4 Registration

JRC 3D Reconstructor offers different tools for scan alignment (Scan registration): some of them exploit targets, others work without targets. JRC 3D Reconstructor can manage 3D model in local reference systems or in global /geo-referenced reference systems

The present tutorial covers the following aspects: 1. 2. 3. 4. Introduction on the reference system in Reconstructor How to manually pose an object in 3D Creation of a new project: working in local or global reference system Different Reconstructor tools for scans registration: registration without target registration with target (single scan) registration with target (multiple scans) how to roto-translate one or more objects in 3D

4 Registration
In Reconstructor the 3D position of each imported object (grid and unstructured point clouds, meshes) and of each Cameras (i.e. plane, calibrated images) is described by the POSE matrix that you can open pressing the POSE button 1. Reference System Introduction

4 Registration
The pose matrix includes the Roto-translation matrix that describes the position of scan, mesh or cameras. The position can be also expressed showing the object center coordinates and the rotation (Eular angles, Rodriguez quaternion) 1. Reference System Introduction

Translation Rotation

Important note: if you want to know the scanner position (x,y,z) of the scan just read the Tx, Ty, Tz values

4 Registration
JRC 3D Reconstructor can manage two reference systems: Local and Global 1. Reference System Introduction

Local reference system

Global reference system

Global offset

The roto-translation matrix - local transform describes the local position of your object, the global offset measures the offset between the local and global reference system.

4 Registration
First, try to change manually the pose of an object by using the Manual Positioning windows (CRTL+A). Select the object (scan, mesh or camera) you want to rototranslate, decide the translation and rotation amount and press the apply transformation. to 2. Manual 3D position of an object

The pose matrix changed automatically

4 Registration
Starting a new project you can decide if working in a local or global reference system. If you know in advance the Global offset of the project you can insert it. 3. Work in local or global reference system

You can also set up or change the Global offset of a project afterwards, by using the option "Project properties" from the menu "File"

4 Registration
How can I know the global offset? If you import a georeferenced data (a file with large coordinates), the fourth column of the pose matrix will contain large translation numbers. Is possible to Copy translation into the project properties. 3. Work in local or global reference system

Very important note: If you import objects with different offsets and you try to register the two scans a warning will appear

To continue, first set a common global offset using the "Project properties" option in the "File" menu.

4 Registration
Registration without target The process is done into two steps: 4. Different tools for scans registration

1. Pre-registration: select 2 scans and press . In the preregistration window set the reference scan (it will be fixed) and the scan you want to move (the POSE will be changed). Select minimum 3 common points between the two scans view. Double click - left mouse button - to select the points; right mouse button to delete points. Alt + Rotate mouse wheel to zoom in and zoom out and Ctrl to shift the Zoom widow (yellow box) inside the larger view. After the selection of the three points, press "compute" and check the mean registration error. Usually with standard scan resolution a means error < 0,5 m is acceptable and you can apply the transformation.

4 Registration
2. Registration: select 2 preregistered scans and press want to move (the POSE will be changed). Set the Property parameter (see next page) and press process. Apply transform at the end of the process. . 4. Different tools for scans registration

In the registration window set the reference scans (usually the same of the preregistration) and the scan you

4 Registration
During the Registration, property values. Usually the default parameters are good to proceed 4. Different tools for scans registration

If TRUE the best fitting is done maintaining the laser position fixed To remove points acquire from a steep angle. 90 = use all points Maximum numbers of iterations in the process Increase this number if the preregistration in not very well

Increase this number if the overlap between the scans is not very well

Reduce this number if the overlap between the scans is not very well

4 Registration
Registration with target (single scan) Select the scan where at least 3 targets are visible, select Geo-referentiation in the Registration Tools options 4. Different tools for scans registration

The selected scan is displayed in 2D. Alt + Rotate mouse wheel to zoom in and zoom out and Ctrl to shift the Zoom window (yellow box) inside the larger view. Select at least 3 targets. The points selected can be stored or loaded from a .txt file

4 Registration
Load the geo-referenced points from a .txt file formatted as POINT Name 5 X 55635.7244 Y 4769804.3701 Z 370.1093 4. Different tools for scans registration

The number of reference points must be the same of the points selected from the laser scan

4 Registration
Press compute and chose one of the 2 options:: Match Name or Best fit. Then press: 4. Different tools for scans registration

4 Registration
A registration report windows appears where the target fitting error is reported. If you remove a row with the highest error, the error value of each single point is recomputed. Press apply to accept the registration 4. Different tools for scans registration

Very important note: the software automatically calculates the global offset of the targets according to the target mean position. To apply this offset to the project, copy the global offset in the project properties (see slide 7). For each scan with different targets a different offset will be calculated; to have a uniform project offset, proceed as showed in slide 7.

4 Registration
Registration with target (multiple scans) Point list registration Is possible to register or georeference 2 or more scans selecting at least 3 points from different scans. First, at least 3 points from 2 o more aligned scans should be selected. Two methods are available to select registration points: FIRST METHOD: Select the points in 3D through the Point list window (ALT+ double mouse click). 4. Different tools for scans registration

After the selection, save the points in a txt (ASCII) format

4 Registration
SECONT METHOD: Select the points in 2D (select the file Filtering->Edit 2D). Press to send the points in the point list. 4. Different tools for scans registration

After the selection save the points in a txt (ASCII) format

4 Registration
When you have two points lists (one from scan and the other from the topography or from another group of scans), select Point List Registration proceed as show in slide 13 and 14 , load the two points lists and 4. Different tools for scans registration