Mantis Vision F5-B User Manual

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F5 3D Imaging System User Manual

D Imaging System User Manual

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F5-B 3D Imaging System

User Manual

F5 3D Imaging System User Manual

Important Notice

All intellectual property rights in this publication are owned by Mantis Vision LTD. and protected by applicable copyright laws and international treaty provisions. Mantis Vision LTD. retains all rights not expressly granted. No part of this publication may be reproduced in any form whatsoever or used to make any derivative work without prior written approval by Mantis Vision LTD.

Mantis Vision LTD. reserves the right to revise this publication, and/or make improvements or changes in the product(s) and/or the program(s) described in this documentation at any time without prior notice. The information in this document is provided in good faith. However, it is provided without any warranty that it is accurate or complete and on the express understanding that Mantis Vision LTD. shall have no liability whatsoever to other parties in any way arising from or relating to the information or its use.

Any product described in this publication is furnished under its own license agreement.

All other trademarks or registered trademarks are the property of their respective owners.

F5 3D Imaging System User Manual

About This User Manual

This user manual contains the following chapters:

 Chapter 1, Introducing the F5-B 3D Imagining System, page 11, introduces the

components of the F5-B 3D Imaging system and provides an overview of the workflow for using it.

 Chapter 2, Getting Ready to Scan, page 28, describes how to assemble the

scanning equipment (3D camera) in order to prepare for scanning.

 Chapter 3, KaplaVision Application, page 32, describes the various options

provided by the KaplaVision application for decoding the video scanned by the F5-B Scanner, in order to produce 3D point cloud files (MPC files). KaplaVision also enables you to stitch, visualize and export the captured 3D data.

 Chapter 4, Advanced – Stitching Tool, page 53, describes how to use the

advanced KaplaVision Manual Stitching Tool.

 Chapter 5, Advanced – Measurement Tool, page 75, describes how to use the

MVP Measurement Tool to take precise measurements in a 3D point-cloud.

 Appendix A, Installing KaplaVision, page 113, describes how to install the

KaplaVision application on a Windows-based workstation.

 Appendix B, Calibrating the F5-B Scanner, page 117, describes how to

calibrate the F5-B.

F5 3D Imaging System User Manual

About This User Manual ..........................................................................................................................3

Table of Contents ....................................................................................................................................4

Documentation Conventions ...................................................................................................................7

Laser Safety Precautions ...................................................................................................................... 8

General ....................................................................................................................................................8

Engineering .............................................................................................................................................9

Labels .......................................................................................................................................................9

Additional Safety and Precautions .....................................................................................................10

1 INTRODUCING THE F5-B 3D IMAGING SYSTEM ............................................... 11

Introducing Mantis Vision ...................................................................................................................11

Technical Specifications and System Requirements .............................................................................12

Specifications.........................................................................................................................................12

System Requirements ...........................................................................................................................13

F5-B 3D Imaging System Overview ......................................................................................................14

3D Camera Imager .................................................................................................................................15

The KaplaVision Application .................................................................................................................17

Workflow – Using the F5-B 3D Imaging System ...................................................................................18

2 GETTING READY TO SCAN ........................................................................................ 28

Scanning Technique Guidelines ...........................................................................................................28

Preparing for Your First Scan ...............................................................................................................31

Disassembling After Scanning .............................................................................................................31

3 KAPLAVISION APPLICATION ................................................................................... 32

Live View / Player View .......................................................................................................................34

Live View ................................................................................................................................................34

KaplaVision Live View Toolbar ...............................................................................................................36

Recording Information ..........................................................................................................................37

Player View ............................................................................................................................................38

KaplaVision Player View Toolbar ...........................................................................................................41

File Explorer ........................................................................................................................................42

Searching for a Folder/File ....................................................................................................................42

File Explorer Toolbars ............................................................................................................................43

File Explorer Toolbar (Top) ....................................................................................................................43

F5 3D Imaging System User Manual

File Explorer – File Toolbar (Bottom) .....................................................................................................44

Processing Files ......................................................................................................................................44

File Explorer – Right-click Menu ............................................................................................................45

Exporting from KaplaVision .................................................................................................................47

Denoising ............................................................................................................................................49

Surfacing (Meshing) ............................................................................................................................50

Defining KaplaVision Configuration Settings .......................................................................................51

4 ADVANCED – STITCHING TOOL .............................................................................. 53

Introducing the Stitching Tool .............................................................................................................53

Why Stitch Together Multiple MPC Files? .............................................................................................53

Why Stitch Together Multiple Point Cloud Segments? .........................................................................53

Opening the Stitching Window ............................................................................................................54

Tabs and Options ...................................................................................................................................55

Stitching Window Toolbar .....................................................................................................................56

Main Tab ................................................................................................................................................56

Edit Segment Tab ...................................................................................................................................57

Segment Registration Tab .....................................................................................................................57

Point Filter Tab ......................................................................................................................................58

Point Removal Tab .................................................................................................................................58

Point Cloud Viewing Area ......................................................................................................................58

Controlled Stitching .............................................................................................................................62

Starting Automatic Registration ............................................................................................................63

Segment Registration ............................................................................................................................63

Deleting Segments by Minimum Frame Size .........................................................................................70

Additional Features tab .......................................................................................................................72

Denoise ..................................................................................................................................................72

Mesh ......................................................................................................................................................73

Measurement tool .................................................................................................................................73

5 ADVANCED – MEASUREMENT TOOL ..................................................................... 75

Introducing the Measurement Tool .....................................................................................................75

Measurement Tool User Interface .......................................................................................................76

Toolbars .................................................................................................................................................77

Defining Snap Planes and Lines Used for Reference in Measurements ................................................81

Defining a Snap Plane Using Point Sets .................................................................................................81

Defining a Snap Plane Using an Existing Plane ......................................................................................83

Defining a Cut Plane ..............................................................................................................................84

F5 3D Imaging System User Manual

Defining a Cut Plane Using an Existing Plane.........................................................................................86

Defining a Cut Plane Perpendicular to Two Planes ...............................................................................87

Defining a Snap Line by Two Points .......................................................................................................90

Defining a Snap Line Perpendicular to Two Planes ...............................................................................91

Using Previously Defined Planes............................................................................................................94

Measuring Elements ............................................................................................................................94

Measuring the Distance from a Point and a Plane ................................................................................94

Measuring the Distance between Two Points .......................................................................................96

Measuring the Distance from a Line to a Point .....................................................................................98

Measuring the Angle Between Two Lines .......................................................................................... 100

Measuring the Angle Between Two Planes ........................................................................................ 101

Defining a Point at a Specific Angle from a Projected Line ................................................................. 102

Measuring the Diameter of a Projected Circle or Cylinder ................................................................. 104

Measuring the Diameter of a Free-form Circle .................................................................................. 106

Defining Missing Geometry (Points, Lines and Planes) ...................................................................... 108

Finding Missing Points ........................................................................................................................ 108

Finding Missing Lines .......................................................................................................................... 109

Finding Missing Planes ........................................................................................................................ 109

Managing Measurements and Views ................................................................................................ 110

Defining a Coordinate System ........................................................................................................... 111

Installation Introduction ................................................................................................................... 113

Installing – How To ............................................................................................................................ 113

Step 1: Camera Calibration ................................................................................................................ 121

Step 2: Wall (EPI) Calibration ............................................................................................................. 123

Step 3: RIG Calibration ...................................................................................................................... 123

F5 3D Imaging System User Manual

Documentation Conventions

Notes provide additional important information.

Tips provide shortcuts or special guidance that may enable optimal performance.

Warnings indicate conditions or practices that could result in death or serious injury. It may also describe potential serious adverse reactions and safety hazards.

Caution indications relate to conditions or practices that are potentially hazardous that may result in minor or moderate injury to the user or damage to the equipment or other property. Caution indications may also be used to indicate practices necessary for effective use of the device

F5 3D Imaging System User Manual

CLASS 1M LASER PRODUCT

Laser Safety Precautions

General

The Mantis Vision Camera model F5-B is designed and built to comply with the American standard

for laser

products Title 21 CFR, 1040.10 and the International standard for laser products IEC60825-1:2007-03 as a Class 1M laser product based on Class 3B lasers.

Beginning with models produced from June 2013, the Mantis Vision Camera model F5 is designated as Class 1M. All systems produced before this date are classified as Class 1.

A Class 1 laser is safe under all conditions of normal use. This means the maximum permissible exposure (MPE) cannot be exceeded when viewing a laser with the naked eye or with the aid of typical magnifying optics, such as a telescope or microscope.

A Class 1M laser product does not pose any risk for the naked eye, but may cause retinal injury for people using optical magnifiers (M). As the use of the MVC is in areas where magnifiers are not intended to be used, there is no eye hazard and no need for protective eyewear.

In order to prevent any misunderstanding, never use an optical magnifier in the area where the F5-B is working.

A Class 3B laser beam is normally hazardous when intrabeam ocular exposure occurs, including accidental short-time exposure. Staring directly into a Class 3B laser beam may result in serious retinal injury. Viewing a diffuse reflection of Class B is normally safe. Protective eyewear must be used when direct Class B is accessible.

F5 3D Imaging System User Manual

Engineering

The F5-B Scanner is designed and built to follow the International standards for laser products, including:

 Protective Housing: The internal Class B laser beam path is enclosed to

prevent any hazardous laser radiation leak. In addition, the external protective housing prevents human access, during operation, to laser radiation in excess of the AEL of Class 1M.

 Controls: The controls are located so that operation does not require

exposure to radiation in excess of the AEL of Class 1M.

Labels

The MVC F5 carries the following identification and classification labels:

 Identification: The figure below shows the identification label and its

location on the F5-B device.

Figure 1: Location of the Identification Label on the F5-B Scanner

 Classification: The figure below shows the content of the classification

label. This label is not included on the product.

Figure 2: Classification Label

F5 3D Imaging System User Manual

Additional Safety and Precautions

The Mantis Vision F5-B 3D Imaging System’s handheld 3D Camera Imager (Imager) comprises a small video camera and a light projector. The video camera and light projector are mounted at the ends of an anodized aluminum dowel, fitted with an ergonomic hand grip. The Mantis Vision Camera (MVC) projects infrared light onto the scene through a slide. The light source of the Mantis Vision projector is an 808nm VCSEL ARRAY Laser, whose beam is shaped and manipulated to achieve the beam profile required for the F5-B application. The laser source itself emits a beam that has maximum power of QCW 30 Watt (Class 3B).

When this light passes through the optical system, it is sufficiently diffused to be classified as a Class 1 laser product.

The following basic safety guidelines must be adhered to at all times:

 Do not modify any F5-B components.  Do not use a damaged Imager.  Do not remove the lens of the projector or camera.  Do not aim the laser output through optical instruments, such as eye

loupes, magnifiers or microscopes within a distance of 100 mm (4”).

 Do not remove the laser assembly access cover. There are no user-

serviceable parts inside.

Use of controls or adjustments, or performance of procedures other than those specified herein may result in exposure to hazardous radiation.

Failure to comply with these basic safety instructions may result in personal injury or the injury of others. Even moderately powered lasers can cause serious irreversible injury to the human eye. High-power lasers can burn skin, and reflected laser light can be hazardous. Remember that Mantis

Vision’s laser emits IR light, which is not visible to the human eye. If you cannot see it or feel it, it does not mean that it is not potentially hazardous if misused.

F5 3D Imaging System User Manual

1 Introducing the F5-B 3D

Imaging System

This chapter introduces the components of the F5-B 3D Imaging system and provides an overview of the workflow for using it.

Introducing Mantis Vision

Mantis Vision is the international leading developer and producer of user-centric

3D model creation solutions.

Mantis Vision has a vision of a world enhanced through the use of 3D technology, in which everyone has the access and tools to imagine, create and experience in

3D.

Mantis Vision was founded in 2005 by a team of experts in 3D imaging, graphics, digital video, animation, computer graphics and algorithms.

F5 3D Imaging System User Manual

Technical Specifications and System Requirements

Specifications

 F5-B Weight:

 Imager: 1.7 kg (~3.75 lb)

 F5-B Size:

 Imager (Outer Boundary Dimensions): 33 cm x 16 cm x 6 cm

(13” x 6.3” x 2.4”)

 Field of View (FOV):

 Vertical: 38°

 Horizontal: 44°

 Diagonal: 56°

 Camera Sensor: CMOS (E2V – EV76C560ABT)  2D Camera Resolution: 1.3 Megapixels  3D Resolution: ~ 58,000 points per frame  Projector Wavelength: 808 nm (Infrared)  Projector Light Source: VCSEL ARRAY Laser (Class 3B Laser)  Product Eye Safety Rating: Class 1M Laser Product (see the Laser Safety

Precautions section on page 8 for more details)

 Ambient Operating Temperature Range: (-)10° Celsius to 50° Celsius (14°

to 122° Fahrenheit)*

 Ambient Charging Mode Range: (: (-)10° Celsius to 40° Celsius (14° to

104° Fahrenheit)*

 Lighting Conditions: Total darkness through direct sunlight (range

degrades in the presence of IR light sources)

 Simultaneous scanning Range: 60 cm – 4 m (24” – 157")  Single Frame Accuracy: Up to 0.5 mm at a range ≤ 1 m

F5 3D Imaging System User Manual

 Continuous Acquisition:

 Minimum Data Storage Capacity: 1 hour (normally ~2 hours)

 Minimum Battery Life: 1 hour (normally ~2 hours)

NOTE

the internal battery can be replaced only at a manufactory certified labs

* Pending Testing.

System Requirements

The following are the minimum system requirements for the KaplaVision workstation:

 Windows 8 and above, 64-bit  16 GB RAM  Intel Quad Core Processor (i7 recommended)

The following are the minimum system requirements for a Measurement Tool standalone installation:

 Windows XP 32-bit / Windows 7 32-bit / Windows 7 64-bit / Windows 8

64-bit (Beta)

 Any resolution monitor  4 GB RAM  Any x86 / x64 processor  GPU (Graphic card) with 1GB memory − NVIDIA/ATI (Intel not supported)

F5 3D Imaging System User Manual

F5-B 3D Imaging System Overview

Mantis Vision’s proprietary technology enables 3D model capturing of highly dynamic scenes. At its core is a breakthrough single frame coding method for structured light imaging. The F5-B Handheld Imager is capable of automatically capturing a dense 3D point-cloud model of the environment in each frame. Tens of thousands of points are decoded while maintaining high accuracy.

Figure 3: F5-B 3D Imaging System Suitcase

Rugged Case

Imager

Power Supply

USB Imager Cable

Diffuser

F5 3D Imaging System User Manual

Mantis Vision’s F5-B 3D Imaging System consists of the following components:

 3D Camera Imager on page 15 is a 3D acquisition (scanning) unit for

capturing 3D scenes in field environments.

 KaplaVision Software on page 17 is a software application for processing

and visualizing the acquired 3D data.

 Mantis Vision Measurement Tool on page 75 is a software application for

taking precise measurements of a 3D point-cloud or a single 3D frame.

3D Camera Imager

The 3D Camera Imager is a handheld 3D scanning unit for capturing 3D scenes.

Figure 4: Imager

The handheld Imager combines a small video camera (1.3 Megapixel, angular field of view 38° x 44° (H x W)) and a laser-based infrared light projector. The camera and projector are mounted on the ends of an anodized aluminum dowel, coated with an ergonomic rubberized hand grip.

The light projector casts infrared light (808nm wavelength) onto the scene through a slide (mask) containing Mantis Vision’s patented single-coded pattern.

Laser Projector

Laser Button

Video Camera

Rec/Stop Trigger

Thumb Button

F5 3D Imaging System User Manual

The Imager has a simultaneous working range of 60 cm to 4 m (24 " to 160").

The Rec/Stop Trigger button (also called the Index Finger button) enables you to start and stop scanning.

The Thumb button enables you to navigate through the scanner calibrating process (see pg. 117).

The Laser button allow you to enable/disable the connection between the scanner and the KaplaVision software (see figure 4)

The F5-B Imager has one socket that allows you to either connect it with USB 3.0 to the workstation, or charge it to using a power source. The scanned videos are stored on the workstation.

In order to operate, it must be connected via a USB 3.0 cable to a Windows-based workstation, on which the KaplaVision application is installed.

F5 3D Imaging System User Manual

The KaplaVision Application

The KaplaVision application allows you to process and visualize the raw 3D data scanned by the F5-B in order to achieve the required 3D point cloud model.

The KaplaVision application simplifies the creation, viewing, analysis and export of 3D data models. It includes color and infrared data processing and visualizations of 3D point cloud models.

The various KaplaVision tools allow you to:

 “Fly” through the captured scene, viewing the 3D data from all angles.  Create 3D point cloud models of objects from the scene and export them to

various file formats compatible with standard third-party 3D processing software tools.

Figure 5: KaplaVision – Main Window

The KaplaVision application also includes the following:

 Mantis Vision Advanced Stitching Tool, page 53, which allows you to

combine (align, register and merge) various 3D point cloud pieces into a single point cloud in order to recreate the 3D structure of the scanned scene.

 Mantis Vision Measurement Tool, page 75, which is a software application

for taking precise measurements of a 3D point cloud or a single 3D frame.

F5 3D Imaging System User Manual

Workflow – Using the F5-B 3D Imaging System

The following diagram shows an overview of how to use the F5 3D Imaging System followed by a short description of each step and a reference to where this procedure is described in detail:

Step 1 Connecting Scanning Equipment

Step 2 Scanning

Step 3 reviewing the scan in KaplaVision

Step 4 Registration (Various)

Step 5 Point Cloud Processing

Step 6 Additional Options

Step 7 Exporting

Figure 7: Workflow – Using the F5-B 3D Imaging System

1. Connecting Scanning Equipment:

Connect the handheld Imager to the windows based Workstation on which the KaplaVision application has been installed.

2. Scanning:

Before you start scanning, we highly recommend that you read the Scanning Technique Guidelines section on page 28.

F5 3D Imaging System User Manual

3. Double-click the KaplaVision desktop icon shown below:

Figure 1: KaplaVision Desktop Icon

The KaplaVision main window is displayed, showing the view seen by the F5-B 3D Camera Module. For example, as shown below:

Figure 2: KaplaVision Main Window

4. If this is the first time you are using KaplaVision or the first time you are using a

specific F5-B Imager, then you must check that the correct path to the configuration file and the calibration files is specified, as described on page 51.

5. Click the Live Decoding button in the KaplaVision toolbar to select whether

the images scanned by the F5-B are decoded immediately or not.

Figure 3: KaplaVision Toolbar

F5 3D Imaging System User Manual

▪ Live Decoding: When this button is selected (highlighted as shown

above), the images scanned by the F5-B will be decoded immediately and can be displayed in the KaplaVision window, as they are scanned frameby-frame, as described in the Live View section on page 38.

▪ No Live Decoding: When the Live Decoding button is not highlighted, the

images scanned by the F5-B are not decoded immediately. You can decode these files later (Offline), as described on page 26.

A. Select the required Decoding Mode from the dropdown list in the top center of the KaplaVision window to specify the type of decoding that the F5-B performs, as shown below:

Figure 4: Selecting the Decoding Mode

▪ Point Cloud: The F5-B scanner records the captured object as a point cloud in

the specified option from the decoding list.

▪ Depth Map: The F5-B scanner records the captured object as a depth map in

the specified option from the decoding list - only relevant if the recording modes are Recording 2D, 3D, 2D+3D

▪ Mesh: Specifies that the F5-B scanner records the captured object as a mesh

in the specified option from the decoding list.

B. Select the required Recording Mode from the dropdown menus in the top center of the KaplaVision window to specify the type of recording that the F5-B scanner performs, as shown below:

Figure 9.1: Selecting the recording mode

F5 3D Imaging System User Manual

▪ Recording 2D: Specifies that the F5-B scanner only records the raw 2D data of

the color and infrared scanned images, and does not perform any decoding. This option generates an infrared image file (Output0.mis) and its associated color image file (Output1.mis). You can start the decoding after you finish recording by right-clicking one of these files and selecting Decode.

Figure 5: Recording 2D – Decoding

▪ Recording 3D: The F5-B scanner records the raw 2D data of the color and

infrared scanned images, and as you finish recording KaplaVision automatically decodes the scanned video. This option generates an mpc file (name.mpc). You can start the registration after you finish recording by rightclicking the MPC file and selecting registration.

F5 3D Imaging System User Manual

Figure 10.1 recording 3D - registration

▪ Recording 2D+3D: Specifies that the F5-B scanner records the raw 2D data of the

color and infrared scanned images. This option generates an infrared image file (Output0.mis) and its associated color image file (Output1.mis) and in addition a decoded MPC file.

▪ Sequential point cloud: Specifies that the F5-B scanner records the scanned raw

2D data of the color and infrared scanned images and as you finish recording, KaplaVision automatically decodes the scanned video and then stitches its frames/segments together. This option generates a MPC file.

▪ Point Cloud: Specifies that the F5-B scanner records the raw data of the color and

infrared scanned images. After you finish scanning, KaplaVision automatically decodes, stitches and runs global registration on the captured scene. This option generates a MPC_stitched file.

▪ Clean Point Cloud: The F5-B scanner records the raw data of the color and infrared

scanned images. After you finish scanning, KaplaVision automatically decodes it, stitches it and removes the noise. This option operates in the same way as the Point Model (option described above) with the addition of denoising at the end. This option generates a MPC_denoised file.

F5 3D Imaging System User Manual

NOTES

 All of the color associated options are disabled as the F5-B only produces IR image.  The last three options stitch a single MPC file. To stitch multiple MPC files together,

you may refer to Chapter 4, Advanced –Stitching Tool, page 53.

 You can also use the Advanced Stitching tool if the result of automatic stitching does

not provide sufficient quality. In this case, open the MPC file (without the _stitched

extension) in the Advanced Stitching tool.

 Some of these Recording options perform a sequence of tasks, such as decoding,

stitching and then denoising using default settings. Each of these tasks can be performed separately (and with more control) using the relevant tools, as described in the Toolbars section on page 56.

7. Click the Rec recording button at the bottom of the KaplaVision window to

start scanning, according to the selected Recording Mode.

Alternatively, you can press the F5-B Record/Stop Trigger once to start scanning.

Figure 6: Start / Stop Button

While the Imager is recording, the Record/Stop button on the screen changes to

show a square .

As soon as you start recording, a folder is automatically created in the File Explorer containing the Output0.mis (infrared image) and Output1.mis (color image) files.

Record/Stop

Button

F5 3D Imaging System User Manual

8. Move the Imager around the object, as described in the Scanning Technique

Guidelines section on page 28. You do not have to keep holding the Rec/Stop

button to continue recording.

9. When you are ready to stop (pause) scanning, click the Rec/Stop Recording

button on the screen or press the Imager’s Rec/Stop button again.

NOTES

If you want to start scanning again, you can simply press one of these buttons again to restart scanning, as needed. When you start again, a new folder is automatically created in the File Explorer.

TIP

When scanning large objects, you may want to capture the object in a few scanning sessions instead of a single, large session. For example, you can scan one side, stop recording and then scan another side. This method may improve scanning quality.

NOTE

Each time the Imager is stopped, a new video file is created. These files are viewable in the KaplaVision application and can later be stitched together, as described in Chapter 4, Advanced – Stitching Tool on page 53. This option provides both manual and automatic stitching functions.

Each time the Imager is stopped, a new video folder is created and stored on the KaplaVision workstation. A new video folder appears in the left pane of the KaplaVision window, as shown below:

F5 3D Imaging System User Manual

Figure 7: KaplaVision 3D Image Folder Pane

Each folder is automatically named according to the timestamp of when it

stopped recording. For example, .

10. Processing (Decoding) – This step is only relevant if you selected 2D Recording

mode, as described on page 20.

Each video created by the F5-B scanner must be processed in order to create a point cloud.

If you selected one of the following recording modes, then this process has already been automatically performed. In this case, you can skip this step and go directly to step 11:

▪ Recording 3D ▪ Point Model ▪ Clean Point Cloud ▪ Sequential point cloud

F5 3D Imaging System User Manual

► To decode the recorded files and create an MPC file:

 Right-click the Output0.mis or the Output1.mis file in the File Explorer and

select the Decode option.

Figure 8: Recording 2D – Decoding

11. Stitching – Stitching is the process by which the various 3D pieces are combined

(aligned, registered and merged) to re-create the 3D structure of the scanned scene.

If you selected one of this recording modes:

▪ Point cloud ▪ Sequential Point Cloud ▪ Clean Point Cloud

then this process is performed automatically. In this case, you can skip this step and go directly to step 12.

► To stitch an MPC file in KaplaVision:

 Right-click the MPC file in the File Explorer and select the Registration option.

 A new file is created in the same folder as the MPC file and the string_stitched

is appended to the end of the file name.

F5 3D Imaging System User Manual

You may refer to Chapter 4, Advanced – Stitching Tool on page 53 for instructions on how to use the T4 application, which provides more advanced stitching tools. For example, to stitch multiple videos together or to stitch multiple video segments together.

12. [Optional] Denoising – You can decrease the noise level of MPC file by Right

clicking the MPC file in the File Explorer and select the Denoise option.

A success message is displayed after the process is completed. This can also be done even after the file has been stitched. A new file is created in the same folder as the MPC file and the string _denoise is appended to the end of the file name.

If you selected the Clean Point Cloud Recording mode, then the denoising process is performed automatically. In this case, you can skip this step and go directly to step 13.

13. [Optional] Surfacing (Meshing) – You can surface an MPC file by clicking the

Surfacing (Meshing) button .This can also be done even after the file has been

stitched. A new file is created in the same folder as the MPC file and the string

_surfaced is appended to the end of the file name. You may refer to the Surfacing (Meshing) section on page 49 for more information.

14. [Optional] Exporting – You can export a KaplaVision point cloud to a variety of

external formats, as described on page 47.

F5 3D Imaging System User Manual

2 Getting Ready to Scan

Scanning Technique Guidelines

We highly recommend reading this section, before you start scanning in order to ensure the best scanning technique for achieving optimal results.

This section describes the proper techniques for achieving the best scanning results using the Imager:

 Co-coverage

Both ends of the Imager (camera and projector) must have a clear line-ofsight to the subject at all times. Video frames that do not contain the projected pattern cannot be developed into 3D point-clouds. For example, 3D data cannot be reconstructed from a video taken while the projector is turned off or blocked.

 Angles

Rotate the Imager around the object to cover it from all sides and directions. Try to include shots where the Imager is parallel to the object’s surfaces from all angles (for optimal accuracy). Avoid covering any facet with only acute- angled shots.

 Distance

 Record specific objects from a distance of 1.0 m – 1.5 m (40” − 60”) for

the best accuracy.

 Do not film at distances of less than 0.5 m (20”) or greater than 4 m

(13’).

 For larger scenes, increase the range to 1.5 m (60”) or up to 2 m (80”)

to capture more of the scene per frame of video.

 Speed

 Move the Imager around the subject at a speed of approximately

50−75 cm/sec (20−30 inches/sec). This is similar to the recording speed

of a home camcorder. Moving too fast may cause motion blur, which reduces the quality.

F5 3D Imaging System User Manual

 At the same time, hovering or covering the object very slowly results in

very large files of unnecessary overlapping data that may decrease model accuracy and require more work (processing time) to achieve the desired result

 Plan the Shot

Before beginning to record a scene, visually look around the area. Plan the positions of symmetrical/planar patches, obstacles and obstructed objects in the scene. Then, determine the best path for the Imager to cover the scene from all sides (meaning, the fly-through path of the Imager).

 Symmetry

Avoid recording sections of empty walls and tabletops (flat surfaces), and strive to capture frames that contain several angles. Frames containing minimal 3D geometry are very hard to combine accurately later.

Smaller amounts of 3D geometry within the recorded frames make it more difficult in later stages for the software to determine the correct alignment between frames during the stitching process.

 Scene Size

The Imager was designed to work optimally for objects between the size of a computer mouse and a small room, meaning approximately 3m x 3m x 3m (10’ x 10’ x 10’). Such scenes may be acquired in up to a minute. As scenes become larger, they become more complicated to stitch and may require more user intervention to produce accurate 3D models.

 Dynamic Scenes

Individual 3D video frames (point-cloud video) of objects and people in motion, may be viewed and measured. However, only static scenes may be stitched (aligned) into a consistent (Euclidean) 3D point-cloud model.

 Materials

Some objects are made of materials that are difficult to sample, such as:

 Wires: Thin wires and nets (where holes are wider than the threads) are

difficult to capture when the width is less than approximately 6 mm (approximately ¼ of an inch). When capturing such objects, take longer shots and vary the recording angles frequently.

F5 3D Imaging System User Manual

 IR Absorbers or High Reflectors: Some materials absorb infrared light

from almost any angle and thereby resist sampling. Furthermore, scenes containing intermingled IR-reflecting and non-reflecting objects are a challenge to the camera’s gain adjustment mechanism (AGC) and may decrease image quality. If many of the images are over-exposed on the screen (for example, with whiteouts), try increasing the Imager’s distance from the object and take several separate shots of the scene using different paths around the object.

 Transparency: The system can capture objects through glass windows,

but cannot capture transparent or translucent objects (for example, bottles, windows and so on). However, some transparent materials reflect IR light at certain angles, and may yield some limited results.

 Lighting Conditions

The system can operate under any lighting condition, including direct sunlight, but works best in darkness or low-light conditions. Performance is decreased in direct sunlight.

Therefore, the maximum recording distance is limited for objects with lower IR reflectivity. This is due to competing ambient IR light sources. The sun produces large amounts of the projector’s wavelength used by the system. Thus, some lighting fixtures also interfere with the system results on some level.

NOTE

Light that emits heat usually produces large amounts of IR energy. Fluorescent bulbs and CFLs are cold, and therefore produce much lower levels of IR.

F5 3D Imaging System User Manual

Preparing for Your First Scan

Perform the following before you scan for the first time using the F5-B 3D Scanner. These steps are typically required only once or as-needed in order to make changes.

► To prepare for your first scan:

1 Install the KaplaVision application on your workstation (PC, laptop or tablet),

as described in Appendix A, Installing KaplaVision on page 113.

2 Configure the KaplaVision decoding process using the Configuration button

in the toolbar, as described on page 51.

NOTE

The F5-B Scanner is provided pre-calibrated. Typically, there is no need to calibrate it again unless you notice that KaplaVision has produced a few bad point clouds (meaning when point clouds that do not properly represent the shape of the scanned object/environment are produced). To calibrate the F5-B Scanner, click the Calibration button at the top right of the KaplaVision window and follow the simple displayed instructions. You may refer to Appendix B, Calibrating the F5-B Scanner on page 117 for calibration instructions.

Disassembling After Scanning

In order to ensure the integrity and proper operation of the Imager, we highly recommend putting it properly back into the suitcase after you have finished scanning.

F5 3D Imaging System User Manual

3 KaplaVision Application

This chapter describes the various options provided by the KaplaVision application for decoding the video scanned by the F5-B scanner in order to produce 3D point cloud files (MPC files). KaplaVision also enables you to stitch, visualize and export the captured 3D data.

Figure 9: KaplaVision Main Window

This chapter describes the following parts of the main KaplaVision window:

 Viewers, page 34, describes the two views: Live View and 3D View that

appear in center of KaplaVision’s main window.

 Start Recording Button , page 23, describes how to start recording.  Toolbar, page 41, describes the buttons in the various KaplaVision toolbars.

Calibration

Licensing

Toolbar

2D Color

A new

folder is

created

each time

you stop

recording

2D IR

3D Live

F5 3D Imaging System User Manual

 File Explorer, page 42, describes the File Explorer pane that appears on the

left side of the KaplaVision window.

 Configuration Button, page 51, describes how to configure KaplaVision

decoding.

 Run Live 3D View Button: Click this button to display what is currently seen

by the F5-B 3D Camera Module (Live). In this mode, you can start recording.

 Calibration Button: Click this button to calibrate the F5-B scanner, as

described in Appendix B, Calibrating the F5-B scanner on page 117.

F5 3D Imaging System User Manual

Live View / Player View

The center of KaplaVision’s main window enables you to display either live images or recorded images. Both the Live View (below) and the Player View (page 38) each have various display options.

NOTE

To display an image in full screen, simply double-click it in the viewer. To return to the previous view, simply double-click the image again.

Live View

The Live View is the default view that shows what is currently seen by the F5-B Camera Module.

Figure 10: Live View

The right side of Live View displays the live Infrared image.

The left side of Live View displays either the live 2D image or the live decoded frame-by-frame 3D image, as shown in Figure 10.

Live 3D Image

Live Infrared Image F5-B

F5 3D Imaging System User Manual

NOTE

As the F5-B scanner only takes black and white image, the left side of the live view will be black

► To display the Live View seen by the camera:

Live View is the display view.

If the Player View is displayed, then click the Run Live 3D View button at the top-right corner of the window, as shown below:

Figure 11: Displaying Live View

► To zoom in and out:

 Click the image and scroll the mouse forward or backwards.

► To rotate the color and infrared image 90°:

 Click one of the rotation buttons in the toolbar to rotate the displayed

infrared and color image 90° left or right.

F5 3D Imaging System User Manual

► To display the live frame-by-frame 3D View:

When the Live Decoding button (at the top of the window) is selected, KaplaVision decodes the video into 3D as it is received from the Imager.

A small window showing the frame-by-frame 3D point cloud is then displayed on the 2D View. You can click it to display it larger in the entire left pane of the window.

Figure 12: Small Frame-by-Frame 3D Point Cloud View

KaplaVision Live View Toolbar

The following toolbar is displayed in Live View (which is described on page 34).

Figure 13: KaplaVision Live View Toolbar

 Rotate : Each click of one of these buttons rotates the displayed color

and infrared image 90° left or right.

 AWB (Auto White Balance) : White balance is a Camera Module setting

that adjusts for lighting in order to make white objects appear white in photos and video. (this feature is not relevant for the F5-B Scanner)

 C-3D : Resets the center and orientation of the displayed 3D image so

that it is the same as is currently seen by the Imager (Live) or as was seen when the Imager was recording (Offline).

 RGB : automatically sets the colored camera configuration setting

relative to the captured object. (can be done manually by changing the values in camera configurations setting)

 NIR : automatically sets the IR camera configuration setting relative to the

captured object. (can be done manually by changing the values in camera configurations setting)

F5 3D Imaging System User Manual

 LIVE :

 When selected, the video scanned by the F5-B scanner is decoded

immediately and displayed in the KaplaVision window, as it is scanned frame-by-frame.

 When not selected, the images scanned by the F5-B scanner and the

scanned raw data are saved by KaplaVision and displayed in the KaplaVision window.

 Recording Mode : Select the required Recording Mode from the

dropdown menu in the top center of the KaplaVision window, in order to specify the type of recording that the F5-B Sacnner performs, as described on page 20.

 Decoding mode : Select the required Decoding Mode from the

dropdown menu in the top center of the KaplaVision window, in order to specify the type of decoding that the F5-B scanner performs, as described on page 20.

 Configuration : page 51, This option enables you to specify the path to the

files that define KaplaVision decoding configuration and device calibration files.

 Camera Configuration Settings : This option enables you to control

camera parameters.

 About : This option displays the software version.  Licensing : This option displays the license key and machine key.  Calibration : Enables you to calibrate the F5-B scanner, as

described in Appendix C, Calibrating the F5-B scanner on page 117.

Recording Information

The bottom right of the live frame-by-frame 3D View displays information about the recording, as follows:

Figure 14: Recording Information

F5 3D Imaging System User Manual

 C FPS: Color frames per second – specifies the number of frames per second

in the color image.

 Current: Current status of the laser.  L FPS: Laser frames per second – specifies the number of frames per second in

the infrared image.

 Voltage: Voltage of the laser.  : Indicates that the F5-B scanner is ready to scan or is scanning.

Player View

The F5-B Scanner Player View displays either a:

 Previously recorded 2D video.

– OR –

 Previously recorded 3D model or video as either a:

 3D Model.  Frame-by-frame 3D image.

► To play a 2D recorded video:

1 Double-click Output0.mis (infrared image) or its associated Output1.mis (color

image) in the File Explorer.

2 Click the Play button to play the recorded video showing the scenes as

they were scanned.

F5 3D Imaging System User Manual

Figure 15: Player View – 2D Recorded Video

► To display a 3D model:

This option enables you to view all aspects of a 3D model that was decoded from a F5-B scanner recording.

1 Double-click an MPC file in the File Explorer. Any file in which MPC is part of

the file extension can be played.

2 Move/flip the 3D data as needed using the mouse.

Live Infrared Image

F5 3D Imaging System User Manual

Figure 16: Player View – 3D Model

► To rotate the 3D Model:

 Hold down the left mouse button while moving it over the model.

► To move/pan:

 Hold down both mouse buttons and move the mouse.

► To zoom in/out:

 Click the right mouse button while moving the mouse or roll the mouse

wheel. The center of the point cloud always remains in the center of this view window.

 holding ALT and roll the mouse wheel will enable you to enlarge/reduce the

size of the pixels which create the pointcloud.

► To center the display of the 3D image in the window:

This option resets the center and orientation of the displayed 3D image so that it is the same as was seen when the Camera Module was recording (Offline).

 Click the C-3D button.

F5 3D Imaging System User Manual

► To play a frame-by-frame 3D recorded video:

This option enables you to display the progress of the creation of the point cloud while it was being recorded.

1 Double-click an MPC file in the File Explorer. Any file in which MPC is part of

the file extension can be played.

2 Click the Display as Film button in the bottom right of the window .

3 Click the Play button to play the recorded video showing the scenes as

they were scanned.

NOTE

You can click the Display as Model button at the bottom right of the window to return to viewing the 3D model.

KaplaVision Player View Toolbar

The following toolbar is displayed in Player View (which is described on page 38). To display the toolbar, double-click output0.mis or output1.mis.

Figure 17: KaplaVision 2D Live View Toolbar

 Convert to AVI : Converts the video recorded in the selected infrared

image file (Output0.mis) and its associated color image file (Output1.mis) into AVI video format. Simply select either the Output0.mis or the Output1.mis file and then click this button.

 Decode : Processes an infrared image file (Output0.mis) and its

associated color image file (Output1.mis) in order to create a point cloud (MPC file format).

NOTE

Decoding can be done without the color image (Output1.mis) if it does not exist. It then produces a point cloud without color.

 Run Live 3D View Button : Click this button to display what is

currently seen by the F5-B Imager (Live). In this mode, you can start recording.

F5 3D Imaging System User Manual

File Explorer

Each time the F5-B scanner stops recording, a new video file is created and stored

on the KaplaVision workstation and a new video folder appears in the left pane of the KaplaVision window, as shown below:

Figure 18: KaplaVision 3D Image Folder Pane

Each folder is automatically named according to the timestamp of when it stopped recording.

Searching for a Folder/File

► To search for a KaplaVision folder/file:

 In the Search field at the top of the File Explorer, enter any part of the name

of the folder/file for which you are searching. A list of the folders/files that match the specified string then displays. For example, as shown below:

F5 3D Imaging System User Manual

Figure 19: Searching for KaplaVision Folders/Files

File Explorer Toolbars

The File Explorer has two toolbars, one general toolbar on the top of the File Explorer and another toolbar on the bottom that affects the selected file, as shown below:

Figure 20: File Explorer Toolbars

File Explorer Toolbar (Top)

Figure 21: File Explorer – General (Top) Toolbar

 Open file: Enables you to import any MPC file to 3D live viewer.  Detailed View: Enables you to view the files along with their details.  Large Icon View: Displays the files using large icons.

F5 3D Imaging System User Manual

File Explorer – File Toolbar (Bottom)

The following describes the tools provides at the bottom of the File Explorer.

Figure 22: File Explorer – File Toolbar

 : Opens the Windows File System folder in which the selected file is

located.

 O: Opens the selected file in the KaplaVision Player View.  R: Enables you to rename the selected item.  T4: Opens the Stitching application window, as described on page 53.  M: Surfaces the selected file, as described on page 49.  MT: Opens the Measurement Tool application window, as described in

Chapter 5, Advanced – Measurement Tool on page 75.

 Delete : Deletes the selected item.

Processing Files

You can open a KaplaVision folder to display its files. You can then view the file, play the file or process (decode, stitch or denoise) the file.

► To process a file:

1 Double-click a folder in the File Explorer. The folder expands to show the

KaplaVision files that it contains:

 Output0.mis – Infrared Video: Mantis Vision’s proprietary format,

representing the scanned infrared video before it has been decoded.

 Output1.mis – Color Video: Mantis Vision’s proprietary format,

representing the scanned color video before it has been decoded.

 MPC: MPC is Mantis Vision’s proprietary file format for representing a

3D point cloud. This file format is produced by the KaplaVision application. You also have the option to export an MPC file to a variety of formats, as described on page 47.

An icon is displayed to represent each file in that folder, as shown below:

F5 3D Imaging System User Manual

Figure 23: File Explorer Files

NOTE

Only one folder can be selected at a time.

The name of each file in the folder appears underneath each icon. You can hover over the icon to see its full name.

2 You can double-click an icon to display it in the center of the KaplaVision

window

– OR –

Right-click a file icon to display a menu of options that can be executed on this file, as described on page 45.

Figure 24: File Explorer Right-click Menu Options

File Explorer – Right-click Menu

The File Explorer enables you to right-click any file or folder icon to display a menu of options, as shown below:

F5 3D Imaging System User Manual

Figure 25: File Explorer – File Right-click Menu

 Mis-Avi: Converts the video recorded in the selected infrared image file

(Output0.mis) and its associated color image file (Output1.mis) into AVI video format. This option is only available for MIS files.

 Decode: Converts the video recorded by the F5-B scanner into a 3D point

cloud. During this process, each video frame is converted into a dense point cloud of three-dimensional distance measurements. This option is only available for MIS files.

 Open: Opens the selected file:

 For MIS files, this opens the color and infrared image.  For MPC files, this opens the point cloud.

 Open in T4: Opens the selected file in the Stitching window, as described in

the Chapter 4, Advanced – Stitching Tool. This option is only available for MPC files, meaning files that have already been decoded by KaplaVision.

 Open in Measurement Tool: opens the selected file in measurement tools as

described in chapter 5, Advanced -Measurement tool. This option is only available for MPC files, meaning files that have already been decoded by KaplaVision.

 Open Folder: Opens the selected folder and displays an icon for each file in

this folder.

 Rename: Enables you to rename a folder or file to a more recognizable name

for easy identification.

 Export: Enables you to export stitched MPC files from the KaplaVision

database in a variety of formats, as described on page 47.

F5 3D Imaging System User Manual

 Mesh: Enables you to apply a surface onto a point cloud (MPC file). This

option is only available for MPC files. You may refer to the Surfacing (Meshing) section on page 49 for more information.

 Delete: Enables you to select one or more (using the Ctrl key) files and delete

them.

Exporting from KaplaVision

The Mantis Vision Point cloud proprietary file format is called MPC.

The KaplaVision application enables you to export stitched MPC files from the KaplaVision database to one of the following formats:

 XYZ: The XYZ Point cloud file format is a data directory, which is the simplest

format for logging points in 3D space. It is the most widely supported file format for 3D Imager data, and can be opened by most 3D applications currently on the market. XYZ exports are available in two modes: Simple mode, which contains only X, Y and Z coordinates, and Full mode, which contains X, Y, Z, Nx, Ny, Nz, R, G and B. Each scene can be exported as a single XYZ file containing all frames or as an XYZ file for each frame, for dynamic motion and registration in third-party software packages.

 PTS: The PTS is a Point cloud file format designed to simply store point clouds.

Each point is stored as several values in one line of the PTS file. One line contains at least three values that represent the X, Y and Z positions of the point in a 3D Cartesian Coordinate system. If one line has six or more values, it is assumed that the last three values represent color information as eightbit values in an RGB color space. Additional information may be stored behind

the ﬁrst set of values. KaplaVision exports in the RapidForm format of PTS.

Both Leica and Geomagic PTS files are supported.

 PLY Points: A binary or ASCII format that contains both points and meshes.

The KaplaVision exports the points version of PLY.

► To export an MPC file:

1 Right-click the folder into which to import the file in the File Explorer and

select the Export option. The following window displays:

F5 3D Imaging System User Manual

Figure 26: Setting of the Exporting Configuration

2 Fill out the fields of this window, as follows:

 Select Source MPC File: Specify the MPC file to be exported.  Select path to export to: Specify the destination to which to export

the MPC file.

 Select base file name: specify the name of the altered file  Export MPC File to: Select the format to which to export the MPC file.

Fill in the other fields in the window. These fields differ according to the format to which you are exporting.

 Camera space: saves each point in the dimensions taken by the

camera.

 Single File per Frame: when checked generate for each frame a single

file

 Ignore normal-less points

3 Click the Start button to start exporting the file. A message displayed at the

bottom of the window when exporting is completed.

4 Click the Close button.

F5 3D Imaging System User Manual

Denoising

The following describes how to denoise a point cloud (MPC file).

1 Right-click the file which you would like to denoise in the File Explorer and

select the Denoise option. The following window displays:

Figure 36a: Denoise Dialog window

2 the following parameters can be changed in order to minimize the noise

around the captured scene:

 Neighbor Number: set the number of proximate points for each point in

the captured scene.

 Denoise Percent: adjusts the percentage of points to be included in the

point cloud model

 Apply Average: adjusts point positions according to the average point

distances for its neighbor group.

 Cast Average to Normal: setting the mesh cast for matching according to

normal of the surface.

 Erosion Number: sets the number of points to be removed within each

point's neighbor group.

F5 3D Imaging System User Manual

 Distance in mm: limits erosion within a neighbor group to set a distance.

3 Click the Denoise button to start denoising the file. A message displayed at

the bottom of the window when process is completed.

Surfacing (Meshing)

The following describes how to create a mesh (STL) from a point cloud (MPC file).

► To surface a point cloud:

1 Click the Meshing button at the bottom of the File Explorer. The following

window displays:

Figure 27: Setting the Meshing Configuration

2 Fill out the fields of this window, as follows:

 Select Location for Mesh Files: Specify the destination to which to

save the message file.

 Select base file name: specify the name of the altered file.  N Weights: Creates mesh by applying Normal to the surface of the

captured surface.

 Verbose

F5 3D Imaging System User Manual

 Polygon Mesh: Creates a mesh by creating surfaces with polygon

technique.

3 Click the Start button to start surfacing the file. A message is displayed at the

bottom of the window when surfacing is completed. The string _PC is appended to the end of the file name.

NOTE

The STL file will be created at the location folder and can be found as explained in page 42.

4 Click the Close button.

Defining KaplaVision Configuration Settings

The following describes how to configure KaplaVision decoding. This window is automatically displayed when KaplaVision is launched the first time.

If this is the first time you are using KaplaVision or the first time you are using a specific F5-B scanner, then you must check that the correct path is specified to the decoding configuration file and the calibration files. These files will be provided to you.

KaplaVision is provided with a configuration file in ZIP format that contains an RIG file suited to your specific F5-B device. Typically, there is no need to modify the fields pointing to these files.

NOTE

a new calibration RIG file can be created. These procedures are described in Appendix C, Calibrating the F5-B scanner on page 117.

► To configure KaplaVision:

1 Click the Configuration button at the top center of the KaplaVision window.

The following window displays:

F5 3D Imaging System User Manual

Figure 28: Setting the Decoding Configuration

2 Fill out the fields of this window, as follows:

 Output Root Folder: Specify the root folder into which all KaplaVision

files are saved. A subfolder is created for each F5-B 3D video. All subsequent processing of this raw data is saved in the same subfolder. You can leave the default value.

 Import: Each device is provided by Mantis Vision preinstalled with

this decoding configuration file. navigate to the ZIP that was provided by Mantis Vision

 Config: choose the correct imager number from the dropdown list

3 Click the OK button to save this configuration, which is implemented the next

time an MPC file is processed.

F5 3D Imaging System User Manual

4 Advanced – Stitching Tool

This chapter describes how to use the advanced KaplaVision Manual Stitching Tool.

Introducing the Stitching Tool

Stitching is the process by which the F5-B Scanner software combines (aligns, registers and merges) various 3D point cloud pieces into a single point cloud in order to recreate the 3D structure of the scanned scene.

Stitching can be done automatically by either KaplaVision and/or the T4 application or manually in the T4 application.

 Automatic Stitching: KaplaVision can automatically stitch together various

segments of a single video that you scanned using the F5-B Scanner into a single 3D point cloud. Automatic stitching is triggered or not according to the Recording Mode that you select, as described on page 20.

 Manual Stitching: KaplaVision provides an advanced Stitching Tool for

manually stitching together various MPC files and/or segments of the 3D point cloud (that could not be stitched automatically by KaplaVision).

Why Stitch Together Multiple MPC Files?

Each time the F5-B Scanner is stopped, a new video file is created. These files are viewable in the KaplaVision application and can later be stitched together using the Stitching tool, as described in this chapter. For example, you may want to stitch together multiple MPC files, if you pressed the Stop Recording button while scanning when you took a break or moved around the object.

Why Stitch Together Multiple Point Cloud Segments?

During the Automatic Stitching process, KaplaVision aligns each frame to the frame preceding it. A separate Segment (grouping) of your 3D point cloud is created each time KaplaVision recognizes a possible misalignment between frames. After decoding, this may result in multiple video Segments.

F5 3D Imaging System User Manual

If the Automatic Stitching process has achieved a single Segment and the displayed 3D point cloud model looks complete and correct, then you may not need to do any stitching.

However, if stitching is needed, the Stitching window provides a rich variety of options, such as Segment Registration, which is the process of manipulating the position of two point cloud Segments into alignment for registration.

Opening the Stitching Window

► Use one of the following options to open the Stitching

window:

 Right-click a 3D video that has already been decoded, meaning an MPC file or

a saved stitch file in the File Explorer (as described on page 42) and select the Open T4 option. You must specify the path of the T4 the first time you use this option.

 Select an MPC file in the File Explorer and click the T4 tool in the toolbar at the

bottom of the File Explorer, as shown below:

Figure 29: Launching Stitching Window from File Toolbar

 To stitch together a composition of multiple MPC files into a single point

model, use the Ctrl key to select multiple files in the File Explorer and then select the T4 tool in the toolbar at the bottom of the File Explorer.

F5 3D Imaging System User Manual

The following window displays:

Figure 30: Stitching Window (T4) Interface

The Stitching window consists of the following areas:

 Tabs and Options: page 55, Provides a variety of features for stitching.  Point cloud Viewing Area: page 58, Displays the point cloud scene and

enables you to manipulate it.

 Side Panel: page 62, Displays the files, segments and frames of the 3D video

files being stitched.

Tabs and Options

The Stitching window provides the following tabs and features.

Figure 31: Stitching Window – Tabs and Options

 Stitching Window Toolbar, page 56  Main Tab, page 56  Edit Segment Tab, page 57

Point Cloud

Viewing Area

Tabs and Features

View Options

Toolbar

Side Panel

F5 3D Imaging System User Manual

 Segment Registration Tab, page 57  Point Filter Tab, page 58  Point Removal Tab, page 58  Additional Features Tab, page 62  Measurement tool, page 76

Stitching Window Toolbar

The top left of the Stitching window provides the following tools:

 Open : Opens an MPC file in the Stitching window.

 Save : Saves the changes made to the current file.

 Save As : Saves the changes made to the current file to a new/different

file.

 Save As PLY : saves the changes made to the current file as a PLY file.

Main Tab

The Main tab is the default viewing tab in which you can activate the Automatic Registration process.

Figure 32: Stitching Window − Main Tab

The Main tab provides the following options:

 Sequential Registration: Activates the automatic stitching process of the

current scene.

 Sequential devel Registration: Activates the automatic stitching process.  Segment registration: Activate the automatic stitching irrelative to the

starting point.

 Global registration: Activates a refine stitching process of the current scene.

Only works when having one segment.

F5 3D Imaging System User Manual

 Complete registration: Activate all of the registration as the above, and also

removing particular segments.

NOTE

The removed segment are segments which contain less than 3% from the entire scene

 Delete Segment: Deletes segments that contain fewer frames than the

specified number. This option cannot be undone. Click the Delete button to delete the segments.

 Clear Transformations: clear all transformation made on the scene (including

sequential registration).

Edit Segment Tab

The Edit Segment tab is used to view/toggle between frames in the scene, to split segments and to re-register frames within a segment.

Figure 33: Stitching Window − Edit Segment Tab

The Edit Segment tab provides the following options:

 Frame Counter: Use the arrows to move through the scene or selected

segment, frame by frame.

 Split Segment: Enables you to split a segment manually (for example, where

frames are misaligned).

 Frame Selection Slider: Enables you to easily browse through the frames in

the scene.

Segment Registration Tab

The Segment Registration tab enables you to align two segments for registration. For more details about Segment Registration, you may refer to the Segment Registration section on page 63.

F5 3D Imaging System User Manual

Figure 34: Stitching Window − Segment Registration Tab

The Segment Registration tab provides the following options:

 Register Segment: Enables you to use the arrow buttons to toggle between

frames and select two segments for registration.

 Three Point Alignment: Enables you to align segments according to three

pairs of corresponding points. For more details, you may refer to the Three-point Alignment section on page 67.

Point Filter Tab

The Point Filter tab enables you to filter out unwanted points in the frames by adjusting distance and accuracy thresholds.

Figure 35: Stitching Window − Point Filter Tab

Point Removal Tab

The Point Removal tab enables you to manually delete unwanted points within a selected area.

 Square noise removal selection: allow you to surround the unwanted points

and delete them.

 Eraser noise removal selection: allow you to erase specific points with a

chosen size eraser.

Figure 36: Stitching Window − Point Removal Tab

Point Cloud Viewing Area

The Point Cloud Viewing area in the Stitching window provides the following options for controlling how the point cloud is displayed in the Viewing Area.

F5 3D Imaging System User Manual

Figure 37: Stitching Window − View Options Toolbar

The toolbar contains the following groups of tools:

 Selection, page 59  Camera Settings, page 60  Viewer Settings, page 61

Selection Tools

The Selection tool group controls how segments and frames are displayed in the viewing area.

Figure 38: View Options Toolbar − Selection − All Segments

The title of the Selection segment of the toolbar changes to indicate which segments are currently selected and displayed in the viewing area, as shown below:

Figure 39: Selection Display

The Selection segment includes the following viewing options:

 Show Selected Frame : Displays a single frame, as selected in the frame

selection counter/slider in the Edit Segment tab or in the Side Panel Frame tab.

 Show Selection and Previous : Displays a single frame, as selected in the

frame selection counter/slider in the Edit Segment tab or in the Side Panel Frame tab, plus the frame preceding it (the frame to which it is sequentially registered). The selected point cloud is blue, and can be manipulated separately. The previous frame is displayed in gray.

F5 3D Imaging System User Manual

 Show First to Selection : Displays the current frame, as selected in the

frame selection counter/slider in the Edit Segment tab or in the Side Panel Frame tab, and all frames preceding it. The selected point cloud is blue, with all previous frames displayed in gray.

 Show All : Displays all frames of the scene, before and after the selected

frame.

NOTE

To toggle between the above display modes, use the Left/Right keyboard arrow keys. To toggle between frames (in addition to the above options), use the Up/Down keys.

 Show Segment Colors : Displays all the frames of the file in color groups

based on segments. The colors of each segment are displayed in the Segments tab of the Side Panel.

Camera Settings Tools

The Camera Settings tool group provides the following options:

Figure 40: View Options Toolbar − Camera Settings

 Camera View (toggle): Two camera view modes are provided, as follows:

 Free Camera View Mode (default): Enables you to change the current

perspective or fly through the scene:

 To rotate the scene (change its perspective), hold down the left mouse

button while moving the mouse.

 To zoom in/out, hold down the right mouse button while moving the

mouse, or zoom in/out using the mouse wheel.

 To move/pan (translate) objects, hold down the left and right mouse

buttons while moving the mouse.

 Embedded Camera View Mode: Enables you to view the scene from the

position and perspective of the camera (per individual frame selected in the counter/slider). In this mode, the point cloud cannot be controlled by mouse movements.

F5 3D Imaging System User Manual

To enter/exit the Embedded Camera mode, select the Camera View toggle button or press TAB on the keyboard.

 Display Perspective/Orthographic (toggle):

 In Perspective mode, objects further away appear smaller than those in

the foreground.

 In Orthographic mode (the default), all points are displayed using the

same scale.

 Zoom All : Zooms in/out of the scene to fit the screen.  Front View : Views the point cloud from the front, with the Y Axis pointing

up, the X Axis pointing to the right and the Z Axis pointing away.

 Side View : Views the point cloud from the side, with the Y Axis pointing

left, the X Axis pointing up and the Z Axis pointing away.

 Top View : Views the point cloud from above, with the Y Axis towards the

viewer, the X Axis pointing to the right and the Z Axis pointing up.

 Isometric View : Views the point cloud so that the angles between the

projection of the X, Y and Z axes are all the same or 120°.

Viewer Settings Tools

The Viewer Settings tool group provides the following options:

Figure 41: View Options Toolbar − Viewer Settings

 Point Size Up/Down : The visible size of the individual points (pixels) of

the point cloud can be adjusted using the Up/Down arrows. This number represents the current point-size value. This option is useful while viewing sparse areas of a point cloud or while removing unwanted points.

 Blend Between Geometry and Texture Slider : Enables you to control

the amount of geometry vs. texture.

 Control Intensity of Light Slider : Enables you to control the light

intensity.

F5 3D Imaging System User Manual

 Select Background Color : Changes the background color.  Display Center of Rotation (toggle): Displays the center of rotation.  Show Axis (toggle): Displays the axis for the point cloud display (X, Y and

Z).

 Show Application Log : Opens the Application Log window to view stitching

events.

 Full Screen (toggle): Views the Viewing Area in full screen mode.

Side Panel

The Side Panel in the Stitching window provides additional options for viewing and working with files, frames and segments.

This panel provides the following tabs:

 Files: Displays a numbered list of composite files included in the point cloud

model, including the number of frames in each file.

 Frames: Displays a numbered list of all frames in the point cloud, their

associated segment number and number of points included in each frame.

 Segments: Displays a numbered list of all segments in the point cloud, the

number of frames included in each segment and display color.

Figure 42: Side Panel – Segments Tab

Controlled Stitching

Stitching is the process by which the various 3D pieces are combined (aligned, registered and merged) to recreate the 3D structure of the scanned scene. This can be done automatically (as described on page 53) or in a controlled manner (as described below).

F5 3D Imaging System User Manual

Controlled stitching enables you to perform parts of the stitching process semi-manually in the KaplaVision user interface, such as segment alignment, editing, segment or frame deletion.

Open the file in the Stitching window, as described on page 54.

Starting Automatic Registration

After the 3D video file has been opened in the Stitching window, start the Automatic Registration process by clicking the Sequential Registration button in the Main tab.

Figure 43: Stitching Window − Automatic Registration

in case that the sequential registration didn’t provide the sufficient result, you can click the Segment Registration button.

Segment Registration

During the Automatic Registration (stitching) process, the KaplaVision aligns each frame to the frame preceding it. When the KaplaVision recognizes a possible misalignment between frames, it breaks into a new segment (grouping). This results in one or more segments.

Segment Registration is the process of manipulating the position of two-point cloud segments into alignment for registration. The following sections describe the steps of the process, including the various options offered in the Stitching window for registration.

► To select two segments for registration:

1 In the Stitching window, select the Segment Registration tab.

Figure 44: Stitching Window – Segment Registration Tab

F5 3D Imaging System User Manual

Figure 55: Register with Next Option

2 Use the toggle buttons to select the two overlapping segments.

Figure 45: Segment Registration Toggle Buttons

3 Now, align the chosen segments using either the Manual Alignment or

Three-point Alignment mode. For more details about Manual mode, you may refer to the Manual Alignment section on page 65. For more details about Three-point Alignment mode, you may refer to the Three-point Alignment section on page 67.

Adjusting Point Filters

The adjustment of point filters is optional.

► To discard unwanted or problematic points before starting

Segment Registration:

1 In the Stitching window, select the Point Filter tab.

2 Set the preferred values in the Distance (in millimeters) and Accuracy

Thresholds by either entering a number in the field or dragging the relevant scroll bar.

NOTE

The Reference Segment point cloud is displayed in Blue. The Selected Segment point cloud is displayed in Light Yellow.

F5 3D Imaging System User Manual

3 Click Apply. Applying the filter reduces the number of points. You can see the

reference of the original value, as well as the amount left after filtering.

NOTE

Accuracy Thresholds refers to the actual distance between the location of each 3D point and the calculated P polar pattern which is produced by the imager camera

You can continue with Segment Registration using either the Manual Alignment mode or the Three-point Alignment mode. For more details about Manual mode, you may refer to the Manual Alignment section on page 65. For more details about Three-point Alignment mode, you may refer to the Three-point Alignment section on page 67.

NOTE

Once a file is saved, the point filters are saved with it and cannot be changed or removed.

Manual Alignment

Sometimes it is necessary to manually manipulate (position) two segments into alignment for registration.

► To perform manual alignment:

1 Manipulate the selected segment (Blue) using the Ctrl button and the mouse

to roughly align it with the reference frame. The Shift button moves the selected segment (Yellow) and the Ctrl button moves the reference segment (Blue).

When Ctrl is pressed, transformation is performed only on the selected segment. Mouse-manipulation controls operate as follows:

 Rotate the segment by holding down the left mouse button while

moving it over the scene.

 Move/pan segments in the scene by holding down both mouse

buttons and moving the mouse.

 Zoom in/out by clicking the right mouse button while moving the

mouse or with the mouse wheel.

F5 3D Imaging System User Manual

2 Double-click inside the Viewing Area, or click Register on the Segment

Registration toolbar to register the frames.

The Running Segment Registration window opens and closes.

Figure 46: Running Segment Registration Window

3 If the Merge icon on the toolbar is green (as shown below), click Merge to

complete the registration and combine the segments.

Figure 47: Merge − Ready

If the Merge icon on the toolbar is yellow (as shown below), align the segments more precisely and try again.

Figure 48: Merge – Try Again

If the Merge icon on the toolbar is red (as shown below), align the segments more precisely and try again or try to register different segments.

Figure 49: Segment Registration Failed

TIP

You can try to click Register again. Each click performs a minor adjustment and possibly fixes the misalignment. In this case, the Merge icon may turn green.

F5 3D Imaging System User Manual

NOTE

An override option enables you to merge two segments if segment registration fails. If Not Registered is displayed, but you want to merge segments anyway, click Merge. A window opens. Click Yes to continue or No to cancel.

Figure 50: Segment Registration Failed

4 Repeat steps 1 through 3 until all segments in the Segments tab are merged

into a single segment.

Three-point Alignment

KaplaVision offers an additional method of registering segments by selecting three pairs of corresponding points on each segment and aligning the segments based on these user-defined points.

► To perform three-point alignment:

1 Manipulate the reference segment (Blue) using the Ctrl button and the mouse

and the selected segment (Yellow) using the Shift button and the mouse so that the two segments are placed side by side (not overlapping). Mouse-manipulation controls operate as follows:

 Rotate a segment by holding down the left mouse button while

moving it over the scene.

 Move/pan segments in the scene by holding down both mouse

buttons and moving the mouse.

 Zoom in/out by clicking the right mouse button while moving the

mouse or the mouse wheel.

2 After the segments are placed side by side, middle-click the mouse on a

unique recognizable feature in one segment, and then middle-click the same (corresponding) feature in the other segment. A red point in each segment and a line between them visually confirms the position of the clicks:

F5 3D Imaging System User Manual

 Correct the selections by middle-clicking repeatedly on either

segment, as needed.

 If the segments are not sufficiently separated, selections may be

problematic. Move them apart so that relevant corresponding regions are not overlapping.

3 Click the second (green) dot on the Segment Registration toolbar and repeat

the previous step of this procedure for the second corresponding pair of points.

4 Repeat with the third (blue) dot.

Figure 51: Stitching Window – Three-point Alignment

5 To clear all selections, click Clear.

6 Click Align to align the two point clouds based on the six defined points.

7 Double-click within the Viewing Area or click Register on the Segment

Registration toolbar to register the frames.

Figure 52: Stitching Window – Three-point Alignment Icons

F5 3D Imaging System User Manual

The Running Segment Registration window opens and closes.

Figure 53: Running Segment Registration Window

8 If Registered is displayed on the toolbar, click Merge to complete the

registration and combine the segments.

If Not Registered is displayed, align the segments more precisely and try again.

Figure 54: Toolbar Display – Registered vs. Not Registered

NOTE

An override option enables you to merge two segments should segment registration fail. If Not Registered is displayed, but you want to merge segments anyway, click Merge. A window opens. Click Yes to continue or

No to cancel.

Figure 55: Segment Registration Failed

9 Repeat this procedure until all segments in the Segments tab are merged into

a single segment.

F5 3D Imaging System User Manual

Deleting Segments by Minimum Frame Size

NOTE

Auto-registration may produce more than one segment. Some of the segments may each have many frames and few segments may each have only a few frames (for example, one frame). We recommend not using use the segments that contain only a few frames because it is almost impossible to register them manually. We recommend deleting them.

► To delete segments by frame size:

1 Select the Main tab of the Stitching window.

2 To delete segments smaller than X frames, adjust the number by clicking the

up/down icons until reaching the required minimum frame size.

3 Click Delete.

Figure 56: Segment Deletion by Frame Size

4 Click Yes to proceed or No to cancel. This action cannot be undone.

Figure 57: Deleting Segments Smaller Than X

The segment disappears from the point cloud model and the Segment tab of the Side Panel.

F5 3D Imaging System User Manual

Figure 58: Stitching Window and Side Panel Segment Tab

F5 3D Imaging System User Manual

Additional Features tab

The segment processing tab enables you to denoise and creating a mesh file of the captured scene.

Denoise

Figure 46a: Denoise options window

the following parameters can be changed in order to minimize the noise around the captured scene:

 Neighbor Number: set the number of proximate points for each point in

the captured scene.

 Denoise Percent: adjusts the percentage of points to be included in the

point cloud model

 Apply Average: adjusts point positions according to the average point

distances for its neighbor group.

 Cast Average to Normal: setting the mesh cast for matching according to

normal of the surface.

 Erosion Number: sets the number of points to be removed within each

point's neighbor group.

 Distance in mm: limits erosion within a neighbor group to set a distance.

F5 3D Imaging System User Manual

Mesh

Enables you to create a Mesh file from the finalized captured scene. The mesh file will be saved as a STL file and will be located at the initial file folder.

Figure 46b: Mesh creating options

 Recon. Depth: sets the desire depth of the reconstruction of the point

cloud model.

 Octree Depth: sets the number of model analyzed frames.

The higher the number the Octree Depth parameter is set the more importance is put on each point. This will also mean exponentially longer mesh times. The lower the Octree Depth number, the less importance each individual point has.

 Surface Trim: Cut and delete selected portions of the captured scene.

Measurement tool

The Measurement tool tab enables you to measure the distance or the angle between several geometric options and also review your measuring history.

The distance can be shown in different units by selecting from the drop list

F5 3D Imaging System User Manual

Figure 46c: measurement tools and history viewer

Measurements can be done inside the T4 program in 5 different options:

 Measure the distance between two points: by pressing double click on

the desire points in the shape

 Measure the shortest distance between point and plane: by pressing

double click on three desire points in order to define a plane, and another double click to the designated point.

 Measure the shortest distance between point and plane: by pressing

double click on two desired points in order to define a line, and another double click to the designated point.

 Measure the angle between two lines: by pressing double click on two

desired points in order to define a line, and another double click to another point, measure the angle between the line and the point.

 Measure the angle between two planes: by pressing double click on

three desire points in order to define a plane, and another double click on three points to make another plane, measure the angle between those two planes.

F5 3D Imaging System User Manual

5 Advanced – Measurement Tool

This chapter describes how to use the Advanced KaplaVision Measurement Tool to take precise measurements in a 3D point cloud.

Introducing the Measurement Tool

The Measurement Tool enables you to take precise measurements in a 3D point cloud (meaning in a saved stitch or composite file) or in a single 3D frame of a file. This tool can be used together with the KaplaVision software package or as a standalone application.

3D point clouds from the KaplaVision application can be opened in the Measurement Tool in order to analyze various types of measurements. You can use it of the measure distances, angles and diameters of planes, cross-sections, circles, points and so on.

► To open the Measurement Tool:

 Select an MPC file in the File Explorer and click the MT tool in the toolbar at

the bottom of the File Explorer, as shown below:

Figure 59: Launching Stitching Window from File Toolbar

F5 3D Imaging System User Manual

Figure 60: Measurement Tool

Measurement Tool User Interface

The Measurement Tool consists of five parts:

Figure 61: Measurement Tool – User Interface

 Main Viewing Area: Enables you to view and navigate through the scene in

the Main Viewing Area. Points, lines, planes and angles can be measured in this area.

 Toolbar: The Measurement Tool toolbars provide various tools for viewing

and measuring the point cloud.

Figure 62: Measurement Tool Toolbars

F5 3D Imaging System User Manual

 Primitives Pane: The Primitives pane lists the subparts of the various

measurements performed on the point cloud (MPC file).

 History Pane: The History pane lists all the measurements performed on the

point cloud (MPC file).

 Info Pane: The Info pane provides information about the current

measurement, and the coordinates of the selected points in the Main Viewing window.

Toolbars

The Measurement Tool toolbars provide various tools for viewing and measuring the point cloud.

 Open : Opens the Open File window.  Measurement Units : Selects a measurement unit from the dropdown

list (mm/in).

Measurement

The Measurement toolbar provides various tools for measuring:

Figure 63: Measurement Toolbar

 Measures the distance between a point and a plane

 Measures the distance between two points

 Measures the distance between a point and a line

 Measures the angle between two lines that are defined by three points

 Measures the angle between two planes  Measures the angle to a projected line  Measures the diameter of a circle on a plane  Measures the diameter of a selected circle

F5 3D Imaging System User Manual

Point Toolbar

Figure 64: Point Toolbar

 Chooses a point according to the current selection  Chooses a point by three planes

Line Toolbar

Figure 65: Line Toolbar

 Creates a line by two points  Creates a line by two planes

Plane Toolbar

Figure 66: Plane Toolbar

 Creates a plane by point sets  Creates a plane with two planes

Radius

Defines the preferred radius of point selections.

Offset

Adjusts a selected plane’s position.

Circle Toolbar

Figure 67: Circle Toolbar

 Selects a circle by three points  Selects a circle by a point and a diameter  Defines the diameter of a circle using the Circle field

Angle

F5 3D Imaging System User Manual

Figure 68: Angle

Defines the preferred angle for various measurements.

Snap Toolbar

Defines the characteristics of geometries to be used for measurements (free, Snap Plane or Snap Line). When defining geometries used in measurements, the Snap toolbar is used to select the option for creating them.

Figure 69: Snap Toolbar

 Free : When this option is selected, points selected and measurements

taken are not projected on, or in relation to, a snap plane or snap line.

 Snap Plane : When this option is selected, a permanent snap plane is

created using the Define Snap Plane option. Therefore, all measurements are made in relation to this specific plane.

NOTE

Selecting this option automatically accesses the last plane defined using the Define Snap Plane tool. To reset the snap plane, create a new one using the Define dropdown list (refer to the Defining a Snap Plane Using Point Sets section on page 81 for details).

 Snap Line : When this option is selected, a permanent line is created using

the Define Snap Line option. Therefore, all measurements are made in relation to this specific line.

NOTE

Selecting this option automatically accesses the last line defined using the Define Snap Line tool. To reset the snap line, create a new one using the Define dropdown list (refer to the sections below for instructions).

Point in Coordinate System / Flip Coordinate System Dropdown List

Enables you to view the point cloud axis point and flip the X, Y or Z coordinates.

Cut Plane / Flip Cut Plane Dropdown List

F5 3D Imaging System User Manual

Toggles the cut plane view off and on and flips a cut plane view.

Define Dropdown List

Defines the geometries and coordinate systems used for measurements, as follows:

 Defines a snap plane  Defines a snap line  Defines a coordinate system  Defines a cut plane

Point Size

Defines the size of the points in the point cloud display.

Show Frames Toolbar

Figure 70: Show Frames Toolbar

 Shows all frames  Views a single frame

 Shows the Frame field

Texture Toolbar

Figure 71: Texture Toolbar

 Adjusts the contrast mixer  Adjusts the brightness mixer

 Toggles the Texture button

Reset View

Re-centers the point cloud in the Viewing Area.

File Dropdown List

Loads or saves a file.

F5 3D Imaging System User Manual

Views Dropdown List

Selects the preferred view (X, Y, Z, Free, Show View).

Defining Snap Planes and Lines Used for Reference in Measurements

Perform the procedures in this section to define snap planes and lines used as a reference points for projecting measurements from objects to other surfaces. The same instructions apply for creating free-form (non-snap) planes and lines for use in measurements.

Defining a Snap Plane Using Point Sets

► To define a snap plan using point sets:

1 Click the Define button and select Define Snap Plane. If you are creating

a free-form, non-snap plane for a measurement, then skip this step and begin with step 2.

2 Select the Choose Plane by Point Set option on the Plane toolbar.

3 Double-click a point in the point cloud from which to start defining the plane.

The software automatically detects and highlights neighboring co-planar points in the plane located at a distance smaller than defined in the Radius field (refer to the Managing Measurements and Views section on page 110).

–OR–

Instead of defining a new point, select a previously defined point by double-clicking the entry in the Primitives or History panes.

F5 3D Imaging System User Manual

Figure 72: Selecting a Point to Define a Snap Plane

Figure 73: Selecting an Existing Point in the Primitives Pane

4 Press Shift + Enter to accept the co-planar selection.

5 Repeat steps 3 and 4 over different regions of the plane until the required

points are selected.

NOTE

The minimum number of selections is two. More selections result in a more accurate plane.

If the preferred plane is very small, decrease the value of the Radius parameter to ensure that the highlighted points are within the plane. Including points that are not located on the plane reduces accuracy.

F5 3D Imaging System User Manual

6 Press Enter. The plane is defined. The application finds and displays the snap

plane connecting the highlighted selections. The entry is recorded in the Primitives Plane.

Figure 74: Defining the Plane

Defining a Snap Plane Using an Existing Plane

► To define a snap plane using an existing plane:

1 Click the Define button and select Define Snap Plane. If you are creating

a free-form, non-snap plane for a measurement, skip this step and begin with step 2.

2 Select a previously defined plane by double-clicking its entry in the Primitives

or History panes. The plane is displayed in the Viewing Area.

Figure 75: Selecting an Existing Plane in the Primitives Pane

3 Press Enter. The snap plane is defined.

F5 3D Imaging System User Manual

Defining a Cut Plane

A cut plane hides part of the point cloud to make another portion more visible and more accessible. The cut plane hides all the points of the stitch behind it.

► To define a cut plane:

1 Click the Define button and select Define Cut Plane.

Figure 76: Define Cut Plane Option

2 Select the Choose Plane by Point Set option on the Plane toolbar.

3 Double-click a point in the point cloud from which to start defining the plane.

– OR –

Instead of defining a new point, select a previously defined point by double-clicking the entry in the Primitives or History panes.

4 Press Shift + Enter to accept the co-planar selection.

5 Repeat steps 3 and 4 of this procedure over different regions of the plane

until the required points are selected.

NOTE

The minimum number of selections is two. More selections result in a more accurate plane.

F5 3D Imaging System User Manual

Figure 77: Defining the Cut Plane

6 Press Enter. The cut plane is defined and all points behind it are hidden. The

cut plane is recorded in the Primitives Plane.

Figure 78: Cut Plane View

7 To flip the cut plane so that all points in front of the plane are hidden, select

the Flip Cut Plane option in the Cut Plane dropdown list.

F5 3D Imaging System User Manual

Figure 79: Flipped Cut Plane View

8 Click the icon to toggle the cut plane view on and off.

Defining a Cut Plane Using an Existing Plane

► To define a cut plane using an existing plane:

1 Click the Define button and select Define Cut Plane.

2 Select a previously defined plane by double-clicking its entry in the Primitives

or History panes. The plane is displayed in the Viewing Area.

Figure 80: Selecting an Existing Plane in the Primitives Pane

3 Press Enter. The cut plane is defined and displayed in the Main Viewing Area.

4 To flip the cut plane so that all points in front of the Plane are hidden, select

the Flip Cut Plane option in the Cut Plane dropdown list.

F5 3D Imaging System User Manual

5 Click the icon to toggle the cut plane view on and off.

Defining a Cut Plane Perpendicular to Two Planes

This option defines a cut plane that is perpendicular to two other planes.

Using Points to Create the Planes

► To use points to create the planes:

1 Click the Define button and select Define Cut Plane.

2 Begin setting the first plane by double-clicking a point in the point cloud. The

software automatically detects and highlights neighboring co-planar points in the plane located at a distance smaller than defined in the Radius field (refer to the Managing Measurements and Views section on page 110).

– OR –

Instead of defining a new point, select a previously defined point by double-clicking the entry in the Primitives or History panes.

3 Press Shift + Enter to accept the co-planar selection.

Figure 81: Defining the First Plane

4 Repeat steps 2 and 3 over different regions of the plane until the required

points are selected.

F5 3D Imaging System User Manual

NOTE

The minimum number of selections is two. More selections result in a more accurate plane.

Figure 82: Defining the Second Plane

5 Press Enter to define the second plane. The new cut plane is defined and

displayed in the Main Viewing Area, and all points behind it are hidden. The entry is recorded in the Primitives Plane.

Figure 83: Cut Plane View

F5 3D Imaging System User Manual

6 To flip the cut plane so that all points in front of the plane are hidden, select

the Flip Cut Plane option in the Cut Plane dropdown list.

7 Click the icon to toggle the cut plane view on and off.

Figure 84: Flipped Cut Plane View

Using Previously Defined Planes

► To use previously defined planes:

1 Click the Define button and select Define Cut Plane.

2 Click the Choose Plane by Two Planes option on the Plane toolbar.

3 Select a previously defined plane by double-clicking the entry in the Primitives

or History panes (the plane appears in the Viewing Area).

4 Press Enter to define the first plane.

5 Select another previously defined plane by double-clicking the entry from the

Primitives or History panes.

F5 3D Imaging System User Manual

Figure 85: Selecting the Plane in the Primitives Pane

6 Press Enter to define the second plane. The new cut plane is defined and

displayed in the Main Viewing Area, and all points behind it are hidden. The entry is recorded in the Primitives Plane.

7 To flip the cut plane so that all points in front of the plane are hidden, select

the Flip Cut Plane option in the Cut Plane dropdown list.

8 Click the icon to toggle the cut plane view on and off.

NOTE

You can combine the two options described in the preceding sections. For example, you can create one plane by points and the second plane using a previously defined plane.

Defining a Snap Line by Two Points

► To define a snap line by two points:

1 Click the Define button and select Define Snap Line. If creating a

free-form, non-snap line for a measurement, skip this step and begin with step 2.

2 Select the Choose Line by 2 Points option on the Line toolbar to define the

relevant line.

3 Double-click a point in the scene (the line’s start point).

F5 3D Imaging System User Manual

– OR –

Instead of defining a new point, select a previously defined point in the Primitives pane.

4 Double-click a different point in the scene (the measurement’s end point) to

display the line.

– OR –

Instead of defining a new point, select a previously defined point in the Primitives pane.

NOTE

Double-click repeatedly until the required points are selected.

5 Press Enter. The line is defined and entered into the Primitives pane.

Figure 86: Defining a Snap Line

Defining a Snap Line Perpendicular to Two Planes

This option defines a snap line that intersects between two planes.

Using Points to Create the Planes

F5 3D Imaging System User Manual

► To use points to create the planes:

1 Click the Define button and select Define Snap Line. If creating a

free-form, non-snap line for a measurement, skip this step and begin with step 2.

2 Select the Choose Line by Two Planes option on the Plane toolbar.

3 Begin setting the first plane by double-clicking a point in the point cloud. The

– OR –

Instead of defining a new point, select a previously defined point by double-clicking the entry in the Primitives or History panes.

4 Press Shift + Enter to accept the co-planar selection.

Figure 87: Defining the First Plane

5 Repeat steps 2 and 3 over different regions of the plane until the required

points are selected.

NOTE

The minimum number of selections is two. More selections result in a more accurate plane.

F5 3D Imaging System User Manual

Figure 88: Defining the Second Plane

6 Press Enter to define the second plane. The intersection between the two

planes is defined as a line that is displayed in the main Viewing Area. The entry is recorded in the Primitives Plane.

Figure 89: Defining a Snap Line by Two Planes

F5 3D Imaging System User Manual

Using Previously Defined Planes

► To use previously defined planes:

1 Click the Define button and select Define Snap Line. If creating a

free-form, non-snap line for a measurement, skip this step and begin with step 2.

2 Select the Choose Line by Two Planes option on the Line toolbar.

3 Select a previously defined plane by double-clicking the entry in the Primitives

or History panes. (The plane appears in the Viewing Area).

4 Press Enter to define the first plane.

5 Select another previously defined plane by double-clicking the entry from the

Primitives or History panes.

6 Press Enter to define the second plane. The intersection between the two

planes is defined as a line that is displayed in the Main Viewing Area. The entry is recorded in the Primitives Plane.

NOTE

You can combine the two options described in the preceding sections. For example, you can create one plane by points and the second plane using a previously defined plane.

Measuring Elements

Perform the procedures in this section to measure distances, angles, diameters and points in the point cloud.

Measuring the Distance from a Point and a Plane

► To measure the distance from a plane to a point:

1 Make sure the Free Snap option is selected. The measurement

returns a value of zero if used with the Snap Line or Snap Plane options.

F5 3D Imaging System User Manual

2 Select the icon from the Measurement toolbar.

3 Define a plane using the Plane toolbar options (refer to the Defining a Snap

Plane Using Point Sets section on page 81 and the Defining a Snap Plane Using an Existing Plane section on page 83.

– OR –

Select a previously defined plane by double-clicking the plane in the Primitives pane, and then press Enter.

Figure 90: Defining a Plane for a Point Plane Measurement

4 Double-click a point not on the plane by double-clicking repeatedly until the

preferred point is selected.

– OR –

Instead of defining a new point, select a previously defined point in the Primitives pane.

5 The (perpendicular) distance from the defined plane is displayed in the Main

Viewing window and in the Information pane.

When necessary, the application automatically extends the plane to ensure that the line from the measured point intersects with the plane at a correct angle.

F5 3D Imaging System User Manual

Figure 91: Point-to-plane Measurement

6 Press Enter. The Plane-to-point measurement is defined. The measurement is

entered into the History pane and the subparts are entered into the Primitives pane.

Measuring the Distance between Two Points

► To measure the distance between two points:

1 Select the icon on the Measurement toolbar.

2 Double-click a point in the scene (measurement’s start point).

– OR –

Instead of defining a new point, select a previously defined point in the Primitives pane by double-clicking the point in the Primitives pane.

3 Double-click a different point in the scene (measurement’s end point).

– OR –

Instead of defining a new point, select a previously defined point in the Primitives pane by double-clicking the point in the Primitives pane.

The distance appears in the Viewing Area and Information pane in the selected measurement unit.

NOTE

Double-click repeatedly until the required points are selected.

F5 3D Imaging System User Manual

Figure 92: Distance Between Two Points

4 Press Enter. The Plane-to-Point measurement is entered into the History pane

and the subparts are entered into the Primitives pane.

F5 3D Imaging System User Manual

Figure 93: Primitives and History Panes

Measuring the Distance from a Line to a Point

► To measure the distance between a line and a point:

1 Make sure that either the Free Snap or Snap Plane option is

selected. The measurement returns a value of zero if used with the Snap Line option.

2 Click the icon on the Measurement toolbar.

3 Double-click a point in the scene (line’s start point).

F5 3D Imaging System User Manual

4 Double-click a different point in the scene (line’s end point).

5 Click a different point to change the second point. Press Enter to define the

line.

– OR –

Instead of defining a new line, select a previously defined line by double-clicking the line in the Primitives pane. The line appears in the Viewing Area.

Figure 94: Defining the Line

6 Double-click a point.

– OR –

Instead of defining a new point, select a previously defined point by double-clicking the point in the Primitives pane. The line appears in the Viewing Area.

The perpendicular distance from the line appears in the selected measurement unit.

F5 3D Imaging System User Manual

100

Figure 95: Distance from a Line to Points

7 Select additional points to display their distance from the line.

8 Press Enter. The Plane-to-point measurement is entered into the History pane

and the subparts are entered into the Primitives pane.

Measuring the Angle Between Two Lines

► To measure the angle between two lines:

1 Make sure that either the Free or Snap Plane option is selected.

2 Click the icon on the Measurement toolbar.

3 Double-click a point in the scene (vertex point).

– OR –

Instead of defining a new point, select a previously defined point in the Primitives pane.

4 Double-click another point in the scene (first line’s end point).

– OR –

Instead of defining a new point, select a previously defined point in the Primitives pane.

Mantis Vision F5-B User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About This User Manual

Table of Contents

Documentation Conventions

Laser Safety Precautions

General

Engineering

Labels

Additional Safety and Precautions

Introducing Mantis Vision

Technical Specifications and System Requirements

Specifications

System Requirements

F5-B 3D Imaging System Overview

3D Camera Imager

The KaplaVision Application

Workflow – Using the F5-B 3D Imaging System

2 Getting Ready to Scan

Scanning Technique Guidelines

Preparing for Your First Scan

Disassembling After Scanning

3 KaplaVision Application

Live View / Player View

Live View

KaplaVision Live View Toolbar

Recording Information

Player View

KaplaVision Player View Toolbar

File Explorer

Searching for a Folder/File

File Explorer Toolbars

File Explorer Toolbar (Top)

File Explorer – File Toolbar (Bottom)

Processing Files

File Explorer – Right-click Menu

Exporting from KaplaVision

Denoising

Surfacing (Meshing)

Defining KaplaVision Configuration Settings

4 Advanced – Stitching Tool

Introducing the Stitching Tool

Why Stitch Together Multiple MPC Files?

Why Stitch Together Multiple Point Cloud Segments?

Opening the Stitching Window

Tabs and Options

Stitching Window Toolbar

Main Tab

Edit Segment Tab

Segment Registration Tab

Point Filter Tab

Point Removal Tab

Point Cloud Viewing Area

Selection Tools

Camera Settings Tools

Viewer Settings Tools

Side Panel

Controlled Stitching

Starting Automatic Registration

Segment Registration

Adjusting Point Filters

Manual Alignment

Three-point Alignment

Deleting Segments by Minimum Frame Size

Additional Features tab

Denoise

Mesh

Measurement tool

5 Advanced – Measurement Tool

Introducing the Measurement Tool

Measurement Tool User Interface

Toolbars

Measurement

Point Toolbar

Line Toolbar

Plane Toolbar

Radius

Offset