Optech

ILRIS-LR

Laser Scanner

Operation Manual

Optech Incorporated
300 Interchange Way, Vaughan, Ontario, Canada L4K 5Z8

Telephone: +1 905 660 0808 E-mail: [email protected] Website: www.optech.com

0066582/Rev D July 2013

Copyright © 2013 by Optech Incorporated
All rights reserved. This item and the information contained herein are the property of Optech Incorporated. No part of this document may
be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language or computer language in any form or by
any means otherwise, without the express written permission of Optech Incorporated, 300 Interchange Way, Vaughan, Ontario, Canada L4K
5Z8.

Comments
If you have any comments or suggestions about this documentation, contact Optech Technical Publications at [email protected].

Revision
Revision Date Description
A Nov 10 Original release
B Sep 11 Addition of noise-removal appendix, corrections
C May 12 Minor corrections
D Jul 13 Update
DANGER Laser Radiation and High Voltage/Electrical Shock
The ILRIS-LR is an inherently dangerous system:

■ Follow safety instructions carefully and consider safety issues at all times.
■ Before operating or servicing the ILRIS-LR, read and understand this manual.
■ When handling the system, recognize and obey all hazard labels and information.

The ILRIS-LR emits laser radiation that can permanently damage eyes. Operation and servicing must be performed by trained and qualified
personnel only.

Voltages in the ILRIS-LR can be harmful and even lethal. When servicing any part of the ILRIS-LR, follow standard high voltage precautions
or confirm that the system is powered off.

Disclaimer and Limitation of Liability

Optech Incorporated assumes no responsibility for any damage, loss, or other claim incurred by an end user or any third party arising or
resulting from the use of this instrument or its associated software.

Shipping Damage
This unit is inspected before shipment. As soon as the unit is received from the carrier, and before operation, inspect the unit for damage
that may have occurred during shipment. If any damage is found, file a claim promptly with the carrier and notify Optech immediately.

Trademarks
Products and brand names may be trademarks or registered trademarks of their respective owners.
 Table of Contents
1 ABOUT THIS MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Who should read this manual....................................................................................................................................1
ILRIS-LR user documentation.....................................................................................................................................1
Notice formats...........................................................................................................................................................2
Type conventions ......................................................................................................................................................2

2 HANDLING AND SAFETY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Laser safety................................................................................................................................................................3
Enhanced Range mode.......................................................................................................................................4
With ER mode turned off ....................................................................................................................................7
Removing the scanner panels .............................................................................................................................7
Hazard labels ............................................................................................................................................................7
Handling the scanner ................................................................................................................................................8
Cable handling ........................................................................................................................................................10
Handling the optional Pan/Tilt base.........................................................................................................................11
Pan/Tilt emergency buttons ..............................................................................................................................12

3 PRODUCT OVERVIEW (STANDARD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

The ILRIS-LR............................................................................................................................................................14
Extended Range (ER) mode ......................................................................................................................................14
Extended options .....................................................................................................................................................15
Motion compensation option ...........................................................................................................................15
Pan/Tilt base ....................................................................................................................................................15
Scanning methods ...................................................................................................................................................16
Step stare scanning...........................................................................................................................................16
Profile scanning (option) ..................................................................................................................................16
ILRIS-LR components ..............................................................................................................................................17
Scanner hardware interface .....................................................................................................................................18
Front panel.......................................................................................................................................................18
Rear panel........................................................................................................................................................18
Scanner base plate ...........................................................................................................................................19
Operating computers...............................................................................................................................................19
Pocket PC and laptop computer .......................................................................................................................19
ILRIS-LR software ....................................................................................................................................................20
ILRIS-LR Controller...........................................................................................................................................20
ILRIS Parser ......................................................................................................................................................21
Third-party software options ....................................................................................................................................23
Battery equipment (optional) ...................................................................................................................................23
Carry case ...............................................................................................................................................................24

4 PRODUCT OVERVIEW (MC OPTION). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

About motion compensation ...................................................................................................................................25
Hardware ................................................................................................................................................................26
Software ..................................................................................................................................................................26

5 WORKFLOW (STANDARD AND MC OPTION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Standard ILRIS-LR workflow ....................................................................................................................................27
Installation .......................................................................................................................................................27
Survey setup.....................................................................................................................................................27
Operation ........................................................................................................................................................28
Processing ........................................................................................................................................................28
 ILRIS-LR MC workflow ............................................................................................................................................28
Installation (once).............................................................................................................................................29
Survey setup.....................................................................................................................................................29
Boresighting (once per physical setup) .............................................................................................................29
Operation ........................................................................................................................................................30
Processing ........................................................................................................................................................30

6 INSTALLING SOFTWARE AND HARDWARE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Overview of installation ..........................................................................................................................................33
Software system requirements..................................................................................................................................34
Protecting your ILRIS-LR computer ...................................................................................................................34
Unpacking your ILRIS-LR.........................................................................................................................................35
Installing the ILRIS-LR Controller .............................................................................................................................36
Installing the ILRIS-LR Parser ...................................................................................................................................37
Installing PolyWorks (option)...................................................................................................................................37
Installing ILRIS-LR MC (MC option) .........................................................................................................................37
Installing the hardware .....................................................................................................................................38
Installing the MatchView software....................................................................................................................38
Installing the third-party INS software...............................................................................................................38

7 BORESIGHTING (MC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Why is boresighting necessary? ...............................................................................................................................39
Lever arm measurements .........................................................................................................................................40
Finding X, Y, and Z manually ...........................................................................................................................40
Boresight angle measurements.................................................................................................................................41
Obtaining a survey of known coordinates (control points) ................................................................................41
Scanning a wall with control points .................................................................................................................42
Generating an IXF for MatchView using the Parser ...........................................................................................42
Matching control points to data points through MatchView..............................................................................44
Calculating roll, pitch, and heading through MatchView..................................................................................48
Preparing a parameter file (for Georef Transform during parsing)......................................................................48

8 SETTING UP AT A SURVEY SITE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Overview of setting up ...........................................................................................................................................51
Before choosing a survey site ..................................................................................................................................52
Setting up the ILRIS-LR at a survey site .................................................................................................................53
Setting up the Pan/Tilt base (option) ........................................................................................................................55
Setting up the ILRIS-LR MC (option).........................................................................................................................61
Establishing communication between POSView and the PCS ...........................................................................61
Configuring the I/O port settings for LV and MV POSView ...............................................................................62
Calibrating the GPS Azimuth Measurement System (GAMS) (if installed)..........................................................64

9 POCKET PC OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Pocket PC overview ................................................................................................................................................68
Using the Pocket PC Controller ...............................................................................................................................68
Setting up the ILRIS-LR at the survey site..................................................................................................................69
Configuring Pocket PC network settings ..................................................................................................................70
Configuring the Pocket PC’s IP address (wireless and wired).............................................................................70
Enabling/disabling the Wi-Fi adapter ................................................................................................................76
Starting the Pocket PC Controller ............................................................................................................................77
Connecting to the ILRIS-LR scanner ........................................................................................................................78
Entering the ILRIS-LR’ IP address (wireless and wired) ......................................................................................78
Pinging the ILRIS-LR (wireless and wired) .........................................................................................................79
Configuring the camera settings ..............................................................................................................................81
Defining the region of interest (ROI) .......................................................................................................................83
Resizing and moving the ROI ...........................................................................................................................83
Adding multiple ROIs.......................................................................................................................................84
 Defining your scan settings .....................................................................................................................................85
Starting a scan ........................................................................................................................................................89
Monitoring the scan progress ..................................................................................................................................91
Viewing scan progress on the camera image ....................................................................................................92
Stopping a scan .......................................................................................................................................................93

10 POCKET PC OPERATOR INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Pocket PC Controller software .................................................................................................................................95
Pocket PC Controller menu bar ...............................................................................................................................96
Pocket PC Controller toolbar ...................................................................................................................................98
Camera window ......................................................................................................................................................98
Camera Image drop-down menu .............................................................................................................................99
Status window and other options...........................................................................................................................100
Region of interest (ROI) .........................................................................................................................................101
Connection Settings window .................................................................................................................................101
Camera Settings window .......................................................................................................................................103
Region of interest (ROI) properties window ...........................................................................................................107
Scan window ........................................................................................................................................................114
Temperature, Voltage, and Status Messages window .............................................................................................116
Scanner Time Settings window ..............................................................................................................................118
Scan Progress window...........................................................................................................................................118

11 PC OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
PC overview ..........................................................................................................................................................122
Using the PC Controller.........................................................................................................................................122
Setting up the ILRIS-LR at the survey site................................................................................................................123
Configuring PC network settings ...........................................................................................................................124
Configuring network settings for a wired or wireless connection ....................................................................124
Starting the PC Controller .....................................................................................................................................127
Connecting to the ILRIS-LR scanner ......................................................................................................................128
Pinging the ILRIS-LR (Optional) ......................................................................................................................129
Checking GPS time and data signal (MC only).......................................................................................................130
Configuring the camera settings ............................................................................................................................131
Capturing Pan/Tilt images (option) ........................................................................................................................132
Switching between free mode and Pan/Tilt mode ...........................................................................................132
Capturing images in free mode.......................................................................................................................133
Capturing images in the Pan/Tilt mode ...........................................................................................................133
Defining the region of interest (ROI) (standard) ......................................................................................................136
Adding multiple ROIs and deleting ROIs ........................................................................................................137
Resizing and moving the ROI .........................................................................................................................138
Defining your scan settings (standard) ...................................................................................................................139
Defining the ROI and scan settings for line scanning (MC option)..........................................................................140
Adding an ROI for line scanning ....................................................................................................................140
Defining your scan settings for line scanning..................................................................................................140
Starting a scan .....................................................................................................................................................145
Monitoring scan progress .....................................................................................................................................147
Viewing the scan progress on the camera image ............................................................................................147
Stopping a scan .....................................................................................................................................................148

12 PC CONTROLLER INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

PC Controller software ..........................................................................................................................................151
PC Controller menu bar.........................................................................................................................................151
Communication and Monitoring ...........................................................................................................................153
Connection Settings window ..........................................................................................................................153
Status Messages window ................................................................................................................................155
Hardware status pane.....................................................................................................................................156
 Camera and Optional Pan/Tilt ...............................................................................................................................157
Camera window.............................................................................................................................................157
Camera Image drop-down menu ....................................................................................................................158
Camera View window....................................................................................................................................160
Camera Settings window ................................................................................................................................161
Status bar .......................................................................................................................................................163
Pan and Tilt Control window .........................................................................................................................164
Advanced Pan Tilt Settings window ...............................................................................................................166
Pan/Tilt grid ...................................................................................................................................................167
Pan/Tilt Settings window ................................................................................................................................172
Scan Setup and Operation .....................................................................................................................................172
Region of Interest (ROI) definition pane..........................................................................................................173
Region of interest (ROI) properties pane .........................................................................................................174
Summary of scan information.........................................................................................................................179
GPS Logging menu.........................................................................................................................................181
Scan Options window ....................................................................................................................................181
Scanner Time Settings window.......................................................................................................................182
User Notes window .......................................................................................................................................183
Scan properties pane ......................................................................................................................................183
Scan control panel .........................................................................................................................................184
Scan Progress window ...................................................................................................................................185
Geo-referencing Calculation..................................................................................................................................185
Geo-referencing Input ...........................................................................................................................................185
GPS User Position window ............................................................................................................................186
GPS Setup window ........................................................................................................................................186
Visual Display Preferences ....................................................................................................................................188
Interface Settings window ..............................................................................................................................188
Log Message Options window .......................................................................................................................189

13 PARSER OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Parser overview .....................................................................................................................................................191
Using the Parser software ......................................................................................................................................192
Starting the Parser software ...................................................................................................................................193
Loading data ........................................................................................................................................................194
Setting up advanced Parser settings ......................................................................................................................196
Setting up the Color Channel .........................................................................................................................197
Defining Shot Alignment and Shot Reduction settings ....................................................................................199
Configuring Pan/Tilt Transform settings (Pan/Tilt only)....................................................................................201
Configuring Unit Attitude Correction properties .............................................................................................202
Applying Georef Transform settings (MC option) ............................................................................................203
Entering Atmospheric Correction factors.........................................................................................................205
Moving the origin of the coordinate system ....................................................................................................206
Selecting your data outputs ..................................................................................................................................208
Parsing your data...................................................................................................................................................210
Repeating parsing with different settings.........................................................................................................210
Exiting the Parser ...................................................................................................................................................210

14 PARSER INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

Parser interface......................................................................................................................................................212
Parser menu bar .............................................................................................................................................212
Parser toolbar .................................................................................................................................................213
Input File window ..........................................................................................................................................214
Parser options ................................................................................................................................................214
Image area .....................................................................................................................................................215
Scan Window Properties ................................................................................................................................216
Parser Settings window..........................................................................................................................................217
Parser Settings command buttons ...................................................................................................................218
 Output File formats and options ............................................................................................................................219
Output file formats .........................................................................................................................................220
Color Channel options ..........................................................................................................................................229
Shot Alignment and Reduction settings..................................................................................................................231
Pan/Tilt Transform settings.....................................................................................................................................234
Unit Attitude Correction properties........................................................................................................................236
Apply Georef Transform settings (MC option) ........................................................................................................239
Atmospheric Correction factors .............................................................................................................................241
Origin of Cartesian Coordinate System (Miscellaneous) setting ..............................................................................242

15 MAINTENANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Recharging batteries ..............................................................................................................................................245
Cleaning screens and windows .............................................................................................................................249
Reactivating desiccators ........................................................................................................................................250
About desiccators...........................................................................................................................................250
Checking a desiccator ....................................................................................................................................251
Replacing a desiccator ...................................................................................................................................251
Re-activating a desiccator ..............................................................................................................................252
Obtaining a new desiccator ...........................................................................................................................252
Annual calibration.................................................................................................................................................252
Storage ..................................................................................................................................................................252
Cable inspection ...................................................................................................................................................253

16 CUSTOMER SUPPORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

Contacting Optech ................................................................................................................................................255
24-hour customer support .....................................................................................................................................255
Third-party software ..............................................................................................................................................255
Software upgrades .................................................................................................................................................256
Warranty ...............................................................................................................................................................256
Returning equipment to Optech ............................................................................................................................256

17 APPENDIX A: GLOSSARY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

18 APPENDIX B: BORESIGHT PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

Lever arm measurements (X, Y, and Z)...................................................................................................................261
Boresight angle measurements (roll, pitch, and heading) .......................................................................................261

19 APPENDIX C: ERROR CODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

Parser error codes..................................................................................................................................................263

20 APPENDIX D: IP ADDRESSES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

21 APPENDIX E: REMOVING NOISE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

Air-particle density ................................................................................................................................................269
Solar interference ..................................................................................................................................................269
Avoiding and removing noise ................................................................................................................................270
Preventing noise with first-pulse mode ..................................................................................................................270
Preventing solar interference .................................................................................................................................270
Removing noise resulting from solar interference...................................................................................................271
Removing air-particle noise ...................................................................................................................................272
 List of Figures
About This Manual

Handling and Safety

1 Laser beam path and classification in ER mode ................................................................................................5
2 Laser Class 3B caution label.............................................................................................................................7
3 Laser Class 3B caution label on front of ILRIS-LR..............................................................................................7
4 Danger label on back of ILRIS-LR.....................................................................................................................8
5 Pinching hazard label on the optional Pan/Tilt base .........................................................................................8
6 ILRIS-LR scanner on Pan/Tilt base and tripod ...................................................................................................9
7 Pan/Tilt base ..................................................................................................................................................11
8 Pinching hazard and emergency buttons........................................................................................................12

Product Overview (Standard)

9 ILRIS-LR scanner on Pan/Tilt base and tripod .................................................................................................14
10 Pan/Tilt base tilting an ILRIS-LR scanner down or up......................................................................................15
11 Step stare scanning pattern.............................................................................................................................16
12 Profile scanning pattern..................................................................................................................................16
13 ILRIS-LR components .....................................................................................................................................17
14 Scanner front panel, showing inset camera lens .............................................................................................18
15 Scanner rear panel, showing LCD display panel and ports .............................................................................19
16 ILRIS-LR Pocket PC Controller main screen ....................................................................................................20
17 ILRIS-LR PC Controller main screen ...............................................................................................................21
18 ILRIS Parser main screen ................................................................................................................................22
19 Battery holder showing 2 and 4 standard-capacity batteries ...........................................................................23
20 ILRIS-LR battery charger with 2 standard-capacity batteries............................................................................24

Product Overview (MC Option)

21 ILRIS-LR MC scanners on a mobile platform...................................................................................................25

Workflow (Standard and MC Option)

Installing Software and Hardware

22 Unpacking the ILRIS-LR carry case.................................................................................................................35

Boresighting (MC)
23 Lever arm measurements................................................................................................................................40
24 IXF output options..........................................................................................................................................43
25 IMU Reference Misalignments .......................................................................................................................44
26 Matching Panel button ...................................................................................................................................44
27 PNT file opened .............................................................................................................................................45
28 Image of IXF file opened ................................................................................................................................46
29 Matching control points to data points (dots enlarged for illustration).............................................................46
30 Matching a control point to a data point ........................................................................................................47
31 Example of calibration file after entering XYZ values......................................................................................49

Setting Up at a Survey Site

32 Setting up the ILRIS-LR ...................................................................................................................................51
33 Tripod with stabilizing ring ............................................................................................................................53
34 Quad battery holder, with two batteries and power cable ..............................................................................54
 35 Setting the battery connector to 28 V .............................................................................................................54
36 Mounting the Pan/Tilt base on top of the tripod..............................................................................................56
37 Securing the Pan/Tilt base to the tripod ..........................................................................................................56
38 Pulling the lever out from the Pan/Tilt base ....................................................................................................57
39 Positioning the ILRIS-LR scanner to tilt up or down ........................................................................................57
40 Mounting the scanner onto the Pan/Tilt base..................................................................................................58
41 Securing the scanner to the Pan/Tilt base .......................................................................................................58
42 Connecting cables from the scanner to the base.............................................................................................59
43 Quad battery holder, with two batteries and power cable ..............................................................................59
44 Setting the battery connector to 28 V .............................................................................................................60
45 Connecting the battery cable to the Pan/Tilt base ...........................................................................................60
46 Power input on the front or rear of the Pan/Tilt base.......................................................................................61
47 I/O Ports Set-up configuration for POS LV ......................................................................................................62
48 I/O Ports Set-up configuration for POS MV.....................................................................................................63
49 Lever Arms and Mounting Angles window .....................................................................................................64
50 GAMS Parameter Setup window ....................................................................................................................64

Pocket PC Operation
51 Typical ILRIS-LR workflow using the Pocket PC Controller.............................................................................69
52 Tapping Start in the Pocket PC Start screen ....................................................................................................70
53 Accessing the Settings window.......................................................................................................................71
54 Connections tab .............................................................................................................................................71
55 Network Cards icon .......................................................................................................................................72
56 Configure Network Adapters window (wireless) .............................................................................................73
57 Configure Network Adapters window (wired).................................................................................................73
58 Entering the IP address (example for wireless connection) ..............................................................................74
59 Entering the IP address (example for wired connection)..................................................................................74
60 Tapping Ok....................................................................................................................................................75
61 Network Adapters tab ....................................................................................................................................75
62 Wi-Fi button active with Wi-Fi adapter enabled, and Wi-Fi button inactive with Wi-Fi adapter disabled .......76
63 Pocket PC Controller icon ..............................................................................................................................77
64 ILRIS-LR Controller main window ..................................................................................................................77
65 Entering the wireless IP address......................................................................................................................78
66 Entering the wired IP address .........................................................................................................................79
67 Ping Ok (left) and Ping Timeout (right) ...........................................................................................................80
68 Configuring the camera settings .....................................................................................................................81
69 Adjusting lighting options...............................................................................................................................81
70 White Balance, One Push button ...................................................................................................................82
71 ROI box, showing capture nodes ...................................................................................................................83
72 Adding multiple ROIs.....................................................................................................................................84
73 Acquiring the mean distance..........................................................................................................................85
74 ROI properties, showing Pattern Repeat and Spot Spacing .............................................................................86
75 ROI properties, showing Bounds ....................................................................................................................87
76 ROI properties, summary of the scan..............................................................................................................87
77 Monitoring temperature, voltage, and status messages ...................................................................................88
78 Starting a scan................................................................................................................................................89
79 Naming your scan..........................................................................................................................................89
80 Adding user notes ..........................................................................................................................................90
81 Monitoring scan progress ...............................................................................................................................91
82 Intensity data overlaid on the camera image ..................................................................................................91
83 Viewing scan progress on the camera image ..................................................................................................92

Pocket PC Operator Interface

84 Pocket PC Controller - main interface ............................................................................................................96
85 Pocket PC Controller toolbar..........................................................................................................................98
86 Camera window.............................................................................................................................................98
 87 Camera Image drop-down menu....................................................................................................................99
88 Display Settings drop-down menu................................................................................................................100
89 Add button...................................................................................................................................................101
90 Multiple ROIs...............................................................................................................................................101
91 Connection Settings window (wireless) ........................................................................................................102
92 Connection Settings window (wired) ............................................................................................................102
93 Camera Settings window, showing White Balance and Saturation................................................................103
94 Camera Settings window, showing pre-programmed lighting settings...........................................................104
95 Camera Settings window, showing Saturation and Gamma settings..............................................................105
96 Camera Settings window, showing Gamma settings .....................................................................................105
97 Camera Settings window, showing Shutter settings.......................................................................................106
98 Camera Settings window, showing Gain settings..........................................................................................107
99 ROI properties, showing General Parameters ...............................................................................................108
100 ROI properties, showing Pattern Parameters.................................................................................................109
101 ROI properties, showing Pattern Repeat and Spacing ...................................................................................110
102 ROI properties, showing Bounds ..................................................................................................................111
103 ROI properties, showing Summary ...............................................................................................................113
104 Scan window ...............................................................................................................................................114
105 File Name window.......................................................................................................................................115
106 User Notes window .....................................................................................................................................115
107 Temperature, Voltage, and Status Messages window....................................................................................116
108 Scanner Time Settings window.....................................................................................................................118
109 Scan Progress window .................................................................................................................................119

PC Operation
110 Typical ILRIS-LR workflow using the PC Controller ......................................................................................123
111 Network Connections window.....................................................................................................................124
112 Connection Properties windows...................................................................................................................125
113 Internet Protocol (TCP/IP) Properties window ...............................................................................................125
114 PC Controller main interface ........................................................................................................................127
115 Connection Settings window........................................................................................................................128
116 Ping Ok (sample IP address) .........................................................................................................................129
117 Camera Settings window..............................................................................................................................131
118 Switching between Pan/Tilt mode and free mode.........................................................................................132
119 360° captured image, shown in Camera window .........................................................................................135
120 Target image, zoomed in..............................................................................................................................136
121 Adding multiple ROIs...................................................................................................................................137
122 Region of Interest (ROI) properties pane .......................................................................................................139
123 Line scanning selected .................................................................................................................................140
124 Continuous scanning pattern activated.........................................................................................................141
125 Horizontal or vertical line ............................................................................................................................142
126 Spacing between laser pulses selected .........................................................................................................143
127 Length and location of scan line adjusted.....................................................................................................143
128 Use ASC check box cleared .........................................................................................................................143
129 Dynamic GPS Logging selected....................................................................................................................144
130 Scan Options window..................................................................................................................................145
131 Monitoring the scan progress .......................................................................................................................147

PC Controller Interface
132 PC Controller, main interface .......................................................................................................................150
133 PC Controller menu bar ...............................................................................................................................151
134 Connection Settings window, showing Wireless and Ethernet settings..........................................................153
135 Status Messages window ..............................................................................................................................155
136 Scanner temperature and battery status indicators ........................................................................................156
137 Camera window, showing captured images .................................................................................................157
138 Camera image dropdown menu ...................................................................................................................158
 139 Camera View window..................................................................................................................................160
140 Camera Settings window..............................................................................................................................161
141 Status bar .....................................................................................................................................................163
142 Pan and Tilt Control window .......................................................................................................................164
143 Advanced Pan Tilt Settings window .............................................................................................................166
144 Pan/Tilt grid against captured images in the Camera window.......................................................................167
145 Pan/Tilt grid only, and with Mirror Extents Grid overlaid, showing overlap area between vertical lines........169
146 One ROI spanning across multiple pan regions, and ROIs contained in individual pan regions ...................170
147 ROI overlap with Picture Blending off and on ..............................................................................................171
148 Pan/Tilt Settings window ..............................................................................................................................172
149 ROI definition pane labelled ........................................................................................................................173
150 ROI properties pane .....................................................................................................................................174
151 General Parameters......................................................................................................................................175
152 Pattern Parameters .......................................................................................................................................176
153 Bounds settings ............................................................................................................................................178
154 Advanced ROI option ..................................................................................................................................178
155 Summary of scan information.......................................................................................................................179
156 GPS Logging menu.......................................................................................................................................181
157 Scan Options window..................................................................................................................................181
158 Scanner Time Settings window.....................................................................................................................182
159 User Notes window .....................................................................................................................................183
160 Scan properties pane....................................................................................................................................183
161 Scan, Profile, and ER buttons........................................................................................................................184
162 Scan Progress window .................................................................................................................................185
163 GPS User Position window ..........................................................................................................................186
164 GPS Setting drop-down menu and Settings button........................................................................................186
165 GPS Setup window ......................................................................................................................................186
166 Interface Settings and Color Selection windows ...........................................................................................188
167 Log Message Options window .....................................................................................................................189

Parser Operation
168 Typical Parser software workflow.................................................................................................................192
169 Parser main screen .......................................................................................................................................193
170 Browse For Folder window ..........................................................................................................................194
171 Image area ...................................................................................................................................................195
172 Parser Settings window ................................................................................................................................196
173 Color Channel options .................................................................................................................................197
174 Locating the camera calibration file .............................................................................................................198
175 Applying grey color to scan data ..................................................................................................................198
176 Shot Alignment & Reduction settings............................................................................................................199
177 Pan/Tilt Transform settings ...........................................................................................................................201
178 Unit Attitude Correction properties ..............................................................................................................202
179 Apply Georef Transform settings ..................................................................................................................204
180 Atmospheric Correction factors ....................................................................................................................205
181 Miscellaneous setting ...................................................................................................................................207
182 Output File formats and options ...................................................................................................................208
183 Parsing Messages window............................................................................................................................210

Parser Interface
184 Parser main screen .......................................................................................................................................211
185 Parser toolbar...............................................................................................................................................213
186 Input File window ........................................................................................................................................214
187 Parser options ..............................................................................................................................................214
188 Parser interface, with image area highlighted ...............................................................................................215
189 Parser interface, with Scan Window Properties highlighted ..........................................................................216
190 Parser Settings window ................................................................................................................................217
 191 Parser Settings window command buttons ...................................................................................................218
192 Output file formats and settings....................................................................................................................219
193 PIF output options ........................................................................................................................................222
194 IXF output options........................................................................................................................................223
195 XYZ output options ......................................................................................................................................224
196 Raw output options ......................................................................................................................................226
197 3DV output options......................................................................................................................................227
198 PTC output options ......................................................................................................................................228
199 BLF output options .......................................................................................................................................228
200 Color Channel options .................................................................................................................................229
201 Shot Alignment & Reduction settings............................................................................................................231
202 Effect of applying horizontal and vertical shot reduction factors of 2 ............................................................232
203 Pan/Tilt Transform settings ...........................................................................................................................234
204 Unit Attitude Correction properties ..............................................................................................................236
205 Apply Georef Transform settings ..................................................................................................................239
206 Atmospheric Correction factors ....................................................................................................................241
207 Origin of Cartesian Coordinate System setting..............................................................................................242

Maintenance
208 Battery charger with two standard batteries installed ....................................................................................246
209 Battery charge status display ........................................................................................................................247
210 Battery base .................................................................................................................................................248
211 Battery charger, showing mounting positions and rocker switches ...............................................................248
212 Slotting battery studs into charger slots.........................................................................................................249
213 Desiccator window, showing two absorption percentages ...........................................................................250

Customer Support

Appendix A: Glossary

Appendix B: Boresight Parameters

Appendix C: Error Codes

Appendix D: IP Addresses

Appendix E: Removing Noise

214 Close-range noise resulting from particles in the air .....................................................................................270
215 Full-range noise resulting from solar interference .........................................................................................270
216 Setting and applying an intensity gate in the Parser ......................................................................................271
217 Parsed data before applying an intensity gate ...............................................................................................272
218 Parsed data after applying an intensity gate ..................................................................................................272
219 Setting and applying the range gate in the Parser..........................................................................................273
220 Parsed data before applying a range gate .....................................................................................................274
221 Parsed data after applying a range gate ........................................................................................................274
 List of Tables
1 Type conventions ..................................................................................................................................................2
2 Laser class by range and mode...............................................................................................................................3
3 Incorporated laser specifications ............................................................................................................................4
4 GRP data required for various coordinate systems..............................................................................................238
5 Charger status indicators ....................................................................................................................................246
ILRIS Operation Manual About This Manual

1 ABOUT THIS MANUAL

■ Who should read this manual‚ page 1

■ ILRIS-LR user documentation‚ page 1
■ Notice formats‚ page 2
■ Type conventions‚ page 2

Who should read This manual outlines everything you need to know to program, use, and maintain
this manual Optech's ILRIS-LR laser scanner. It is intended for surveyors, engineers, and others
who are familiar with survey procedures. It is also intended for data processors
working with ILRIS-LR data.

This manual assumes that you are:

■ Qualified and trained on the ILRIS-LR, having completed an Optech

training course
■ Familiar with the technical concepts underlying the ILRIS-LR.

Motion Compensation (MC) option

The manual includes information on the ILRIS-LR Motion Compensation option.

This option enables the ILRIS-LR to be used on a moving vehicle, and requires addi-
tional equipment such as GPS receivers, an inertial navigation system (INS), a
mounting platform, and optional GPS base stations.

ILRIS-LR user Optech documentation is delivered as printed manuals, in Adobe Acrobat PDF
documentation format, and as online help where applicable.

0066582/Rev D/Jul 13 1
About This Manual ILRIS Operation Manual

Notice formats To highlight important information, this manual uses the following signal words. Do
not proceed until you understand the information and have complied with any
instructions:

Danger
! Death or serious injury.

Warning
! Potential for death or serious injury.

Caution
! Potential for minor or moderate injury; unsafe practices.

Notice
! Damage to equipment or loss of data; policy on safety of personnel or
protection of property.

Important
! Important information.

Note/Tip
! Useful information; programming, operation, or maintenance suggestion.

Type conventions This manual uses the type conventions outlined in Table 1.

Table 1: Type conventions

Text Type Example

Hardware labels Sans-serif text POWER

Operator interface text Bold text Load Plan

Folders and filenames Monospace text C:\Program Files

2 0066582/Rev D/Jul 13
ILRIS Operation Manual Handling and Safety

2 HANDLING AND SAFETY

■ Laser safety‚ page 3

■ Hazard labels‚ page 7
■ Handling the scanner‚ page 8
■ Cable handling‚ page 10
■ Handling the optional Pan/Tilt base‚ page 11

Laser safety
Danger Possible laser hazard
If the scanner is powered with its panel removed, under certain condi-
tions, laser radiation may exceed Class 1M eye-safe limits even when ER
mode is turned off.

Notice Class 3B laser product

Complies with IEC 60825-1, edition 1.2 and FDA performance standards
for laser products except for deviations pursuant to Laser Notice No. 50,
dated July 26, 2001.

The ILRIS-LR scanner emits invisible laser radiation, and is designed to be a Class
3B, 3R, or 1M laser product, as defined by IEC 60825-1. The exact class of the
ILRIS-LR scanner depends upon the range at which it is viewed and whether the
ILRIS-LR is firing in Enhanced Range (ER) mode.

Table 2: Laser class by range and mode

0 - 25 m 25 - 114 m > 114 m

ER mode ON Class 3B Class 3R Class 1M

ER mode OFF Class 1M

Each of these classes poses a potential for harm, as follows:

Class 3 (3B or 3R)

Can cause harm when viewed directly.

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Handling and Safety ILRIS Operation Manual

Class 1M
Can cause harm when viewed directly through optical instruments
such as binoculars or telescopes. This radiation is eye-safe if not
viewed through optical instruments.

Because Class 3 lasers can cause irreversible eye damage when viewed directly, the
nominal ocular hazard distance (NOHD) for unaided viewing of the ILRIS-LR laser
scanner in ER mode is 114 meters. It is the operator’s responsibility to prevent harm
to users and bystanders by following the safety precautions in this chapter.

Table 3: Incorporated laser specifications

Parameter Specification

Wavelength 1064 nm

Pulse width <10 ns

Pulse energy ≈10 μJ

Average power ≈ 100 mW

Pulse repetition frequency 10 kHz

Enhanced Range mode

When the ILRIS-LR scanner is in ER mode, it is considered a Class 3 laser product at
ranges up to 114 meters, and a Class 1M laser product at ranges beyond that. By
definition, a Class 3 laser can cause irreversible eye damage when the beam is
viewed directly. Therefore, there is a non-eye-safe zone in the beam path within
114 m of the scanner, as shown in Figure 1. Note that the non-eye-safe zone
extends ±20° (40° total) from the heading of the ILRIS-LR, both horizontally and ver-
tically.

4 0066582/Rev D/Jul 13
ILRIS Operation Manual Handling and Safety

Figure 1: Laser beam path and classification in ER mode

To prevent eye damage, follow these safety precautions when firing the ILRIS-LR in
ER mode.

Scanner placement
Place the ILRIS-LR where there is the least chance of bystanders entering the non-
eye-safe zone. For instance, avoid firing the laser across a road or a hiking trail, if
possible. It may be helpful to have another operator monitor the beam path and
alert you if anybody enters the non-eye-safe zone.

Monitoring
Always remain by the scanner while it is firing, and be ready to turn off the scanner
if anybody enters the non-eye-safe zone. You can turn off the laser by clicking Stop
the in the Scan Progress window (see page 118 for the Pocket PC Controller, or
page 185 for the PC Controller). In an emergency, you can also turn off the laser by
turning the laser interlock key 90° counter-clockwise. Turning off the laser with the
key does not usually cause the ILRIS-LR to lose survey data.

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Handling and Safety ILRIS Operation Manual

Eye protection
Anyone who stands in or near the non-eye-safe zone must wear eye protection that
has an optical density (OD) of at least 4 at a wavelength of 1064 nm (about 1 μm).
Even with eye protection, do not look directly into the beam.

Reflections
Make sure that there are no highly-reflective surfaces in the non-eye-safe zone.
While the beam is too weak to cause harm when returned from matte surfaces such
as foliage or concrete, it may still cause eye damage if returned from highly reflec-
tive surfaces such as mirrors.

Beyond the non-eye-safe zone

Even when the ILRIS-LR is viewed beyond its NOHD (114 m), it is still considered
Class 1M. As a Class 1M laser, it can still cause harm if viewed directly with optical
instruments such as binoculars or telescopes, because these devices concentrate the
power of the beam. Do not view the beam directly with such instruments.

Pan/Tilt base
The path of the laser beam extends ±20° from the heading of the ILRIS-LR, both
horizontally and vertically. However, because the Pan/Tilt base can change the
heading of the ILRIS-LR during a scan, it can make the non-eye-safe zone even
wider. If you use the Pan/Tilt base, apply all the usual safety precautions to the
widened non-eye-safe zone.

Furthermore, Optech strongly recommends that all operators wear eye protection
while the ILRIS-LR is firing on the Pan/Tilt base.

Motion compensation
Safety is especially important when performing mobile scanning with the motion
compensation (MC) option, because the zone moves along with your vehicle and
therefore covers a much larger area.

Do not move your vehicle closer than the NOHD (114 m) to any place where
bystanders could be. Alternatively, restrict access to the area that you plan to scan
so that nobody can enter the area.

Note
! In MC mode, the ILRIS-LR does not move the laser beam from side to
side, just up and down. Therefore, the non-eye-safe zone only extends
±20° vertically from the heading of the ILRIS-LR, not horizontally.

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ILRIS Operation Manual Handling and Safety

With ER mode turned off

When the ILRIS-LR is firing with ER mode turned off, it is considered a Class 1M
laser product at all ranges. Because radiation from a Class 1M laser can cause harm
when viewed directly with optical instruments such as binoculars or telescopes, do
not view the beam with such instruments.

If viewed without optical instruments, the ILRIS-LR is eye-safe when firing with ER
mode turned off.

Removing the scanner panels

The ILRIS-LR incorporates a Class 3B laser (IEC 60825-1). Under certain conditions,
removing scanner panels gives access to emission levels in excess of Class 1M
eyesafe limits, even when the ILRIS-LR is not firing in ER mode. Therefore,
removing the panels may increase eye hazard.

Do not remove the scanner panels. Opening the scanner will void the warranty,
and there are no user-serviceable parts inside.

Hazard labels The following labels and tags are attached to the ILRIS-LR.

Figure 2: Laser Class 3B caution label

Figure 3: Laser Class 3B caution label on front of ILRIS-LR

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Handling and Safety ILRIS Operation Manual

Figure 4: Danger label on back of ILRIS-LR

Figure 5: Pinching hazard label on the optional Pan/Tilt base

Handling the The scanner contains delicate electronics that are calibrated at the factory. Always
scanner handle the scanner carefully as follows:

■ When the scanner is powered, do not lay it on its side.

■ Do not touch the front scan window.
■ Do not immerse the scanner. The scanner is splash/dust-proof to NEMA 12.
■ Do not open the scanner. There are no user-serviceable parts inside.
■ The scanner is heavy. Lift and move it with care, and do not drop it.

Opening the scanner will void the ILRIS-LR warranty.

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ILRIS Operation Manual Handling and Safety

Figure 6: ILRIS-LR scanner on Pan/Tilt base and tripod

Preventing the scanner from overheating

If the scanner overheats, it will shut down. To keep the scanner within its operating
temperature range of 0 to 40°C:

■ Protect the scanner from direct sunlight by shading it under an umbrella,

tent, or other awning
■ Cover the scanner with a cool, damp cloth.

The scanner temperature is displayed on the Controller interface (page 88).

0066582/Rev D/Jul 13 9
Handling and Safety ILRIS Operation Manual

Cable handling
Notice Cable handling
! To ensure successful system operation, it is important to inspect and
handle cables correctly. These procedures are also important as part of
routine system maintenance.

When handling, inspecting or disconnecting cables:

■ Check for visible damage to the connectors and backshells, such as

scratches, dents, and breaks.
■ Carefully inspect all accessible connectors for bent, pushed-in or missing
pins, especially for threaded (non-locking) connectors.
■ Check the cable sheathing for damage.
■ Gently tug connectors to make sure that all connections are securely
attached.
■ Make sure that cables are not sharply bent or tightly coiled. Sharp bending
can damage the internal wiring of cables.
■ Keep some slack in the cables, especially near the connectors.
■ Never twist, trap or pinch cables. Make sure that cables are not pressed
into narrow spaces.
■ Never pull or jerk cables strongly. Always allow them to relax, and use the
connector/backshell to disconnect.
■ When disconnecting a cable, attach protective caps to exposed connectors
immediately, to avoid exposing connectors and pins.
■ Do not step on cables or place objects on top of the cables.
■ Keep cables away from water, oils and other contaminants.
■ Check that cables are properly routed and secured.

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ILRIS Operation Manual Handling and Safety

Handling the
optional Pan/Tilt
base

Figure 7: Pan/Tilt base

Danger Heavy weight and pinching hazard

! Make sure that the scanner is leveled on the tripod, and that the tripod is
set up securely, to prevent the scanner from tipping over as it rotates.

Keep hands and fingers away from the top and sides of the Pan/Tilt base
when the ILRIS-LR is powered on.

When handling the Pan/Tilt base:

■ Do not put your fingers into the holes on top of the platform
■ Do not put your fingers between the motorized platform and the base
below it (Figure 8).

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Handling and Safety ILRIS Operation Manual

Figure 8: Pinching hazard and emergency buttons

Pan/Tilt emergency buttons

There are two emergency buttons on the side of the Pan/Tilt base, as shown in
Figure 8. Use the emergency buttons only when necessary, rather than during
normal operation. For normal operation, use the ILRIS-LR Controller software
interface to control the Pan/Tilt base.

Green button
Tilts the Pan/Tilt platform up by 35°. When pressed a second time,
tilts the Pan/Tilt platform up by another 35°.

Red button
Tilts the Pan/Tilt platform down back to 0°, and pans the platform
back to its home (0°) position.

Note Scanner and Controller re-synchronization

! After you have used the emergency buttons, you must re-start the ILRIS-LR
scanner and the Controller software to allow the two components to re-
synchronize with each other before resuming your survey operation.

12 0066582/Rev D/Jul 13
ILRIS Operation Manual Product Overview (Standard)

3 PRODUCT OVERVIEW (STANDARD)

■ The ILRIS-LR‚ page 14

■ Extended Range (ER) mode‚ page 14
■ Extended options‚ page 15
■ Scanning methods‚ page 16
■ ILRIS-LR components‚ page 17
■ Scanner hardware interface‚ page 18
■ Operating computers‚ page 19
■ ILRIS-LR software‚ page 20
■ Third-party software options‚ page 23
■ Battery equipment (optional)‚ page 23
■ Carry case‚ page 24

0066582/Rev D/Jul 13 13
Product Overview (Standard) ILRIS Operation Manual

The ILRIS-LR

Figure 9: ILRIS-LR scanner on Pan/Tilt base and tripod

ILRIS-LR combines the high 10,000 kHz scan speed of the ILRIS-HD with a new
laser design to perform high-quality scans in the most challenging conditions. With
its new 1-micron laser the ILRIS-LR can scan ice, snow, and wet surfaces that were
previously impossible to map. Furthermore, Enhanced Range mode boosts power to
the laser and lets the ILRIS-LR scan targets over 3,000 meters away, giving it more
range capability than any other tripod-based laser scanner.

Extended Range The ILRIS-LR features Extended Range mode, which enables you to survey objects
(ER) mode and structures at a significantly farther distance. While in ER mode, the ILRIS-LR
can increase its range to scan objects up to 3000 m away. You can activate the ER
mode simply by clicking the ER button in the operator interface before initiating a
scan. The ILRIS-LR is almost always used in ER mode to benefit from the extended
range. However, because ER mode also increases the danger posed by the laser, it
is sometimes necessary to turn ER mode off for the sake of eye-safety.

In ER mode, the ILRIS-LR laser is considered Class 3 when viewed between 0-114
m, and Class 1M when viewed at ranges greater than 114 m.

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ILRIS Operation Manual Product Overview (Standard)

Extended options Motion compensation option

Besides scanning from a tripod, with the MC (motion compensation) option, the
ILRIS-LR can scan from a moving platform such a boat, van, or airship to survey
extended and continuous terrains. Details about the MC option are described in
Chapter 4, "Product Overview (MC Option)", on page 25.

Pan/Tilt base
The optional Pan/Tilt base is a platform that moves the ILRIS-LR target scan area
beyond the bounds of the scanner window. Once set up and stabilized on a tripod
(Figure 9), the Pan/Tilt base extends the ILRIS-LR’ field of view up to 90° vertically
and enables 360° panoramic profile scanning.

The optional Pan/Tilt base enables the ILRIS-LR scanner to operate in various orien-
tations by tilting and panning. The ILRIS-LR scanner can be set up either to tilt up or
to tilt down on the Pan/Tilt platform (Figure 10). The Pan/Tilt base can pan a total of
360°, that is, 180° clockwise and counter-clockwise from the home position, and tilt
a total of 70°. It can be installed on a tripod, and is transported in a separate carry
case.

Figure 10: Pan/Tilt base tilting an ILRIS-LR scanner down (left) or up (right)

On the Pan/Tilt base are two identical sets of ports, one at the rear and another at
the front:

■ Power input
■ GPS PPS
■ Pan/Tilt serial.

There are also two emergency buttons on the side of the Pan/Tilt base. For Pan/Tilt
handling information, see page 11.

0066582/Rev D/Jul 13 15
Product Overview (Standard) ILRIS Operation Manual

Scanning The ILRIS-LR uses a dual-mirror system to aim the laser shots at the area to be
methods scanned. As illustrated by the following examples, the mirrors are controlled by
different methods depending on the scanning method selected by the operator.

Step stare scanning

Figure 11: Step stare scanning pattern

The step stare method is the default scanning method for the ILRIS-LR. One moving
mirror, called the X-mirror, produces the horizontal or X-axis. A second moving
mirror, called the Y-mirror, produces the vertical or Y-axis. When a region of
interest (ROI) — either rectangular or square — is selected, and scanning is started,
the mirrors are positioned so that the laser is aimed at the lower left corner of the
ROI. The X-mirror first moves from left to right until it reaches the far right hand side
of the ROI, forming the first horizontal scan line, after which the Y-mirror then steps
up to the start of the next line. Then the X-mirror again moves horizontally across
the ROI, this time from right to left. At the end of that line, the Y-mirror again incre-
ments up another step, and the X-mirror repeats horizontally from left to right to the
end of the line. This step stare scanning pattern (Figure 11) continues until the entire
ROI has been scanned in consecutive steps.

Profile scanning (option)

Figure 12: Profile scanning pattern

The profile scanning method uses only the Y-mirror in the ILRIS-LR and requires a
Pan/Tilt base. When a region of interest (ROI) — either rectangular or square — is
selected, the Pan/Tilt base rotates to the left side of the ROI and the Y-mirror is posi-
tioned so that the laser is aimed at the lower left corner of the ROI. When a scan is

16 0066582/Rev D/Jul 13
ILRIS Operation Manual Product Overview (Standard)

started, the Y-mirror starts moving vertically from the bottom of the ROI to the top
and back to the bottom while the Pan/Tilt base rotates very slowly from left to right.
This dense vertical zigzag scanning pattern (Figure 12) continues until the entire
ROI has been scanned — that is, when the Pan/Tilt base has reached the far right-
hand side of the ROI. In profile scanning, the Y-mirror provides the Y-axis of
movement and the Pan/Tilt base provides the X-axis of movement while the X-
mirror remains stationary.

ILRIS-LR compo- The ILRIS-LR scanner includes the following components:

nents
(Back row, from left to right in Figure 13)

■ AC adapter
■ Carry case (page 24)

(Front row, from left to right in Figure 13)

■ (Optional) Battery charger (page 23)

■ Ethernet cable
■ Software CD case
■ Laser scanner (page 18)
■ USB memory device.

Figure 13: ILRIS-LR components

0066582/Rev D/Jul 13 17
Product Overview (Standard) ILRIS Operation Manual

Scanner The ILRIS-LR scanner includes a laser, optics, a precision X-Y scanner, and an on-
hardware board microprocessor. In operation, the scanner accepts operator commands, scans
interface the survey scene, and captures and records laser point data. Survey data is typically
stored on a USB memory device, provided with the ILRIS-LR.

Front panel
The scanner front panel (Figure 14) houses the scanner window and a second,
smaller window for the digital camera. Laser pulses are emitted from the scanner
window.

Figure 14: Scanner front panel, showing inset camera lens

Rear panel
The scanner rear panel has the following features (Figure 15):

■ 17-cm LCD XVGA viewfinder (1024 × 768 pixel), with text panel for status
messages
■ USB ports to store scan data on USB memory devices
■ Ethernet for network capability
■ Power input
■ Laser interlock switch and key
■ Pan/Tilt port
■ Antenna port
■ GPS serial port
■ GPS PPS port.

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ILRIS Operation Manual Product Overview (Standard)

For scanner handling information, see page 8.

Figure 15: Scanner rear panel, showing LCD display panel and ports

Scanner base plate

The scanner base plate has a central hole for tripod installation. It also includes two
level bubbles at diagonal corners of the base, so that you can easily level the tripod
if necessary (Figure 15). The base plate is designed to latch into the optional Pan/
Tilt base.

Operating Pocket PC and laptop computer

computers
The ILRIS-LR is typically programmed and controlled by a Hewlett Packard iPAQ
Pocket PC (Figure 16) or a laptop computer (Figure 17). The ILRIS-LR Controller
software is pre-installed on both or either of these devices. The device communi-
cates with the ILRIS-LR scanner through either a wireless or wired network connec-
tion. Pocket PC operation is not available for the MC or Pan/tilt options.

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Product Overview (Standard) ILRIS Operation Manual

Figure 16: ILRIS-LR Pocket PC Controller main screen (Pocket PC display)

ILRIS-LR software The ILRIS-LR includes two essential software applications: the ILRIS-LR Controller
for scanning operation, and the ILRIS Parser for post-processing.

ILRIS-LR Controller
The Controller program provides a graphical real-time display of ILRIS-LR scan
settings and operation (Figure 17). You can use the Controller to:

■ Capture images from the ILRIS-LR camera

■ Program a scan
■ Define and add regions of interest (ROI)
■ Enable/Disable 3 different range averaging options (ILRIS-HD and ILRIS-LR
only)
■ Start and stop a scan
■ Monitor the scanner hardware
■ Monitor the progress of a scan.

20 0066582/Rev D/Jul 13
ILRIS Operation Manual Product Overview (Standard)

Figure 17: ILRIS-LR PC Controller main screen (PC)

The Controller is designed for both a Windows NT/2000/XP environment and a

Pocket PC platform.

See also:
■ "PC Operation"‚ page 121, for a description of the Controller interface
■ "Installing the ILRIS-LR Controller"‚ page 36, for installation details.

ILRIS Parser
The Parser processes raw ILRIS-LR scan data so that it is suitable for processing by
CAD, GIS, or other modeling software. The Parser is designed for a Windows NT/
2000/XP environment.

You can use the Parser after a survey to:

■ Process survey scan data

■ Output data files that are suitable for standard GIS, CAD, and modeling
software.

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Product Overview (Standard) ILRIS Operation Manual

Figure 18: ILRIS Parser main screen

Parsing is quick, flexible and easily repeated. You can:

■ Process and re-process a scan as often as you want

■ Change Advanced Parser settings at any time
■ Select all output options without slowing parsing significantly
■ Create as many output files as you want
■ Re-parse the same scan data later with different settings.

See also:
■ "Installing the ILRIS-LR Parser"‚ page 37, for system requirements and instal-
lation details
■ "Parser Interface"‚ page 211 for a description of the Parser interface and
"Parser Operation"‚ page 191, on how to use it.

Main features of the Parser

■ Many output formats
■ Data reduction, to reduce data density and overall file size
■ Easy and fast re-parsing with new settings
■ Applying RGB colors to scan data
■ Applying calibration
■ Geo-referencing

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ILRIS Operation Manual Product Overview (Standard)

Third-party The ILRIS-LR provides optional third-party software to assist in the visualization,
software options processing, and photo-draping of ILRIS-LR survey data. PolyWorks and Kubit
software are currently offered.

Battery ILRIS-LR uses the following battery equipment, as shown in Figure 19 and Figure 20:
equipment
Battery
(optional) Standard capacity: 2-4 Anton Bauer Dionic 90-Whr lithium Ion
batteries.

High capacity: 2-4 Anton Bauer Hytron 140-Whr nickel metal

hydride batteries.

Optech may supply equivalent batteries.

Holder
Quad battery holder, Logic Series Gold Mount.

Charger
2722 dual battery PowerCharger.

Cable
Power cable from the quad holder to the rear panel of the ILRIS-LR
scanner.

Figure 19: Battery holder showing 2 and 4 standard-capacity batteries

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Product Overview (Standard) ILRIS Operation Manual

Figure 20: ILRIS-LR battery charger with 2 standard-capacity batteries

The power consumption of the ILRIS-LR is typically 80 W. Depending on the type

of batteries used, a pair of fully charged batteries, connected in series, lasts for
approximately 1-3 hours of survey operation. Four batteries last 2-6 hours.

All battery equipment is manufactured by Anton/Bauer, Inc. For information on the

batteries, see also:

■ "Recharging batteries"‚ page 245

■ Battery manuals provided with the ILRIS-LR
■ Manufacturer’s website, www.antonbauer.com.

Carry case The ILRIS-LR is packaged for easy transport, with all standard essential components
fitting inside a rugged Pelican carry case.

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ILRIS Operation Manual Product Overview (MC Option)

4 PRODUCT OVERVIEW (MC OPTION)

■ About motion compensation‚ page 25

■ Hardware‚ page 26
■ Software‚ page 26

About motion The ILRIS-LR MC (motion compensation) is an alternative to stationary tripod or Pan/
compensation Tilt operation. With one or more ILRIS-LR scanners operating on a mobile platform
(such as a boat, truck, or even an airship), the ILRIS-LR MC can cover any survey
target along continuous terrains that are accessible by the vehicle. Such mobility
expands the scanner’s field of view (FOV) far beyond the bounds of a stationary
scan.

Integrated with the ILRIS-LR MC is an inertial navigation system (INS) that includes a
GPS and an inertial measurement unit (IMU). Operating simultaneously with the
ILRIS-LR scanners, the INS provides vital geo-referenced datasets that are merged
with the ILRIS-LR MC scan data to generate 3D point clouds during parsing.

Figure 21: ILRIS-LR MC scanners on a mobile platform

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Product Overview (MC Option) ILRIS Operation Manual

Hardware The hardware components required for the ILRIS-LR MC are:

■ 1 or more ILRIS-LR sensors (page 18)

Though multiple sensors are possible, only 1 sensor is required.
■ 1 Laptop computer (page 19)
Pocket PC is not applicable to the ILRIS-LR MC.
■ 1 Inertial navigation system (INS), including:
■ 1 INS computer system (or PCS for Applanix)
■ 1 Inertial measurement unit (IMU)
■ GPS antenna(s)
■ 1 or more GPS base stations (optional)
■ 1 Transport vehicle (for example, a boat)
■ 1 Solid mounting platform on the transport vehicle
■ Cables
■ Power supplies for sensors and POS.

Software Software components are also required for ILRIS-LR MC. The first three are for oper-
ation, and the last three for data processing:

■ ILRIS-LR PC Controller (operator interface) (page 20)

■ MatchView (for boresighting)
■ POS user interface
■ ILRIS-LR Parser (page 21)
■ POS processing software
■ Third-party processing software (optional).

26 0066582/Rev D/Jul 13
ILRIS Operation Manual Workflow (Standard and MC Option)

5 WORKFLOW (STANDARD AND MC OPTION)

■ Standard ILRIS-LR workflow‚ page 27

■ ILRIS-LR MC workflow‚ page 28

This chapter describes the overall workflow for both the standard ILRIS-LR and the
ILRIS-LR MC option.

Danger Class 3 laser radiation

Unsafe operation may result in eye injury. The operator is responsible
for ensuring that only persons wearing suitable eye protection are in the
non-eye-safe part of the beam path (see Handling and Safety‚ page 3).

Use of controls or adjustments or performance of procedures other than

those specified herein may result in hazardous exposure to laser radia-
tion.

Standard ILRIS-LR This section describes the standard (including optional Pan/Tilt operation and profile
workflow scanning) ILRIS-LR workflow:

■ Installation‚ page 27
■ Survey setup‚ page 27
■ Operation‚ page 28
■ Processing‚ page 28

Installation
1. Unpack the ILRIS-LR hardware (page 35).

2. Install all necessary software onto operation and processing computers

(page 36).

Survey setup
■ Set up the ILRIS-LR scanner on a tripod and the optional Pan/Tilt base at the
survey site (page 53).

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Workflow (Standard and MC Option) ILRIS Operation Manual

Operation
1. Configure PC network settings on the laptop (page 124).

2. Start the PC Controller (page 127).

3. Establish communication between the ILRIS-LR scanner(s) and ILRIS-LR

operator interface (page 128).

4. Define one or more ROIs, and set up scanning parameters (page 136).

5. Start scanning on the tripod or Pan/Tilt base (page 145).

6. Monitor scan progress (page 147), and stop scanning when all ROIs are scanned
(page 148).

Processing
1. Open the ILRIS-LR Parser software (page 193).

2. Load the scan data into the Parser (page 194).

3. (Optional) Set up Advanced Parser settings (page 196).

4. Select the output format, and designate the output file location (page 208).

5. Parse the data with the Parser (page 210).

ILRIS-LR MC This section describes the ILRIS-LR MC workflow. For all your future MC scans, you
workflow will perform all the steps described below, except for installation and boresighting
procedures, which are usually required only once.

■ Installation (once)‚ page 29

■ Survey setup‚ page 29
■ Boresighting (once per physical setup)‚ page 29
■ Operation‚ page 30
■ Processing‚ page 30.

Note
! Because your inertial navigation system (INS) may vary, INS/GPS opera-
tions are not described in detail. Consult your INS/GPS manufacturer
documentation for details.

28 0066582/Rev D/Jul 13
ILRIS Operation Manual Workflow (Standard and MC Option)

Installation (once)
Optech will assist you with hardware customization and installation.

1. Unpack the ILRIS-LR hardware (page 35).

2. Install all components onto the transport vehicle and metal platform.

3. Boresighting: Obtain lever arm measurements for the ILRIS-LR sensor and other
position references that are critical to data accuracy (page 40).

4. Install all necessary software into operation and processing computers

(page 33).

Survey setup
1. Attach all cables connecting the INS user interface, INS computer system (or
PCS for Applanix), ILRIS-LR scanner, laptop computer, and vehicle power
supply.

2. Establish communication between the INS user interface and INS computer
system (or PCS for Applanix) (page 61).

3. Configure I/O port settings for the INS user interface (page 62).

4. Calibrate the GPS Azimuth Measurement System (GAMS), if installed (page 64).

5. After the INS user interface indicates that both GPS time and PPS signals are
present, power on the ILRIS-LR scanner(s).

Boresighting (once per physical setup)

After your initial hardware installation and survey setup, you are required to perform
boresighting once before your first and subsequent MC scans. After that, boresight-
ing is not necessary unless the relative positions among the ILRIS-LR MC sensor and
INS/GPS instruments have been altered. For more information on boresighting, see
page 39.

1. Obtain a previously completed survey of known coordinates (control points)

(page 41).

2. Perform a step stare scan of the control points with the ILRIS-LR (page 42).
Before scanning, follow the workflow for Survey setup and Operation described
below.

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Workflow (Standard and MC Option) ILRIS Operation Manual

3. Using the Parser, generate an IXF file of the scan for MatchView (page 42).

4. Match control points and data points through MatchView (page 44).

5. Use MatchView to determine the boresight angles (roll, pitch, and heading)
(page 48).

6. Combine the lever arms measurement (acquired during Installation) with the
boresight angles to prepare a parameter file (page 48).

Operation
1. Configure PC network settings on the laptop (page 124).

2. Start PC Controller (page 127).

3. Establish communication between the ILRIS-LR scanner(s) and ILRIS-LR

operator interface (page 128).

4. Confirm that the ILRIS-LR MC sensor is successfully receiving GPS data (GPS
PPS and GPS Serial) (page 130).

5. Define one ROI, and set up line scanning parameters (page 140).

6. Begin logging INS/GPS data through the INS user interface.

7. Start scanning on the ILRIS-LR MC mobile platform (page 145).

8. Monitor scan progress (page 147) until all target areas are covered, and then
stop scanning (page 148).

Processing
1. Open the INS processing software on the laptop or processing computer.

2. Enter the base station position references that you have previously recorded into
the INS software (if applicable).

3. Process INS/GPS data through the INS processing software to generate the SBET
file. (For Applanix, this file is called SBET_mission.out.)

4. Open the ILRIS-LR Parser software (page 193).

5. Load the scan data into the Parser (page 194).

30 0066582/Rev D/Jul 13
ILRIS Operation Manual Workflow (Standard and MC Option)

6. (Optional) Set up Advanced Parser settings (page 196).

7. Set up MC-required Parser settings (page 203 and page 206).

8. Select one of the two possible output file formats (XYZ or IXF) in the Parser, and
designate the output file location (page 208).

9. Using the SBET file as input, parse the data with the Parser (page 210).

10. Process the parsed scan data into XYZ or IXF format, using your chosen process-
ing software.

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Workflow (Standard and MC Option) ILRIS Operation Manual

32 0066582/Rev D/Jul 13
ILRIS Operation Manual Installing Software and Hardware

6 INSTALLING SOFTWARE AND HARDWARE

■ Overview of installation‚ page 33

■ Software system requirements‚ page 34
■ Unpacking your ILRIS-LR‚ page 35
■ Installing the ILRIS-LR Controller‚ page 36
■ Installing the ILRIS-LR Parser‚ page 37
■ Installing PolyWorks (option)‚ page 37
■ Installing ILRIS-LR MC (MC option)‚ page 37

Notice Cable handling

! To ensure successful system operation, it is important to inspect and
handle cables correctly, as described in "Cable handling"‚ page 10.

The following instructions apply to all ILRIS-LR units unless otherwise specified.

Most ILRIS-LR hardware is shipped, stored, and transported in a Pelican carry case.
The Pocket PC and any third-party software programs are shipped with the carry
case but not inside it. For more information, contact Optech (page 255).

All Optech ILRIS-LR software programs are provided on a CD/DVD that is shipped
with your system.

Overview of When you first receive your ILRIS-LR, carry out the following steps:
installation
1. Unpack the ILRIS-LR (page 35). Check all hardware, and prepare the Pocket PC
for operation (if applicable).

2. (MC option) Ensure that the MC platform and inertial navigation system (INS)
infrastructure are ready, and install the ILRIS-LR MC on the platform (page 37).

3. Install the ILRIS-LR Controller and Parser (page 36 and after).

4. Install and register all third-party software, such as PolyWorks (page 37).

5. (MC option) Install all hardware, and install and register all MC software
(page 37).

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Installing Software and Hardware ILRIS Operation Manual

Software system The ILRIS-LR Controller and Parser must be installed on a computer with the
requirements following recommended specifications:

■ Microsoft Windows XP or newer

■ 600 MHz Intel Pentium III processor or higher
■ 1 GB RAM
■ 1 GB free disk space
■ OpenGL-compatible video card.

Each data file being processed requires an equal amount of disk and swap space:
for example, a 400-MB file requires 400 MB of disk space and 400 MB of swap
space, for a total of 800 MB.

A faster and more powerful processing computer will always make processing
easier.

For third-party software requirements, see the applicable product documentation.

Protecting your ILRIS-LR computer

Notice Loss of data

! For correct ILRIS-LR operation:
■ Do not install anti-virus software on the computer
■ Do not connect the computer to the Internet.

Anti-virus software may interfere with the streaming of collected data by trying to
open each data packet. For this reason anti-virus software should not be installed
on the ILRIS-LR computer. However, the computer is therefore vulnerable to
malicious programs such as viruses and Trojans. If the computer is infected:

■ Computer may fail

■ ILRIS-LR system may be unusable until the computer is replaced or refor-
matted, and the operating systems and programs are re-installed.

To protect the ILRIS-LR and the computer from viruses and Trojans:

■ Use the computer for ILRIS-LR operation only

■ Never connect the computer to the Internet
■ Download software safely through a separate computer on which anti-virus
software is installed
■ Scan files before copying them to the ILRIS-LR computer.

Only ILRIS-LR software programs should be installed on your computer.

34 0066582/Rev D/Jul 13
ILRIS Operation Manual Installing Software and Hardware

Unpacking your
ILRIS-LR Caution Scanner handling
! The scanner weighs 14 kg and contains delicate electronics. Before
removing it from the carry case, see "Handling and Safety"‚ page 3.

To unpack the ILRIS-LR:

1. Upon receiving your ILRIS-LR, inspect the shipping carton for external damage
that may have occurred during transit. If you find damage, file a claim with the
carrier and notify your Optech representative immediately.

2. Open the carton and the carry case(s) inside, and check all items in the
shipment against the packing list. If any items are missing or damaged, contact
Optech. To return equipment, see page 255.

3. Check all scanner windows and screens to ensure that they are clean and not
cracked or scratched. For cleaning instructions, see page 249.

4. Prepare the Pocket PC for operation, using the Pocket PC product documenta-
tion. (The Pocket PC is not available in the MC option.)

5. Charge the batteries with the battery charger (page 245).

Batteries should always be charged and ready for a standard ILRIS-LR or ILRIS-
LR MC survey.

Figure 22: Unpacking the ILRIS-LR carry case

0066582/Rev D/Jul 13 35
Installing Software and Hardware ILRIS Operation Manual

Installing the The Controller software is used to program, monitor, and control the ILRIS-LR. It is
ILRIS-LR Controller provided on the ILRIS-LR CD in two formats: for a hand-held Pocket PC (not
available in the MC option) and for a Windows PC.

To install the Controller on your Pocket PC

See your Pocket PC and computer documentation to complete the following steps:

1. Insert the ILRIS-LR CD into your computer.

2. Connect the Pocket PC cradle to your computer via the USB cable.

3. Place the Pocket PC in the cradle, and start the device. Wait until the Connec-
tion icon appears on your computer.

4. Browse to the Controller folder on the CD, and copy the folder to your
desktop on the Pocket PC.

5. Wait until the Pocket PC has finished converting the files to its own format.

6. To confirm that the Controller is correctly installed, browse to the Controller on

the Pocket PC, and open the program.

7. Disconnect the cradle and USB cable from your computer.

8. Remove the ILRIS-LR CD from your computer.

To install the Controller on your computer

1. Insert the ILRIS-LR CD into your computer.

2. Browse to the Controller folder on the CD.

3. Click and drag the Controller.exe file to your desktop.

4. Remove the ILRIS-LR CD from your computer.

36 0066582/Rev D/Jul 13
ILRIS Operation Manual Installing Software and Hardware

Installing the The Parser is used after a survey to pre-process ILRIS-LR survey data. The Parser
ILRIS-LR Parser software is provided on the ILRIS-LR CD.

To install the Parser on your computer

1. Insert the ILRIS-LR CD into your CD computer.

2. On your desktop, create a folder called Parser.

3. On the CD, browse to the Parser folder, and double-click the Parser.zip
file.

4. Click the Browse button to navigate to the folder you created.

5. Click the Unzip button to extract the files to the specified folder.

6. Remove the ILRIS-LR CD from your computer.

Installing To install PolyWorks, see the product documentation. To activate this product,
PolyWorks contact Optech (page 255). Optech provides a product key, software updates, and
(option) technical support for your PolyWorks software.

The PolyWorks software package includes a hardware dongle. Optech records your
dongle ID number before shipment, and registers PolyWorks on your behalf. If we
do not have your contact information, we will request it through your distributor.

Installing ILRIS-LR After installing all standard ILRIS-LR items (page 33-page 37), install the following
MC (MC option) ILRIS-LR MC components:

1. Install the hardware.

2. Install the MatchView software.

3. Install the third-party INS software.

0066582/Rev D/Jul 13 37
Installing Software and Hardware ILRIS Operation Manual

Installing the hardware

1. Before the ILRIS-LR MC is delivered, ensure that:
■ Van or mobile platform specifications are known to Optech and approved
■ Mounting plate is approved and fabricated
■ (Optional) GPS base station infrastructure is set up.

2. Unpack all ILRIS-LR MC components (page 35).

3. Install all components onto your mobile vehicle and the mounting plate.

4. Measure the system lever arms (page 39).

For more information, contact Optech (page 255).

Installing the MatchView software

1. Download the program files into a folder of your choice.

2. Double-click the ZIP files to unload the archive.

3. Create a shortcut to the executable file on your desktop.

Installing the third-party INS software

To install third-party software, see the product documentation.

For information or assistance with dongles, contact Optech (page 255).

38 0066582/Rev D/Jul 13
ILRIS Operation Manual Boresighting (MC)

7 BORESIGHTING (MC)

■ Why is boresighting necessary?‚ page 39

■ Lever arm measurements‚ page 40
■ Boresight angle measurements‚ page 41

Danger Class 3 laser radiation

When the ILRIS-LR is in ER mode, it is a Class 3 laser and can cause eye
damage. Because it is unnecessary to boresight in ER mode, always turn
off ER mode before boresighting.

Note
! Boresighting is only required when the ILRIS-LR sensor and the inertial
navigation system (INS) components are installed on a transport vehicle
for the first time. If the same transport vehicle is used, you can skip the
following procedures for subsequent surveys as long as no position
changes among the GPS antennas, the mounted sensor, the inertial
measurement unit (IMU), and other INS instruments have occurred.

Why is boresight- The GPS antennas receive global coordinates from the satellite constellation to
ing necessary? determine the position of the transport vehicle. This information is relayed to the
inertial navigation system (INS), which ascertains the position and orientation of the
transport vehicle and sensor during a survey mission.

One vital component of the INS is an inertial measurement unit (IMU) that can inter-
nally determine its moment-to-moment orientation. Orientation refers to roll, pitch,
and heading, which are angles of rotation along three axes: X, Y, and Z respectively.
When installed onto a transport vehicle along with the ILRIS-LR MC sensor, the IMU
helps determine the changing orientation of the lidar sensor as the laser shots are
fired.

After a survey mission, using both GPS signals and the IMU input collected during
the survey, the ILRIS-LR Parser can then compute the real-life geographical locations
of the laser spots from the sensor.

To parse scan data with precision, the Parser needs to know where the ILRIS-LR
sensor is located and how it is oriented in relation to the IMU. Such relative

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Boresighting (MC) ILRIS Operation Manual

position and orientation information is known as lever arm measurements (X, Y, and
Z) and boresight angle measurements (roll, pitch, and heading).

The following two procedures describe how to obtain lever arm and boresight angle
measurements. For a definition of each measured parameter, see "Appendix B:
Boresight Parameters"‚ page 261.

Lever arm Finding X, Y, and Z manually

measurements
Measure the lever arm distances, X,Y, and Z, of the ILRIS-LR with respect to the
sensing center of the IMU, similar to the example in Figure 23. The IMU center is
usually not on the top of the IMU enclosure; to determine the location of the IMU
sensing center, refer to the manufacturer’s documentation.

Figure 23: Lever arm measurements (example only)

40 0066582/Rev D/Jul 13
ILRIS Operation Manual Boresighting (MC)

Boresight angle Determining boresight angle measurements for the ILRIS-LR MC sensor is indispens-
measurements able to the successful geo-referencing of your scan data.

Important
! Before obtaining boresight angle measurements, you must complete all
procedures in "Setting up the ILRIS-LR MC (option)"‚ page 61.

Then follow these six sub-procedures to obtain the boresight angle measurements
for the ILRIS-LR MC sensor before starting your survey mission:

■ Obtaining a survey of known coordinates (control points)‚ page 41

■ Scanning a wall with control points‚ page 42
■ Generating an IXF for MatchView using the Parser‚ page 42
■ Matching control points to data points through MatchView‚ page 44
■ Calculating roll, pitch, and heading through MatchView‚ page 48
■ Preparing a parameter file (for Georef Transform during parsing)‚ page 48

Note
! If you plan to survey on marine transport vehicles, first boresight the
ILRIS-LR sensor on land and then install the instruments onto a marine
vehicle. Make sure that:

■ All INS instruments and the sensor are installed on a rigid one-
piece platform during boresighting
■ The configuration of INS instruments and the sensor remains
exactly the same during boresighting and actual surveying.

Obtaining a survey of known coordinates (control points)

1. Using a total station and the ILRIS-LR, scan a wall or structure to obtain the
coordinates for points on the wall or structure. Important: For better accuracy,
place targets or use visually distinguishable features that represent varied depths
of field and positions along the vertical and horizontal axes in the scan area.
These selected points with known coordinates become “control points”.

2. Document the coordinates of the selected control points in an ASCII text file
(PNT file extension) with one survey point per line.
The coordinate system must be Earth-centred, Earth-fixed (ECEF). You will be
loading this text file into MatchView.

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Boresighting (MC) ILRIS Operation Manual

Scanning a wall with control points

1. After installing all hardware and software components, initiate INS data collec-
tion, drive the transport vehicle with the ILRIS-LR sensor near the wall or
structure with control points obtained previously.

2. Park the transport vehicle so that the ILRIS-LR sensor can scan the control
points, and the INS is free from obstructions (such as trees and tall buildings).

3. On the ILRIS-LR PC Controller main screen at the lower center, select Dynamic
from the GPS Logging menu (Figure 156, page 181), and clear the ER checkbox
in the lower right.

Danger Class 3 laser radiation

Because it is unnecessary to boresight in ER mode, always turn off ER
mode before boresighting.

4. Perform a step stare scan on the wall with control points. For more information,
see "Defining your scan settings (standard)"‚ page 139, "Pattern Parameters"‚
page 176, and "Starting a scan"‚ page 145.
While the sensor is scanning, the transport vehicle should be absolutely station-
ary, and preferably without passengers, driver, or operator.

Generating an IXF for MatchView using the Parser

To complete the boresighting calculations for the ILRIS-LR, you are required to load
an IXF file (from scanning the control points) into MatchView, which can only read
IXF and text files.

1. Open the Parser (page 193).

2. Load the scan file you have just acquired from scanning the control points on a
wall (steps 1-2, page 194).

3. Open the Parser Settings window (step 1, page 196).

4. Click the Browse button near the top to select the output folder location.

5. Select IXF as the data output format (Figure 24).

42 0066582/Rev D/Jul 13
ILRIS Operation Manual Boresighting (MC)

Figure 24: IXF output options

6. Make sure that the following settings are appropriately selected for the IXF file:
a. Select the Scanner positions check box. The Inertial Reference System File
Type drop-down menu becomes available.

b. From the drop-down menu, select your inertial navigation system (INS).

c. Click ... to select the location of the inertial reference system file generated
by your INS.

d. In Shift Time, enter the difference (in seconds) between GPS time and UTC
time at the time the data being parsed was collected.

Enter a shift time value only if you know of a discrepancy or offset between
the Inertial Reference File and ILRIS data. Otherwise, leave this field as 0.

e. Select 8-bit Scaled Intensity (default) as the intensity setting for the IXF file.

7. Select Easting, Northing, Up (default) from the Output File Coordinates Conven-
tion drop-down menu near the bottom.

8. Under other advanced Parser settings, make sure that the following are true:
■ All options under Apply Georef Transform are not selected.
■ The Move Origin of Cartesian System to Bolt Hole option under Miscella-
neous is selected.

9. Parse the scan data of the control points on the wall (page 210).
When parsing is complete, the IXF file is written to the output folder you have
specified. You are now ready to match control and data points in MatchView.

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Boresighting (MC) ILRIS Operation Manual

Matching control points to data points through MatchView

1. Open MatchView, and select Function > IMU Reference Misalignments
(Figure 25).

Figure 25: IMU Reference Misalignments

2. Select File > Matching, or click the Matching Panel button to open the
Matching panel (Figure 26).

Figure 26: Matching Panel button

44 0066582/Rev D/Jul 13
ILRIS Operation Manual Boresighting (MC)

3. Click Reference to open the PNT/LST/SRV file containing your recent survey of
the control points.
The text file populates the middle of the screen as a column of coordinates.

Figure 27: PNT file opened

4. Click Data to open the IXF file containing your stationary scan of the control
points.
The IXF file appears as an image on the right side of the screen.

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Boresighting (MC) ILRIS Operation Manual

Figure 28: Image of IXF file opened

5. To match a control point to a data point, click on a pre-determined control

point (from the PNT/LST/SRV file), then click on the corresponding data point
on the image (from the IXF file), and right-click to accept the pair.
The coordinates of each matched pair are listed in the farthest left column.
Each matched point appears as a red dot on the IXF image.

Figure 29: Matching control points to data points (dots enlarged for illustration)

46 0066582/Rev D/Jul 13
ILRIS Operation Manual Boresighting (MC)

Figure 30: Matching a control point to a data point (red dot, precise view)

6. Repeat to match a minimum of 5 control-data pairs to as many pairs as you can.

MatchView will use these matched pairs to calculate the boresight angles (roll,
pitch, and heading).

7. To remove an incorrectly matched pair, double-click on the pair in the farthest

left column.

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Boresighting (MC) ILRIS Operation Manual

Calculating roll, pitch, and heading through MatchView

1. When you have matched all possible pairs of control and data points, click
Calculate to generate an acceptable RMS value:
For best boresighting results, the RMS value must be smaller than 0.05.
RMS  0.05 Proceed to step 2.
RMS  0.05 Select more points on the image. If the RMS does not
decrease after you have added more points, points may be
poorly matched; in such a case, remove existing points
and match different ones.

2. When prompted, select the desired location for the TXT file.
MatchView outputs a calibration file, a TXT file that contains the roll, pitch, and
heading values.

Along with the lever arm measurements, you must enter the roll, pitch, and heading
values in the Parser for parsing your scan data. You may do so in one of two ways
(step 5, page 203), one of which requires you to provide a parameter file.

Preparing a parameter file (for Georef Transform during parsing)

MatchView generates a calibration file that contains only the roll, pitch, and
heading offsets. Now you need to prepare a parameter file that contains the roll,
pitch, and heading offsets as well as the XYZ lever arm measurements.

This parameter file is vital to the successful and accurate processing of your future
MC scan data through the Parser. Creating this parameter file is the ultimate goal of
boresighting. You can do so by manually editing the calibration file MatchView
has already generated:

1. Locate and open the calibration file generated by MatchView.

2. Manually enter the XYZ lever arm values into the text file strictly according the
format shown in Figure 31.

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ILRIS Operation Manual Boresighting (MC)

Figure 31: Example of calibration file after entering XYZ values

3. Save all new changes to this text file with a new file name.

4. Store this new text file in a safe location, and make sure you also create a back-
up copy.
You have now created a current parameter file for your ILRIS-LR. Boresighting
is now complete.

Before parsing your future MC scan data, the Apply Georef Transform feature of the
Parser will require you to provide this parameter file or to enter its values manually
(page 204).

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Boresighting (MC) ILRIS Operation Manual

50 0066582/Rev D/Jul 13
ILRIS Operation Manual Setting Up at a Survey Site

8 SETTING UP AT A SURVEY SITE

■ Overview of setting up‚ page 51

■ Before choosing a survey site‚ page 52
■ Setting up the ILRIS-LR at a survey site‚ page 53
■ Setting up the Pan/Tilt base (option)‚ page 55
■ Setting up the ILRIS-LR MC (option)‚ page 61

Notice Cable handling

! To ensure successful system operation, it is important to inspect and
handle cables correctly, as described in "Cable handling"‚ page 10.

Important
! To set up the ILRIS-LR MC option, see page 52 and then page 61.

Overview of Setting up the ILRIS-LR consists of the steps outlined in the flowchart in Figure 32.
setting up

Consider the issues

Choose a survey site

Set up ILRIS-LR at a survey site

Figure 32: Setting up the ILRIS-LR (flowchart)

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Setting Up at a Survey Site ILRIS Operation Manual

Before choosing a When selecting a survey site, consider the following issues:
survey site
Eye-safety
Consider the When the ILRIS-LR is in Extended Range (ER) mode, it is considered
issues a Class 3 laser at ranges up to 114 m. This means that it can cause
eye damage to anybody directly viewing the laser within that
range. Therefore, if you intend to scan in ER mode, choose a
Choose a survey
site survey site that minimizes the likelihood that anybody will enter
this non-eye-safe zone in front of the scanner. For further informa-
tion, see "Handling and Safety"‚ page 3.
Set up the ILRIS-
LR at a survey site Geo-referencing
For the ILRIS-LR to create a cartographically accurate point cloud
of the data gathered during a scan, the ILRIS-LR needs to be geo-
referenced.

Tripod leveling
Rough leveling is sufficient to prevent the ILRIS-LR scanner from
tipping. The scanner does not have to be set up over known
points.

Moisture
The scanner is splash-resistant, but not designed to withstand
heavy rain.

Temperature
The ILRIS-LR will operate in temperatures from 0°C to 40°C. Bat-
teries lose power when they are cold. At low temperatures, keep
the Pocket PC in a warm place such as your jacket pocket.

Direct sunlight
Direct sunlight may create false pulse returns for the ILRIS-LR,
causing noise in your data. To avoid this, do not aim the scanner
directly towards the sun while you scan.

The ILRIS-LR uses an embedded, high-resolution digital camera for

targeting. As with any camera, its settings need adjustment when
in direct sunlight.

Working range
The working range of the Pocket PC is 7.6 m (25 ft.). Stay within
this range when sending commands to the scanner. If the scanner
is firing in ER-mode, always stay close enough that you can turn off
the laser if somebody comes within the non-eye-safe range of the
scanner.

Obstructions
Wire fences, thin vegetation, and moving obstructions such as
birds and pedestrians can be edited out in data processing, and do
not interfere with normal operation. Larger, more permanent
obstructions cannot be edited out, and will interfere with data col-
lection.

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Tripod
To prevent any movement during the scan, use a suitably rigid
tripod (wood, fiberglass). On smooth surfaces where tripod legs
may slip, use a stabilizing ring. Avoid deep snow and loose ground
or sand.

To set up the standard ILRIS-LR including the optional Pan/Tilt base, see "Setting up
the ILRIS-LR at a survey site"‚ page 53.

To set up the ILRIS-LR MC, see "Setting up the ILRIS-LR MC (option)"‚ page 61.

Setting up the
ILRIS-LR at a Notice
survey site ! Handle the scanner with care. Do not touch the front window.

Consider the
issues This procedure applies whether you are using the Pocket PC or laptop, and wireless
or wired connection:

Choose a survey
site 1. Make sure that you have the laser interlock key with you. The ILRIS-LR cannot
be powered on without the key.

Set up the ILRIS- 2. Set up the tripod at a suitable location. On smooth surfaces, use a stabilizing
LR at a survey site ring to prevent the legs from slipping (Figure 33).

Figure 33: Tripod with stabilizing ring

3. (Optional) Set up the Pan/Tilt base (page 55). In this case, skip steps 4-7.

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Setting Up at a Survey Site ILRIS Operation Manual

4. Mount the ILRIS-LR scanner on top of the tripod interface.

The scanner base plate has a blind, threaded, 5/8-11 UNC mounting hole with a
maximum insertion depth of 12.5 mm (approximately 0.5 inches).

Notice
! Do not exceed the threaded engagement of 12.5 mm.

5. Insert at least two batteries into the battery holder in a T-junction format, and
connect the battery power cable to the quad battery holder (Figure 34).

Figure 34: Quad battery holder, with two batteries and power cable

6. If the holder has a switch, check that the switch is not set to CHARGER.

7. Make sure that the switch beside the battery connector is set to 28 V (Figure 35)

Figure 35: Setting the battery connector to 28 V

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8. Clean the scanner window and display screen, if necessary.

9. Insert the laser interlock key into the laser key switch and turn it clockwise 90°.
The ILRIS-LR boots up, and the Optech splash screen appears on the scanner
LCD display.

10. While the ILRIS-LR boots up, check the scanner LCD display. Confirm that an
image of the survey scene appears, as well as status information.

11. Insert the USB storage device into the slot on the scanner rear panel (Figure 15,
page 19).

12. If you are using a wired network connection, connect the Ethernet cable from
the laptop or the Pocket PC to the jack on the scanner rear panel.

13. Aim the scanner at the area you want to scan.

After setting up the scanner, you must configure the network settings for the Pocket
PC (page 70) or the laptop computer (page 124).

Setting up the
Pan/Tilt base Caution
(option) ! To prevent the scanner from tipping over as it rotates, make sure that the
scanner is leveled on the tripod, and that the tripod is set up securely.

Handle the scanner with care. Do not touch the front window.

1. Mount the Pan/Tilt base on top of the tripod (Figure 36).

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Setting Up at a Survey Site ILRIS Operation Manual

Figure 36: Mounting the Pan/Tilt base on top of the tripod

2. Secure the Pan/Tilt base to the tripod, using the knob at the bottom of the tripod
(Figure 37).

Figure 37: Securing the Pan/Tilt base to the tripod

3. Pull the lever outwards to prepare to mount the scanner (Figure 38).

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ILRIS Operation Manual Setting Up at a Survey Site

Figure 38: Pulling the lever out from the Pan/Tilt base

4. Position the ILRIS-LR scanner on the Pan/Tilt base according to your scan
requirements:
Camera near the up arrow Scanner tilts up (Figure 39, left).
Camera near the down arrow Scanner tilts down (Figure 39, right).

Figure 39: Positioning the ILRIS-LR scanner to tilt up (left) or down (right)

5. Mount the ILRIS-LR scanner onto the Pan/Tilt base so that the two quick attach-
ments on the Pan/Tilt platform fit into the two custom holes at the bottom of the
ILRIS-LR scanner (Figure 40).

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Setting Up at a Survey Site ILRIS Operation Manual

Figure 40: Mounting the scanner onto the Pan/Tilt base (see arrows)

6. When the ILRIS-LR scanner and Pan/Tilt base are well aligned, secure them by
swinging the lever fully back into place (Figure 41).
You might need to exert slight force to snap the lever in fully.

Figure 41: Securing the scanner to the Pan/Tilt base

7. Connect these three cables between the ILRIS-LR scanner and Pan/Tilt base
(Figure 42) in this order:

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1. POWER

2. PAN TILT (do not plug this cable into the GPS SERIAL outlet by mistake)

3. GPS PPS (for profile scanning).

Figure 42: Connecting cables from the scanner to the base

8. Insert at least two batteries into the battery holder in a T-junction format, and
connect the battery power cable to the quad battery holder (Figure 43).

Figure 43: Quad battery holder, with two batteries and power cable

9. If the holder has a switch, check that the switch is not set to CHARGER.

10. Make sure that the switch beside the battery connector is set to 28 V (Figure 44).

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Figure 44: Setting the battery connector to 28 V

11. Connect the battery cable to the front or rear of the Pan/Tilt base (Figure 45),
whichever is within closer proximity (Figure 46).

Figure 45: Connecting the battery cable to the Pan/Tilt base

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Figure 46: Power input on the front (left) or rear (right) of the Pan/Tilt base

12. Complete the setup by returning to step 8 on page 55.

Setting up the After considering the information on page 52, perform the following three proce-
ILRIS-LR MC dures to set up the ILRIS-LR MC. These procedures assume that you are using an
(option) Applanix position and orientation system (POS).

Establishing communication between POSView and the PCS

1. Make sure that the ILRIS-LR is connected to the POS computer through the GPS
SERIAL and GPS PPS ports.

2. Turn on the laptop computer, and configure network settings to communicate

with the POS computer (PCS).

3. Turn on the PCS.

4. Open POSView on the laptop.

5. In POSView, enter the IP address if it is not already present, and click the
Connect button.

You can now configure the I/O port settings for either LV POSView or
MV POSView.

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Configuring the I/O port settings for LV and MV POSView

The following instructions apply to both LV and MV POSView unless otherwise
specified:

1. In POSView, select Settings > Input/Output Ports.

The Input/Output Ports Set-up window appears.

2. In the I/O Ports Set-up window, select the COM tab that corresponds with the
COM port through which you have connected the ILRIS-LR to the PCS
(Figure 47 for LV or Figure 48 for MV).

Figure 47: I/O Ports Set-up configuration for POS LV

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Figure 48: I/O Ports Set-up configuration for POS MV

3. Set Baud Rate to 38400, and ensure that the following settings are selected
(Figure 47 for LV or Figure 48 for MV):
Parity None
Data Bits 8 Bits
Stop Bits 1 Bit
Flow Control None

4. Set Output Select to NMEA, and Input Select to None (Figure 47 for LV or
Figure 48 for MV).

5. Select the appropriate NMEA settings:

NMEA (LV POSView only) PPS, or ZDA
NMEA Output (MV POSView only) $GPPPS or $INPPS or $GPZDA
Update Rate 1 Hz
Talker ID GP
Roll, Pitch, and Heave Positive Sense Consult Applanix
(MV POSView only)

6. Click Apply to apply settings, and Close to close the window.

7. Select Settings > Installation > Tags, Multipath & AutoStart.

The Lever Arms & Mounting Angles window appears.

8. In the Tags, Multipath, & AutoStart tab, set Time Tag 1 to UTC Time (not GPS
Time) (Figure 49).

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Figure 49: Lever Arms and Mounting Angles window

9. Monitor POSView to confirm that GPS data is being continuously and success-
fully received by the laptop and displayed on the screen.

Calibrating the GPS Azimuth Measurement System (GAMS) (if

installed)
The following procedure is required after your initial hardware setup before bore-
sighting and every time after you have relocated the IMU or any one of the two GPS
antennas on the survey vehicle.

1. In POSView, select Settings > Installation > GAMS Parameter Setup.

The GAMS Parameter Setup window appears (Figure 50).

Figure 50: GAMS Parameter Setup window

2. Set all parameters to 0 except for Heading Calibration Threshold.

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3. Make sure that the Heading Calibration Threshold is between 0.3 and 0.5.

4. Monitor the Heading RMS under Altitude in the POSView main screen, and do
the following to reduce the Heading RMS to a value lower than 0.10 degrees:
■ POSView LV: Drive the vehicle in a straight line at 60 km / hour or faster.
Otherwise, repeatedly drive the vehicle along a path that resembles a figure
“8”.
■ POSView MV: Move the marine vehicle along a path that resembles a
figure “8”.

5. When POSView gives a Heading RMS lower than 0.10 degrees, stop the vehicle
at a place with good GPS reception and no obstructions. For MV, hold the
marine vehicle as still as possible.
This allows the INS to lock onto GPS satellites.

6. In POSView, select Settings > GAMS Calibration Control > Start, and monitor
the GAMS status on the POSView main screen.
The GAMS status progresses through these messages:
■ CAL REQUESTED
■ CAL IN PROGRESS (appears when GPS conditions are deemed sufficient)
■ CAL COMPLETE (appears approximately 2 minutes after the previous
message)
■ READY ONLINE.

7. To save the newly calculated GAMS parameters to the POS computer, select
Settings > Save Settings on the POSView main screen.

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9 POCKET PC OPERATION

■ Pocket PC overview‚ page 68

■ Using the Pocket PC Controller‚ page 68
■ Setting up the ILRIS-LR at the survey site‚ page 69
■ Configuring Pocket PC network settings‚ page 70
■ Starting the Pocket PC Controller‚ page 77
■ Connecting to the ILRIS-LR scanner‚ page 78
■ Configuring the camera settings‚ page 81
■ Defining the region of interest (ROI)‚ page 83
■ Defining your scan settings‚ page 85
■ Starting a scan‚ page 89
■ Monitoring the scan progress‚ page 91
■ Stopping a scan‚ page 93

NOTICE Operating conditions

! The ILRIS-LR is a sophisticated sensor that is designed for use under the operating
conditions of fair-to-good visibility, stated operating temperature range and
relative humidity, and typical shock/vibration conditions for the instrument
platform.

This product is not designed to operate and collect complete survey data in fog,
rain, snow or high-humidity conditions leading to condensation. It is susceptible
to damage or corrosion from salt water and excessive moisture or condensation.
Optech cannot assume responsibility for problems or damage caused by negli-
gence or improper use of equipment outside the stated specifications. For full
product specifications, see contract agreements.

Danger Class 3 laser radiation

Unsafe operation may result in eye injury. The operator is responsible
for ensuring that only persons wearing suitable eye protection are in the
non-eye-safe part of the beam path (see Handling and Safety‚ page 3).

Use of controls or adjustments or performance of procedures other than

those specified herein may result in hazardous exposure to laser radia-
tion.

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Pocket PC The Pocket PC communicates with the ILRIS-LR wirelessly, or wired if you prefer,
overview using the ILRIS-LR Controller software. The Controller provides full control of all
ILRIS-LR functions in local mode. Although you can still use a standard Ethernet
cable to connect to the ILRIS-LR, a wireless connection offers unparalleled flexibility
in operator control and data collection.

To set up quickly, you can conveniently operate the ILRIS-LR in local mode wire-
lessly, using just the Pocket PC and a USB memory device, at a range of up to 7.6 m
(25 feet).

If you prefer a wired connection, you can use the Ethernet cable to connect the
Pocket PC to the ILRIS-LR. This ensures a safe and reliable connection and prevents
communication interference from other devices.

Using the Pocket After you have set up the ILRIS-LR at the site you want to survey (page 51) and have
PC Controller familiarized yourself with the Pocket PC Controller (page 95), you are ready to start
using the Pocket PC Controller interface.

Important
! The ILRIS-LR is typically operated by using the Pocket PC Controller
according to a sequential process. When setting up a survey for the first
time, read this chapter carefully to become familiar with the ILRIS-LR
operation before starting a scan.

This section is divided into nine sub-sections, illustrating in sequence how to use the
Controller in the field to set up, start, and monitor your scan (Figure 51).

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Setup ILRIS-LR at survey site

Configure network settings

Start ILRIS-LR controller software

Connect to scanner

Configure camera

Define region of interest (ROI)

Define scan settings

Start scan

Monitor scan progress

Figure 51: Typical ILRIS-LR workflow using the Pocket PC Controller

Setting up the For more information, see Chapter 8, "Setting Up at a Survey Site", on page 51.
ILRIS-LR at the
survey site

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Configuring This section shows you how to configure the Pocket PC’s IP address, and how to
Pocket PC enable or disable the Wi-Fi adapter if necessary (page 76). You must configure the
network settings IP address before starting a scan.
Setup ILRIS-LR at
survey site
Note
! The screenshots shown in this section are taken from the HP iPAQ
Configure network
settings
Pocket PC device. If you are using a different device, the screens may be
different.

Start ILRIS-LR
controller software

Configuring the Pocket PC’s IP address (wireless and wired)

Connect to scanner
Instructions below apply to both wireless and wired operation unless specified:

1. Enable/disable the Wi-Fi adapter on your Pocket PC depending on which type

Configure camera of connection you are planning to use:
Wireless Enable the Wi-Fi adapter
Define region of Wired Disable the Wi-Fi adapter.
interest (ROI)
For instructions, see "Enabling/disabling the Wi-Fi adapter"‚ page 76.

2. From the Pocket PC start screen, tap Start in the top left corner (Figure 52).
Define scan
settings The Start pop-up menu appears.

Start scan

Monitor scan
progress

Figure 52: Tapping Start in the Pocket PC Start screen

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3. From the Start pop-up menu, tap Settings (Figure 53).

The Settings window appears.

Figure 53: Accessing the Settings window

4. From the Settings window, tap the Connections tab (Figure 54).

Figure 54: Connections tab

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5. From the Connections tab, tap the Network Cards icon (Figure 55).

Figure 55: Network Cards icon

6. Tap the Network Adapters tab.

The Configure Network Adapters window appears.

7. From the Configure Network Adapters window, under My network card

connects to, select Work (Figure 56), and do one of the following:
Wireless Tap HP iPAQ Wi-Fi Adapter (Figure 56). The HP iPAQ
Wi-Fi Adapter window appears.
Wired Tap Socket 10-100 Driver (Figure 57). The Socket 10-100
Driver window appears.

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Figure 56: Configure Network Adapters window (wireless)

Figure 57: Configure Network Adapters window (wired)

8. Select Use specific IP address, and change the 4th number of the IP address.
For example, in this IP address, 10.0.40.Y, the letter Y represents any
number between 1 and 255 that is different from what is shown on the ILRIS-LR
LCD display (Figure 58 and Figure 59).

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Figure 58: Entering the IP address (example for wireless connection)

Figure 59: Entering the IP address (example for wired connection)

The subnet mask should be automatically updated as follows:

Subnet mask (for wireless connection)

255.0.0.0

Subnet mask (for wired connection)

255.255.255.0

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IP address varies depending on firmware version

! The wireless IP address on the scanner LCD panel may vary
depending on the firmware your ILRIS-LR is currently running:
Earlier firmware version:192.168.0.Y
Latest firmware version:10.0.40.Y or 10.0.41.Y

9. After typing the appropriate IP address, tap ok (Figure 60).

The Adapters Message window appears.

Figure 60: Tapping Ok

10. From the Adapters Message window, tap ok again to return to the Settings
window.
You have now configured the Pocket PC’s IP address.
Wired Skip step 11.
Wireless Proceed to step 11.

11. (Wireless only) Tap the Wireless tab. In the Configure Wireless Networks
window, tap the ILRIS-LR wireless network, hold down, and tap Connect
(Figure 61).

Figure 61: Network Adapters tab

12. Proceed to the next step, "Starting the Pocket PC Controller"‚ page 77.

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Enabling/disabling the Wi-Fi adapter

Note
! The following menu settings are for a specific Pocket PC device. Your
device may have a different method for enabling/disabling the wi-fi
adaptor.

To switch from wireless to wired operation, you must first disable the Wi-Fi adapter
on your Pocket PC. To switch from wired to wireless operation, you need to enable
the Wi-Fi adapter.

1. Tap Start > Settings > Connections tab > IPAQ Wireless icon, or tap the
Wireless icon in the bottom right corner, to open the iPAQ Wireless Settings
window.

2. Tap the Wi-Fi button to enable or disable the Wi-Fi adapter (Figure 62).

Figure 62: Wi-Fi button active with Wi-Fi adapter enabled (left), and Wi-Fi button
inactive with Wi-Fi adapter disabled (right)

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Starting the 1. From the Pocket PC start menu, tap the ILRIS-LR Pocket PC Controller icon
Pocket PC (Figure 63).
Controller The Controller main window appears (Figure 64).
Setup ILRIS-LR at
survey site

Configure network
settings Figure 63: Pocket PC Controller icon

Start ILRIS-LR
controller software

Connect to scanner

Configure camera

Define region of
interest (ROI)

Define scan
settings

Start scan Figure 64: ILRIS-LR Controller main window

2. Proceed to the next step, "Connecting to the ILRIS-LR scanner"‚ page 78.
Monitor scan
progress

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Connecting to the After configuring your network settings and starting the Controller, you are ready to
ILRIS-LR scanner connect to the ILRIS-LR scanner. To do so, you must first enter the unit’s IP address
Setup ILRIS-LR at and then ping the scanner (page 79).
survey site

Configure network
settings Entering the ILRIS-LR’ IP address (wireless and wired)
Instructions below apply to both wireless and wired operation unless specified:
Start ILRIS-LR
controller software 1. Start the ILRIS-LR Controller (page 77).

2. Tap File > Connect.

Connect to scanner The IP address settings window appears.

3. From the drop-down menu, select Wireless for wireless operation (Figure 65) or
Ethernet for wired operation (Figure 66).
Configure camera

Define region of
interest (ROI)

Define scan
settings

Start scan

Monitor scan
progress

Figure 65: Entering the wireless IP address

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Figure 66: Entering the wired IP address

4. Under IP Address, enter the appropriate (wireless or wired) IP address displayed

on the ILRIS-LR LCD panel according to your mode of connection.

5. Tap Save to save the IP address of your unit, so that you do not have to re-enter
it again.

6. Proceed to the next step, "Pinging the ILRIS-LR (wireless and wired)"‚ page 79.

Pinging the ILRIS-LR (wireless and wired)

By pinging the ILRIS-LR, you can confirm that the Controller is communicating with
the scanner:

1. From the Wireless Settings window, tap Ping.

One of the following messages appears:

Ping Ok
Connection is present (Figure 67, left). Proceed to step 2.

Ping Timeout
No connection (Figure 67, right). Tap Ping to verify no con-
nection. If you cannot connect, make sure that you have
entered the IP address correctly (page 78).

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Figure 67: Ping Ok (left) and Ping Timeout (right)

2. Tap Connect to connect to the ILRIS-LR.

3. Proceed to the next step, "Configuring the camera settings"‚ page 81.

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Configuring the After connecting to the ILRIS-LR, you must configure the camera settings:
camera settings
1. From the Controller main window, tap Tools > Camera Settings (Figure 68).
Setup ILRIS-LR at
survey site The Camera Settings window appears.

Configure network
settings

Start ILRIS-LR
controller software

Connect to scanner

Configure camera

Define region of
interest (ROI)

Figure 68: Configuring the camera settings

Define scan
settings
2. Use the drop-down arrow to select the lighting option that best describes the
environmental conditions, and then tap Set (Figure 69).
Start scan

Monitor scan
progress

Figure 69: Adjusting lighting options

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3. (Optional) Under the White Balance section, tap One Push (Figure 70).
For more information on the Camera Settings window, see page 103.

Figure 70: White Balance, One Push button

4. Tap ok in the top right corner of the window.

The image displayed on the ILRIS-LR LCD panel is updated.

5. Proceed to "Defining the region of interest (ROI)"‚ page 83.

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Defining the After adjusting the camera and capturing an image of the target scan area, you are
region of interest ready to define the ROI:
(ROI)
1. Tap the Add Box button to add an ROI box (Figure 71).
Setup ILRIS-LR at
survey site The ROI defines the scan’s field of view (FOV).

Configure network
settings

Start ILRIS-LR
controller software

Connect to scanner

Configure camera

Define region of
interest (ROI)
Figure 71: ROI box, showing capture nodes
Define scan
settings
2. Resize, move, add or delete multiple ROIs if desired (page 83).

3. Tap the Next button to proceed to the next step, "Defining your scan settings"‚
Start scan page 85.

Monitor scan
progress
Resizing and moving the ROI
Double-tap any node of the ROI box you want to resize or move. When selected,
the box is highlighted green.

Resize the ROI Tap and drag one of the outside nodes.
Move the ROI Tap and drag the center node.

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Adding multiple ROIs

You can add as many ROIs as you want to cover the desired scanning area. ROIs
may overlap one another. To add another ROI, tap the Add Box button. Figure 72
shows the Camera window after three ROIs have been added.

Figure 72: Adding multiple ROIs

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Defining your When you tap the Next button after defining ROIs and selecting one ROI, the ROI
scan settings properties window for the selected ROI appears. If no ROI is selected, this window
Setup ILRIS-LR at will be blank.
survey site

Configure network To define scan settings for an ROI

settings
For more information on defining ROI properties (scan settings), see "Region of
interest (ROI) properties window"‚ page 107.
Start ILRIS-LR
controller software (Optional) Tap Acquire to obtain an approximate mean distance in meters of
the area inside the ROI (Figure 73). The ILRIS-LR performs a quick, coarse scan
of the selected ROI and calculate an average approximate distance and
Connect to scanner populate the field.
If the ER check box in the Scan window (see page 114) is checked, the ILRIS-LR
does the scan in ER mode. Make sure to follow the proper safety precautions for
Configure camera scanning in ER mode (see "Handling and Safety", page 3).

Define region of
interest (ROI)

Define scan
settings

Start scan

Monitor scan
progress

Figure 73: Acquiring the mean distance

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4. Adjust or view the following settings as necessary (Figure 74 and Figure 75):

Spacing
Spacing between laser shots on a numeric scale. A small value
results in a higher-resolution scan, and a large value results in a
low-resolution scan.

Figure 74: ROI properties, showing Pattern Repeat and Spot Spacing

Bounds
Defines the scan using position values; essentially the same as
resizing the ROI box.

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Figure 75: ROI properties, showing Bounds

Summary
A display of the estimated time, file size, number of points, and
object extents for an ROI and its sub-regions (Figure 76). These
statistics are updated whenever settings change.

Figure 76: ROI properties, summary of the scan

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5. Tap the Next button.

The Temperature and Voltage window appears and displays the ILRIS-LR’
current temperature and voltage level (Figure 77).

Figure 77: Monitoring temperature, voltage, and status messages

6. Tap the Next button to proceed to "Starting a scan"‚ page 89.

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Starting a scan After adjusting your scan settings, you are ready to start the scan from the Scan
Setup ILRIS-LR at window (Figure 78):
survey site

Configure network
settings

Start ILRIS-LR
controller software

Connect to scanner

Configure camera

Define region of
interest (ROI) Figure 78: Starting a scan

Define scan 1. From the Scan window, tap Change to rename your scan.
settings
The File Name window appears (Figure 79).

Start scan

Monitor scan
progress

Figure 79: Naming your scan

2. Use the keyboard to type the new name of your scan, and tap OK. The Scan
window re-appears (Figure 78).

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3. To add user notes, tap Edit. The User Notes window appears (Figure 80).

Figure 80: Adding user notes

4. Use the keyboard to type your user notes, and tap Ok.
The Scan window reappears (Figure 78).

5. Do one of the following to start a scan:

Standard scan
Simply tap Scan.

Profile scan
Tap Profile, and then tap Scan. For more information on
profile scanning, see "Appendix A: Glossary"‚ page 257.

ER scan
Tap ER, and then tap Scan.

Profile scan using ER mode

Tap ER and Profile, and then tap Scan.

Danger Class 3 invisible laser radiation

The ILRIS-LR can cause eye-damage if viewed directly in ER mode.
Make sure nobody without proper eye protection enters the non-eye-
safe zone in front of the ILRIS-LR while it scans (see "Handling and
Safety", page 3).

6. Proceed to the next step, "Monitoring the scan progress"‚ page 91.

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Monitoring the After you start the scan, you can monitor its progress from the Scan Progress window
scan progress (Figure 81). This window displays useful information such as the number of data
Setup ILRIS-LR at points, estimated scan time and total progress.
survey site

Configure network
settings

Start ILRIS-LR
controller software

Connect to scanner

Configure camera

Define region of
interest (ROI)
Figure 81: Monitoring scan progress

Define scan
settings

Start scan

Monitor scan
progress

Figure 82: Intensity data overlaid on the camera image

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Viewing scan progress on the camera image

There are two more ways of monitoring the progress of the scan visually:

■ To see the intensity data of the scan points overlaid on the camera image
(Figure 82), tap the camera image, hold, and make sure Picture Blending is
selected.
■ To see the intensity data of the scan points overwriting the camera image, tap
the camera image, hold, and make sure Picture Blending is deselected.

To see real-time intensity data in the Camera window

While the ILRIS-LR is scanning, you can do one of the following:

■ Minimize the Scan Progress window, and tap the Next button (Figure 82)
■ Drag the Scan Progress window to the left, and tap the Next button
(Figure 83).

Figure 83: Viewing scan progress on the camera image

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Stopping a scan Depending on the Pattern Repeat preference (page 177) you have selected for your
scan, there are two ways to stop a scan.

Automatically
If you have not pressed Continuous under Pattern Parameters
but entered a pre-set number for repeating the ROIs, scanning
stops automatically when all ROIs have been scanned the
specified number of times.

Manually
If you have pressed Continuous under Pattern Parameters, the
ILRIS-LR continuously and repeatedly scans the ROIs. The
ILRIS-LR will not stop scanning unless you command it to. Tap
Stop in the Scan Progress window when you think that all
target areas have been scanned.

At the end of a scan, you can do any one of the following:

■ Re-scan existing ROIs

■ Modify existing ROIs and re-scan
■ Define new ROIs and perform a new scan
■ Tap File > Disconnect to disconnect from the ILRIS-LR.

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10 POCKET PC OPERATOR INTERFACE

■ Pocket PC Controller software‚ page 95

■ Pocket PC Controller menu bar‚ page 96
■ Pocket PC Controller toolbar‚ page 98
■ Camera window‚ page 98
■ Status window and other options‚ page 100
■ Region of interest (ROI)‚ page 101
■ Connection Settings window‚ page 101
■ Camera Settings window‚ page 103
■ Region of interest (ROI) properties window‚ page 107
■ Scan window‚ page 114
■ Temperature, Voltage, and Status Messages window‚ page 116
■ Scanner Time Settings window‚ page 118
■ Scan Progress window‚ page 118

Pocket PC The Pocket PC Controller interface enables you to connect to the ILRIS-LR, either
Controller wirelessly or via an Ethernet data cable. From the user interface you can define and
software control a scan and set various scan settings, including spot spacing, scan pattern,
pulse mode, and position values.

The interface is divided into four areas:

■ Menu bar (page 96)
■ Toolbar (page 98)
■ Camera window (page 98)
■ Status window (page 100).

Note
! For more information on Controller options and settings, see "PC Opera-
tion"‚ page 121 and "PC Controller Interface"‚ page 149.

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Figure 84: Pocket PC Controller - main interface

Pocket PC
Controller menu
bar

File menu

Connect
Connects to the ILRIS-LR (page 101).

Disconnect
Disconnects from the ILRIS-LR.

Exit
Quits the Pocket PC Controller.

Edit menu

Delete All ROIs

Deletes all active regions of interest (ROI).

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View menu

Picture Blending
Turns the Picture Blending feature on/off. See page 99 for
more information on this feature.

Show GPS Panel

Opens the GPS Panel window. This window in the Pocket PC
Controller is the same as the GPS Logging menu in the PC Con-
troller, where you select the type of GPS data used during post-
processing for geo-referencing (Figure 156 and page 181).

Tools menu

Camera Settings
Adjusts ILRIS-LR camera settings (page 103).

Time Settings
Adjusts ILRIS-LR date and time settings (page 118).

GPS Settings
Options in this item are not applicable to Pocket PC operation
in the standard workflow of the ILRIS-LR. For information on
this item for the MC option, see "GPS Settings"‚ page 152.

Interface Settings
Adjusts various visual display colors and preferences for the
Controller interface.

Help menu

About
Displays the current software version number and copyright
information.

Other options

Keyboard icon
Accesses Pocket PC keyboard functions.

Other options
Accesses and changes Pocket PC settings such as the input
method.

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Pocket PC The Controller toolbar enables you to accomplish the following quickly:
Controller toolbar ■ Add a new scan area
■ Delete the active scan area
■ Toggle between multiple scan areas
■ Magnify the camera image display
■ Reduce the camera image display
■ Fit the image in the window
■ Capture the current camera image and download it to the Pocket PC
■ Cancel the current image capture.

Figure 85: Pocket PC Controller toolbar

Camera window The Camera window displays a video image of the area that the ILRIS-LR is currently
facing. It is updated or refreshed each time you tap the Capture Image button .
You can configure the display preferences for the Camera window using the Camera
Image drop-down menu (page 99).

Figure 86: Camera window

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Camera Image To open the Camera Image menu, tap and hold down anywhere on the Pan Tilt grid.
drop-down menu
Using this menu, you can configure the display preferences for the Camera window.

Figure 87: Camera Image drop-down menu

Capture Image
Captures an image of the pan region on, above, or below
which you have tapped.

Zoom In/Out (+,-)

Zooms the image in/out.

Fit To View
Fits the entire image in the pane.

Picture Blending
When Picture Blending is selected, the intensity data of scan
points is overlaid onto the captured image as the scan pro-
gresses. When Picture Blending is deselected, the intensity
data of scan points overwrites the captured image as the scan
progresses.

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Figure 88: Display Settings drop-down menu

Status window The Status window instantly alerts you to your current connection status:
and other options Connected or Disconnected.

There are three buttons beside the Status window:

Toolbar button
Shows/hides the Controller toolbar.

Next button
Proceeds to the next screen. This button is used for sequential
operations.

Back button
Navigates to the previous screen. This button is used for
sequential operations.

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Region of interest In the Camera window, you may add one or multiple regions of interest (ROI) to be
(ROI) scanned by tapping the Add button (Figure 89).

After an ROI is added, you can make the following changes to it:

Highlight or select an ROI box Double-tap any node of the ROI box.
When an ROI is selected, its properties
also appears at right.
Resize an ROI Tap and drag one of the outside nodes.
Move the ROI Tap and drag the center node.

Figure 89: Add button Figure 90: Multiple ROIs

Connection To open the Connection Settings window, tap File > Connect. In this window, you
Settings window can enter a number of connection settings to establish communication with the
ILRIS-LR:

Connection Type
Type of connection to the ILRIS-LR scanner, either Ethernet
(wired) or wireless.

IP Address
IP address to use for the scanner connection. The IP addresses
for Ethernet and wireless communication are provided on the
display panel of your ILRIS-LR scanner.

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Port
Port through which to access the IP address. The pre-pro-
grammed port 1039 is fixed.

Ping
Pings the scanner to test the connection. When tapped, one of
the following messages appears:

Ping OK
Scanner and Controller are communicating.

Ping timeout
No communication between scanner and Controller.

Save
Saves your settings as the default. Use this button the first time
you use the Controller, or whenever settings change.

Cancel
Closes the window without connecting to the scanner.

Connect
Connects to the scanner and closes the window.

Figure 91: Connection Settings Figure 92: Connection Settings window

window (wireless) (wired)

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Camera Settings To open the Camera Settings window, tap Tools > Camera Settings.
window
The image in the Camera view may appear initially over- or under-exposed (very
light or very dark). Through this scrolling window, you can adjust a number of
settings for the camera. After making changes to the camera settings, tap ok to apply
and save the changes.

One Push
Camera adjusts white balance settings automatically
(Figure 93).

White Balance
Relative amounts of primary colors (red, green, and blue) used
in an image to reproduce neutral colors correctly (Figure 93):

On
Applies white balance to the camera image. The
slider bars are the minimum-maximum bracket within
which the ILRIS-LR applies white balance to the
camera image. The top slider bar sets the minimum
value, and the bottom slider bar sets the maximum
value.

Off
Applies no white balance.

Figure 93: Camera Settings window, showing White Balance and Saturation

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Pre-programmed lighting settings

A drop-down menu that provides six pre-programmed lighting
settings to suit the environmental conditions (Figure 94):

Indoor
Indoor Dark
Sunny Bright Day
Sunny Day
Cloudy Day (Bright)
Cloudy Day (Dull)

Set
Applies the pre-programmed lighting setting selected from the
drop-down menu.

Figure 94: Camera Settings window, showing pre-programmed lighting settings

Saturation
Intensity of a specific hue. To set saturation, adjust the slider
bar or enter a value in the text box (Figure 95).

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Figure 95: Camera Settings window, showing Saturation and Gamma settings

Gamma
Balance of brightness (whiteness) among well-lit and dark
areas in an image (Figure 96):

On
Applies gamma settings to camera image. To set the
gamma, move the slider bar or type a value in the box.

Off
Applies no gamma settings.

Figure 96: Camera Settings window, showing Gamma settings

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Shutter
Amount of time the image is exposed to light during capturing.
To set your shutter speed, adjust the slider bar, or enter a value
in the text box (Figure 97):

Auto
Allows the camera to determine the shutter speed for
every image automatically.

One Push
Immediately updates the camera image with the
shutter value you entered most recently.

Figure 97: Camera Settings window, showing Shutter settings

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Gain
Measure of the amount of light amplification for the camera.
To set your desired gain, adjust the slider bar, or enter a value
in the text box (Figure 98).

Figure 98: Camera Settings window, showing Gain settings

OK
Saves your recent changes and settings, and closes the Camera
Settings window.

Region of interest To highlight or select an ROI, double-tap the ROI. To see the properties of an ROI,
(ROI) properties select the ROI and tap the Next button. If no ROI is selected, this window will be
window blank.

General Parameters

This area enables you to determine the approximate range to the target, and the lidar
pulse mode for the scan (Figure 99). If you do not know the range, you can instruct
the ILRIS-LR scanner to acquire it.

Mean Distance
Mean distance to the target in the ROI. Enter a range in meters,
or tap Acquire to acquire the distance automatically. The
mean distance does not affect the scan results. It is only used
to calculate spot spacing at a given distance.

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Acquire
Performs a quick scan of the selected ROI, and displays the
average range in the text box at left.

Pulse Mode
Sets the lidar operating mode depending on the scanning envi-
ronment:

First
For scanning in good visibility. Determines the range
by measuring the first pulse returning to the scanner.

Last
For scanning in fog, rain, snow, or dusty conditions.
Determines the range by measuring the last pulse
returning to the scanner, filtering out earlier returns.

Figure 99: ROI properties, showing General Parameters

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Pattern Parameters

This area defines the scan pattern and scan density for an ROI (Figure 100).

Scan Pattern
Scan pattern for the current ROI (Figure 100).

Point
Scans only one point.

Line
Scans along a single horizontal or vertical line.

Step Stare
Scans a square or rectangular region.

Pattern Repeat
Number of times to scan the current ROI (Figure 100).

Pre-set number
Scans the current ROI for the number of times you
have entered.

Continuous
Repeatedly scans the current ROI until you stop or
pause the scan manually.

Figure 100: ROI properties, showing Pattern Parameters

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Spacing
Horizontal and vertical spacing between laser shots or
between scan lines (Figure 101). Lower values produce
higher-resolution scans. That is, a value of 10 produces more
laser spots per scan, or more scan lines, than a value of 20.
Spacing is not available for point scanning.

X
Horizontal spacing between laser shots on a numeric
scale (Figure 101). Enter a value, or drag the slider bar
to the desired value.

Y
Vertical spacing between scan lines on a numeric
scale (Figure 101). Enter a value, or drag the slider bar
to the desired value. This option is available only if
the Allow Rectangular Gridding check box is selected.

The estimated distance (in mm) and angle (in degrees) between
scan lines are displayed in the fields at right. The estimated
distance is directly dependent on the Mean Distance
(page 107).

Allow Rectangular Gridding

Allows horizontal and vertical spot spacing to be set indepen-
dently, producing a rectangular grid rather than a square grid
(Figure 101).

Figure 101: ROI properties, showing Pattern Repeat and Spacing

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Bounds settings

This area displays the boundaries of an ROI (Figure 102). It enables you to define an
ROI by entering position coordinates instead of clicking and dragging an ROI box
on the screen.

Top, Bottom extents of the ROI

Defines the two horizontal boundaries of an ROI. For
example, the lowest point of the scanner field of view (FOV) at
level position is -2° and the highest point is 38°.

Left, Right extents of the ROI

Defines the two vertical boundaries of an ROI. For example,
the farthest left of the scanner field of view (FOV) at home
position is -2° and the farthest right is 38°. Vertical boundaries
may be extended beyond these two sample values.

To set a new position, enter a coordinate in the text box.

Figure 102: ROI properties, showing Bounds

Advanced

Use ASC
Compensates for range and intensity variations that arise from
temperature fluctuations, especially during the initial 15
minutes while the system is warming up. Using ASC will
slightly increase scan time. Optech recommends selecting this
check box (Figure 102).

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Summary

This area summarizes the scan information for a selected ROI (Figure 103). Review
the information to estimate how long a scan will take and how much data it will
produce. Estimates are accurate except for profile scanning.

ROI Properties Summary

Parent node of a data tree describing aspects of the selected
ROI.

General
Number of Data Points
Estimated number of laser shots (data points) in the
selected ROI, including all sub-regions.

Scan Time
Estimated time to scan an ROI, including sub-regions.

Filesize
Estimated size of scan data file(s) for the selected ROI.
Multiple scan data files are generated if an ROI spans
more than one pan region.

Object Extents
Absolute (X,Y) and (Y,X) coordinates of the lower left
and top right corners of the current ROI in relation to
the Pan/Tilt coordinate system.

Sub Regions
Information for each sub-region. Multiple regions are created
when an ROI spans more than one pan region. To display
information for sub-regions, expand the node beside each sub-
region (Pan/Tilt option).

Count
Number of sub-regions created in an ROI.

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Sub Region n
Identification number for a given sub-region within an ROI. To
display information for a sub-region, expand the node beside
it.

Number of Data Points

Estimated number of laser shots (data points) in a sub-
region of an ROI.

Scan Time
Estimated time to scan the current sub-region of an
ROI.

Filesize
Estimated size of a scan data file for the current sub-
region of an ROI.

Figure 103: ROI properties, showing Summary

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Scan window To open the Scan window, while the camera image and ROIs are visible in the
Camera window, tap the Back button once, or tap the Next button until you see the
Scan window.

Figure 104: Scan window

This area displays scan information including the number of data points in the scan,
estimated scan time, file location, and user notes. It also enables you to start a scan.

Change
Opens the File Name window (Figure 105) so that you can
specify the location of the scan data file (USB memory device).

Edit
Opens the User Notes window (Figure 106) to record user
notes regarding the scan.

Profile
Sets the ILRIS-LR to Profile scan mode.

ER
Sets the ILRIS-LR to Enhanced Range (ER) mode.

Danger Class 3 invisible laser radiation

The ILRIS-LR can cause eye-damage if viewed directly in ER mode.
Make sure nobody without proper eye protection enters the non-eye-
safe zone in front of the ILRIS-LR while it scans (see "Handling and
Safety", page 3).

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Scan
Starts scanning.

Figure 105: File Name window

Figure 106: User Notes window

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Temperature, To open the Temperature, Voltage, and Status Messages window, tap the Back or
Voltage, and Next button until you see the Temperature, Voltage, and Status Messages window.
Status Messages
window

Figure 107: Temperature, Voltage, and Status Messages window

This window displays the status of two important scanner hardware elements and
system status messages:

Temperature
Displays the internal temperature of the scanner:

Blue
Scanner is too cold. It must be warmed up before
operation.

Cyan/Green
Scanner is within normal operating temperature range.

Yellow
Scanner is warm but still within operating temperature
range.

Orange
Scanner is approaching overheating. Consider cooling
the scanner.

Red
Scanner is too hot for operation. The scanner will shut
down if it is not cooled off.

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Battery
Displays the battery charge available for the scanner.

Green
Battery level is good for operation.

Yellow
Battery level is approaching too low or too high but is
still within operating range.

Red
Battery level is too low or too high.

Status Messages
Displays standard, warning, and error messages from the ILRIS-
LR scanner.

Message Log Options

Opens the Log Message Options window where you can
specify the number of messages to display in the Status
Messages window.

Clear
Clears all messages from the screen. Clearing messages from
the screen does not delete them since all messages are written
to the scan log file.

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Scanner Time To open the Scanner Time Settings window, tap Tools > Time Settings.
Settings window
In the Scanner Time Settings window, you can adjust the date and time for the
scanner. These settings are retained between unit power cycles. They are only used
to timestamp the beginning of each scan and do not affect the actual scan data. GPS
timestamping of scan data (if applicable) is not affected.

Figure 108: Scanner Time Settings window

Scan Progress After you start the scan, you can monitor its progress from the Scan Progress
window window. This window displays useful information such as the number of data
points, estimated scan time, and total progress.

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Figure 109: Scan Progress window

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11 PC OPERATION

■ PC overview‚ page 122

■ Using the PC Controller‚ page 122
■ Setting up the ILRIS-LR at the survey site‚ page 123
■ Configuring PC network settings‚ page 124
■ Starting the PC Controller‚ page 127
■ Connecting to the ILRIS-LR scanner‚ page 128
■ Checking GPS time and data signal (MC only)‚ page 130
■ Configuring the camera settings‚ page 131
■ Capturing Pan/Tilt images (option)‚ page 132
■ Defining the region of interest (ROI) (standard)‚ page 136
■ Defining your scan settings (standard)‚ page 139
■ Defining the ROI and scan settings for line scanning (MC option)‚ page 140
■ Starting a scan‚ page 145
■ Monitoring scan progress‚ page 147
■ Stopping a scan‚ page 148

NOTICE Operating conditions

! The ILRIS-LR is a sophisticated sensor that is designed for use in an airborne
environment under the operating conditions of fair-to-good visibility, stated
operating temperature range and relative humidity, and typical shock/vibration
conditions for the instrument platform.

This product is not designed to operate and collect complete survey data in fog,
rain, snow or high-humidity conditions leading to condensation. It is susceptible
to damage or corrosion from salt water and excessive moisture or condensation.
Optech cannot assume responsibility for problems or damage caused by negli-
gence or improper use of equipment outside the stated specifications. For full
product specifications, see contract agreements.

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Danger Class 3 laser radiation

Unsafe operation may result in eye injury. The operator is responsible
for ensuring that only persons wearing suitable eye protection are in the
non-eye-safe part of the beam path (see Handling and Safety‚ page 3).

Use of controls or adjustments or performance of procedures other than

those specified herein may result in hazardous exposure to laser radia-
tion.

PC overview Instead of using the Pocket PC to communicate with the ILRIS-LR scanner, you can
use a laptop computer with the PC Controller software. As with the Pocket PC, you
can use a standard Ethernet cable to connect to the ILRIS-LR. However, a wireless
LAN connection still offers the most flexibility in operation control and data collec-
tion.

Using the PC After you have set up the ILRIS-LR at the survey site (page 53) and have familiarized
Controller yourself with the PC Controller interface (page 149), you are ready to start using this
software.

Important
! The ILRIS-LR is typically operated by using the PC Controller according
to a sequential process. When setting up a survey for the first time, read
this chapter carefully to become familiar with the ILRIS-LR operation
before starting a scan.

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Setup ILRIS-LR at survey site

Configure network settings

Start ILRIS-LR controller software

Connect to scanner

Configure camera

Capture Pan /Tilt image (Optional )

Define region of interest (ROI)

Define scan settings

Start scan

Monitor scan progress

Figure 110: Typical ILRIS-LR workflow using the PC Controller

Setting up the For more information, see "Setting up the ILRIS-LR at a survey site"‚ page 53.
ILRIS-LR at the
survey site

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Configuring PC This section shows you how to configure your LAN card to communicate with the
network settings ILRIS-LR via a wired or wireless connection.

Setup ILRIS-LR at
survey site

Configure network Configuring network settings for a wired or wireless connection

settings
1. Start the ILRIS-LR.

Start ILRIS-LR 2. If establishing a wired connection, when the ILRIS-LR starts, connect your
controller software Ethernet crossover cable to your computer.

3. (For Windows XP) To open the Network Connections window, select Start >
Connect to scanner Connect To > Show All Connections. Other operating systems may require
different selections. Consult the documentation for your specific version of
Microsoft Windows for instructions on changing the network settings.

Configure camera The Network Connections window appears (Figure 111).

Capture Pan/Tilt
image (Optional)

Define region of
interest (ROI)

Define scan
settings

Start scan

Figure 111: Network Connections window

Monitor scan
progress
4. Right-click the Local Area Connection or Wireless Network Connection icon,
and click Properties.
The Local Area Connection or Wireless Network Connection Properties
window appears (Figure 112).

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Figure 112: Connection Properties windows

5. Double-click Internet Protocol (TCP/IP).

The Internet Protocol (TCP/IP) Properties window appears (Figure 113).

Figure 113: Internet Protocol (TCP/IP) Properties window

6. From the Internet Protocol (TCP/IP) Properties window, select Use the following
IP address.

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7. In the IP address field, enter the first three numbers of the IP address exactly as
shown on the LCD display on the ILRIS-LR scanner, but change the last number
to make it different.
For example, in this IP address, 192.9.206.Y, the letter Y represents any
number between 1 and 255 that is different from what is shown on the ILRIS-LR
LCD display.

8. In the Subnet mask field, enter 255.255.255.0 for wired connection or

255.0.0.0 for wireless connection.

9. Click OK. Your LAN card is now set up to communicate with the ILRIS-LR.

10. Proceed to the next step, "Starting the PC Controller"‚ page 127.

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Starting the PC 1. From the desktop, double-click the PC Controller icon.

Controller The PC Controller main window appears (Figure 114).
Setup ILRIS-LR at
survey site

Configure network
settings

Start ILRIS-LR
controller software

Connect to scanner

Configure camera

Capture Pan/Tilt
image (Optional)

Define region of
interest (ROI)
Figure 114: PC Controller main interface

Define scan
settings 2. Proceed to the next step, "Connecting to the ILRIS-LR scanner"‚ page 128.

Start scan

Monitor scan
progress

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Connecting to the After starting the PC Controller, you are ready to connect to the ILRIS-LR scanner.
ILRIS-LR scanner To do so, you must first enter the unit’s IP address:

Setup ILRIS-LR at
survey site 1. From the Controller interface, select File > Connect.
The Connection Settings window appears (Figure 115).
Configure network
2. In the Connection Settings window, select Ethernet or Wireless from the Con-
settings
nection Type drop-down menu.

Start ILRIS-LR 3. Enter the IP address for your ILRIS-LR scanner.

controller software

Connect to scanner

Configure camera

Capture Pan/Tilt
image (Optional)
Figure 115: Connection Settings window

Define region of
interest (ROI) The IP addresses for wired and wireless communication are provided on the
LCD panel of each ILRIS-LR scanner. Typically the addresses are:

Define scan Wired 192.9.206.X

settings
Wireless 10.0.40.X or 10.0.41.X
Where X is a number between 1 and 255.
Start scan
4. (Optional) Click Save to save your IP address.

5. Proceed to the next step, "Pinging the ILRIS-LR (Optional)"‚ page 129.
Monitor scan
progress

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Pinging the ILRIS-LR (Optional)

By pinging the ILRIS-LR, you can confirm that the Controller is communicating with
the scanner:

1. In the Connection Settings window, click Ping.

One of the following messages appears:

Ping Ok
Connection is present (Figure 116). Proceed to step 2.

Ping Timeout
No connection. Click Ping several times to verify no connec-
tion. If you still cannot connect, check that you have selected
the correct connection type and entered the correct IP address
of the ILRIS-LR and network connection settings when config-
uring the network settings (page 124).

Figure 116: Ping Ok (sample IP address)

2. Click Connect to connect to the ILRIS-LR.

After the ILRIS-LR has been connected to the Controller, you are now ready to
perform the following:

■ ILRIS-LR survey on a tripod; see "Configuring the camera settings"‚ page 131
■ ILRIS-LR survey on a Pan/Tilt base; see "Configuring the camera settings"‚
page 131
■ ILRIS-LR survey on a mobile platform (MC scan); see "Checking GPS time and
data signal (MC only)"‚ page 130.

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Checking GPS The ILRIS-LR MC requires the POS to transmit a GPS time and data signal through a
time and data serial communication port. To check that the ILRIS-LR is successfully receiving the
signal (MC only) GPS time and data signal:

1. Monitor the ILRIS display for the following messages:

GPS on Valid GPS messages are received
GPS on not shown Valid GPS messages are not received

2. If GPS on is not shown, provide the proper signal and re-start the scanner until
GPS on appears.

3. Proceed to "Configuring the camera settings"‚ page 131.

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Configuring the The camera image in the Camera window may initially appear over- or under-
camera settings exposed (too bright or too dark). The Camera Settings window enables you to adjust
the camera image:
Setup ILRIS-LR at
survey site
1. Select Tools > Camera Settings.
The Camera Settings window appears (Figure 117).
Configure network
settings 2. (Optional) Under White Balance, click One Push.

3. From the drop-down menu near the bottom, select the lighting option that suits
Start ILRIS-LR the environmental conditions (Figure 117), and click Set.
controller software

Connect to scanner

Configure camera

Capture Pan/Tilt
image (Optional)

Define region of
interest (ROI)

Define scan
settings

Start scan

Figure 117: Camera Settings window

Monitor scan
progress 4. (Optional) Move the slider bars to customize the camera settings.
For more information on the Camera Settings window, see page 161.

5. Check the camera image, and experiment until the image is satisfactory.
The image updates after a few seconds.

6. Click OK to implement your changes.

7. Proceed to the next step:

Pan/Tilt Proceed to "Capturing Pan/Tilt images (option)"‚ page 132

No Pan/Tilt Click the Capture Image button, and proceed to

"Defining the region of interest (ROI) (standard)"‚ page 136.

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Capturing Pan/ After configuring the camera, you are ready to capture 360° Pan/Tilt images (if you
Tilt images have this option) before defining your target areas.
(option)
Setup ILRIS-LR at About free mode and Pan/Tilt mode
survey site
You can choose between two modes: free mode and Pan/Tilt mode.

Configure network Free mode

settings The Pan/Tilt base will orient the scanner to both your desired
pan angles and tilt angles to capture an image as a prospective
Start ILRIS-LR target scan area (page 133).
controller software
Pan/Tilt mode
The ILRIS-LR divides 360° into your pre-set number of overlap-
ping pan regions. You can either capture images of all pan
Connect to scanner
regions completing 360° or capture an image of one or several
of your selected pan regions. In this mode, you may enter your
desired tilt angle (page 133).
Configure camera

Capture Pan/Tilt
image (Optional) Switching between free mode and Pan/Tilt mode

1. Click the Advanced Settings button in the Pan and Tilt Control window.
Define region of
interest (ROI) The Advanced Pan Tilt Settings window appears.

2. Turn on your desired mode by doing one of the following:

Define scan
settings Pan/Tilt mode Make sure the Enable Pan Tilt free mode check
box is cleared.
Free mode Make sure the Enable Pan Tilt free mode check
Start scan box is selected (Figure 118).

Monitor scan
progress

Figure 118: Switching between Pan/Tilt mode (left) and free mode (right)

3. Click OK.

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Capturing images in free mode

1. Make sure the Controller is operating in free mode (page 132).

2. In the Pan and Tilt Control window (page 164), use any of these four ways to
operate the Pan/Tilt platform and adjust the orientation of the scanner:
Pan angle Enter your desired pan angle into the pan angle
text box (between -180 and +180), and click Go.
The Pan/Tilt base pans the scanner to your desig-
nated angle.
Tilt angle Enter your desired tilt angle into the tilt angle text
box (between 0 and ±70, depending on which
way the unit is mounted), and click Go. The Pan/
Tilt base tilts the scanner to your designated angle.
Up or Down button Click Up or Down. For every click, the Pan/Tilt
base tilts the scanner by approximately 10°.
Left or Right button Click Left or Right. For every click, the Pan/Tilt
base pans the scanner by 36°.
For more information, see "Pan and Tilt Control window"‚ page 164.

3. Click the Capture Image button to capture an image of the area the scanner
is currently facing.
The captured image is a prospective area on which you will define your target
scan regions.

4. When you are satisfied with the captured image as your desired target scanning
area, proceed to the next step, "Defining the region of interest (ROI) (standard)"‚
page 136. If not, repeat steps 2-3.

Capturing images in the Pan/Tilt mode

1. Make sure the Controller is operating in the Pan/Tilt mode (page 132).

2. Perform the following sub-procedures:

■ Setting your desired tilt angle‚ page 134
■ Selecting the Pan/Tilt overlap region size‚ page 134
■ Capturing images of all pan regions‚ page 134, or Capturing images of
selected pan regions‚ page 135.

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Setting your desired tilt angle

1. In the Pan and Tilt Control window, use one of these two ways to adjust the tilt
of the scanner:
Tilt angle Enter your desired tilt angle into the tilt angle text
box (between 0 and ±70, depending on which
way the unit is mounted), and click Go. The Pan/
Tilt base then tilts the scanner to your designated
angle.
Up or Down button Click Up or Down. For every click, the Pan/Tilt
base tilts the scanner by approximately 10°.
For more information, see "Pan and Tilt Control window"‚ page 164.

2. To evaluate whether the scanner is facing your desired angle, view the image
shown in the Camera View window. If the image is too dim or too bright, see
"Configuring the camera settings"‚ page 131.

3. Repeat steps 1 and 2 until you are satisfied with the tilt angle.
You are now ready to select your desired Pan/Tilt overlap region size, and then
capture images of all or selected pan regions.

Selecting the Pan/Tilt overlap region size

1. Click the Advanced Settings button in the Pan and Tilt Control window.

2. In the Advanced Pan Tilt Settings window, select your desired Pan/Tilt overlap
region size. For more information, see "Understanding display settings for the
Pan/Tilt option"‚ page 168 and "Advanced Pan Tilt Settings window"‚ page 166.

3. Click OK.

Capturing images of all pan regions

1. Click the Capture Image button.

The ILRIS-LR captures an image of each pan region consecutively at separate
intervals. When capture is complete, a 360° image appears, similar to the one
shown in Figure 119.

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Figure 119: 360° captured image, shown in Camera window

You are now ready to define your target scan regions.

2. Proceed to the next step, "Defining the region of interest (ROI) (standard)"‚
page 136.

Capturing images of selected pan regions

Instead of capturing images of all contiguous pan regions, you can use the Pan/Tilt
grid in the Camera window to select one or more individual pan regions to capture.
For more information on the Pan/Tilt grid, see page 167.

1. On the Camera window, right-click inside a pan region on the Pan/Tilt grid, and
then select Image > Capture.
The ILRIS-LR rotates to that region and captures an image.

2. Repeat step 1 to capture images of other pan regions as desired.

You are now ready to define your target scan regions.

3. Proceed to the next step, "Defining the region of interest (ROI) (standard)"‚
page 136.

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Defining the After you have captured satisfactory image(s) of the scan scene, you are ready to
region of interest define the region of interest (ROI). To define the region of interest for an MC scan,
(ROI) (stan- see page 140.
dard)
1. If necessary, zoom into a captured image to see it more clearly (Figure 120).
Setup ILRIS-LR at For more information on the Zoom buttons, see "Region of Interest (ROI) defini-
survey site tion pane"‚ page 173.

Configure network
settings

Start ILRIS-LR
controller software

Connect to scanner

Configure camera

Capture Pan/Tilt
image (Optional)

Define region of
interest (ROI)

Define scan
settings
Figure 120: Target image, zoomed in

Start scan 2. Add or delete an ROI box as desired (page 137).

3. Resize and move multiple ROIs as desired (page 138).

Monitor scan An ROI defines a target area the ILRIS-LR will scan.
progress
4. Proceed to the next step, "Defining your scan settings (standard)"‚ page 139.

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Adding multiple ROIs and deleting ROIs

You can add as many ROIs as desired to cover the desired scanning area or delete
any ROIs as necessary. ROIs may overlap one another. Figure 121 shows the
Camera window after multiple ROIs have been added.

Add ROIs Click the Add button to add an ROI box.

Delete an ROI To delete an existing ROI, double-click on the ROI box to
highlight it, and click the Delete button to delete the
ROI box.
Delete all ROIs From the menu, select Edit > Delete All ROIs.

Figure 121: Adding multiple ROIs

Tip
! You may first perform a coarse scan of the desired area, using high spot
density, and adjust the ROI as necessary.

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Resizing and moving the ROI

When resizing and positioning an ROI for an object within a very short distance
from the scanner, make accommodations for possible camera parallax. Camera
parallax is more noticeable at close range than it is at long range.

To resize or move an ROI box, first select the ROI box by double-clicking it. When
selected, the box is highlighted green, and then you can do the following:

Resize the ROI Click and drag one of the outside nodes.
Move the ROI Click and drag the center node.

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Defining your After defining the regions of interest (ROIs), you are ready to define the scan settings
scan settings for each ROI. To define scan settings for an MC scan, see page 140.
(standard)
1. To define the scan settings for an ROI, double-click the ROI box to select it.
Setup ILRIS-LR at
The selected ROI box turns green, and the scan settings for the selected ROI
survey site
appears to the right of the Camera window (Figure 122).

Configure network 2. Define all applicable settings for the ROI in the ROI properties pane. For more
settings information, see "Region of interest (ROI) properties pane"‚ page 174.

Start ILRIS-LR
controller software

Connect to scanner

Configure camera

Capture Pan/Tilt
image (Optional)

Define region of
interest (ROI)

Define scan
settings

Start scan

Monitor scan
progress

Figure 122: Region of Interest (ROI) properties pane (scan settings)

3. Proceed to the next section, "Starting a scan"‚ page 145.

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Defining the ROI Adding an ROI for line scanning

and scan settings
Depending on the lidar sensor’s line of sight in relation to the heading of the ILRIS-
for line scanning
LR MC vehicle, you may perform either horizontal or vertical line scanning after
(MC option)
applying the following required settings on the ILRIS-LR sensor. In MC operation,
only one ROI is necessary.

1. Click the Add button to add an ROI box. To delete an ROI box, double-
click on an ROI box to highlight it, and click the Delete button.

2. Double-click the ROI box to select it.

The ROI box turns green, and the scan settings for the ROI appears in the right
pane.

Defining your scan settings for line scanning

1. Under Pattern Parameters, select Line as your scan pattern (Figure 123).

Figure 123: Line scanning selected

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2. Under Pattern Parameters, make sure Continuous is pressed down beside

Pattern Repeat (Figure 124).

Figure 124: Continuous scanning pattern activated

3. For Line Type, select Horizontal or Vertical (Figure 125).

Horizontal When the lidar sensor’s line of sight is parallel to the
vehicle’s heading.
Vertical When the lidar sensor’s line of sight is perpendicular or
noticeably oblique to the vehicle’s heading.
Line of sight refers to the forward beam path of each pulsed laser shot.

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Figure 125: Horizontal or vertical line

4. Under Spacing, adjust the slider bar to set your desired angle distance between
laser pulses (Figure 126).
This is a relative spacing adjustment that corresponds to the multiple of
minimum step size.

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Figure 126: Spacing between laser pulses selected

5. Adjust the length and location of the scan line as desired (Figure 127).

Figure 127: Length and location of scan line adjusted

6. Make sure that the Use ASC check box is cleared.

Figure 128: Use ASC check box cleared

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7. On the ILRIS-LR PC Controller main screen at the lower center, select Dynamic
from the GPS Logging menu (Figure 129).

Figure 129: Dynamic GPS Logging selected

8. Proceed to the next section, "Starting a scan"‚ page 145.

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Starting a scan After adjusting your scan settings, you are ready to start the scan. The following
instructions apply to ER, non-ER, and MC scans unless otherwise specified:
Setup ILRIS-LR at
survey site
1. On the Controller interface, click Change beside Data Destination near the
bottom right corner.
Configure network The Scan Options window appears (Figure 130).
settings

Start ILRIS-LR
controller software

Connect to scanner

Configure camera
Figure 130: Scan Options window

Capture Pan/Tilt
2. Browse to or type in a valid path for the survey data to be stored, and select the
image (Optional)
Save Locally check box (page 182).
Survey data is saved automatically to your local directory.
Define region of
interest (ROI) 3. Choose other save options as needed:

Save to Scanner
Define scan Saves the survey data to the scanner’s USB drive. If no USB
settings
drive is inserted into the scanner, then the scanner saves to its
internal hard drive instead. See page 182.
Start scan Sync
Ensures that the scanner uses the same folder name as your
computer. See page 182.
Monitor scan
progress 4. Click OK to close the Scan Options window.

5. Select Geo-Ref, and make sure that neither Resection or Back Sighting is
selected.

6. Do one of the following to start the scan:

Standard scan
Simply click Scan.

Profile scan
Click Profile, and then click Scan. For more information on
profile scanning, see "Appendix A: Glossary"‚ page 257.

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ER scan
Click ER, and then click Scan.

Profile scan using ER mode

Click ER and Profile, and then click Scan.

MC scan
Click Scan to start scanning. Once data is being collected,
start moving the ILRIS-LR MC vehicle. Scanner requires time to
initialize before starting a scan.

Danger Class 3 invisible laser radiation

The ILRIS-LR can cause eye-damage if viewed directly in ER mode.
Make sure nobody without proper eye protection enters the non-eye-
safe zone in front of the ILRIS-LR while it scans (see "Handling and
Safety", page 3).

7. Proceed to the next section, "Monitoring scan progress"‚ page 147.

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Monitoring scan After you start the scan, you can monitor its progress from the Scan Progress window
progress (Figure 131). This window displays useful information such as the number of data
points, estimated scan time, and total progress.
Setup ILRIS-LR at
survey site

Configure network
settings

Start ILRIS-LR
controller software

Connect to scanner

Figure 131: Monitoring the scan progress

Configure camera
Percentages of total and task progress are not displayed for MC scans since MC
scans are open-ended and continuous.
Capture Pan/Tilt
image (Optional)

Define region of Viewing the scan progress on the camera image

interest (ROI)
There are two ways of monitoring the progress of the scan visually:

Define scan ■ To see the intensity data of the scan points overlaid on the camera image,
settings right-click in the Camera window and select Picture Blending.
■ To see the intensity data of the scan points overwriting the camera image,
right-click in the Camera window and make sure Picture Blending is dese-
Start scan lected.

This feature is only applicable to step stare scans but not Profile or MC scans.
Monitor scan
progress

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Stopping a scan Depending on your selected Pattern Repeat preference (page 177), there are two
ways to stop a scan:

Automatically
If you have not pressed Continuous under Pattern Parameters
but entered a pre-set number for repeating the ROIs, scanning
stops automatically when all ROIs have been scanned the
specified number of times.

Manually
If you have pressed Continuous under Pattern Parameters, the
ILRIS-LR continuously and repeatedly scans the ROIs. The
ILRIS-LR will not stop scanning unless you command it to.
Click Stop in the Scan Progress window when you think that all
target areas have been scanned.

At the end of a scan, you can do any one of the following:

■ Re-scan existing ROIs

■ Modify existing ROIs and re-scan
■ Define new ROIs and perform a new scan
■ Select File > Disconnect to disconnect from the ILRIS-LR.

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12 PC CONTROLLER INTERFACE

■ PC Controller software‚ page 151.

■ PC Controller menu bar‚ page 151

Communication and Monitoring

■ Connection Settings window‚ page 153
■ Status Messages window‚ page 155
■ Hardware status pane‚ page 156

Camera and Optional Pan/Tilt

■ Camera window‚ page 157
■ Camera Image drop-down menu‚ page 158
■ Camera View window‚ page 160
■ Camera Settings window‚ page 161
■ Status bar‚ page 163
■ Pan and Tilt Control window‚ page 164
■ Advanced Pan Tilt Settings window‚ page 166
■ Pan/Tilt grid‚ page 167
■ Pan/Tilt Settings window‚ page 172

Scan Setup and Operation

■ Region of Interest (ROI) definition pane‚ page 173
■ Region of interest (ROI) properties pane‚ page 174
■ Summary of scan information‚ page 179
■ GPS Logging menu‚ page 181
■ Scan Options window‚ page 181
■ Scanner Time Settings window‚ page 182
■ User Notes window‚ page 183
■ Scan properties pane‚ page 183
■ Scan control panel‚ page 184
■ Scan Progress window‚ page 185

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Geo-referencing Calculation and Input

■ GPS User Position window‚ page 186
■ GPS Setup window‚ page 186

Visual Display Preferences

■ Interface Settings window‚ page 188
■ Log Message Options window‚ page 189

Figure 132: PC Controller, main interface

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PC Controller The ILRIS-LR PC Controller enables you to connect to the ILRIS-LR in the same way
software you would using the Pocket PC – either wirelessly or via an Ethernet data cable.

With this connection through the PC Controller interface, you can perform a large
variety of functions:

■ Preview and set up the scan environment and coverage (page 157)
■ Operate the optional pan/tilt to desired scanning positions (page 164)
■ Define scan regions, settings, and properties for each region (page 172)
■ Control and monitor a scan in progress (page 184)
■ Enter geo-referencing data (page 185)
■ Monitor system and hardware statuses (page 153)
■ Adjust visual display preferences on the interface (page 188).

In this chapter, following a description of the PC Controller menu, a large number of

windows and panes of the interface are introduced and organized according to the
functionalities listed above.

PC Controller
menu bar

Figure 133: PC Controller menu bar

File menu

Connect
Opens the Connection Settings window so that you can
connect to the ILRIS-LR scanner (page 153).

Disconnect
Disconnects the Controller from the scanner. (To close and
exit the Controller, click the X button at top right of the Con-
troller screen.)

Edit menu

Delete all ROIs

Deletes all ROIs on the image. You can add new ROIs at any
time.

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View menu

Show Pan Tilt Window

Shows or hides the Pan and Tilt Control window (page 164). A
check mark indicates that the window is already opened. The
Pan/Tilt base is an ILRIS-LR option.

Show Camera Window

Shows or hides live video from the internal camera (page 160).
A check mark indicates that the window is already opened.

Show Message Window

Shows or hides the Status Messages window (page 155). A
check mark indicates that the window is already opened.

Show Stats Window

(Not supported)

Tools menu

Camera Settings
Opens the Camera Settings window (page 161).

Time Settings
Opens the Scanner Time Settings window (page 182).

GPS Settings
Opens the GPS Setup window (page 186). Options in this item
are only applicable to the PC Controller (not the Pocket PC
Controller) in the workflow of the MC option.

Pan/Tilt Settings
Opens the Pan/Tilt Settings window (page 172).

Interface Settings
Opens the Interface Settings window (page 188).

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Geo-Ref menu

(Not supported)

Resection
Prepares the ILRIS-LR to scan a target for performing resection.

Back Sighting
Prepares the ILRIS-LR to scan a target for performing back
sighting.

Clear Geo-Reference
Re-starts geo-referencing by clearing the scanned targets and
matched coordinates you have most recently acquired.

Communication The following windows enable you to set up communication among the ILRIS-LR
and Monitoring components and monitor the status of the system and hardware.

Connection Settings window

Figure 134: Connection Settings window, showing Wireless and Ethernet settings
(IP addresses are examples only)

To open the Connection Settings window, select File > Connect from the main
menu. This window enables you to do the following:
■ Set the connection mode, Ethernet or wireless
■ Set the IP address and port for the connection
■ Ping the IP address to check the connection.

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Connection Settings options

Connection Type
Type of connection to the ILRIS-LR scanner, either Ethernet
(wired) or wireless.

IP Address
IP address to use for the scanner connection. The IP addresses
for Ethernet and wireless communication are provided on the
display panel of your ILRIS-LR scanner. Typical addresses are:

Ethernet
192.9.206.X, where X is a number between 1 and 255
shown on the ILRIS-LR LCD panel.

Wireless
10.0.40.X or 10.0.41.X, where X is a number between
1 and 255 shown on the ILRIS-LR LCD panel.

Port
Port through which to access the IP address. The pre-pro-
grammed port 1039 is fixed.

Ping
Pings the scanner to test the connection. When clicked, one of
the following messages appears:

Ping OK
Scanner and Controller are communicating.

Ping timeout
No communication between scanner and Controller.

Save
Saves your settings as the default. Use this button the first time
you use the Controller, or whenever settings change.

Cancel
Closes the window without connecting to the scanner.

Connect
Connects to the scanner and closes the window.

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Status Messages window

Figure 135: Status Messages window

To open the Status Messages window, click View > Show Message Window.

This window displays standard, warning, and error messages from the ILRIS-LR
scanner (Figure 135).

Message Log Options

Opens the Log Message Options window (page 189) where
you can specify how many messages to display in the Status
Messages window.

Clear
Clears all messages from the screen. Clearing messages from
the screen does not delete them since all messages are written
to the scan log file.

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Hardware status pane

Figure 136: Scanner temperature and battery status indicators

The hardware status pane is located at bottom right of the interface. This area
displays the status of two important scanner hardware elements:

Temperature
Displays the internal temperature of the scanner:

Blue
Scanner is too cold. It must be warmed up before
operation.

Cyan/Green
Scanner is within normal operating temperature range.

Yellow
Scanner is warm but still within operating temperature
range.

Orange
Scanner is approaching overheating. Consider cooling
the scanner.

Red
Scanner is too hot for operation. The scanner will shut
down if it is not cooled off.

Battery
Displays the battery charge available for the scanner:

Green
Battery level is good for operation.

Yellow
Battery level is approaching too low or too high but is
still within operating range.

Red
Battery level is too low or too high.

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Camera and The following windows and panes enable you to operate the camera and the
Optional Pan/Tilt optional pan/tilt. The camera provides both a real-time view and a post-survey
pictorial record of your scan environment. The pan/tilt makes an extended and
panoramic field of view possible for the ILRIS-LR.

Both the camera and optional pan/tilt provide for a vital step immediately before
you define your scan regions (ROIs): to aim and position the ILRIS-LR to achieve
your desired survey coverage.

Camera window

Figure 137: Camera window, showing captured images

Before scanning, this area displays images recently captured by the ILRIS-LR
scanner’s internal camera. During scanning, this area displays the progress of the
scan: scan points overwriting or being overlaid onto the captured image(s).

You can configure the display preferences for the Camera window using the Camera
Image drop-down menu (page 158).

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Camera Image drop-down menu

To open the Camera Image drop-down menu, right-click in the camera window. A
drop-down menu appears (Figure 138).

Using this menu, you can configure the display preferences for the Camera window
or the Pan/Tilt grid.

Figure 138: Camera image dropdown menu

Image drop-down menu options

Zoom In/Out (+, -)

Zooms the image in/out. You can also click the Zoom buttons
below the image in the ROI definition pane (page 173).

Fit To View
Fits an entire image, or a series of images (if the Pan/Tilt is con-
nected), in the image pane. You can also click the Fit button
below the image (page 173).

Picture Blending
Activates two separate functions, one for Pan/Tilt image
capture and another for monitoring scan progress.

(Pan/Tilt image capture) Toggles the alpha blending in the

overlapped area of two contiguous sections. For more infor-
mation, see "Understanding display settings for the Pan/Tilt
option"‚ page 168.

(Scan progress) Intensity data of scan points is blended with

the captured image as the scan progresses. When Picture
Blending is not selected, the intensity data of scan points over-
writes the captured image as the scan progresses.

Display Settings
Selects from three different options for the Pan/Tilt grid display
(Figure 138).

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Show Pan/Tilt Grid (Pan/Tilt option)

Shows/hides the Pan/Tilt grid (page 167). This option
is effective only when the Pan/Tilt base is connected to
the ILRIS-LR.

Show Mirror Extents Grid (Pan/Tilt option)

Shows/hides the mirror extents grid. This option is
only useful when the Pan/Tilt base is connected to the
ILRIS-LR. The mirror extents grid marks the actual
boundary of the ILRIS-LR sensor’s horizontal field of
view (FOV) for each pan region including overlapping
areas shared with adjacent pan regions.

Show ROI sub regions (Pan/Tilt option)

Shows/hides the ROI sub regions. This option is only
useful when the Pan/Tilt base is connected to the
ILRIS-LR. Showing ROI sub regions is useful when an
ROI spans across more than one pan region. In such a
case, the scan area within the ROI at each pan
position is outlined.

Image
Capture
(Standard) Captures an image of the area the ILRIS-LR
is currently facing.

(Pan/Tilt option) Captures an image only in the pan

region that you have right-clicked. If you have right-
clicked the blank/black space in the Camera window,
the ILRIS-LR captures the pan region directly above or
below where you have clicked.

Save
Saves an image of a pan region to any location.

Clear
Clears the image of a selected pan region from the
display.

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Camera View window

Figure 139: Camera View window (blank)

To show live video from the ILRIS-LR camera, select View > Show Camera Window.

Start
Shows real-time live video

Stop
Stops the video.

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Camera Settings window

Figure 140: Camera Settings window

To open this window, select Tools > Camera Settings from the main menu.

The image in the Camera view may appear initially over- or under-exposed (very
light or very dark). Through this window, you can adjust a number of settings for the
camera. After making changes to the camera settings, click OK to apply and save
the changes:

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Camera Settings options

One Push
Camera adjusts white balance settings automatically.

White Balance
Relative amounts of primary colors (red, green, and blue) used
in an image to reproduce neutral colors correctly:

On
Applies white balance to the camera image. The
slider bars are the minimum-maximum bracket within
which the ILRIS-LR applies white balance to the
camera image. The top slider bar sets the minimum
value, and the bottom slider bar sets the maximum
value.

Off
White balance is not applied.

One Push
Automatically white-balance camera based on current
conditions.

Saturation
Intensity of a specific hue. To set saturation, adjust the slider
bar or enter a value in the text box.

Gamma
Balance of brightness (whiteness) among well-lit and dark
areas in an image:

On
Applies gamma settings to camera image. To set your
gamma, move the slider bar or type a value in the box.

Off
Gamma settings are not applied.

Shutter
Amount of time the image is exposed to light during capturing
and during live video streaming. To set your shutter speed,
adjust the slider bar, or enter a value in the text box:

Auto
Allows the camera to determine the shutter speed
automatically based on changes in the physical envi-
ronment. This is a toggle option.

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One Push
Automatically adjust shutter based on current condi-
tions.

Gain
The amount of light amplification for the camera. To set your
desired gain, adjust the slider bar, or enter a value in the text
box.

Pre-programmed lighting settings

A drop-down menu that provides six pre-programmed settings
to suit the environmental conditions.

Indoor
Indoor Dark
Sunny Bright Day
Sunny Day
Cloudy Day (Bright)
Cloudy Day (Dull)

Set
Applies the pre-programmed lighting settings selected from the
drop-down menu.

OK
Saves your recent changes and settings, and closes the Camera
Settings window.

Status bar

Figure 141: Status bar

This area displays the position of the mouse pointer on the image as XY and theta/
phi coordinates.

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Pan and Tilt Control window

Figure 142: Pan and Tilt Control window

This area is shown by default when the Pan/Tilt is connected. If it is hidden, select
View > Show Pan Tilt Window from the main menu to open it. All features in this
window are disabled when no Pan/Tilt is connected.

In this window you can:

■ Set the amount by which to pan and tilt the scanner between scans
■ Move the scanner to the next scan position.

Options in the Pan/Tilt Control window are only available when the optional Pan/
Tilt base is connected to the ILRIS-LR. The availability of pan options depends on
which mode the Controller is in: free mode or Pan/Tilt mode.

Pan settings (only available in free mode)

Pan angle dial

Displays the current pan position of the scanner, where the top
is the initial scanner position (Figure 142).

Left button
Pans counter-clockwise by 36°.

Right button
Pans clockwise by 36°.

Pan angle text box

Specifies where to pan the scanner, from -180° to +180°.

Go button
Pans the scanner to the angle designated in the pan angle text
box with respect to the home position (0°). If the angle entered
exceeds the Pan/Tilt’s limit, the Pan/Tilt platform pans to the
farthest position possible its limit.

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Tilt settings (available in both free mode and Pan/Tilt mode)

Tilt angle dial

Displays the current tilt position of the scanner, where level is
the initial scanner position (Figure 142), and the scanner’s ori-
entation (tilt-up or tilt-down) on the Pan/Tilt platform.

Up button
Tilts up by approximately 10°, up to 70° when fully raised.

Down button
Tilts down by approximately 10°.

Tilt angle text box

Specifies where to tilt the scanner, from 0° to 70° (when
scanner tilts up) and from -70° to 0° (when scanner tilts down).

Go button
Tilts the scanner to the angle designated in the tilt angle text
box with respect to the level position (0°). If the angle entered
exceeds the Pan/Tilt’s limit, the Pan/Tilt platform tilts to the
farthest position possible within its limit.

Advanced Settings
Opens the Advanced Pan Tilt Setting window (Figure 143).
This window enables you to select between the free mode or
Pan/Tilt mode with pre-set segments (or pan regions) and
overlap regions.

When you click Go, the Pan/Tilt platform pans or tilts the ILRIS-LR to your des-
ignated angle. The exact position of the unit is also displayed in the text boxes
beside the Go button.

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Advanced Pan Tilt Settings window

Figure 143: Advanced Pan Tilt Settings window

To open this window, click the Advanced Settings button in the Pan and Tilt
Control window (page 164).

This window enables you to select between the free mode or Pan/Tilt mode with
pre-set segments (or pan regions) and overlap regions.

Enable Pan Tilt free mode: selected

Turns on free mode, and enables you to scan segments at any
panning or tilting degrees that you want.

Enable Pan Tilt free mode: cleared

Turns on Pan/Tilt mode, and enables you to scan at preset pan
angles but any tilt angle.

Pan Tilt Overlap Region Size

May choose among three pre-set numbers of pan regions (10,
12, and 15) and three corresponding overlap percentages (5%,
12.5%, and 20%).

For all three pre-set overlap options, the full field of view of
each pan region always remains at 40°, but the number of pan
regions and the degrees of overlap vary:

5% overlap, 10 pan regions Each 36° pan region overlaps with contig-
uous regions by 2° at each side
(2° + 36° + 2° = 40°).
12.5% overlap, 12 pan regions Each 30° pan region overlaps with contig-
uous regions by 5° at each side
(5° + 30° + 5° = 40°).

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20% overlap, 15 pan regions Each 24° pan region overlaps with contig-
uous regions by 8° at each side
(8° + 24° + 8° = 40°).

OK
Saves your recent selection and changes, and closes the
window.

Cancel
Closes the window without applying your recent changes.

Pan/Tilt grid

Figure 144: Pan/Tilt grid against captured images in the Camera window

The Pan/Tilt grid is a series of identically sized boxes in the Camera window that
visually indicate the relative position and dimension of pan regions (Figure 144).
Each box in the grid outlines the boundary of each pan region.

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Through the Advanced Pan Tilt Settings window (page 166), you can set the number
of contiguous pan regions and the percentage of overlap between pan regions, both
of which determine the relative width of the pan regions.

From the Pan/Tilt grid, you can capture images of individual selected pan regions
before defining your regions of interest (ROIs) for scanning.

You can configure the display preferences for the Pan/Tilt grid using the Camera
Image drop-down menu (page 158). To understand the display settings for the Pan/
Tilt grid, see page 168.

Understanding display settings for the Pan/Tilt option

The Pan/Tilt base enables the ILRIS-LR to capture a complete 360° image of the
survey scene by capturing 10, 12, or 15 segments (known as “pan regions” in the
Controller software) that each spans 36°, 30°, or 24° respectively. The scanner pans
to a new position to scan each segment. When you display the Pan/Tilt grid, each
segment is clearly outlined on the image (Figure 145, top).

Each segment actually has a full field of view of 40°. Depending on the number of
segments, the degree of overlap with contiguous scans at each side of the segment
varies (2°, 5°, or 8°). The full extent of a segment is shown on the image when you
display the mirror extents (Figure 145, bottom).

The Picture Blending feature applies transparency to each captured image so that
you can see what is in the overlapped regions. You can turn this feature on and off.
For an illustration of the effect at close range, notice the color changes in
Figure 147, page 171.

When you define a region of interest (ROI), the ILRIS-LR divides that ROI into sub-
regions according to which scan segment they fall into. If the ROI is completely
contained within a single scan segment, there is only one sub-region; if the ROI
cuts across scan segments, it has two or more sub-regions. In this case the ILRIS-LR
scans the first sub-region, and then pans the scanner to scan the second sub-region.
Sub-regions are identified in the Region of Interest (ROI) properties pane/window
(page 179 and page 112).

In an ROI that spans several segments (or pan regions) (Figure 146, top), though the
sub-regions are scanned separately, spot spacing and other properties remain
uniform. Alternatively, you can separate sub-regions into individual ROIs contained
within individual pan regions (Figure 146, bottom). The advantage of doing so is
that you can set a different spot spacing and specify other properties for each ROI as
needed.

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Figure 145: Pan/Tilt grid only (top), and with Mirror Extents Grid overlaid (bottom),
showing overlap area between vertical lines

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Figure 146: One ROI spanning across multiple pan regions (top), and ROIs
contained in individual pan regions (bottom)

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Figure 147: ROI overlap with Picture Blending off (left) and on (right)

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Pan/Tilt Settings window

Figure 148: Pan/Tilt Settings window

To view this window, select Tools > Pan/Tilt Settings from the main menu. The Pan/
Tilt Settings window indicates how the speed of the Pan/Tilt will be calculated.

Automatically Calculate Sprofile Speed

Commands the Pan/Tilt base to calculate its speed automati-
cally during scanning. This check box is selected by default
and should always be selected for optimal scan results.

Profile Scan Speed

Text box for entering the Profile Scan Speed manually. The
higher this value is, the faster a scan is completed (at propor-
tionally reduced data density).

(Recommended) Leave this value at the default and let the

Controller decide on the Profile Scan Speed.

The Controller uses the value entered in this text box only
when the above check box is cleared.

Scan Setup and Most windows and panes in this section enable you to set up the scan regions, prop-
Operation erties of each region, and scan settings for your survey. After that, the scan control
panel and scan progress window enable you to control and monitor the scan.

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Region of Interest (ROI) definition pane

Figure 149: ROI definition pane labelled

This area below the image enables you to do the following:

■ Capture scanner images (and abort the capture)
■ Display a captured image at various zoom levels
■ Add, delete, and move through all regions of interest (ROIs).

Immediately below the ROI definition pane is the Pan and Tilt Control window,
which is explained on page 164.

ROI and image toolbar

Zoom buttons
Zooms in to an image (+).

Zooms out from an image (-).

Fits an entire image or a series of images (if the Pan/Tilt is con-

nected) in the image pane.

Capture Image
Captures an image from the ILRIS-LR scanner, and displays the
image on-screen. If the Pan/Tilt base is attached, a series of
contiguous images that span 360° are captured.

Abort Capture
Aborts an image capture. No image is displayed on-screen.

Add
Adds a new ROI. The ROI box appears on-screen. After
double-clicking on the ROI to select it, you can then click and
drag to move and resize the box, or enter coordinates ("Bounds
settings"‚ page 177).

Delete
Deletes the selected ROI.

Next
Selects the next ROI, in order of creation.

Previous
Selects the previous ROI, in order of creation.

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Region of interest (ROI) properties pane

Figure 150: ROI properties pane

When you double-click an existing ROI in the Camera window, the ROI is high-
lighted, and its properties appear at right (Figure 150):
■ General Parameters‚ page 175
■ Pattern Parameters‚ page 176
■ Bounds settings‚ page 177
■ Advanced ROI option‚ page 178
■ Summary of scan information‚ page 179.

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General Parameters

This area enables you to determine the beam width at a specific distance, set the
averaging mode, and adjust the lidar pulse mode for a scan. If you do not know the
range, you can instruct the ILRIS-LR scanner to acquire it.

Figure 151: General Parameters

This area has the following options:

Mean Distance
Mean distance to the target in the ROI. Enter a range in meters,
or click Acquire to acquire the distance automatically. This
value affects the estimated distance between spots displayed in
millimeters (mm) under Spacing (page 177), but does not affect
scan data.

Acquire
Performs a quick scan of the selected ROI, and displays the
average range in the text box at left.

Pulse Mode
Sets the lidar operating mode depending on the scanning envi-
ronment:

First
For scanning in good visibility. Determines the range
by measuring the first pulse returning to the scanner.

Last
For scanning in fog, rain, snow, or dusty conditions.
Determines the range by measuring the last pulse
returning to the scanner, filtering out earlier returns.

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High Precision
In High Precision mode, the scanner fires multiple laser shots
at each point. During post-processing, you can calculate the
average range for each point to increase range accuracy.

None
Disables range averaging.

2
Enables averaging using 2 laser shots per data point.

4
Enables averaging using 4 laser shots per data point.

8
Enables averaging using 8 laser shots per data point.

Pattern Parameters

This area defines the scan pattern and scan density for an ROI.

Figure 152: Pattern Parameters

Scan Pattern
Line
Scans along a single horizontal or vertical line.

Step Stare
Scans a square or rectangular region.

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Pattern Repeat
Number of times to scan the current ROI.

Pre-set number
Scans the current ROI for the number of times you
have entered.

Continuous
Repeatedly scans the current ROI until you stop or
pause the scan manually.

Spacing
Horizontal and vertical spacing between laser shots or
between scan lines. Lower values produce higher-resolution
scans. That is, a value of 10 produces more laser spots per
scan, or more scan lines, than a value of 20. Spacing is not
available for point scanning.

X
Horizontal spacing between laser shots on a numeric
scale. Enter a value, or drag the slider bar to the
desired value.

Y
Vertical spacing between scan lines on a numeric
scale. Enter a value, or drag the slider bar to the
desired value. This option is only available if the
Allow Rectangular Gridding check box is selected.

The estimated distance (in mm) and angle (in degrees) between
scan lines are displayed in the fields at right. The estimated
distance is directly dependent on the Mean Distance
(page 175).

Allow Rectangular Gridding

Allows horizontal and vertical spot spacing to be set indepen-
dently, producing a rectangular grid rather than a square grid.

Bounds settings

This area displays the boundaries of an ROI. It enables you to define an ROI by
entering position coordinates instead of clicking and dragging an ROI box on the
screen.

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Figure 153: Bounds settings

Boundaries are displayed in degrees as follows:

Top, Bottom extents of the ROI

Defines the two horizontal boundaries of an ROI. For
example, the lowest point of the scanner field of view (FOV) at
level position is -2° and the highest point is 38°.

Left, Right extents of the ROI

Defines the two vertical boundaries of an ROI. For example,
the farthest left of the scanner field of view (FOV) at home
position is -2° and the farthest right is 38°. Vertical boundaries
may be extended beyond these two sample values.

To set a new position, enter a new coordinate into each field.

Advanced ROI option

This area enables you to enable or disable automatic scan correction.

Figure 154: Advanced ROI option

Use ASC
Compensates for range and intensity variations that arise from
temperature fluctuations especially during the initial 15
minutes while the system is warming up. Using ASC will
slightly increase scan time. Optech recommends selecting this
check box.

(MC-required) Make sure that this check box is cleared before

MC operation.

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Summary of scan information

Figure 155: Summary of scan information

Summary
Located at the bottom of the ROI properties pane, this area summarizes the scan
information for a selected ROI (Figure 155). Review the information to estimate
how long a scan will take and how much data it will produce. Estimates are
accurate except for profile scanning.

ROI Properties Summary

Parent node of a data tree describing aspects of the selected
ROI.

General
Number of Data Points
Estimated number of laser shots (data points) in an
ROI, including all sub-regions.

Scan Time
Estimated time to scan an ROI, including all sub-
regions.

Filesize
Estimated size of scan data file(s) for the selected ROI.
Multiple scan data files are generated if an ROI spans
more than one pan region.

Object extents
Absolute (X,Y) and (X,Y) coordinates of the top left and
lower right corners of the current ROI in relation to the
Pan/Tilt coordinate system.

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Sub Regions
Information for each sub-region. Multiple regions are created
when an ROI spans more than one pan region. To display
information for sub-regions, expand the node beside each sub-
region (Pan/Tilt option).

Count
Number of sub-regions created in an ROI.

Sub Region n
Identification number for a given sub-region within an ROI. To
display information for a sub-region, expand the node beside
it.

Number of Data Points

Estimated number of laser shots (data points) in the
current sub-region in an ROI.

Scan Time
Estimated time to scan the current sub-region in an
ROI.

Filesize
Estimated size of a scan data file for the current sub-
region in an ROI.

X extents
X coordinates marking the horizontal boundaries of
the current sub-region in relation to the pan region in
which it is embedded. These coordinates depend on
current Pan/Tilt overlapping region settings
(page 166).

Y extents
Y coordinates marking the vertical boundaries of the
current sub-region in relation to the pan region in
which it is embedded.

Pan
Pan position required for scanning the current sub-
region.

Tilt
Tilt position required for scanning the current sub-
region.

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GPS Logging menu

Figure 156: GPS Logging menu

The GPS Logging menu is located immediately beside the ROI and image tool bar
(Figure 149 and Figure 156). It is where you select the type of GPS data used during
post-processing for geo-referencing

GPS Logging drop-down menu

Select your desired GPS mode or GPS data used for geo-refer-
encing.

None
Uses no GPS input for current scan.

Static User
Uses user-specified coordinates. You are required to
provide geodetic coordinates.

Dynamic
Uses GPS input for scanning on a mobile platform.
Available for MC mode only.

Settings button
Opens the GPS User Position window (Figure 163) for Static
User mode.

Scan Options window

Figure 157: Scan Options window

To open this window, click Change beside Data Destination near the bottom right
corner of the Controller.

The Scan Options window enables you to do the following:

■ Specify where to save scan data
■ Specify the name of the scan.

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This window has the following options:

Save Locally
Saves scan data to your computer. Enter the path to the folder,
or click Browse to choose the folder. If the path you enter
directs to a currently non-existent folder, the ILRIS-LR automat-
ically creates a new folder with that name at the beginning of
the scan.

Save To Scanner
Saves scan data to the scanner. The default scan name is
scan.i3d. Accept the default, or enter a new name with a
maximum of 28 characters. If no external USB memory device
is inserted in the scanner, data will be saved to the internal
USB memory. You can also click Sync to ensure that the
scanner uses the same folder name as your computer.

Sync
Copies the name of the lowest-level destination folder in the
path entered under Save Locally to the field under Save to
Scanner.

Scanner Time Settings window

Figure 158: Scanner Time Settings window

To open this window, select Tools > Time Settings from the main menu.

In the Scanner Time Settings window, you can adjust the date and time for the
scanner. These settings are retained between unit power cycles. They are only used
to timestamp the beginning of each scan and do not affect the actual scan data. GPS
timestamping of scan data (if applicable) is not affected.

Date
Current date, in the format month/day/year.

Time
Current time.

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User Notes window

Figure 159: User Notes window

To open this window, click Edit beside User Notes in the Controller. You can
record notes about your scan in this window (Figure 159).

Clear
Clears existing notes from this window.

OK
Saves current notes and closes this window.

Scan properties pane

Figure 160: Scan properties pane

This area displays useful information regarding the ROIs you have defined for the
current scan.

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Georef Status

On-site geo-referencing is not supported.

User notes

Edit
Opens the User Notes window to record user notes regarding
the scan (page 183).

Change
Opens the Scan Options window so that you can specify the
name and location of the scan folder (USB memory device
and/or computer) (page 181).

Data Destination

This small box displays the folder location in which scan data will be stored during
a survey.

Estimated Scan Statistics

This small box displays the estimated number of points, time, and storage space
required for the scan areas you have currently defined.

Scan control panel

Figure 161: Scan, Profile, and ER buttons

Profile
Sets the ILRIS-LR to Profile scan mode.

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ER
Sets the ILRIS-LR to Enhanced Range (ER) mode before starting
an ER scan. Make sure to follow the proper safety precautions
for scanning in ER mode (see "Handling and Safety", page 3).

Scan
Starts scanning.

Danger Class 3 invisible laser radiation

The ILRIS-LR can cause eye-damage if viewed directly in ER mode.
Make sure nobody without proper eye protection enters the non-eye-
safe zone in front of the ILRIS-LR while it scans (see "Handling and
Safety", page 3).

Scan Progress window

Figure 162: Scan Progress window

After you start the scan, you can monitor its progress from the Scan Progress
window. This window displays useful information such as the number of data
points, estimated scan time, and total progress.

Geo-referencing On-site geo-referencing is not supported.

Calculation

Geo-referencing These windows are used for entering geo-referencing information for the ILRIS-LR
Input that you have obtained previously or outside of the PC Controller.

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GPS User Position window

Figure 163: GPS User Position window

To open this window, click the Settings button beside the GPS Logging drop-
menu below the Camera window (Figure 164).

The GPS User Position window enables you to geo-reference your scan data
manually to a known point on which the ILRIS-LR is set up only when you are
scanning in Static User mode (in Static User Mode, no electronic inertial navigation
system (INS) or GPS is used). The GPS User Position window allows you to enter
the coordinates of the known point.

Figure 164: GPS Setting drop-down menu (Status User selected) and Settings button

GPS Setup window

Figure 165: GPS Setup window

To open this window, select Tools > GPS Settings from the main menu.

The GPS Setup window enables you to geo-reference your scan data if you are using
an electronic inertial navigation system (INS) or a GPS system. Settings in the GPS

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Setup window only apply if you are operating in Dynamic mode (for MC operation).
The GPS Setup window requires you to enter the offset measurement of the GPS
antenna in relation to the ILRIS-LR. In particular, it is a measurement from the top of
the GPS antenna to the bottom of the bolt hole of the ILRIS-LR unit.

GPS Offsets (mm)

X
X-axis coordinate from the top of the GPS antenna to
the bottom of the bolt hole of the ILRIS-LR unit in
meters.

Y
Y-axis coordinate from the top of the GPS antenna to
the bottom of the bolt hole of the ILRIS-LR unit in
meters.

Z
Z-axis coordinate from the top of the GPS antenna to
the bottom of the bolt hole of the ILRIS-LR unit in
meters.

Heading
Azimuth of the top of the GPS antenna in relation to
the bottom of the bolt hole of the ILRIS-LR unit in
decimal degrees.

Pitch
Rotation about the x-axis of the top of the GPS antenna
in relation to the bottom of the bolt hole of the ILRIS-
LR unit in decimal degrees.

Roll
Rotation about the y-axis of the top of the GPS antenna
in relation to the bottom of the bolt hole of the ILRIS-
LR unit in decimal degrees.

OK
Saves all values you have recently entered or changed, and
closes the window.

Cancel
Closes the window without saving any changes you have
recently entered.

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Visual Display Interface Settings window

Preferences

Figure 166: Interface Settings and Color Selection windows

To open this window, select Tools > Interface Settings from the main menu.

The Interface Settings window enables you to do the following:

■ Set the ROI width and handle size
■ Modify the colors assigned to image and ROI elements.

Interface Settings options

Some settings are only available with the Pan/Tilt option. For information on sub-
regions and mirror grids, see "Understanding display settings for the Pan/Tilt option"‚
page 168.

ROI Line Width

Width of the border of the ROI, from 1 to 10. The default is 1.

ROI Handle Size

Size of the grab bars for the ROI, from 1 to 15. The default is 5.

Normal
Border color for all ROIs on the image.

Selected
Border color for a selected ROI.

Sub Region 1, 2
Border color for each ROI sub-region.

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Sub Region 1, 2 Selected

Border color for a selected ROI sub-region.

Pan Tilt Grid

Border color for the Pan/Tilt grid.

Mirror Grid 1, 2
Border color for the mirror grids.

Modify button
Opens the Color Selection window (Figure 166, right) so that
you can modify the default color for image and ROI elements.

Default
Resets all image and ROI color assignments to their original
factory settings.

Log Message Options window

Figure 167: Log Message Options window

To open this window, click the Message Log Options button in the Status Messages
window (page 155).

The Log Message Options window enables you to specify the number of messages
to display in the Status Messages window. All messages are saved to the scan log
file.

Number of Messages to Display

Number of messages to display in the Status Messages
window. The default number is 50. If the scanner sends more
than 50 messages, earlier messages are cleared from the Status
Messages window but are still saved to the scan log file.

OK
Applies your recent changes and closes the Log Message
Options window.

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ILRIS Operation Manual Parser Operation

13 PARSER OPERATION

■ Parser overview‚ page 191

■ Using the Parser software‚ page 192
■ Starting the Parser software‚ page 193
■ Loading data‚ page 194
■ Setting up advanced Parser settings‚ page 196
■ Selecting your data outputs‚ page 208
■ Parsing your data‚ page 210
■ Exiting the Parser‚ page 210

Parser overview Parser operations occur after survey operation, when you download and pre-process
the survey data. The ILRIS-LR Parser is used after a survey to:
■ Process the metafiles of survey scans
■ Output data files that are suitable for PolyWorks (PIF) format or standard
GIS or modeling software and other data formats.

The Parser is designed to make it quick and easy for you to parse and re-parse data
again and again, trying out new settings each time.

The Parser processes raw scan data created by ILRIS-LR during a scan. These files
contain the following information, written to memory during the scan:
■ Binary file(s) of the scan data
■ Scan settings and operator notes (operator log)
■ Image file of the survey scene.

The Parser’s main features are:

■ Variety of output formats
■ Range gate and intensity gate
■ Data reduction, to reduce the data density and overall file size
■ Applying a color channel
■ Applying Pan/Tilt transform
■ Applying atmospheric and slant range smoothing corrections
■ Geo-referencing.

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The Parser outputs:

■ Data file
■ Text file of scan settings, operator notes and Parser settings, called the
parsing log
■ ASC data.

Tip Using the Parser to remove noise

! The Parser can remove spurious data (called “noise”) that results from
solar interference or a high density of particles near the scanner. For
guidance on removing this noise, see Appendix E: Removing Noise‚
page 269.

Using the Parser After you have finished scanning a scene and have familiarized yourself with the
software Parser (page 211), you are ready to start using the Parser.

The Parser is typically used sequentially in one of two ways, as shown in Figure 168:
■ Load Data > Set Up Advanced Settings > Select Data Outputs > Parse Data
When you are parsing data for the first time and when Parser settings need
to be changed or customized before Parsing.

■ Load Data > Select Data Outputs > Parse Data

When you are already satisfied with current Parser settings.

Launch ILRIS Parser software

Load data

(Optional) Set up advanced settings

Select data outputs (XYZ/PIF file)

Parse data

Figure 168: Typical Parser software workflow

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This chapter of the manual is divided into six sequential sections, showing you how
to parse your collected data from start to finish. Each section also shows you where
you are in the Parser software workflow. For example, if you are in the "Starting the
Parser software" section, that box is highlighted in the side head.

Starting the 1. Double-click the Parser.exe file.

Parser software The Parser main screen appears (Figure 169).
Launch ILRIS
Parser software

Load data

(Optional) Set up
advanced settings

Select data outputs

(XYZ/PIF file)

Parse data

Figure 169: Parser main screen

2. Proceed to the next step, "Loading data"‚ page 194.

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Loading data After starting the Parser, you are ready to load scan data for parsing:
Launch ILRIS
Parser software 1. Open the Browse For Folder window in one of the following ways:
■ Click File > Load > Scan Project
■ Click Add below Scan Window properties at right
Load data
■ Click the Open Scan Project button near the top left corner.

(Optional) Set up The Browse For Folder window appears (Figure 170).
advanced settings

Select data outputs

(XYZ/PIF file)

Parse data

Figure 170: Browse For Folder window

2. Select the folder that contains the scan data:

a. Browse to the folder.

b. Select the folder, and click OK. The JPEG image of the scan scene along
with the ROI bounds appears in the image area of the Parser main screen
(Figure 171), except for profile scans. For a profile scan, no image is dis-
played.

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Figure 171: Image area

3. Use the Zoom In/Out or Fit to Window buttons to adjust the appearance of the
scan scene image as you desire.

4. Choose your next step:

■ If you are parsing data for the first time or if you need to change your
current Parser settings before parsing, proceed to "Setting up advanced
Parser settings"‚ page 196.
■ If you are already satisfied with your current Parser settings, proceed to
"Parsing your data"‚ page 210.

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Setting up After loading your scan project, you can proceed directly to parsing the data
advanced Parser (page 210), or you can choose to set up a number of advanced settings:
settings
Launch ILRIS ■ Setting up the Color Channel‚ page 197
Parser software ■ Defining Shot Alignment and Shot Reduction settings‚ page 199
■ Configuring Pan/Tilt Transform settings (Pan/Tilt only)‚ page 201
■ Configuring Unit Attitude Correction properties‚ page 202
Load data ■ Applying Georef Transform settings (MC option)‚ page 203
■ Entering Atmospheric Correction factors‚ page 205
■ Moving the origin of the coordinate system‚ page 206
(Optional) Set up ■ Selecting your data outputs‚ page 208.
advanced settings

1. Open the Parser Settings window in one of the following ways:

Select data outputs
■ From the menu bar, select Settings > Parsing Settings
(XYZ/PIF file)
■ Click the Settings button under Scan Window Properties
■ Click the Parser Settings icon below the menu bar.
Parse data
The Parser Settings window appears (Figure 172).

Figure 172: Parser Settings window

2. Proceed to the next step, "Setting up the Color Channel"‚ page 197.

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Setting up the Color Channel

The Color Channel enables you to choose whether you want the Parser to apply
RGB color or grey color to your scan data. Setting up the appropriate Color
Channel settings that match your intensity setting under Output File (page 208)
directly affects your parsing results.

1. From the Parser Settings window, click the Color Channel button on the toolbar
(page 213), or select Settings > Color Channel from the main screen.
The Color Channel options appear in the Parser Settings window (Figure 173).

Figure 173: Color Channel options

2. Indicate whether you want to apply RGB color or grey color to your scan data
by doing one of the following:

To apply RGB color

Select the Use External Texture and Parameter File check box.
When this check box is selected, Parser automatically defaults
the intensity setting under Output File to 24-bit Texture (RGB
color) for applicable output file types.

The Parser automatically loads a default texture image file for

each Task ID on the left. Each Task ID represents a region of
interest (ROI) scanned.

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To apply grey color (or no RGB color)

Leave the Use External Texture and Parameter File check box
cleared, and skip steps 3 - 5. When this check box is cleared,
Parser automatically defaults the intensity setting under Output
File to 8-bit Scaled for applicable output file types.

3. If you want the Parser to use a texture image file from an external camera (if
applicable), first select a task from the task list and then click the Browse
button under Texture Image File to locate the appropriate file.
Otherwise, the Parser uses the default file for each task that is already loaded.

4. Insert the ILRIS-LR Product CD in your CD-ROM or DVD-ROM drive.

5. Click the Browse button under Texture Calibration Parameter File to locate
the internal or external camera calibration file (whichever appropriate) in the
Camera Calibration folder on the CD.
The text file appears under Texture Calibration Parameter File.

Figure 174: Locating the camera calibration file (example)

6. Indicate the threshold for Scale Intensity Range if you are applying grey color to
the scan data:

Figure 175: Applying grey color to scan data

If you have not selected the Use External Texture and Parameter File check
box
Select the desired range threshold from the drop-down menu
under Grey Color. The intensity of any laser returns greater

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than this range value will be scaled. This function only applies
if the intensity setting under Output File is set to 8-bit Scaled.

If you have selected the Use External Texture and Parameter File check box
Ignore the drop-down menu under Grey Color.

7. (Optional) Click Save Preferences if you want to retain these settings for parsing
future datasets.

8. Proceed to the next step, "Defining Shot Alignment and Shot Reduction set-
tings"‚ page 199.

Defining Shot Alignment and Shot Reduction settings

Shot Alignment and Shot Reduction settings enable you to reduce the overall data
density, trim laser shots at the edge of a scan to maintain an even distribution of data
points throughout the scan, and eliminate unwanted data portions by defining the
range gate and the intensity gate. For more information, see page 231.

1. Open the Parser Settings window (if not yet opened) by selecting
Settings > Parsing Settings from the menu bar, or click the Settings button.

2. From the Parser Settings window, click Shot Alignment & Reduction in the left
pane.
The shot options appear in the right pane (Figure 176).

Figure 176: Shot Alignment & Reduction settings

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3. Under Shot Alignment, select the Trim Shots check box, and use the up/down
arrows to set how many shots to trim at the edge of each ROI.

4. Under Shot Reduction Factors, use the up/down arrows to set the percentage of
shots by which to eliminate from the original range file horizontally or verti-
cally. For more information, see page 232.

5. Under Selection of Output Points, select the applicable options for handling
output points. For more information, see page 233.

6. To keep only laser shots within a defined bracket of ranges:

a. Select the Apply Range Gate (Meters) check box.

b. Enter your desired minimum and maximum range values to define the
bracket. For more information on this function, see page 233.

All laser shots with ranges outside that bracket are discarded.

7. To retain only laser shots within one or two defined brackets of intensity:
a. Under Selection of Input Shot Points, select the Apply Intensity Gate check
box.

b. Enter your desired minimum and maximum intensity values to define the
bracket. For more information on this function, see page 233.

All laser shots with intensities outside the brackets are discarded.

8. (Optional) Click Save Preferences if you want to retain these settings for parsing
future datasets.
Shot alignment and reduction will be applied only to the data output, but will
not affect the original scan data.

9. Proceed to the next step, "Configuring Pan/Tilt Transform settings (Pan/Tilt

only)"‚ page 201.

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Configuring Pan/Tilt Transform settings (Pan/Tilt only)

Apply the following Pan/Tilt transform settings only if scan data was collected with
Pan/Tilt operation. If your scan data was collected in MC mode (page 19) or on a
stationary platform without Pan/Tilt operation, always leave all Pan/Tilt transform
settings blank.

1. Open the Parser Settings window (if not yet opened) by selecting
Settings > Parsing Settings from the menu bar.

2. From the Parser Settings window, click Pantilt Transform in the left pane.
The settings appear in the right pane (Figure 177).

Figure 177: Pan/Tilt Transform settings

3. Select or clear the appropriate check boxes at the top to match the scanning
conditions of the data you are parsing. For more information, see "Pan/Tilt
Transform settings"‚ page 234.

4. Select the appropriate radio button to indicate how the ILRIS-LR unit was
mounted on the Pan/Tilt platform while scanning. For more information, see
page 235.

5. (Optional) Click Save Preferences if you want to retain these settings for parsing
future datasets.

6. Proceed to the next step, "Configuring Unit Attitude Correction properties"‚

page 202.

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Configuring Unit Attitude Correction properties

Unit Attitude Correction is a geo-referencing option that is applicable only if the
ILRIS-LR unit was set up over a known point while scanning. To use this option, you
need to enter position and orientation information (page 236):

1. Open the Parser Settings window (if not yet opened) by selecting Settings >
Parsing Settings from the menu bar, or click the Settings button.

2. From the Parser Settings window, click Unit Attitude Correction in the left pane.
The Unit Attitude Correction properties appear in the right pane (Figure 178).

Figure 178: Unit Attitude Correction properties

3. If the ILRIS-LR unit was set up over a known point while scanning, select the
Apply Unit Attitude Correction (Static Mode Georeferencing) check box. Oth-
erwise, leave this check box cleared, and skip steps 4 - 7.
If you have selected the Apply Unit Attitude Correction (Static Mode Georefer-
encing) check box, the Use default values from scan project check box
becomes available.

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4. To define the GRP point for the origin of the ILRIS-LR:

a. From the drop-down menu under GRP Point for ILRIS Origin, select the
appropriate coordinate system.

b. Enter the value for Heading.

c. Enter 0 for Roll and Pitch (assuming that the scanner has been leveled).

d. Enter GRP point values corresponding to your selected coordinate system.

For more information, see "Unit Attitude Correction properties"‚ page 236.

5. However, if you want the Parser to draw the GRP point values of the ILRIS-LR
from the scan project instead, select the Use default values from scan project
check box (only applicable to geo-referenced scan projects).
If you have selected the Use default values in scan project check box, the
Rotations and GRP point values become disabled.

6. From the drop-down menu beside Output Coordinate System, select the coordi-
nate system for your parsed data output.

7. (Optional) Click Save Preferences if you want to retain these settings for parsing
future datasets.

8. Click OK.

9. Proceed to the next step, "Applying Georef Transform settings (MC option)"‚
page 203.

Applying Georef Transform settings (MC option)

Apply the following Georef Transform settings only if your scan data was collected
through an MC scan. If your scan data was collected on a stationary platform with
or without Pan/Tilt operation, leave all of the following Georef Transform settings
blank.

1. Open the Parser Settings window (if not yet opened) by selecting Settings >
Parsing Settings from the menu bar, or click the Settings button.

2. From the Parser Settings window, click Apply Georef Transform in the left pane.
The Apply Georef Transform settings appear in the right pane (Figure 179).

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Figure 179: Apply Georef Transform settings

3. Select the Apply Geo-reference Transform (Dynamic-Mode Georeferencing)

check box, and from the drop-down menu, select the appropriate Inertial
Reference System File Type, (e.g. SBET for Applanix).

4. Browse to the Inertial Reference System File generated by your INS for the data
you will parse.

5. Enter the lever arm and boresight measurements in one of two ways:
■ Select the Use Lever Arm and Boresight Angles in the Parameter File check
box, and browse to the parameter file you have already prepared during
boresighting (page 48).
■ Manually enter the lever arm measurements (XYZ) and boresight angles that
you have previously obtained.

6. If you know of a discrepancy or offset between the Inertial Reference File and
ILRIS-LR data, enter a value in the Shift Time field in seconds, which is the dif-
ference between GPS time and UTC time, at the time the data being parsed was
collected.

7. From the drop-down menu beside Georeferencing Coordinate System, select

the geo-referencing coordinate system for your parsed data output.

8. (Optional) Click Save Preferences if you want to retain these settings for parsing
future datasets.

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9. From the Parser Settings window, click Pan/Tilt Transform in the left pane, and
make sure that none of the Pan/Tilt Transform settings in the right pane are
selected or applied.

10. Proceed to the next step, "Entering Atmospheric Correction factors"‚ page 205.

Entering Atmospheric Correction factors

The Atmospheric Correction option enables the Parser to adjust the range values of
scan data according to any external environmental conditions that might have
affected the laser returns:

1. Open the Parser Settings window (if not yet opened) by selecting
Settings > Parsing Settings from the menu bar.

2. From the Parser Settings window, click Atmospheric Correction in the left pane.
The Atmospheric Correction factors appear in the right pane (Figure 180).

Figure 180: Atmospheric Correction factors

3. To apply atmospheric corrections, select the Apply atmospheric corrections

check box.

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4. Enter the values of these three environmental conditions for the scan session
during which the scan data you are parsing was collected:
■ Temperature
■ Atmospheric Pressure
■ Relative Humidity.

5. (Optional) Click Save Preferences.

The Parser generates a correction coefficient based on the values you have
entered, and applies it while parsing the current dataset. These values and the
correction coefficient are saved for parsing subsequent datasets.

6. Proceed to the next step, "Moving the origin of the coordinate system"‚
page 206.

Moving the origin of the coordinate system

The ILRIS-LR collects scan data and initially records them according to a local coor-
dinate system, the origin of which is inside the ILRIS-LR scanner. To geo-reference
this scan data to the physical world, you must move the origin of the coordinate
system from inside the ILRIS-LR unit to an external point that you can measure. This
external point is the bolt hole at the bottom of the ILRIS-LR scanner:

1. Open the Parser Settings window (if not yet opened) by selecting
Settings > Parsing Settings from the menu bar.

2. From the Parser Settings window, click Miscellaneous in the left pane.
The miscellaneous setting appears in the right pane (Figure 181). The check
box in this window is selected by default.

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Figure 181: Miscellaneous setting

3. If the check box is cleared, make sure that it is selected.

When the check box is selected, the Parser moves the origin of the Cartesian
Coordinate System to the bolt hole. When Pan/Tilt Transform (or Profile Scan
Transform), Unit Attitude Correction, or Georef Transform is being applied to
the scan data, this check box is always automatically selected and cannot be
manually cleared.

4. (Optional) Click Save Preferences if you want to retain this setting for parsing
future datasets.

5. Click OK.

6. Proceed to the next step, "Selecting your data outputs"‚ page 208.

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Selecting your After adjusting your advanced Parser settings, you are ready to select your data
data outputs outputs. For more information, see page 219.
Launch ILRIS
Parser software 1. Open the Parser Settings window (if not yet opened) by selecting Settings >
Parsing Settings from the menu bar.

Load data 2. From the Parser Settings window, select Output File in the left pane.
The output file options appear in the right pane (Figure 182).

(Optional) Set up
advanced settings

Select data outputs

(XYZ/PIF file)

Parse data

Figure 182: Output File formats and options

3. Click the Browse button to locate the Output Folder.

4. Under Output File Format, select your desired format.

PIF, XYZ and IXF are the most typical formats. XYZ and IXF are the only two
formats applicable for MC scans. For more information, see "Output file
formats"‚ page 220.

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5. Select the appropriate options for your selected output format. Make sure that
the intensity setting (if applicable) is properly set to one of the following:

8-bit Scaled
If you are applying grey color under Color Channel (steps 2
and 6 on page 197)

24-bit Texture (RGB color)

If you are applying RGB color under Color Channel (step 2 on
page 197). For MC scans, do not select this option since it is
not supported by any output file during geo-referencing.

16-bit Raw
If you are not applying either RGB color or grey color to the
scan data.

6. If you have selected PIF, IXF, or XYZ as your file format, select the appropriate
Output File Coordinates Convention from the drop-down menu near the
bottom.

7. (Optional) Click Save Preferences if you want to retain the output file type and
options for parsing future datasets.
File path is not saved.

8. Click OK.

9. Proceed to the next step, "Parsing your data"‚ page 210.

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Parsing your data After you have selected your output file, you are ready to parse your data:
Launch ILRIS
Parser software 1. Under Scan Window Properties, click Parse to parse the currently selected scan
project, or click Parse All to parse all scan projects loaded into the Parser.
Parsing begins immediately.
Load data
2. Monitor the Parser screen for progress messages and error codes. To stop
parsing, click Cancel in the Parsing Messages window (Figure 183).
(Optional) Set up
advanced settings

Select data outputs

(XYZ/PIF file)

Parse data
Figure 183: Parsing Messages window

Parsing takes a few seconds or minutes, depending on the size of the dataset.
When parsing is complete, data is written to the output sub-folder, and the
Parsing Messages window disappears. You can now check results, re-parse the
scan, or exit the Parser.

Repeating parsing with different settings

Note Overwriting files

! If you parse a scan twice using the same output format, the Parser over-
writes the results of the first output. To preserve earlier parsing results,
select Settings > Parser Settings, select Output File, and browse to a new
output folder.

You can re-parse the same scan data with the same or different settings as often as
you want. To re-parse a scan, follow the same workflow shown in Figure 168 as for
the initial scan.

You can now check parsing results and process the scan data with CAD, GIS, or
other modeling software.

Exiting the Parser To exit the Parser at the end of a session, click the X button in the top right corner of
the Parser main screen, or select File > Exit.

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14 PARSER INTERFACE

■ Parser interface‚ page 212

■ Parser Settings window‚ page 217
■ Output File formats and options‚ page 219
■ Color Channel options‚ page 229
■ Shot Alignment and Reduction settings‚ page 231
■ Pan/Tilt Transform settings‚ page 234
■ Unit Attitude Correction properties‚ page 236
■ Apply Georef Transform settings (MC option)‚ page 239
■ Atmospheric Correction factors‚ page 241
■ Origin of Cartesian Coordinate System (Miscellaneous) setting‚ page 242

Figure 184: Parser main screen

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Parser interface The Parser interface consists of the Parser main screen and a separate Parser Settings
window. The main screen is divided into six areas, as shown in Figure 184:
■ Menu bar (page 212)
■ Toolbar (page 213)
■ Image area (page 215)
■ Input File window (page 214)
■ Parser options area (page 214)
■ Scan Window Properties (page 216)

Parser menu bar

File menu

Load Scan Project

Loads scan data from a project folder.

Exit
Exits and closes the Parser (not available). To exit the Parser,
click the X button in the top right corner of the Parser interface.

Settings menu

Parser Settings
Opens the Parser Settings window.

Color Channel
Displays the Color Channel options in the Parser Settings
window.

Zoom In
Zooms into the image.

Zoom Out
Zooms out of the image.

Restore Image
Fits the entire image (or series of images) into the window.

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Process menu

Parse
Parses the selected scan with the specified Parser settings. You
can also click Parse below Scan Window Properties, or the
Parse icon (Figure 185).

Help menu

About
Opens the About Parser information window.

Parser toolbar
The Parser toolbar gives you one-click access to the following functions:
■ Open a scan project
■ Open the Parser Settings window
■ Adjust the view of the scan scene image
■ Display the Color Channel properties
■ Parse a scan project
■ Open the About Parser window.

Figure 185: Parser toolbar

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Input File window

Figure 186: Input File window

This Input File window lists the scan projects that have been added to the list of
input files for the current parsing session.

Parser options

Figure 187: Parser options

Settings
Opens the Parser Settings window.

Add
Adds a scan project under Input File.

Remove
Removes the currently highlighted scan project (from the list
under Input File).

Remove All
Removes all scan projects (listed under Input File).

Parse
Parses the currently highlighted project under Input File.

Parse All
Parses all scan projects listed under Input File.

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Image area

Figure 188: Parser interface, with image area highlighted

The image area displays the scan scene and all regions of interest (ROI) for that
scene. The default image is captured by ILRIS-LR’ internal camera except for profile
scans. For a profile scan, no image is displayed.

When you click inside an ROI:

■ Borders change to green
■ Scan properties are displayed at right until you select another ROI
(Figure 189).

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Scan Window Properties

Figure 189: Parser interface, with Scan Window Properties highlighted

The Scan Window Properties area, at right on the Parser interface, displays the prop-
erties of the currently selected ROI. Properties can be viewed but not changed.

To display the properties for an ROI, click anywhere in the ROI.

Scan Window Properties displays the following information (Figure 189):

Task ID
Unique number that is assigned automatically by the ILRIS-LR
scanner to each ROI.

No. of Shots
Number of laser shots in the selected ROI.

No. of Scan Lines

Number of horizontal lines in the selected ROI.

Points per Line

Number of laser shots in each horizontal line of the selected
ROI.

Scan Pattern
Type of scan pattern used for the selected ROI.

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Start Point (Deg)

Start point for the selected ROI, where the first value is X in
degrees from the center of the image, and the second value is Y
in degrees from the center.

Stop Point (Deg)

Stop point for the selected ROI, where the first value is X in
degrees from the center of the image, and the second value is Y
in degrees from the center.

Spot Spacing (h, count)

Horizontal spacing between each laser shot in a scan line on a
numeric scale specified for the selected ROI in the Controller
when a scan was being set up (page 177).

Spot Spacing (v, count)

Vertical spacing between each scan line on a numeric scale
specified for the selected ROI in the Controller when a scan
was being set up (page 177).

Parser Settings
window

Figure 190: Parser Settings window

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The Parser Settings window enables you to specify the following properties or
options:
■ Output File formats and options (page 219)
■ Color Channel options (page 229)
■ Shot Alignment and Reduction settings (page 231)
■ Pan/Tilt Transform settings (page 234)
■ Unit Attitude Correction properties (page 236)
■ Apply Georef Transform settings (MC option) (page 239)
■ Atmospheric Correction factors (page 241)
■ Origin of Cartesian Coordinate System (Miscellaneous) setting (page 242).

The selection area on the left always remains the same. The right pane displays the
options and features that apply to your selection on the left.

You can open the Parser Settings window in one of the following ways:

■ From the menu bar, select Settings > Parsing Settings

■ Click the Settings button above Scan Window Properties
■ Click the Parser Settings icon below the menu bar.

Parser Settings command buttons

Figure 191: Parser Settings window command buttons

The Parser Settings window has the following command buttons:

Save Preferences
Saves most of your current Parser settings in a preference file
after you close the Parser and at the next time you open the
Parser for subsequent parsing sessions. If you do not click this
button after changing the Parser settings for the current session,
your changes will be lost when you close the Parser.

All of your setting are saved except for Texture Image File,
Texture Calibration Parameters File, and Output Folder.

Delete Preferences File

Removes all saved preferences and restores Parser settings to
the original factory settings the next time you open the Parser.
When you click Delete Preferences File, the most recently
saved Parser settings will be lost when you close the Parser.

This button is greyed out if no preference file exists. This

button is available only if a preference file exists.

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OK
Sets your preferences to the current values and closes the
Parser Settings window.

Cancel
Closes the Parser Settings window without applying any
current changes you have made. You can also press ESC for
the same effect.

Output File
formats and
options

Figure 192: Output file formats and settings

The Output File window enables you to select the output format for the parsed data,
and which information to include in the output file.

To display these properties, select Output File on the left in the Parser Settings
window.

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The Output File window provides the following selections:

Output Folder
Location of the folder for all parsing files. The default is a sub-
folder of the project folder, the name of which depends on the
output format.

To select another folder, enter the location or click the Browse

button at right to locate the folder. Existing data in a
specified output folder will be overwritten by new data. If the
specified folder does not exist in the specified location, the
Parser will create the folder.

Output File Format

Output format for the parsed data. The Parser currently
supports 11 formats (page 220).

Output options area

Parsing options and data to include in the output file. These
parsing options and data preferences are only available to
seven output formats. For guidelines, see:

■ PIF, page 222

■ IXF, page 223.
■ XYZ, page 224
■ Raw, page 226
■ 3DV, page 227
■ PTC, page 228
■ BLF, page 228

Output file formats

The Parser supports all of the following output formats for standard ILRIS-LR (ER and
non-ER) operation. With geo-referencing for ILRIS-LR MC scans, only IXF and XYZ
formats are supported.

PIF
Standard point cloud format used by PolyWorks and others.

IXF
ILRIS Exchange Format. Binary file format that improves data
sharing among third-party applications and data sources. To
set IXF output properties, see page 223.

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XYZ
Standard ASCII text file with X, Y, Z, and I (intensity) in a right-
hand coordinate system, in meters. This format can also output
GPS time. To set XYZ output properties, see page 224.

Raw
ASCII text file of raw scanner encoder counts or degrees for
azimuth angle (theta), elevation angle (phi), range, and
intensity data. Used mainly for debugging and troubleshoot-
ing. To set Raw output properties, see page 226.

PTX
Leica exchange format. This is a vendor-specific output
format.

3DV
XYZ input file with shot ordering (row, column) specified,
saved in PIF coordinate system. Native to 3D Veritas. This is a
vendor-specific output format.

BWP
BitWyse format. This is a vendor-specific output format.

S3D
SIAMS S3D format. This is a vendor-specific output format.

PTC
Binary point cloud format. To set PTC output properties, see
page 228.

BLF
BitWyse laser format. This is a vendor-specific output format.

IVA
Same as PTX format, except that XYZ+intensity data is saved in
3LF format. This is a vendor-specific output format.

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PIF output options

Figure 193: PIF output options

You can select one of the following options in the PIF output file:

None
Intensity data is not provided in the output file.

8-bit Scaled
(Default) Includes a scaled intensity value for each data point
in the output file. This value is output as an 8-bit grayscale.

24-bit Texture (RGB)

Includes intensity data as separate color values (0-255) for
each of Red, Green, and Blue. This option is only useful if
your processing software uses RGB and if you have already
selected to use a texture image file under Color Channel.

Output File Coordinates Convention

Select the appropriate coordinates convention for your output
file. This check box is greyed out if the Apply Geo-reference
Transform (Dynamic-Mode Georeferencing) check box is
selected under Apply Georef Transform, or if the Apply Unit
Attitude Correction check box is selected under Unit Attitude
Correction.

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IXF output options

Figure 194: IXF output options

Scanner positions and orientation

Includes the scanner position, orientation, and timestamp for
each data point in the output file. This check box is not
available in Parser versions prior to Version 4.4.3.0. Select this
check box only when you are parsing scan data to generate a
special IXF file to be input into MatchView for boresighting.

Do not select this check box if you are parsing scan data for
actual surveys.

Inertial Reference System File Type

File type of the input file created by the inertial naviga-
tion system (INS) used for generating the special IXF
for MatchView boresighting.

File
Location of the INS file (SBET or similar) generated by
the INS that can provide scanner position, orientation,
and time information for each data point. Linking to
the INS file under the IXF output options is only
necessary when you are parsing the scan data to
generate a special IXF file to be input into MatchView
for boresighting.

To link to an INS file for parsing actual surveys, see

"Apply Georef Transform settings (MC option)"‚
page 239.

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You can include the following options in the IXF output file:

No Intensity
Intensity data is not provided in the output file.

8-bit Scaled Intensity

(Default) Includes a scaled intensity value for each data point
in the output file. This value is output as an 8-bit gray scale.

16-bit Raw Intensity

Includes non-scaled intensity value for each data point in raw
file format.

24-bit Texture (RGB color)

Includes intensity data as separate color values (0-255) for
each of Red, Green, and Blue. This option is only useful if
your processing software uses RGB and if you have already
selected to use a texture image file under Color Channel.

Output File Coordinates Convention

Select the appropriate coordinates convention for your output
file. This check box is greyed out if the Apply Geo-reference
Transform (Dynamic-Mode Georeferencing) check box is
selected under Apply Georef Transform.

XYZ output options

Figure 195: XYZ output options

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You can include the following options in the XYZ output file:

GPS Time
Includes the GPS time for each data point (X, Y, Z, and Inten-
sity) in the output file.

X (Easting)
Horizontal value in meters from the scanner center.

Y (Northing)
Range value in meters from the scanner center.

Z (Up)
Vertical value in meters from the scanner center.

Intensity
Intensity value for each data point.

16-bit Raw Intensity

Includes non-scaled intensity value for each data point
in raw file format.

8-bit Scaled Intensity

(Default) Includes a scaled intensity value for each
data point in the output file. This value is output as an
8-bit grayscale.

24-bit Texture (RGB color)

Includes intensity data as separate color values (0-255)
for each of Red, Green, and Blue. This option is only
useful if your processing software uses RGB and if you
have already selected to use a texture image file under
Color Channel.

Output File Coordinates Convention

Select the appropriate coordinates convention for your
output file. This check box is greyed out if the Apply
Geo-reference Transform (Dynamic-Mode Georefer-
encing) check box is selected under Apply Georef
Transform, or if the Apply Unit Attitude check box is
selected under Unit Attitude Correction.

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Raw output options

Figure 196: Raw output options

You can include the following options in the Raw output file:

Timestamp
Timestamp of each laser shot (if applicable). This option is
effective in the Raw output only if the scan project contains
timestamps.

Theta (azimuth angle)

X horizontal value in scanner X encoder counts from the
scanner center.

Phi (elevation angle)

Y vertical value in scanner Y encoder counts from the scanner
center.

Range
Range value in meters from the scanner center.

Intensity
8-bit scaled intensity value for each data point in raw file
format.

Shot Flag
Dropout, saturation, and low/high gain status of each laser
shot, represented by a hexadecimal shot flag.

See Appendix A: Glossary for an explanation of how to

interpret the shot flag value.

Convert to Degrees (Theta and Phi)

Converts the Theta and Phi encoder counts to degrees.

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3DV output options

Figure 197: 3DV output options

You can include the following options in the 3DV output file:

Header
(Default) Includes header information specific to the 3DV
output format.

8-bit Scaled Intensity

(Default) Includes a scaled intensity value for each data point
in the output file. This value is output as an 8-bit grayscale.

24-bit Texture (RGB color)

Includes intensity data as separate color values (0-255) for
each of Red, Green, and Blue. This option is only useful if
your processing software uses RGB and if you have already
selected to use a texture image file under Color Channel.

Divided into sections

Divides the data points into sections of pre-defined length
(number of shots):

Section length (# of shots)

Maximum number of shots for each section.

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PTC output options

Figure 198: PTC output options

You can select one of the following options in the PTC output file:

None
Intensity data is not provided in the output file.

8-bit Scaled
(Default) Includes a scaled intensity value for each data point
in the output file. This value is output as an 8-bit grayscale.

24-bit Texture (RGB)

Includes intensity data as separate color values (0-255) for
each of Red, Green, and Blue. This option is only useful if
your processing software uses RGB and if you have already
selected to use a texture image file under Color Channel.

BLF output options

Figure 199: BLF output options

You can include the following options in the BLF output file:

X (Easting)
Horizontal value in meters from the scanner center.

Y (Northing)
Range value in meters from the scanner center.

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Z (Up)
Vertical value in meters from the scanner center.

Intensity
Intensity value for each data point.

8-bit Scaled
(Default) Includes a scaled intensity value for each
data point in the output file. This value is output as an
8-bit grayscale.

16-bit Raw
Includes non-scaled intensity value for each data point
in raw file format.

24-bit Texture (RGB color)

Includes intensity data as separate color values (0-255)
for each of Red, Green, and Blue. This option is only
useful if your processing software uses RGB and if you
have already selected to use a texture image file under
Color Channel.

Color Channel
options

Figure 200: Color Channel options

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The Color Channel enables you to indicate whether you want to apply RGB color
(24-bit Texture) or grey color (8-bit Scaled) to the scan data. The Color Channel
does not apply if you select 16-bit Raw as the intensity setting in your Output File
properties. Settings in the Color Channel directly affects the intensity setting in your
Output File properties.

To apply RGB color (24-bit Texture), the Parser uses a default or designated texture
image file to merge with the scan data. The Parser also uses a calibration file for the
camera that captured that image.

To display these options, click the Color Channel icon in the main window, or
select Color Channel at left in the Parser Settings window, or select Settings > Color
Channel from the main window.

The Color Channel has the following properties:

Task ID
Unique number that is assigned automatically by the ILRIS-LR
scanner to each region of interest (ROI) scanned.

Use External Texture & Parameter File

Applies RGB color to your scan data. To apply RGB color, the
Parser uses a default texture image file or one that you
designate along with a calibration file that you select. When
this check box is selected, the intensity setting under Output
File automatically changes to 24-bit Texture (RGB color).
When this check box is cleared, the intensity setting under
Output File automatically changes to 8-bit Scaled (grey color).

Texture Image File

Location of the JPEG image of the scan scene that the Parser
will use to apply RGB colors to the scan data. The default
camera image (JPEG format) that corresponds with each Task
ID is loaded automatically by the Parser. However, you can
also locate a different camera image of the scan scene acquired
by an external camera (if applicable) for the Parser to use. This
field is available only if the Use External Texture & Parameter
File check box is selected. First select the task for which you
want to change the image, and then click the Browse
button to locate your desired image.

Texture Calibration Parameter File

Location of the camera calibration file for the current scan
project. This calibration file is not automatically loaded by the
Parser, and this field is available only if the Use External
Texture & Parameter File check box is selected. Click the
Browse button to locate the appropriate calibration file.

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Grey Color
Scale Intensity Range (Meters)
Scales the intensity of any laser returns greater than the
range value you have selected. This function only
applies when the Use External Texture & Parameter
File check box is cleared and when the intensity
setting under Output File is set to 8-bit Scaled.

Shot Alignment
and Reduction
settings

Figure 201: Shot Alignment & Reduction settings

The Shot Alignment and Reduction function enables you to tailor the selection of
laser shots for parsing. This can be useful if you want to:
■ Reduce the overall data density
■ Trim extra laser shots at the edges of each ROI, where the scanner changes
direction. This maintains an even distribution of data points throughout the
scan.

To display Shot Alignment and Reduction settings, select Shot Alignment &
Reduction at left in the Parser Settings window.

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Shot Alignment and Reduction has the following settings:

Shot Alignment
Trim Shots
Trims leading and trailing data points at the edges of
each ROI, to simplify point cloud triangulation or
surface modeling. Recommended.

Points to Trim
Sets the number of columns of points to trim. The
default is 5 for ER units and 25 for HD units.

Notice
! Trimming too many points may reduce the overlap
between scan regions.

Shot Reduction Factors

Sets the percentage of shots by which to eliminate from the
original range file horizontally or vertically. The default is 0%
(no reduction), and only pre-defined percentages are available
for you to select: 0%, 50%, 67%, and 75%.

As shown in Figure 202, a value of 50% for Horizontal and for

Vertical actually reduces the number of laser shots by half in
each direction: that is, every second shot is removed horizon-
tally and every second scan line is removed vertically.

Figure 202: Effect of applying horizontal and vertical shot reduction factors of 2

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Horizontal
Reduces the number of laser shots in each scan line by
the selected percentage. For example, selecting 75%
removes 3 shots in 4.

Vertical
Reduces the number of scan lines by the selected per-
centage. For example, selecting 75% removes 3 scan
lines in 4.

Selection of Output Points

Keep Dropout Readings
The output file includes the scan angle readings from
laser shots that did not return to the scanner (such as
those aimed at the sky).

Keep Saturated Readings

The output file includes the range readings of laser
shots whose intensity value exceeds the scanner’s
maximum dynamic range (such as those from a retro-
reflector).

Remove Outliers
Removes laser shots with ranges that differ from those
of surrounding shots by more than a preset amount.

Selection of Input Shot Points

Apply Range Gate (Meters)
Eliminates laser shots that have range readings outside
of a preset bracket of ranges. This feature enables the
Parser to retain returns from targets within a desired
vicinity, and eliminate returns outside of that vicinity.

Apply Intensity Gate

Eliminates laser shots that have intensity readings
outside of a preset bracket of intensities. This feature
enables the Parser to retain laser shots returning from
targets that display a certain reflective quality, and
eliminate others that do not.

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Pan/Tilt
Transform settings

Figure 203: Pan/Tilt Transform settings

Pan/Tilt Transform settings are applicable only if scan data was collected with Pan/
Tilt operation.

To display Pan/Tilt Transform settings, select Pantilt Transform at left in the Parser
Settings window.

Note
! Pan/Tilt Transform settings and Apply Georef Transform settings are
mutually exclusive. If you apply one, make sure you leave the other
blank.

Apply Pan-tilt Transform (Static Mode)

Select this check box only if you have performed a step stare
scan with Pan/Tilt operation

When this check box is selected, the Apply Geo-reference

Transform (Dynamic-Mode Geo-referencing check box under
Apply Georef Transform is automatically cleared.

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Apply Pan-tilt Model Parameters

Select this check box only if you have a Model Parameter file
and have selected the Apply Pan/Tilt Transform (Static Mode)
check box. This feature uses the correction file to compensate
for Pan/Tilt errors. If you have selected the Apply Profile Scan
Transform check box, this check box is automatically disabled.

Apply Profile Scan Transform

Select this check box only if the scan data you are parsing was
collected through a profile scan.

When this check box is selected, the Apply Geo-reference

Transform (Dynamic-Mode Geo-referencing) check box under
Apply Georef Transform is automatically cleared.

In Parser version 5.0.2.4 and newer, this option is automati-

cally selected if the selected scan type is detected to be a
profile scan.

How ILRIS unit is mounted on pantilt platform

Indicates to the Parser the Pan/Tilt orientation of the ILRIS-LR
unit while collecting the scan data.

Automatically determined from scan file

Commands the Parser to use the orientation saved in
the scan file to determine the orientation of the ILRIS-
LR unit on the Pan/Tilt platform while collecting scan
data. In most cases, the Parser can accurately
determine the Pan/Tilt orientation in this manner.

ILRIS unit looks FORWARD on pantilt platform

Indicates to the Parser that the ILRIS-LR unit was
mounted with tilt-up capability on the Pan/Tilt
platform while collecting scan data.

ILRIS unit looks DOWNWARD on pantilt platform

Indicates to the Parser that the ILRIS-LR unit was
mounted with tilt-down capability on the Pan/Tilt
platform while collecting scan data.

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Unit Attitude
Correction prop-
erties

Figure 204: Unit Attitude Correction properties

Unit Attitude Correction is a geo-referencing option applicable only if the ILRIS-LR

unit is set up over a known point while scanning. To use this option, you need to
enter position information for the location of the 5/8 inch bolt hole at the bottom of
the ILRIS-LR unit and orientation values for the unit in the real-world coordinate
frame.

To display Unit Attitude Correction properties, select Unit Attitude Correction at left
in the Parser Settings window.

Note
! Unit Attitude Correction properties and Apply Georef Transform settings
are mutually exclusive. If you apply one, leave the other blank.

Apply Unit Attitude Correction (Static-Mode Georeferencing)

Select this check box only if the scan data you are parsing was
collected by an ILRIS-LR unit set up over a known point. All
fields or menus under the Unit Attitude Correction properties
are greyed out unless this check box is selected.

When this check box is selected, the Apply Geo-reference

Transform (Dynamic-Mode Georeferencing) check box under
Apply Georef Transform is automatically cleared.

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Use default values from scan project

Select this check box only if you want the Parser to draw the
GRP point values of the ILRIS-LR from the scan project instead
of manually entering the values. When this check box is
selected, the fields under Rotations and GRP Point for ILRIS
Origin are greyed out.

This check box is only available when the Apply Unit Attitude
Correction (Static-Mode Georeferencing) check box has been
selected. This option is only useful for geo-referenced scan
projects.

Rotations
Along with GRP data, rotation data indicates the positional
information for the 5/8 inch bolt hole at the bottom of the
ILRIS-LR unit. The fields under Rotations are only available if
the Use default values from scan project check box is cleared.

Roll
Rotation about the Y axis of the reference frame in
decimal degrees.

Pitch
Rotation about the X axis of the reference frame in
decimal degrees.

Heading
Azimuth of the ILRIS-LR sensor in decimal degrees
(rotation about the Z axis).

GRP Point for ILRIS Origin

Along with rotation data, GRP data indicates the positional
information for the 5/8 inch bolt hole at the bottom of the
ILRIS-LR unit. The required GRP point data varies according to
the coordinate system you have selected. The fields under
GRP Point for ILRIS Origin are only available if the Use default
values from scan project check box is cleared.

Coordinates System
The coordinate system you select determines the fields you
need to enter under GRP Point for ILRIS Origin (Table 4).

Output Coordinate System

Coordinate system for your parsed data output.

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Table 4: GRP data required for various coordinate systems

Coordinate GRP item Explanation

system

Geodetic Latitude Latitude for the ILRIS-LR unit in decimal degrees

Longitude Longitude for the ILRIS-LR unit in decimal degrees

Ellipsoidal Height of the bottom of the ILRIS-LR unit above the

Height WGS84 datum in meters

UTM Easting Easting value for the ILRIS-LR unit in meters

Northing Northing value for the ILRIS-LR unit in meters

Ellipsoidal Height of the bottom of the ILRIS-LR unit above the

Height WGS84 datum in meters

UTM Zone # Correct UTM zone number for the area you are
scanning

Hemisphere The correct hemisphere in which the UTM zone is

located (Northern or Southern)

E.C.E.F (Earth X X-axis coordinate for the ILRIS-LR unit in meters

Centered Earth
Fixed) Y Y-axis coordinate for the ILRIS-LR unit in meters

Z Z-axis coordinate for the ILRIS-LR unit in meters

Custom X X-axis coordinate in a local Cartesian coordinate system

for the ILRIS-LR unit in meters

Y Y-axis coordinate in a local Cartesian coordinate system

for the ILRIS-LR unit in meters

Z Z-axis coordinate in a local Cartesian coordinate system

for the ILRIS-LR unit in meters

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Apply Georef
Transform settings
(MC option)

Figure 205: Apply Georef Transform settings

Apply Georef Transform settings are only applicable if the scan data was collected
in MC mode.

To display Apply Georef Transform settings, select Apply Georef Transform at left in
the Parser Settings window.

Note
! Apply Georef Transform settings and Pan/Tilt Transform settings are
mutually exclusive. If you apply one, make sure you leave the other
blank.

Apply Geo-reference Transform (Dynamic Mode Geo-referencing)

Select this check box to apply the Inertial Reference File
generated by your INS when parsing scan data from MC
surveys. The Inertial Reference File provides scanner position,
orientation, and time information for each data point.

When this check box is selected, three other check boxes are
automatically cleared: the Apply Pan-tilt Transform (Static
Mode) and Apply Profile Scan Transform check boxes under

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Pantilt Transform and the Apply Unit Attitude Correction

(Static-Mode Georeferencing) check box under Unit Attitude
Correction.

Inertial Reference File Type

Select the appropriate Inertial Reference File Type
generated by your INS (e.g. SBET for Applanix). Under
this drop-down menu, you may click the Browse
button to link to the appropriate Inertial Reference File
you want to apply to the data you will parse.

Do not select this check box when you are using the Parser to
prepare an IXF file to input into MatchView for boresighting.

Use Lever Arm and Boresight Angles in the Parameter File

Automatically enters the lever arm measurements and
boresight angles of the ILRIS-LR unit and points to location of
the calibration file that provides this information.

Ref. to Scanner Lever Arm

XYZ lever arm measurements in meters that indicate the
position of the ILRIS-LR unit in relation to the inertial measure-
ment unit (IMU) or INS measurement center.

Scanner Frame with respect to Reference Frame

Boresight angles that indicate the orientation of the ILRIS-LR
unit in relation to the inertial measurement unit (IMU) or INS
measurement center.

Shift Time
The difference in seconds between GPS time and UTC time at
the time the data being parsed was collected. Enter a shift time
value only if you know of a discrepancy or offset between the
Inertial Reference File and ILRIS-LR data. Otherwise, this field
should be zero by default.

Georeferencing Coordinate System

The coordinate system that is being used for the parsed output.

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Atmospheric
Correction factors

Figure 206: Atmospheric Correction factors

Laser pulses, essentially light, can be refracted unexpectedly by the environmental

conditions through which it travels. The Atmospheric Correction function enables
the Parser to adjust the range outcomes of the scan data according to the environ-
mental conditions that might have affected the laser shots.

To display Atmospheric Correction factors, select Atmospheric Correction at left in

the Parser Settings window.

Apply Atmospheric Corrections

Enables atmospheric correction. The three environmental con-
ditions that the Parser factors into range outcomes then
become available for editing.

Temperature (degree Celsius)

Surrounding temperature of the environment through which
laser shots travelled during scanning.

Atmospheric Pressure (millibar)

Surrounding atmospheric pressure of the environment through
which laser shots travelled during scanning.

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Relative Humidity (%)

Surrounding relative humidity of the environment through
which laser shots travelled during scanning.

Correction Coefficient
Value that is generated automatically by the Parser from the
environmental factors, and used to adjust range outcomes of
the scan data.

Origin of
Cartesian Coordi-
nate System
(Miscellaneous)
setting

Figure 207: Origin of Cartesian Coordinate System (Miscellaneous) setting

The ILRIS-LR collects scan data and initially records them according to a local coor-
dinate system, the origin of which is inside the ILRIS-LR scanner. To geo-reference
this scan data to the physical world, you must move the origin of the Cartesian
Coordinate System from inside the ILRIS-LR unit to an external point that you can
measure.

You can move the origin in the Miscellaneous setting window by selecting the Move
Origin of Cartesian Coordinate System to Bolt Hole check box. The bolt hole is
located at the bottom of the ILRIS-LR unit.

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To open the Miscellaneous setting window, select Miscellaneous at left in the Parser
Settings window.

This check box is automatically selected by default. When Pan/Tilt Transform (or
Profile Scan Transform), Unit Attitude Correction, or Georef Transform is being
applied to the scan data, it cannot be manually cleared.

To display the Miscellaneous setting window, select Miscellaneous at left in the

Parser Settings window.

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15 MAINTENANCE

■ Recharging batteries‚ page 245

■ Cleaning screens and windows‚ page 249
■ Reactivating desiccators‚ page 250
■ Annual calibration‚ page 252
■ Storage‚ page 252
■ Cable inspection‚ page 253

To order ILRIS-LR parts and replace consumable items, see Chapter 16, "Customer
Support", on page 255.

Recharging
batteries Notice
! Charge batteries fully between surveys, to ensure that they are always
ready for use.

The ILRIS-LR scanner is normally powered by two or four high-capacity batteries.

For information on the batteries, see page 23. This section discusses the following:
■ Status indicators on the charger‚ page 245
■ Status indicators on the battery‚ page 247
■ To recharge batteries‚ page 247.

The battery charger holds two batteries, and takes approximately 2-4 hours to fully
recharge the pair.

Always check the battery charge:

■ Before going to the survey site
■ After setting up the ILRIS-LR, but before beginning the survey.

To check the battery charge, look at the display on the battery (Figure 209).

Status indicators on the charger

The status of each charger position is shown on the display panel and by two status
LEDs below the display panel, as shown in Figure 209 and Table 5.

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Table 5: Charger status indicators

Indicator Display Explanation

Display Panel EVALUATE Battery is waiting to be charged

CHARGE Battery is charging

READY Battery is recharged

HOLD See battery charger manual

Status LED Red/green flashing Evaluating battery

Red flashing Recharge battery

Red solid Battery is waiting to be charged

Green solid Battery is recharged

Figure 208: Battery charger with two standard batteries installed

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Status indicators on the battery

The battery has two charge indicators: the display panel (Figure 209) and the
CHARGE STATUS LED on the base of the battery. If this LED is green, the battery is
fully charged.

Figure 209: Battery charge status display (from manufacturer’s manual)

To recharge batteries

1. Place the battery on the charger so that the slots and pins on the battery fit into
the studs and grooves on the charger (Figure 210, Figure 211, and Figure 212).

2. Slide the battery in towards the center of the charger.

3. Release the switch.

The battery is now installed.

4. Plug the charger into a suitable power outlet.

5. Charge the batteries until READY appears on the charger display.

For more information about batteries, consult the manufacturer documentation.

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Figure 210: Battery base

Figure 211: Battery charger, showing mounting positions and rocker switches

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Figure 212: Slotting battery studs into charger slots

Cleaning screens The ILRIS-LR scanner includes windows/screens that need occasional cleaning.
and windows Clean these elements as follows:

Front scan and camera windows - precision Schott glass with optical coating
These windows are very delicate. Do not scratch or rub. Clean
with lens tissue as described in "To clean the front scan/camera
windows"‚ page 250.

Rear operator LCD display screen - scratch-resistant Lexan MR10

Clean with lens tissue and a mild, non-abrasive cleaner.

Cleaning supplies

1 Bottle of Fischer Scientific (A 454-4) methanol or equivalent

1 Pair of latex gloves

1 Box of lens-cleaning tissue

1 Can of Airjet spray or equivalent

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To clean the front scan/camera windows

1. Using the Airjet spray, remove and blow all large particles from the window.

2. Place one piece of lens tissue on the scanner window.

3. Saturate the lens tissue with methanol.

4. Lightly draw the lens-cleaning tissue across the window in a smooth, sweeping
motion. Do not scratch or rub the window.

Reactivating About desiccators

desiccators
The following information is based on materials from the manufacturer, Brownell
Ltd.

Regularly and before/after storage, inspect the desiccators. Re-activate them as

required.

To prevent condensation due to temperature changes, the internal cavity of the

ILRIS-LR lidar sensor is sealed. To reduce humidity further, a desiccator is inserted
into each sensor.

The desiccator is located on the left side of the ILRIS-LR lidar sensor near the sensor
window to absorb moisture inside the sensor. The desiccator window shows two
absorption percentages: 30% and 50% (Figure 213).

Figure 213: Desiccator window, showing two absorption percentages

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Checking a desiccator
When an absorption percentage is reached within a desiccator, the corresponding
marker turns from blue to pink. The absorption percentage of the desiccator in a
ILRIS-LR sensor should never exceed 50% or higher for an extended period of time.

1. Regularly inspect the marker on the sensor’s desiccator window.

2. When the 50% marker has turned pink, you must immediately re-activate and
replace the desiccator.
This is when the absorption percentage has already reached 30%.

Replacing a desiccator

Caution Excessive humidity

! When a desiccator is removed, the lidar sensor is open to dirt and
humidity. To protect the sensor, always:

■ Always keep an opened sensor in a clean, dry environment

■ Cover openings promptly.

The desiccator tube is screwed into the sensor and sealed with an O-ring.

1. Place the ILRIS-LR sensor in a dry, clean room.

This environment prevents additional moisture from entering the sensor.

2. Unscrew the desiccator tube, and withdraw it from the sensor.

The sensor has now lost its humidity seal.

3. If you are not immediately replacing the desiccator, cover the opening and keep
the sensor in the dry room.
When a desiccator is removed, the ILRIS-LR sensor is open to air and moisture.
Keeping the sensor in a dry environment is therefore very important.

4. Insert a replacement desiccator in the lidar sensor.

5. Screw the desiccator tube into the ILRIS-LR sensor, and tighten it securely to
compress the O-ring.
This prevents further moisture and air from entering.

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Re-activating a desiccator
1. Bake the desiccator in a ventilated oven at 105°C for 4 hours.
At this point, the pink color in the desiccator window changes back to blue.

Caution Hot surface

! The desiccator is very hot when removed from the oven. Use gloves and
handle with care.

2. Place the desiccator in a dry sealed container, and allow the desiccator to cool.

Obtaining a new desiccator

The desiccators are designed to be re-used and re-activated many times. However,
if for any reason a desiccator is no longer effective and must be replaced, contact
Optech.

The cost of desiccators is included in the warranty for your ILRIS-LR system. If the
warranty has expired, the cost is not covered by Optech.

Annual Optech recommends that you return your scanner annually for inspection and cali-
calibration bration. For more information, contact your Optech representative.

Storage Always store the scanner and other ILRIS-LR equipment in the carry case. Store the
case in a clean, dry environment between -20°C and +50°C, and keep the lid closed
to prevent moisture or dirt from entering.

For information on battery storage, see the battery manuals provided.

When removing the scanner from storage

When the scanner is removed from cool storage to a warm environment, the tem-
perature difference may cause condensation inside the unit. For these reasons:
■ Before powering on, let the scanner warm up and acclimatize for up to 60
minutes
■ Before powering on, check that scanner windows have no condensation
■ After powering on, let the scanner warm up before scanning for 10 minutes.

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Cable inspection To ensure successful system operation, it is important to install and inspect the
system’s cables as part of routine system maintenance. For guidelines on how to
maintain the cables, see "Cable handling"‚ page 10.

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ILRIS Operation Manual Customer Support

16 CUSTOMER SUPPORT

■ Contacting Optech‚ page 255

■ 24-hour customer support‚ page 255
■ Third-party software‚ page 255
■ Software upgrades‚ page 256
■ Warranty‚ page 256
■ Returning equipment to Optech‚ page 256

Contacting Optech is committed to customer satisfaction. Please direct all ILRIS-LR questions
Optech and comments to:

ILRIS Customer Support

Optech Incorporated

300 Interchange Way

Vaughan, Ontario Canada L4K 5Z8

Telephone: +1 905 660 0808 (8 a.m. to 5 p.m. Eastern Time)

E-mail: [email protected]

Website: www.optech.com

24-hour customer 24-hour customer support is available by calling +1 905 532 3750.
support

Third-party Optional software packages are available with the ILRIS-LR. If you require support
software for registration, dongles, licenses, and upgrades, contact Optech.

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Software The ILRIS-LR Controller and Parser are Optech products. All ILRIS-LR users are
upgrades notified of upgrades to the software as they become available.

Third-party software may be included with your ILRIS-LR. Because software

upgrades and technical support are available to registered users, remember to
register these products.

Warranty This product is warranted to be free from defects in materials, parts, and workman-
ship for a period of one year from the date of delivery. It will conform to the current
product specifications upon delivery. Misuse, improper handling, unauthorized
repairs or modifications, or use of the system outside of specifications will void this
warranty.

Unauthorized opening of the scanner will void this warranty.

Returning To return equipment, contact Optech to obtain a Return Material Authorization

equipment to number (RMA). Optech will not accept equipment without this number.
Optech

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ILRIS Operation Manual Appendix A: Glossary

17 APPENDIX A: GLOSSARY

This appendix briefly defines common terms used in ILRIS-LR documentation.

Boresight angle
Boresight angle measurements indicate the ILRIS-LR sensor’s orien-
tation in relation to the inertial measurement unit (IMU). The
center of the IMU is the point of origin (0, 0) for boresight measure-
ments.

Boresight parameters
See "Appendix B: Boresight Parameters"‚ page 261.

ER
Enhanced Range. Product option that provides longer-range opera-
tion. When the ILRIS-LR is in ER mode, it is a Class 3 laser at
ranges up to 114 m.

GPS
Global positioning system.

Heading
See "Appendix B: Boresight Parameters"‚ page 261.

IMU
Inertial measurement unit. Part of the inertial navigation system
(INS) used during motion-compensated scanning.

INS
Inertial navigation system. Integrated with ILRIS-LR MC to provide
geo-referenced datasets during motion-compensated scanning.

Intensity
Reflectance of a scanned surface, from 0 to 255. This value can be
scaled and output as an 8-bit gray scale, or provided as separate
RGB values.

Lever arm measurements

Relative position and orientation measurements of the ILRIS-LR
scanner(s) with respect to the inertial measurement unit. A compo-
nent of boresighting required before motion-compensated scan-
ning. The center of the IMU is the point of origin (0, 0) for all lever
arm measurements.

Lidar
Light distance and ranging. A technique that uses laser pulses to
measure ranges.

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Line scanning
Repetitively scanning a region of interest (ROI) that is a horizontal
or vertical straight line. Line scanning is particularly useful during
motion-compensated scanning when the movement of the mobile
platform supplies motion that is perpendicular to the scan line.

MC
Motion compensation. Product option that integrates an inertial
navigation system (INS) for mobile scanning on a land or marine
platform.

Pan/Tilt base
Optional scanner base that pans the scanner horizontally and verti-
cally, providing a series of 360° scans at different elevations.

Pitch
See "Appendix B: Boresight Parameters"‚ page 261.

Point cloud
Processed 3D digitized data represented by a point for each data
point.

POS
Position and orientation system. The inertial navigation system
(INS) manufactured by Applanix.

PPS
The type of GPS data received by the inertial navigation system
(INS) for ILRIS-LR scanner(s) during MC operation.

Profile scanning
Scanning a rectangular or square region of interest (ROI) using only
the vertical mirror (Y-mirror) and continuous horizontal panning
motion of the Pan/Tilt base. Unlike step stare scanning, which
scans individual pan regions as separate segments, profile scanning
is continuous and can complete a full 360°-scan as a single pan
region, eliminating the need for image alignment. Profile scanning
is only available when a Pan/Tilt base is connected to the ILRIS-LR.

Region of interest (ROI)

Operator-defined area of the survey scene that is scanned by the
ILRIS-LR. ROIs are outlined on the scanner display in high-contrast
red.

ROI
Region of interest.

Roll
See "Appendix B: Boresight Parameters"‚ page 261.

Scan
Single operator-programmed scan.

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ILRIS Operation Manual Appendix A: Glossary

Scan area, scan area box, pick box, target area

Region of interest (ROI).

Scanner center, 0,0,0

Point at which the scanner range measurement begins. This point
is selected as the bottom of the screw hole in the base of the ILRIS-
LR scanner.

Shot flag
Metadata value attached to every laser shot that describes the
nature of the shot. The flag can have the following values:

0
Return is in the high-gain channel. Range and
intensity values are both valid.

1
Return is in the low-gain channel. Range and
intensity values are both valid.

2
Dropout shot (no return). Range and intensity
values are meaningless.

5
Saturated shot. Range accuracy is significantly
reduced and should not be used. Intensity value is
meaningless.

Step stare
Default scan pattern for the ILRIS-LR scanner. The scanner scans
horizontally, then “steps” to the next scan line and scans back
across the region of interest (ROI).

Survey
Series of scans of a particular site or area.

Survey project
Survey of one or more individual scans.

Survey scene
Entire scene shown on the ILRIS-LR scanner display.

Task ID
Task identification number assigned by the ILRIS-LR scanner to
every scan. This number appears in the Parser and the parsing log
file.

Unaided viewing
Viewing the beam without optical instruments, such as binoculars
or telescopes. Such instruments focus the energy of the laser,
increasing the risk of eye damage.

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Appendix A: Glossary ILRIS Operation Manual

X
See "Appendix B: Boresight Parameters"‚ page 261.

Y
See "Appendix B: Boresight Parameters"‚ page 261.

Z
See "Appendix B: Boresight Parameters"‚ page 261.

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ILRIS Operation Manual Appendix B: Boresight Parameters

18 APPENDIX B: BORESIGHT PARAMETERS

The following are definitions of the 6 boresight parameters mentioned in Chapter 7,

"Boresighting (MC)", on page 39:

Lever arm Lever arm measurements indicate the ILRIS-LR sensor’s position in relation to the
measurements (X, inertial measurement unit (IMU). The center of the IMU is the point of origin (0, 0)
Y, and Z) for all lever arm measurements.

X Northing distance from the IMU.

Y Easting distance from the IMU.
Z Elevation distance from the IMU.

Boresight angle Boresight angle measurements indicate the ILRIS-LR sensor’s orientation in relation
measurements to the inertial measurement unit (IMU). The center of the inertial measurement unit
(roll, pitch, and (IMU) is the point of origin (0, 0) for boresight angle measurements.
heading)
Roll (X) Angle of rotation describing sideway inclines (slanting to
the left or to the right).
Pitch (Y) Angle of rotation describing forward and backward
inclines (slanting uphill, downhill).
Heading (Z) Angle of rotation describing the direction the transport
vehicle is heading on an imagined flat surface (due north,
south, east, west, NE, SE, NW, SW).

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ILRIS Operation Manual Appendix C: Error Codes

19 APPENDIX C: ERROR CODES

Parser error Parser error messages are displayed as a hexadecimal code in a separate error
codes window. The following error codes may be displayed.

-0x01
Failed to open file. Make sure that the file is not being used by
other software, and try again.

-0x02
Failed to read file. Make sure that the file is not being used by
other software, and try again.

-0x03
Failed to write file. Make sure that the file is not being used by
other software, and try again.

-0x04
Failed to write file in right order. Try again.

-0x05
Unknown camera image type.

-0x06
Unsupported camera image format.

-0x07
Camera image is not a 24-bit color image.

-0x08
Unsupported file format.

-0x09
Failed to find scan data. File may be corrupted.

-0x0A
Unsupported multi-box scan data file.

-0x0B
Failed to create new folder.

-0x0C
Scan folder has no scan data file.

-0x0D
Folder contents incomplete. Data files may be missing. Check
folder contents and try again.

-0x11
Failed to create object. Memory may be low. Try again.

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Appendix C: Error Codes ILRIS Operation Manual

-0x12
Insufficient memory available.

-0x13
Failed to register controls (for example, graph plotter controls).

-0x21
Invalid data ID.

-0x22
Data ID cannot be processed.

-0x23
Invalid number.

-0x24
Invalid reference ASC. ASC will not be applied.

-0x25
Invalid collected ASC. ASC will not be applied.

-0x26
Incorrect version number.

-0x27
HDR file is corrupted.

-0x28
HDR file is corrupted.

-0x29
HDR file is corrupted.

-0x2A
BLK file is corrupted.

-0x2B
BLK file is corrupted.

-0x2C
BLK file is corrupted.

-0x2D
HDR file is corrupted.

-0x41
BLK file is corrupted.

-0x42
BLK file is corrupted.

-0x43
BLK file is corrupted.

-0x51
Unknown shot type. The BLK file is corrupted.

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ILRIS Operation Manual Appendix C: Error Codes

-0x52
Unknown ASC type. ASC will not be applied.

-0x53
Unsupported camera image format.

-0x54
Unknown intensity type.

-0x55
Unknown ASC type. ASC will not be applied.

-0x56
Camera images are of different size. Image may not display prop-
erly.

-0x57
Not enough ASC data. ASC will not be applied.

-0x61
Unknown parsing model (converting polar data to Cartesian XYZ).

-0x62
Unknown smoothing algorithm type.

-0x71
Number of points per line is too low to trim shots.

-0x81
Error in internal data storage. Try again.

-0x82
Error in internal data storage. Try again.

-0x91
Internal synchronization.

-0xFFFFFF
Unknown error. Try again.

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ILRIS Operation Manual Appendix D: IP Addresses

20 APPENDIX D: IP ADDRESSES

PC and Pocket PC network connections use the following IP addresses, where X is

either 40 or 41, and Y is a number between 1 and 255 that is different from what is
shown on the ILRIS-LR scanner LCD panel:

Wired operation 192.9.206.Y or 192.9.202.Y

Wireless operation 10.0.X.Y

ILRIS-LR hardware (via the Controller software) uses the following IP addresses,
where A is either 40 or 41, and B is a number between 1 and 255 as shown on the
ILRIS-LR scanner LCD panel:

Wired operation 192.9.206.B or 192.9.202.B

Wireless operation 10.0.A.B

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ILRIS Operation Manual Appendix E: Removing Noise

21 APPENDIX E: REMOVING NOISE

Several new features of ILRIS-LR extend its range and enable it to scan surfaces that
are traditionally difficult to survey with laser scanners. Because of the increased
sensitivity, noise may sometimes result in the scan data. Noise is false returns
between the scanner and the target area.

There are two possible sources of noise:

■ Air-particle density
■ Solar interference.

If you notice noise in your scan data, first determine the source, and then eliminate
the noise accordingly.

Air-particle Capable of scanning surfaces up to 4 km away, ILRIS-LR is far more powerful and
density sensitive than other laser scanners. This increased sensitivity also means that the
ILRIS-LR can detect nearby particles in the air, such as dust or insects. These
particles show up as a cloud of noise concentrated near the scanner that subsides as
distance from the scanner increases to a certain point (Figure 214).

Solar interference The ILRIS-LR laser emits light at a wavelength of 1064 nm, which reflects well from
ice and snow and enables the scanner to scan places that other laser scanners
cannot. However, the sun also emits radiation at this wavelength, and the ILRIS-LR
receiver cannot distinguish between solar radiation and valid laser returns. This
solar radiation shows up as a cloud of noise continuing over the whole range of the
scan (Figure 215).

This type of noise appears in most ILRIS-LR surveys, but the density of the noise
strongly depends on how much solar radiation enters the scanner.

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Avoiding and There are four ways to avoid and remove noise, depending on its source:
removing noise
■ Scanning in first-pulse mode (reduces both sources of noise)
■ Scanning with the ILRIS-LR pointing away from the sun (reduces solar inter-
ference)
■ Applying an intensity gate when parsing (removes solar interference)
■ Applying a range gate when parsing (removes air-particle noise).

Figure 214: Close-range noise resulting from Figure 215: Full-range noise resulting from solar
particles in the air interference

Preventing noise To minimize both types of noise, scan with ILRIS-LR in first-pulse mode (which is
with first-pulse the default mode) rather than last-pulse mode. To make sure that ILRIS-LR is
mode scanning in first-pulse mode, select Pulse Mode in the General Parameters pane in
ILRIS Controller when you are setting up a scan.

Preventing solar Interference from the sun causes noise to occur throughout the whole range of the
interference scan (Figure 215).

You can minimize this type of noise by pointing ILRIS-LR away from the sun during
the survey. While selecting a location and time for your scan, make sure that the
scanner will be facing away from the sun as much as possible at that time of day.

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Removing noise If solar interference has caused noise in your data, you can try to remove this type of
resulting from noise without rescanning by applying an intensity gate when you parse the data.
solar interference
1. In the left pane in the Parser, click Shot Alignment & Reduction.

2. Select Apply Intensity Gate.

3. In the FROM and TO fields to the right of HIGH Gain Intensity, enter the
intensity within which you want to keep scan data. (Ignore the LOW Gain
Intensity gate settings, which have no or little effect in removing solar interfer-
ence.)
For example, if you want to remove all points with an intensity value that is less
than 3, enter 3 in the FROM field, and leave 255 in the TO field (Figure 216).

Figure 216: Setting and applying an intensity gate in the Parser

Note: The Parser cannot distinguish between noise and valid data. Therefore,
applying an intensity gate removes all points with an intensity lower than the
minimum gain (FROM field) or higher than the maximum gain (TO field)—
including any points that you might want to keep.

Tip Applying an optimal intensity gate

! The key to removing solar interference is to set the minimum intensity
gate high enough to remove most of the noise, but low enough to keep
most of the relevant data.

A minimum intensity gate of 3 is a good start, but such a low value also
eliminates data at very long ranges, where return signals tend to be
weaker. In Figure 218, a minimum intensity gate was set to 4.

After applying an intensity gate, check your parsed results, and experi-
ment with a smaller or larger minimum intensity gate. By trial and error,
find the right balance to eliminate noise while retaining long-range data.

4. Make any other necessary changes to the settings before parsing, and click OK.

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5. Check the parsed data to make sure that enough noise has been removed, and
enough valid data has been retained.
If too much noise remains in the data, reparse the original data with a lower
minimum intensity gate. If too much valid data has been removed, reparse it
with a higher minimum intensity gate. You may need to try various minimum
intensity gates to find a value that gives satisfactory results.
If you cannot find a minimum intensity gate that is satisfactory, you may need to
rescan the target with the scanner pointing even further away from the sun.

Figure 217: Parsed data before applying an intensity gate Figure 218: Parsed data after applying an intensity gate
(FROM 4, TO 255)

Removing air- If noise concentrates at close range to the scanner (Figure 214), it has resulted from
particle noise high air-particle density. Without rescanning the target area, you can easily remove
this type of noise by applying a range gate when parsing the scan data:

1. In the left pane in the Parser, click Shot Alignment & Reduction.

2. Select Apply Range Gate (Meters).

3. In the FROM and TO fields to the right, enter the range within which you want
to keep scan data.
For example, if you want to remove all points closer than 100 m to the scanner,
enter 100 into the FROM field and leave 5000 in the TO field (Figure 219).

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Figure 219: Setting and applying the range gate in the Parser

Note: The Parser does not distinguish between noise and valid data. Applying a
range gate, therefore, removes all points closer to the scanner than the minimum
range (FROM field) or further than the maximum range (TO field) — including any
points that you might want to keep.

Tip Applying an appropriate range gate

! The key to making an appropriate range gate is to use a minimum range
that is high enough to remove most air-particle noise, but not remove
any objects of interest that are close to the scanner.

A minimum range gate of 100 m is sufficient for most scans, but that still
depends on how close the nearest scanned feature is to the scanner. In
the example shown in Figure 220 and Figure 221, a minimum range
gate of 80 m has been used because there was an interesting feature
90 m from the scanner.

4. Make any other necessary changes to the settings before parsing, and click OK.

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Figure 220: Parsed data before applying a range gate Figure 221: Parsed data after applying a range gate
(FROM 80 m, TO 5000 m)

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