Scene 5.2 Laser
Scanning Manual
Written by: Alan Sanoja
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Faro Scene Manual
Table of Contents
iii
Table of Contents
Contents
Scene 5.2 Laser Scanning Manual .................................................................................................. 1
Table of Contents ........................................................................................................................... iii
Introduction ..................................................................................................................................... v
Data Acquisition: ............................................................................................................................ 6
Targeting: .................................................................................................................................... 6
Target Locations: ........................................................................................................................ 9
Registration: .................................................................................................................................. 12
Installation: ............................................................................................................................... 12
Minimum Requirements: .......................................................................................................... 12
Faro Scene Install:..................................................................................................................... 12
First time to run Faro Scene: ..................................................................................................... 14
Placing Scans: ........................................................................................................................... 18
Deliverable: ................................................................................................................................... 21
Orientation: ............................................................................................................................... 21
Exporting: ................................................................................................................................. 22
Glossary: ....................................................................................................................................... 24
Index: ............................................................................................................................................ 25
Introduction
v
Introduction
This manual if going to be focused on going through the process of a typical job in the
building industry. At the end of this manual the goal is to have you complete your first job from
scanning all the way though registration. The manual is going to be broken up into 3 major
sections. Data acquisition, registration, and deliverable.
The Faro Focus 3D will be the laser scanner that will be used for data acquisition in this
manual. This is a small and very powerful device for several application. It can be carried on to
planes easily for an on the go scanner. This device will shoot up to 110 meters with a +/- 2 mm
error.
Registration will be done with Faro Scene 5.2 using data acquired through the Faro Focus
3D. The laser scanner will create .FLS (Faro Laser Scan) which will be analyzed and processed
with Faro Scene. The minimum requirements for this software are on a sliding scale based upon
the size of your project.
The deliverable is going to be in Autodesk’s RCS (ReCap Scans) file format for use in
Autodesk suites. This format is optimized for native Autodesk applications (Revit, AutoCAD,
3DS Max, etc.) for lower memory requirements and smoother renderings from the point cloud.
We will orient the building using an architectural plan North, with a reference to true North.
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Faro Scene Manual
Data Acquisition:
Laser Scanner:
There are two main types of Laser Scanners, phased based and time-of-flight. The phase
based, uses the returned phase shift to determine the distance of the object, and time-of-flight
scanners uses the time it takes for the laser to go to the object and back and the speed of light it
can determine the distance. Each system has its own
advantages and the draw backs. The phase scanner can
pick up to one million points per second, but is limited
to a much shorter distance, approximately 100 meters.
Time-of-flight does only 50,000 points per second but
can reach distances of up to 300 meters. This manual
will be covering a Faro Focus 3D and the next
generation Faro Focus 3D 330X. The main difference
Figure 1 - Faro Focus 3D (Black) - Faro Focus
330X (Blue)
between the two is the range capabilities, 330X can
reach up to 330 meters and the Faro Focus can reach up
to 120 meters. Remember these scanners cannot see through walls or doors, and they will only
detect
Targeting:
In most cases you will be doing multiple scans and stitching them together to create a
large singular point
cloud. There are two
different methods that
you can achieve this.
The use of targets and
the manual
Auto-Detect
registration. Targets
allow the computer to
attempt to stitch all
Figure 2 - Scene Auto Detection
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the scans together by determine similar patterns that are achieved by target locations. See Fig 2.
If done correctly the computer can do hours of work for you during the post process. You can
also use natural registration that require you to use similar planes or points to create “natural
targets”. Both of these processes will be explained in detail later. The reason for not using targets
would be due to small time frame for data acquisition or no suitable locations for targets. The use
of targets is strongly recommend. There are several types of targets, which include spheres,
checkerboards, and discs. We will only focus on spheres and checkerboards but the same theory
applies with discs.
Checkerboards:
Checkerboards can either be plates that have a checkerboard
pattern or you can print out paper checkerboards so that you
can leave some behind for future reference or for a large
complex jobs. The disadvantage for checkerboards is that
the scanner has to be in a certain view for the software to
automatically pick a checkerboard reference target. It is
approximately a 45 degree from the face of the check board.
Fig 5. Spheres are the preferred primary target since you can
Figure 3 - Checkerboard Plates
use the sphere at any angle as long as it
is visible and supplement with
checkerboards where they can easily be
seen by the laser scanner. The
checkerboards dark and light pattern is
detected by the software and then the
software attempts to put a reference
point at the center intersection. If the
software can’t detect it automatically
you can easily spot the location of the
center by selecting the point.
Figure 4 - Red area indicates location of scanner to use
checkerboards
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Faro Scene Manual
Spheres:
Laser scanning spheres come with a high tolerance
radius that can be input into the software. The spheres you
received with your scanner are going to be the standard size
laser scanning sphere with a diameter of 144 millimeters.
You can purchase spheres with radius ranging from 6” to 12”
inches. Faro Scene requires 80 points on a sphere for
automatic detection. The larger spheres allows for Faro
Scene to detect the sphere at greater distances due the larger
surface area. The spheres cost drastically goes up when the
size increased due to high manufactures tolerances and
special reflective paint. Spheres come with a magnetic base
Figure 5- 6 inch sphere on tripod
that can have either a tripod, spider legs, or extended
magnetic base attached to meet the location needs.
Distance that the Scanner can be away from each size sphere. He is a little chart.
Sphere
Radius
6 in
8 in
10 in
Resolution
5120x2134
8192x3414
10240x4267
5120x2134
8192x3414
10240x4267
5120x2134
8192x3414
10240x4267
Distance from
Scanner
30 feet
40 feet
60 feet
40 feet
55 feet
80 feet
80 feet
120 feet
160 feet
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Target Locations:
The placement of targets is very important when you are attempting to lower your scan
tolerances. The scanner has an inclinometer built inside so that it knows how to level the scan.
This can be used as a similar reference for scans to be combined together. Along with this you
will need 2 more reference targets for the computer to successfully place scans together. This can
be either spheres or checkerboards or a combination of the two. In order for an artificial target to
be useful it must be seen in more than one scan. The more scans a target is in, the tighter the
tolerance would be when you place scans together. This is strongly recommended that you try to
get each target in two or more scans. There is no one way to place your targets but placing them
so they are captured in multiple scans allows for a smoother registration process. This takes
practice and you learn from errors quickly as you will pay in time during the registration process.
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Faro Scene Manual
Faro Focus 3D Settings:
Turning the scanner is as easy as pushing a button, and waiting a few moments. Once you
have pushed the power button and the screen has lit up, you will see the home screen. It will be
default settings and we will go through the process of changing them. This scanner comes with a
touch screen so just touch the icons to navigate.
This screen will give you a quick overview of
what the settings are on the scanner.
Operator: You can create profiles for specific
persons so the scanner is customized to their
preferences.
Project: This is the folder all the scans are going
to be moved into.
Profile: These are a group of settings that have
been saved for future use. This allows you to
quickly switch between popular settings. (..10m
means less than 10 meters and 10m… means
greater than 10 meters. )
Parameters: Allows you to quickly change you
settings or profile without saving it.
View Scans: This allows you to pull up scans and
view them in a quick view to make sure you
captured your targets and necessary geometries.
Figure 6 - Home Screen
Manage: This is where you can edit and save
operators, projects, and profiles.
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This is the scan parameter menu. You can quickly
change profiles, switch the resolution, scanning
angles, and sensors you want to use for your
scans.
Selected Profile: This so you a quick view of your
current profile and if you would like to switch to
another one you can just click it and select.
Resolution/Quality: This is where you can alter a
profile without saving by changing the resolution
and quality
Horizontal/Vertical: You can select the angles of
sight you want your scanner to go through to
accomplish your project.
Sensors: You can turn on and off the compass,
altimeter, and inclinometer. The compass and
altimeter are quite unreliable but you can always
turn off sensors after you’ve scanned as well.
Scan with Color: When the icon is showing green
this means that you are going to take photos after
each scan. This will add an addition 2:38 seconds
per scan which can drastically increase time
needed to scan your project but adds quick a bit of
detail to your scans.
Eye Safety Distance: This gives you a quick view
of the distance away from the scanner human eye
needs to be without protection.
The manage tab allows for access to edit and save
projects, profiles, and operators.
General Settings: You can edit the sounds made
by the scanner and the volume. Change the edit
date and time. The language used for the user
interface, and the units used by the scanner.
Metric or English
Service: This allows you to format the SD cards
and calibrate unit between your annual service and calibration.
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Faro Scene Manual
Registration:
This chapter is going to cover how to register your scans you have just completed in the
field. We will first verify your computers minimum requirements and begin installing the
software. I will then provide details on how to bring in and edit your scan files. I will finish with
exports your files into the desired format.
Installation:
Minimum Requirements:
Minimum System
Requirements by Project Size
(GB)
0.0 to 4.0 GB
4.0 to 8.0 GB
# of
Scans
Resolution
CPU
HD
10
20
20
40
45
27270x11379
14240x6486
27270x11379
14240x6486
27270x11379
> i7 2.4
ghz
> i7 2.8
ghz
10 GB
FREE
25 GB
FREE
50 GB
FREE SSD
175 GB
FREE SSD
8.0-20.0 GB
20.00 to 100.00 GB
90
14240x6486
200
27270x11379
400
14240x6486
> i7 3.2
ghz
> i7 3.5
ghz
MEMORY
8 GB
16 GB
32 GB
64 GB
Faro Scene Install:
If you have physical copy of Faro Scene such as a CD or thumb drive insert that into your
computer at this time and locate it on your computer. If you do not have the software you can
download a fully function trial version from the Faro website.
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Link to 30-day trial:
http://www.faro.com/en-US/faro-3d-appcenter/stand-alone-apps/scene
1.
Direct your web browser to the 30day trial link. Click on the download link
and direct it to location on your computer.
Download Link
2. Click on the file you just
downloaded. It should be named
E1131_SCENE_5.2.0.35213_x64_Setup.
Double
Doubleclick
Clickto
start installation.
3.
Select your preferred language, and follow the
directions in the installation menu.
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Faro Scene Manual
First time to run Faro Scene:
The first time you run Faro Scene you are going to select your default folder for your projects.
This folder is where Faro Scene will save all your projects and backups. The reason for this is
when you create a new project Scene creates an array of folders for it to keep all the data. This is
much more practical to use in one location with multiple projects.
This is what Scene will look like when you first open it up. Click on the grey button that says
Select Default Project Folder that is in the center of your screen. Browse to the desired folder and
select it and Scene will then try and locate any projects that are already in the folder. If a project
is available it will have a thumbnail and project title for you to be able to click and open. If no
project.
Once you’ve selected your project folder, you will give a screen similar to below. Select the new
project icon, which is located in the top right of the picture below. Its icon is a folder with an *
on the top.
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Figure 7 - Folder Structure
Figure 8 - New Project
Once you select new project it will ask you were you’d
like to save it and what the projects name is. The default
folder will be chosen by default. Select your location and name and select create. This will
create an array of folders for your project.
The raw scans which is where you will import your scans from the scanner to your project. You
do not need to go into the revision folder or the workspace data folder. These is only to be used
with the Faro Scene program.
You’re now ready to start our first project. Once you created the new project scene will open up
a new workspace for uses to begin using. Locate the raw scan files from your scanner, these can
either be brought in by using a SD card reader or by Wi-Fi transfer.
Figure 9 - Select the desired scan files and drag and drop them into the workspace whitespace. This will begin the import
process.
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Faro Scene Manual
Once you have successfully imported
you scans into Faro Scene, you will
see them in project structure on the
right side of your screen. Once you
have brought all the scans in, you
will want to preprocess them. Right
click on the Scans folder on the right
and navigate to the Preprocess
Scans…
Preprocessing scans takes a bit of
Figure 10 - Preprocess Scans
time to complete but you can go and
get a cup of coffee or read the daily news to pass the time. The computer is now setting up each
scan, so there is a preview, it picks up all the artificial targets and then attempts to stitch all the
scans together. Depending on how well you placed your targets in the field you might come back
to a complete project. You can also tell it to filter stray
and dark points which can cause some errors in
registration. We will go through the preprocess options
below.
Import Compensation: This should be unchecked, this is
used only if you are using a different laser scanner. If
you use a Faro Focus 3D you should not have any
issues.
First Load Processing: This forces the processing to
happen when you first open each scan. This should
remained unchecked.
Filter Dark Scan Points: Check this and leave the
Threshold at 200. This is the darkness need by the point
Figure 11 - Preprocess Scans settings
to be removed. This happens when you hit something
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ultra-reflective and it will give you back scan data. For most use the default of 200 is a good
starting point.
Filter Stray Scan Points: This finds stray scan points and if no other scan points are nearby it will
delete that scan point. You can specify the size box around each scan point to determine deletion.
If you just gaining experience leaving this at default values is a good idea.
Update Object File: This is happens each time you save your project so it can be checked or
unchecked.
Apply Pictures: This applies color to each scan point, you want to have this unchecked and do
this at the last minute. Doing this early has caused some strange registration problems.
Detect Artificial References: This needs to be checked if you used targets in the field. Select
which one were used and it will attempt to auto detect these targets.
Detect Natural References: This is an option that should be used selectively and I recommend
manually selecting these objects if you do need to use them. Corner Points, Planes, and
Rectangles are to be used if you didn’t target manually and it will select every single one which
is overkill and will slow down your computer. This is best to left unchecked.
Place Scans: After it’s found all the targets it will then try to place targets on top of each other
which would align scans together. This is only recommended if you have fewer than 20 scans
otherwise it might take a very long time and achieve a bad result. You can use the inclinometer
sensor to help achieve registered scans and fine registration is best done later on.
Create Scan Points Clouds: This option is a good idea if your computer has low memory capacity.
It will create a smaller point cloud to represent the true point cloud while editing and viewing.
This is very helpful to speed up loading and unloading of scans.
Once you have started the preprocess it will take anywhere from 30 seconds to 5 minutes per
scan depending on the options your choose and the type of computer you have. This can add up
to quite a bit of time so this is a good time for you to take a break and let the computer work for
you.
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Faro Scene Manual
Placing Scans:
Once the preprocessing is complete
you should find all the scans have an
Auto features folder. This is where all
targets that were auto detected are placed.
The computer sometime finds false
targets which can be deleted or turned
off. It is a good idea to check each scan
individually for false targets. This can be
done by opening up each scan into a
Figure 12 - Planar View
planar view. This is much like a globe
being unwrapped to a two dimensional poster. It leaves certain areas distorted but you can get a
good idea of what that scan captured the targets that were found by the software. Right clicked
on the individual scan and follow figure 12.
To the right is a planar view.
You can now zoom around it
and see the exact geometries
that were captured by the laser
scanner. Along with checking
that your all your targets were
selected and you don’t have
any false positive targets.
Spheres come out with green
Figure 13 - Planar View Example
text and checkerboards are
purple. You can quickly check
each scan for accuracy.
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After checking each scan for
accurate targets you can auto
place scans using this feature.
Right click on the Scans
folder that contain all the
scans you’ve just checked.
Follow Fig 14. Placing the
scans automatically should
Figure 14 - Place Scans Auto
take approximately 10
seconds for each scan so this could take up a several minutes. After that it will give you a new
dialog.
You will see a stop light, and
if you receive all green lights
then your scans have
successfully and accurately
been put together. If there is a
yellow light then you will
need to double check your
scans again. Red light means
there is a major inconsistency
with your scans and targets
and you might be forced into
Figure 15- Place Scan Results
manually registration. The
Ref. Tensions tab at the top
will give you a standard deviation of scans and targets so you can analysis which targets to
release or delete to achieve a higher tolerance place scan.
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Correspondence View:
Once you achieve a green light you can right click on the scans folder and click view >
correspondence view. This will give you an overall view all the scans together and the general
location of each scan like you can see in Fig. 16.
Figure 16 - Correspondence View
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Deliverable:
Figure 17 - Toolbar
Orientation:
You can see that the building is slightly rotated and the outside walls are not along a typical
orthogonal much like blueprints. We will want to rotate the building to a certain direction. This is
done by creating a plane and tell Scene to orient that plan North/South or East/west. First thing is
to open a planar view of a scan with the desired wall visible.
The toolbar’s far left button is Create Plane. This feature creates a plane across a selected area of
scan points. Select the tool and create a rectangle with it and right click the rectangle. It will
bring up a list of options and
you want to go to Create
Object > Plane. This will
used the selected points for a
plane. Give the plane a
unique name and then locate
in the project whitespace
like in figure 19.
Figure 18 - Create Plane
Right click on the plane in the Workspace area and go to
Alighnment and choose a direction you wish to align it too.
I’ve choosen north and it will rotate all scans to fit with
that alignement.
Figure 19 - Plane
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Figure 20 - Aligned Scans
This now shows most walls to follow north and east and makes it easier to navigate around the
building. This is now ready to be sent to the client.
Exporting:
Once you’ve completed manipulating the scan files you are ready to export it to your
clients file type. This should really be dictated by client needs and software compatibles so check
with them before you processed to avoid having to do double work.
When you’re ready you will need to right click on
the Scans folder and navigate to Import/Export > Export
Scan Points. This will bring up another dialog that will
allow you to select your desired options.
Figure 21- Export Scan Points
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This is the dialog box that appears when
you click to export scan points. You have many
options but for the basic deliverable you only
need to mess with a select few options.
Format: You have a drop down box with
multiple file types that you can pick. You should
consult your client to see what format they desire.
E57 is the most popular open-source format on
the market today.
File Name: This is where you select the
Figure 22 - Export Scan points
location and select the name of your output file.
This is very similar to most applications.
You have the option to export each scan into a separate files which is preferred by many
people as it keep file sizes down and reduces crashes.
You have the option to export the full scan or the selection of the scans. The min. and
max distance is how far away you want the points to be from the scanner for them to be
exported. Everything over 120 meters is not useable data and should be cut out.
Subsample is where you can select the amount of data exported. Imagine it like a grid and
there are rows and columns. You can input a number and if you enter 1, it will export every point
on that row or column. If you enter 2 it will take every other point in that column or row. If you
pick three you will pick everything point along a row or column. If your data is too large in size
you can cut it significantly without losing lots of data or splitting the project up into smaller
segments. The color and grey checkbox allows you to export both color and grey. This option
will take up twice as much space as it has to create two different output files.
Now this is ready for your client to use and view. The best way to send it would be to use
an external hard drive or thumb drive due the size of these files. Uploading to the internet is a
slow and painful process.
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Glossary:
Artificial Target: This would include checkerboards, spheres, and flat discs that help with the
registration process.
Deliverable: To create and manipulate the point cloud so it may easily be digested by the
customer or client.
Planar View: A view in faro scene that unwrapped the sphere of point cloud data and turns it into
a 2D poster.
Point Cloud: A vast number of individual points that have a corresponding X, Y, and Z
coordinate to place the exact point. There are millions of points in each scan.
Registration: The process of gluing multiple scans together to create a single large point cloud.
Scan Point: Is an individual point, many of these make up a point cloud.
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Index:
Faro Focus, v, 6, 10, 16
preprocess, 16, 17
registration, v, 6, 9, 16, 17, 19, 24
sphere, 7, 8, 24
Target, iii, 9, 24