration 1 has been created and all
ScanWorlds are added automatically.
Figure 8 shows the structure in the Cyclone

Navigator after import.
Figure 8
Once the import has finished two windows will open up: The Registration interface and the 2D
Thumbnail window.
Initial results in the Registration 1 due to the

“auto-alignment”:
• All ScanWorlds are all part of the registration

• Some auto-alignments were found and
created
• Scanworlds which are connected via auto-
alignments are put into respective groups
(Group 1 and Group2)
• ScanWorlds with no connections to others
are stored under Ungrouped
Figure 9
The 2D Thumbnail window has been closed in this example, but can always be re-opened from
the Registration window under Visual Registration | 2D Scan Thumbnails.
See “Module 3.0 - Basic Registration” for further details on 2D Thumbnails options and
commands.

3 Preparation before registering Scans
Figure 10
Mistakes can always happen in the field. The following section outlines how to address some of
the typical mistakes which can happen specifically when working with targets:
• Targets not fitted in the field: Fit target in the office

• Target fitted in the field, but not correctly positioned: Delete and re-fit target
• Target not named correctly: Rename target
We will also learn the connection between the various interfaces by using Controlspace,
TruSpace and Modelspace.
3.1 Acquiring Targets in the TruSpace
Referring to the Scan Log, Target ID 2 from Station 001, which is a mounted 4 ½ inch black and
white target has been scanned, but a vertex has not been positioned yet. It must now be
acquired manually.
A quick and easy way to acquire targets is to go into the TruSpace window, which is a view
restricted to the scanner´s position.
From the Cyclone Navigator:
• Select Station-001:SW-001 with right mouse click

• choose the first option Open TruSpace
• this will open the TruSpace window

Figure 11
Within the TruSpace we can then search for the target 2. Use the project layout drawing on
Figure 2 for reference.
From the TruSpace menu, use:
• Seek mode to point the black & white target

• Zoom in to the target to have a better view
• With Pick mode choose a point near the target center
• Choose Create Target | Black/White Target… command from the menu
Figure 12
An algorithm is searching for a right angle in the near of the picked point. With the intensity
change between black and white on the target, Cyclone is able to best fit a vertex in the center
of the target.
• Visually inspect to vertex position to see if you are happy with the fitting
• Enter “2” as TargetID in the Target Identification window
• Press OK
The target is then stored in all corresponding ControlSpaces as well, which is essential to be able
to use it in our further registration process.
3.2 Acquiring Targets in the ModelSpace
Target ID 3, which is a mounted 4 ½ inch black & white target must be manually acquired from
ScanWorld “Station-003:SW-003”. This time we will use the ModelSpace View to achieve this.

• In Cyclone Navigator select ScanWorld
Station-003: SW-003
• Open ModelSpace 1 View 1
Figure 13
• Navigate to the target (review overview drawing for orientation)

• Pick a point near the center of the target
• Choose Create Object | Fit to Cloud | Black/White Target…
Figure 14
• Enter “3” as Target ID of the target.

• Next a windows comes up asking to which ControlSpaces the vertex should be
copied. Leave both ControlSpaces checked on. (Figure 14)
• Visually inspect the fitting result
• Exit with OK.
Each ScanWorld has a master ControlSpace and in addition a subordinate

ControlSpace for each Registration. In this case the vertex has been copied to
both the master ControlSpace (ControlSpace) and the one belonging to
Registration1 (ControlSpace (Registration1))
Please refer to chapter 7.2 of this module for a more in depth review of
ControlSpaces.
3.3 Edit existing Targets

In ScanWorld “Station-004:SW-004” two targets were acquired incorrectly. Target 25 was fitted
incorrectly and requires re-fitting. Target 33 is positioned correctly, but was named wrong. It
requires relabeling to TargetID 3.
Delete Targets in ControlSpaces

ControlSpaces contain constraint objects, but you cannot create any objects in ControlSpaces.
They are always created in either a ModelSpace or TruSpace and then copied across to selective
ControlSpaces. We will therefore first delete the incorrect targets in the ControlSpaces and then
repopulate them with the corrected targets created in the ModelSpace.
• Open ControlSpace under Station-004:SW-

004
• Navigate to the target 25.

• See that the vertex is not accurately placed
in the center of the target (Error! Reference
source not found.).
• Select the vertex and delete.

• Confirm the upcoming message about
deleting objects from a ControlSpace.
Figure 15
• Now navigate to target 33.
• Delete also this vertex.
• Close the ControlSpace.
• Repeat the same process also in ControlSpace [Registration1].
ControlSpaces are not directly linked so that they can contain different
constraints for different registrations. Therefore the clean-up has to be done in
in all affected ControlSpaces.
An alternative way to quickly delete all targets in a ModelSpace View is via the
View Properties Window (View | Set Object Visibility or Shift S).
Highlight „Vertex“ and press Select. Then delete all selected.
Recreate Target in ModelSpace

The next step is now to correctly re-create the target 25 and copy it across to all ControlSpaces.
• In Cyclone Navigator navigate to Station-004: SW-004

• Open the ModelSpace 1 View 1
• Delete the incorrectly placed vertex with TargetID 25
Target 25 was placed on a park bench far out from the scanner. A target fine-scan with a denser
spacing than the main scan has been executed in the field to be able to accurately extract this

target. However by default any target scans are visually switched off in a ModelSpace. We will
therefore first make this fine-scan visible and then extract the vertex.
• Open Tools | Scanner | ScanWorld Explorer

• Set the visibility checkmark behind Scan 25
to switch on the fine-scan
• Close
Figure 16
• Now pick the center of the target scan

• Go to Create Object | Fit to Cloud |
Black/White Target…
• Enter TargetID 25.
• Exit with OK.
Figure 17
• In the Select ControlSpaces window

confirm that the vertex shall be copied to
both ControlSpaces
• Exit with OK
Figure 18
• Open up the corresponding ControlSpaces to verify target 25 is now present in

both.
Edit a TargetID in ModelSpace

Remaining in the same ScanWorld, we will edit target 33 to be accurately named to TargetID 3.

Figure 19
• Select the vertex with the label 33.

• Go to Tools | Registration | Add/Edit
Registration Label
• Change the label to 3
• Exit with OK
Figure 20
• A message will come up, warning that
this label has been changed but no
objects in any Controlspaces have
been updated.
• Accept this message with OK
Figure 21
• Now copy the target to both

ControlSpaces via Tools | Registration
| Copy to ControlSpace.
Figure 22
• Open both ControlSpaces to verify TargetID 3 is now present next to 25.

• Close the ControlSpace window

An alternative way to rename a target is via Tools | Annotations | Add/Edit
Annotations… However the user will then not get any warning about also having
to change the objects in the ControlSpace(s).

4 Registration
Figure 23
Once all preparation and editing is finished, the actual registration process can begin.
We will learn how to register the project with cloud to cloud alignments combined with target
constraints. Furthermore we will learn how to use the Grouping functions in Cyclone, which can
help us to quickly register our project with a minimum of time investment.
4.1 Registration Strategies
Cyclone offers a multitude of registration functionalities. The Registration Basics chapter

explains the basics of how to make use of them. Since every project is a unique one, it is
essential to be confident with the registration techniques that Cyclone offers.
A quick look at your field notes/sketch can help you decide how to proceed. The strategy in our
example project is to:
• Use the auto-aligned function to see where the software automatically detects overlap areas
and can calculate cloud alignments
• The inner part of the Blutenburg castle has been scanned with sufficient overlap and a
minimum of targets. The plan here is to add visual alignments and in this way create a group
of the complete courtyard.
• The outer part of the Blutenburg castle was scanned with a changed strategy of placing and
acquiring sufficient targets to connect neighboring scan positions by these means only. In
addition, sufficient targets were placed to connect the outer scans also the courtyard group
in an overall registration.
The following steps will explain a quick and easy possible procedure to register the project. Note
however that this is just one example of many options of a registration process.
4.2 Registration via Auto Aligned Groups
This dataset has been imported as an Auto Aligned project. This means that Cyclone’s algorithm
searches for features in produced cube maps and tries to match ScanWorlds together.
The matched ScanWorlds are then organized into Groups of ScanWorlds:
• All ScanWorlds in a Group are aligned to each other using cloud constraints (they are pre-
aligned and still need to be optimized).
• Each Group can be optimized individually, which then aligns this subset independently from
any remaining ScanWorlds.
• In a best case scenario all ScanWorlds belong to one Group and can be registered in a single
step.

• From the Cyclone Navigator open
Registration 1 via double-click
• There are 2 Groups which are pre-aligned

and ready for optimization.
Group 1 contains Stations 1 to 4
Group 2 contains Stations 11+12
• All ScanWorlds which have no constraints

between each other remain in the
Ungrouped section.
Figure 24
4.3 Registration via Visual Alignment
Group 1 already contains Stations 1-4. The remaining Stations belonging to the inner courtyard
of Blutenburg castle are Station 5 and Station 6.
Looking at our field notes will show that they have only one common target between them
(target 124), which is not sufficient to connect them. We will therefore create a cloud constraint
between Station 5 and Station 6 and then later on merge them with the ScanWorlds already part
of Group 1.
Create a Visual Alignment
• From the Cyclone Navigator open registration object Registration 1 via double-click
• Go to Visual Registration | 2D Thumbnails

Figure 25
The 2D Scan Thumbnails window displays all Stations which are loaded into the Registration. It
provides a top-down view of the scan captured from each Station. This is particularly helpful in
cases where the user is not exactly sure which Stations have sufficient overlap to create a cloud
constraint. The interface is also displaying all Stations sorted into their corresponding Groups.
We will now align Station 5 and Station 6:
• From the Ungrouped Section, select Station 5

• Press Shift and select Station 6
• Execute Open In Visual Alignment
The Visual Alignment window opens and displays the clouds of the selected Stations in different
colors. The commands in this window allow to manually align the scans to each other.
• Move and rotate the blue cloud until it is visually aligned as good as possible to the orange
colored one.
• Figure 26 shows the overlapping area marked as a red ellipse, which need to be aligned with
the Visual Alignment function.
• Figure 27 and Figure 28 show the alignment in top and 3D view.
The Visual Alignent can also be started directly by selecting two ScanWorlds/
Stations in the Registration window and executing Visual Registratrion | Visual
Alignment .
See Module 3.0 Basic Registration for details on how to use the visual alignment
tools

Figure 26 Figure 27
Figure 28
Once you are happy with the visual alignment, start the point cloud optimization.
• From the Visual Alignment window go to Tools | Optimize Constraint

This will start the cloud alignment optimization.
The algorithm will try to best fit the point
clouds on top of each other using a variant of
the iterative closest point (ICP) algorithm. The
algorithm is trying to calculate a maximum
point number to a minimum error displayed in
a half Gaussian curve (Error! Reference source
not found.). You are generally looking for lots
of overlapping points with a small as possible
remaining error.
Figure 29
The alignment results are then displayed in the Optimize Cloud Alignment Results.Figure 30

Figure 30
Note the RMS value and the Point Count. The better the value at a large number
of points – the more reliable the result.
• Do you want to use the cloud constraint to merge groups?

• Press Yes.

• Yes will place these two ScanWorlds into a
new Group 3
• If pressing No, these two ScanWorlds are

remaining in the Ungrouped collection.
Figure 31
• Close the Visual Alignment window.

• Close the 2D Scan Thumbnails window.
• Open the Constraint List tab from the Registration window to review the Cloud/Mesh 5
constraint created between ScanWorld 5 and ScanWorld 6.
Figure 32
This example shows the behavior of ScanWorlds in Groups. ScanWorlds are collected into Groups
if constraints between a minimum of two ScanWorlds are existing.
If sufficient overlap is given all ScanWorlds could be aligned one after the other
using the Visual Alignment process until finally they are all part of one Group
(Group1). This Group can then be completely aligned with Registration | Register
in the end.
Note that it is not a requirement to have all Stations as part of one Group. Using
the Grouping function is simply an aid in the registration process.

Merge two Groups via Visual Alignment
Now the Stations taken in the courtyard are stored in two separate Groups. But there is so far
no connection between Group 1 and Group3. In the next step we will create a visual alignment
between Station 4 (Group1) and Station 5 (Group3). This will then create a link between the two
Groups and will allow us to merge all six Stations into one single Group.
• If not already open, re-open

Registration 1 from Cyclone
Navigator
• Go into the Tab ScanWorld’s

Constraints
• Expand Groups 1 + 3
• Highlight Station-004 and
Station-005
• Open Visual Registration |

Visual Alignment
Figure 33
This will bring up the Visual Alignment window with the selected Stations loaded. Proceed to
visually align and optimize the alignment as in the previous step and use the created constraint
to merge Group 3 into Group 1:
• Visually align the Scans

Take particular care to also align them
vertically
• Tools | Optimize Constraint
Figure 34

Figure 35
• Do you want to use the cloud constraint to merge groups?
• Press Yes.
• ScanWorlds 5 and 6 are now merged into

Group 1.
• Close the Visual Alignment Window.
Figure 36
If the RMS and/or point count values are not satisfactory – the visual alignment
can simply be repeated. It will then overwrite the existing constraint.
• Open the Constraint List tab from the Registration window to review the new
constraint between ScanWord 4 and 5 (Cloud/ Mesh 6).
Figure 37

Optimize a Group
So far only pair-wise alignments have been executed. But a complete registration involves the
adjustments of all constraints to achieve a best-fit of all ScanWorlds involved in the network.
(least square adjustment).
One benefit of working with Groups is the ability to optimize the relation between members of a
group only, ignoring any additional Stations also loaded into the Registration. We will use this
function to align all ScanWorlds in Group1.
• In the Registration Window open the ScanWorlds´ Constraints tab

• Select Group 1 if not already selected
• Execute Registration | Optimize ScanWorld Groups from the Registration
window menu
Note the cloud alignment window coming up again now optimizing all Cloud
Constraints created via Auto-align during import. These previously had no Error
Vector displayed but simply stated not aligned (Figure 37). After optimization all
cloud constraints belonging to Group1 are displaying an Error Vector and in
addition a Group Error Vector (Figure 38).
Cloud/Mesh 4, which belongs to Group 2 was not involved in the optimize
process, hence no errors are calculated for this constraint.
Figure 38
Now, this Group can be visually inspected in a new ModelSpace:
• Go to ScanWorlds´ Constraints tab

• Select Group 1
• Execute Registration | View Interim Results…
Figure 39

All ScanWorlds from Group 1 are displayed now and the alignment can be visually checked.
When happy with the results, this view can either be stored or discarded.
• Close the ModelSpace View

• Select No when asked whether to save it
Figure 40
Refer also to section 4.7 Visual Quality Check.
4.4 Registration via Auto-Add Constraints
The Auto-Add Constraints function is searching all ControlSpaces of all ScanWorlds to find
objects (e. g. target constraints), which can be used for connecting the ScanWorlds together.
The outer part of the castle (Station 1 and Station 8 – 15) was scanned with sufficient targets
to ensure they can be connected to each other and the inner courtyard using targets only. We
can therefore use the Auto-Add constraints function to find and add these targets for
registration.
• Open the Registration window

• Select Constraint | Auto-Add Constraints
The algorithm searches first for objects with matching Registration Labels and
then for geometrically consistent objects. Any objects found are then added to
the individual ScanWorlds.
• Expand the newly added plus signs from the Ungrouped section to see which
constraints are found between which Stations.
Figure 41

Next execute the global registration of all Stations and all constraints (cloud and vertex).
• Go to Registration | Register
The optimization window will come up and optimize the cloud constraint
between Station 11 and 12 (Group2). Cyclone will then compute the optimal
alignment transformation for each ScanWorld in the Registration so that all
constrained objects are aligned as closely as possible.
• Review the results by switching to the Constraint List Tab.

• You can sort the Errors (RMS) by size by clicking on the column header.
Figure 42
The registration error should approximately meet the scanner sensor’s accuracy.
It is not necessary to have all ScanWorlds in the same group to successfully
register them.
4.5 Freeze Registration and Create a ModelSpace
With the calculations finished, we now finalize the registration and create a new ScanWorld
which contains all registered point clouds.
• Registration | Create ScanWorld/Freeze Registration

Figure 43
Note how in the Cyclone Navigator you can now find a new ScanWorld object which is named
ScanWorld [Registration 1], which contains the Registration 1 as well as a ModelSpaces
folder.
• Execute Registration | Create and Open ModelSpace

• Close the Registration window
In the ModelSpace View switch on the colors from scanner to have a nice view on a colored
pointcloud.
• Edit Object| Appearance| Edit Global Color Map

• Mode: Colors from Scanner
• Say Yes when asked to save the View
Figure 44

5 Quality Check
Quality assurance is an important step and Cyclone provides both numerical/ statistical and
visual ways to report and verify the accuracy and quality of an executed Registration.
5.1 Registration Diagnostics
Figure 45
The Registration Diagnostics document supplies a detailed and complete overview about all
ScanWorlds and constraints used in our registration as well as the translation/ rotations
calculated in order to adjust all to each other.
• In the Registration interface go to Registration | Show Diagnostics…
Figure 46
The main features of the Registration Diagnostics are:
• Status: VALID Registration

• Mean Absolute Error
• Summary of ScanWorlds
• All Constraints and their Errors and Error Vectors
• For Cloud Constraints also additional parameters concerning the cloud alignment
• All translation and rotation parameters
This report can be saved as a document and presented as an evidence report for the whole
registration.

5.2 Visual Quality Check
The errors in the Constraints List tab from the registration window and the Registration
Diagnostics give a statistical overview of the registration quality of the project. However, it is
recommended to also do a visual quality check of the point clouds once registered.
There are several possible ways which can help us to have a better visual overview to do a
quality check.
Apply different colors to ScanWorlds

One of them is to color every ScanWorld point cloud in a single color to quickly identify
overlapping areas using the ScanWorld Explorer.
Open the ModelSpace View
• Go to Tools | Scanner | ScanWorld Explorer…
Figure 47
In the ScanWorld Explorer (see Figure 47):
• Go to Scanners tab
• Select all ScanWorlds on the left side (shift + left mouse click)
• Press the Apply ScanWorld Colors to Scans button from the menu
All Scans are now displayed in a single color as indicated in the ScanWorld Color column. You can
also manually change the color by clicking into the color palette.
This command in combination with the Quickslice tool is a powerful tool to quickly review a point
cloud for large registrations mistakes.

Quickslice
A simple visual quality check can be done with the Quick Slice function. This will cut out a
horizontal slice through the point cloud and hence allow for better viewing the overlap of point
clouds on features like walls of a building or house edges.
We will use this tool to create a horizontal slice through the buildings.
• Navigate to the Church in the courtyard and pick two points on the wall, about
1m apart at about 1.5m height
Figure 48
• Go to Tools | Quickslice
The slice is created, the ModelSpaceView will change to a top view and a reference plane is
activated and positioned on the selected location.
If only one point is picked, the Quick Slice tool will automatically set a Reference
Plane (XY) at the pick point and create a slice 0.5 m above and below this plane.
By picking two points the user defines the thickness of the slice.
• Visually switch off the Reference Plane via

Tools | Reference Plane | Show Active
Plane…
• Uncheck Show Active Plane
Figure 49

• Navigate closer to an area where walls were
scanned from multiple locations, hence
showing scan lines in multiple colors.
Figure 50
The slice command in combination with the individual coloring allows for easy inspection to
verify that point clouds from different setups are aligning properly.

6 Geo Referencing
Figure 51
So far all scans have been aligned to each other only. The local coordinate system of Station 1
has been used and all other scans have been transformed to this one. (By default the first
ScanWorld added to the registration)
In this part of the exercise, we will learn how to register all ScanWorlds from the local coordinate
system into a geo-referenced coordinate system of the Blutenburg castle.
During the project, some black & white targets were also acquired by GPS and TPS based
measurement resulting in national grid coordinates. The center points of the targets were
directly coordinated.
This information is found in the file Geo Reference Blutenburg.txt. You can view the file with
any text editor, such as Notepad.
Figure 52
6.1 Unfreeze the existing Registration
Since we have already finished and frozen our Registration 1, it is locked for any further editing.
Before we can continue to work on this, we will have to open it up again.

• In the Cyclone Navigator go to ScanWorld
[Registration 1]
• Select the ModelSpace and delete it

manually (e. g. delete key)
Figure 53
This is a safety setting to avoid any involuntary deletion of data. A registered

ScanWorld can only be unfrozen if no ModelSpaces are present under it.
Now we can open the registration object:
• Double click onto the registration object Registration 1

• The registration window will be opened
• Go to Registration | Unfreeze Registration
If there are still any ModelSpaces under the ScanWord, Cyclone is asking you to
delete them first.
• Go to the Cyclone Navigator

• Notice how the ScanWorld [Registration1]
has been deleted and the structure displays
the Registration 1 again only.
The Registration has now been re-opened for

further editing.
Figure 54
This step is only required if a Registration has already been frozen and requires re-editing.

6.2 Import Survey Control File
We will now import the survey control into the database as a ScanWorld, which can then be used
in our registration.
As indicated in the filename the units are in meters and the coordinate format is Easting,
Northing, and Elevation. This is also shown in the heading of the file.
• Open Cyclone Navigator,

• Select the project folder named Blutenburg 2015
• Choose File | Import from the Navigator menu
• Browse to the location of the survey control file named Geo Reference
Blutenburg.txt
• click Open
Figure 55
• In the Import: ASCII File Format dialog, specify that the file is TAB delimited.
• In the Import: ASCII File Format dialog, specify the # of columns as 4.
• In the Import: ASCII File Format dialog, use the dropdown list in the first and second rows to
choose what each column in the ASCII file represents. Specify TargetID, Easting, Northing,
Elevation
• In the Import: ASCII File Format dialog, specify the # of Rows to skip as 5 (to skip the
headings).

• In the Import: ASCII File Format dialog, specify the Unit of Measure as Meters.
• In the end the Import: ASCII File Format dialogue should look like shown in Figure 56 below:
Figure 56
The bottom half of the Import: ASCII File Format dialog allows you to see the
results of your settings immediately. Columns can be resized as needed, and the
dialog box can be widened as necessary to view additional columns.
Important: Target numbers need to be imported as TargetID – otherwise the
Targets cannot be used in the Registration.
Once a format has been defined it can be saved to be used in future cases.
• Click Import

After the Import process is complete, a ScanWorld GeoReference Blutenburg.txt containing the
imported control points is added to the Navigator. For each coordinate a Vertex has been
created in the new Modelspace and a copy has been added automatically into the ScanWorld’s
ControlSpace.
Using this method any ASCII format can be imported into Cyclone.
Figure 57
6.3 Set the Home ScanWorld
The Home ScanWorld defines the reference coordinate system for the ScanWorld created from a
successful registration. By default, the first ScanWorld added to the Registration is set as the
reference, indicated also by its display in bold letters.
In this case we register all data to the coordinate system established by the imported control
points.
• From Navigator, open Registration 1

• In the registration window, click ScanWorld | Add ScanWorld
• Add the ScanWorld Geo Reference

Blutenburg.txt to the registration by moving
it to the right pane as previously done with
the other ScanWorlds.
• Click OK.
Figure 58

In the ScanWorld’s Constraint Tab you can see that the ScanWorld Geo Reference
Blutenburg.txt is now listed in the Ungrouped section.
• Select ScanWorld Geo Reference

Blutenburg.txt if not already selected
• In the main menu go to ScanWorld | Set

Home ScanWorld.
Figure 59
The ScanWorld is now displayed bold, indicating it as the Home ScanWorld.
6.4 Global Registration
Adding Constraints and Register

For the global registration we need to add the target constraints for the newly added
ScanWorld.
• From the registration menu go to Constraint | Auto-Add Constraints

• Switch to the Constraint List to review the new additions.

Figure 60
Note that the values in the Error Colum are displayed in brackets. This is an
indicator that the current registration is invalid and has not been updated since
the last calculation. The global registration has to be calculated again with the
inclusion of the newly added constraints.
• Execute Registration | Register.

• Sort the errors from highest error to lowest by clicking on the Error header

Figure 61
Improving results
The maximum remaining Error between targets is 18mm, mostly referring to target 11.
Since this error has increased with including the survey data it might indicate a general problem
with this target. We will therefore disable this target from the calculation to see if this improves
the overall accuracy of our network.
• In the Constraint List select all constraints where target 11 from the survey
data is involved. (sort by Error)
Figure 62
• From the menu to Constraint | Disable

• The Status of the constraints should now be OFF
• Recalculate the registration without using these constraints via Registration |
Register
• Sort by error clicking in the Error field in Constraint List tab

Notice how all disabled targets (the status displays Off) now show even an bigger error – from
30 mm to 33 mm. They are not influencing our registration anymore, hence the algorithm is not
trying to minimize these errors as well.
Therefore the increase in error confirm the suspicion that there was an error in the total station
data of target 11 and that disabling it was the correct thing to do.
Selected constraints can also be deleted from the current registration by marking
them in the Constraint List and Edit | Delete.
Ensure to recalculate via Registration | Register every time the constraints are
altered.
Figure 63
Once happy with the results, finish the registration process:
• Execute Registration | Create ScanWorld/ Freeze Registration

• Go to Registration | Create and Open ModelSpace
6.5 Final Quality Check
Figure 64
After the Registration has been finalized it is recommended to perform a final quality assurance
of the alignment of all the ScanWorlds.
For details on the workflow please refer to section 4.6 Registration Diagnostics and 4.7 Visual
Quality Check

6.6 Summary
This module introduced some of the tools commonly used in the registration process. By means
of both cloud constraints and tie-points constraints, we registered fifteen ScanWorlds to a
control ScanWorld, which we imported from a text file. All data in the registered ScanWorld were
then transformed into the coordinate system as defined by the control ScanWorld (measured by
a Leica Total Station Instrument). After the registration has been completed we performed a
quality assurance of the point cloud.

7 Theory Excurse
This section provides some additional background information on the topics of Registration.
7.1 Six Degrees of Freedom
As we have seen, constraints exist in ScanWorlds’ ControlSpaces. Alignment transformations of a

ScanWorld in a registration are as accurate as its constraints describe.
The key to successfully registering a ScanWorld is to constrain it in all six degrees of freedom
(movement in X, Y, and Z and rotation around the X, Y, and Z axis).
Figure 65
• The minimum number of common tie-points it takes to register two ScanWorlds is 3

(assuming no cloud constraints are used).
• If ScanWorlds have been scanned with an activated compensator, only 2 tie-points are
required. In these cases the ScanWrorls are marked as “leveled”, the position of the vertical
axis is fixed and hence only a 4 parameter transformation is being calculated (movement in
x,y,z and translation only around z)
• It is also possible to register ScanWorlds together using only a cloud constraint. For this it is
necessary that the overlapping area scanned is sufficient to lock the ScanWorld in all six
degrees of freedom (e.g. ideally if the overlapping area is in a corner).
Two scans may only overlap in a single plane (e.g. floor). In this case, the cloud constraint
behaves much like a plane-plane constraint (movement in X and Y are unconstrained degrees
of freedom )
• When a cloud constraint is underconstrained (e.g. floor) it can be combined with tiepoint
constraints to lock down the Registration of the two ScanWorlds (2 additional tie points
needed).

7.2 ControlSpaces
to its parent ScanWorld that are designated as constraint objects or possible constraint objects
for a Registration.
Constraints are defined as pairs of equivalent or overlapping objects that exist in two
ScanWorlds. Objects involved in these constraints are maintained in a Controlspace where they
can be reviewed, organized and removed.
As a sample: a target constraint defines a pair of two acquired targets from different scan
locations with an identical TargetID.
Characteristics of a ControlSpace
• The ControlSpace is used to organize possible constraints for registrations.
• Objects in the ControlSpace cannot be moved or resized.
• Every ScanWorld by default has its own unique ControlSpace.
• ControlSpaces cannot be moved, copied, or deleted.
When a ScanWorld is created, a default ControlSpace is automatically created and placed within
the ScanWorld in the Navigator window.
When a ScanWorld is added to a Registration, a ControlSpace linked to that specific Registration
is created as a copy of the default ControlSpace.
In our database Blutenburg2.imp
• open the parent ControlSpace for each

ScanWorld listed under the project folder
named individual ScanWorlds
• see its content.
A ControlSpace for Registration 1 has been
created for each ScanWorld that was added
to that Registration.
Figure 66

A ScanWorld may contain several ControlSpaces for each Registration that involves that
ScanWorld. Operations in a Registration affect only the corresponding subordinate Controlspace
(e.g. adding or deleting constraints).
Objects are generally added to a ControlSpace in one of the following ways:
• When a registration label is added to an object in a ModelSpace under the ControlSpace’s

ScanWorld.
• When the HDS/BW Target commands are used to manually fit an HDS Target to a cloud.
• When an object is copied to the ControlSpace directly from a ModelSpace using the Copy to
ControlSpace command. The object in the ControlSpace is then independent of the object in
the ModelSpace from which it originated.
Only visible objects in the ControlSpace are used in a Registration. To

activate/deactivate a constraint object from within a ControlSpace, toggle the
object’s visibility. This can be done by placing the object in a layer and turning
the layer’s visibility OFF.
Objects used as constraints in a frozen Registration cannot be deleted from the
ControlSpace until all constraints which use the object have first been deleted
from the Registration. Constraints cannot be deleted if a Registration is frozen.
Unfreeze the Registration to delete all constraints of an object. Then delete the
object in the ControlSpace
7.3 Grouping Theory
The Group object is a tool to help you understand the relationship between scans in a
Registration. It allows the user to do a final optimize on a sub-set of a Registration.
Unlike the Registration | Register command , which optimizes all constraints
between all ScanWorlds added to a Registration.
Changes in a Registration can be detected in a more comfortable way. Working with Groups
enhances or in some cases enables the user to pull together a Registration without having to
readjust the entire registration during the assembly process.
Characteristics of Groups
• A single group can be optimized (perform a sub-registration) to see if the

group is valid. The registration then can be continued with confidence.
• A Group can contain targets and\or Cloud-to-Cloud constraints.
• A registration can be completed with more than one group.
• A Group can contain ScanWorlds that have constraints to another ScanWorld
in a different group.
• When a Scanworld is removed from a group or a group is being ungrouped,
the ScanWorlds constraints are NOT removed. You can always merge the
ScanWorld(s) back in to the group(s) from which it was removed, or add to
another group if the proper constraints exists.

Creating Groups
Groups can be formed in various ways:
• Upon import with the Auto Align Scans command

• After import, from the Registration window:
• Create ScanWorld Groups from Auto Alignment
• Create ScanWorld Groups with targets
• Create ScanWorld Groups from selection with targets
Auto Align Scans during import:

During the import process the software checks each pairwise combination of all ScanWorlds. The
result is a delivery to a minimum spanning registration network into groups (collections).
The groups provide an initial alignment of the scans. This is not a complete automated
registration. In best case all ScanWorlds are overtaken in one common group, which means that
all stations have a cloud to cloud constraint (see also Module 3 - Registration and Module 2.1-
Point Cloud import).
This is the optimal case and depends on different conditions like:
• geometry within the pointclouds

• overlapping area of the ScanWorlds (min. 20%, the more the better)
• the point amount inside the overlapping area (min. 100 000 points for good results)
• pointcloud density (resolution)
The aforementioned conditions cannot always be achieved. ScanWorlds that cannot be aligned
to another ScanWorld will be placed in a group called Ungroup.
The basic Auto-Align concept with different scanned stations and the resulting pointclouds are
shown in Figure 67:

Different ScanWorlds from
different scanner locations
ScanWorlds are compared pairwise

with different algorithms during
Cyclone import with Auto-Align
Scans checked ON.
Different Groups are created and

collected in the Cyclone
Registration window.
Not aligned ScanWorlds are placed

in the “Ungrouped” category as
independent ScanWorlds without
any cloud to cloud constraints or
pre-alignments
Figure 67
Create ScanWorld Groups from Auto Alignment

Using this command the Groups can be regenerated (e.g. in a new registration) using the files
created during the Auto Align Scans import process. This command requires cube images stored
in a Scene.hds.files folder next to the database files (see also Module 3- Registration and
Module 2.1- Point Cloud import).
Create ScanWorld groups with targets

This command only works with targets and will form groups based on how well the targets are
placed in the ScanWorlds. All scans in the registration will be considered for Group creation.
Create ScanWorld groups from selection with targets

Same as above but only on selected Groups.
Remember: ScanWorlds that cannot be aligned to another ScanWorld will be

placed in a group called Ungroup. This is also valid for grouping based on target
constraints.
This is the grouping theory in general. Basically there are several ways how to organize the
scanning project. It is an option to work with groups. A Registration can still be performed in the
classical way without creating Groups.

The advantage is to have a tool that makes it easier to organize the scan data in (big)
registrations and detect errors.
In the following sections we will learn how to efficiently use functions designed for Group
objects.
Optimize ScanWorld Groups
• This command allows the user to select a group and perform a final optimization on just that
group.
• Also multi-selected groups can be optimized.

• Use this command to optimize the relation between all of the ScanWorlds contained in an
individual group.
This is a method to determine if alignment changes from a valid group. For example, use this
command when individual pairs of ScanWorlds within a group have been aligned using Visual
Alignment and more constraints are desired for the group as a whole.
• Optimize results are shown in the Group Error column and show only the optimize
information for the selected Group without considering any other groups or ScanWorlds that
may be in the same registration.
Merging Groups options

ScanWorld groups are merged based on constraints that exist between two or more ScanWorlds
contained in multiple groups. When groups are merged, additional alignments between the
ScanWorlds within the groups are detected and more constraints are added. Groups can also be
merged with individual ScanWorlds existing outside of a group.
Groups can be merged in various ways:
• Merge ScanWorld Groups command

• Visual Alignment
Merge ScanWorld Groups command:
• This command allows you to merge ScanWorld Groups together if there are sufficient
constraints (at least 3 Target constraints or 1 cloud constraint) between them.
• Any two groups can be merged into one by selecting the existing constraints from two
ScanWorlds in different groups.
• Also just the top level group object can be selected and Cyclone will try and join the groups
together by treating each group as a rigid body (like registering 2 registration ScanWorlds
together).
• Considering that the two merged groups are rigid bodies, Cyclone will search and try to find
all additional pair wise constraints between the original two Groups.
•
A use case for this is the Known Coordinates ScanWorld matching to a group of
ScanWorlds into a new group. No single ScanWorld will register with the control
ScanWorld, but when a group is formed, the group as a whole can be matched.

In the Constraint List tab of the Registration dialog the Group column gives information of
available constraints between Groups and provides hints for possible merge options:
• Group 1- there are constraints between

ScanWorlds in the Group 1
• Group 1/Group 2 – there are constraints

between a ScanWorld in Group 1 and a
ScanWorld in Group 2.
At least 3 target constraints or 1 cloud
constraint are needed to merge Group 1 and
Group 2.
No such constraint is available in our sample
project
• Ungrouped – there are only constraints

between the ScanWorlds in the Ungrouped
category.
At least 3 target constraints or 1 cloud
constraint between 2 ScanWorlds are
needed to merge them to into a group.
• Group 1/Ungrouped – there are constraints

between a ScanWorld in the Ungrouped
category and a ScanWorld in Group1. At least
3 target constraints or 1 cloud constraint
between this ScanWorld of Group1 and the
ScanWorld of Ungrouped are needed to
merge them to into a group.
Figure 68
Visual Alignment command:
• This command can be used to create constraints between ungrouped ScanWorlds and merge
them into a new Group.
• This command can also be used to merge existing Groups when creating new constraints
between ScanWorlds of different Groups.
In our example in section 4.3 Merge two Groups via Visual Aligmnent, we have visually aligned
two ScanWorlds from an ungrouped category to each other. The result of this was a new
created Group (Group 3) with a cloud constraint between these ScanWorlds. This new Group was
then merged into an existing Group (Group 1) using again two ScanWorlds from each group.
In General: Cyclone may not have been able to join Groups because of close
matching geometry or targets mislabeled. The user can fix a constraint problem
by Cloud-to-Cloud, fix a mislabeled or unlabeled target or add a vertex and label.

Find Constraints in ScanWorld Group command
This command will work with targets only. You can find it from the Registration window
Constraint | Find Constraints in ScanWorld Group…
This function finds any available new targets constraints in a single group. This function has two
useful cases:
• If two groups are merged with a Cloud to Cloud constraint additional targets constraints can
be found using Find Constraints in ScanWorld Group…
• After editing targets by adding, re-labelling or by increasing the allowable error in the
registration preferences, this command will try and find any new constraints.
Removing Scans from Groups, ungrouping and deleting groups

There are several options how to further manipulate the ScanWorlds which are designated to a
Group. We can remove selected or all ScanWorlds from a Group and even delete a Group
completely.
All functions can be found in the Registration window:
Remove ScanWorld From Group
• A selected ScanWorld in a Group can be removed from the group by using this command. The
ScanWorld will then be stored in the Ungrouped Group.
• Select any ScanWorld in a Group and from the top menu go to Edit | Remove ScanWorld
from Group
Ungroup:
• Any selected Group can be ungrouped by using this command. All ScanWorld will be put in the
Ungrouped group
• Select any Group and from the top menu go to Edit | Ungroup
Delete Group
• This deletes the entire group from the registration (all ScanWorlds from this Group and its
constraints will be deleted too).
• Select any Group and from the top menu go to Edit | Delete
7.4 Raising the accuracy of a Registration
Sometimes the final result of a Registration does not meet our expectations. For some
applications the achieved accuracy is below the requirements.
In these cases the user is able to work with the functions provided in the registration software
to try to improve the results:
• Make use of the compensated scandata (Toggle SW-Leveled)

• Add Cloud Constraints in addition to target constraints to tighten the network
• Turn on/off suspect Target Constraints
• Turn on/off suspect Cloud Constraints

In our project Blutenburg2 we achieved a maximum error of 2mm. This is a very good result and
within expectation (in regards to instrument accuracies).
However we saw in section 6.4 Global registration - Improving Results how a Registration can
be modified with some of the above mentioned options.
General information
• Please make sure to delete all Modelspaces of a registered ScanWorld and use the command
Registration | Unfreeze Registration to be able to modify an already frozen Registration.
• Only Leica ScanStation instrument data (from C and P series) can be used as leveled, since
the scanner has an integrated compensator (this will work, if the compensator has been
switched to ON during scanning, only). The whole dataset is then flagged and will be
imported as “leveled” ScanWorlds.
• Leica HDS scanner (6000-7000 series), has a dynamic compensator which only indicates that
the scanner was leveled. There is no compensation for each point, like the ScanStation series
instruments.
• Sometimes constraints that are already turned OFF are rectifying the result when they are
switched ON after a few further operations.


Module 4.0 - Organization & Visualization of point clouds
Introduction
Cyclone offers convenient ways to organize categorize and manage (point cloud) information to
facilitate further processing of this data.
Using the UNIFY command is important as it speeds up further processing through optimising
the point cloud data structure.
The use of coordinate systems is very important in managing 3D spatial data including point
clouds. In this module you will learn how to create and manage user defined coordinate systems
created within a ModelSpace View after the registration process.
Objectives
• Become familiar with data management, viewing, editing and organizing of point clouds and
other object types within Cyclone. For this ScanWorld Explorer, View Properties, Limit Box and
Cutplane commands are used.
• Learn why UNIFY is an important step to execute.

• Understand different methods of setting up and storing local user defined coordinate
systems.
Files to Use
Databases:
• Bishop Drive
• Quick Start
Organization/Visualization point clouds Module 4.0 – Point cloud Modifying 1 - 34

Table of Contents
1 ScanWorld Explorer.................................................................................................................. 3
2 View Properties ....................................................................................................................... 5
2.1 Set Object Visibility ........................................................................................................ 7
2.2 Layers ............................................................................................................................ 8
2.3 View As ........................................................................................................................ 11
3 Unify a Point Cloud / ModelSpace .......................................................................................... 12
3.1 Unify clouds from ModelSpace window ........................................................................ 12
3.2 Unify clouds from Navigator window............................................................................ 14
4 Limit Box ............................................................................................................................... 15
4.1 Create a Limit Box ........................................................................................................ 15
4.2 Edit a Limit Box ............................................................................................................ 16
4.3 Save and Manage Limit Boxes ...................................................................................... 17
4.4 Disable a Limit Box....................................................................................................... 18
5 User Coordinate System ........................................................................................................ 19
5.1 Show/Hide Coordinate System Axes ............................................................................. 20
5.2 Set User Coordinate System from Points...................................................................... 22
5.3 Save/Edit Coordinate Systems ...................................................................................... 24
5.4 Set the User Coordinate System to an Object .............................................................. 25
5.5 Set the Coordinate System's Origin at a Picked Point................................................... 26
5.6 Save and Manage multiple User Coordinate Systems.................................................... 27
6 Cutplanes and Half-Spaces .................................................................................................... 28
6.1 Cutplane Toolbar.......................................................................................................... 28
6.2 Set the Cutplane Slice from Pick Points ........................................................................ 30
6.3 Set Slice Thickness ....................................................................................................... 30
6.4 Raise or Lower an active Cutplane................................................................................ 31
6.5 Deactivate Cutplanes ................................................................................................... 32
6.6 Set Half-Space at Pick .................................................................................................. 32
6.7 Deactivate Half-Spaces ................................................................................................ 32
6.8 Managing Cutplanes ..................................................................................................... 33
7 Review................................................................................................................................... 34
2 - 34 Module 4.0 – Point cloud Modifying Organization/Visualization point clouds

1 ScanWorld Explorer
The ScanWorld Explorer is an interface which enables the user to manage the point clouds which
are originally obtained in a ScanWorld. You can retrieve original scan clouds and selectively
switch them on or off (load/unload in ModelSpace). You can also make visible graphic
representations of the field of view of each individual scan.
Work with the ScanWorld Explorer
Add the "Bishop Drive – San Ramon.imp" database to your Cyclone Navigator.
• Add
• Open the ModelSpace View from ModelSpace Intersection in
ScanWorld (Registration 1)
Figure 1
• In the ModelSpace View window go to Tools | Scanner | ScanWorld Explorer and the
ScanWorld Explorer window is coming up (Figure 2).
Figure 2
• Select ScanWorld 1 in the ScanWorld’s column and the associated scans will be listed in the
Scans list on the right hand side of the box.

Figure 3
• Check/ un-checking the visibility box , load / unload a single scan from the ModelSpace.
For each ScanWorld a single, multiple or all scans can be selected to load /
unload. Alternatively select all ScanWorlds in the left column to display all
involved scans in the right Scans section.
Figure 4
Each scan listed in this interface relates to the original scan as scanned in the
field. If a scan in the ModelSpace View has been manipulated, the visibility
checkbox will become unchecked even though this modified scan is still visible.
On re-checking the box a complete new copy of this scan is added to the
ModelSpace, in other words the whole scan will be reloaded from the Scans
folder. To avoid redundancy in the database through duplicates of points, the
modified scan should be first deleted from the ModelSpace.
Clicking the Customize Columns… button opens a window in which different

scan information can be visualized, e.g. Time of Scan, FOV or the scan’s original
file name.
Once the data has been unified – the individual scans no longer can be switched
on/off independently. In this case all entries under Original Scans tab will be
greyed out but a single new entry is active under “Unified Clouds” tab (see also
Chapter 3 in this module: Unify a Point Cloud)

2 View Properties
The View Properties window is an interface which allows the user to control visibility and
selectability of all objects within the modelling environment.
The View Properties window contains three main tabs:
• Selectable/Visible
• Layers
• View
The View Properties window can be opened through the menu:
• Selection | Set Selectable…

• View | Layers…
• View | View Object as…
The View Properties window can also be opened by Hotkeys:
• Hotkey Shift + S (Selectable/Visible)

• Hotkey Shift + L (Layers)
• Hotkey Shift + V (View)

• Open the View Properties window with
Hotkey Shift + S
• Click the maximize button from View
Properties window to dock the window to
the ModelSpace View window.
Figure 5
• To hide and show the window use the arrow

button on top of the View Properties
window.
Figure 6

2.1 Set Object Visibility
All object types available in Cyclone are listed in

the Selectable/Visible tab.
On activation / deactivation a box in the
visibility column the objects are
shown / hidden in the ModelSpace View.
When un-checking the box in the selectable
column the objects are still visible but can
no longer be selected.
Specific object types can be selected/
deselected via highlighting this object type and
pressing the Select / Deselect button.
• Highlight the vertex row and click the Select

button on the upper right side. Afterwards
check the status bar which should state that
14 vertices are selected.
• Deselect again via pressing “Escape” or

highlight vertex row and press Deselect.
Figure 7

2.2 Layers
Layers are a common method in CAD applications to organise data into manageable sub-
portions. Layers can be made visible, selectable and assigned a default color.
All objects can be assigned to layers. There is already some objects created in this ModelSpace,
which will be assigned to a new layer.
• Open the tab: Layer
Figure 8
• Toggle off the visibility of the main scan by un-checking the box “Default”.
• Toggle on the visibility of the modelled objects by checking its box “Model”.
Figure 9

Create a new layer & Assign objects to it
Assign the objects within the parking area to the new layer. This includes also the building.
• Click New
• Type in a name for the layer such as
“Parking area”
• Click Enter
• Highlight the new layer
Figure 10
In order to assign objects to a layer, these objects must be selected.
• Draw a fence around the area, see Figure 11

• Click Selection | Select Fenced
• Click the Assign button in the View Properties
Window.
Figure 11
• Check the layer by toggling off the visibility of

the layer.
Figure 12

Now assign the intersection to another layer:
• Select the lines representing the intersection by clicking Selection | Select All
• Click the New button in the Layers interface
• Type in “Intersection”
• Enter
• Highlight the new layer
• Click the Assign button
Delete layer
The layer “Model” can now be deleted since all objects of this layer have been re-assigned to
new layer.
When trying to delete a layer which still contains objects, a message will ask
whether these objects can be deleted as well or whether they should be moved
to the “Default” layer.
• Highlight the layer “Model”

• Click the button Delete
Figure 13
Assign a color to a layer
• Click in the color field (last field in the

row).
Figure 14

• Click at the plus sign above the displayed
RGB values
• Type in the values for white (1, 1, 1)

• Click OK
• Click again the highlighted Layer
Intersection
Figure 15 It is also possible to select a
color by first changing the
Saturation slider and then
clicking in the color field
next to the slider bar.
• Check the box „use color“ (3rd box in

the row)
The lines of the intersection are displayed
in the selected color.
Figure 16
2.3 View As
For each object or object group the level of detail, LOD, can be set. The lower the LOD is set, the
higher the performance of your system will be while navigating through the point cloud.
Changing the level of detail can be done in the View Properties dialog. The View As tab can be
used to set various viewing and rendering properties
• Switch on the visibility of the Parking

area again
• Zoom into the modelled lamp to a view

similar to the figure beside.
• Select the pole by picking it.
Figure 17

By default each object is displayed with LOD – Full Range. This means just enough rendering
(also based on distance) to allow the user to see what the object is. Notice how the surface of
the pole is not perfectly round. And if zooming out it will at some point actually become square,
taking in the level of detail a user needs at a certain range.
• Change to the View As Tab

• Make sure that the Apply to field is set
to “Selected object”
The choices listed under
View As depend on the
object selected.
• Highlight the line “LOD – Highest

Complexity”
Click the button Apply
Figure 18
The cylinder now has a smooth surface
displayed which will always be
maintained.
Do not by default switch all objects to Highest Complexity as this will impact
system performance.
3 Unify a Point Cloud / ModelSpace
In a ModelSpace containing a registered set of scans and a large number of point clouds,
performance is improved by the cloud unification process.
When running a unification process all point clouds will be combined into one single efficient
point cloud object.
During this process a point reduction with a selectable average point distance over the whole
point cloud can be done.
The Unify command always concerns only the ModelSpace selected. A new copy containing all
individual scans can always be re-created via creating a new ModelSpace.
Depending on the size of the database, the unify process can take a long time
and requires 6x the size of the database of free space on the computer’s hard
disk.
3.1 Unify clouds from ModelSpace window
• Add the Bishop Drive – San Ramon.imp database to your Cyclone Navigator.
• Open the ModelSpace View from ModelSpace Intersection in ScanWorld (Registration 1).
• Make sure Layer Default is visible in View Properties Window.
• Use the Viewpoint | Standard Viewpoints | Top command to make sure all points to unify are
loaded into Cyclone.
• Click Tools | Unify Clouds… to start the unification process.

The unification takes only effect on to the parent ModelSpace and there is no
undo function for the Unify Clouds command.
• In the upcoming information window click “Unify

Unify”
Unify to go on or “Cancel” to abort the process
to create a backup of the ModelSpace.
• Checkmark the Reduce Cloud Average Point Spacing checkbox. Then enter a value of 10mm.
• Click Unify and the algorithm starts.
The point-reduction will try to maintain an average spacing of 10mm between
points and hence remove points closer together. This can be useful when a lot of
overlap areas are present. Note that this is not an exact value – but an average
spacing.
Any points not included in the unification process are removed from the
ModelSpace when the cloud is unified.
• Inspect the ScanWorld Explorer by clicking Tools | Scanner | ScanWorld Explorer.

Explorer In the Unified
Clouds tab, you will see the newly unified cloud listed.
Figure 19
Note the tab Original Scans. The 4 individual ScanWorlds cannot be reloaded
separately anymore. Furthermore, if you select the point cloud within the
ModelSpace View one point cloud only will be highlighted.

3.2 Unify clouds from Navigator window
A ModelSpace can also be unified from the Cyclone Navigator window.
• Select the ModelSpace to unify

• Now go to Tools | Unify ModelSpace…
ModelSpace…or chose the same command from the right-click menu.
Then follow the steps described in chapter 3.1.
Figure 20
It is recommended to run Unify from the Navigator as it will then not take any
additional computer resources displaying the data.

4 Limit Box
It is beneficial to hide point cloud points which are not useful for a specific task and to view the
parts of the point cloud only which are necessary.
One way to achieve this is through placing a Limit Box. Points inside this box are displayed,
points outside are temporarily hidden from view.
4.1 Create a Limit Box
• Open Database:
Database: Quick Start
• Open ModelSpace 1 View 1 under the Registered ScanWorld.
Figure 21
• Navigate to the Silo as seen on Figure 22.

• Go to View | Set Limit Box by Fencing.
Fencing.
This command requires definition of the center point and the size of the Limit Box.
• Click in the center of the silo, hold

hold down the right mouse button and move to the upper right
corner of the silo, release the right mouse button.
• Note that now all points outside the defined box are hidden from view (Figure 23)..

Figure 22
4.2 Edit a Limit Box
The created Limit Box is aligned to the Viewpoint it has been created in. It can now be edited to
finally encompass only the points of the silo.
• Change to the pick mode with hotkey ‘ or

• Pick the yellow frame of the Limit Box.
• Pick the orange handles appearing on each side of the Limit Box and change its size by
dragging this side further in or out until only the actual silo is contained.
Figure 23
Selecting and moving the blue handles in the corners will move the limit box
itself.

Now rotate the Limit Box by showing and using rotation handles.
• Edit Object | Handles | Show Rotation Handels

• Pick the red handles and rotate the Limit Box around the specific axis.
Figure 24
4.3 Save and Manage Limit Boxes
The Limit Box Manager can be used to save multiple Limit Boxes and activate them.
• Go to View | Add / Edit Limit Boxes…

Note how the already defined limit box is already stored and can be edited in the columns
defining its size and is name.
• Change the name of this Limit Box.
Now create a new Limit Box using two different ways:
• In the Limit Box Manager go to Limit Box | New

• This new Limit Box will be created to encompass all points by default. It can then be edited
again as seen above. Rename appropriately.
• With the very first Limit Box selected in the Limit Box Manager go to Limit Box | Create…
• A new window will come up which already includes the values of the previous Limit Box.
• Enter a name for this limit box and press OK.
OK

Figure 25
Switch between Limit Boxes:
• Always only the Limit Box marked as the default which is defined by the bold lettering is
displayed.
• Double-click on another one to activate it.

• Close the Limit Box Manager.
4.4 Disable a Limit Box
• Disable/ Enable the visibility of a Limit Box by removing/ placing the checkmark under View |
Limit Box.

5 User Coordinate System
Understanding Scan Coordinates and Coordinate Systems

There are certain situations in 3D laser scanning where a full Registration for the purposes of
geo-referencing is not necessary based on the deliverables required. For the registration
process, a minimum of 3 points (within three axes - X,Y,Z) in the project must be known and
scanned for the transformation (rotation and translation of the ScanWorlds) to work. Typically
more than 3 points are used to allow for redundancy and reduction of errors. However,
depending on the final deliverables, a full registration process may not be necessary.
Examples of deliverables that might not require full Registration (for Geo-referencing) are:
• A 2D planimetric map (no topography or elevations)

• A 3D topographic map of a relatively small area (e.g. 200m X 200m)
For these situations, Cyclone has the capability of setting the project coordinate system using a
variety of methods described further in this document. These methods are listed below:
• Translation of existing coordinate system to user-defined reference point.

• Translation to new reference point, orientation measured by user entered azimuth
• Up direction set by vertical pair(s) of points, orientation by azimuth
• Up direction set by known elevation points (benchmarks), orientation by azimuth
In each of these cases, the XYZ coordinate basis of the scanner is transformed into “real world”
Cartesian coordinates that are either known (control) or assumed (defined by user). For each
case, the minimum number of constraints is used to determine the new coordinate system, and
there is little or no information to detect blunders. The user must be careful to use the best
practices as described in this document to avoid misuse of these features.
• For 3D laser scanning surveys that require the data be geo-referenced to an existing
coordinate system, Leica Geosystems highly recommends that the standard Registration
process be used with a redundant amount of control points.
Furthermore, even a geo-referenced dataset might require the set-up of a more local site-
coordinate system. This could be aligned to specific buildings/ objects or local height markers. It
can be for ease of modeling or to fulfill client specific requirements.

Cartesian coordinates [named after René
Descartes], are a system for representing the
relative positions of points in a plane or in space. In
a three-dimensional space, a point is specified by
three numbers (x,y, and z) representing the
distances of the point from three intersecting
straight lines (or planes), referred to as the x-axis
and the y-axis and the z-axis. Each axis (or plane) is
normal to the other two axes. I
In the Cartesian coordinate system your thumb
represents the +X axis, your index finger represents
the +Y axis, and your middle finger represents the +
Z axis.
Figure 26
When Registered to Survey Coordinates use the
Right hand Rule
For some functions the alignment of the coordinate system is important such as
• Cutplanes and Half-Spaces

• Tin Meshes
• Top-, Left, Right and Front View
• It is possible to open defined user coordinate systems in any CloudWorx application.
5.1 Show/Hide Coordinate System Axes
• Open Database Quick Start

• Open ModelSpace 1 View 1
Figure 27
• Note the coordinate axes are displayed in the origin of the coordinate system. In this case in
the origin of ScanWorld 1

Figure 28
To hide the coordinate system axis go to
• View | Coordinate System | Show Coordinate System Axes

This command toggles (ON/OFF) the visibility of the coordinate axes in the ModelSpace viewer.
When checked, the coordinate system axes are displayed. Depending on the coordinate system
and viewpoint, the origin may or may not be visible. The axes may also be hidden behind objects.
The coordinate axes X, Y, and Z are always displayed in red, green, and blue respectively.

5.2 Set User Coordinate System from Points
You can set a UCS by using pick points. With this method, you can assign new coordinate values
to a pick point, and assign a new azimuth and elevation.
In this lesson you will set the User Coordinate System aligned to a facade, by placing the origin
on the facade and have the coordinate system rotated to align the y-axis with the front of this
building. View alignment can then be done straight onto the façade and possible line work
extraction can be created easier.
Make sure the coordinate system axes are displayed
• View | Coordinate System | Show Coordinate System Axes

• Pick 2 points
points representing the front of the façade. One on the left, the other on the right.
The height is not important. (Figure 29)
Figure 29
• Go to View | Coordinate System | Set from Points...

This command opens a dialog which is used to set any or all of the following: a reference point,
the azimuth (horizontal orientation), and the angle.
Depending on the number of pick points, more or less options are enabled.

• Specify pick point 1 as Reference Point and
leave the coordinate values at 0 to define
this point as the coordinate origin.
• Specify pick point 2 as the Azimuth Point

and leave the Angle at 0 to have the y-axis
aligned from the origin to this point
(horizontal rotation only)
Figure 30
• Press OK
The coordinate system origin has changed to
the 1st pick point with the y axis being rotated
around the z-axis towards the second pick
point. The up direction (Z) has not changed and
remains as defined. (through the scanner setup
on ScanWorld 1 - which has been set up with
Figure 31
compensator enabled).
• Switch to a view directed straight onto the

façade via Viewpoint | Standard
Standard Viewpoint |
Right View.
View.
This command can also be used with 3 picked points to set:

1st a reference point.
2nd the azimuth (horizontal orientation).
3rd the “up” direction (vertical orientation).

5.3 Save/Edit Coordinate Systems
Using multiple user-defined coordinate systems can be very helpful in the navigation and
analysis of large ModelSpaces. You may find it useful to define temporary coordinate systems
based on objects that provide necessary axes and origins of interest for use in the insertion or
editing of objects with, for instance, the rotate command.
Save the now newly created UCS.
• Go to View | Coordinate System | Save/Edit Coordinate Systems...
Figure 32
• Save the current coordinate system which is listed as <Unsaved UCS>
Figure 33
• Enter a name e.g. Facade.

• Click OK
• Close the User Coordinate System Window.

5.4 Set the User Coordinate System to an Object
As a next option we will use already created objects as a basis and align the coordinate system
of the ModelSpace to a selected patch.
First we will create a patch on the façade opposite to the façade we worked on before.
• Navigate to the façade shown in the picture below
Figure 34
• Use the polygonal fence mode and draw a small

fence
Figure 35
• Selection | Point Cloud Sub-

Sub-Selection | Add Inside
Fence
• Pick one point in the Subselection
Figure 36
• Create Object | Region Grow | Patch.

Patch.
• Click OK in the Region Grow Patch window.
Figure 37

• Make sure the patch is selected, look up the status bar
View | Coordinate System | Set to Object
The User Coordinate System is aligned to the
selected patch, which means z is aligned to
the patch normal, i.e. perpendicular to its
surface.
Figure 38
Since the UCS was re-aligned, but not moved it is still at its original origin. Zoom
out to see the rotation of the z-axis.
Each object defines an axis in a different way. Selecting e.g. a cylinder defines z
along its centerline.
An alternative way is using the command View | Coordinate System | Set Using
One Axis or View
iew | Coordinate System | Set Using Two Axes.
5.5 Set the Coordinate System's Origin at a Picked Point
Next move the origin to a selected point. This command is practically the same as 5.2 with just
one pick-point selected, but without the option to set an offset.
• Pick a point on the patch
Figure 39
• View | Coordinate System | Set Origin

This command sets the coordinate system's
origin at the picked point whilst keeping its
current orientation.
Figure 40

• View | Coordinate System | Save/Edit Coordinate Systems...
• Go to Save
• Type in a name
• Click OK
Figure 41
5.6 Save and Manage multiple User Coordinate Systems
Once multiple UCS are defined and saved, the user can always go back to any of these.
Only one UCS can be active at any one time.

The active one is displayed in bold lettering.
• Change the selected coordinate system by double-click on it

• Close the window
If a UCS has not been saved yet it is still
Figure 42
displayed as “unnamed UCS”. If the user then
reverts to another one, this unsaved UCS is lost.
To delete a UCS, highlight the coordinate
system and click the red cross .
The Default UCS cannot be deleted. This is the
coordinate system derived from the
registration.

6 Cutplanes and Half-Spaces
A Cutplane is a 3D plane with the primary function of "cutting" through objects in a ModelSpace
to produce a 2D cross-section. There may be more than one Cutplane cutting through the
ModelSpace, although only one is ”active” at any given time. The active Cutplane is the only
Cutplane affected by user commands. The Cutplane can be used to create polylines from its
intersections with objects and meshes, and the active Cutplane can be used to hide all geometry
above itself, or to hide all geometry beyond a user-specified distance from its plane.
Cyclone Cutplanes work within the ModelSpace view allowing you to section out views or cuts of
anything within the ModelSpace. This includes the point cloud, any modeled object, TINs,
Contours, Cross-Sections, etc. You can also configure Cutplanes for thickness, step interval, set
the Cutplane on an object, set it to a viewpoint, and/or define it with the Reference Plane. In
addition, you can extract a 2D line drawing of modeled objects that are bisected with a Cutplane.
6.1 Cutplane Toolbar
The easiest way to use a Cutplane in Cyclone is with the Toolbar menu. This allows the user to
control the Cutplane without having to navigate down through several menu layers.
• Move the mouse pointer to the toolbar

• Click the right mouse button
• Go to Cutplane. Now this toolbar is docked to
the ModelSpace View.
Figure 43
Add/Edit Cutplanes
This command displays a dialog that is used to edit cutplanes and cutplane
attributes.
Set on Object.
This command aligns the active Cutplane with the axis of the picked object,
through the pick point.

Set Cutplane from active Reference Plane
This command aligns the active Cutplane to the active Reference Plane.
Raise Cutplane
This command raises the Cutplane by the amount specified in the Set Offset
command.
Lower Cutplane
This command lowers the Cutplane by the amount specified in the Cutplanes
dialog offset parameter
Set Cutplane Offset

The Cutplane Offset dialog appears.
In the Offset field, enter a value for the distance by which the Raise Active
Cutplane or Lower Active Cutplane commands raise or lower the active
Cutplane.
A positive value indicates that the offset is in the same direction as the
Cutplane’s normal vector.
View Half-Space
After a Cutplane has been positioned, you can visually hide all geometry above
the active Cutplane using the View Half-Space command. This produces a
helpful visualization of the cross-section and everything below. It can be useful
to see "inside" the surfaces that are left visible.
To toggle the visibility of the geometry, use the Flip Cutplane Normal icon in
the Cutplanes dialog.
View Slice
This command toggles (ON/OFF) whether or not the active Cutplane slices
through the data, hiding all geometry beyond the specified thickness of the
Cutplane slice. (See Set Slice Thickness...). The results resemble a cross-section
that can be used for quick 2D plots directly from point clouds and surfaces.
Set Slice Thickness

This command opens a dialog that is used to set the thickness of the slice used
in the Slice command. When the Slice command is toggled ON, all geometry
beyond the slice is hidden.

6.2 Set the Cutplane Slice from Pick Points
The command “Tools | Cutplane | Set Slice from Picks” set a Cutplane perpendicular to the
selected axis, and its slice planes are positioned to pass through the two pick points.
Create a slice along the z-axis – resulting in a horizontal slice through the point cloud.
• Working in a side View, pick the 1st point

through which one extent of the Cutplane will
pass.
• Shift+Pick the second point through which the

other extent of the Cutplane slice will pass.
• Select Tools | Cutplane | Set Slice from Picks and

select the Z Axis.
Axis.
The active Cutplane and the View
Slice option are automatically
enabled.
Figure 44
6.3 Set Slice Thickness
Once a slice has been defined, its thickness can be adjusted.
Figure 45

• Select Tools | Cutplane | Set Slice Thickness....
Thickness or
use the toolbar icon

The Set Slice Thickness dialog appears.
• In the Slice Thickness field, enter a value.

value
• Click OK.
OK The slice thickness is adjusted.
Figure 46
6.4 Raise or Lower an active Cutplane
A Cutplane can be raised or lowered by user-defined increments using the Raise Active Cutplane
and Lower Active Cutplane commands. The increment by which the active Cutplane is raised and
lowered using these commands is set in the Cutplane Offset dialog. This offset is used each time
you raise or lower the Cutplane.
• Define the step interval via Select Tools |

Cutplane | Set Offset... or use the toolbar icon
The Cutplane Offset dialog appears.
• In the Offset field, enter

enter a value of 0.5m for the
distance by which the Raise Active Cutplane or
Lower Active Cutplane commands raise or lower
the active Cutplane. A positive value indicates
Figure 47 that the offset is in the same direction as the
Cutplane’s normal vector.
• Click OK.
OK The offset is set.
• Now move the Cutplane by the defined increment via Tools | Cutplane | Lower Active
Cutplane.
Cutplane Alterantively use the toolbar icons.
Raise Cutplane
This command raises the Cutplane by the amount specified in the Set Offset
command.
Lower Cutplane
This command lowers the Cutplane by the amount specified in the Cutplanes
dialog offset parameter
When manipulating a Cutplane repeatedly, it can be more efficient to assign

hotkeys (see Customize Hotkeys) to the Raise Active Cutplane and Lower Active
Cutplane commands or use the Add/Edit Cutplanes dialog box.

6.5 Deactivate Cutplanes
• Tools | Cutplane | View Slice
Or use the toolbar icon

This command toggles (ON/OFF) whether or not the active Cutplane slices through the data,
hiding all geometry beyond the specified thickness of the Cutplane slice. (See Set Slice
Thickness...). The results resemble a cross-section that can be used for quick 2D plots directly
from point clouds and surfaces.
6.6 Set Half-Space at Pick
Half-Spaces are basically Cutplanes with only one limiting side. They are defined through one
pick-point as well as an orientation based on a coordinate-axis.
• Pick the point through which the active Cutplane will pass.
Figure 48
• Select Tools | Cutplane | Set Half-

Half-Space at Pick and select the Z Axis,
Axis along the positive axis.
The active Cutplane is set on the pick point, perpendicular to the selected axis. The direction
of the axis is the side that is hidden.
The active Cutplane and the View Half-Space option are automatically enabled.
6.7 Deactivate Half-Spaces
• Tools | Cutplane | View Half-

Half-Space.
Space.
Or use the toolbar icon This toggles the visibility of Half Spaces.

6.8 Managing Cutplanes
Only one Cutplane/ Half-Space is visible or active at a time. By default each Cutplane will
overwrite the previous. But it is possible to save several Cutplanes.
Cutplanes can be controlled from the Add/Edit Cutplanes dialog box.
• Tools | Cutplane | Add/Edit Cutplanes.

Cutplanes.
Or use the toolbar icon . This command displays a dialog that is used to edit Cutplanes
and Cutplane attributes.
• Click on the Origin Cutplane to activate the buttons.
Figure 49
Copy Cutplane. This copies the selected Cutplane in the Manager dialog box. It
then can be renamed, moved, applied to different objects, etc.
Delete Cutplane. This deletes the selected Cutplane.

It is not possible to delete the active Cutplane
Set Active Cutplane. This activates the selected Cutplane in the ModelSpaceView
Create Reference Plane. This creates a new Reference Plane from the selected
Cutplane.
Flip Cutplane Normal. This reverses the "up" or "top" side of the selected
Cutplane. It reverses the "move forward" and "move backward" directions.
Rearrange Higher/Lower . This moves the selected Cutplane up/down in the

Cutplane dialog box.

Cutplane Info. This displays the settings for the selected Cutplane.
This toggles the visibility of Cutplanes.
There is a checkbox for a red lock icon. This locks the selected Cutplane so that
its properties cannot be changed.
• Create a copy of your defined HalfSpace Cutplane. Rename it to “Slice”. It will automatically
be set as the Actice Cutplane.
• Switch its visibility off to see all points.

• Define a Cutplane based on two pick points. This will now be saved under this name.
• Switch back and forth between the two Cutplanes by using “Set active Cutplane”.
7 Review
Having means of organizing large amount of scan data is vital when it comes to preparing it for
further processing.
Layers are an industry standard for this.
Limit Boxes and Cutplanes are easy means of quickly navigating to just the area of interest and
also storing this view for future use.
The ability to define local user coordinate systems are a basis for easy navigating and processing
of the data by aligning it to just the right orientation.
And using UNIFY is most important prior to further processing the data, be it inside Cyclone or
also inside any of the CloudWorx plug-ins.

Module 4.1 - Texture Mapping
Introduction
Texture mapping is drawing objects using colors from an image. The colors are assigned based
on the mapping defined for the image (the texture in this context). Cyclone supports defining
and applying texture maps to point clouds and meshes.
Objectives
• Adding images to the database

• Perspective (e.g. from digital camera)
• Orthographic ()e.g. from flat texture)
• Cube-Map
• Matching points in 3D with pixels in the image
• Computing the optimal mapping
• Recording the colors to the point cloud
• Displaying the texture map
• Managing texture maps
Files to Use
• Facade.imp
• IMG_0003.jpg
• warehouse.imp
• Warehouse Cube-Images
Organization/Visualization Pointcloud Module 4.1 – Texture Mapping 1 - 32

Table of Contents
1 Texture Mapping with imported images ................................................................................... 3
1.1 Import images to Cyclone............................................................................................... 3
1.2 Create the point cloud object to texture ........................................................................ 4
1.3 Texture Map Browser ..................................................................................................... 6
1.4 Adding constraint by selecting points............................................................................. 7
1.5 How to remove selected points ................................................................................... 10
1.6 Add constraints............................................................................................................ 10
1.7 Replace points to get the desired accuracy .................................................................. 12
1.8 Increasing the texture map tolerance........................................................................... 13
1.9 Writing texture map colors to the point cloud .............................................................. 14
2 Texture Mapping with Cube-Maps .......................................................................................... 16
2.1 Rename Cube-Map files................................................................................................ 16
2.2 Import Cube-Images into Cyclone................................................................................. 17
2.3 Create the point cloud object to texture ...................................................................... 18
2.4 Texture Map Browser ................................................................................................... 20
2.5 Adding constraints by selecting points ......................................................................... 22
2.6 How to remove selected points ................................................................................... 24
2.7 Add constraints............................................................................................................ 25
2.8 Replace points to get the desired accuracy .................................................................. 27
2.9 Increasing the texture map tolerance........................................................................... 28
2.10 Writing texture map colors to the point cloud .............................................................. 29
2.11 Change Cloud to New Colors from Cube-Map ............................................................... 30
2.12 Create Multi-Image from Cube-Map.............................................................................. 31
2 - 32 Module 4.1 – Texture Mapping Organization/Visualization Pointcloud

1 Texture Mapping with imported images
Load the database: Facade.imp
1.1 Import images to Cyclone
Import relevant photos into the project from Navigator:
• Highlight the ScanWorld or Images Folder

• Go to File | Import
Figure 1
• Browse to IMG_0003.jpg
• Click Open
Figure 2

The image has been imported to the Image Folder.
Figure 3
1.2 Create the point cloud object to texture
Texture mapping is done by object so you have to merge separate Clouds together by unifying or
merging the point clouds you want to apply the texture to.
• Open the ModelSpaceView ModelSpace 1 View 1
• Change to Top View
Figure 4

• Click Selection | Set Selectable...
• Highlight the Point Cloud and click Select
Note the Status Bar There are 6 point clouds selected.
Figure 5
• Go to Create Object | Merge
Figure 6
The Merge command combines two or more selected objects of the same type. In
the process of creating a single new object, the merging function fills in space
between the selected objects. Use this command to create objects such as wide
floors and ceilings and long pipes. This feature is particularly useful when filling
areas that have not been scanned directly. If the objects were created from point
clouds, the merged object is refit to the original point clouds. The current
settings and Object Preferences for use of Parts Table, Fit Tolerances, and Fit
Constraints are used in this fit.

1.3 Texture Map Browser
Start the process of mapping common points in point clouds to pixels in photos.
• Select Edit Object | Appearance | Texture Map Browser
Figure 7
• Click the Add button.

Make sure you have the point cloud selected or the plus sign will be grayed-out.
If so pick a point anywhere on point cloud to enable the Add button.
Figure 8
• Browse to the image

• Click OK
Figure 9

For convenience, images can be imported into the database from this dialog by
pushing the Import button, then select one or more image files.
• Tick the Perspective type

• Click OK
Figure 10
In the Texture Map Type dialog, indicate the type of the image. Most images will
be Perspective. Orthographic images include posters, wallpaper, or other flat
images.
This will invoke the Texture Editor which consists of Texture Editor Dialog and Texture Editor
(Image)
Figure 11
1.4 Adding constraint by selecting points
Texture maps are defined by correspondences (or constraints) between points in 3D with pixels
on the image.
• Orthographic images need at least three constraints.

• Perspective images need at least six constraints, plus one for confidence, for a minimum of
seven constraints.
The Texture Editor dialogs provide access to constraint creation and management. There needs
to be 7 matching picks (or constraints) between the point cloud and the image.

• Deselect any points currently picked on the point cloud in the ModelSpace View.
• Resize the Texture Editor (Image) and navigate to the point cloud as shown.
Figure 12
Note the color difference between scan and picture.

Begin by selecting an area in the point cloud that can also be selected in the image.
• Pick the first point in the point cloud (left side on the roof of the building).
Check the picked point on the point cloud by changing the focal point to the
picked point and moving around.
Figure 13

• Continue with picking a point in the Texture Editor (Image).
Single Clicking and holding down left mouse button on picture automatically
zooms in. Upon releasing mouse button the left mouse button, the view zooms
out with the pick made.
• In the Texture Editor (Image), left-

left-click pick a feature such as the roof of the building.
• Choose the right area and release the left mouse button.
Figure 14
Figure 15
Right-
Right-Click on the image opens a menu to adjust the settings
Single-Pick: Select one point in the Texture Editor (Image) and one in the
ModelSpace View.
Multi-Pick: Select all points in the Texture Editor (Image) and then all in the
ModelSpace View.

1.5 How to remove selected points
• Single-Pick:
o Texture Editor (Image): Select the points again, the other pick will disappear.
o ModelSpace View: When Pick Mode is active select the points

again, the other pick will disappear.
• Multi pick mode:

o Texture Editor (Image): Right-click on the image and click Remove Last Pick”
o ModelSpace View: When Multi-Pick Mode is active select the point to

be removed again and the pick will disappear.
1.6 Add constraints
If you have selected one pick on the picture and one in the point cloud continue:
• Click the Add button in the constraint dialog (Texture Editor)
Figure 17
Figure 16
Repeat the last steps for six more features.Pick features that are easy to identify such as
corners.
• It is possible to multi-pick the features in the Texture Editor (Image) and the Modelpsace
View, if the picks are made in the same order.

• Click the Compute button
With seven corresponding picks made between the texture in the Texture Editor
and the Modelpsace View, the compute button is now enabled.
Figure 18
Figure 19
Notice the error on the status line of the Texture Editor. The smaller the better.
A 2 or 3 pixel error is usually acceptable. The numbers displayed represent the
difference (in pixels) between the location of the constraint’s pixel versus where
its 3D pick lands on the image for the texture mapping parameters. The smaller
the better.

1.7 Replace points to get the desired accuracy
You might get an error message:
Figure 20
Points can be replaced until the desired accuracy is obtained.
• Highlight the constraint you want to pick again.

• Click Replace.
Replace
Figure 21
You will be prompted to pick the points.
• Click OK
Figure 22

• Pick points on point cloud and image.
• Click the Replace button again.
• Click Compute.
Compute.
Figure 23
1.8 Increasing the texture map tolerance
You can increase the allowable pixel error.
• Click the Preferences button
Figure 24
• Texture Map: Tolerance: Maximum Error (Pixels)

Enter a value between 0.1 pixel and 100.0 pixels to set the maximum pixel error that any
single texture map constraint can have for a valid texture map computation.
• Texture Map: Tolerance: Overall Error (Pixels)

Enter a value between 0.1 pixel and 100.0 pixels to set the highest average pixel error that
the texture map's constraints can have for a valid texture map computation.
Figure 25

1.9 Writing texture map colors to the point cloud
If you are satisfied with the result you can continue with recording the colors to the point cloud.
• Close the constraints dialog (Texture Editor) by clicking Close.

Close.
Figure 26
• Select the point cloud by picking any point.

• Highlight the row with picture’s name in Texture Browser.
• Click on Save button.
Figure 27

• Click Yes to accept Recording of colors to point cloud.
CAUTION: Colors from Scanner will be lost once cloud takes the colors from
photograph.
Figure 28
• Click OK on next message.

• RESTART Cyclone
Figure 29

2 Texture Mapping with Cube-Maps
After scanning, a camera, fitted to a special bracket, replaces the scanner. The bracket is placed
on the same tribrach the scanner used. A fish eye lens mounted on the camera is positioned on
the bracket so that the focal center of the lens matches the optical center of the scanner (this is
important for accurate image-to-point cloud texture mapping). The captured images are joined
using special third party software to form Cube-Map images (required by Cyclone).
2.1 Rename Cube-Map files
A Cube-Map is a special set of images that correspond to the six faces of a cube, with the
camera placed at the center of the cube. The six images are: Up, Down, Front, Back, Left, Right.
A Cube-Map in Cyclone consists of one to six of these Cube-Images. Because of the nature and
arrangement of the images, Cube-Maps provide a complete and convenient mapping of the full
field-of-view.
To import the Cube-Map-Images into Cyclone each Cube-Map-Image needs to be renamed so
Cyclone knows which one is front, back, right, left, up and down. Open up the images in a
windows viewer and manually align the Up or U image with the one that aligns with the Up
image’s lower side. This will be the front or f image. (See image below)
Make sure that the Up image or U image fits with the correct front image, THEN
rename the others to match.
The screen shot below shows the images aligned within a viewer (e.g. Microsoft Photo Editor).
u=up
b=back
l=left
f= front
r= right
d= down
Figure 30

The image below shows the files after renaming is complete.
Figure 31
2.2 Import Cube-Images into Cyclone

• Add the database “warehouse.imp”
• Right click on the Image Folder and choose Import
Figure 32

• Select all the Cube-Images and click Open
Figure 33
2.3 Create the point cloud object to texture
Texture mapping is done by object so you have to merge separate Clouds together by unifying or
merging the point clouds you want to apply the texture to.
• Open the ModelSpaceView warehouse
• Change to Top View
Figure 34

• Click Selection | Set Selectable...
Selectable...
• Highlight the point cloud and click Select
Figure 35
Note the Status Bar There is 1 point cloud selected. Merge the clouds only if
there is more than one point cloud you want to texture at once. If so go to
Create Object | Merge to merge all clouds into one object.

2.4 Texture Map Browser
Start the process of mapping common points in point clouds to pixels in photos.
• Select Edit Object | Appearance

Appearance | Texture Map Browser
Figure 36
• Click the Add (Cube-

(Cube-Map) button
Make sure you have the point cloud selected or the plus” sign will be grayed out.
If so pick a point anywhere on point cloud to enable the Add button.
Figure 37

• Browse to the Images Folder and highlight it.
• Click OK
Figure 38
Note: The Select Project with Cube-Map-Image Window requires you to select a
project within your ScanWorld. You could also click the Import” button and select
pictures from your hard drive.
This will invoke the Texture Editor which consists of Texture Editor Dialog and Texture Editor
(Image).
Figure 39

2.5 Adding constraints by selecting points
Texture maps are defined by correspondences (or constraints) between points in 3D with pixels
on the image. The Texture Editor dialogs provide access to constraint creation and management.
You need 3 pairs of matching picks to complete the texture mapping.
• Deselect any points currently picked on the point cloud in the ModelSpace View.
• For your convenience align the ModelSpaceView to that of the scanner/camera:
o Change to Seek Mode

o Press Shift and click the point cloud
o Change to Panoramic View Mode
• Resize the Texture Editor (Image) and navigate to the point cloud as shown:
Figure 40

Begin by selecting an area in the point cloud that can also be selected in the image.
• Change to Pick Mode

• Pick the first point (e.g. a corner on the balustrade)
Check the picked point on the point cloud by changing the focal point to the
picked point and moving around. You need to disable from Panoramic View
Mode. To do so press the Panoramic View Mode button again.
Figure 41
Continue with picking a point in the Texture Editor (Image).

Single Clicking and holding down button on picture automatically zooms in, and
releasing mouse button picks the first point to be mapped.
• Click in the Texture Editor (Image) and hold down the left mouse button.
• Choose the right area and release the left mouse button.
Figure 42

Figure 43
Right-Click on the Texture Editor (Image), and adjust the zoom if necessary.
Single-Pick: Select one point in the Texture Editor (Image) and one in the
ModelSpace View.
Multi-Pick: Select all points in the Texture Editor (Image) and then all in the
ModelSpace View.
2.6 How to remove selected points
• Single-Pick:
o Texture Editor (Image): Select the points again, the other pick will disappear.
o ModelSpace View: When Pick Mode is active select the points

again, the other pick will disappear.
• Multi pick mode:

o Texture Editor (Image): Right-click on the image and click Remove Last Pick.
o ModelSpace View: when Multi-Pick Mode is active select the point to

be removed again and the pick will disappear.

2.7 Add constraints
If you have selected one pick on the picture and one in the point cloud continue:
• Click the Add button in the constraint dialog (Texture Editor).
Figure 45
Figure 44
Continue and select at least 2 more points on point cloud and image.
Right click in the Texture Editor (Image) dialog

• Right
• Select another image

o Back
o Down
o Front
o Left
o Right
Figure 46
• Pick another matching set (Texture Editor (Image) and ModelSpace View) and click Add button
in the constraint dialog (Texture Editor).

• Click the Compute button
Figure 47
Figure 48
Notice the error on the status line of the Texture Editor. The smaller the better.
A 2 or 3 pixel error is usually acceptable.

2.8 Replace points to get the desired accuracy
Points can be replaced until the desired accuracy is obtained.
• Highlight the constraint you want to pick again.

• Click Replace
Figure 49
You will be prompted to pick the points
• Click OK
Figure 50
• Pick points on point cloud and image

• Click the Replace button again
• Click Compute
Figure 51

2.9 Increasing the texture map tolerance
You can increase the allowable pixel error.
• Click the Preferences button
Figure 52
• Texture Map: Tolerance: Maximum Error (Pixels)

Enter a value between 0.1 pixel and 100.0 pixels to set the maximum pixel error that any
single texture map constraint can have for a valid texture map computation.
• Texture Map: Tolerance: Overall Error (Pixels)

Enter a value between 0.1 pixel and 100.0 pixels to set the highest average pixel error that
the texture map's constraints can have for a valid texture map computation.
Figure 53

2.10 Writing texture map colors to the point cloud
If you are satisfied with the result you can continue with recording the colors to the point cloud.
• Close the constraints dialog (Texture Editor) by clicking Close
Figure 54
• Select the point cloud by picking any point.

• Highlight the row with picture’s name in Texture Map Browser.
• Click on SAVE button.
Figure 55

• Click Yes to accept Recording of colors to point cloud.
CAUTION: Colors from Scanner will be lost once cloud takes the colors from
photograph.
Figure 56
• Click OK on next message

• RESTART Cyclone
Figure 57
2.11 Change Cloud to New Colors from Cube-Map
• Select point cloud.

• Go to Edit Object | Appearance | Apply Color Map | Image Texture Map to see the new colors
from the Cube-Map.
Figure 58

• If you do not see the Cube-Map colors go to Edit Object-
Object-| Appearance-
Appearance-| Global Color Map
Map.
• Make sure it is checked.
Figure 59
2.12 Create Multi-Image from Cube-Map
You can create a Multi-Image from the Texture Map Browser dialog. This enables the ability to
create a TruView/ TruSpace and have the new imagery available in the TruView/TruSpace.
• Open the Texture Map Browser again by clicking Edit Object | Appearance | Texture Map
Browser...
• Select the point cloud

• Highlight the Texture Map
• Click the Create Multi-
Multi-Image from Cube-
Cube-Map button
Figure 60

• Click OK
Figure 61

Module 4.2 - Cyclone Keyplan
Introduction
A Keyplan is a new navigation object that allows users to create a 2D-image from a map, a
ModelSpace or an image from Google Earth for example. Then on this 2D-image, icons are
placed, either automatically or manually, to represent the scanner locations.
Below is a Keyplan made with an image from Google Earth showing the scanner locations:
Figure 1
Objectives
• Upon completing this module, you will have learned how to:
• Open a TruSpace
• Open an associated ModelSpace View
• Publish a site map (TruView)
• Move the icons representing the TruSpace(s)
• Zoom, pan to view KeyPlan close in
• Hide and unhide Icons in KeyPlan
Files to Use
• Database “Bishop Drive – San Ramon.imp”
Organization/Visualization Pointcloud Module 4.2 – Cyclone Keyplan 1 - 10

Table of Contents
1 Create a Keyplan ..................................................................................................................... 3

1.1 Create a Keyplan from a database / project folder ......................................................... 3
1.2 Create a KeyPlan from a ModelSpace ............................................................................. 6
2 Working with a KeyPlan ........................................................................................................... 8
2.1 Viewing the KeyPlan....................................................................................................... 8
2.2 Editing a KeyPlan ........................................................................................................... 8
2.3 Other functions of the KeyPlan .................................................................................... 10
2 - 10 Module 4.2 – Cyclone Keyplan Organization/Visualization Pointcloud

1 Create a Keyplan
The KeyPlan displays the locations and orientations of scanners relative to a background image
that provides context. The background image will typically be a 2D-drawing or model. From the
KeyPlan, convenient navigation to individual scanner positions is possible.
A KeyPlan can be created in the Cyclone Navigator at the top level of the database, any project
folder and from a ModelSpace.
1.1 Create a Keyplan from a database / project folder
Use the Database Bishop Drive - San Ramon.imp provided to complete the exercise.
Right click the blue cylinder database, any project folder or a user created folder and go to
Create | Keyplan.
Keyplan Otherwise highlight the database or folder and go to menu bar
Create | Keyplan.
Keyplan
In the upcoming dialog choose the preferred ScanWorld or Registration and click ok.
The next dialog will ask you to select the background. You can select an image (an image of a
map from AutoCAD, Microstation or any CAD program or an arbitrary image e.g. from Google
Earth) by selecting Image File and clicking the browse button. You can also pick single solid
colour by selecting Single Colour.
Browse for the image, click Open,
pen and then Create.
Create The image will show up along with a dialog
asking you to select where 2 scanner locations are located. The rest will be automatically
calculated
Figure 2
Choose the Align pointer and select the ScanWorld in the Align ScanWorlds dialog (Figure 2).

Figure 3
Then pick on the image to choose the location of the first ScanWorld (Figure 3).
Figure 4
Select the next ScanWorld to align and pick on the image. After picking, the rest of the
ScanWorlds will show up on the image. Then click OK (Figure 4).

Figure 5
All the ScanWorld locations will turn into icons. Use these icons to open the TruSpace of the
respective ScanWorlds (Figure 5).

1.2 Create a KeyPlan from a ModelSpace
Creating a KeyPlan from a ModelSpace automatically places the icons on the KeyPlan and it is the
easiest way to create a KeyPlan.
In the Cyclone Navigator browse to a ModelSpace View from a single ScanWorld or a registered
ScanWorld and open it by double click.
In ModelSpace View go to File | Create KeyPlan.
KeyPlan
The Create Key Plan dialog comes up. Readjust the ModelSpace View and click the Update button
to change the KeyPlan image. Adjust the size of the KeyPlan by changing the Width and Height
numbers.
When done click the Create button.
Figure 6
After clicking the Create button the following

dialog may come up
Figure 7
Note: If a KeyPlan from a perspective view was created, the location of the
ScanWorld icons can not be changed later on. Most of the time this is no problem
as the icons are placed correctly and automatically.

Click Yes and then select the location you want
the KeyPlan created in
Click the ok button to create and view the
KeyPlan.
Figure 8
Figure 9

2 Working with a KeyPlan
2.1 Viewing the KeyPlan
Predefined step zoom-in and out
Zoom whole scene
Centred on clicked pixel when zoomed in

Pan after zoomed in
Photoshop styled center on clicked pixel and zoom
Pick mode
Align mode
Figure 10
2.2 Editing a KeyPlan
There are several Icons on the top of the KeyPlan dialog to assist you in changing the location of
the Icons on the KeyPlan.
These icons will be grayed out if you created the KeyPlan from perspective view.
Reference Mode
Move Mode
Rotate Mode
Scale Mode
Rotate & Scale Mode
Single Move Mode
Single Rotate Mode
Lock KeyPlan
Unlock KeyPlan
Figure 11

Reference Mode
Place a temporary mark on the KeyPlan where the Rotate, Scale and Rotate & Scale modes work.
Open a KeyPlan and click Reference mode. Then click on the KeyPlan, typically in the centre of
the grouping of icons. This place is a temporary icon on the KeyPlan.
Rotate, Scale Modes

Next try all the modes related to the reference mode - Rotate, Scale and Rotate Scale mode.
Notice how the icons move in relation to the reference point you set before. Try the Single Move
and Single Rotate by selecting the mode and clicking on the icon to move or rotate it.
Lock Mode
When done you can lock the positions of the icons by clicking the Lock KeyPlan button.
Configure ScanWorld Visibility

Go to Tools | Configure ScanWorlds Visibility to open the Configure ScanWorlds Visibility dialog.
From this dialog you can hide and unhide icons on the KeyPlan by checking and unchecking the
Visible boxes in this dialog.
You can also hide and unhide by the ScanWorld’s name. Check the By Name box and type in the
name of the station to hide.
The other way to hide and unhide icons can be done by elevation. If you have a multistory
building you may only want the icons on the first level shown. Simply check the By Elevation box
and enter the elevation of the first level of the building. All other icons will be hidden.
Figure 12

2.3 Other functions of the KeyPlan
Open Associated ModelSpace

You can open an associated ModelSpace View direct from the KeyPlan by going to
File | Open ModelSpace View…
Select the ModelSpace View from the dialog box and the ModelSpace will open.
Publish Site Map

You can publish all visible ScanWorlds in the KeyPlan into a TruView by going to
File | Publish Site Map…
Opening a TruSpace from a KeyPlan

Double click on an icon in a KeyPlan to open up a TruSpace window
Figure 13
The field of view lines (green) and a view direction arrow (red) appear on the
KeyPlan from the icon you clicked on. When changing the view in TruSpace the
arrow and field of view lines on the KeyPlan also change.

Module 4.3 - Cyclone TruSpace
Introduction
Created from a ScanWorld a TruSpace is like a ModelSpace View of a single ScanWorld. In a
TruSpace, you can easily rotate and zoom the view without getting “lost in space”, as the view is
constrained to the scanner location. Users who are familiar with ScanControl will see that the
view in TruSpace is constrained in the same way. Target extraction, viewing of the multi-image
or texture mapped image, importing of modeled objects and view manipulations like cloud point
thickness, and color mapping are all supported in TruSpace; as well as the ability to “jump” to
the position of another ScanWorld’s TruSpace from within the current TruSpace.
Objectives
• Open and view a TruSpace and its associated ModelSpace View and KeyPlan
• Extract Targets - all or one at a time
• Synchronize views to an associated ModelSpace
• Change view settings
• Jump to another TruSpace and view neighboring TruSpace Icons
• Perform measurements
• Place a Quick Limit box
Files to Use
• Bishop Drive-San Ramon.imp
• Target extraction.zfs
Organization/Visualization Pointcloud Module 4.3 – Cyclone TruSpace 1 - 14

Table of Contents
1 Open and View a TruSpace ...................................................................................................... 3
1.1 Open a TruSpace............................................................................................................ 3
1.2 Viewing a TruSpace ........................................................................................................ 4
2 Tools and Functions within TruSpace ....................................................................................... 6
2.1 Change TruSpace range filter ......................................................................................... 6
2.2 Synchronize ModelSpace and TruSpace .......................................................................... 7
2.3 Open associated KeyPlan ............................................................................................... 8
2.4 Copy modelled Objects into TruSpace ............................................................................ 8
2.5 Quick Limit Box .............................................................................................................. 9
2.6 Measurements ............................................................................................................. 10
2.7 Target extraction.......................................................................................................... 10
3 Review................................................................................................................................... 13
2 - 14 Module 4.3 – Cyclone TruSpace Organization/Visualization Pointcloud

1 Open and View a TruSpace
In this chapter the opening of a TruSpace from different locations and the representation is
explained.
1.1 Open a TruSpace
You can only open a TruSpace from a ScanWorld from a single scan position (registered
ScanWorld’s are not supported). A TruSpace is opened from a KeyPlan or an individual
ScanWorld.
Note: In some cases, e.g. after importing an ACSII file to create a ScanWorld, you
may have to navigate down to the imported ScanWorld in order to open a
TruSpace.
Open from a KeyPlan
Double click on the yellow scanner location

icon in a KeyPlan to open the respective
TruSpace.
Figure 1
Open from a ScanWorld
• Browse in the Cyclone Navigator to a

ScanWorld and highlight it.
• Then go to File | Open TruSpace.

TruSpace
• Or right click on the ScanWorld and choose

Open TruSpace
Figure 2

Coordinate System
The TruSpace will adopt the coordinate system of the ScanWorld where it was created from and
also if opened from a KeyPlan it will adopt the coordinate system from where the KeyPlan was
created.
• If a TruSpace is opened from a ScanWorld, outside of a registration, then the coordinate

system will be the original or default coordinate system (typically the scanners original
coordinate system)
• If a TruSpace is opened from a KeyPlan and the KeyPlan is made for a registered ScanWorld
then the TruSpace will have the coordinate system from the registration.
Note: It is very important to remember which coordinate system you are in when
you use the synchronizing function from ModelSpace to TruSpace;
The coordinate systems have to match for the following tools to work properly:
• Quick Limit Box

• Synchronizing view from TruSpace to ModelSpace
• Copying modeled objects from a ModelSpace to a TruSpace
• CloudWorx synchronization
1.2 Viewing a TruSpace
TruSpace uses a new view mode called Panoramic. This mode is exactly like the view mode in
ScanControl where the view is constrained to the scanner location. It allows even novice user to
easily view, rotate and pan without getting “lost in Space” or lost in the point cloud.
Go to menu View | Show Images to turn on the multi-image or texture map (if available). Figure 3
shows a TruSpace with the image turned on and the point cloud is showing Colors from Scanner.
Figure 3

Color map
There are three icons in the Point Cloud Rendering toolbar to quickly access different color
maps.
Colors from Scanner

HUE intensity map
Grayscale intensity map
Figure 4
Adaptive Point Width

Adaptive point width automatically calculates the correct point width depending on the density
of the scan. The idea of the tool is to make the view more clear without user input. If the
Adaptive point width does not make the right choose you can always turn it off and manually
increase or reduce point width.
Other View Settings

The following settings are the same as in a ModelSpace.
• Set Object Visibility

• Global Color Map
• Edit Global Color Map
All those settings can also be done in menu

View | …
Figure 5

2 Tools and Functions within TruSpace
The following chapter will explain some additional functions of a TruSpace.
2.1 Change TruSpace range filter
From within a TruSpace a user can jump to another TruSpace. You can set by range which
TruSpace icons are visible.
1) Open a TruSpace from a Keyplan with at least two neighbour ScanWorlds.
2) Rotate view until you see the icon for the other TruSpace.
3) Double click on the icon to jump to that TruSpace.
4) Go to Edit | Preferences | ModelSpace tab.
Figure 6
5) Under TruSpace: Use Neighboring ScanWorld Range Filter: Set to Yes

6) Under TruSpace: Neighbor ScanWorld Maximum Range: set to a distance you prefer
7) Reopen TruSpace to view changes

2.2 Synchronize ModelSpace and TruSpace
From a TruSpace you can open a ModelSpace and have the view synchronized from TruSpace to
ModelSpace, but not the other way.
• Open a TruSpace
• From the TruSpace got to menu File |
Open ModelSpace View.
View
• From the Open ModelSpace View dialog,

select the ModelSpace view to open.
Figure 7
• From the newly opened ModelSpace go to View | TruSpace | Link

Link TruSpace… and select the
TruSpace to Link
Figure 8 Figure 9
• Next go to View | TruSpace | Sync Viewpoint

• Going back to TruSpace and rotate the view. Note the synchronized view of the ModelSpace
depending on the view in TruSpace.

Figure 10 Figure 11
2.3 Open associated KeyPlan
If a KeyPlan exists that includes the already opened TruSpace, the KeyPlan can also be opened
from inside the TruSpace.
Go to File | Open KeyPlan
2.4 Copy modelled Objects into TruSpace
A TruSpace can also contain modeled objects. These have to be copied from a ModelSpace.
1) From a TruSpace go to File | Open ModelSpace View

2) Pick a ModelSpace from the dialog and click ok to open
3) Copy any number of objects from an associated ModelSpace then paste into the TruSpace
To clean up the TruSpace again execute File | Reset TruSpace

Figure 12 Figure 13
2.5 Quick Limit Box
The Quick Limit Box in TruSpace takes also effect to the ModelSpace when Synchronizing is
enabled. The Limit Box created in TruSpace will create a common Limit Box in the ModelSpace.
1) Go to the toolbar in TruSpace and choose the Quick Limit Box button.
2) Click on an area of interest in the TruSpace and the Limit Box appears in the ModelSpace at
the selected position.
Figure 14 Figure 15
The default size of the Limit Box can be

changed in Edit | Preferences | ModelSpace Figure 16

2.6 Measurements
Point to Point measurement in TruSpace:

1) Multi-select two points and go to menu
Measure | Point to Point
2) The measurements will show up in the
TruSpace and can be saved by clicking
Measure | Save Measurements
Figure 17
2.7 Target extraction
All types of targets, HDS-targets, Black & White targets or Spherical targets, can be extracted
from TruSpace.
For the next exercise import Target Extraction.zfs into the database and open the TruSpace from
the newly created ScanWorld.
1) Select the center of the target with the seek mode function. Notice how the target
is centered and zoomed in.
2) Switch to select mode and select a point near the centre of the target.
3) Go to menu Create Target and select the type of target to extract.

4) Fill the Target ID and other information into the appearing dialog box and click OK.
OK
Figure 18
5) If there are already targets in this area a new options box appears:

Figure 19
6) The Replace Object in ControlSpace? dialog allows to Replace

Replace, Replace All,
All Skip or Skip to All
targets instead of just adding targets to the ControlSpace.
B&W Targets from picks

This command differs from the single extract in two ways. You can select more than one B & W
target by using multi select.
Open a TruSpace with a number of Black & White Targets and Multi-Select them.
Figure 20
1) Go to the menu Create Target | Find Black and White Targets from Picks.
Picks
2) Double click on the candidate target, in the Find Black/White Targets From Picks dialog, to
focus in on it and to confirm the fit:

Figure 22
Figure 21
3) If the target is valid, fill in the target ID information and click OK. If the target is invalid
simply click cancel and the target will be ignored.
4) Continue until all targets are added and / or ignored
5) Click the Display icon in the Find Black/White Targets From Picks dialog to bring up a
target finder result ModelSpace to inspect the extracted targets (Figure 23)
Figure 23

3 Review
From a TruSpace you can:
• View the pointcloud in the panoramic mode

• Change color map
• Jump to another TruSpace and change the viewing of neighboring TruSpace
Icons
• Open an associated KeyPlan

• Open an associated ModelSpace
• Synchronize the view to an associated ModelSpace
• Use adaptive point width for visualization
• Paste objects copied from a ModelSpace (Cylinders, pipes, lines etc)
• Place a limit box in TruSpace and it opens the associated ModelSpace with the
limit box in place
• Measure point to point

• Extract targets - all or one at a time

Module 5.0 - Cyclone Basic Modelling
Introduction
The modelling process in Cyclone, in general, involves creating best fit geometric objects to the
point clouds. Cyclone has several types of object fitting functions for the user to choose from
depending on the topology of the scanned point clouds.
Objectives
The objective of this module is to introduce you to a general workflow for modelling point
clouds. You will model a plane, cylinder, elbow, box and steel shape. In modelling objects in the
registered QuickStart database, you will also learn techniques that can be utilized to easily select
sub-selections of point clouds from the whole of registered scans. You will also see some
methods that can be used to further edit the fit objects, such as extend, extrude, and handle
manipulation.
Files to Use
• QuickStart.imp
Table of Contents
1 Point Cloud Selection............................................................................................................... 2
1.1 Picking / Selecting a Point Cloud..................................................................................... 2
1.2 Point Cloud Sub-Selection .............................................................................................. 3
1.3 Segmenting a Point Cloud .............................................................................................. 6
2 Fitting and Editing Patches ...................................................................................................... 8
2.1 Fit to Cloud .................................................................................................................... 8
2.2 Fit Fenced ...................................................................................................................... 9
2.3 Region Grow ................................................................................................................ 10
2.4 Editing Patches ............................................................................................................ 12
2.5 Colours/Materials ......................................................................................................... 16
3 Fitting Continued ................................................................................................................... 17
3.1 Cylinders ...................................................................................................................... 17
3.2 Elbows ......................................................................................................................... 21
3.3 Pipe Run ...................................................................................................................... 22
3.4 Box .............................................................................................................................. 25
3.5 Steel Shapes ................................................................................................................ 26
4 Further Editing....................................................................................................................... 29
4.1 Handle Functionality .................................................................................................... 29
4.2 Moving / Rotating Objects ............................................................................................ 31
Data Extraction Module 5.0 - Cyclone Basic Modelling 1 - 32

1 Point Cloud Selection
Efficient modelling of point clouds, involves an understanding of the different ways to select the
point clouds or segments of point clouds we want to fit the surfaces to.
In this section, we will look at the ways that we can effectively select point clouds or segments
of point clouds in order to be able to model them accurately.
Use the ModelSpace View under the registered ScanWorld in the Registered project folder from
the QuickStart database.
Figure 1
1.1 Picking / Selecting a Point Cloud
A point cloud object is a collection of points. Picking a point in a point cloud will select the whole
point cloud object.
All other point clouds that are not selected are drawn dim.
Pick Mode
1) Switch to pick mode.
2) Pick a point cloud. A white pick point is displayed at the pick and the whole cloud is selected
and drawn brighter. The unselected point clouds are drawn dim.
3) Still in pick mode, press “Shift” and pick an unselected point cloud. Another pick is drawn at
the pick point and the cloud is added to the selection, also drawing brighter.
4) Press the spacebar to deselect everything. Pick points are cleared and all point clouds revert
to the same drawing brightness.
2 - 32 Module 5.0 - Cyclone Basic Modelling Data Extraction

Multi Pick Mode
1) Multi-Pick mode allows the user to pick multiple points/objects in a scene without having to
press Shift.
2) In Multi-Pick mode, pick the white dotted point again to deselect this single point.
Watch the status bar at the bottom to check your selection (number of objects
selected, layers, coordinates, or distances).
Figure 2
To model features within a point cloud, we need to select those points that represent the
features we are trying to model. We are able to do this by means of point cloud sub-selection.
1.2 Point Cloud Sub-Selection
The point cloud sub-selection commands are useful for isolating and modelling points in the
scene that may or may not be of the same scan. The point cloud sub-selection tools work in
conjunction with the
• polygonal fence mode
• rectangular fence mode
• circular fence mode

In the following exercise we will separate points that represent a building facade from the whole
registered set. In doing so, we will also create a separate ModelSpace View containing only the
points representing the facade.
1) With a viewpoint similar to Figure 3, draw a fence using the rectangular fence mode.
Figure 3
2) Click Selection | Point Cloud

Cloud Sub-
Sub-Selection | Add Inside Fence.
Fence

All point clouds within the fence are selected and drawn bright and all outside remain deselected
and drawn dim. Note the status bar reads that one point cloud is selected.
3) Now, rotate the viewpoint to a top view. This top view will be advantageous as it will reveal
points that are now sub-selected but hard to see from the previous viewpoint.
4) Create a new fence around the points we want to remain selected (see Figure 4).
Figure 4
5) This time click Selection | Point Cloud Sub-

Sub-Selection | Remove Outside Fence.
Fence
Figure 5
Now we have the points that represent the east facing wall sub-selected (see Figure 5). This is a
temporary selection in that pressing ESC or the spacebar to deselect will clear the selection. A
useful method to save a selection of points such as this and to better visualize the data for
modelling is to launch the selection to its own ModelSpace.
6) Click File | Launch | Copy Selection To New ModelSpace.
ModelSpace

Figure 6
The sub-selected points are opened in their own ModelSpace called Copy of ModelSpace 1 (see
Figure 6). Notice this new ModelSpace now exists in the Cyclone Navigator as “Copy of
ModelSpace1” (see Figure 7).
Figure 7
7) Close Copy of ModelSpace 1 by clicking the Windows close button in the upper right corner
or by clicking File | Close.
Close
Inspect the checkbox options in the Closing ModelSpace Viewer dialog. They are
very useful when modelling a scene. For example, a good workflow would be
launching a sub-selection of points to a new ModelSpace, modelling, and then
closing the ModelSpace with the option to merge the modelled object back into
the original ModelSpace.
Figure 8

• Checking Merge into original ModelSpace will copy all contents of the closing
ModelSpace and paste into the original ModelSpace from which it was
launched.
• Checking Remove link from original ModelSpace removes any association that
the closing ModelSpace was originally launched from its parent ModelSpace. In
other words, the Closing ModelSpace Viewer dialog will not be displayed next
time this ModelSpace is closed.
• Checking Delete after close will delete the ModelSpace being closed.
8) Click the Close button without making any checkmarks in the Closing ModelSpace Viewer
dialog.
9) In the Navigator, rename Copy of ModelSpace 1 to something descriptive, such as East
Facade.
10) In the original ModelSpace View, press spacebar to deselect everything.
In essence, point cloud sub-selection is useful for visualizing and isolating points. We will use the
methods covered in this section throughout this module to select points that we want to fit
surfaces to.
1.3 Segmenting a Point Cloud
Segmenting a point cloud means cutting a point cloud into two pieces. The segmenting
commands are located under Create Object | Segment Cloud…
Cloud
In the following example, we will sub-select the same west facing building facade we worked
with in section 1.2, segment those points, then put them on their own layer.
1) In the registered ModelSpace, sub-select the same west facing wall as we did in section 1.2.
Remember to select the points using the sub-selection commands from at least 2
viewpoints.
2) Click Create Object | Segment Cloud | Cut Sub-
Sub-Selection.
Selection
3) Press the spacebar to deselect everything, and then in pick mode, pick the newly segmented
point cloud objects.
Segmenting a cloud creates separate objects; care should be taken when
segmenting point clouds as not to create too many unnecessary “pieces” of
point clouds that may slow down performance.
4) Click View | Layers…
Layers
5) In the Layers tab, click the New button. Name the layer East facade.

Figure 9
6) Select the segmented point clouds on the façade wall.

7) Click Assign in the Layers tab. Clicking Assign in the Layers tab will assign any selected
objects in the ModelSpace to the selected layer.
With objects assigned to layers, in this case the segmented point clouds, it is easy to toggle the
visibility or select the objects within the Layers tab.
As seen in this section, segmenting a point cloud will create two distinctly
separate objects. The visibility checkmark in the ScanWorld Explorer will
automatically become unchecked when an original scan is segmented. The two
separate point cloud objects are now disassociated with their original scan and
stand alone as point cloud objects.
Due to this fact, take care not to “recheck” the visibility box for a scan in the
ScanWorld Explorer. Doing so will reload the points which might already exist in
the viewer as separate segmented point clouds.
Summary
When modelling, it is crucial to be able to select the proper group of points that a geometric
object will then be fit to. Point cloud sub-selection allows us to isolate/select a specific group of
points across all point clouds in a scene in an additive/subtractive process. Point cloud sub-
selection can be thought of as a temporary selection. Alternatively, segmenting will cut point
cloud(s) into separate point cloud objects. The result is more permanent in that there are two
new objects as a result of the cut.
We will use point cloud sub-selection for a majority of the modelling process in the following
sections.

2 Fitting and Editing Patches
In Cyclone, a patch is a planar object. In this section, we will explore a few ways to model a
patch. The methods we will use can be extended into the modelling of other objects as well such
as cylinders, spheres, and steel shapes.
2.1 Fit to Cloud
The Fit to Cloud command requires that we select only the points that represent the object to
be fit. In this example, we will fit a patch to a planar surface on a wall.
1) Open the View from the ModelSpace East Facade created in chapter 1.2 and select the
points representing a planar surface on a wall using point cloud sub-selection methods
covered in the previous section.
Figure 10

2) Click Create Object | Fit to Cloud | Patch.
Patch
Figure 11
As seen in Figure 11:
• A blue patch will be fit to the sub-selected points and will be drawn with dark
and light blue tiles.
• Orange handles will define the perimeter of the patch with a blue handle in
the middle.
• The status bar will read that the patch is selected.

• Pressing ESC or Spacebar will deselect the patch. The colour will change to
solid blue and the handles will not be visible.
2.2 Fit Fenced
The Fit Fenced command bypasses the need to sub-select the point cloud and fits the patch to
points within a drawn fence.
1) Use the rectangular fence mode and create a fence on the facade that includes the points
representing a planar surface on a wall.
2) Click Create Object | Fit Fenced.
Fenced
A patch is created in the fenced area.

2.3 Region Grow
Region Grow commands can be used to fit objects to a point cloud without having to first sub-
select or segment the points. All that is required is a pick point on the cloud. However, in the
following example, we will make a general point cloud sub-selection to limit the region grow.
The following example follows a typical process for region growing a patch. We will work again in
the ModelSpace previously created in section 1.2 called East Facade.
Open the ModelSpace named East Facade.
Make a sub-selection encompassing a region as shown in Figure 12.
Figure 12
3) In Multi-Pick mode, pick a point in the centre of the area that represents the wall surface we
wish to model.
4) Click Create Object | Region Grow | Patch…
5) The Region Grow Patch dialog will open (Figure 13) and the candidate patch points will draw
white (Figure 14).

• Region Thickness defines a surface
thickness outside of which points are
excluded from the calculation.
• Maximum Gap to Span defines a maximum

distance between any two adjacent points
included in the fit calculation.
• Region Size defines the radial distance

from the seed point within which points
will be included in the region grow.
While the Region Grow command is working,
the user may click the Interrupt button to
stop the calculation. To continue with the
calculation, click the Continue button.
Click the Restart button to start over the
Region Grow calculations if, for example, the
command was interrupted and parameters
changed.
Figure 13
Region Growing can be run with multiple starting pick points across multiple point
cloud objects.
Figure 14

• Sub-selecting the area where the Region Growing will occur is not mandatory, but beneficial.
• For more on Region Growing, refer to Cyclone’s help files. (Press F1)
Figure 15
Figure 15 shows the patch created from the region grow command. The size and the position of
the patch is calculated from the white preview points shown when Region Growing.
2.4 Editing Patches
This section introduces several editing functions that can be performed on patches. Continuing
in the ModelSpace View of the ModelSpace named East Facade…
Note that the patch is solid; holes for the windows are not yet represented.
Make Rectangular
Select the region grown patch made in the previous section and Click Edit Object | Patch | Make
Rectangular
Rect angular.
angular This will square off the patch, reducing the amount of handles to four.
Now we will create holes in the patch for the window panes based on a drawn fence.
To do this it will be beneficial to have point cloud visibility on, for reference, and pickability off.
We will also want to turn off the visibility of our patch. We can do both of these tasks in the Set
Selectable tab of the View Properties dialog.
Set Selectable
1) First, align the viewpoint to the normal of the patch by selecting the patch, then clicking
Viewpoint | Align to Selection.
2) Click Selection | Set Selectable.
3) The Selectable/Visible tab is opened in the View Properties dialog. Uncheck the box under the
pickability column for the point cloud object type and the visibility column for planar patches.
(Figure 16)

Figure 16
4) Without rotating the view, zoom/pan into one of the window panes.
It is possible to lock the viewpoint rotation by clicking Viewpoint |View Lock |
Rotate.
Rotate
Figure 17
5) Switch to orthographic mode .

6) Next, using polygonal fence mode, draw a fence that outlines the hole we will punch in the
patch.

Figure 18
7) In the Set Selectable tab of the View Properties dialog, turn back on the visibility of the
planar patch object type.
8) Select the planar patch that is now visible, taking care not to move the viewpoint.
9) Click Edit Object | Patch | Subtract From Patch.
Patch
10) Turn off the viewpoint view lock and inspect the results. Figure 19 illustrates all three
windows punched out of the patch.
Figure 19

Extrusion
Extrusions are created with a specified thickness along a userspecified axis or along the patch’s
normal. Now, we will give the patch some thickness by extruding it along its normal to a picked
point.
1) Turn on the pickability of point clouds in the Set Selectable dialog (Selection
Selection | Set
Selectable).
Selectable
2) Pick the patch, then multi-pick another point to extrude the patch to. (SeeFigure 20)
Figure 20
3) Click Edit Object | Extrude | Extrude To Last Pick

Pick.
ick
Figure 21

2.5 Colours/Materials
The Colour and Material Editor gives the user the ability to change individual objects’ colour
and/or material. To change an objects colour:
1) Select a modelled object, such as the extruded patch created in the previous section.
2) Click Edit Object | Appearance | Edit Colour/Material.
Colour/Material
3) In the Colour and Material Editor, click anywhere on the colour wheel to choose a colour, or
choose a colour from the Colours menu.
4) Click Apply to assign the colour to the selected object.
Figure 22
Summary
This section examined a few ways in which we can create and edit planar patch objects. As we
will see in the next sections, the editing functions that are found in the Edit Object menu can
apply to the different types of Cyclone objects as well.

3 Fitting Continued
In a similar fashion as described above, fit other types of objects to the point cloud.
3.1 Cylinders
See the area of interest illustrated below in Figure_23. We will model the cylinders supporting
the larger pipe. To easily model these smaller radius pipes, we will sub-select the point cloud and
launch a copy of the selection to another ModelSpace. When finished modeling the object, we
will merge it back into the original ModelSpace.
1) In the registered ModelSpace, point cloud sub-select the area surrounding the cylinders
shown in Figure 23.
Figure 23

2) Click File | Launch | Copy Selection To New ModelSpace.
ModelSpace
Figure 24
3) Pressing Shift, or in multi-pick mode, pick three or four points along the run of the pipe (see
Figure 25).
Figure 25

Region Grow: Cylinder
4) Click Create Object | Region Grow | Cylinder…
5) Click OK in the Region Grow Cylinder dialog. (Refer to the Cyclone Help files for more on
region growing)
The pipe is fit to the points highlighted in white.
6) Delete the remaining point cloud pieces, and close the window.
Merge and Delete

7) In the Closing ModelSpace Viewer dialog, check Merge into Original ModelSpace and Delete
After Close, and then click Close.
The ModelSpace contents (cylinder) is merged back into the ModelSpace it was launched from.
Quality Assurance
Using region growing and other fitting methods, model the rest of the support structure. The
following are hints for further modeling:
• Visually check how cylinders are fit by clicking Create Object | Insert Copy of
Object’s Points with the cylinder selected. Inspect how the surface matches
the points by looking down the “barrel” of the pipe in orthographic mode.
• Numerically check how cylinders are fit by selecting the cylinder then clicking
Tools | Info | Object Info.
Info Inspect the Fit Quality errors at the bottom of the
Cylinder Info dialog.
• Every point that is used to fit the object is considered in determining the fit
errors. The error mean is the sum of each point’s error divided by the number
of points used in the fit. The error standard deviation is the root mean square
deviation of the values from the error mean, and should be about 3mm or
less. The absolute error mean is the mean of all of the absolute values of the
errors. The maximum absolute error is the largest absolute error of all the
points used in the fit.
Figure 26

Cylinder Edits
• Two or more fit cylinders that represent the same pipe can be merged together by selecting
the cylinders, then clicking Create Object | Merge (Figure 27 & Figure 28).
• A pipe can be extended to another pipes centerline by using Edit Object | Extend commands
or by dragging a cylinder’s centerline handle.
Figure 27 Figure 28
The end result should look like Figure 29. In this section, the cylinders were modeled by copying
a set of sub-selected points to a new ModelSpace for modeling, then merged back into the
original ModelSpace.
Figure 29

3.2 Elbows
Elbow objects can be fit similarly to the methods used above. It is easier, however, to create
elbows between two modelled cylinders. Once the elbow is inserted the elbow bend ratio can be
adjusted, maintaining the run connectivity. The elbow bend ratio can be thought of as the radius
of an arc, in that it is the distance from the vertex of an arc to the center line of the elbow.
1) Model the two pipe components of the large pipe above the support structure modelled in
the previous section using region grow.
Figure 30
Mitered Elbow
2) Select both of the larger pipes near the ends where the elbow will be created.
3) Click Tools | Piping | Miter Connectors… To connect the pipes with a rounded elbow, use
elbow connectors.
4) In the Number of Miter Segments dialog, enter 1, and then click OK.
5) In the Set Elbow Bend Ratio, enter a value of .5, and then click OK.
Figure 31 Figure 32

Figure 33
3.3 Pipe Run
A quick and convenient way to create a pipe run is to use region grow.
1) Approximately sub-select the group of points representing two pipes connected with an
elbow (see Figure 34). Note this step is not necessary for region growing a pipe run, though
helpful for visualizing.
Figure 34

2) Pick a point on the first pipe in the run.
3) Multi-pick the other pipes in the run in any order, with one pick per pipe. In this case there
will be two picks.
Figure 35
4) Click Create Object | Region Grow | Pipe Run….

5) Click OK in the Region Growing dialog, to create the pipe run.
Figure 36

The elbow inserted from the pipe run region grow may need adjustment. To adjust the elbow
bend ratio of an elbow while maintaining the connectivity to the pipes, use the following
method:
1) First, launch the modeled pipe run to its own ModelSpace to better visualize this process by
selecting the pipe run objects then clicking File | Launch | Copy Selection to New ModelSpace.
2) In the new ModelSpace, select the objects again and click Create Object | Insert Copy of
Object’s Points.
Notice how the inserted elbow needs an adjustment to the “elbow bend ratio” to
better match the points.
3) Select, in order, a pipe, the elbow, and then the other pipe.
4) Click Tools | Piping | Edit Elbow Bend Ratio…
5) Enter a value of 3.5.
Figure 37
6) Click OK to accept the value. The elbow bend ratio of the elbow is adjusted, while
maintaining the connectivity to the pipes on each end.
Figure 38
The elbow bend ratio is typically found visually. Compare how the modeled elbow
fits to the point cloud when trying different elbow bend ratios.
7) Close the ModelSpace and choose the option Merge into Original ModelSpace.

3.4 Box
In this section, we will model a box. A box object has six sides, but can be fit to points that
represent at least two sides.
1) Point cloud sub-select the beam that runs at an angle between the two buildings (just above
where target 300_upper and 300_lower are set up)
Figure 39
2) Click Create Object | Fit to Cloud | Box.

3) Extend the length of the box object by pick-dragging the end face orange handles.
Figure 40

3.5 Steel Shapes
The following types of steel shapes are available for fitting in Cyclone:
Angles, Channels, Tees, Rectangular Tubes, and Wide Flanges.
Figure 41
In this section we will fit a wide flange to the point clouds representing the legs of the silo
structure. First we will sub-select the appropriate points, then clean the point cloud, then fit the
wide flange.
1) Draw a fence around any of the four vertical legs of the silo structure.
2) Click File | Launch | Copy Fenced To New ModelSpace.
3) In the new ModelSpace View, draw a fence around a good portion of the points representing
the wide flange.
4) Delete the points outside of the fence by clicking Edit | Fence | Delete Outside.
A hotkey to delete points outside of a fence is Shift + O, whereas to delete
points inside of a fence, press Shift + I.
5) Now, switch to orthographic projection mode and move the viewpoint so as to look top
down the center of the wide flange.
6) Clean the noise that exists between the web and flange using the polygonal fence and Shift
+ I or Shift + O to delete points inside or outside, respectively. (Figure 43)
Figure 42 Figure 43
7) Click Selection | Point Cloud Sub-Selection | Select All.

8) Multi-pick two points on the web. It is important to pick these points in the center, away
from the flanges. Also, it is helpful to space them out. (Figure 44)
Figure 44
Refer to the Cyclone help files for a description of different methods for fitting
steel shapes.
9) Click Create
Create Object | Fit to Cloud | Steel Section | Wide Flange
Flange.
10) Inspect the fit by clicking Create Object | Insert Copy of Objects Points.
Points Also, inspect the
object information dialog by clicking Tools | Info | Object Info.
Info
11) When satisfied close the ModelSpace View, and in the Closing ModelSpace Viewer dialog,
check Merge into Original ModelSpace and Delete After Close, then click Close.
12) Repeat this process for the other three wide flange legs.
13) Create a Patch on the floor which is representing the ground plate of the silo.
14) Extend the wide flange to the created patch and using Edit Object | Extend | Extend to Last
Selection.

Figure 45
More methods for fitting steel shapes is documented extensively in the Cyclone’s Help Files
Summary
Cyclone’s fitting commands allow us to model surfaces to the point cloud. In general, copying
selections of points to new ModelSpace Views can ease and improve the modeliing workflow.

4 Further Editing
4.1 Handle Functionality
All object types in Cyclone can be translated, resized, and rotated using their handles. Handles
are colour-coded to indicate the type of handle behaviour.
Handle Colour Key

• Red = rotate
• Orange = resize, translate, snap
• Blue = translate, snap
When an object is selected, the settings in the Edit Object | Handles submenu determine which
handles are displayed.
Handle Settings
• The Show Handles command toggles the display of handles. This command overrides the
Show Rotation Handles command.
• The Show Rotation Handles command toggles the display of rotation handles, and is off by
default.
• The Handles Always Visible command toggles the constant visibility of handles even when
hidden from view by an object. When this command is checked, it allows convenient access to
handles that are behind or inside of objects, which would otherwise be hidden from view.
Figure 46

Translating
To translate an entire object via its handles, drag one of the object’s blue handles, or press and
hold Ctrl and then drag one of the object’s orange handles.
Figure 47
Resize
To resize an object using its handles, drag one of the object’s orange handles.
Rotate
To rotate an object using its handles, drag one of the object’s red handles.
Keeping One End in Place

Holding Alt while moving a certain object’s handles, such as an orange handle on a cylinder, will
move the selected handle while keeping the handles on the other end anchored.
Constraining Handle Movement

Object handle motion can be constrained to a specified axis or plane in two ways. The first
method is to set the constraint before manipulation via the Edit Object | Handles | Constrain
Motion to submenu commands.
Summary
Object handles allow further editing of the fit objects and are unique to the type of object. We
can adjust the size parameters of an object, translate, and rotate objects using handles.

4.2 Moving / Rotating Objects
Besides using an object’s handles, the Move/Rotate dialog is another means to move or rotate
objects. For example, to move an object five meters in the X direction:
1) Select the object to be moved.
2) Click Edit Object | Move/Rotate…
Figure 48
3) Click the button with a blue icon next to Direction of Move.

4) In the Direction of Move dialog, specify a Standard Axis. Also, choose X Axis from the
dropdown list.
Figure 49
5) Click OK in the Direction of Move dialog.

6) Click the button with a blue icon next to Distance of Move.
7) In the Distance dialog, choose the custom option. Enter a distance of 5 meters.

Figure 50
8) In the Move/Rotate dialog, click Move to move the selected object(s) 5 meters in the X
direction.
Clicking Create Object | Copy… results in a similar dialog to the Move/Rotate

dialog that can be used to copy or array objects.
Summary
In this module, you modelled several common object types and began to edit the objects
together. As you worked through the sections, you used several tools that can be invaluable to
the modelling process, such as point cloud sub-selection, the layers dialog, and the set
selectable dialog. Also, you were able to copy points to a separate ModelSpace for modelling,
then merged a modelled object back into the original ModelSpace.
Practice using the tools and methods covered in this module in this and other datasets that may
be available to you. Accurate and efficient modelling will come with practice.

Module 5.1 - Measurements
Introduction
The objective of this training module is to become familiar with measuring tools in Cyclone
through the use of an exercise using a registered set of scans of an intersection and park area.
For your convenience certain elements of the intersection and park area have already been
modeled.
Objectives
• Obtain measurements
• Edit measurements
• Save measurements
Files to Use
• Bishop Drive – San Ramon.imp
Table of Contents
1 Measurements......................................................................................................................... 2
2 Obtaining Measurements......................................................................................................... 4
3 Edit and Save Measurements................................................................................................... 5
3.1 Point-to-Centerline Distance .......................................................................................... 5
3.2 Point to Unbounded Surface .......................................................................................... 6
3.3 Obtaining Multiple Measurements from a Point.............................................................. 7
4 Copying Measurements ........................................................................................................... 8
4.1 Copying Measurements with the Measurements dialog .................................................. 8
4.2 Copying Measurements to the Output Box ..................................................................... 8
Data Extraction Module 5.1 - Measurements 1-8

1 Measurements
In the database Bishop Drive – San Ramon, open the ModelSpace view under ScanWorld
Registration 1 by double clicking on the icon or the words – Intersection View 1.
Figure 1
The ModelSpace will be opened.
• Open the View Properties dialog choosing View | Layers

Layers.
ers [Hotkey Shift L]
• This is one of the three ways to open this dialog. It can also be opened by selecting View |
View Object As and Selection | Set Selectable.
Selectable
• To change between the three categories, click on the appropriate tab at the top of the
dialog. – Layers, View As, Selectable/Visible.
2-8 Module 5.1 - Measurements Data Extraction

Figure 2
• Looking in the Layers tab,

tab check the visibility box for the layer “Intersection” and “Park area”
to display the objects on that layer.
Pre-modeled objects should now be turned on along with the scans. At this point, turning off
the visibility of the point cloud would be ideal to clearly see the modeled objects on the
“Intersection” and “Park area” layer.
• In the View Properties dialog, click on the Selectable/Visible tab.

tab
Instead of using the ScanWorld Explorer to turn off each scan individually, we will use this
Selectable/Visible tab to temporarily turn off all point clouds at once.
• Uncheck the visibility checkbox of the Point Cloud object type to turn off all point clouds.
Figure 3

2 Obtaining Measurements
There are several different ways to obtain and record measurements in Cyclone. First let’s have
look at obtaining a point-to-point distance.
Try finding the width of the street. Zoom into one of the modeled streets to a view like the one
in the image below.
Figure 4
• Select a point on one line of the street.

• Multi-
Multi-select a point on the other side of the street, using the Shift key to add to the previous
pick, in other words the “from point” to the “to point”.
• Select Tools | Measure | Distance | Point to Point.

Point Or simply press “D” which is the hot key for
this function. [Hot Key D]
Figure 5
Although this measurement is accurate point to point, it may not be the true perpendicular
distance, due to the fact that the two pick points used in the measurement may not represent
the shortest distance between the lines.

3 Edit and Save Measurements
Save the measurement to the database by:
• Selecting Tools | Measure | Edit Measurements

Measurements
• Pressing the “Toggle save measurements” button at the top of the resulting dialog.
• Right-Click on the Type heading to indicate the other type fields to appear. (See below)
Figure 6
Figure 7
Figure 8
Enabling the “Save Measurements” button saves all measurements that are
queried in this scene to the database.
3.1 Point-to-Centerline Distance
In order to get a better measurement of the closest line-to-line distance:
• Pick one of the modeled lines anywhere.

• Multi-select its opposite line, using Shift.
• This time select Tools | Measure | Distance | Point to Center
Center-
enter-Line/Point.
Line/Point
This is the measurement that we’re interested in, because it is the shortest distance from the
first picked point to the axis of the line. Or in other words it is the distance from the first picked
point perpendicular to the other line.

3.2 Point to Unbounded Surface
To get the distance from the street to the building:
• Pick a point on the line.

• Multiselect a second point on the surface of one box.
Take care to select a point on a face in the direction of the street.
• Select Tools | Measure | Distance | Point to Unbounded Surface
Figure 9
Point to Unbounded Surface calculates the distance between the first picked point and the
nearest intersection with the surface plane of the selected object.
For measurements, surfaces are extended beyond the endpoint or boundary of the actual object
to the nearest point of intersection. For example, a measurement to the surface of a patch is
made to the nearest point on the underlying plane of the patch, which is not necessarily a point
within the boundary of the patch.

Try making more types of measurements, such as the angle between the pole and the baseline,
the distance of the free throw or three-point line to the hoop, and the height of the rim from
the ground (elevation). Allow these measurements to continue saving in the Measurements
dialog. Rename the name field for each measurement if needed.
3.3 Obtaining Multiple Measurements from a Point
It is possible to take multiple measurements – simultaneous measurements – from a single point

to a number of consecutive points.
• Change to the the Multi-pick Mode.

• Select the point e.g. the lamp (Measurements will be made from the first point picked to each
of the other multi-selected points.)
• Click on a number of other points – the curbstone for example

• Obtain measurements by going to Tools | Measure | Distance | Point to Point
Figure 10

4 Copying Measurements
4.1 Copying Measurements with the Measurements dialog
When finished making measurements you can copy all measurements to any kind of text editor.
This method can be a fast way to record the dimensions saved in the measurement dialog:
• Highlight all measurements in the measurement dialog, using the shift key to multi-select.
• Press the copy to clipboard button.

• Open up any kind of text editor e.g. Notepad or MS Excel™ .
• Paste the measurements.
4.2 Copying Measurements to the Output Box

Another way to do this is to open the Output Box while taking measurements. As measurements
are taken they are automatically loaded into the output box where they can then be copied and
pasted into a program such as Excel.
The difference between the output box and the measurements dialog is that the
output box does not save the measurements to the database. Use the
measurement dialog to save measurements. Once the Output Box is closed, the
measurements are lost.
• Select View | Show Output Box.

Box
• Take several measurement(s) of the scene.

• Copy all in the Output Box to Notepad or MicroSoft Excel.
• Highlight the contents of the Output box and select Edit | Copy.
Copy.
• Paste the text into any text or spreadsheet application.
Figure 11

Module 5.2 - Mesh Functions
Introduction
A mesh is a series of triangles created using the points in a point cloud, vertices, polylines or any
combinations of the three as vertices. For each adjacent trio of points in a cloud, a triangle is
created. This has the effect of generating a coherent visual surface from a point cloud.
Cyclone enables you to create dynamic mesh objects that can be manipulated extensively to
achieve the visual results you need. Triangles can be added, edited, or removed. Mesh objects
can be decimated using a dynamic real-time interface that allows you to adjust and fine-tune
your mesh. New vertices can be incorporated into the mesh from user-drawn polylines and break
lines can be placed into the mesh to preserve geometric features during decimation
Objectives
The objectives of this training module are to demonstrate the functionalities Cyclone has in
creating and editing meshes as well as using them as a base for further deliveries:
• Volume & Surface deviation calculations (Cut-Fill)

• Contour lines
• Decimation of Mesh
• Uniform Sample Grid Pattern
Files to Use
• Construction Pit.imp
• ImolaBridge.imp
Data Extraction Module 5.2 - Mesh 1 - 28

Table of Contents
1 Mesh Creation and Editing ....................................................................................................... 3

1.1 Create a TIN Mesh.......................................................................................................... 3
1.2 Mesh Editing/ Cleaning ................................................................................................... 5
1.3 Verify TIN ....................................................................................................................... 8
2 Creating Deliverables from Meshes .......................................................................................... 9
2.1 Measuring Volumes ........................................................................................................ 9
2.2 Measure Surface Deviation........................................................................................... 14
2.3 Contour Lines............................................................................................................... 16
3 Enhanced TIN Mesh Creation and Editing ............................................................................... 18
3.1 Defining Breaklines ...................................................................................................... 18
3.2 Creating a TIN Mesh from points and polylines............................................................. 20
3.3 Including additional Breaklines ..................................................................................... 21
3.4 Decimating a TIN Mesh................................................................................................. 23
4 Creating a Uniform Sample Grid Pattern ................................................................................ 27
2 - 28 Module 5.2 - Mesh Data Extraction

1 Mesh Creation and Editing
Cyclone knows three different kinds of meshes.

Basic Meshing
Meshing creates a basic mesh consisting of triangles drawn by using trios of adjacent
points as triangle vertices.
Complex Meshing
Meshing creates a mesh consisting of triangles drawn by using trios of adjacent points
that are likely to lie in the same plane.
TIN Meshing
Meshing creates a mesh wherein no two vertices share the same horizontal coordinates; the
current coordinate system determines the “up” direction for a TIN mesh.
Basic Meshing and Complex Meshing cannot be done with more than one point cloud. When
there are multiple point clouds selected, only the TIN Meshing option is available.
1.1 Create a TIN Mesh
In the database “Construction Pit.imp” open up the ModelSpace View under the registered
ScanWorld.
Select a point at the inner part of the scan as shown in below.
The inner part was already segmented manually from the main cloud.
With the inner point cloud selected go to Tools | Mesh | Create Mesh and choose TIN
TIN Meshing
Meshing
(using “up” direction) in the upcoming dialog. The TIN mesh will be computed.
Figure 1

After the computation the mesh looks blue, hit SPACE BAR or ESC key and it will appear in its
intensity colour.
Figure 2

1.2 Mesh Editing/ Cleaning
In order to clean the mesh and to get better results in the following applications remove some
of the spikes from the mesh. For a better overview first copy the mesh to a temporary
ModelSpace.
• Select the mesh. In the Infobar appears “There is 1 mesh selected”.

• With the mesh selected click on File | Lauch | Copy Selection
Selection to New ModelSpace to transfer it
to its own ModelSpace.
Inspecting the mesh, there are a few undesired spikes caused mostly by people either standing
in the area or walking through it during the scan. Refer to Figure 3 for their location.
Figure 3
Spikes in the mesh have to be deleted and re-filled based on surrounding mesh information one
by one. The example is shown on the middle spike shown in Figure 3.

• Define a fence around the incorrect triangles
via Edit | Modes | Polygonal Fence Mode.
Mode
• Select them via Selection | Select Fenced.

Fenced
• All selected mesh triangles turn blue.

All triangles crossed by the fence
are selected.
Switching to a Top View before
placing the fence avoids
accidental selection of triangles in
the back or front.
Figure 4
• Select Tools | Mesh | Delete Selection.

Selection This
deletes only the selected spikes.
Do not hit the delete key as this
will delete the entire mesh!
Alternatively, place a fence and
execute Edit | Fence | Delete
Inside (Shift I)
• The newly created hole in the mesh now has

to be filled with interpolated data.
• Click on the very edge on the hole. It is

selected when the surround appears in a light
blue colour.
Figure 5
• Select Tools | Mesh | Fill selected Hole.

Hole.
• This now fills the hole with interpolated

triangles as seen in Figure 6.
Figure 6
Continue to edit the other two regions in the same manner.

Once accomplished bring the edited mesh back into its original ModelSpace.

• Click on the X in the upper right corner of
the window you are working in or go to
File | Close.
Close
• The Window in Figure 7 appears. Choose

the options “Merge into original
ModelSpace” and “Delete after close” and
press Close.
Close
• You will end up with the edited TIN Mesh in

Figure 7 its original ModelSpace.
Figure 8

1.3 Verify TIN
TIN is a mesh in which there are no vertically overlapping faces. But during editing of a TIN mesh
it can happen that the resulting mesh no longer conforms to this rule. Cyclone provides a tool to
verify if the selected mesh still conforms to the definition of a Triangulated Irregular Network
(TIN).
This is important since some functions of measurements and deliverable creation only work on a
true TIN mesh.
• Select the mesh.

• Go to Tools | Mesh | Verify TIN.
• If the mesh is a TIN, the upcoming window

will infirm the user about this (Figure 9).
Figure 9
• If the mesh is not a TIN, the message will be

appropriate (Figure 10) and small white dots
will mark the places where the violation is
within the actual mesh.
• The user can now try to either address each

violation via deleting triangles and filling
Figure 10
holes. But the fastest and easiest solution is
to select the mesh and create a new TIN Mesh
via Tools | Mesh | Create Mesh | TIN meshing.

2 Creating Deliverables from Meshes
Meshes can be used as a basis for further deliverables. The following will look at deriving volume
and surface deviation measurements as well as creating contour lines based on TIN meshes.
2.1 Measuring Volumes
Volumes can be calculated between a mesh and a reference surface or between two meshes.
The workflow below describes the process of establishing a volume between the created TIN
mesh and a flat surface (called reference plane) which first has to be positioned accurately.
Find High/ Low Point

The following describes a way of locating the highest point in a mesh in order to positioning the
reference plane based on it.
Figure 11
• Pick a point anywhere in the area marked in Figure 11.

• With the point selected click on Tools | Measure | High/Low Point.
Point

• This will measure the Highest Point within a default area of 0.5m on the selected Object.
Increase this number, either by using the slider or if the slider is not enough, increase it
manually, until the pink “Indication Zone” reaches the edge as shown in Figure 11.
• After finding the Highest Point confirm it by pressing the “Pick

Pick Point”
Point or “Insert
Insert Vertex”
Vertex
button.
• Close the tool.
Position the Reference Plane

The Reference Plane is an infinite two-dimensional plane used for various operations within
Cyclone. Besides as a reference for volume calculations, it is also used as a basis for surface
deviation measurements, 2D drawing functions or orienting cutplanes.
The following outlines how to access and manipulate the cutplane to position it at the previously
marked highest point of the mesh and align it to the current UCS.
Figure 12
• Select the vertex marking the highest point.

• Switch on the Reference Plane through Tools | Reference Plane | Show Active Plane.

• Ensure the plane is orientated to the local UCS by executing
Tools | Reference Plane | Set to UCS.
• Move the reference plane center to the selected point via

Tools | Reference Plane | Set Plane Origin at Pick Point.
Point.
• Now the reference plane is positioned correctly to continue with the following
measurements.
A Reference Plane is still active when visually switched off.
When working more with specific command groups like the Reference Plane it
can be useful to pull out the respective toolbar. This can be accessed through
Edit | Customize Toolbars.
Toolbars. Either keep it floating as seen in Figure 12 or dock it to
the top or side.
Mesh Volume
A mesh volume is calculated either above or below a reference place based upon the center of a
rectangle defined by the Sampling Step Intervals. The lines created in the Cyclone volume
calculation represent the “stems” of each rectangular volume. The resulting volume of the
rectangular box is calculated.
A mesh volume can be calculated based on Basic, Complex and TIN meshes.

• Go to Tools | Measure | Mesh Volume | Below
Reference Plane
• Enter a value for the Sample Step, which is

the grid size in which the mesh area is
divided into (Figure 13).
Figure 13
• The volume reached is depending on the chosen interval, but should be close to 850m3
• Turn off the graphical representation as well as the actual measurement via
Tools | Measure | Clear Temporary Measurement.

Figure 14

TIN Volume
A TIN volume is calculated either above or below a reference plane or directly between two
meshes according to the prismoidal method. This can only be calculated based on TIN
meshes.

• Go to Tools | Measure | TIN Volume
• Note the upcoming window informing the user: The difference between TIN1 and the
Reference Plane will be calculated along the active Z-axis (see Figure 15).
Figure 15
• Upon accepting this dialog, the Cut/Full Volumes as well as Cut/Fill areas are displayed
(Figure 16).
To measure the TIN Volume between two TIN meshes, simply select both
meshes prior to executing the command Tools | Measure | TIN Volume.

Figure 16
2.2 Measure Surface Deviation
The surface deviation tool measures the elevation differences between the existing (TIN
mesh) and proposed surfaces (TIN mesh or Reference Plane). This can be useful for
excavation and grading projects to establish where a surface needs to be cut (excavated) or
filled to achieve the target surface grade.
The output options are:
• Cut/Fill Contours using a user-specified major and minor contour interval.

• Table Output of elevation differences between two surfaces at a user specified grid
sample.
• Points whose coordinates and elevation in the current UCS correspond to the individual
deviation measurements – this can be used for staking cut/fill values on a user-specified
grid in earthwork applications.

• Go to Tools | Measure
Measure | Surface Deviation
• Checkmark all output options and change

the intervals of the deviation contours to
1m Major Interval and 4 Minors per Major
(see Figure 17).
• Press Ok
Figure 17
• Inspect the results on the created Output Table which automatically comes up.
• Review also the created deviation point cloud as well as the contours. As they are
positioned at the calculated vertical offsets, navigate down to the coordinate origin to
see both (see Figure 18.)
Figure 18
To measure surface deviation within a specific boundary, multi-select a

polyline defining this boundary.

2.3 Contour Lines
Create Contour Lines

Contour lines can be created from any mesh object but are best created from TIN meshes due to
their watertight properties.

• Go to Tools | Contours | Create
• In the upcoming window enter values as
seen in Figure 19 to receive major contours
every 1m and minor contours every 25cm.
Ensure to checkmark “Label Contours” and
define that the elevation should be
measured from the “Current Coordinate
System”.
• Continue with OK to draw the contours (see

Figure 20).
Contours as well as contour label

properties can be edited by
selecting the contour line, then
selecting Edit Object|
Object| Edit
Properties.
Figure 19

Figure 20
Decimate Contour Lines

This command is used to reduce the number of triangles in a selected contour line. This can be
useful when export to another CAD package is required.
When Cyclone reduces the number of vertices, it does so with a mandate of minimizing the
deviation from the originating mesh. (Deviation is measured perpendicular to the contour’s
plane).

• Select all contour lines to be reduced.
(Selection
Selection | Set Selectable select Contours)
Contours
• Go to Tools | Contours | Decimate and the

Decimate Contours dialog appears.
• The maximum absolute deviation can be set

by either entering a value (press TAB to
update) or by moving the slider.
• View the number of line segments changing

in the lower half of the window.
• Set this value to 10mm and press OK.

The contours are now redrawn.
Figure 21
A good workflow is to first decimate the actual mesh prior to creating the
contours.
Contours can now be exported via coe or dxf.
3 Enhanced TIN Mesh Creation and Editing
Using a new dataset “ImolaBridge.imp”, the following will look at using the actual mesh as a
deliverable and how to enhance this by integrating breaklines into. Afterwards the mesh will be
reduced maintaining those breaklines and the actual surface quality. This can be useful when an
export of the created triangulation to another CAD package is required.
3.1 Defining Breaklines
A breakline is a feature line or polyline representing a ridge or some other feature that the user
wishes to preserve in a mesh made up of triangular elements. A breakline can be considered a
series of edges to which the triangles should conform to i.e. not intersect.
Breaklines usually represent a change in geographic shape or configuration such as a curb, a
trough, or some geometric feature that has a distinct characteristic setting it apart from
adjacent topography or features.
We are going to create a break line along the south curb of the road. Creating a break line is a
useful way to keep the integrity of a surface characteristic intact during decimation, i.e. a curb
top or gutter.
• Using the database ImolaBridge.imp, open the ModelSpace View called Cleaned Unified
ModelSpace For Mesh Creation.

Figure 22
• Using the Multi-Pick Mode select a series of points at the top of the curb of the road as seen
in Figure 22.
• Convert points into a polyline using Create Object | From Picked Points | Polyline.
Polyline.
• Do the same for the bottom of this curb so that the end-result looks like Figure 23.

Figure 23
As an alternative the Create Object | Fit Edge tool can be used to create the curb
break lines.
3.2 Creating a TIN Mesh from points and polylines
A TIN mesh can be created from point clouds as well as vertices, lines and polylines.
• Select the polyline representing the top of the curb as well as the pointcloud and execute
Tools | Mesh | Create Mesh | TIN meshing.
The TIN mesh will now be created incorporating also the selected polyline as a breakline. This
means no created triangle will be created across this line. This can be seen best when switching
the visualization of the mesh to a wireframe mode.
• Select the created mesh. Go to View | View Object As.

As. Select the option Wireframe and press
Apply (see Figure 24).
• Assign the top polyline to a new Layer, to see the incorporated line underneath. This is visible
by the orange colour (see Figure 24).

Figure 24
3.3 Including additional Breaklines
Additional breaklines can also be incorporated into a TIN mesh after its creation. There are two
options which will both be applied on the bottom curb.
Extend the TIN to Polyline - This command re-shapes a mesh object to include the vertices
contained in a selected polyline
Project Polyline to TIN – This command wraps a polyline onto a TIN object, creating edges in the
mesh based on the projection of the polyline vertically onto the mesh (although the polyline
itself is unchanged); the edges are then "stretched" vertically to conform to the polyline's shape.

Figure 25
• Select the polyline at the bottom of the curb

(Figure 25).
• Execute Tools | Mesh | Breaklines | Project

Polyline to TIN.
TIN.
• Review how the line has been projected onto

the existing mesh surface creating new
triangulations (Figure 26).
Figure 26

• Press Edit | Undo and now execute Tools
Tools |
Mesh | Breaklines | Extend TIN to Polyline.
• Review how now the actual mesh surface has

changed to include the polyline (Figure 27).
Change the visualization of the

mesh to “Per Face Normals” under
View | View Object As.
As
Figure 27
Creating a TIN mesh including breaklines is significantly faster then incorporating

them later on into an existing TIN.
The commands Tools
Tools | Mesh | Polyline | Extend TIN to Polyline and Tools
Tools | Mesh |
Breaklines | Project Polyline to TIN initially create the same results. However the
resulting line in the mesh will only be a geometric object and not act as a
breakline during e.g. decimation.
3.4 Decimating a TIN Mesh
A mesh created from pointclouds usually contains a high number of triangles. When the
deliverable is a triangulation in another CAD package, it is normally required to reduce this
number.
Prior to actually creating the mesh, a pointcloud can be reduced in number using
the command Edit Object | Reduce Point Cloud or Tools | Unify Clouds.
Cyclone supports mesh decimation by which the number of triangles in a mesh is reduced
according to user-defined parameters. The Decimate Mesh dialog supports interactive
decimation. To see how this is done, best view the mesh in wireframe mode.
• Select the mesh object.

• Go to View | View Object as and switch visualization of the mesh to Wireframe

Figure 28
• Go to Tools | Mesh | Decimate Mesh.

• Press the Decimate button maintaining all other default settings
The mesh will now be reduced down to 10% of its original triangles whilst maintaining both
boundary edges and breaklines (Figure 29).

Figure 29
• Continue to reduce the number of triangles down to 1% using the interactive slider. (Ensure
“Auto-Preview” is checked)
• Experience the effects when boundary edges and breaklines are set Ignore
• In the end, decimate the mesh to 1% of the original, maintaining the boundary edges and
breaklines. (Figure 30).
This mesh object is now more manageable for export via coe, dxf or msh to other CAD packages.

Figure 30

4 Creating a Uniform Sample Grid Pattern
Cyclone creates irregular triangulations. This means the triangles are not uniform in shape and
size. Some processing packages however require regular triangulations.
Therefore Cyclone offers the opportunity to create uniform grid pattern deliverables based on
TIN meshings.
The deliverables can be displayed in various formats, including a regular mesh, vertices,
pointclouds and an output table.
The reference plane is used to identify the orientation of the desired grid.
• Select the TIN mesh to be sampled.

To create a Sample Grid within a specific boundary, create a polyline enclosing
the area to be sampled, then multi-select the polyline or polygon object and the
TIN mesh.
• In the upcoming interface (Figure 31), change

the grid spacing to 1m. The sample will be
taken on the reference plane with this
spacing.
• Checkmark Mesh.
Mesh
• Additionally checkmark Output Table.
Selecting Vertices or Point Cloud

will create these items instead of
a mesh object.
Figure 31
This will result in a new mesh object created on top of the existing one.
In addition the output table appears containing a listing of the created sample points. These
x,y,,z values can then be exported to any other application via Copy to Cipboard .

• Place the new regular mesh onto a new layer and then switch off the original one on layer
Default to view this one only (Figure 32).
Figure 32
Notice how the orientation of the triangles is slightly slanted. This is due to the
pattern being derived from the active reference Plane which in this case is based
on the current coordinate system. To orient the pattern along the road, first
correctly orient the Reference Plane.
Meshes can now be exported via coe, dxf or msh format.

Module 5.3 - Alignments & Sections
Introduction
Cyclone has specific tools for creating sections along an alignment, which in most cases is along
a roadway or tunnel. An existing alignment can be imported or created within Cyclone, along
which stations can be created at user specified intervals. Further, sections of point clouds can
then be referenced relative to the established stations.
Objectives
• Cleanup the scan

• Creating an Alignment
• Creating and Editing Sections
• Use of Sections Manager
Files to Use
• ImolaBridge.imp
• Alignment.coe
Data Extraction Module 5.3 – Alignments&Sections 1 - 18

Table of Contents
1 Getting Started........................................................................................................................ 3
1.1 Load the Database......................................................................................................... 3
1.2 Unify point Clouds.......................................................................................................... 3
1.3 Copy the Modelspace ..................................................................................................... 4
1.4 Delete Unneeded Points ................................................................................................ 5
2 Remove Car Noise ................................................................................................................... 7
2.1 Region Grow, Smooth Surface........................................................................................ 7
3 Create an Alignment .............................................................................................................. 11
3.1 Import Alignment ......................................................................................................... 11
3.2 Create Alignment ......................................................................................................... 13
4 Create Sections ..................................................................................................................... 14
5 Sections Manager .................................................................................................................. 15
6 Review................................................................................................................................... 18
2 - 18 Module 5.3 – Alignments&Sections Data Extraction

1 Getting Started
1.1 Load the Database
Locate the database named ImolaBridge.imp and configure it to the Cyclone Navigator:
1) Launch Cyclone.
2) In the Navigator, click Configure |
Databases.
3) In the Configure Databases dialog, click Add…
4) In the Add Database dialog, click the browse
button to be able to browse to the database
file. (Figure 1)
5) Click Open.
6) Click OK.
7) Click Close.
Figure 1
The database is loaded into the Cyclone Navigator under the server.
1.2 Unify point Clouds
The Unify Clouds command is typically used in a ModelSpace containing a registered set of
scans and a large number of point clouds. Performance is improved by the cloud unification
process, in that a single point cloud is created.
1) In the Navigator, select ModelSpace 1 that

exists under the Completed Registration
project folder.
2) Click Tools | Unify ModelSpace...
Figure 2

3) In the Unify Clouds dialog, click Unify.
Figure 3
4) Click Yes in the Unify Clouds: Referenced

Point Clouds dialog to begin the unification
process.
Figure 4
1.3 Copy the Modelspace
Throughout the course of this module, work in a designated ModelSpace. Perform a simple copy
and paste of the existing unified ModelSpace, and then rename it to something specific and
recognizable.
1) Select the unified ModelSpace 1 under the

Completed Registration project folder.
2) Click Edit | Copy.
3) Highlight the ModelSpaces folder one level
up.
4) Click Edit | Paste.
5) Rename the pasted ModelSpace to
Alignments and Sections.
6) Rename the existing ModelSpace View (one
level down) to Alignments and Sections View.
Figure 5

1.4 Delete Unneeded Points
In this module, we will work primarily with the scanned points representing the road surface and
pedestrian pathways. Delete any points that are not needed for this module.
1) Open Alignment and Sections View.
2) In a top view, make a fence approximately encompassing scanned road surface. (Figure 6)
Figure 6
3) Click Edit | Fence | Delete Outside. (Shortcut: Shift + O)

Figure 7
4) Rotate to a left or right view and draw a fence encompassing the roadway and pedestrian
walkway.
It may be easiest to do this in orthogonal projection mode.
Figure 8
5) Click Edit | Fence | Delete Outside .

6) Use the same methods to arrive at a portion of roadway that looks like Figure 9. Use the
targets locations as approximate visual guidelines.
Figure 9
2 Remove Car Noise
2.1 Region Grow, Smooth Surface
The scan data shows points on the road where a car passed in front of the laser. We will use
Create Object | Region Grow | Smooth Surface to segment the car noise from a sub-selected
group of points.
1) Using fencing and point cloud sub-selection commands, select a group of points which
encompasses the roadway (See Figure 10). It is okay to exclude the points representing the
median and just inside the pedestrian walkways.

Figure 10
2) In Multi-pick mode, pick a point on the flat region of the roadway.

3) Create Object | Region Grow | Smooth Surface…
When finished running the calculation, the point clouds that will be segmented will be drawn
white, and the Region Grow Smooth Surface dialog will look like Figure 11 below.

If needed, use the sliders to adjust the smooth
surface parameters:
• Region Thickness defines a surface thickness

outside of which points are excluded from the
calculation.
• Maximum Gap to Span defines a maximum

distance between any two adjacent points
included in the fit calculation.
• Region Size defines the radial distance from

the seed point within which points will be
included in the region grow.
• While the Region Grow command is working,

the user may click the Interrupt button to
stop the calculation. To continue with the
calculation, click the Continue button.
• Click the Restart button to start over the

Region Grow calculations if, for example, the
command was interrupted and parameters
changed.
Figure 11
Ensure the Hardtop Surface checkbox at the top of the dialog is checked. If not,
check it then click Restart.
4) Click OK. The point cloud is segmented
Figure 12

5) Select the point cloud of the car noise and click Edit | Delete.
6) Perform a Region Grow Smooth Surface on the pedestrian walkways to segment the hand
rails, signage, and noise from the walkway.
Hint: Use point cloud sub-selection techniques similar to the steps above to run
the region grow on select groups of points. Do this for to clean the noise off of
the pedestrian walkway. See Figures 13, 14, and 15 for the general process. It is
easiest to do this in orthogonal projection mode, looking along the street.
Figure 13 Figure 14
Figure 15
7) Perform any other noise deletion by fencing the noise, and then pressing hotkeys Shift + I
or Shift + O to delete points inside or outside the fence, respectively.

3 Create an Alignment
An alignment is a geometric path that consists of the bearings, distance, and orientation of the
road design with respect to the designated coordinate system. It includes the transition points
from straight to curved, intersections of curves, angles representing the curve, radii for curves,
and other pertinent design criteria. An alignment is normally represented as a 2D horizontal line
that establishes a reference line or a geometric path for the design characteristics of a road,
bridge, tunnel, or right-of-way. It is normally situated along the center of the right-of-way. It
may, however, be offset from the centerline either horizontally or vertically.
3.1 Import Alignment
An alignment can be created in either of the following methods:
• Import an existing alignment.

• Create an alignment within Cyclone using the 2D Drawing Tools, or using
Create Object | From Pick Points commands.
We are now going to import an existing alignment that was established for the design of the
bridge.
1) In the Navigator, create a project folder named

Alignment in the ImolaBridge database.
2) With the Alignment folder selected, click
File | Import.
Figure 16

3) Browse to the Alignment.coe file, highlight it,
and then click Open. A ModelSpace and
ModelSpace View named Alignments and
Sections are created.
Figure 17
4) Open the Alignments and Sections

ModelSpace View.
5) Click Selection | Select All.
6) Click Edit | Copy.
7) Close the Alignments and Sections
ModelSpace View.
8) In the Alignments and Sections View, click
Edit |Paste. The alignment is pasted into our
cleaned up ModelSpace. The alignment
consists of two arc objects.
Alternatively you can merge the
contents of a ModelSpace into
another ModelSpace by opening
the ModelSpace where all objects
should be copied into and
executing File | Merge From
ModelSpace
Figure 18

Figure 19
3.2 Create Alignment
Assign the four imported arcs as the alignment object.
1) Multi-select the two arc objects.

2) Click Tools | Alignment and Section |
Create Alignment…
3) Click OK in the Create Alignment dialog to
accept the default start station value at
0.000.
Figure 20

Figure 21
• If the start station is assigned to the wrong end, click

Tools |Alignment and Section | Switch Alignment Start/End.
• When multiple objects are selected, such as this case, the objects must be geometrically
connected in a single unbroken sequence. The object picked last provides the end-point at
which the starting station is assigned.
• Alignments may be horizontal, skewed, or a mixture of both, but may not be vertical.
4 Create Sections
As you progress along an alignment, the station numbers increase. A station is a point along the
alignment at which a section is created.
• All features to the right of the alignment have a positive “offset”, and all the features to the
left have a negative “offset”, relative to the 2d coordinate system.
• For each Cross Section created the local coordinate system is oriented with Y=up, +X to the
right, -Z tangent (in line and away from the alignment).
• The offsets are represented as absolute values, appended by “L” for left, or “R” for right).
Each feature also has a vertical “elevation” in the local coordinate system.

Create sections along the alignment object:
1) Select the alignment created in the previous section.
2) Click Tools | Alignment and Sections | Create Sections…
3) Click Yes in the Check Horizontal Alignment Arc dialog. The Create Sections dialog opens. The
Create Sections dialog contains fields in which to enter appropriate criteria for creating
sections.
• Enter 0 in the Initial Station

field.
• Enter Spacing intervals of 5

meters.
• Leave all extents at the default

except for the Depth. Set this
to 2 meters. We will adjust this
in the next section.
• Ensure that Include Transition

Points, Create Lines, and
Collect Points are unchecked.
The Sections Manager appears.
Figure 22
5 Sections Manager
The Sections Manager lists the stations along the alignment. First, we will adjust the extents of
the Limit Box within which is contained the points related to that section.
We will adjust the values for one station, and then use the same values for the rest.
1) Double-click, in the Station column, a station defined at 40.000m to make it active.
Figure 23

Figure 24
2) Select the yellow limit box first to see the orange handles. Adjust the limits of the section by
clicking and dragging the orange handles on the limit box (yellow) to include the whole
portion of the roadway. When finished, the result may look something like Figure 25
Figure 25

3) In the Sections Manager, copy the Left, Right, Top, and Bottom values of the adjusted
section to the rest of the sections.
Adjust the value for a whole column by selecting the first in a column, then Shift
select the last in the column. Click again in the last of the column and enter the
desired value for the column then press Enter.
4) Step through the stations in the Section Manager by clicking
Section | Activate Next Section.
• This command activates the selected section and displays the section within a
limit box (using the section's six dimensions). The viewpoint, a temporary
Reference Plane, and a temporary Cutplane are aligned to the current section.
• Additionally, the datum and coordinate system origin and axes are temporarily
aligned to the section.
5) Click the Use Section’s Coordinate System button to toggle coordinate systems
between the local section’s coordinate system and the scene’s default coordinate system.
6) Select all sections listed in the Sections Manager, then click Section | Create Lines at
Section.
• Create Lines is used to create lines based on a temporary TIN mesh created
from the points within each section.
• Prior to this command, point clouds may be cleaned to produce the desired
resulting TIN mesh (i.e. at the median).
Figure 26

7) Select all sections listed in the Sections Manager, then click Section | Collect Points in
Section.
• Collect Points in Section is used to segment the points that fall within the
extents of the selected section’s limit box.
Figure 27
6 Review
• By means of an alignment object we were able to create sections along it at

specified stations.
• Further, we were able to use the Sections Manager to view, measure,

generate cross-section lines and collect points.

Module 6.0 - Export / Import
Introduction
Cyclone provides different ways to export information from within Cyclone in picture, ASCII,
Binary and CAD format.
There is also a COE exchange format between Autodesk AutoCAD and Bentley MicroStation.
Objectives
The objective of this training module is to learn how to export and import data in various
formats.
Files to Use
• -
Table of Contents
1 Image Export ........................................................................................................................... 2
1.1 Snapshot ....................................................................................................................... 2
1.2 Ortho Image................................................................................................................... 3
2 Export...................................................................................................................................... 4
2.1 Export a point cloud as ASCII File Format (*.txt)............................................................. 5
2.2 Export Objects as DXF File Format (*.dxf) ...................................................................... 6
3 Import ..................................................................................................................................... 7
3.1 Binary File Import ........................................................................................................... 7
3.2 ASCII Import ................................................................................................................... 7
4 COE – Cyclone Object Exchange ............................................................................................. 11
5 Export pcE Application Files ................................................................................................... 12
Data Export Module 6.0 - Export / Import 1 - 12

1 Image Export
Cyclone provides the option to take snapshots of ModelSpace Scenes or create Ortho Images of
desired areas.
1.1 Snapshot
The Snapshot function of Cyclone provides the option to take snapshots of ModelSpace Scenes
and then exporting them as various picture formats.
The tool bars will not be included in the snapshot but the actual model area.
• In Cyclone, rotate and pan to a preferred view of a model or point cloud.
Figure 1
• In the ModelSpace menu go to File | Snapshot, where you can chose between various
picture formats as seen below.
Figure 2
• In the following upcoming interfaces you can select the size of the saved image as well as
whether or not anti-aliasing should be applied.
Anti-aliasing will try to smooth out jagged edges on modelled objects.
2 - 12 Module 6.0 - Export / Import Data Export

1.2 Ortho Image
Ortho images can be exported from Cyclone as GeoTIFF files accompanied by TWF and TFW
parameter files. Ortho images can be exported from the ModelSpace window.
Figure 3
To export an ortho image:

1) Using orthographic projection, set the viewpoint in the ModelSpace viewer. This viewpoint
will be used for the ortho image.
The ortho image is centred in 3D on the viewer’s focus point.
2) Adjust the visualization and graphics options of the ModelSpace View. The ortho image uses
these settings.
3) Select File | Export….
Export… The Export to File dialog appears.
4) In the Export to File dialog, set Save as type to Ortho Image – Tagged Image File Format
(*.tif) and enter the filename.
5) Click Save.
Save The Image Size dialog appears.
6) Enter the ortho image settings and click OK.
OK The ortho image and corresponding TWF and
TFW files are exported.

2 Export
The Export menu is activated in Cyclone Navigator window File | Export when a ModelSpace or a
ModelSpace View is selected.
From inside the ModelSpace View following export formats are available:
Figure 4
The export from a ModelSpace View also provides the Intergraph SDNF.
All export formats are available from inside a ModelSpace View under File | Export
Choose:
• pts, .ptx, xyz, or .svy format exports the point cloud into a pre-defined ASCII
format
• txt format will allow the user to specify an own export format. Intensity and
RGB information are not supported with this format.
When the file format is selected and a self descriptive name is given the Export Option window is
coming up. Select the needed objects and press OK.
OK
Figure 5

2.1 Export a point cloud as ASCII File Format (*.txt)
When the “Text – All ASCII Files” format is selected from the file export format list and the
export options are set to Point Cloud in the Export Options dialog the following Export: ASCII File
Format dialog is coming up.
Figure 6
From this dialog the export format of the ASCII file can be manipulated. The settings can be
stored under a user defined name and be used again for the next export operation.
Intensity and RGB information are not supported with this format.

2.2 Export Objects as DXF File Format (*.dxf)
Following figure is showing the Model from Figure 1 exported as AutoCAD DXF R12 Format and
opened with AutoCAD 2010.
Figure 7
There are two different dxf-Formats available - the common AutoCAD DXF R12 Format and the
AutoCAD 2D DXF R12 Format.
The AutoCAD 2D DXF provides a convenient export of the "linear" (non-surface, non-point cloud)
ModelSpace objects to a 2D DXF file for use with AutoCAD.
Object vertices are projected to the "elevation = 0" plane in the current UCS. Objects are
exported as equivalent 2D DXF entities (not as the current 3D entities).
Following object types are supported: Vertex, Contours, Line Segment, Polyline and Polygon.
For further information about the export file formats contact the congruous
software provider or have a look in the Cyclone online Help.

3 Import
Cyclone provides various ASCII and binary formats for importing point cloud data (not modelled
objects).
3.1 Binary File Import
The table below is showing a section of supported well known file formats.
Provider File extensions Organization Mapping
FLS is a single scan

Faro *.fls, *.fws Registration
FWS is a registration
One text file with list of Registration with one scan

Leica *.ptg
binary data files (binary) or multiple scans (ASCII)
Leica *.ptz, *sc2 One file with one scan Registration with one scan
Leica *.ptx One file with multiple scans Registration with multiple scans
Optech *.ixf One file with multiple scans Registration
3DD is a single scan

Riegl *.3dd, *.rsp Registration
RSP is a registration
Z+F *.zfs One file with one scan Registration with one scan
3.2 ASCII Import
Importing a file into a project via the Navigator window generally reconstructs the most objects
(e.g., ScanWorld with Registration, Scans and ModelSpace with ModelSpace View). Importing a
file into a ModelSpace recovers only the geometry from that file.
Some ASCII files have pre-established formats and are imported directly into Cyclone. The data
contained in the files is represented by point clouds or vertices in the resulting ModelSpace.
Other text files do not import directly. Instead, an Import: ASCII File Format dialog is displayed,
prompting you to define/map the format of the file so that Cyclone can read (or parse) it
correctly and extract the relevant information. You can either select a pre-defined file format
from the Format pull-down list, modify an existing file format, or define a new format.
Following figure shows the supported import file formats.
Figure 8

Import an ASCII file as a point cloud
If you are in the Navigator window, select the Database, Project, ScanWorld, or ModelSpace into
which you want to import the file.
Select File | Import... (for both the Navigator and ModelSpace windows).
In the Files of type field, select All ASCII files (or a specific text file format), then navigate to the
location of the desired text file, and select the file to be imported. If the text file has a TXT, SVY,
or XYZ extension, the Import: ASCII File Format dialog is displayed.
Select the As Point Cloud checkbox to enable the import of the coordinates in the ASCII file as a
single point cloud, instead of as individual vertices. The column names reserved for use by point
cloud import (e.g., “Intensity”) become regular column headings. Configure the column headings
based on the contents of the ASCII file.
• If the file specifies a red-green-blue color for each point, assign the “Red”,
“Green”, and “Blue” headings to the corresponding columns.
• If the file specifies a grayscale value for each point, assign the “Gray” heading
to the corresponding column.
• If the file specifies an intensity for each point, assign the “Intensity” heading
to the corresponding column.
• If the file specifies a normal vector for each point, assign the “NormalX”,
“NormalY”, and “NormalZ” headings to the corresponding columns.
Figure 9

If you have pre-defined ASCII file formats available, select the desired format from the Format
pull-down list and click Import.
Import
Predefined formats can also be imported / exported as *.afr file.

Select either Fixed Width or Delimited display as appropriate.
• If you select Delimited, you are offered a variety of delimiter options. Select
the delimiters used in your file. A delimiter separates one column of data from
the next.
• If you select Fixed Width, an extra row of numbers appears beneath the
column headers (e.g., 1-10 11-16 17-24), which represents the extents of
each column. Click a pair of numbers to set the left-most border of that
column (note that the first column is adjusted by selecting the second column
and editing the beginning number).
The Number of columns field is populated automatically, based on your display choices in steps
before. You can change this value as necessary.
Indicate any initial rows (e.g., headers) to be skipped during the import by entering a number in
the # Rows to skip field.
Note: The bottom half of the screen allows you to see the results of your
settings/selections immediately. Columns can be resized as needed, and the
dialog box can be widened as necessary to view additional columns.
When you are satisfied with the settings, click the Save as button next to the Format field and
enter a name for this ASCII file format. This makes the format available for future use.
To complete the import process, click the Import button.
Import an ASCII file as geo reference file

A file which contains coordinates with targeted can be imported with the ID information and be
used as a geo reference file.
Choose the import from e.g. the mouse sub menu (right click) and select the text file. Again the
Import dialogue (Figure 9) is coming up. Select a predefined format or set the columns to the
correct value. Most text files will have a header where you can find the column information.
Figure 10

Figure 11
When the Import button is clicked and the import is done the newly created ScanWorld contains
the ModelSpace with geo referenced data.
Figure 12

4 COE – Cyclone Object Exchange
Open the ModelSpace from Database Quickstart, from which also the Screenshot in Section 1
was created.
Go to Files | Export and the Export to File dialogue appears.
Identify a location for the file, name the file to be created, then select COE format (*.coe)” from
the Save as type field.
On pressing the Save button the Export Options dialogue is coming up. Choose the preferred
option and click OK to create the COE file.
Conditional on the selected Export Options all objects or a part of them within the Cyclone
ModelSpace are translated to COE format. This step may take some time, depending on the
complexity of the ModelSpace being translated.
See below the model from Section 1 – Image Export - Snapshot which was exported via coe and
imported to AutoCAD
Figure 13
COE files are brought into Cyclone via Cyclone’s Navigator window, where a new ModelSpace is
created for the imported file. Most objects, as well as layer functionality, can be brought into
Cyclone from AutoCAD. Complex objects (e.g., cubes with rounded corners, objects with notches,
etc.) may not be translated as objects, but may instead be translated as a collection of lines and
arcs.
COE files can only be imported into Cyclone via the Navigator window – not from
inside ModelSpaces.

5 Export pcE Application Files
This command from inside a ModelSpace File | Export for pcE Application… saves the current
ModelSpace View as a point cloud data file for use in pcE applications.
Figure 14
pcE applications are:
• Cyclone II Topo
• Leica ForensicMAP Pro
• Point CloudCAD
For Cyclone II TOPO, a Cyclone II TOPO Work File will be created.

Module 6.1 - Animation
Introduction
In this lesson you will produce an animated flythrough of a ModelSpace. Animated flythroughs
provide a powerful presentation tool by creating a movie along a user specified path.
Objectives
• Understand how to create a path through a ModelSpace for the animation

• Understand how to edit the animation path to control the time of the animation
• Understand how to render an animation
• Understand how to string together the frames of the animation into
one .AVI file
Files to Use
• Database “Isartor.imp”
Table of Contents
1 Defining an Animation Path ..................................................................................................... 2
1.1 Define the initial keyframes of the path......................................................................... 2
1.2 Assemble the path ......................................................................................................... 3
1.3 Set the animation path .................................................................................................. 4
2 Editing the Path....................................................................................................................... 4
3 Editing the Frames................................................................................................................... 4
4 Preview the Animation............................................................................................................. 6
5 Generating the Frames ............................................................................................................ 7
Data Export Module 6.1 - Animation 1-8

1 Defining an Animation Path
In the flythrough, the camera runs along a user-defined path, orienting itself to face the
direction that the user defines. The path is defined by a spline curve to provide a smooth
transition from one position to another. The spline will pass through keyframes on the path,
transitioning smoothly between different viewpoints.
1.1 Define the initial keyframes of the path

Manipulate the viewpoint to the desired position and orientation, then execute
Create Object | Insert | Camera.
Camera. Move to the next positions in the scene and insert more cameras
to represent a keyframe or “snapshot” in the animation. See Figure 1.
Figure 1
The Camera icon will be inserted at the current view location. Zoom out slightly
to see bring it into view.
2-8 Module 6.1 - Animation Data Export

1.2 Assemble the path
Multi-select the cameras in the order in which the viewpoints will be used during the flythrough,
then execute Tools | Animation | Create Path to create the spline curve. See Figure 2.
Tools | Animation
Animation | Create Path (Loop) will create a spline loop that will produce an animation
that can be looped continuously.
Figure 2

1.3 Set the animation path
If the cameras and path are all still selected from step 2, select Tools | Animation | Set Path.
Path
The cameras and spline are now marked as the animation path.
If the cameras or the path were deselected

before this step, reselect all (in any order) or
open Selectable/Visible dialogue:
• Selection | Set Selectable

• Mark Spline and Camera
• Press Select
before choosing Tools | Animation | Set Path.
Path
Figure 3
2 Editing the Path
Once the animation path has been set, the cameras and spline may be edited to alter the
flythrough.
Edit the path’s shape

Manipulate the animation path’s handles by moving them to adjust the smoothness of the curve.
Manipulate the positions and orientations of the camera objects to update the associated
animation path. Edit Objects | Handles | Show Rotation Handles can be useful here to change the
view orientation of a camera.
A change to a camera updates the spline path and vice versa.
3 Editing the Frames
Editing the frames created along the path determines how long the animation lasts. For
example, if a path has 30 frames (basically these are single images) and the compiled animation
will be a standard 30 frames per second, fps, then the animation will last 1 second. If the path
has 300 frames, then the compiled animation will be 300f/30fps=10 seconds.
1) Invoke the Animation Editor dialog by choosing Tools | Animation | Animation Editor
2) Adjust the number of frames between keyframes using the upper half of the animation
editor
For an even spacing along the whole path, leave the number “1” in the “From” field, change the
number in the “To” field to the highest keyframe in the animation.

In the Number of Frames between Keyframes, enter the number of frames you want in the
animation and then click the Set button. Try 500.
Figure 4
The keyframes are originally taken from each vertex in the spline used to set the
path, but can be changed as done in step 2. Keyframes can be kept or inserted
to change the speed of the animation between different keyframes. To insert a
keyframe, go to the frame where the keyframe is to be inserted, then click the
Add Keyframe @ Time button.
3) Turn off the visibility of the cameras and the animation spline so they will not be rendered in
the animation
Select Selection | Set Selectable to invoke the

Selectable/Visible dialogue.
Uncheck the boxes in the visibility column next
to
• Spline, Spline Loop

• Camera
Also you can switch off additional unwanted
objects like
• Sphere
• Vertex
Select OK.
Figure 5

4 Preview the Animation
In the previous step, the top half of the Animation Editor was used to set the number of frames
in the animation. Now, use the bottom half of the Animation Editor to preview the animation.
1) Go to a frame number 1.
By default, the number 1 is already inserted in the field under Frame Number.
Click the “<< Go” button to go to frame 1.
2) Preview the animation every ten frames.
In the field next to Delta, enter the number “10”.
Click the ">>" button to move through the animation in increments of ten frames.
By checking the box next to “Keep Current Focal Point”, the camera will always “look at” the
defined focal point (Seek point) throughout the animation. Checking this box will override the
orientations of the cameras that were used to set the animation spline.
Figure 6

5 Generating the Frames
With the animation path and the number of frames along the path set, it is time to generate a
sequence of frames.
1) Select Tools | Animation | Animate to invoke the Animation Settings dialogue.
2) Adjust the resolution of the frames
3) Click the Animate button to start generating the frames
• Choose “To Video File” to create directly an

AVI video.
• Use the “…” button to specify a directory and

filename, where the video will be saved.
(name incl. the “.avi” ending)
• Leave “Keep Current Focal Point” to the

default unchecked to maintain our inserted
camera viewpoints during the animation.
• Leave the default fps of 30.

• Leave “All” checked under the Frames checked
to generate all frames along the path.
• For the Output Image resolution, specify a

standard 640 by 480 in the Width and Height
fields, respectively.
Figure 7 • Check the “high” circle to enable a better
quality of antialiasing.
4) Choose the Codec
It is recommended to install a professional video

codec like Xvid to get best video quality and
smallest possible video file size at the same time
Figure 8
5) Press OK to generate the video

Figure 9

Whether building a house or a bridge, a map or an aircraft, you need
reliable measurements. So when it has to be right, professionals trust
Leica Geosystems to help them collect, analyze, and present spatial
information.
With close to 200 years of pioneering solutions to measure the world,

Leica Geosystems is best known for its broad array of products that
capture data accurately, model quickly, analyze easily, and visualize
and present spatial information in 3D.
Those who use Leica products every day trust them for their
dependability, the value they deliver, and the superior customer
support. Precision, value, and service from Leica Geosystems.
When it has to be right.
Leica Geosystems HDS, LLC is widely recognized as the industry leader in terms of size,
market share, product breadth and depth, and customer base. The division has representatives
and customers in more than 40 countries.
Copyright Leica Geosystems GmbH, Munich, Germany 2010

1234456-1.0.MnlPrinted in Germany
Total Quality Management:
Our commitment to total
customer satisfaction
Leica Geosystems AG,Heerbrugg, Switzerland,

has been certified as being
equipped with a quality system
which meets the International
Standards of Quality Management
and Quality Systems
(ISO standard 9001) and
Environmental Management
Systems (ISO standard 14001).
Ask your local Leica dealer

for more information about
out TQM program.
Leica Geosystems AG
Heinrich-Wild-Strasse
CH-9435 Heerbrugg
Switzerland
Phone +41 71 727 31 31
www.leica-geosystems.com


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ScanStation P30/40 & Cyclone

Basic Training Manual

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This training manual covers the basics on using Leica Geosystem’s

BASIC WORKFLOW CHART

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Module 1.0 - Scanning with ScanStation P30 ............................................................................... 1

Module 2.0 - Introduction to Cyclone ........................................................................................... 1

Module 2.1 - Point Cloud Import .................................................................................................. 1

Module 3.0 - Basic Registration .................................................................................................... 1

Module 3.1 - Applied Registration Techniques .............................................................................. 1

Module 4.0 - Organization & Visualization of point clouds ........................................................... 1

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Module 4.2 - Cyclone Keyplan ...................................................................................................... 1

Module 4.3 - Cyclone TruSpace .................................................................................................... 1

Module 5.0 - Cyclone Basic Modelling ........................................................................................... 1

Module 5.1 - Measurements......................................................................................................... 1

Module 5.2 - Mesh Functions ....................................................................................................... 1

Module 5.3 - Alignments & Sections ............................................................................................ 1

Module 6.0 - Export / Import ........................................................................................................ 1

Module 6.1 - Animation ................................................................................................................ 1

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Morning Session (09:00am – 12:00pm)

09:00 Introduction: Student and teacher introduction.

09:15 Module 1.0: Overview Scanning, Targets, Connect Scanners

09:45 Module 1.1: Scanning with ScanStation P30 / P40

10:45 Module 1.1: Scanning with ScanStation P30 / P40 cont.

12:00 Lunch Break

Afternoon Session (01:00pm – 5:00pm)

01:00 Module 2.0: Introduction to Cyclone

02:45 Module 2.1: Point Cloud Import

03:45 Module 3.0: Scanning and Registration Basics

05:00 End of Day 1

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Morning Session (09:00am – 12:00pm)

09:00 Module 3.1: Basic Pointcloud Registration

10:45 Module 3.2: Applied Registration Techniques

12:00 Lunch Break

Afternoon Session (01:00pm – 5:00pm)

01:00 Module 3.2: Applied Registration Techniques cont.

02:45 Module 4.2: Cyclone Keyplan

03:15 Module 4.3: Cyclone TruSpace

03:45 Module 4.4: Cyclone Publisher & TruView

05:00 End of Day 2

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Morning Session (09:00am – 12:00pm)

09:00 Module 4.0: Organization & Visualization of Pointclouds

10:45 Module 4.0: Organization & Visualization of Pointclouds cont.

11:15 Module 5.0: Cyclone Basic Modelling

12:00 Lunch Break

Afternoon Session (01:00pm – 5:00pm)

01:00 Module 5.0: Cyclone Basic Modelling cont.

02:45 Module 5.1: Measurements

03:00 Module 5.2: Mesh Functions

04:00 Module 5.3: Alignments & Sections

05:00 End of Day 3

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Morning Session (09:00am – 12:00pm)

09:00 Execution of Scanning Project in the Field

11:30 Import Scans

12:00 Lunch Break

Afternoon Session (01:00pm – 4:00pm)

01:00 Registration/ Aligning of Scans from the morning session