Viametris iMS3D User manual
VIAMETRIS
Koï Center –Bd de la Communication –53950 Louverné –France
iMS3D
Operating Guide
Version
Current iMS3D version
Date
Document v2.12
iMS3D –iMMSv2e
December 2017
iMS3D –Indoor Mobile Scanning System
Operating Guide. © Viametris SAS.
iMS3D –Operating Guide Document v2.12 2
CONTENT
1INTRODUCTION & PRELIMINARY 4
1.1 NORMAL CONDITIONS 4
1.2 COMPONENT LISTS 4
2MOUNT YOUR SYSTEM 5
3START SCANNING 9
4DATA TRANSFER 12
5RECHARGING THE TABLET ON BOARD 13
6SWITCH-OFF AND BOX STORING 13
7SYSTEM VEC FILE 16
7.1 MEANING 16
7.2 HOW TO UPDATE IT 16
8USAGE RECOMMENDATIONS 16
8.1 SITE PREPARATION 16
8.2 OPERATIONAL RECOMMENDATIONS 16
8.2.1 GENERAL ADVISES ON SCOUT ROLE AND POSITIONING; 17
8.2.2 LIGHT CONDITIONS: 18
8.2.3 ARCHITECTURAL CONDITIONS: 20
8.2.4 DOORS:HOW TO HANDLE “OPEN/CLOSE”22
8.2.5 HOW TO HANDLE BUSY ROOMS (FURNITURE/STORAGE) 23
8.2.6 RAMP UP/DOWN 23
8.2.7 HOW TO MOVE THE CART AND TRAJECTORY. 25
8.2.8 TRAFFIC ON THE FLOOR. 25
8.2.9 STAIRWAYS RELATED RECOMMENDATIONS 26
8.2.10 CELLARS AND MANSARD ROOFED ATTICS: 26
8.2.11 USAGE OF VIAMETRIS TARGETS 27
8.2.12 USAGE OF PAUSE VS STOP (WHEN TO DO,PRECAUTIONS TO TAKE) 27
9SAFETY RECOMMENDATIONS: 28
10 TRADEMARKS 28
11 SITE CHECK LIST 29
iMS3D –Indoor Mobile Scanning System
Operating Guide. © Viametris SAS.
iMS3D –Operating Guide Document v2.12 4
1 INTRODUCTION &PRELIMINARY
1.1 NORMAL CONDITIONS
iMS3D stands for “indoor Mobile Scanning” and 3D for “3D point cloud”. We remind the user that the
iMS3D is a surveying equipment dedicated to indoor jobs and mainly for building areas. Indeed, the
iMS3D has been build and designed for such environment and every sensor, mechanics and electronic
components has been chosen in order to fit the building measurement requirements.
1.2 COMPONENT LISTS
Figure 1: Roller frame
Figure 2: Mast Frame #1
Figure 3: Mast frame #2 including the handle
Figure 4: Processing unit
Figure 5: Sensor unit
Figure 6: Rugged Tablet & charger
iMS3D –Indoor Mobile Scanning System
Operating Guide. © Viametris SAS.
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Figure 7: System Charger
Figure 8: Embedded Tablet charger: this one should be
used when scanning
Figure 9: MOLEX connector to activate the battery
Figure 10: XLR connector used for chargers to be connected
to the processing unit
2 MOUNT YOUR SYSTEM
1. Open the boxes and start with the one which contains the kart
2. Put the roller frame on the floor
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Operating Guide. © Viametris SAS.
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3. Select the next Mast frame #1 and screw it on the roller
4. Select the next Mast frame and screw it using the same method:
5. Mount the camera frame on the sensor unit –the Ladybug camera gets six (6) different
cameras spread on a pentagon: Five (5) all around and one (1) on the top.
THE CAMERA INDEX #0 MUST BE ORIENTED FORWARD
6. Mount the unit on the frame
7. The sensor unit needs to be placed with a 15 degrees angle with respect to the frame
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8. Once the sensor unit is placed on the frame, turn it sharply to lock the sensor unit on the frame
9. Install the processing unit using by facing the three plastic hooks to the holes in the mast frame
iMS3D –Indoor Mobile Scanning System
Operating Guide. © Viametris SAS.
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10. Plug every cable to the sensor unit. No confusion is possible.
11. You can plug the tablet using the USB3 to Ethernet device and put the tablet on the stand
For safety reason, VIAMETRIS disconnect the battery “molex” connector. This is a
hardware switch which disconnect the battery since this molex is not plugged.
Then, your first start requires you to open the battery compartment under the
computer (Processing unit) and plug the molex to the battery.
iMS3D –Indoor Mobile Scanning System
Operating Guide. © Viametris SAS.
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SECOND CASE –From system version “iMMSv2e”, the system embeds power control board with
a different switch: non-permanent Push Button with blue light circle. Push the button at least one
second until the light is flashing
Note:
Then, the blue light is flashing every second until the system has properly started - Once initialized and ready to go,
the light is on.
By switching on the system, the computer will beep, the profilers will start with LEDs and the camera will have one
Green/Orange LED on.
All the iMS3D version with serial number prefix iMMSv2a, iMMSv2b, iMMSv2c
and iMMSv2d are designed without power control board. It means that the user
must respect the process to power off the system.
Otherwise, the embedded computer could be DAMAGED
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Operating Guide. © Viametris SAS.
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2- Power on the tablet by pushing the green button
3- Launch the iMS3D program on the tablet and wait for connection with the embedded
computer. The System battery level and the free disk space on the embedded computer is
displayed.
4- It is possible to change the image trigger distance: by default, the value is 2m, meaning that a
new image is grabbed every two (2) meters
5- Start the acquisition by clicking the “Play” button
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Operating Guide. © Viametris SAS.
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6- The map appears and every sensor starts… the status of each sensor is displayed on the left by
six (6) lights
7- The camera status is mainly orange (no image is grabbed) and blinks green once new image is
grabbed. The user can force and is able to trig manually by clicking the camera status light
8- When terminated, stop the acquisition and enter a comment if you want to. Press enter.
4 DATA TRANSFER
Once one or several acquisitions have been done, it is necessary to export the dataset.
A window pops up and informs the user to not move the equipment. This static
position is required during five (5) seconds.
A window pops up and informs the user to not move the equipment. This static
position is required during five (5) seconds.
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Operating Guide. © Viametris SAS.
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Click on the “Acquisitions” button and select one or several scans at once. Then, click on “Export”.
It is possible to export with a higher compression rate but this will increase the export time.
Finally, the exported file is an archive with the AAR extension, meaning Acquisition ARchive.
This file can be copied and moved anywhere to be processed into PPiMMS
1
.
5 RECHARGING THE TABLET ON BOARD
The system is able to charge the tablet’s battery thanks to an on-board charger:
6 SWITCH-OFF AND BOX STORING
1
Post processing software is dedicated to calculate trajectories and compute 3D point cloud. Please refer to the
PPiMMS manual to import the AAR file.
The scan data is recorded on the Processing unit’ embedded computer. It means
that the tablet needs to be connected to the system to be able to export the
dataset.
It is very important that the embedded computer power off properly. Then, as we
previously attracted the user’s attention, the system may not be equipped with a
power manager, depending on which version.
Then, it is expressly required to switch off the system through the tablet program.
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Operating Guide. © Viametris SAS.
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On the tablet, click on the power button to close it. A window will pop up to inform that the embedded
computer will shut down.
From system version above “iMMSv2e”, the user can also switch off the system by pushing on the
Push-button.
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Operating Guide. © Viametris SAS.
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Note:
When the user click the push button to switch off, the blue light flashes until the system is completely off.
If the user switches off the system from the tablet, the blue light of the switch flashes as well.
Then, every component should be removed at the exact inverted order than the one used to mount it.
The flight cases are designed to store the components in this order.
iMS3D –Indoor Mobile Scanning System
Operating Guide. © Viametris SAS.
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7 SYSTEM VEC FILE
7.1 MEANING
The internal VEC file which is inside the system is dedicated to every system. It gathers the calibration
parameters. This file cannot be exchanged with another one or modified by any one.
Usually, this file is produced by VIAMETRIS team and as no reason to change but in case of shocks or
physical changes in the sensor unit.
7.2 HOW TO UPDATE IT
In case VIAMETRIS team send a new VEC file, the user is able to update it through the tablet:
First switch-on the system and the tablet
Wait for the connection between the system and the tablet
Enter the configuration window
Update configuration file and select the new file
8 USAGE RECOMMENDATIONS
8.1 SITE PREPARATION
Inspect scan surface, make sure to scan in an even floor or less rough as possible to prevent
from unexpected vibration
Scout your scanning area to anticipate your trajectory.
Open each door to facilitate your scan.
Lit up each room to ensure a good camera shooting
Ensure proper access to all rooms and areas targeted (key locks, pin locks) as well as the
room’s availability for scanning operations. (Meetings…)
Further recommendations about scout’s role and trajectory are provided in the next section 8.2
8.2 OPERATIONAL RECOMMENDATIONS
iMS3D is a highly performing system using state of the art technology components. Nevertheless there
are some basic precautions to be undertaken considering:
-The Hokuyo®profilers are designed for indoor measurement, direct sun light will decrease the
measurement ranges.
-Ladybug®camera works with a shutter time and going through different light conditions will
produce either dark or white images during transitions.
-Central Hokuyo®profiler needs to scan vertical features.
-Despite highly sophisticated algorithms, measurements can be altered by wrong scanning staff
positioning (see section on Scout 8.2.1)
Therefore, it is key that the following operational recommendations are implemented as they are
critical to obtain optimum measurements.
iMS3D –Indoor Mobile Scanning System
Operating Guide. © Viametris SAS.
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Figure 11:overall recommendations for some real life situations.
8.2.1 GENERAL ADVISES ON SCOUT ROLE AND POSITIONING;
Avoid to remain in front of the cart or by the cart side. (see the 270° scan angle in Figures 12
& 13)
Facilitate the doors/light handling in front of the cart trajectory (enough in advance not to
interfere with measurement).
To avoid the scout to be caught within the scan range, it is recommended that the scout
prepare the room in advance and not “just in front” of the cart
Warn staff and visitors of the presence of the scanning operations, but they should not change
their trajectory if they come across the cart.
In case the Scout is “caught” in the scan range, it is recommended that he remains still, till he
finds himself behind the cart and then can resume his activities.
Kindly explains to site guide or demo attendees to remain behind the cart as their permanent
presence by the side of the cart would create a ghost wall.
Glass wall
Intense
daylight on
terraces
Stairways
& lifts
Crowded
storage room
Dark closet
room
Door steps
Long corridor
without
distinctive
features
Intense
daylight with
external blinds
Ramps
Vaulted
Ceilings
Role of
Scout
Long corridor
with
distinctive
features
Trajectory
Intense
daylight with
internal blinds
Mirrors
Ramps
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Operating Guide. © Viametris SAS.
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Figure 12:the scout has to remain out of the front scan range (270°), same advise goes with “support” staff or demo
attendees, who should not walk aside the operator but behind (within the remaining 90° spot). Red is wrong, green is OK
Figure 13: the scout has to remain out of the front scan range (270°). Red is wrong, green is OK
8.2.2 LIGHT CONDITIONS:
Profilers and Cameras imbedded are very sensitive to light.
Intense sun light exposure
When a room is very exposed to direct sun light:
oIf external blinds are available: have them shut down. (see Figure 14)
oIf only internal blinds or curtains are available, leave them opened as they could hide
important windows details.(see Figure 15)
Figure 14: external blinds have to be closed down as they don’t hide important details.
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Operating Guide. © Viametris SAS.
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Figure 15: internal blinds have to be left opened as they hide important details.
If intense light exposure cannot be avoided in a room then the measurement distances have
to be shorter and the scanning trajectory has to be closer to scanned objects.
Failure to respect this recommendations leads to noisy laser measurements)
Light exposure variations
When moving from a corridor with neon light to a dark room with very low light (i.e. no window
closet)
When moving from a normally exposed room to a very bright light environment (i.e. a balcony
or a terrace) See Figure 16
To avoid under exposed or over exposed pictures, it is recommended to pause and take picture
manually. See Figure 17
Figure 16: moving to an intense sun light area requires a pause and manual picture shootings
Figure 17: The user can force shooting by clicking the camera status light
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Operating Guide. © Viametris SAS.
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8.2.3 ARCHITECTURAL CONDITIONS:
Internal Glass Partition Wall
Those partition walls have to be scanned like other partition walls, except that it remains mandatory
to scan the room on the other side of this partition, to avoid to create ghost rooms. See Figure 18.
Figure 18: Glass windows to be scanned like standard partition walls.
Long Corridors
Long corridors without any noticeable elements (no columns, no doors, no vertical heating
pipes, no high piece of furniture in the 95-145cm above the ground).see Figure 20 and Figure
21.
Figure 19: heating pipes and window are within range.
Figure 20: horizontal heating pipe and windows are out of the range.
oSuch environment, without noticeable features within scan range, can lead to poor
measures if following precautions are not taken:
oAvoid scout to stand in front of the cart (behind the cart or out of radar range is
recommended)
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