Aranz Scanning FastSCAN Cobra User manual

FastSCANTM
CobraTM and ScorpionTM
Handheld Laser Scanner
User Manual
printed March 2014
Revision 4.0

Copyright c 1998–2014 by Aranz Scanning Ltd
110 Papanui Road
Merivale, Christchurch, 8014
New Zealand
PO Box 3894
Christchurch, 8140
New Zealand
www.aranz.com
www.fastscan3d.com
All rights reserved. No part of this publication may be reproduced, stored in a re-
trieval system, or transmitted in any form or by any means—mechanical, photocopy-
ing, recording or otherwise—without the prior written permission of ASL. No patent
liability is assumed with respect to the use of the information contained herein. While
every precaution has been taken in the preparation of this manual, ASL assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from use of the information contained herein.
FastSCANTM,CobraTM, & ScorpionTM are trademarks of Aranz Scanning Ltd.

FastSCAN i
Before You Begin...
Please read and fully understand Section 12: Safety Guidelines before using the
FastSCANTM Scanning equipment. This section contains important safety informa-
tion.

ii FastSCAN
Contents
1 Introduction 1
2 Hardware and Software Setup 2
2.1 Components.................................. 2
2.2 ComputerRequirements........................... 4
2.3 InstallingtheSoftware ............................ 4
2.4 Connecting It All Together . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.4.1 Installing the Drivers . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.5 Running FastSCANTM ............................. 6
3 Scanning 9
3.1 The Scanning Environment . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2 TheWand ................................... 10
3.2.1 WandControls ............................ 11
3.2.2 WandSensitivity ........................... 12
3.3 ScanningWiththeWand........................... 13
3.3.1 Scanning Technique . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3.2 Scanning Resolution - Limits Control . . . . . . . . . . . . . . . 15
3.3.3 ProfileSmoothing........................... 15
3.4 UndoingScans................................. 16
3.5 Using the Secondary Receiver - Rx as Reference . . . . . . . . . . . . . 17
3.5.1 Moving the Subject During Scanning . . . . . . . . . . . . . . . 17
3.5.2 Scanning Unstable Objects . . . . . . . . . . . . . . . . . . . . . . 17
3.5.3 Scanning Large Objects . . . . . . . . . . . . . . . . . . . . . . . 18
3.6 ViewingOptions ............................... 19
3.6.1 Data View/On Screen Format . . . . . . . . . . . . . . . . . . . . 19
3.6.2 Other Viewing Variables . . . . . . . . . . . . . . . . . . . . . . . 21
4 Processing Scanned Data 23
4.1 SurfacingOptions............................... 23
4.1.1 SweepsSurface ............................ 23
4.1.2 BasicSurface ............................. 24
4.1.3 Radial Basis Function (RBF) Surface . . . . . . . . . . . . . . . . 24
4.2 ExportFormat................................. 24
4.3 ScanFiles.................................... 25
4.3.1 Opening and Saving Scans . . . . . . . . . . . . . . . . . . . . . 25
4.4 EditingRawData............................... 26
4.4.1 TheSweeps .............................. 26
4.4.2 TheSweepsList............................ 26
4.4.3 Selecting and Deleting Data . . . . . . . . . . . . . . . . . . . . . 28
4.4.4 Undo/RedoSweeps ......................... 28
5 Generating A Basic Surface 29

FastSCAN iii
5.1 BasicSurface.................................. 29
5.2 Basic Surface Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.2.1 Smoothing............................... 29
5.2.2 Decimation: .............................. 30
5.2.3 LimitObjectsto: ........................... 32
5.2.4 Surface Simplification: . . . . . . . . . . . . . . . . . . . . . . . . 32
5.2.5 Apply Basic Surface: . . . . . . . . . . . . . . . . . . . . . . . . . 33
5.3 RegisteringtheSweeps............................ 33
5.4 SurfaceInformation.............................. 33
5.5 BatchProcessing................................ 34
6 Generating an RBF Surface 36
7 Exporting a Surface 37
7.1 ExportOptions ................................ 37
7.1.1 File Types for Export . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.1.2 ExportFormats............................ 38
7.2 Delta ...................................... 40
7.3 SaveSnapshot................................. 40
8 Help 40
9 Hotkeys & Optional Features 42
9.1 HotkeyList................................... 42
9.2 OptionalFeatures............................... 43
9.2.1 Refraction Correction . . . . . . . . . . . . . . . . . . . . . . . . 43
9.2.2 Cast Inversion Mode . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.2.3 Laser Pointer/Mark with Mouse/Stylus Mode . . . . . . . . . . 44
9.2.4 Export as AAOP/OP3 object . . . . . . . . . . . . . . . . . . . . 44
9.3 FastSCANTM PipeInterface.......................... 44
10 Calibration 45
10.1Overview.................................... 45
10.2 Calibration Correction Procedure . . . . . . . . . . . . . . . . . . . . . . 46
10.3 Alignment Check (Scorpion Users Only) . . . . . . . . . . . . . . . . . . 49
11 Troubleshooting/FAQs 50
12 Safety Guidelines 52
12.1FCCStatement................................. 52
12.2LaserWarning................................. 52
12.3 Use for Medical Applications . . . . . . . . . . . . . . . . . . . . . . . . 53
12.4 Warning Labels and Locations . . . . . . . . . . . . . . . . . . . . . . . . 54
13 Distributors 55

iv FastSCAN
14 Customer Service 57
15 Limited Warranty and Limitation of Liability 58
16 Indemnity Against Patent Infringement 60

FastSCAN 1
1 Introduction
Thank you for purchasing a FastSCANTM 3D laser scanner. Your scanner will quickly
and conveniently digitize the surface of any object into a series of points that fit to-
gether in 3D space. The FastSCANTM software then transforms this data into a detailed
3D object, in a file format that suits your needs.
The FastSCANTM software combines overlapping sweeps and eliminates redundant
data to create a complete surface. This can then be further processed using mathe-
matical functions called RBFs (Radial Basis Functions) to create a smooth watertight
surface in the form of your scanned object. The resulting 3D object can be exported
in a range of industry standard formats for use in other applications.
Please ensure you have read Section 12: Safety Guidelines before using this product.

2 FastSCAN
2 Hardware and Software Setup
2.1 Components
You should have received the following components with your FastSCANTM package:
•Wand (1)
•Processing Unit (PU) (2)
•Transmitter (3), options are:
◦4 inch
◦2 inch (standard)
◦1/2 inch (short ranger)
•1/2-inch Reference receiver (small cube) (4)
•Wand cable (color coded) (5)
•PU’s power supply and power cable
•Wand pad
•USB cable
•FastSCANTM software install CD
•This manual.
Figure 1: The FastSCANTM Cobra system with numbered components.

FastSCAN 3
Optional Items
•Mechanical Stylus
•Optical Stylus

4 FastSCAN
2.2 Computer Requirements
•Windows Vista or XP (SP2) 32 or 64 bit OS, or Windows 2000 SP4.
◦1 GHz Intel Pentium III or greater
(2 GHz Intel Pentium IV or greater recommended for RBF processing)
◦512 MB RAM or greater.
◦USB port.
•OpenGL compatible hardware accelerated graphics adapter in 32-bit (true color)
mode (minimum resolution 1024 x 768).
2.3 Installing the Software
Important: In order to install FastSCANTM ensure you have administrator privileges
on the computer.
Note to Windows Vista users: Before installing the FastSCANTM software do the fol-
lowing:
•Go to Start/Settings/Control Panel/User Accounts.
•Uncheck the box Turn user account On/Off.
•Click OK.
The installation procedure is as follows:
1. Insert the FastSCANTM CD. The set-up program should start automatically. If
it doesn’t, open the FastSCANTM CD folder manually and double-click on the
FastSCAN Setup.exe file to run the wizard.
2. You will be guided through the installation of the FastSCANTM software. Install
the FastSCANTM files in the default directory. The setup program will also install
the USB drivers automatically. During the process you may be alerted that
the FastSCANTM USB software has not passed Windows Logo Testing—if this
happens click the Continue Anyway button. You will be prompted to restart
your computer if necessary.
3. When the software has finished installing open the CD folder, double-click on
the license file FastSCAN.lic.exe and follow the instructions.
4. After the license file has installed double-click on the wand(model#)CFG.exe
file to install the calibration data for your particular Wand.

FastSCAN 5
2.4 Connecting It All Together
Note: Ensure that the PU is switched off before any of the front panel leads are
connected or disconnected, or the Wand is detached from its cable.
1. Place the PU near the computer and plug it into a power source using the power
pack and cable. Connect the USB cable to the front of the PU and to the com-
puter. Allow room for air circulation at the back of the PU.
2. Plug the appropriate color coded plugs of the Wand cable into their respec-
tive sockets on the Wand. Plug the two connectors at the other end of the
Wand cable into the sockets at the front of the PU, labeled ‘Wand’. The two
plugs/sockets have different polarization and cannot be connected incorrectly.
3. Plug the Transmitter connector into the socket labeled ‘Transmitter’.
Figure 2: Front view of the Processing Unit.
2.4.1 Installing the Drivers
Ensure you have run FastSCANsetup.exe. The FastSCANTM installation process pro-
vides your computer with the necessary drivers. They will become available for load-
ing when the hardware is plugged in and powered on for the first time.
For Windows XP:
1. When the scanner is first plugged in the Found New Hardware wizard window
will display. If you are requested to allow Windows to connect to the Windows
Update Web site select No, not this time and click Next.
2. Choose Install from a list or specific location (Advanced) and click Next.
3. Then choose Don’t search. I will choose the driver to install. and click Next.
4. Select FastSCAN USB Laser Scanner and click Next. If the list contains no
item for FastSCAN USB Laser Scanner choose Have Disk and browse to the
location of the driver files located on the install CD, typically:
C:\Program Files\Polhemus\FastSCAN\USB Driver and click Open.

6 FastSCAN
5. It is normal for Windows to report that FastSCANTM drivers have not passed
Windows Logo testing/are not digitally signed by Microsoft. Click Continue
Anyway each time when prompted until the drivers are installed.
Note: This procedure needs to be repeated when plugging the scanner into a different
USB port.
For Windows Vista:
1. Before powering up the PU connected to your computer click:
Start/Settings/Control Panel to open the Control Panel window.
2. Double-click on System.
3. In the System window click on Advanced System Settings.
4. In the Advanced System Settings window choose the Windows Update Driver
Settings button.
5. Select the middle option: Ask me each time I connect a new device before
checking for drivers.
6. The drivers should now automatically install when you power up the FastSCANTM
system connected to your computer.
2.5 Running FastSCANTM
1. Ensure the system is fully connected and the scanning environment set up as
desired.
2. Turn on the PU. The green light on the front of the PU should flash for approx-
imately 10 seconds and then stay on. If it doesn’t, check that the Wand cable
and power supply are correctly connected.
3. Start FastSCANTM by double clicking on its desktop icon. The FastSCANTM
startup screen (Figure 3) will appear.

FastSCAN 7
Figure 3: The FastSCAN startup screen.
Figure 4: The Scanner Properties dialog box.

8 FastSCAN
4. The status indicator at the bottom right of the screen (labeled 1in Figure 3)
should change from Scanner disabled to Scanner initializing... After approx-
imately 10 seconds this should change to Scanner on-line, indicating that the
system has initialized.
Note: Do not depress the trigger while the Wand is initializing.
5. When setting up the system for the first time or changing Wands open the Scan-
ner Properties box (Figure 4) via Scanner/Properties... .
6. Confirm that the Calibration file corresponds with the Wand you are using
(if not you may need to select the appropriate configuration file) and that the
Hardware version is set correctly. For current systems the correct setting is 3. If
the scanner has not come online ensure that Driver enabled is checked. If the
Wand has not been used with the system before, you may also have to install
the configuration file.
Figure 5: The Wand Hemisphere Setup dialog box.
7. When the system has initialized, and the status bar indicates that the scanner is
on-line, pull the trigger on the Wand. The Wand Hemisphere Setup dialog box
(Figure 5) will prompt you to define the hemisphere of operation—follow the
instructions in the dialog box.
8. Once the hemisphere has been defined FastSCAN is ready for use.

FastSCAN 9
3 Scanning
3.1 The Scanning Environment
An area of subdued lighting is ideal for scanning, with no external light entering from
windows. Scanning errors can arise when the scanner’s camera views direct sources
of strong, bright light, such as the sun or a powerful incandescent light.
Keep the scanning area at least one meter away from the Processing Unit, computer,
and any other significant metal objects. A wooden table is an ideal surface on which
to place objects for scanning.
For best results always position the Transmitter as close as possible to the object that
you are scanning. It is usually most convenient to place it behind or under the object.
Figure 6: An example of scanning a model. Note the wooden table, placement of the
Transmitter, and the position of the Wand.
In the default Transmitter is Reference mode it is vital that the object remains station-
ary relative to the Transmitter during the scan. If the object cannot remain stationary,
then the Transmitter may be attached to the object, or alternatively the Reference Re-
ceiver may be attached and Receiver is Reference selected in the Scanner menu (refer
to Section 3.5.1).

10 FastSCAN
Note - Multiple standard FastSCANTM systems will not work alongside one another
without interference. This can be remedied with a replacement Frequency Module.
Contact your vendor if required.
3.2 The Wand
The FastSCANTM Wand is available in 2 models—the CobraTM and the ScorpionTM.
The CobraTM is a light and compact single-camera Wand suited to most applica-
tions. The double-camera ScorpionTM can enable faster scanning and be more ef-
fective where occlusion is potentially a problem.
Figure 7: The CobraTM Wand.
Figure 8: The ScorpionTM Wand.

FastSCAN 11
Handling the Wand
•The Wand is a sensitive optical instrument—handle it with care at all
times.
•Place the Wand carefully on the Wand pad when not in use.
•After finishing your scanning session switch off and return the Wand to
its protective case.
•If the Wand is mishandled or dropped it will need calibrating.
3.2.1 Wand Controls
The 2-position trigger switch of the Wand controls scanning:
Preview position (trigger pulled in to the first click):
•displays laser profiles on the screen in real-time, but does not store them
•provides feedback to help align successive sweeps in a scan and for filling in gaps.
•reorients the display on the computer screen to a ‘Wands’s eye’ view
•illuminates the Laser LED (shown in Figure 9).
Figure 9: The Wand control panel with the power and Laser lights illuminated.
The secondary function of the Preview position is to reorient the on-screen image
without having to return to the keyboard. This is achieved by pointing the Wand at
the object, pulling the trigger to the Preview Position so that a profile is displayed
on screen and releasing the trigger. The display will then automatically assume a
‘Wand’s eye’ view.

12 FastSCAN
Scanning position (trigger pulled in completely):
•displays laser profiles and surface data on the screen in real-time and stores them
in memory
•illuminates both the Laser and Scan LEDs.
Note: If the scanning equipment is set up incorrectly the Laser and Scan lights may
flash alternately when the trigger is depressed into either position.
3.2.2 Wand Sensitivity
The Sensitivity Control allows you to compensate for different subject
surface types, colors and lighting conditions. Position 1 is the least sen-
sitive and position 6 the most sensitive. For most subjects 2-3 is a good
sensitivity setting.
Setting and/or adjusting the sensitivity when scanning any new object
can be done using the Up/Down buttons on the wand, and the com-
puter. This is best done in Camera View mode:
1. Click on the Camera icon, or select View/Camera View.
2. Set the sensitivity control to position 1.
3. Pull the trigger to the Preview position.
4. Push the sensitivity control Up arrow to increase the sensitivity.
•For the CobraTM the red curve of the laser profile should become visible.
•For the ScorpionTM red and green curves should become visible; the red
curve is the laser profile as viewed by the bottom camera, and the green
curve is the laser profile as viewed by the top camera.
5. If no laser profile ever becomes visible, try moving the Wand towards or away
from the object.
6. Set the sensitivity control to the lowest value that gives a clean unbroken curve(s).
7. Return to the standard view by deselecting Camera View mode.
On powering down the system, the Wand will remember the sensitivity control’s last
setting.
Note:
A too low sensitivity setting will cause only a small amount of (or no) data to be
collected.
A too high sensitivity setting may result in unwanted data or noise being collected
due to reflections or extraneous light.

FastSCAN 13
3.3 Scanning With the Wand
The Transmitter is Reference option is the default setting for a typical
scanning situation (a small–medium size stationary object; the Tx icon
selected) and normally this button should always be selected.
To scan unstable or large objects you may need to use the Receiver as
Reference (Rx icon)—see Section 3.5.
3.3.1 Scanning Technique
To scan a complete object you will need to perform a number of sweeps with the
Wand. Keep the Wand approximately 10-15 cm away from the subject. Due to the
Wand’s field of view objects too close (less than 8 cm) or too far away (greater than
22 cm) (for the standard CobraTM) will be outside the range of the camera.
Scans are built up from a number of overlapping sweeps, in a manner analogous to
spray-painting. A smooth consistent action is required for best results.
To collect a single sweep of data from an object:
1. Prepare the equipment for scanning as outlined in Section 2.5: Running
FastSCANTM.
2. Depress the Wand’s trigger into the Preview position, and ensure you can view
the laser profile/sweep start-point on-screen in the FastSCANTM viewing win-
dow.
3. Press the trigger to the Scan position. The Scan LED on the control panel will
illuminate to indicate that scanned data is being collected, and the scanned data
will appear on-screen simultaneously.
4. Move the Wand across the surface of the object in a smooth motion.
5. Release the trigger at the end of the sweep.
As you perform the scan data appears in the viewing window on screen. This lets
you see any areas that may have been missed or that might need going over again, to
enable an accurate complete scan of the whole object.
Pointing the Wand at the region of the object you wish to scan, pressing the trigger
to the Preview position and releasing it will reorient the on-screen object to enable
viewing of that region.

14 FastSCAN
For best scan results:
•allow the wand to warm up for 5 minutes before scanning an object
•minimize the distance of the Wand from the object to increase the accuracy of the
scan. Also keep the Wand as close to the transmitter as conveniently possible
•each sweep of the Wand should be a smooth action, as if spray-painting
•use both hands on the Wand to improve steadiness
•remove any metal objects from the scanning environment before beginning
•sweeps should overlap slightly, and missing patches can be rescanned
•a slow steady scan is typically best, to get the most accurate data and achieve the
smoothest final surface
•avoid repeated scanning of the same part of a surface, to reduce file size
•for large objects requiring many sweeps, save your scan at regular intervals to
prevent loss of scanned data.
You can erase the last sweep by clicking on Scanner/Undo Sweep, or by double click-
ing the Wand trigger (see Section 3.4: Undoing Scans). The erased sweep can be put
back into the scan by clicking on the Redo Sweep button.
The speed at which you move the Wand over the surface of the object is the major
determinate of the resolution of the sweeps. Selecting Points from the View menu
will allow you to experiment with different scanning speeds and see the difference in
results. The closer the points are together, the higher the resolution and quality of the
data.