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Contents
Table of Contents
Part I Copyright notice
Part II RiACQUIRE
1 Introduction ................................................................................................................................... 4
2 Supported devices
................................................................................................................................... 4
3 Installation
................................................................................................................................... 5
System requirements
.......................................................................................................................................................... 5
Setup
.......................................................................................................................................................... 6
Start with command
..........................................................................................................................................................
line parameter
6
4 Tutorial
................................................................................................................................... 8
First start
.......................................................................................................................................................... 8
New project .......................................................................................................................................................... 11
Initialization .......................................................................................................................................................... 13
Laser configuration
.......................................................................................................................................................... 13
Camera configuration
.......................................................................................................................................................... 15
Acquisition .......................................................................................................................................................... 15
5 Main window................................................................................................................................... 21
Project tree window
.......................................................................................................................................................... 28
Message window
.......................................................................................................................................................... 38
Communication
..........................................................................................................................................................
window
40
Device windows
.......................................................................................................................................................... 41
Scanner window
......................................................................................................................................................... 44
INS-GPS .........................................................................................................................................................
window
48
Tilt mount.........................................................................................................................................................
window
50
Camera window
......................................................................................................................................................... 50
VMX-CU window
......................................................................................................................................................... 51
CP560, CP680
.........................................................................................................................................................
window
52
VMX-CS6.........................................................................................................................................................
window
53
View inspector
..........................................................................................................................................................
window
54
View
.......................................................................................................................................................... 64
SOCS view
......................................................................................................................................................... 65
TOP view......................................................................................................................................................... 66
CHASE view
......................................................................................................................................................... 72
CAMERA.........................................................................................................................................................
view
73
Shortcuts
.......................................................................................................................................................... 73
6 Dialogs
................................................................................................................................... 81
Integration settings
.......................................................................................................................................................... 81
License manager
.......................................................................................................................................................... 104
Scanner settings
.......................................................................................................................................................... 106
INS-GPS settings
.......................................................................................................................................................... 110
Camera settings
.......................................................................................................................................................... 113
Connection ..........................................................................................................................................................
test
117
Laser configuration
.......................................................................................................................................................... 118
Camera configuration
.......................................................................................................................................................... 122
Environment..........................................................................................................................................................
settings
123
2013 Riegl LMS GmbH Austria
II
RiACQUIRE-MLS
Compress projects
.......................................................................................................................................................... 149
Picture browser
.......................................................................................................................................................... 150
Atmospheric..........................................................................................................................................................
conditions
151
Project report
.......................................................................................................................................................... 152
Map Service.......................................................................................................................................................... 153
7 Tools
................................................................................................................................... 154
Export trajectory
.......................................................................................................................................................... 154
Export camera
..........................................................................................................................................................
communication
155
Export VMX ..........................................................................................................................................................
housekeeping
156
Firmware loader
.......................................................................................................................................................... 156
Config Camera
..........................................................................................................................................................
System
157
External scanner
..........................................................................................................................................................
start
158
Import/Export
..........................................................................................................................................................
scanner limits
158
Stop watch .......................................................................................................................................................... 159
Export TOP ..........................................................................................................................................................
view
160
Format CAMDATA
..........................................................................................................................................................
disks
161
Download CAMDATA
.......................................................................................................................................................... 162
Download trajectory
.......................................................................................................................................................... 163
Map downloader
.......................................................................................................................................................... 164
167
1 Abbreviations/Glossary
................................................................................................................................... 167
2 Transformation
...................................................................................................................................
matrix
169
3 Project structure
................................................................................................................................... 173
4 Camera trigger
................................................................................................................................... 175
5 VZ400 INS-GPS
................................................................................................................................... 177
6 File Formats
................................................................................................................................... 180
pos
rpp
pef
rte
gpx
kml
tpm
GDAL
.......................................................................................................................................................... 180
.......................................................................................................................................................... 181
.......................................................................................................................................................... 186
.......................................................................................................................................................... 187
.......................................................................................................................................................... 189
.......................................................................................................................................................... 190
.......................................................................................................................................................... 191
.......................................................................................................................................................... 191
7 RiACQUIRE...................................................................................................................................
remote control
191
Mode of operation
.......................................................................................................................................................... 191
Prompt ......................................................................................................................................................... 192
Data types
......................................................................................................................................................... 193
Methods......................................................................................................................................................... 195
Method declaration
......................................................................................................................................... 195
Method call example
................................................................................................................................... 196
Properties
......................................................................................................................................................... 197
Read and write.........................................................................................................................................
properties
197
Replies
......................................................................................................................................... 198
Reply of successful
...................................................................................................................................
method call
198
Reply of successful
...................................................................................................................................
property write
198
Reply of successful
...................................................................................................................................
property read
199
Reply of failed...................................................................................................................................
property read/write and method call
199
Examples
................................................................................................................................... 199
Messages
.........................................................................................................................................................
and errors
200
2013 Riegl LMS GmbH Austria
Contents
III
8 Revision History
................................................................................................................................... 235
RiACQUIRE .......................................................................................................................................................... 235
9 Copyright remarks
................................................................................................................................... 246
10 Download ................................................................................................................................... 246
11 Contact
................................................................................................................................... 246
III
Part
I
Copyright notice
Copyright notice
Copyright notice
2013 Riegl LMS GmbH Austria
All rights reserved. No parts of this work may be reproduced in any form or by any means - graphic, electronic, or
mechanical, including photocopying, recording, taping, or information storage and retrieval systems - without the
written permission of the publisher. Products that are referred to in this document may be either trademarks
and/or registered trademarks of the respective owners. The publisher and the author make no claim to these
trademarks. While every precaution has been taken in the preparation of this document, the publisher and the
author assume no responsibility for errors or omissions, or for damages resulting from the use of information
contained in this document or from the use of programs and source code that may accompany it. In no event shall
the publisher and the author be liable for any loss of profit or any other commercial damage caused or alleged to
have been caused directly or indirectly by this document.
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Part
II
RiACQUIRE
RiACQUIRE
RiACQUIRE
2.1
Introduction
RiACQUIRE covers a variety of tasks present in RIEGLs mobile and airborne laser scanning systems. Both
mobile and airborne systems comprise at least one laser scanner, an inertial measurement system in order to
register scan data in a coordinate system, and an operators work station. Many systems further comprise a GPS
receiver, camera subsystems, additional laser scanners, mass data storage devices, and mechanical sub
assemblies.
The tasks covered by RiACQUIRE are allocated to the phases of system integration, system verification and
testing, and operational data acquisition.
An easy to use but powerful interface enhances communication with the supported RIEGL 2D and 3D laser
scanners. With the aim of reducing workload for the system operator only the most relevant information is
displayed and tasks can be executed semi-automatically. Scan parameters can be changed easily by choosing a
predefined parameter set. The graphical user interface takes the difficult working conditions inside the aircraft,
vessel or vehicle into account by offering large control buttons, easily pushed even in turbulent environment.
For data quality assurance RiACQUIRE is able to collect monitoring-data from the laser scanner and online data
provided by the IMU/GPS-system. Based on time-synchronized scan data, position, and attitude information, scan
data coverage is calculated in real time to indicate appropriate point density at the target area. This feature helps
you to find gaps in the scan data during data acquisition thus avoiding another expensive survey to collect missing
data.
RiACQUIRE also provides visual information about the current measurements from the INS-GPS system for
verification. Continuously logging of system status as well as INS-GPS attitude and position, provides a thorough
history of the survey for later documentation.
2.2
Supported devices
Scanner
Q120, Q120i, Q240, Q240i, Q560, Q680, Q680i, Q780, Q1560
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2.3
Installation
2.3.1
System requirements
Before installing RiACQUIRE please make sure that the system meets the following requirements:
Tested operating systems:
Microsoft Windows XP
Microsoft Windows Vista
Microsoft Windows 7
Linux Ubuntu/Kubuntu (tested with version 10.04 and newer)
other Linux distributions or versions may also work but have not been tested
Memory requirements:
1024 MB RAM minimum
Disk space requirements:
approximately 83 MB on Windows and 215 MB on Linux free disk space for the program
Interfaces:
Network interface (ethernet, LAN) with 100MBit, for V-Line scanners 1GBit recommended
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2.3.2
Setup
To install RiACQUIRE on Windows run SetupRiACQUIRE-MLS-Windows.exe or on Linux run SetupRiACQUIREMLS-Linux-x86. This program will guide through all steps of the installation process.
2.3.3
RiACQUIRE can be started with command line arguments which can be used in combination in optional order.
Modes
There are four execution modes in RiACQUIRE to enable functions and dialogs used for special cases.
Mode
Run on Windows
Run on Linux
Description
NORMA
L
RiACQUIRE_MLS.exe
./RiACQUIRE_MLS
DEBUG
RiACQUIRE_MLS.exe /
debug
./RiACQUIRE_MLS /
debug
EXPER
T
RiACQUIRE_MLS.exe /
expert
./RiACQUIRE_MLS /
expert
INTEL
RiACQUIRE_MLS.exe /
intel
./RiACQUIRE_MLS /
intel
81
and tools
Examples:
RiACQUIRE_MLS.exe /debug /expert
./RiACQUIRE_MLS /debug /expert
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A command line parameter can also be passed to a shortcut. Simply perform a right click on the shortcut and
press Properties.
Edit the field Target in the upcoming dialog and append the parameter after the quotes.
Open project
To open a project only append the path to the projects *.rpp file to the command line call.
Examples:
RiACQUIRE_MLS.exe /debug /expert "C:\SCAN DATA\MyProject\MyProject.rpp"
./RiACQUIRE_MLS.exe /debug /expert "/home/SCAN DATA\MyProject\MyProject.rpp"
Use profile
RiACQUIRE uses a default location where to save and load the environment settings and main window settings.
But it is possible to define a file where to save/load these settings instead of the default location.
This is done with the command line argument -p file or --profile file.
Examples:
RiACQUIRE_MLS.exe /debug /expert "C:\SCAN DATA\MyProject\MyProject.rpp" -p "C:
\xy.ini"
./RiACQUIRE_MLS.exe --profile "C:\abc.ini"
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2.4
Tutorial
2.4.1
First start
System integration
While no system has been described in RiACQUIRE, the integration settings dialog will be shown automatically to
prompt the system integrator to describe the used system.
81
License
RiACQUIRE needs to work a valid license key and so the license manager 104 will automatically be shown until a
license has been entered. Such a license key can be found on the license sheet or in a *.lic file which will be
delivered with RiACQUIRE.
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Please enter the license code in the license manager 104 . After adding a license key the license manager columns
105 will show other lines of the license sheet of the same name. Another convenient option is to import the *.lic file
that is on the licence CD. Please see license manager 104 for more information.
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10
Data storage
If the system contains of more than one VLine scanner it can be necessary to provide a hard disk for every
scanner because of the hight data rate.
RiACQUIRE allows to set a default location where to create projects and write scan data to. This can be done in
the environment settings for project 134 .
The default directory defines a folder where to create new projects by default.
If it is needed to use a different drive for logging the scan data tab scan data allows to set a folder where to write
scan data of the defined scanner by default.
Very fast hard disks or solid state disks does not need to log the scan data to different drives.
The location where to write scan data for a project can be changed every time by performing a right click on the
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2.4.2
33
for that to change the logging path and click on Acquisition Path....
New project
Before a mission can be started a project file is needed for reading and writing information. Such a file with the
extension .rpp is an integral part of the data exchange between RiACQUIRE and RiPROCESS and contains
references to all used devices, settings and acquired data. See project tree window 28 for more information. The
following lines describe how to use a project file.
the button
The first page needs the project name and a directory where to create the project. By default the project directory
will be set the folder defined in the environment settings 134 but the directory can be changed to any other
directory. The last line shows where the new project will be created.
If the project directory already contains a project with the project name an error is shown to prevent overwriting an
existing project.
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12
On the last page is it possible to set where to write scan data to. By default the destination folder will be set the
folder defined in the environment settings 136 but the directory can be changed to any other directory. To change
the directory after creation please see project tree window 33 . The second line shows where the scan data will be
written to.
When writing scan data to a different folder than the project it is useful to the filling level of the used hard disk. To
enable it check the box show drive filling level. The box will be set to the value defined in the environment settings
136 .
32
, area objects
36
, control objects
37
and
the button
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A dialog will be shown to ask which project to open. If a project has been chosen RiACQUIRE will open it and
check its content. RiACQUIRE expects that the project contains the same devices defined in integration settings
82 . If the project devices cannot be assigned to devices are defined in the integration settings 82 RiACQUIRE
will display an error message and opens the project as read only.
2.4.3
Initialization
Initialization
Before a survey can be started the system needs to be initialized.
This can be done with
the button
38
2.4.4
Laser configuration
To acquire scan data in needed scan pattern, laser configurations can be added to the project. There are three
possibilities to add them.
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14
The name of the config should be clear to know immediately what this config is used for. By selecting the scanner
type the scanner parameters will be set to all possible values for the selected type. This means it is not possible to
define invalid values.
By defining the scanner parameter and mission parameter the information box at the end of the dialog will show
corresponding scanner parameter and scan pattern.
For more information please see laser configuration dialog
118
138
will be added
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2.4.5
RiACQUIRE-MLS
Camera configuration
To trigger camera data camera configurations can be added to the project. There are three possibilities to add
them.
The name of the config should be clear to know immediately what this config is used for. For more information
please see camera configuration dialog 122 .
33
2.4.6
139
will be
Acquisition
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the button
16
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RiACQUIRE-MLS
Start INS-GPS
The first started acquisition should be the trajectory. This can be done with
the button
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18
Start camera
Usually the camera is started after the INS-GPS and will not be stopped before the mission has been finished.
This is because the camera is by default only triggered while scan data are logged and therefore there is no need
to stop it.
Starting camera can be done with
the button
66
When the camera type RiACQUIRE-Embedded is used this button is not enabled because this is done
automatically by the scanner.
the button
44
72
65
66
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RiACQUIRE-MLS
After the needed region of interest has been scanned, e.g. a flight stripe or a street or something else, the data
acquisition can be stopped with
the button
the button
44
and can also be seen in the SOCS view 65 . The CHASE view 72 show a combination of INS-GPS data and
decoded/acquired scan data. The TOP view 66 show a combination of INS-GPS data and acquired scan data.
To start data logging when the target area has been reached can be done with
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the button
20
the menu bar entry start logging scanner - start logging for all scanner
or the shortcut F11
To stop and restart scan data logging can be done with
the button
the menu bar entry stop/start logging scanner - stop and restart logging for all scanner
or the shortcut Ctrl+Shift+F11
With this feature is it possible to create new scan data log file(s) and a new record entry in the project tree. This is
useful for mobile laser scanning when starting to scan the next street without stopping movement of the rover.
To stop scan data logging can be done with
the button
the menu bar entry stop logging scanner - stop logging for all scanner
or the shortcut Ctrl+F11
After the complete region of interest has been scanned the measurement can be stopped with
the button
Stop camera
Next stoped acquisition should be the camera. This can be done with
the button
Stop INS-GPS
The last stoped acquisition should be the trajectory. This can be done with
the button
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2.5
Main window
All windows around the main window center are docking windows and can be resized, moved or tabbed. These
windows can be closed and opened with the view menu (see menu bar 22 ) or by right clicking the menu bar area
or the tool bar area. These docking windows can be placed on every side of the main window so it is possible to
customize the look of RiACQUIRE as desired.
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22
Menu bar
The menu bar provides access to all functions required in the main window. See also shortcuts
25 .
73
File
Offers functions to create, open, save or close a project.
Recently opened projects for convenience. See project
11
Load profile allows to load environment settings and the main window
settings from a file and overwrites the currently used profile settings. See
also command line arguments 7 .
Save profile allows to save currently used environment settings and the
main window settings to a file. See also command line arguments 7 .
Function to close RiACQUIRE.
Device
This menu contains actions for devices. See acquisition
15
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RiACQUIRE-MLS
Initialize
Stand-By
Mode
Start Scanner
Stop Scanner
Start Logging
Scanner
Stop Logging
Scanner
Toggle
Logging
Scanner
Clear Scanner
Errors
Park Scanner
Moves the scanner to its park position. This action is only available
for RIEGL 3D scanners (e.g. VZ-400).
Shut Down
Scanner
Scanner will be shut down. This action is only available for RIEGL
V-Line.
Reboot
Scanner
Reboots the scanner. This action is only available for RIEGL V-Line
.
Read Scanner
Limits
Reads all limits and parameters from the scanner. This action is
only available for RIEGL V-Line.
Reboot Data
Recorder
Shut Down
Data Recorder
Start INS-GPS
Stop INS-GPS
Apply Tilt
Mount
Moves tilt mount to its defined position. This action is only available
for RIEGL TM560.
Start Camera
Stop Camera
Start Logging
Camera
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24
System
Access to the dialogs for integration settings 81 , scanner settings
license manager 104 , and environment settings 123 .
106
, INS-GPS settings
110
, camera settings
113
Display
Functions to control and navigate in the available views (SOCS-,TOP- and CHASE- view) are placed in this menu.
See view 64 .
Tools
Some entries in this menu are only available if RiACQUIRE is executing in EXPERT mode
6 . For a detailed description see tools 154 .
or DEBUG mode
Control Unit
Camera System
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Loader
View
This menu contains actions to enable or disable toolbars and docking windows. A check mark to the left of an
entry means that the window is visible.
Window
This menu allows to change the selection and alignment of the existing views.
Help
The help menu contains a link to this document and a
Help
Contents...
By starting the help contents the default browser on your work station
will be started with the RiACQUIRE help.
About...
Problem
Reports...
The default file browser is used to open the folder which contains
created problem reports of RiACQUIRE.
Compress
Projects... 149
Tool bars
The tool bars provide quick access to the most frequently used functions of the menu bar
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26
disable a tool bar by choosing "View" in the menu bar 22 or by right clicking on the menu bar area or the tool bar
area. It is also possible to change the position of a tool bar by simply clicking the left edge of the toolbar and place
it at the desired position. Also a floating tool bar is supported. See also shortcuts 73 and menu bar 22 . The
following tool bars are available:
File
New Project
Open Project
Save Project
See project
11
System
Scanner Settings
INS-GPS Settings
Camera Settings
See scanner settings
106
, INS-GPS settings
110
113
Device
Initialize
Set Stand-By Mode For All
Start INS-GPS
Stop INS-GPS
Start Scanner
Stop Scanner
Start Logging Scanner (only available for RIEGL V-Line)
Stop Logging Scanner (only available for RIEGL V-Line)
Toggle Logging Scanner (only available for RIEGL V-Line)
Apply Angle For Tilt Mount
Start Camera (not available for RiACQUIRE-Embedded camera)
Stop Camera (not available for RiACQUIRE-Embedded camera)
Start Logging Camera (not available for RiACQUIRE-Embedded camera)
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RiACQUIRE-MLS
15
Display
This tool bar contains actions for the currently selected view. Please see view
64
Status bar
This will show a descriptive text for the current project action on the left side of the status bar and a progress bar
on the right side. Both pieces of information are only visible during execution of a project action like opening and
saving. When the action is finished the information will be removed.
The right side of the status bar shows the control mode of RiACQUIRE. Please refer to RiACQUIRE remote
control 191 .
Message window
The messages window displays all important messages to keep you informed about the ongoing procedures. A
detailed description can be found in the chapter messages window 38 .
Scanner window
The scanner window displays information about the current scan, GPS synchronization and the data recorder
filling level. A detailed description can be found in the chapter scanner window 44 .
INS-GPS window
This window shows data received by the INS-GPS in form of special measurement instruments.
A detailed description can be found in the chapter INS-GPS window
48
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50
28
Camera window
This window shows camera information.
A detailed description can be found in the chapter camera window
50
VMX-250-CU
This window shows the actual state of the VMX-250-CU and is only available for the Riegl VMX-250 system.
A detailed description can be found in the chapter VMX-250-CU window
51
VMX-250-CS6
This window shows the actual state of the VMX-250-CS6 and is only available for the Riegl VMX-250-CS6
system.
A detailed description can be found in the chapter VMX-250-CS6 window
53
CP560-IS, CP680-IS
This window shows the actual state of the CP680 or CP560 and is only available for the Riegl CP system.
A detailed description can be found in the chapter CPxxx-IS window
52
54
View
Placed in the center of RiACQUIRE main window are the views which will show acquired data.
A detailed description can be found in the chapter view
2.5.1
64
This window shows the current project tree. The column object shows the project objects and the column info
displays detailed information like assignment of devices and file size. For interaction of the project tree see also
shortcuts 77 .
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RiACQUIRE-MLS
Items in the tree can have different colors that indicate the object's status as follows:
blue
rename able
light gray
Anticipated objects that are needed for project but not accessible for the moment, e.g. a file on a
data recorder that must be imported for processing in RiPROCESS.
Filling Level
At the top of this window are bars that show the filling level of the used hard disks. A bar has green color if free
space is greater than 10GB or red if less.
The free space can be seen inside this bar in
gigabyte
percent and in
time with the format days-hours:minutes. The time is calculated with the current write data rate on the the used
drive.
RiACQUIRE will show a warning if the free space falls under 10GB, 8GB, 6GB and 4GB. If the free space is less
than 2GB RiACQUIRE will stop data acquisition to avoid the project to being damaged.
The first bar shows the filling level of the hard disk where the project data are written to and is always visible.
RiACQUIRE allows to define a path where to write all the files for the project. The default project path can be
defined in the environment settings 134 and is suggested as project path when a new project is created.
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30
All other following bars are showing the filling level of the hard disks where the scan data are written to. By the
default all scan data are written to the project path but it is possible to change this path for each scanner. The
default path for each scanner can be set in the environment settings 136 and is suggested as destination folder
when a new project is created.
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To edit this path in an existing project click the right mouse button on one ore more laser device
Acquisition Path... There it is also possible to show a drive filling level or not.
Project
The root of the tree shows the project name and is equal to the project file name.
By clicking the right mouse button the following actions can be performed:
Explore:
Add Note:
Create Report:
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and select
RiACQUIRE
32
Navigation devices
This contains all navigation devices for recording the altitude and position data.
By clicking the right mouse button the following actions can be performed:
Add Note:
A navigation device in the project file must have the same type and serial number as defined in the integration
settings 81 .
By clicking the right mouse button the following actions can be performed:
Add Note:
134
Laser configurations
This contains all scanner configurations for a project. See also scanner settings
106
By clicking the right mouse button the following actions can be performed:
Add:
Import:
Add Note:
Sort:
A laser configuration contains parameter than can be applied to the scanner in the scanner settings dialog
106
By clicking the right mouse button the following actions can be performed:
Edit:
Rename:
Delete:
Add Note:
Clone:
configurations
Creates a clone of the selected laser configuration and adds it to the existing laser
118
Tilt mounts
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RiACQUIRE-MLS
Add Note:
All tilt mounts in the project file must have the same type and serial number as defined in the integration settings
81 .
By clicking the right mouse button the following actions can be performed:
Add Note:
Laser devices
Contains the laser devices that can be used for this project.
By clicking the right mouse button the following actions can be performed:
Add Note:
All laser devices in the project file must have the same type and serial number as defined in the integration
settings 81 .
By clicking the right mouse button the following actions can be performed:
Add Note:
Acquisition Path: Allows to changed the path where to write scan data and the visibility of the filling bar.
See environment settings 136 .
Camera configurations
Contains all scanner configurations for a project. See also camera settings
113
By clicking the right mouse button the following actions can be performed:
Add:
Import:
Add Note:
Sort:
A laser configuration contains parameter than can be applied to the scanner in the camera settings dialog
By clicking the right mouse button the following actions can be performed:
Edit:
Rename:
Delete:
Add Note:
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113
RiACQUIRE
Clone:
configurations
34
Creates a clone of the selected camera configuration and adds it to the existing camera
Camera devices
All camera devices in the project file must have the same type and serial number as defined in the integration
settings 81 .
By clicking the right mouse button the following actions can be performed:
Add Note:
Atmospheric conditions
151
POS data
This section contains all acquired position and orientation data for this project.
By clicking the right mouse button the following actions can be performed:
Add Note:
Export:
154
The name of the item represents the current date in the format YYMMDD_hhmmss. The trajectory in the above
example was recorded on December, 7th 2007 at 16:07 and 55 seconds.
If the used INS-GPS provides the GPS week and seconds of the week, the date in the file name is set to GPS
date. Otherwise the system date is used. The time in the file name is set to GPS/UTC time. Please see integration
settings 82 which information are provided by which INS-GPS.
The information column contains the INS-GPS for this and the file size.
By clicking the right mouse button the following actions can be performed:
Explore:
Export:
154
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Add Note:
Records
Explore:
Every time a scanner is triggered to start acquisition while no other scanner is scanning, a new record is created.
the way the name of this item is determined can be changed in the environment settings dialog 134 .
If scan data acquisition for a scanner is started while an other scanner is currently acquiring no new record is
created. The new scan data are added to actual record as can be seen in the tree for Record001.
By clicking the right mouse button the following actions can be performed:
Rename:
Add Note:
Scan data
Stands for the scanner that produced the data which can be found in the info column. The name of this and the
following item represents the current date in the format YYMMDD_hhmmss.
If the used INS-GPS provides the GPS week and seconds of the week, the date in the file name is set to GPS
date. Otherwise the system date is used. The time in the file name is set to GPS/UTC time. Please see integration
settings 82 which information are provided by which INS-GPS.
By clicking the right mouse button the following actions can be performed:
Add Note:
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36
The info column contains the configuration that has been used for this camera data and it's file size.
By clicking the right mouse button the following actions can be performed:
Explore:
Add Note:
Open:
150
Area Objects
190
187
, GPS Exchange
Export:
Exports all existing area objects to selected file (Garmin PCX5
Google Earth KML 190 )
Add Note:
187
189
, GPS Exchange
189
66
By clicking the right mouse button on an area object item the following actions can be performed:
Delete:
Export:
Exports selected area object(s) to selected file (Garmin PCX5
Google Earth KML 190 )
Add Note:
187
, GPS Exchange
189
Route Objects
190
187
, GPS Exchange
Export:
Exports all existing route objects to selected file (Garmin PCX5
Google Earth KML 190 )
Add Note:
187
189
, GPS Exchange
189
66
By clicking the right mouse button on a route object item the following actions can be performed:
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RiACQUIRE-MLS
Delete:
Export:
Exports selected route object(s) to selected file (Garmin PCX5
Google Earth KML 190 )
Add Note:
187
, GPS Exchange
189
Goeimage Objects
Add Note:
Please note that only images with WGS84 coordinates (EPSG:4326) are supported!
66
By clicking the right mouse button the following actions can be performed:
Delete:
Deletes the geoimage objects from the project and from disk
Explore:
Add Note:
Control Objects
186
file
Export:
Exports all existing control objects to selected file (Garmin PCX5
Google Earth KML 190 )
Add Note:
187
, GPS Exchange
189
66
By clicking the right mouse button the following actions can be performed:
Delete:
Export:
Exports selected control object(s) to selected file (Garmin PCX5
Google Earth KML 190 )
Add Note:
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187
, GPS Exchange
189
RiACQUIRE
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Data collection
66
By clicking the right mouse button the following actions can be performed:
Add Note:
Views
72
66
By clicking the right mouse button the following actions can be performed:
Export:
160
to selected file
65
Camera view
73
By clicking the right mouse button the following actions can be performed:
Add Note:
2.5.2
Message window
all messages in the log file will be shown and the column
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RiACQUIRE-MLS
It is possible to sort the entries in the columns for better trouble shooting.
The window consists of three columns:
Type icon
Date and time of PC where RiACQUIRE is running when message was created
INS-GPS time when message was created
Message
RiACQUIRE has several kind of message types. Every type has an icon and color.
None
Has no icon and is written with black color. Used for common messages like project opened.
Success
Information
and dark blue color for messages. Is used for example when a file has been
Warning
and dark red color for messages. Used when files with older version was
Unknown
and dark cyan color for messages. Is used when asking if user wants to save
Error
and red color for messages. Used for events that stop operation and can't be
Failure
and red color for messages. Used if no license has been found.
Aborted
and dark red color for messages. Used when errors occur that do no allow you
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This window allows item selection and some actions which can be reached by right clicking or with shortcuts
Select All
Copy
Clear Display
Auto Scroll
2.5.3
80
Communication window
This window displays the entire communication with all devices and is only available in DEBUG mode
possible to sort the entries in the columns for better troubleshooting.
. It is
and dark green color for entry. Communication was successfully executed.
Error
This window allows item selection and some actions which can be reached by right clicking or with shortcuts
Select All
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RiACQUIRE-MLS
Copy
Clear Display
Auto Scroll
2.5.4
Device windows
Device window
The title bar of every device window contains the device name it represents and it's state
42
To have a quick overview of the device status the background of the window is colored to the corresponding
status.
Green
Everything is OK
Yellow
Red
Logging state
indicator
The logging state indicator shows when data of the device are logged. This indicator can be
customized environment settings dialog 127 .
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Device has reached a state that allows the user to send next command.
Process:
Success:
Error
The following lines describe the device states with the aid of a scanner:
Not
initialized:
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43
RiACQUIRE-MLS
Initializing:
RiACQUIRE will try to establish a connection to the scanner and read some information from
scanner like data recorder status, GPS synchronization status,...
Initialized:
This is the most important state of the scanner. The user can set scanner settings, set scanner
to stand-by mode or is able to start work.
Prepare
work:
Working:
Data will be decoded and drawn to the SOCS-view, CHASE-view, device window and for non VLine scanner written to a file.
Stop work:
Prepare
logging:
Logging:
Data will drawn to the TOP-view for V-Line scanner written to a file.
Stop
logging:
Toggle
logging:
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This state is entered when commands like scanner scripts have to be executed.
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2.5.4.1
44
Scanner window
This window shows scanner measurement values for overview. The pictures above show the two appearance
mode that are available, graphical and textual. Please see environment settings 127 for more details on changing
these modes.
Laser
This LED stands for the laser status if it is on or off. This LED can show three different states
and a textual description is available when positioning the cursor over the LED.
No information available
If the scanner is not initialized the LED will be gray to signal that the scanner is not initialized
and so the laser status is not available. In the textual variant of this widget the text n.a. will
be shown.
If the scanner is initializing the LED will be dark green to signal that the scanner is initializing
and so the laser status is not available at the moment. In the textual variant of this widget
the text n.a. will be shown.
Laser is UNSAFE for naked eyes
A red LED indicates that the laser of the scanner is on.
Laser is eye safe
This green LED indicates that the laser of the scanner is off.
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RiACQUIRE-MLS
Laser safety
This LED in the scanner window stands for the laser safety status of the scanner. This LED can
show five different states and a textual description is available when positioning the cursor over
the LED.
If the laser of a scanner is not eye safe (e.g. VQ-580) this instrument shows during
measurement if there are any echoes/targets in dangerous distance to the scanner. That fore
there are two distances which will be differed:
ENOHD (Extended Nominal Ocular Hazard Distance): Minimum distance between the laser
beam and people looking into the scanner with optical aids like binoculars.
NOHD (Nominal Ocular Hazard Distance):
Minimum distance between the laser
beam and people looking into the scanner with naked eyes.
Please see scanner manual for more information on eye safety.
No information available
If the scanner is not initialized the LED will be gray to signal that the scanner is not initialized
and so the laser safety status is not available. In the textual variant of this widget the text n.
a. will be shown.
If the scanner is initializing the LED will be dark green to signal that the scanner is initializing
and so the laser safety status is not available at the moment. In the textual variant of this
widget the text n.a. will be shown.
Laser is UNSAFE for naked eyes
A red LED indicates that the measured range is below the NOHD.
Laser is eye safe
This green LED indicates that the scanner is eye safe.
Laser is UNSAFE for people with optical aids
A yellow LED indicates that the measured range is below the ENOHD.
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GPS sync
status
46
The LED of the scanner window stands for the synchronization status of the scanner. This LED
can show five different states and a textual description is available when positioning the cursor
over the LED. The synchronization is done automatically (see acquisition 18 ).
No information available
If the scanner is not initialized the LED will be gray to signal that the scanner is not initialized
and so the synchronization status is not available. In the textual variant of this widget the
text n.a. will be shown.
If the scanner is initializing the LED will be dark green to signal that the scanner is initializing
and so the synchronization status is not available at the moment. In the textual variant of
this widget the text n.a. will be shown.
No synchronization signal
A red LED is displayed if the scanner is already initialized but the scanner could not receive
a GPS signal. Reasons could be a wrong configuration of the scanner (see integration
settings 81 ), that the GPS antenna could not receive GPS data or that the receiver is not
sending no NMEA strings to the scanner. The textual information is no synchronization
signal.
Correctly synchronized
This green LED is displayed if the scanner is already initialized and can receive GPS data.
The text for this state is correctly synchronized.
Lost synchronization signal
If the scanner has already detected a GPS synchronization string since startup but has lost
the synchronization signal this yellow LED will be shown. Possibly the GPS antenna could
not receive GPS data. In textual mode is this state described by lost synchronization signal.
Las config
Range
Displays the lowest and highest range value of the current scan line. In graphical mode the
widget is auto scaled to the actual range. In textual mode the values can be seen in two boxes
side by side.
Range
Readings
Shows how many laser beams of the current scan line returned a range value. No range values
can be caused by a non reflecting target. A range readings value of 100% means that all laser
beams returned a range value.
Amplitude
The amplitude scale describes the range of amplitudes detected in the current scan line. The
lowest amplitude value in the picture above is approximately 17% and the highest is 100%. In
textual mode the left box shows the lowest amplitude and right box the highest amplitude.
32
The amplitude of a beam depends e.g. on the reflectivity and the distance of the target.
Please note that the amplitude unit for V-Line is dB and percent for all others.
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47
RiACQUIRE-MLS
Data recorder This item indicates the filling level of the data recorder in percent and is only available for the
filling
Q560 and Q680. The level will be shown with a green bar till 95%. Above this level the level will
be shown red. This should warn the user that the available data recorder space is almost fully
consumed. The picture above shows a filling level of approximately 98%. In textual mode you
will see a box with the filling level in percent.
See also scanner settings
108
Reflectance
The reflectance scale describes the range of reflectivities detected in the current scan line. This
value is only available for V-Line scanners. Please refer to the scanner manual for more
information about reflectance.
Power supply
Shows the actual power supply voltage of the scanner. This value is for non V-Line scanners
only available when not scanning (initialized state 42 ).
Device
temperature
Displays the actual device temperature of the scanner. This value is for non V-Line scanners
only available when not scanning (initialized state 42 ).
Device
humidity
Displays the actual relative humidity in the scanner. This value is only available for V-Line
scanners.
Device
pressure
Displays the actual atmospheric pressure in the scanner. This value is only available for V-Line
scanners.
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2.5.4.2
48
INS-GPS window
Graphical INS-GPS
window part1
Textual INS-GPS
window
The title bar of the window contains the INS-GPS name and it's state. The other instruments will show current
IMU and GPS data. The pictures above show the two appearance mode that are available, graphical and textual.
Please see environment settings 127 for more details on changing these modes.
Date time
This instrument shows the date and time received by the INS-GPS.
Depending in the used INS-GPS type and protocol (see integration settings 82 ) it is possible
that the INS-GPS does not transmit date information and in this case RiACQUIRE will use the
system date.
Seconds
Shows the seconds of the week and seconds of the day received by the INS-GPS in the format
<week_seconds> / <day_seconds>.
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Attitude
This instrument shows the roll and pitch angle measured by the IMU. The yellow triangle on
the upper side shows the roll angle with the outside scale. The pitch angle is indicated by the
scale inside the instrument. The yellow point of the symbolic vehicle points to the current pitch
angle.
If using the textual mode for this instrument the values for roll and pitch angle are shown.
Compass
This instrument shows the yaw angle measured by the IMU. An aircraft is used as a needle
which is fixed and the scale will be rotated.
In textual mode is the compass represented by the yaw angle.
Altitude
The GPS height of the aircraft is shown by this instrument. The mean length needle shows the
height in 100ft, the shortest needle in 1000ft and the largest needle stands for 10000ft.
Ground speed
This instrument shows the ground speed calculated with the latitude, longitude and altitude.
This instrument does auto scale depending on unit and value of speed. The smallest scale
range is 0 to 100 but there is no maximum limit for the range.
Tracked
satellites
This instrument shows the number of tracked satellites to give the operator a feedback about
satellite coverage. If the INS-GPS differs between GPS and GLONASS the instrument shows
both.
RiACQUIRE expects at least 7 satellites to show instrument in green color. If there are less
than 7 satellites available, this instrument is orange
PDOP
The positional dilution of precision is defined to be at least 3.0. If the value is better than 3.0
the bar is green, otherwise orange.
Please note that velocity values are not provided by every INS-GPS.
Roll accuracy
Pitch accuracy
The middle of the bar shows the value of the user accuracy 102 .
Yaw accuracy
If the value is better than the user accuracy the bar is green, otherwise orange.
The textual information shows the current accuracy value and in brackets the set user
accuracy value.
Please note that velocity values are not provided by every INS-GPS.
Status
This text box shows the status of the INS-GPS if this provides this information.
The data status is provided by every INS-GPS and shows the decode status:
OK
Format
Received data does not match expected data (see integration settings
more details on expected data)
82
No Data
RiACQUIRE does not receive data (check communication parameter in
integration settings 87 )
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2.5.4.3
50
In the window's title bar the tilt mount name and it's state can be seen. The pictures above show the two
appearance mode that are available, graphical and textual. Please see environment settings 127 for more details
on changing these modes.
Tilt Angle
2.5.4.4
Shows angle of the tilt mount and an angle scale with two hands. To set the desired angle of
the tilt mount the spin box has to be used. The current angle of the tilt mount is shown by the
white hand and the angle to set by the gray hand. To see the direction shown by the gray hand
will help to ensure that the tilt mount is rotating to the correct position.
Camera window
Camera window
In the window's title bar the camera name and it's state can be seen.
Cam Config
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2.5.4.5
RiACQUIRE-MLS
VMX-CU window
VMX-CU window
This window is only available for RIEGL VMX-250 and RIEGL VMX-450 system and shows housekeeping values
of the VMX-CU.
Power supply
The left field shows the actual voltage of the on-board power supply.
The right field shows the actual current of the on-board power supply.
Backup battery
<10V
10V
Voltage is OK
<2.5A
Current is too low and backup battery is not charging (field is yellow)
2.5A
The left field shows the actual voltage of the backup power supply.
The right field shows the actual current of the backup power supply.
PC temp.
<10V
10V
Voltage is OK
The left field shows the actual temperature of the PC responsible for scan data acquisition.
The right field shows the actual temperature of the PC responsible for camera data acquisition
(optional).
<-10C
-10C to 50C
>50C
Storage temp.
The left field shows the actual temperature of the upper removable drive.
The right field shows the actual temperature of the lower removable drive.
<-10C
-10C to 50C
>50C
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Air temp.
The left field shows the actual temperature of the incoming air.
The right field shows the actual temperature of the outgoing air.
<-10C
-10C to 50C
>50C
Temperature is OK
Temperature is too high (field and window is red)
Power Scanner The left field shows the actual voltage for scanner 1.
1
The right field shows the actual current for scanner 1.
<22V
22V
Voltage is OK
Power Scanner The left field shows the actual voltage for scanner 2.
2
The right field shows the actual current for scanner 2.
Power
INS-GPS
2.5.4.6
<22V
22V
Voltage is OK
22V
Voltage is OK
This window is only available for RIEGL CP560 or CP680 system and shows housekeeping values.
Temp.
electronics
Temperature of CP electronics.
Temp. housing
Temperature of CP housing.
Heater 1
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53
RiACQUIRE-MLS
Heater 2
Fan
Shutter
Status of CP shutter. Please note that the shutter must be opened to allow scan data
acquisition.
2.5.4.7
VMX-CS6 window
This window is only available for RIEGL VMX-250-CS6 and RIEGL VMX-450 system and shows housekeeping
values.
GPS sync
status
n.a.
No information available
No synchronization signal
Correctly synchronized
Disk remaining
The system contains a configurable number of drives where to write images. Depending on
this configuration this window shows the remaining disk capacity of each storage in
Gigabytes
Percent
approximately time
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2.5.5
54
The view inspector shows current data and settings for the three available views, the SOCS view, the TOP view
and the CHASE view. The window is split into:
object tree which contains the objects of the view
properties table which contains the properties of the selected object in the object tree
Object tree
The root of this tree is the view object. Every project device has it's assigned system device which can be seen in
the info column (see also project tree window 28 ). The info column also contains the current color of the item if
available. If one or more items are selected it is possible to change the properties of all items at once. Please see
shortcuts 78 for how to interact with the tree.
TOP view
Double click on an TOP View entry or right click and View will zoom to the corresponding data.
Right click and Show All will make all children in the tree visible.
Right click and Hide All will make all children in the tree invisible.
Properties table
By selecting an item in the object tree this table will show the properties of this item. The table is empty if the
selected item has no properties.
See environment settings
141
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RiACQUIRE-MLS
SOCS view
SOCS view item
Update Rate
Defines the update rate of the view. The view is automatically updated with the given rate,
independent of some actions like panning or zooming which will also lead to a view update.
Setting this rate to 0 will stop the automatic update but the described user actions will
update the view anymore.
Background
Color
Text Size
Grid Mode
Grid Color
Defines the color of the grid. It is recommended to use a color with an alpha channel < 255
to make the grid transparent.
Information
Visible
The visibility of information like coordinates can be changed. The information can be found
at the top left corner of the view.
Information
Color
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Origin Color
Persistent
Mode
In this mode scan data will be collected and rendered until the clear time has elapsed. This
means that the view will show scan lines of the last seconds which has been defined in the
spin box for clear time. When persistent mode time elapsed the view will be cleared and
the cycle restarts. If the persistent mode is switched off only the data of the actual scan line
will be rendered.
Clear Time
Clear Trigger Forces to clear scan data when triggered but the clear time is not influenced.
Restore
Defaults
141
Visible
The visibility of every laser device item can be changed. If the box is checked the item is visible.
Otherwise the item is invisible. If the item is invisible the item in the object tree will be grayed.
Color
Color of a scan points when using view type single color. Changing the color by double clicking the
right table side. A color dialog is shown where another color can be selected.
Thickness
Style
Line:
A poly line containing all points of the current scan line is shown.
Rotation
Mirror On XAxis
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View Type
Every scan point has the same color defined with the property color
Target Color: Every scan point is colored depending on it's target count like single target,
first target, interior target and last target.
Please note that the target information is only available for V-Line
scanners, for other scanners it is always a single target. See also echo filter 127 .
Single
Target Color
Color of a single target scan point when using view type target color. Changing the color by double
clicking the right table side. A color dialog is shown where another color can be selected.
First Target
Color
Color of a first target scan point when using view type target color. Changing the color by double
clicking the right table side. A color dialog is shown where another color can be selected.
Interior
Target Color
Color of a interior target scan point when using view type target color. Changing the color by double
clicking the right table side. A color dialog is shown where another color can be selected.
Last Target
Color
Color of a last target scan point when using view type target color. Changing the color by double
clicking the right table side. A color dialog is shown where another color can be selected.
Restore
Defaults
141
Name
The visibility of every laser device item can be changed. If the box is checked the item is visible.
Otherwise the item is invisible. If the item is invisible the item in the object tree will be grayed.
Visible
The visibility of every range average item can be changed. If the box is checked the item is visible.
Otherwise the item is invisible. If the item is invisible the item in the object tree will be grayed.
Line Start
Angle
Defines the first angle of a scan line where to start to calculate the range average for all scan points
that are inside the defined angle range.
Line Stop
Angle
Defines the last angle of a scan line where to start to calculate the range average for all scan points
that are inside the defined angle range.
Color
Changes the color of the item by double clicking the right table side. A color dialog is shown where
another color can be selected.
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Restore
Defaults
141
58
To add range average items to the view can be done by a right click to the item
action Add. To remove a item can be done by a right click and select the action Delete.
and the
TOP view
TOP view item
Update Rate
Defines the update rate of the view. The view is automatically updated with the given rate,
independent of some actions like panning or zooming which will also lead to a view update.
Setting this rate to 0 will stop the automatic update but the described user actions will
update the view anymore.
POF Point
Limit
INS-GPS provide data with specific rate e.g. 1Hz to 200Hz. To keep rendering time low this
defines the number of maximal rendered point for POF data.
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Background
Color
Text Size
Grid Mode
Grid Color
Defines the color of the grid. It is recommended to use a color with an alpha channel < 255
to make the grid transparent.
Grid Text
Color
Information
Visible
The visibility of information like coordinates can be changed. The information can be found
at the top left corner of the view.
Information
Color
Body Visible
Sets the visibility of the body (arrow that shows the position of the system).
Body Color
View Type
Shows all scan data in the same color which has been defined.
Overlapping:
Shows the overlapping of the scan strips. The more overlap the
Uses the first targets of scan data to determine the color for
drawing.
Uses the height difference between the first and the last target of
scan data to determine the color drawing.
Height Difference:
Shaded Relief:
data.
Reflectance:
drawing.
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Uses the maximum reflectance value of scan data to determine color for
RiACQUIRE
Color Type
60
Cropped Rainbow:
Grayscale:
Discrete:
Show Color
Bar
The view types minimum height, maximum height, height difference and shaded relief use a color
Color Bar
Minimum
The lower value of the color bar used to color the scan data.
Color Bar
Maximum
The upper value of the color bar used to color the scan data.
Color Below
Minimum
If a value of the scan data is lower than the color bar minimum this color is used.
Color Above
Maximum
If a value of the scan data is higher than the color bar maximum this color is used.
Orientation
Method
bar to color the scan data. To know which color stands for which value a color by can be enabled on
the right side of the view.
Map Up:
Track Up:
Alpha INSGPS
Alpha
Scanner
Alpha
Camera
Alpha
Control
Objects
Alpha Area
Objects
Alpha Route
Objects
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Alpha Map
Map Visible
Map Used
Restore
Defaults
POF
, AREA OBJECT
141
, ROUTE OBJECT
, GEOIMAGE
OBJECT
Visible
The visibility of the item can be changed. If the box is checked the item is visible. Otherwise the item
is invisible. If the item is invisible the item in the object tree will be grayed.
Color
Changes the color of the item by double clicking the right table side. A color dialog is shown where
another color can be selected.
Thickness
Restore
Defaults
141
Visible
The visibility of the item can be changed. If the box is checked the item is visible. Otherwise the item
is invisible. If the item is invisible the item in the object tree will be grayed.
Color
Changes the color of the item by double clicking the right table side. A color dialog is shown where
another color can be selected.
Restore
Defaults
MON-2DD
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, 2DD
, 3DD
, and RXP
item
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Color
62
Changes the color of the item by double clicking the right table side. A color dialog is shown where
another color can be selected.
CHASE view
CHASE view item
Update Rate
Defines the update rate of the view. The view is automatically updated with the given rate,
independent of some actions like panning or zooming which will also lead to a view update.
Setting this rate to 0 will stop the automatic update but the described user actions will
update the view anymore.
POF Point
Limit
INS-GPS provide data with specific rate e.g. 1Hz to 200Hz. To keep rendering time low this
defines the number of maximal rendered point for POF data.
Background
Color
This view has a scan line buffer for every scanner with contains buffer size lines. This changes the
rendered scan line history.
Restore
Defaults
141
Visible
The visibility of every laser device item can be changed. If the box is checked the item is visible.
Otherwise the item is invisible. If the item is invisible the item in the object tree will be grayed.
Color
Changes the color of the item by double clicking the right table side. A color dialog is shown where
another color can be selected.
Thickness
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Defaults
141
Camera view
Camera view item
Update Rate
Defines the update rate of the view. The view is automatically updated with the given rate,
independent of some actions like panning or zooming which will also lead to a view update.
Setting this rate to 0 will stop the automatic update but the described user actions will
update the view anymore.
Background
Color
Text Size
Information
Visible
The visibility of information like picture name. The information can be found at the top left
corner of the picture.
Information
Color
Restore
Defaults
141
Visible
The visibility of every picture can be changed. If the box is checked the item is visible. Otherwise the
item is invisible. If the item is invisible the item in the object tree will be grayed.
Rotation
Changes the rotation of the picture. By default the picture is rotated with use of calibration matrix
to be displayed correctly.
Restore
Defaults
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64
View
Every view window has it's own status bar and contains:
FPS
POINTS
Currently visible points to be rendered in the view in the format VISIBLE POINTS / SUM OF
POINTS.
PROC BUF
NODE BUF
145
The view displays data from devices and has a couple of functions that allows the user to change the position and
scale factor of the view. The functions can be accessed by the menu bar 22 , tool bar 25 , shortcuts 76 or by the
context menu (right clicking the view).
Button
Description
Ensures that the actual position of the survey system is centered in the view. Only available in TOP
view 66 .
Ensures that all available data are visible all the time.
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RiACQUIRE-MLS
66
65
Performs a zoom by mouse movement. By moving the mouse from the left to the right a rectangle is
drawn to the view marking an area to zoom in. If a movement from the right to the left is performed a
zoom out to the last zoomed area is triggered. If there is no last zoomed area a view all is triggered.
Available in TOP view
66
65
Allows to change the horizontal and vertical orientation of the view position. Only available in CHASE
view 72 .
2.5.6.1
SOCS view
The SOCS view shows the current scan line of the scanner in the SOCS (scanner own coordinate system) with
about 21fps. The points that will be rendered in the view can be seen in the status bar 27 . The red cross stands
for the scanner origin. The scan points are colored white and the rotation is 0deg. Please see view inspector 55
how to change the view properties.
The SOCS coordinates under the mouse cursor are placed at the top left corner of the view. This view shows all
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66
TOP view
The TOP view shows the trajectory of the system, scan data, camera data, area objects, control objects and
maps. Depending on the selected view type the view can contain a color bar on the right side.
To reduce render time the trajectory data rate is limited to 10Hz by RiACQUIRE.
Please see view inspector window 54 how to change the representation of the data in this view. This view shows
all logged/acquired scan-, camera- and INS-GPS data.
Scan data
The first picture shows scan data with INS-GPS data.
Camera data
The second picture shows camera data direction. As default range for the drawn camera data footprint is 5m
used.
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RiACQUIRE-MLS
36
how to import).
Usually these routes will be planned in the office to finish a mission efficient and fast. With the view inspector
is possible to change the visualization of an object.
The picture below shows routes which define the streets to scan.
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58
it
RiACQUIRE
68
Street routes
Geoimages
RiACQUIRE allows to import georeferenced images and use them as background/map (see project tree
to import).
With the view inspector
58
The picture below shows a georeferenced map as an overlay on open street map.
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37
how
69
RiACQUIRE-MLS
Geoimage object
Maps
The TOP view allows to show maps at the background. Basically it is necessary to define
how to access the Internet (proxy
services
133
131
or direct access)
132
164
during a mission on demand with the option "download not cached data from Internet
settings
132
With the view inspector it is possible to change the visualization of the map in the TOP view:
transparency (alpha)
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RiACQUIRE
The pictures below show examples for an road map and aerial map.
Street map
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71
RiACQUIRE-MLS
Aerial map
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2.5.6.3
72
CHASE view
The CHASE view shows the scan data in the world coordinate system. This is the same as sitting in the car/
aircraft and look out of the window.
Please see view inspector window 54 how to change the representation of the data in this view. This view shows
all decoded scan and INS-GPS data.
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2.5.6.4
RiACQUIRE-MLS
CAMERA view
The CAMERA view shows last received images by the camera system.
Every camera has it's own tile where to show the last image. If information have been enabled in the view
inspector window 54 the cell contains also picture information.
Please see view inspector window
2.5.7
54
Shortcuts
Common
Shortcut
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Mouse
Menu Bar
File - Quit
Tool
Bar
Description
Quit
RiACQUIRE
System - Environment
Settings...
Window - Tile
Window - Cascade
Window - Next
Window - Previous
Devices
Shortcut
74
Mouse
Menu Bar
Tool
Bar
Description
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RiACQUIRE-MLS
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RiACQUIRE
Mouse
Menu Bar
76
View
Shortcut
Tool
Bar
Description
hold
and
move
mouse
hold
+
+
+
and move
mouse
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(if
77
RiACQUIRE-MLS
spin
up
spin
down
-
Display - Zoom In
hold
and
move
mouse
double
click on
double
click on
Project tree
Shortcut
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Mouse
Context Menu
Description
RiACQUIRE
78
Rename
Rename item
Remove
Delete
Edit...
double
click on
+
+
+
+
+
View inspector
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RiACQUIRE-MLS
Shortcut
Mouse
Context Menu
Description
+
+
+
+
+
Communication window
Shortcut
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Mouse
Context Menu
Description
Select All
Copy
Clear Display
RiACQUIRE
Auto Scroll
80
Message window
Shortcut
Mouse
Context Menu
Description
Select All
Copy
Clear Display
Auto Scroll
Download maps
Shortcut
Mouse
Menu Bar
Tool Bar
Description
hold
spin
Display - Zoom In
up
spin
down
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RiACQUIRE-MLS
double
click on
double
click on
2.6
Dialogs
2.6.1
Integration settings
The integration settings describe the system hardware and its settings. This dialog can be found at System Integration Settings... but it will start automatically when RiACQUIRE is started for the first time or if no configured
devices have been found.
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82
Device management
Adds a device or system to the device list. By pressing the button a menu will pop up with
devices and systems.
The devices of an added system are almost complete predefined and only a few settings have
to be added manually like serial number.
The device counter in the device list start with 1 and every new device increments this counter.
E.g. the first scanner name is Scanner 1 and the seconds scanner name is Scanner 2.
Removes a device from the device list. By pressing the button a menu will pop up with existing
devices only of the current system to remove.
If a device has been removed the device counter will be incremented for all other devices of
the same device group. E.g. if Scanner 1 has been removed and there was a Scanner 2 in the
system, this scanner will be renames to Scanner 1.
If a predefined system has been added to the device list, the name if this system will be
selected in this box. Some predefined systems are expecting additional hardware e.g. a
housekeeping board. If a predefined system is unintended added and this system expects
such a additional hardware, RiACQUIRE will shows an error message on every start. So by
setting an empty string the system name can be removed.
Device list
The device list on the left side contains all devices of the system.
To enable/disable a device without removing it from the device list every device has a box on
its left side in the device list.
Disable means remove the check from the box.
Enable means add check to the box.
Edit device
Before the settings of a device can be changed it has to be selected in the device list. The
settings will be shown on the right side of the dialog.
Device data
Name
Type
Serial
The serial number is used for comparison with serial numbers in project files.
The following tables describes the supported device types and their options:
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Scanner
Description
Q120(i),
Q240(i)
Q560,
Q680(i),
Q780
Scanner does time synchronization with prepared time tag data string.
Zxxx
VZ-xxx
Scanner has it's own GPS receiver and does time synchronization with received time tag data string
.
VQ-xxx
Scanner does time synchronization with prepared time tag data string.
INS-GPS
Description
Data will be acquired, interpreted and displayed.
There are three possibilities to receive data from the Applanix POS AV/LV/MV:
Applanix
POS AV/
LV/MV
Display port
TCP connection to POS at port 5602 with output data rate of 1-200 Hz
TCP connection to POS at port 5603 with output data rate of 1-200 Hz
If RiACQUIRE is connected to the real time data port or to the logging data port of the Applanix
POS, it expects that at least the groups 1-10 are enabled to show all needed information. In case of
the display port the Applanix POS will output these groups by default.
For more details on the output groups please contact Applanix Corp.
Data will be acquired, interpreted and displayed.
IGI
AEROco
ntrol
RiACQUIRE expects the $TOPAL and $AECTPA strings which will be provided on the serial port if
the AUX port in AEROoffice is set to Litemapper.
The $TOPAL string provides GPS week and seconds of the week. Therefore it is possible to set
the file name of POS 34 and records 35 to correct GPS/UTC date and time.
For more details on the strings please contact IGI mbH Inginieur-Gesellschaft fuer Interfaces.
Data will be acquired, interpreted and displayed.
IXSEA
AIRINS/
LANDIN
S
RiACQUIRE expects the BINARY NAV or LANDINS STANDARD output for interpretation on TCP
port 8111.
For more details on the strings please contact IXSEA SAS.
Please note that logging of data for post processing is not done by RiACQUIRE.
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INS-GPS
84
Description
Data will be acquired, interpreted and displayed.
RiACQUIRE expects the binary INSPVAS message which will be provided on the serial port.
NovAtel
SPAN
These data provide GPS week and seconds of the week. Therefore it is possible to set the file
name of POS 34 and records 35 to correct GPS/UTC date and time.
For more details on the message please contact Novatel Inc.
These data provide GPS week and seconds of the week. Therefore it is possible to set the file
name of POS 34 and records 35 to correct GPS/UTC date and time.
For more details on the message please contact Oxford Technical Solutions Limited.
RiACQUIRE expects the binary MCOM message which will be provided on the serial port or UDP
port 3000.
These data provide GPS week and seconds of the week. Therefore it is possible to set the file
name of POS 34 and records 35 to correct GPS/UTC date and time.
For more details on the message please contact Oxford Technical Solutions Limited.
ONLY
ACQUISI
TION
48
, TOP view
66
or in CHASE
Usually RiACQUIRE expects IMU and GPS data for monitoring scan data coverage but for the
following reasons it might be useful to to use this special INS-GPS mode:
the IMU used in the system cannot provide data in real time
for demonstrations or test of RiACQUIRE
ONLY
GPS
Data of a GPS receiver provided to RiACQUIRE via serial port, TCP/IPv4 or UDP will be used to
get actual position. The angles roll and pitch are set to 0deg and yaw is calculated by the changing
position.
The received data will be acquired, interpreted and displayed.
At the moment RiACQUIRE expects data in $GPGGA format.
$GPGGA provides seconds of the day and the system date is used as GPS date. Therefore it is
possible to set the file name of POS 34 and records 35 to correct GPS/UTC date and time. Make
sure that the system date is set correctly.
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INS-GPS
RiACQUIRE-MLS
Description
Usually RiACQUIRE expects IMU and GPS data for monitoring scan data coverage but for the
following reasons it might be useful to to use this special INS-GPS mode:
the IMU used in the system cannot provide data in real time
for demonstrations or test of RiACQUIRE
V-LINE
SCANNE
R
To perform time synchronization of a V-Line scanner GPS data need to be provided to the scanner.
The data decoded by the scanner will be used by RiACQUIRE to get the actual position.
VLine scanners provide seconds of the day and the system date is used as GPS date. Therefore it
is possible to set the file name of POS 34 and records 35 to correct GPS/UTC date and time.
Make sure that the system date is set correctly.
The angles roll and pitch are set to 0deg and yaw is calculated by the changing position.
Data will be acquired in POS-format 180 , interpreted and displayed when received from a VLINE
scanner.
Please note that only data of Scanner 1 are used to emulate the INS-GPS.
RiACQUI
REEmbedd
ed
This stream is only available when using RiACQUIRE-Embedded and provides seconds of the day
and the system date is used as GPS date. Therefore it is possible to set the file name of POS 34
and records 35 to correct GPS/UTC date and time. Make sure that the system date is set correctly.
Data will be acquired in POS-format 180 , interpreted and displayed.
Data will be acquired, interpreted and displayed.
Konsber
g
Seapath
RiACQUIRE expects the binary format 11 message which will be provided on a defineable UDP
port.
These data provide GPS week and seconds of the week. Therefore it is possible to set the file
name of POS 34 and records 35 to correct GPS/UTC date and time.
For more details on the message please contact Konsberg..
Tilt
mount
TM560
Discription
Device to tilt scanners for airborne systems.
Camera
Discription
Common
VMXCS6
RiACQUI
REEmbedd
ed
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86
Buttons
Saving all settings from this dialog to a file can be done with the button Save As... These
settings can be imported later on another PC.
The Open... button will import previously saved settings from a file.
RiACQUIRE allows to import and export matrices and external calibrations for the current
device. By pressing the button a menu will pop up with possible import/export operations.
RiACQUIRE allows to test the communication parameters by pressing the Connection Test
button. But before the connection test can be performed all settings will be checked and
saved (see OK button).
See connection test
117
Before changes of the integration settings can be saved RiACQUIRE will check the settings.
If settings are wrong or missing a dialog will show the errors.
If no problems have been detected the user has to enter the super user password ican.
This should prevent damages of the integration settings.
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RiACQUIRE-MLS
Communication
Connection
Type
Defines how RiACQUIRE can communicate to the device. If there are more connections
possible for a device type, this contains all possibilities.
If a device has fixed connection parameters that cannot be changed like the ports of a
scanner, the background of these fields is marked gray. Default parameters of a device are
added to the corresponding field but can be changed.
In EXPERT mode 6 all connection types are available for every device even if they are not
supported. This can be used e.g. if an INS-GPS has only serial ports and the new series of the
INS-GPS supports also TCP connection. So it is possible to use this INS-GPS assumed that
the data protocol hasn't changed.
All devices have one communication configuration except an INS-GPS that has three:
The first for data containing information for monitoring
The second for raw data (optional)
The third for raw data (optional)
Protocol
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For some INS-GPS RiACQUIRE supports more than one data stream protocol. This contains
all supported protocols.
RiACQUIRE
88
TCP/IPv4
IP Address/Host
Name
For every TCP/IP connection a IP address or host name is needed where RiACQUIRE can
connect to.
In case of RiACQUIRE-Embedded please use the address 127.0.0.1.
Port
Control Port
Settings that are not available for this device type are grayed out. There are also some
fixed settings for every device type marked by a yellow background color to reduce the
sources of error.
Data Port
Data Recorder IP
Address/Host
Name
UDP
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RiACQUIRE-MLS
Port
UDP is used by devices that only broadcast their data over a port. So it is only necessary to set
a port where RiACQUIRE is listening. There are some fixed settings for every device type
marked by a yellow background color to reduce the sources of error as seen in the picture
above.
Serial port
Port
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Serial port to use for communication. To reduce the sources of errors some devices have fixed
settings.
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90
Time synchronization
The picture above describes how to connect the INS-GPS with the scanner and RiACQUIRE.
Sync. data
These connection is only needed if the scanner uses the synchronization method external
GPS RS232 or external GPS UDP. See synchronization method for more details.
PPS
The PPS from the INS-GPS is always needed at the scanner. See PPS for more details.
This TCP connection is needed to communicate with the scanner and to receive scan data.
This connection has not to be a direct connection but there can also be router or switch
between.
Navigation data These data are needed to synchronize the scanner when using synchrnoization method epoch
string and for combining scan data with INS-GPS data.
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RiACQUIRE-MLS
To combine scan data and navigation data the time of scan data has to be synchronized to the INS-GPS. The
following table gives an overview which information are valid for which scanner type.
Scanner
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Synchronization
Method
GPS Sequence
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92
PPS First
Epoch String
Data First
GPGGA
External GPS
RS232
INGGA
PPSTR
PPS First
TOPAL
AERO
Internal GPS
Positive
Negative
GPGGA
INGGA
External GPS
RS232
PPSTR
TOPAL
PPS First
AERO
Data First
VZxxx
VQxxx
External GPS
RS232
External GPS UDP
APPLANIX_POS
GPZDA
OPTIMARE_UTC
The following sections give a detailed description for every part needed for synchronization.
Synchronization method
Methods
Description
Epoch String
The scanner cannot perform time synchronization by itself. RiACQUIRE will decode
navigation data and will set decoded time to the scanner. PPS of the INS-GPS must be
connected to the scanner for synchronization.
Internal GPS
If the scanner has an internal GPS receiver it is possible to use this for time synchronization
to UTC. No PPS or data input of the INS-GPS is needed. Please note that it is
recommended to use external GPS.
External GPS RS232 The scanner will decode the time stamp of the time tag data string on its RS232
synchronization input. PPS of the INS-GPS must be connected to the scanner for
synchronization.
External GPS UDP The scanner will decode the time stamp of the received time tag data string on its TCP
connection. PPS of the INS-GPS must be connected to the scanner for synchronization.
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RiACQUIRE-MLS
Older scanner types which have the synchronization method epoch string only do not need to know the INS-GPS
time tag data string format. All other scanners need to know the format to be able to decode the time information.
The following table shows a summary of all known time tag data strings used by the scanners to perform time
synchronization to the INS-GPS.
Strings
GPGGA
Description
NMEA string which can be provided by almost all INS-GPS and starts with the sequence
$GPGGA.
INGGA
NMEA string which is equivalent to the $GPGGA except the beginning of the string which start
with $INGGA.
PPSTR
A binary data stream of Applanix systems which stands for PPS Time Recovery.
TOPAL
ASCII stream which starts with $TOPAL. Sent by IGI systems that are configured to use
Litemapper protocol.
AERO
ASCII stream which starts with $PPS and is sent by IGI systems.
APPLANIX_PO
S
GPZDA
NMEA string which can be provided by almost all INS-GPS and starts with the sequence
$GPZDA.
The next table shows which scanner type is able to decode which INS-GPS time tag data string.
Scanner
GPGGA
INGGA
PPSTR
TOPAL
AERO
APPLANI
X_ POS
GPGGA
OPTIMA
RE_UTC
NO
NO
NO
NO
NO
NO
NO
NO
YES
YES
YES
YES
YES
NO
NO
NO
VZxxx, VQxxx
YES
YES
YES
YES
YES
YES
YES
YES
Usually it is possible to configure the output format of the INS-GPS. Please see the manual of the INS-GPS
manufacturer.
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94
GPS
UTC
GPS
UTC
tINS-GPS
GPS
UTC
UTC
GPS
tOffset
0s
0s
-16s
+16s
GPS sequence
Defines the order of PPS and synchronization data which is needed to get a very accurate time synchronization.
This information has to be provided by the manufacturer of the INS-GPS. A wrong sequence will cause an offset
1s.
PPS first
Data first
PPS
The PPS has to be provided by the INS-GPS and must be connected to the scanner. It is the clock for both
systems to know the start of the next second and is usually connected to the scanner with a BNC plug.
To get accurate time stamps in the scan data it is necessary to know the form of the PPS.
Positive trigger
edge
Negative trigger
edge
This information has to be provided by the INS-GPS manufacturer of can be measured with an oscilloscope.
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Scan synchronization
Usually when having more scanners that are measuring in the same direction, it is probably that a scanner is
receiving the echoes of another scanner and leads to range measurement errors.
With the scanner feature synchronize to external timing signal (Scan Sync) is it possible to do phase
synchronization. This means that is possible to define a constant line angle offset between more scanners. This
avoids that a scanner will received echoes of another scanner. Scan sync is an option of the scanners and is not
available by default. Please see the scanner manual for more information on this feature.
To enable scan sync in RiACQUIRE simply check the box.
Desired angular
phase
Automatic for
BP560-ID
RiACQUIRE will automatically change the angular phase for scan sync if the used tilt mount
angle has changed.
Automatic for
VMX
RiACQUIRE will automatically set the angular phase for scan sync.
Disable scan
sync check
If scan sync is enabled, RiACQUIRE checks if all conditions are fulfilled. By checking this
option RiACQUIRE will not make sure that all conditions are fulfilled.
Usually this option should not be used!
Synchronization options
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96
Allow scan
without GPS
synchronization
Allows to start a scan even if the scanner is not time synchronized to the INS-GPS. This
option should only be used for tests by expert because unsynchronized scan data cannot be
combined with INS-GPS data.
For Q560/Q680/Q680i it is possible to set the internal system time to provided INS-GPS
time which is needed for time synchronization.
A file name on the data recorder is generated with the current system time of the scanner
when file is created. This is useful because it is easy to assign the start time of a file to an
INS-GPS time.
Automatic
Scanners like Q120/Q120i/Q240/Q240i/Zxxx/Zxxx(i) needs to be time synchronized by
synchronization to RiACQUIRE. It tries to synchronize the scanner automatically as soon as a valid INS-GPS
INS-GPS
time stamps are available. See also scanner settings 110 .
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RiACQUIRE-MLS
Allow acquisition
without GPS
synchronization
Allows to start acquisition even if the camera is not time synchronized to the INS-GPS. This
option should only be used for tests by expert because unsynchronized images cannot be
combined with INS-GPS data.
Please note that this feature is only available for VMX-250-CS6.
Camera parameter
uses a camera model similar to the one used in the "Open Source Computer Vision Library"
maintained by Intel (see http://opencvlibrary.sourceforge.net/ and
http://opencvlibrary.sourceforge.net/CvReference#cv_3d for details).
RiACQUIRE
The camera model is based on a camera coordinate system (referred to as CMCS). The image below
shows the Nikon D100 mounted on top of a LMS-Z360 with the axes of the CMCS. The origin of the
CMCS is the center of an equivalent pinhole camera. CMCS is a right-handed system with the x-axis
pointing from left to right in the image and the y-axis from top to bottom. The z-axis is identical to the
center of the field of view of the camera.
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98
Camera parameter
122
INS-GPS
122
Pulse Duration
Duration of the pulse that is used to trigger the camera. Depending on the used camera the
duration of the pulse may vary. See camera trigger 175 for more details.
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Event Input
Some INS-GPS provide information on event on their event inputs. This is used to create a file
with very accurate time stamps when camera has been triggered.
For test cases only the inaccurate event input trigger can be set which is used to create
a file with time stamps when camera has been triggered. Please note that these time
stamps can be very inaccurate up to several hundred milliseconds.
Dimension of a single pixel of the CCD sensor in x and y direction which is commonly specified
by the manufacturer.
Nx, Ny
Intrinsic parameter can be divided into parameters describing an ideal camera, i.e. a so-called pinhole camera.
fx, fy
Potentially different focal lengths used to account for the potentially different pixel
size in x and y direction and to account for different focal length's of the lens
(cylindrical lens error). These parameters are normalized by the pixel size.
fx......[pix]
f........focal length [m]
dx.....[m]
Cx, Cy
The center of the image in pixels. Usually, i.e., for low distortion lenses Cx ~ Nx/2 and
Cy ~ Ny/2. Deviations account for a decentered lens and/or chip.
Lens distortion is modeled by at least two radial and two tangential coefficients, k1,
k2, p1, p2, respectively. In case k3 and k4 are both 0, the camera model is identical to
the one described in OpenCV. The parameters k3 and k4 account for higher-order
modeling of the radial distortion.
Calibration
Every device has its own calibration tab. The picture below shows the calibration settings for a scanner:
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100
For some systems it is possible to have a tilt mount for a scanner. This selects the tilt mount
connected to the scanner.
Matrix SOCS to If a tilt mount is available this describes the transformation matrix to transform scan data from
TOCS/
the SOCS to the tilt mount coordinate system.
Matrix SOCS to If a tilt mount is not available this describes the transformation matrix to transform scan data
IMU
from the SOCS to the IMU coordinate system.
Please see transformation matrix
External
calibration
169
Values calculate in the scan data adjustment can be entered here (Please see RiPROCESS
manual for more details). These values will be written to the project file and therefore used in
post processing with RiPROCESS.
The next picture shows the calibration settings for an INS-GPS with the fields:
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RiACQUIRE-MLS
Navigation
frame
Specifies the frame format of the INS-GPS data. There are several common navigation frames
like ENU (EastNorthUp), NED (NorthEastDown), NWU (North-West-Up). E.g. the NED
frame x-axis points to north, the y-axis to east and the z-axis points down.
Invert roll,
pitch, yaw
angle
Matrix IMU to
body
External
calibration
(monitoring
only)
With these angles it is possible to apply offsets to the roll-, pitch- and yaw angles provided by
the IMU. These offsets are the angles measured by the IMU while the body system is leveled.
E.g. the pitch angle of the IMU is -37deg when the body is leveled, so the pitch offset to enter
is -37deg.
Use inclination
sensors for roll
and pitch
Some V-Line scanners provide inclination angles which can be use to emulate the angles roll
and pitch.
169
The next picture shows the calibration settings for a camera with the fields:
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RiACQUIRE
Matrix CMCS
to IMU
169
Options
The INS-GPS has an options tab.
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102
103
RiACQUIRE-MLS
To guarantee good data accuracy the integrator can define accuracy limits that must be better than the defined
limits. RiACQUIRE will show information about the actual accuracy and if they are better than the limits.
Roll, pitch
Yaw
Latitude,
longitude
Altitude
Velocity
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104
Disable DMI
errors
For some reason it's might be useful to disable error messages from the DMI, e.g. the DMI
cannot be used. No error message or color is used to signal errors with the DMI, only in INSGPS window 48 and in INS-GPS settings dialog 112 can the status be seen.
This feature supports only Applanix systems at the moment.
Enable internal
memory
manager
The internal memory is used to log the raw trajectory data. When the filling level reaches 100%
newer data cannot be written and get lost.
With this feature enabled RiACQUIRE watches the filling level of the internal memory and
deletes the oldest trajectory files.
This feature supports only Applanix systems at the moment.
2.6.2
License manager
The license manager is responsible for managing the licenses. Almost all table cells of the manager are read only
and are marked with a yellow background. Only the cell in the last line of the table in the column license code with
a white background can be edited. This dialog will appear automatically when you start RiACQUIRE the first time
or if there are no entered licenses.
Enter license
Please enter the license at the last line in the column license code. The license key validation is not case sensitive
and independent of the position of the dashes, and also special characters are ignored. The following
combinations will be granted:
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Delete license
To delete a license select the licenses and push the Delete button or perform a right click on the selected licenses
and select delete in the context menu.
Columns
The license manager contains the following columns:
Status
Shows the status of an entered license. This field will stay clean if there is no entered license.
License is valid
Entered license is valid but has already expired
This license is invalid
Means that you forgot to enter at least one character
License code
This column contains entered keys and empty fields where you can add a license.
Product ID
Valid until
Serial number
All licenses are created for a scanner serial number. If a valid license is entered the serial
number of the licensed device can be seen in this cell.
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License types
To be able to use RiACQUIRE at least one valid license is needed. Without any license it is only possible to open
projects and view already acquired data. For all other functions licenses are needed. There are two different types
of licenses:
Data
acquisition
Allows to acquire data and use all functions that go with it.
Mission
guidance
Import licenses
Allows to import RiACQUIRE licenses from a *.lic file that is received. This is just a convenience function.
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Scanner settings
This dialog is used to change the scan pattern of a scanner, see the status of the data recorder and synchronize
the scanner time with an external GPS time.
Scan pattern
Laser
configuration
New...
Adds a new laser configuration to the project and opens the laser configuration dialog
it.
Edit...
Delete
Apply
Apply all
This button exists only if there are more scanners in the system and is a convenient way to
apply a laser configuration to all scanners at a time.
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to edit
Atmospheric parameter
The speed of light of the laser pulse is the essential base for calculation of the distance to the target. The speed
of light is influenced by the conditions of the atmosphere between the scanner and the target. To get highly
accurate results, it is necessary to set the atmospheric parameters to correct the range distance values according
to the parameters.
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are set when opening this dialog for the first time.
By pressing the read button for a scanner this dialog shows the set values for this scanner. To apply the settings
to is done by pressing the apply button for the scanner. If more than one scanners are available an apply all
button allows to set settings to all scanner by one click.
For V-Line scanners these parameters are automatically set to the project 34 on apply. For convenience the
button add to project allows for non V-Line scanners to add these parameter to the project 34 .
Temperature
Relative
humidity
Pressure at
sea level
Height above
sea level
These parameters are only available for V-Line scanners.
Housekeeping
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buffer
Monitoring
buffer
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Instrument:
Ident
Serial
Serial number.
Firmware
Firmware version.
Scanner on
time
Laser on time
Motor on time
Time:
System time
GPS/UTC time GPS or UTC time of V-Line/Q560/Q680 scanner when synchronized. Please note that this
information is for Q560/Q680 only available when not measuring (initialized state 42 ).
INS-GPS time
offset
Offset of GPS/UTC time (see above) to the time of the INS-GPS. This is useful for determining
the offset to combine scan data with trajectory (integration settings 93 ).
Recommended is the time offset that should be used in integration settings 93 and measured
is that measured time offset that may vary because of runtimes in RiACQUIRE.
Housekeeping:
Supply voltage
Supply voltage of scanner. Please note that this information is for non V-LINE scanner only
available when not measuring (initialized state 42 ).
Device
temperature
Device temperature of scanner. Please note that this information is for non V-LINE scanner
only available when not measuring (initialized state 42 ).
Data recorder
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If a data recorder is connected to the scanner (only Q560 or Q680 types) this group box shows information about
the data recorder.
Used drive
Drive status
Shows the status of the physical selected drive or virtual RAID drive.
Drive
organization
n.a.:
ABSENT:
disks.
HDD is absent. This is only possible if you use a data recorder with removable
OK:
ERROR:
15
RAID0:
RAID1:
Reinit
The reinit button reads all information of the data recorder and actualizes the dialog. This is
needed when using a data recorder with removable disks like DR560-RD and a drive has been
changed.
Data recorder
capacity
A very important status of the data recorder is the storage space. Therefore shows this dialog
the capacity of the selected drive or the RAID drive, used space and free space. The values
are represented in the unit percent, bytes and GB.
Time left
Remaining time for logging data to the data recorder. This time is calculated depending on the
current data rate, so when no data are written to the data recorder this value is 0.
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GPS synchronization
Some scanners need a software like RiACQUIRE to do time synchronization to GPS. As soon as RiACQUIRE
detects a valid time stamp of the initialized INS-GPS it will start synchronization if automatic synchronization 95 is
enabled. Please see used synchronization method 82 which scanner needs RiACQUIRE for synchronization. This
dialog allows the operator to overrule the synchronization of RiACQUIRE by simply pressing the synchronize
button. The text field shows the following information:
Epoch string
Epoch offset
String that has been used for synchronization in the format YYYY-MM-DDTHH:MM:SS.
YYYY
year (4-digit)
MM
month (0-12)
DD
day (0-31)
HH
hour (0-23)
MM
minute (0-59)
SS
second (0-59)
Offset of GPS time to scanner time which is used to check time synchronization.
If GPS sequence 90 is PPS first then offset must be between -500ms to 0ms. Otherwise
synchronization will fail.
If GPS sequence 90 is data first then offset must be between 0ms to +500ms. Otherwise
synchronization will fail .
2.6.4
INS-GPS settings
Navigation
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Shows current navigation values of the INS-GPS in textual and graphical form. The following columns are
available:
Received value Values as received by the INS-GPS.
Please note that velocity values are not provided by every INS-GPS.
Calibration
value
Current
accuracy
99
Please note that velocity values are not provided by every INS-GPS.
The middle of the bar shows the value of the user accuracy 102 . If the value is better than the
(user accuracy) user accuracy the bar is green, otherwise orange.
The textual information shows the current accuracy value and in brackets the set user
accuracy value.
Please note that velocity values are not provided by every INS-GPS.
Primary GPS
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Shows current values of the primary GPS. Please note that not every INS-GPS provides these data.
GPS status
Satellite
information
The bottom table contains information of the every tracked satellite like
PRN and Status
Position (azimuth and elevation)
Signal to noise ration (SNR)
The instrument top right shows the position of every tracked satellite and is rotated depending
on the yaw angle.
PRN in blue circle for GPS and red circle for GLONASS.
Azimuth scaled in [10deg] around the instrument (0deg - 360deg)
Elevation scaled in [deg] on the north axis (0deg - 90deg)
Status
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Shows status information, statistics and version of the INS-GPS. Please note that not every INS-GPS provides
such data.
Status
This status is for available for every INS-GPS and shows the status of the INS-GPS data.
Normal
Warning
Text is yellow
Error
Text is red
Versions and
statistics
Data
information
Information about received data. Please note that not all INS-GPS provide information to show
here.
2.6.5
Camera settings
This dialog is used to change the camera pattern of the camera. All settings in this dialog represent the camea
selected at the top.
Common
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Laser
configuration
New...
Adds a new camera configuration to the project and opens the camera configuration dialog
to edit it.
Edit...
Delete
Apply
Apply all
This button exists only if there are more cameras in the system and is a convenient way to
apply a camera configuration to all cameras at a time.
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Settings
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Please note that this settings can only be changed for the VMX-250-CS6.
Exposure
mode
Manual
Auto
Exposure time
Gain mode
Manual
Auto
Gain value
The default gain is zero and gives the best image quality. However in low light situations it may
be necessary to increase this value which decreases the image quality.
Read
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Apply all
This button exists only if more than one camera is in the system and is a convenient way to
press the Apply button for all cameras at a time.
Save user
Restore factory Values saved by the user with the button save user are overwritten with factory settings and are
permanently saved.
White balance
wizard
Status
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Please note that not all information are available for all camera types.
2.6.6
Connection test
This dialog tests periodically if a connection to the devices defined in the integration settings
connection cannot be established an error string reports what's wrong.
Please note that not all scanners allow multiple connection, that applies to other devices too.
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is possible. If a
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Laser configuration
Configuration parameter
Name
This is the name of the laser configuration. By pressing the Propose Name button a name
consisting of distance/altitude, ground speed and pulse repetition rate/log mode/measurement
program is created. E.g. 30.00m 21.00km/h 300kHz
Scanner Type
This defines the type of the scanner for that to create the configuration. Because of the large
number of supported scanner types this list contains by default only the types of scanner
defined in the integration settings 81 but can be extended to show all supported scanner types
by the check box show all.
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Scanner
Marks the serial number and name of the scanner of which parameters and limits are used in
the scanner parameter box. If the scanner is not known by RiACQUIRE (see integration
settings 81 ) or the scanner has never been initialized with RiACQUIRE, the scanner box keeps
blank and the scanner parameter box will be disabled.
If the check box show all is checked all known V-Line scanners of selected scanner type are
shown in the list.
Only available for V-Line scanners.
Please note: RiACQUIRE manages a file containing scanner parameter and limits for all
V-Line scanners that have ever been initialized. This is done to allow an offline creation
of laser configurations for V-Line scanners, which can have different parameters and
limits depending on the firmware.
Mission parameter
Altitude AGL /
Target
Distance
For ALS this is the altitude above ground level and for MLS this is the distance to the target
e.g. trees or buildings.
Ground Speed
This is the speed on the ground and not in the air speed.
Scanner parameter
The characteristics of the scan pattern for V-Line scanner are changed by choosing appropriate values for the
parameters described below. Applicable values are depending on the type of laser scanner in use, refer to the
user manual of the laser scanner for further information.
Scan Mode
RFOV
Rectangle field of view scan is only available for VZ-series and
Z-series scanners.
Sequence
Sequence
Count
Is used to define the number of scan sequences (how often a sequence is executed). 0 means
continuous.
This parameter is only used if scan mode is sequence.
Monitor Step
Multiplier
A natural number n which defines to visualize every nth measurement of a scan line and every
nth scan line.
This parameter can be used to reduce the load of the CPU by simply increment the value.
By default this value is automatically calculated by RiACQUIRE. To change this value anyway
start RiACQUIRE in expert mode 6 . To change this behaviour see target monitor data rate in
the environment settings 138 .
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MTA Zone
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Used MTA zone is used to get correct range values in real time for scanners which have the
feature MTA.
The left box allows to select the method for changing/calculating the MTA zone:
Manual
The MTA zone can be set manually with the box to the right. This
option is only available in expert mode 6 .
Mission parameter
The MTA zone is calculated automatically depending on set mission
parameters and is applied one time to the scanner. Echoes of the scanner outside of the
set MTA zone are displayed with a wrong range.
Please refer to the scanner manual for more details about MTA.
NRS Level
Used near range suppression level. Please refer to the scanner manual for more details.
High Sensitivity Allows to enabled or disable the high sensitivity for the V-LINE scanner. Please refer to the
scanner manual at the property "FILT_REDUCED_QUALITY_ENABLE" for more details.
Laser Power
Laser Switch
The laser is switched on and off when needed automatically. This should be
Always On The laser is switched on when applying the configuration with this option and
is only switched off when
- applying a different laser configuration where this option is disabled
- the scanner is set to standby mode
Pulse
Repetition
Rate/
The number of laser measurements per second, refer to the user manual of the laser scanner
for further information.
Log Mode/
Measurement
Program
Measurement
Output
This is only available for V-Line scanners if the scanner supports different modes. Please see
scanner manual for more details.
Line Start
Angle of the first laser measurement with respect to the laser scanners own coordinate system
in a single scan line, given in degrees.
Line Stop
Angle of the last laser measurement with respect to the laser scanners own coordinate system
in a single scan line, given in degrees.
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Line
Defines the speed of the mirror wheel in lines per second.
Speed/Increme
Defines the angular increment between laser measurements in a single scan line, given in
nt
degrees.
Frame Start
For VZ-series and Z-series scanners in line scan mode this defines the frame angle where to
scan and in RFOV or sequence scan mode this defines the frame start angle, given in
degrees.
Frame Stop
For VZ-series and Z-series scanners in RFOV or sequence scan mode this defines the frame
stop angle, given in degrees.
Frame
Increment
For VZ-series and Z-series scanners in RFOV or sequence scan mode this defines the angular
increment between scan lines, given in degrees.
To get uniform point spacing the button Uniform Point Spacing can be used to automatically calculate the value
needed for line speed/increment.
Information
Scan Rate
Max Range
This is the maximal range to target depending on FOV and is the used to select the correct
MTA zone for scanners with Multiple Time Around functionality (Q680).
MTA Zone
This is the used zone for scanners with Multiple Time Around functionality (Q680). Please refer
to the scanner user manual.
NRS Level
This is the used zone for scanners with Multiple Time Around functionality (Q680). Please refer
to the scanner user manual.
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Line Distance
Distance between scan lines in moving direction depending on the ground speed.
Point Distance
Mean distance between scan points in a scan line depending on the line increment.
Point Density
Swath Width
Width of the the scan swath depending of the altitude AGL / target distance and line FOV (line
start and line stop).
How to use
1. Fill in the configuration parameter.
2. Enter desired mission parameter and scanner parameter. Please take a look to scanner data sheet for the
typical operating flight height or maximal distance to targets.
3. The information box at the and of the dialog contains information about the scan pattern corresponding the
entered scanner parameter and mission parameter.
4. Press the button "Uniform Point Distance" if needed
2.6.8
Camera configuration
Configuration parameter
Name
This is the name of the camera configuration. By pressing the propose name button a name
consisting of trigger mode and interval/distance/overlap is created. E.g. Interval 3.0s
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Camera Type
This defines the type of the camera for that to create the configuration. Because of the number
of supported camera types this list contains by default only the types of scanner defined in the
integration settings 81 but can be extended to show all supported camera types by the check
box show all.
Trigger parameter
The characteristics of the camera pattern are changed by choosing appropriate values for the parameters
described below. Applicable values are depending on the type of trigger mode in use.
Trigger Mode
Distance
Overlap
Camera is triggered to reach defined overlap of photos. (Only
available in RiACQUIRE-ALS)
Please not that for the camera type RiACQUIRE Embedded is due hardware limitations only
the interval trigger available.
Preview
Interval
Interval
Defines the camera trigger interval, e.g. trigger camera every 1s.
Please note that this is only available for VMX-CS6 camera type.
The camera is triggered after each defined distance, e.g. every 1m.
This parameter is only used if trigger mode is distance.
Overlap
Overlap of pictures that should be reached. E.g. pictures should overlap 30%.
Please note that this is only available for Common camera type in RiACQUIRE-ALS.
Start/Stop
Logging
Automatically
With Scan
Data Logging
Usually camera data are used to color scan data and therefore camera should only be
triggered if scan data will be logged. If this option is enabled camera logging will be
automatically started/stopped if the assigned scanner (see integration settings 97 ) starts/stops
logging. If camera should log data without scan data logging this option has to be activated.
Please note that the VMX-CS6 camera has to be in the working state
started/stopped.
Please note that the Common camera has to be in the initialized state
started/stopped.
2.6.9
Environment settings
Control
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to get automatically
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Toolbar
Allows to change the size of the toolbar 25 to make it easier to activate the buttons. This is especially interesting
for computers with a touch screen. So it is possible to have a toolbar as can be seen in the following picture.
Font
In this box it is possible to change the font used in RiACQUIRE.
Shortcuts
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To change the default shortcuts for device actions, it is possible to change them in this table. This table contains
all available actions with shortcuts but it is only possible to change the device actions which have a white
background. A shortcut must fulfill the following requirements:
Needs a modifier like Shift, Ctrl, Alt if the used key is not a function key. These modifiers can be used in every
combination.
Valid shortcuts are F6, F3, Ctrl+F12, Ctrl+Shift+L, Ctrl+Alt+Shift+A
Invalid shortcuts are L, #, /
A shortcut must not be used for more than one action
To fulfill these requirements it is only possible to enter correct shortcuts.
Devices
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Confirmation
Confirmation
Allows to activate a confirmation dialog when a button or shortcut is used. If the name of the
action in the list is checked a question dialog will pop up to confirm that this action should be
executed.
This could be helpful to prevent accidental execution of e.g. stop logging of the trajectory.
Allows to enable/disable automatic toggle logging of scan data depending on set time interval
[s].
If enabled RiACQUIRE performs an automatic toggle logging when the set time elapsed.
File Size
Allows to enable/disable automatic toggle logging of scan data depending on the size of a scan
data file [MB].
If enabled RiACQUIRE performs an automatic toggle logging when the size of one of the
currently logged scan data files is larger than the set file size.
Device settings
Scanner
Atmospheric parameter
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Defines the default atmospheric parameter used when opening the scanner settings dialog
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Echo filter
V-Line scanners provide multiple target echoes on the monitoring data port which is used by RiACQUIRE. Other
scanners may have also multiple target echoes but not at the monitoring data port which means that this settings
affects only V-Line scanners. With this setting unwanted echoes can be filtered out e.g. to reduce the CPU load or
if only specific echoes are needed. This filter affects all instruments and views of RiACQUIRE that show scan
data information. The acquired raw scan data will be left untouched.
Usually a laser shot returns at least one echo depending on the target situation. If a laser shot is reflected e.g. by
the street it returns usually only one echo, this is defined as a single echo.
Another situation is when the laser shot is returned by a tree which usually returns multiple echoes e.g 4 echoes.
In this case we have 1 first echo, 1 last echo and 2 interior echoes. If the tree would only reflect 2 echoes we
have 1 first echo and 1 last echo.
Single
First
The first echo of a multiple target echo will be filtered out. Possibly interior echoes of the last
echo will be still visible.
Interior
The interior echoes of a multiple target echo will be filtered out. The first and the last echo are
still visible.
Last
The last echo of a multiple target echo will be filtered out. Possibly interior echoes of the first
echo will be still visible.
Device windows
Common
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To give a better feedback to the operator when a device is logging data, the background color of this device
shows an color gradient. The following parameters allow to change the behaviour of this logging indicator.
Brightness
Device Status
50%
100%
Allows to test the indicator on the possible device window background colors.
OK
Green color
Warning
Yellow color
Error
Red color
The last item shows the preview of the logging indicator with the defined settings.
Update time
For older PC it's useful to reduce the update time of the device windows and the system windows to get a lower
CPU usage.
Device
windows
This is the interval [ms] how often device windows will show new values if newer are available.
The following windows are effected by this time:
scanner window
INS-GPS window
48
50
camera window
System
windows
44
50
This is the interval [ms] how often system windows will show new values if newer are available.
The following windows are effected by this time:
CP560, CP680 window
VMX-CU window
52
51
VMX-CS6 window
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Scrolling text
For older PC it's useful to reduce the update time of the device windows and the system windows to get a lower
CPU usage.
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Scrolling text
Enables text scrolling for device windows and system windows if the shown text is not
completely visible.
Example
Scanner
INS-GPS
Tilt mount
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Camera
RiACQUIRE has a lot of instruments in the device windows 41 to show the operator the actual measurement
data. Depending on the system settings and on the graphics card resolution of the used computer running
RiACQUIRE, it could happen that not all device windows can be visible. This option allows the operator to decide
which instruments are needed to keep in view. E.g in mobile scanning projects in is not necessary to see the
altitude indicator. So unneeded instruments can be set invisible. The picture above shows that the ground speed
indicator has been set invisible.
Another way to keep the needed space of the instruments small is to change their appearance. By default
RiACQUIRE uses common analog instruments. This appearance of instruments is called graphical and needs a
lot of space. If the monitor resolution is not enough the appearance to textual can be changed. This is done with
the combo box in the column appearance. The following picture shows the INS-GPS window 48 for the INS-GPS
settings above.
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The attitude indicator is represented by the two textual lines roll angle and pitch angle. Also the compass is shown
textual in the line yaw angle. Only the altitude indicator appears graphical and the speed indicator is hidden.
Maps
Maps can be used as background in TOP view. Please see TOP view
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Proxy Server
HTTP proxy
server
If access to the Internet is only possible via a proxy server to download maps, the box has
to be checked and the proxy server parameter can be entered.
For direct Internet connection without a proxy server uncheck the box.
Host name
Port
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User name
If the proxy server needs authentication this is the user name. If no user name is needed leaf
this field blank.
Password
If the proxy server needs authentication this is the password. If no password is needed leaf this
field blank.
Cache
Disk Cache
Directory
This folder is used to cache map images downloaded from the Internet. So it is possible to
load maps from disk instead of the Internet which is significant faster and RiACQUIRE can
operate offline.
Size
Defines the maximum size of the disk cache. If more than this size is used for caching maps
RiACQUIRE will delete the fewest used data.
If the size is set to 0 then RiACQUIRE will not take care of cache size.
Download not
cached data
from Internet
If this option is enabled RiACQUIRE will try to download map data from the Internet if
requested map data are not cached.
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Downloading maps for a region of interest can be performed with the map downloader
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SRTM Geotiff
This feature is only available for RiACQUIRE-ALS.
Directory
This folder defines where SRTM GeoTiff files with the file extension .tif are stored which
RiACQUIRE should be used for calculating MTA zones in real time. Calculating MTA zones is
only needed for scanners which are prepared for MTA zones.
So it is necessary to download the SRTM data for the mission area and save them in this
folder. These SRTM data can be downloaded at the page of the Consortium for Spatial
Information (CGIAR-CSI) http://srtm.csi.cgiar.org/SELECTION/InputCoord.asp.
The downloaded files needs to be decompressed to allow RiACQUIRE to access the GeoTiff
files.
Reinit
When RiACQUIRE starts it will initialize the SRTM data. With this button it is also possible to
change the content of the SRTM directory or the directory itself during run time and reinitialize
the SRTM data manually.
Available
SRTM tiles
This image show all loaded SRTM tiles highlighted to in the world map.
Services
This list contains all supported map services which can be edited.
Opens the map service dialog 153 and adds the new, configured map service to the list. If this
action is canceled, no new service is added to the list.
Removes the currently selected service from the list.
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click
See copyright
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153
134
Project
Common
Interval
Here is it possible to change the auto save interval in minute steps. If the interval is set to 0 the
auto save function is disabled.
Example name A name for a project which is only needed to show where the project is created.
Default
directory
RiACQUIRE allows to set a default project folder where to create new project by default.
Changing the directory with the Browse... button triggers to update the line example file and
shows the full path and name of the project that would be created.
Example file
Shows the full path where the project file for a project name with name example name would
be created.
INS-GPS
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Automatic
scanner
start/stop
Some INS-GPS provide information when the scanner should be started or stopped. If
RiACQUIRE is able to decode this information it will automatically start or stop the scanner if
this option is enabled.
Confirmation
dialog visibility
time
Before RiACQUIRE will start or stop the scanner it will show a confirmation dialog that is is
going to start or stop the scanner.
This dialog is visible for the set time and allows the operator to cancel the automatic operation.
Record
Base name
Consecutive
number length
Length of the number used for the record name. E.g. a length of 2 would create like Record01
and a length of 4 would create Record0001.
Use mission
guidance line
number
If the used mission guidance system supports a line number of the actual stripe (e.g. IGI
AEROcontrol) RiACQUIRE will take this number and add it to the record name.
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Base name
136
If mission guidance is used this is the text that will be added to the record name, e.g.
Record001_Line1.
If the record will not be stopped for more than one scan stripe the name of the record contains
all line numbers, e.g. Record001_Line1_Line2_Line3
Line number
example
Only an example line number from the mission guidance system to see how the record name
would look like.
The last line of this tab shows an example of the record name with the settings set above.
Scanner
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Logging
method
RiACQUIRE-MLS
When logging scan data of V-Line scanners RiACQUIRE allows different logging modes
depending on the used computer system.
Single file
Use this method when logging the data of one or more scanners to
one HDD. The advantage is that only one HDD is needed to be
able to log many data streams at the same time continuously.
The data of all V-Line scanners in the system will be written to only
one log file by the tool rmsrecord. This technique allows to acquire
data of one or more scanners at the same time to only one HDD.
By serializing the data streams of all scanners, unneeded
repositioning of the HDD will be omitted. Otherwise the PC could
not able to write the scan data to the HDD as fast as the scanners
produce them.
Multiple files
Use this method when providing a HDD for every scanner in the
system. The advantage is to have a good deal more data storage
and there is more time to log scan data continuously before
copying the data to an external mass storage.
Every data stream is written to it's own file. Make sure that the set d
efault destination folder is set to a different HDD. Otherwise the PC
could not able to write the scan data to the HDD as fast as the
scanners produce them.
Remote
Use this technique when using a PC for controlling and one or
more PC for data logging. This has the advantage that the
CPU load and the hardware requirements of the every PC is
lower. It is possible to have a logging PC for every scanner or
one for more scanners. This is because the logging PC has to
run the tool rmsrecord (see logging method "Single File").
RiACQUIRE establishes a connection to every defined remote
host (see host name) and sends commands to log the data of
which scanner. It is recommended to add the the tool
rmsrecord to the auto start function of the logging PC.
DR680
Use this technique when using a RIEGL DR680 for data
logging. This has the advantage that the CPU load and the
hardware requirements of the every PC is lower. It is possible
to have a RIEGL DR680 for every scanner or one for more
scanners.
RiACQUIRE establishes a connection to every defined RIEGL
DR680 (see data recorder in the integration settings 87 ) and
sends commands to log the data of which scanner.
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Host name
When using logging mode "Remote" this is the name or IP address of the host system where
to write data.
Logging
arguments
Additional arguments for logging separated by comma that needs rarely to be used. This
feature is only available in EXPERT mode 6 .
The following arguments are valid:
monrxp
Monitoring rxp data will be logged additionally to the project folder 03_RIEGL_RAW/04_MON
with the same name as the full measurement data (see Project structure 173 ).
These files are not referenced in the project file and are therefore not accessible by
RiPROCESS. To process the monitoring data instead of the measurement
data simply use the RiPROCESS function "modify file path" to and point to the folder
containing the monitoring rxp.
Default
destination
folder
Allows to change the the folder where the acquired scan data will be saved by default.
Changing the directory with the Browse... button triggers to update the line default path and
shows the full path where to write data of the scanner.
Not enabled for logging mode "Remote" and "DR680" because the host system has to make
sure where to write data.
Please note when changing the destination folder for logging method "Single File", the
destination folder of every scanner using also "Single File" will be changed.
Default path
Show drive
filling level
Enabled or disable a filling level bar at the top of the project window
28
Not enabled for logging mode "Remote" and "DR680" because the host system has to make
sure where to write data.
Laser Configuration
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Automatic
MSM
calculation
Target monitor
data rate
This is the data rate of all scanner monitoring that should be reached. The target data rate is
used to calculate the MSM for laser configurations 118 with the following formula:
MSM
fLASER
fMON
nSCN
118
will be calculated
By reducing the value of this parameter the MSM value will be increased and so
the CPU load will be decreased.
Default laser
configuration
Defines default laser configurations that will be added to every new created project.
Add
Edit
Remove
Camera Configuration
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Default camera Defines default camera configurations that will be added to every new created project.
configuration
Add
Adds a new configuration is added to the list.
Edit
Remove
Units
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141
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The operator can change the units of measurement visualization on this page that will have effect on the device
windows 41 and the views 64 . The following units can be changed.
Angle
Used for scan parameters, INS-GPS measurements, ...
Time
Allows only second.
Range
Describes the distance for scanner measurements.
Height
The altitude of measured by the INS-GPS.
Speed
Is the speed of the rover/aircraft depending on GPS.
Geographical
Representation of coordinates.
Temperature
Temperature representation.
Pressure
Pressure representation.
View
This allows you to change the default appearance settings of the views. Every new project will use these settings
but the values can be changed later in with the view inspector 54 .
SOCS view
View
Laser device
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54
142
Range Average
To add and remove range average items use the the buttons right to the list which contains the names of
existing range averages.
Please see view inspector
54
TOP view
View
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54
54
Area Objects
Geoimage Objects
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Control Objects
54
54
54
Navigation Device
Laser Device
Camera Device
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145
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54
Quad tree
The TOP view 66 uses a quadtree as data structure to reduce the scan data to draw and save CPU
time. For that the project area is rasterized to tiles with an edge length of cell size. Increasing the cell
size of the quadtree will decrease the TOP view 66 resolution and CPU load. Decreasing the cell size of
the quadtree will increase the TOP view 66 resolution and CPU load. So this value can be used to
optimize RiACQUIRE for the PC that is used.
The TOP view 66 uses a quadtree as data structure to sort the camera data to save memory and CPU
time. For that the project area is rasterized to tiles with an edge length of cell size. Increasing the cell
size of the quadtree will reduce used memory but increases CPU load. Decreasing the cell size of the
quadtree will increase the needed memory but saves CPU load. So this value can be used to optimize
Adding scan data to the quadtree can be very time-consuming especially for airborne scanning
where the area is huge with less points per quadtree cell. This means the CPU can be
overstrained with the amount of scan data and loss of data in the TOP view 66 will be the effect.
To allow a high quadtree resolution with small cell size the processing buffer keeps scan data
wile the CPU is too busy. This means after finishing a scan stripe and stopping data acquisition
the CPU has time to process the data of processing buffer and add scan data to the TOP view
66 .
To take effect RiACQUIRE needs to be restarted.
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Camera Buffer
Processing
Adding scan data to the quadtree can be very time-consuming especially for airborne scanning
where the area is huge with less points per quadtree cell. This means the CPU can be
overstrained with the amount of scan data and loss of data in the TOP view 66 will be the effect.
To allow a high quadtree resolution with small cell size the processing buffer keeps camera
data wile the CPU is too busy. This means after finishing a scan stripe and stopping data
acquisition the CPU has time to process the data of processing buffer and add camera data to
the TOP view 66 .
To take effect RiACQUIRE needs to be restarted.
CHASE view
View
54
Laser Device
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54
54
54
Camera view
View
Camera Device
Windows
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Allows to define the position and size of each view window which is used for every new project.
Tile Windows
All windows that are not minimized are tiled. Please note that a view window is minimized with
the minimize button and the close button of the title bar.
Cascade
Windows
All windows that are not minimized are cascaded. Please note that a view window is minimized
with the minimize button and the close button of the title bar.
Previous
Window
Next Window
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This dialog allows to compress one or more projects to one zip-file. %RIACQUIRE%> expects that the selected
projects have the defined project structure 173 .
Input
This list contains all projects that should be compressed into the zip-file.
Add
Remove
Output
Output file
Which files of the projects are added to the zip-file is defined by the following compression
modes.
Essentials
Only the essential files are added to the zip-file. This is the default way to
provide projects to the Riegl support.
Complete
Every file is added to the zip-file which could result in long compression time.
Options
Start
Compression/
If all needed projects have been added to the list this button starts the compression.
Cancel
Compression
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While the compression is running this button allows to cancel the process.
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150
This dialog allows to browse through acquired pictures. To do this %RIACQUIRE%> needs the camera system
initialized and the pictures are on the cam data drives.
This dialog can be opened by selecting camdata in the project tree
66 . The selected pictures will be added to table in this dialog.
35
Picture area
The upper area shows information about the picture like
exposure time,
gain value and
file size.
Below is the opened picture or an error message if the picture cannot be opened. The resolution of this picture is
down scaled to fit the dialog size. So to show the picture larger simply resize the dialog, but the picture will not be
scaled to a higher resolution.
Data area
The lower area shows a table with added pictures that can be shown. The picture for the currently selected line
will be shown.
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Camera
Time
Name
Navigation
To browse through the pictures in the table can be done by
selecting an entry in the table,
using the navigation button previous
and next
by the keys
and
by the keys
and
This dialog allows to set atmospheric conditions. This is useful for the post processor and should be entered by
the operator at least once per day.
This dialog can be opened by selecting atmospheric conditions in the project tree
can be changed in the environment settings 140 .
34
Edit
Pressing this button will remove the line from the table.
Date
Date for the following atmospheric conditions. When creating a new entry %RIACQUIRE%>
uses the current INS-GPS date if available, Otherwise it uses the current system date.
Time
Time for the following atmospheric conditions. When creating a new entry %RIACQUIRE%>
uses the current INS-GPS time if available, Otherwise it uses the current system time.
Temperature
Rel. humidity
Relative humidity.
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Sea level
pressure
Height above
sea level
Add
Pressing this button adds a new line to the table with the actual date and time. %RIACQUIRE
%> uses the current INS-GPS date/time if available, Otherwise it uses the current system date/
time.
This dialog allows to create a project report. This dialog can be opened by selecting project in the project tree
31
The box data allow to select which project information should be added to the report:
System
Atmospheric
conditions
POS data
Record
34
32
.
34
.
35
35
35
Notes that have been added to a project entry with right mouse click. Available for all Data
entries.
Start
Information when a filed started such as date/time, latitude, longitude, altitude, roll, pitch, yaw,
speed. Only available for Records.
End
Information when a filed ended such as date/time, latitude, longitude, altitude, roll, pitch, yaw,
speed. Only available for Records.
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Messages
Message window 38 entries corresponding to the start and end date/time for a record. Only
available for Records.
38
entries to Records:
Warning
Warning messages will be added corresponding to the start and end date/time for a record.
Only available for Records.
Error
Error messages will be added corresponding to the start and end date/time for a record. Only
available for Records.
The output of the report can be defined with the Output box:
File
Path and name of the report. The path and the name of the project file are used by default. E.
g. a project file c:\Projects\test.rpp will generate a report like c:\Projects\test.pdf.
Format
Example:
246
133
Name
Name of the service to show in the user interface like in view inspector
Image prefix
Defines the prefix for a image for this service when caching in the set cache directory 133 .
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Min. zoom
Max. zoom
URLs
A list with every URL where the map data can be downloaded.
154
To download the correct data the URL has to contain the coordinates and the zoom level.
Example:
The map service provides the URL http://a.tile.openstreetmap.org/z/x/y.png. To allow %
RIACQUIRE%> to automate the download replace the following:
x
{x} X-coordinate
{y} Y-coordinate
2.7
Tools
2.7.1
Export trajectory
or
22
and Export or
Please note that the time stamps of the exported trajectory is always in seconds of the day.
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File
Files to export.
If a project is open the file browser starts at the project directory where INS-GPS data will
be logged (see project structure 173 ).
Otherwise the file browser starts at the default project directory (see environment settings
134 ).
INS-GPS
Protocol
Rate
Format
180
Garmin PCX5
187
GPS Exchange
189
190
2.7.2
This simple tool allows to export VMX-250-CS6 camera communication files logged by RiACQUIRE. This function
is only available in DEBUG mode 6 and can be started in the menu bar 22 Tools-Camera System.
File
File to export.
If a project is open the file browser starts at the project directory where camera communication
data will be logged (see project structure 173 ).
Otherwise the file browser starts at the default project directory (see environment settings
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).
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2.7.3
156
This simple tool allows to export logged housekeeping data of the VMX-CU. This function is only available in
DEBUG mode 6 and can be started in the menu bar 22 Tools-Control Unit.
File
File to export.
If a project is open the file browser starts at the project directory where housekeeping data will
be logged (see project structure 173 ).
Otherwise the file browser starts at the default project directory (see environment settings
Start time
134
).
Start time of logging which is used to write time information for exported data.
Usually the start time is determined from the file name because RiACQUIRE creates a file
name from the current date and time.
If the file does not contain the date time information the creation time of the file is used.
Interval
2.7.4
Firmware loader
This simple tool allows to download a firmware into the VMX-CU or the VMX-CS6. This function is only available
in EXPERT mode 6 mode an can be started in the menu bar 22 Tools-Loader.
File
File to download.
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Device
All supported systems that have been configured in the integration settings
VMX-CU
82
If the firmware is downloaded into the device via serial port, this is the used port for download.
If the download has been finished successfully a dialog is shown with the success message, otherwise an error
message is shown with detailed error text.
2.7.5
This simple tool allows to configure the RIEGL-CS6. This function is only available in EXPERT mode 6 and can
be started in the menu bar 22 Tools-Camera System. Usually it is not necessary to change these settings.
Camera
system
Read
By pressing this button the complete actual configuration is read from the system and
displayed in the text field.
Apply
The edited configuration from the text field is sent to the camera system.
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[camera
EXT/487AX]
158
Serial number of the camera which must match the serial number from the
487AX
integration settings 82 . This is a simple text to identify the camera and must be unique.
trigger_pul
se=15
Width of the trigger pulse that is needed to trigger the camera in [ms]. Please see the camera
manual or contact the manufacturer.
trigger_por
t=5
Port of the camera system (1-6) where the camera is connected too and is triggered by.
camera_name
=Nikon D700
2.7.6
This is a feature for V-Line scanners that allows RiACQUIRE to detect when a scanner has been started or
stopped externally. This means RiACQUIRE automatically starts or stops logging of scan data as if the user has
triggered it in RiACQUIRE.
To avoid misunderstandings this function is only available in EXPERT mode
bar 22 Tools.
2.7.7
RiACQUIRE contains a data base of parameter limits for all VLine scanners that have been ever initialized with
this installation.
A VLine scanner is automatically added
during initialization (see menu Device - Initialize) or
when manually triggered (see menu Device - Read Scanner Limits).
This tool is thought for support issues and is rarely needed.
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2.7.8
RiACQUIRE-MLS
Stop watch
This tool is a simple stop watch that allows to measure elapsed time. This might be useful e.g. during static
alignment of IMU. This tool can be started in the menu bar 22 Tools.
Start/Stop
Reset
Time
The shown time represents the elapsed time in the format mm:ss.z
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160
and Export or
22
Data will be exported as currently displayed in the TOP view, please see view inspector
how to change visualization of the TOP view.
58
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Region
Format
Path
Image
resolution
Size of 1 image pixel used for export. By default this is set to lowest possible value (see quad
tree 145 for more details).
Image size
Information
191
This simple tool allows to format the CAMDATA disks of the VMX-250-CU. This function can be started in the
menu bar 22 Tools-Camera System.
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Select
Device
Model
Size
Label
162
This simple tool downloads project data (images) from the CAMDATA disks to a defined path. This function can
be started in the menu bar 22 Tools - Camera System.
RiACQUIRE will check before download the files if they are already exist at the target path. If a file already exists
with the same size it will be skipped. This allows to break downloads and continue on the same position.
Project
Project for that to download the CAMDATA files. If a project is opened it will by selected by
default.
Target
Path where to download the data. By default the data are downloaded to the SCANDATA disks
into the project folder.
Raw Images
Download all raw images for this project to the destination folder when checked.
Processed
Images
Download all processed images for this project to the destination folder when checked.
Project
Structure
Creates also the project structure in the destination folder when checked.
Remaining
time
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This tool downloads raw data from the internal memory of the Applanix INS-GPS if internal logging is enabled.
This function can be started in the menu bar 22 Tools-Loader.
RiACQUIRE will check before download the files if they are already exist at the destination path. If a file already
exists with the same size it will be skipped. This allows to break downloads and continue on the same position.
Project
Project for that to download the raw INS-GPS data. This is selected by default.
Destination
Path where to download the data. By default the data are downloaded to the into the project
folder.
Remaining
time
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This tool connects to the selected map service and shows the map data in the top area of this dialog. It is possible
to navigate 80 through the map data and select the area to export with pressed left mouse button.
After selection of the region of interest the map data can be downloaded by pressing the start button.
allows to select downloads map data to the predefined disk cache
Map area
132
This area show the map data and allows navigation and selection of region to download map
data for.
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The top left corner of the map area contains a item that allows navigation in the map on a
touch screen.
- the outer circle allows to move the position of the map.
- the + button zooms in
- the - button zooms out
Usage of the button:
- single touch/click and release on one of these buttons performs the function one time
- touch/click without release performs the function continuously but slower
Map Service
Start
Stop
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Part
III
Appendix
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Appendix
3.1
Abbreviations/Glossary
AGL
Above ground level. Altitude of flight line above the Earth's surface.
ALS
Airborne Laser Scanning. Method to acquire highly precise data on the Earth's surface and ground based objects
by means of laser ranging and scanning, also referred to LIDAR.
ALS survey
Includes the complete work flow from mission planning to flight, data analysis and quality control measures, and
data export in a user defined coordinate system.
Body coordinate system
Cartesian coordinate system attached to the aircraft. Most commonly used is the NED (North-East-Down) where
the x-axis points to the nose, the y-axis to the right wing, and the z-axis downwards. Applying the roll, pitch, and
yaw angles of the POS data file to this body coordinate system brings the system axes parallel to north, east, and
down, respectively.
Boresight misalignment
Small angular deviations of the coordinate axes of two scanners which are aligned nearly parallel.
CM
Central Meridian. Longitude at the horizontal center of a projection; origin longitude.
CMCS
Is the coordinate system of the camera which is optionally available in the system to provide high resolution
images.
Flight stripe
Subset of the complete flight during which scan data was recorded continuously, i.e., usually the time between
start and stop of laser data recording.
Flight stripe adjustment/Scan data adjustment
Spatial Adjustment of the laser data by means of rotations and shifts to minimize inconsistencies in the laser data.
Full waveform analysis
Analytical method to estimate the range, the number of targets and the pulse width of each received echo signal
stored in the laser raw data, without being restricted to a limited number of echoes per laser pulse.
GD
Geodetic Datum. A datum defines how a coordinate reference system is related to the physical Earth (reference
ellipsoid, position of the origin, scale and orientation of the coordinate axis, height reference). It can be either
global (geocentered) or local in extent, e.g. ETRF89, WGS84, SIRGAS or MGI (Austria).
Geo-Referencing
Merging laser and POS data to obtain a point cloud based on the time stamped data in both data sources in a
geocentered coordinate system (e.g. WGS84).
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GPS
Global Positioning System. Currently the only fully functional Global Navigation Satellite System (GNSS). Utilizes
a constellation of at least 24 medium Earth orbit satellites that transmit precise microwave signals. The system
enables users to determine their position, velocity, and time anywhere in the world.
INS/GNSS, INS/GPS
A system containing hard- and software for measuring position and orientation/attitude (the currently used GNSS
is GPS).
Laser data
All data acquired with the laser scanner or its derivatives.
Laser Device
Information about the laser scanner (instrument type, position and orientation,...).
Lever arm
The spatial distance of the origin of various sensors, e.g. laser scanner and IMU/GPS
MLS
Mobile Laser Scanning. Method to acquire highly precise data on the Earth's surface and ground based objects by
means of laser ranging and scanning, also referred to LIDAR.
Navigation Device
Information about the IMU/GPS (instrument type, position and orientation, configuration...).
Navigation frame
Reference frame in which the position and orientation data of the IMU/GPS is given. Not necessarily the IMU/GPS
hardware coordinate system (depending on the software of the manufacturer of the IMU/GPS system).
Point cloud
An amount of coordinates generally defined in three dimensional space. Every defined point can include additional
data, e.g. true color, reflectivity, pulse width,
POF data (formerly "Trajectory" or POS data)
Position and Orientation of the System. A dataset containing timestamp, position and orientation (e.g. trajectory
and attitude of an aircraft), measured by the IMU/GPS hardware and subsequently post-processed (with at least
one base station) with the relevant vendor software. The dataset has to be present in the .pof file format for
processing.
PRCS
Project coordinate system. RIEGL internal coordinate system, with its origin in the center of the defined region of
interest and tangential to the Earth surface.
Records
All data available belonging to one single data acquisition period, e.g. including the scan data and its derivatives
and the POS data.
SOCS
Laser scanner's own coordinate system. The laser scanner delivers its scan data in a proprietary manufacturer
defined Cartesian coordinate system with its origin and axis directions denoted in the laser scanners manual.
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System calibration
The task of assessing a systems boresight misalignment to improve flight data accuracy.
Timestamp
A highly accurate time descriptor, output by the GNSS (e.g. GPS) receiver and derived from the GNSS's own
atomic clock time base. In the RIEGL ALS System time stamp data is added to every single laser measurement.
TMP
Transverse Mercator Projection
UNC
Uniform (or Universal) Naming Convention. It specifies a common syntax to describe the location of a network
resource, such as a shared file, directory, or printer.
UTC
Coordinated Universal Time. Also know as Greenwich Mean Time (GMT). High-precision atomic time standard.
WGS84
World Geodetic System 1984. Reference system for the Global Positioning System (GPS) since 1987. It defines a
reference frame for the Earth, a Geodetic Datum as well as an Earth reference ellipsoid. In the context of this
document it is in some cases used as synonym for any geocentered GD.
3.2
Transformation matrix
The attitude of the aircraft is defined according to the ARINC 705 aviation standard (figure 2) which refers to the
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Figure 2: ARINC 705 Standard Definition of roll, pitch and yaw angle with respect to the NED navigation
frame.
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Figure 3: Dimensional drawing denoting the orientation of the laser scanners own coordinate system (SOCS),
the IMU coordinate system and the aircraft body coordinate system (distances in mm).
The transformation matrices of the order four by four have dual information content, including rotations and
translations. The rotations are denoted by the upper left three by three part of the matrix, the translations are
denoted by the upper three elements of column four (equation 1). The last row extends the matrix to a square four
by four matrix.
A. To find the correct three by three rotational part of the SOCS to IMU transformation matrix according to the
installation shown in figure 3 proceed as follows:
1. Define the direction of the x-axis of the laser scanner in the IMUs coordinate system. The x-Axis of the
laser scanner points in direction of the z-axis of the IMU. According to this the first column of the matrix
should represent the x-axis according to the unit vector notation:
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172
2. Define the direction of the y-axis of the laser scanner in the IMUs coordinate system. The y-Axis of the
laser scanner points in the direction of the x-axis of the IMU:
3. Define the direction of the z-axis of the laser scanner in the IMUs coordinate system. The z-Axis of the
laser scanner points in the direction of the negative y-axis of the IMU:
The lever arm (translation part of the matrix) is specified as the distances between the scanners origin
and the IMU origin measured with respect to the IMUs coordinate axis. The complete transformation
matrix SOCS to IMU turns out to be (distances in meters):
B. Determining the rotations necessary to transform the IMUs coordinate system to the aircraft body frame
(with its coordinate system described in definition of the body coordinate system 169 is done in the same
way as described above. In the example shown in figure 3 the aircraft body coordinate systems orientation
equals the orientation of the IMU coordinate system. For this common case the transformation matrix turns
out to be the unit matrix:
The transformation from the IMU to the aircraft body coordinate system generally includes just the rotations in
the upper left tree by three part of the matrix. Translations are not defined because the aircraft body
coordinate system has no designated origin.
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With the transformation matrixes CSOCS,IMU and CIMU,BODY determined and the knowledge of the reference frame
designated for the GPS position data output, all necessary information related to the ALS system components
mounting orientations is available to model the system with respect to geometry in RiACQUIRE or RiPROCESS.
3.3
Project structure
Content
<ProjectName>
01_PLANNING
01_PEF
Description
The root folder of the project contains all sub folders and data for the project and has
is named like the project.
Folder for all planning data.
Plane exchange format files for control planes or project areas are placed in this
folder.
02_MISSION Especially for a airborne survey a mission is planned and will be placed in this folder.
02_INSGPS_RAW
01_MON
The data of the used INS-GPS received by RiACQUIRE are logged in this folder.
Depending on the used INS-GPS and contained information this data are used for
post processing or only for trouble shooting.
02_FULL
Contains the full INS-GPS data needed for post processing. Normally they are stored
onto a data card of the INS-GPS system and are copied into this folder for archiving.
03_BASE
Contains the GNSS reference station data needed for post processing. Data are
copied into this folder for archiving.
03_RIEGL_RAW Folder for all raw scanner data and other RIEGL data.
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01_SDF
Contains the full waveform scan data needed for analyzing with RiANALYZE. They
are copied from the RIEGL Data Recorder 560 with SDFCopy in this folder for
archiving. Only used for Q560 and Q680.
02_RXP
Full scan data of the RIEGL V-LINE scanners are directly written to this folder by
RiACQUIRE.
03_XDD
Full scan data of the RIEGL Q-Series scanners and Z-Series scanners like Z420 or
Q240 are directly written to this folder by RiACQUIRE.
04_MON
Monitoring scan data of the RIEGL Q560, Q680 and V-Line scanners are directly
written to this folder by RiACQUIRE.
05_SYS
The integration settings 81 of the used system are copied to this folder. This is
helpful for data analyzing.
Appendix
04_CAM_RAW
01_EIF
02_MON
03_IMG
05_INSGPS_PROC
01_POS
174
The processed INS-GPS data will be copied to this folder for usage in RiWORLD.
Folder for all processed scanner data and other RiPROCESS data.
06_RIEGL_PROC
01_SDC
The outputs of RiANALYZE and SDCImport are written to this folder for continuing
processing with RiWORLD.
02_SDW
03_OBSERVATI
ONS
04_EXPORT
05_OVERVIEW
Imported georeferenced images are stored in this folder.
06_GEOIMAGE
S
07_PROTOCOL
Every protocol like scan data adjustment, project protocol, etc. are written to this
folder.
08_RECEIVED
All files received by a third party are stored in this folder for archiving, like already
converted scan data, trajectories,...
<ProjectName>.rpc
<ProjectName>.rpl
Every message of RiACQUIRE and RiPROCESS shown to the user is logged in this
file.
<ProjectName>.rpp
(c) 2013
175
3.4
RiACQUIRE-MLS
Camera trigger
RiACQUIRE is not able to trigger every camera on the market directly and so it can be used to generate a simple
pulse on a defined serial port (see integration settings 87 ) to trigger almost every camera. Only a hardware
adapter is needed to convert the pulse on the serial port to a pulse needed by the used camera.
Please note that RiACQUIRE sets the needed serial port parameter for the trigger pulse automatically
regarding the set pulse duration 97 . The following lines are only a documentation how the pulse is
generated.
This trigger pulse is produced on the TxD pin of the defined serial port and the following picture shows an
oscilloscope screenshot with a camera trigger pulse. Placed above the yellow signal is the description of the EIA232 data frame describing the bits of a serial port. The bits colored in turquoise have a fixed logical level and
cannot be changed. The data bits and parity level can changed depending on the trigger.
The symbol duration time ts which is equivalent to the start pulse duration time, can be calculated as
where fs is the symbol rate. The example below shows the calculation of the symbol duration time ts with a symbol
rate fs of 9600Bd.
Depending on the camera and the adapter hardware there can be different requirements concerning the trigger
pulse duration time. To increase the trigger pulse duration time it is possible to set the number of high data bits (p
lease see integration settings) 97 . The screenshot below shows a trigger pulse with high bits = 4 and so the
trigger pulse duration time equals 5 * ts (start bit, data bits 0, 1, 2, 3).
(c) 2013
Appendix
176
The following table shows the duration time of the trigger pulse for the most common used symbol rates and all
possible high bits and parity.
symbol rate fs
300Bd
600Bd
19200B
d
38400B
d
3.33ms
1.67ms
52.08s
26.04s
high bit = 0
3.33ms
1.67ms
52.08s
26.04s
high bit = 1
6.66ms
3.33ms
1.67ms
104.17
s
52.08s
high bit = 2
10.00m
s
5.00ms
2.50ms
1.25ms
625.00 312.50
s
s
156.25
s
78.12s
high bit = 3
13.33m
s
6.67ms
3.33ms
1.67ms
833.33 416.67
s
s
208.33
s
104.17
s
high bit = 4
16.67m
s
8.33ms
4.17ms
2.08ms
1.04ms
520.83
s
260.42
s
130.21
s
high bit = 5
20.00m
s
10.00m
s
5.00ms
2.50ms
1.25ms
625.00
s
312.50
s
156.25
s
high bit = 6
23.33m
s
11.67m
s
5.83ms
2.92ms
1.46ms
729.17
s
364.58
s
182.29
s
high bit = 7
26.67m
s
13.33m
s
6.67ms
3.33ms
1.67ms
833.33
s
416.67
s
208.33
s
(c) 2013
177
RiACQUIRE-MLS
high bit = 8
30.00m
s
15.00m
s
7.50ms
3.75ms
1.88ms
937.50
s
468.75
s
234.38
s
33.33m
s
16.67m
s
8.33ms
4.17ms
2.08ms
1.04ms
520.83
s
260.42
s
3.5
VZ400 INS-GPS
The cable connectors must point to the front of the car. Therefore the scanner provides emulated INS-GPS data
in NED-system. The rotating part of the scanner can point to a desired angle.
To describe the system in the integration settings
(c) 2013
81
do the following:
Appendix
178
(c) 2013
179
RiACQUIRE-MLS
(c) 2013
Appendix
180
3.6
File Formats
3.6.1
pos
The position and orientation of the aircraft/rover at equidistant time points are defined through the POS data and
are given in a geocentric coordinate frame (e.g. WGS84). The data input for processing within former versions of
RiPROCESS should be through the data file format *.pos. If the POS data file is formatted in another form it is
possible to define your own format settings.
The default setup of the POS 1.0 data file must be as follows:
1. Column: UTC timestamp in seconds (seconds of day)
2. Column: Latitude in deg
3. Column: Longitude in deg
4. Column: Height in m
5. Column: Roll in deg
6. Column: Pitch in deg
7. Column: Yaw in deg
Example:
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RiACQUIRE-MLS
POS 1.1 data file must have the following columns additionally:
8. Column: speed in m/s
9. Column: PDOP
10. Column: number of tracked GPS satellites
11. Column: number of tracked GLONASS satellites
Example:
50759.013 48.33841614 15.93149532 471.005 -0.8156 7.1238 71.1383 2.14 1.44 7 6
50759.023 48.33841616 15.93149556 471.004 -0.8118 7.1230 71.1393 2.12 1.44 7 6
50759.033 48.33841617 15.93149579 471.002 -0.8081 7.1214 71.1409 2.12 1.44 7 6
50759.043 48.33841619 15.93149602 471.000 -0.8039 7.1195 71.1411 2.13 1.44 8 6
50759.053 48.33841621 15.93149626 470.999 -0.8008 7.1166 71.1419 2.15 1.44 8 6
The fields are separated by white spaces, i.e. space(s) and/or tabulator(s).
A line is finished with a line feed <LF> which is equal to the C-code \n and ASCII code 0xA.
3.6.2
rpp
The RiPROCESS project file (*.rpp) contains the project structure of the RiPROCESS project in XML notation.
All objects visible in the project manager and some more that are not visible are stored in this XML file. The
project file consists of two sections: The header and the objects itself.
<?xml version="1.0"?>
<document>
<!-- ***************************************************************************************
-->
<!-- *
-->
<!-- *
R i P R O C E S S
P R O J E C T
F I L E
-->
<!-- *
================ Version 1.4.0 ================
-->
<!-- *
(C) 2010 RIEGL LASER MEASUREMENT SYSTEMS
-->
<!-- *
-->
<!-- ***************************************************************************************
-->
<header>
...
</header>
<!-- ***************************************************************************************
-->
(c) 2013
*
*
*
*
*
Appendix
<!-- * CONTENTS
-->
<!-- ***************************************************************************************
-->
<content>
...
</content>
</document>
182
The header contains information about the project file version, author, creation and modification:
<!-- ***************************************************************************************
-->
<!-- *
-->
<!-- *
R i P R O C E S S
P R O J E C T
F I L E
-->
<!-- *
================ Version 1.4.0 ================
-->
<!-- *
(C) 2010 RIEGL LASER MEASUREMENT SYSTEMS
-->
<!-- *
-->
<!-- ***************************************************************************************
-->
<header>
<docinfo>
<format data="RLMS.RiPROCESS.PROJECT"/>
<version data="1.4.0"/>
<remarks data="project file for airborne & mobile laser scanning data processing
software"/>
<creator data="RiACQUIRE ALS v1.2.1 build 3"/>
<created data="2009-09-15 13:35:19+718"/>
<modifier data="RiPROCESS 1.4.6.225"/>
<modified data="2010-10-25 07:58:26+348"/>
</docinfo>
<company>
<name data="RIEGL LASER MEASUREMENT SYSTEMS"/>
<address data="Riedenburgstrasse 48, 3580 Horn, AUSTRIA"/>
<phone data="+43(0)2982 4211"/>
<telefax data="+43(0)2982 4210"/>
<email data="office@riegl.com"/
<website data="www.riegl.com"/>
<support data="support@riegl.com"/
</company>
<history>
<entry date="2009-09-17 14:18:18+741" text="Project version 1.3.2 upgraded to version
1.3.3"/>
<entry date="2010-10-25 07:53:46+040" text="Project version 1.3.3 upgraded to version
1.4.0"/>
</history>
</header>
*
*
*
*
*
The content section contains the objects itself. The objects are stored hierarchically like they are displayed in the
Project manager window of RiPROCESS.
(c) 2013
183
RiACQUIRE-MLS
<!-- ***************************************************************************************
-->
<!-- * CONTENTS
-->
<!-- ***************************************************************************************
-->
<content>
<object name="SHORT_P89_2009_09_15_Q680_Horn_9997421" kind="project" states="expanded">
...
<objects>
<object name="SYSTEM" kind="SYSTEM" states="expanded">
<objects>
<object name="NAVIGATION DEVICES" kind="NAVDEVICES">
<objects>
<object name="INS-GPS 1" kind="navdevice">
...
</object>
...
</objects>
...
</object>
<object name="LASER DEVICES" kind="LASDEVICES">
<objects>
<object name="Scanner 1" kind="lasdevice">
...
</object>
</objects>
</object>
...
</objects>
...
</object>
...
</objects>
</object>
</content>
Each object is represented by a <object name="..." kind="..."> ... </object> tag.
The object's children are listed in the <objects> ... </objects> tag of each object.
An object is described by the <object> ... </object> tag and has the following attributes:
name is the name of the object
kind is the type of the object
states is a set of flags (flag names are separated with spaces)
(c) 2013
Appendix
184
(c) 2013
185
RiACQUIRE-MLS
Example:
<object name="090915_162736.part_MTA2" kind="lasdata" states="expanded">
<links>
<link name="lasdevice" node="/*[0]/*[0]/*[3]/*[0]" kind="lasdevice"/>
<link name="pof-file-original" node="/*[0]/*[1]/*[0]" kind="pof-file"/>
<link name="extrparam" node="/*[0]/*[0]/*[5]/*[2]" kind="extrparam"/>
</links>
<fields>
<field name="offset-roll" data="0" kind="single"/>
<field name="offset-pitch" data="0" kind="single"/>
<field name="offset-yaw" data="0" kind="single"/>
<field name="offset-east" data="0" kind="single"/>
<field name="offset-north" data="0" kind="single"/>
<field name="offset-height" data="0" kind="single"/>
<field name="offset-time" data="0" kind="single"/>
<field name="file-source-id" data="0" kind="integer"/>
</fields>
<objects>
<object name="090915_162736.part" kind="sdf-file">
<files>
<file id="003" item="sdf-file" opts="auto-rename" path="S:\P89\03_RIEGL_RAW\01_SDF\"
name="090915_162736.part" ext=".sdf"/>
<file id="004" item="idx-file" opts="auto-rename optional" path="S:\P89\03_RIEGL_RAW
\01_SDF\" name="090915_162736.part" ext=".idx"/>
</files>
<fields>
<field name="time-start" data="2009-09-15 14:28:49+830" kind="datetime"/>
<field name="time-end" data="2009-09-15 14:29:12+114" kind="datetime"/>
</fields>
</object>
<object name="090915_162736.part" kind="pof-file">
<links>
<link name="navdevice" node="/*[0]/*[0]/*[0]/*[0]" kind="navdevice"/>
</links>
<files>
<file id="007" item="pof-file" opts="auto-rename auto-delete" path="S:\P89
\05_RIEGL_PROC\02_SDW\" name="090915_162736.part" ext=".pof"/>
<file id="008" item="pot-file" opts="auto-rename auto-delete optional" path="S:\P89
\05_RIEGL_PROC\02_SDW\" name="090915_162736.part" ext=".pot"/>
</files>
<fields>
(c) 2013
Appendix
186
3.6.3
pef
Plane exchange format files (*.pef) are used to import control planes or project areas into RiPROCESS or
RiACQUIRE. Control planes are plane surfaces (i.e. roofs), preferably rectangles or parallelograms, that are
described by several points defined in WGS84 coordinate system.
Project areas define the target areas for a mission to scan that are described by several points defined in WGS84
coordinate system.
The pef files are standard ASCII (text) files which have following format:
Each object starts with the keyword "TYPE", that defines the type of the object after the "=" sign. All other
parameters of the object are defined in the subsequent text lines. The text lines are separated by <CR><LF>
(ASCII characters 13 and 10 decimal).
Objects of type "PlaneObj" define a control plane.
The coordinates can be given in one of the following coordinate systems:
ECEF Cartesian ("FORMAT=ECEF_CARTESIAN" or "FORMAT=WGS84_CART")
ECEF Geodetic ("FORMAT=ECEF_GEODETIC" or "FORMAT=WGS84_POLAR")
Local Projection ("FORMAT=LOCAL_PROJECTED")
Example 1:
TYPE=PlaneObj
NAME=Name of object
COUNT=Number of points
FORMAT=ECEF_CARTESIAN
P1=x1 y1 z1
P2=x2 y2 z2
P3=x3 y3 z3
Pn=xn yn zn
Example 2:
NAME=Name of object
COUNT=Number of points
FORMAT=ECEF_GEODETIC
P1=lat1 lon1 height1
(c) 2013
187
RiACQUIRE-MLS
Example 3:
TYPE=PlaneObj<CR><LF>
NAME=Plane001<CR><LF>
FORMAT=ECEF_CARTESIAN<CR><LF>
COUNT=7<CR><LF>
P1=0.000 0.000 0.000<CR><LF>
P2=1.000 0.000 0.000<CR><LF>
P3=1.000 0.500 0.000<CR><LF>
P4=2.000 0.000 0.000<CR><LF>
P5=3.000 0.000 0.000<CR><LF>
P6=3.000 1.000 0.000<CR><LF>
P7=0.000 1.000 0.000<CR><LF>
<CR><LF>
TYPE=PlaneObj<CR><LF>
NAME=Plane002<CR><LF>
FORMAT=ECEF_CARTESIAN<CR><LF>
COUNT=3<CR><LF>
P1=5.000 5.000 0.000<CR><LF>
P2=0.000 6.000 0.000<CR><LF>
P3=6.000 0.000 0.000<CR><LF>
3.6.4
rte
H COORDINATE SYSTEM
U LAT LON DEG
H
R DATUM
(c) 2013
IDX DA
DF
DX
DY
Appendix
DZ
M G WGS 84
+0.000000e+00
R 00 YAKEDAKE_TIS_V4(1)
H
W
W
W
IDNT
_
_
_
LATITUDE
N36.2336690
N36.2410390
N36.2726500
LONGITUDE
E137.4911110
E137.4937110
E137.5048610
DATE
10-Mai-11
10-Mai-11
10-Mai-11
TIME
07:38:48
07:38:48
07:38:48
ALT
1490
1486
1832
DESCRIPTION
No._1
No._2
No._3
DATE
10-Mai-11
10-Mai-11
10-Mai-11
TIME
07:38:48
07:38:48
07:38:48
ALT
1674
1669
1939
DESCRIPTION
No._1
No._2
No._3
DATE
10-Mai-11
10-Mai-11
10-Mai-11
TIME
07:38:48
07:38:48
07:38:48
ALT
1926
1749
1822
DESCRIPTION
No._1
No._2
No._3
R 01 YAKEDAKE_TIS_V4(3)
H
W
W
W
IDNT
_
_
_
LATITUDE
N36.2281690
N36.2455000
N36.2645690
LONGITUDE
E137.4945810
E137.5006890
E137.5074190
R 02 YAKEDAKE_TIS_V4(5)
H
W
W
W
IDNT
_
_
_
LATITUDE
N36.2248500
N36.2339500
N36.2789890
LONGITUDE
E137.4988190
E137.5020310
E137.5179330
H COORDINATE SYSTEM
U LAT LON DEG
H R DATUM
DZ
M G WGS 84
+0.000000e+00
IDX DA
DF
DX
DY
R 00 100622_130300
H
W
W
W
W
W
W
W
W
W
W
W
W
W
W
W
IDNT
_
_
_
_
_
_
_
_
_
_
_
_
_
_
_
LATITUDE
N48.6658871
N48.6658873
N48.6658884
N48.6658914
N48.6658960
N48.6659010
N48.6659063
N48.6659123
N48.6659190
N48.6659260
N48.6659332
N48.6659409
N48.6659500
N48.6659587
N48.6659662
LONGITUDE
E015.6598748
E015.6598746
E015.6598640
E015.6598268
E015.6597717
E015.6597158
E015.6596571
E015.6595876
E015.6595058
E015.6594241
E015.6593416
E015.6592526
E015.6591552
E015.6590655
E015.6589891
DATE
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
10-Mai-11
TIME
ALT
07:53:14
349
07:53:14
349
07:53:14
349
07:53:14
349
07:53:14
349
07:53:14
350
07:53:14
350
07:53:14
350
07:53:14
350
07:53:14
351
07:53:14
351
07:53:14
351
07:53:14
352
07:53:14
352
07:53:14
352
DESCRIPTION
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
(c) 2013
188
189
3.6.5
RiACQUIRE-MLS
gpx
Appendix
190
3.6.6
kml
(c) 2013
191
RiACQUIRE-MLS
<LineString>
<tessellate>1</tessellate>
<coordinates>137.4945810,36.2281690,1674.037 137.5006890,36.2455000,1669.994
137.5074190,36.2645690,1939.993</coordinates>
</LineString>
</Placemark>
<Placemark>
<name>YAKEDAKE_TIS_V4(5)</name>
<LineString>
<tessellate>1</tessellate>
<coordinates>137.4988190,36.2248500,1926.013 137.5020310,36.2339500,1749.976
137.5179330,36.2789890,1822.045</coordinates>
</LineString>
</Placemark>
</Document>
</kml>
3.6.7
tpm
Project file of the software TopoMISSION. Please see http://certainty3d.com/products/topomission for details.
3.6.8
GDAL
3.7
3.7.1
Mode of operation
(c) 2013
Appendix
192
When a TCP connection to the control port is established RiACQUIRE sends a prompt to indicate that it is ready
to receive commands. This communication is based on a command / reply concept. Each command to a port is
followed by a reply.
The control port can also send asynchronous messages between the command / reply sequences. Asynchronous
messages can contain warnings, errors or information generated by RiACQUIRE.
When a client is connected to the control port RiACQUIRE disables the critical functions of the user interface (e.g.
start and stop scanning, initialize devices...) in order to avoid problems arising due to interfering requests by more
than one instance.
This is why RiACQUIRE also allows only one client at the control port at a time.
The data port allows as many TCP connections as requested by external devices. Each TCP data port connection
can be configured to provide data from a definable device (scanner, INS-GPS, tilt mount) immediately after
connection is established.
The only restriction is that one TCP data port connection can only transmit data of one device.
3.7.1.1
Prompt
The angle brackets define the beginning and the end of the prompt.
Represents the name of the port were the client is connected to.
C identifies the control port and D identifies the data port.
[,opt1][,optN]
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193
RiACQUIRE-MLS
[,P]
Examples:
Prompt
Description
<C>
<C,P>
<D>
3.7.1.2
Data types
Command Action
Example
read property
LAS_CONFIG_COUNT[CR][LF]
write property
DEVICE_TILT_ANGLE[1]=100000[CR][LF]
execute method
DEV_START_WORKING(E_DEV_SCN,1)[CR][LF]
The following table describes the supported data types used for methods and properties.
Type
(c) 2013
Description
Appendix
STRING
A string can have any length and may consist of a set of characters (Unicode 4.0). It is
defined between apostrophe at the beginning and at the end.
E.g. I am a string, RLMS,...
BOOL
FALSE, OFF
TRUE, ON
It is also possible to use the numerical or the textual values without apostrophe.
UINT8
INT8
UINT16
INT16
UINT32
INT32
UINT64
INT64
DOUBLE
E_DEV
194
0 (INS-GPS)
E_DEV_SCN
1 (SCANNER)
E_DEV_TM
2 (TILT MOUNT)
E_DEV_CAM
3 (CAMERA)
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RiACQUIRE-MLS
E_STATE
3.7.1.3
E_STATE_INITIALIZING
E_STATE_INITIALIZED
E_STATE_EXEC
E_STATE_PREPARE_WORK
E_STATE_WORKING
E_STATE_STOP_WORKING
E_STATE_STANDBY
E_STATE_PREPARE_LOGGING
E_STATE_LOGGING
E_STATE_STOP_LOGGING
10
Methods
The execution of commands is triggered by carriage return and line feed [CR][LF].
Tab stops as well as blanks in the method command are ignored. Blanks within strings are valid and will be
accepted.
RiACQUIRE is not case sensitive. Lower case as well as upper case letters can be used and mixed.
A RiACQUIRE method is very similar to a C++ method. It consists of a return value, a method name and optional
method arguments with optional values. See the following example method declaration:
name
type1
arg1
(c) 2013
Appendix
value1
typeN
argN
valueN
196
PROJECT_OPEN(C:\project\project.rpp, 1, 1)[CR][LF]
When skipping the arguments with default values the method has the same effect as the call above and looks
like:
PROJECT_OPEN(C:\project\project.rpp)[CR][LF]
If autoStandby should be 0 and saveChanges should have its default value the method call is:
PROJECT_OPEN(C:\project\project.rpp, 0)[CR][LF]
In order to keep autoStandby as default and change saveChanges to be 0 the method call has to look like:
PROJECT_OPEN(C:\project\project.rpp, 1, 0)[CR][LF]
autoStandby cannot be skipped when saveChanges should be changed.
This means when the method is called without the default value for autoStandby the call would look like
PROJECT_OPEN(C:\project\project.rpp, 0)[CR][LF]
and RiACQUIRE would interpret this as
PROJECT_OPEN(C:\project\project.rpp, 0, 1)[CR][LF]
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RiACQUIRE-MLS
Properties
The execution of commands is triggered by carriage return and line feed [CR][LF].
Tab stops as well as blanks in the method command are ignored. Blanks within strings are valid and will be
accepted.
RiACQUIRE is not case sensitive. Lower case as well as upper case letters can be used and mixed.
auto _SAVE_Time[CR][LF]
is identical with the call
AUTO_SAVE_TIME[CR][LF]
where AUTO_SAVE_TIME is the property name.
Properties can be grouped to arrays. An array element has the format
PROPERTY[index]
PROPERTY
index
The value of a property can be read by using its name, e.g. PROPERTY
PROPERTY[CR][LF]
PROPERTY
The value of a property can be set by using the name of the property (e.g. PROPERTY) the client wants to change.
The value of the property is set with the character = after the property name PROPERTY.
Please note that not all properties can be set.
PROPERTY=value[CR][LF]
(c) 2013
Appendix
PROPERTY
value
3.7.1.4.2 Replies
Description
The reply repeats the command, eventually converted to upper case and filtered for tabs and spaces.
The end of a reply message is indicated by the reception of carriage return and line feed [CR][LF].
3.7.1.4.2.1 Reply of successful method call
*filteredCommand[=returnValue][CR][LF]
*
filteredCommand
=returnValue
Method call result value if method result data type is not void.
*filteredCommand[CR][LF]
*
filteredCommand
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*filteredCommand=value[CR][LF]
*
filteredCommand
=value
Value of property.
?filteredCommand:errorCode:errorMessage[{details}][CR][LF]
?
filteredCommand
Separator.
errorCode
Identifier of error.
errorMessage
{details}
3.7.1.4.2.5 Examples
Command:
Reply:
Meaning:
DEV_TILT_ANGLE[1][CR][LF]
*DEV_TILT_ANGLE[1]=100000[CR][LF]
Reads the tilt angle of tilt mount 1 with 10 degree.
Command:
Reply:
Meaning:
DEV_TILT_ANGLE[2][CR][LF]
?DEV_TILT_ANGLE[2]:401:DEVICE_NUMBER_UNKNOWN[CR][LF]
Tries to read the tilt angle of tilt mount 2 but there is no tilt mount 2.
Command:
Reply:
Meaning:
AUTO_SAVE_TIME[CR][LF]
*AUTO_SAVE_TIME=1[CR][LF]
Reads the auto save time with 1 minute.
Command:
Reply:
Meaning:
XYZ[CR][LF]
?XYZ:10:PROPERTY_UNKNOWN[CR][LF]
Tries to read unknown property XYZ.
Command:
DEV_TILT_ANGLE[1]=50000[CR][LF]
Reply:
Meaning:
*DEV_TILT_ANGLE[1]=50000[CR][LF]
Sets the tilt angle of tilt mount 1 to 5 degree.
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Command:
Reply:
Meaning:
PROJECT_NEW(Test,C:\MyTest)[CR][LF]
*PROJECT_NEW(Test,C:\MyTest)[CR][LF]
Creates a new project with the name Test at C:\MyTest\\Test\Test.rpp.
Command:
DEV_NUM(E_DEV_SCN)[CR][LF]
Reply:
Meaning:
*DEV_NUM(E_DEV_SCN)=2[CR][LF]
Returns the number of available scanner.
3.7.1.5
200
The following table shows error codes and their description used in messages and property/function errors.
3.7.1.5.1 Global errors
Code
Text
Description
NOT_LICENSED
INTEGRATION_SETTINGS
99
UNKNOWN_COMMON_ERROR
Code
Text
Description
100
PROPERTY_UNKNOWN
101
PROPERTY_READ_ONLY
102
PROPERTY_INVALID_TYPE
103
METHOD_UNKNOWN
104
METHOD_INVALID_ARG_VALUE
105
METHOD_INVALID_ARG_NUM
106
METHOD_INVALID_ARG_TYPE
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107
METHOD_FORBIDDEN_ARG_VALUE
108
VALUE_OUT_OF_RANGE
109
ARRAY_INDEX_MISSING
110
ARRAY_INDEX_INVALID_TYPE
Code
Text
Description
200
NO_PROJECT_OPEN
201
PROJECT_FILE_OPEN_ERROR
202
PROJECT_FILE_SAVE_ERROR
203
PROJECT_FILE_EXIST_ERROR
204
PROJECT_FILE_CREATE_ERROR
205
PROJECT_SCANDATA_DIR_ERROR
206
PROJECT_ALREADY_OPEN
207
PROJECT_FILE_CLOSE_ERROR
Code
Text
Description
300
LAS_CONFIG_NAME_UNKNOWN
301
LAS_CONFIG_SYNTAX_ERROR
302
LAS_CONFIG_APPLY_ERROR
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Code
Text
Description
310
CAM_CONFIG_NAME_UNKNOWN
311
CAM_CONFIG_SYNTAX_ERROR
312
CAM_CONFIG_APPLY_ERROR
Code
Text
Description
400
DEVICE_TYPE_UNKNOWN
401
DEVICE_NUMBER_UNKNOWN
402
DEVICE_STATE_ERROR
403
DEVICE_EXECUTION_ERROR
404
DEVICE_METHOD_UNKNOWN
Messages from RiACQUIRE are always asynchronous and are marked with special characters at the beginning.
These messages are intended to be prompted in a dialog box to be acknowledged by an operator.
Asynchronous messages are only transmitted to the control port.
Information
Warning
Error
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message
Examples:
i:This is an information.[CR][LF]
!:Option 'Scan Sync' is not available.[CR][LF]
x:Cannot connect to Scanner 2.[CR][LF]
3.7.2
Control port
The control port is used to set properties and call methods. RiACQUIRE uses the control port to send messages
to the client.
Only one connection to this port at a time is allowed to avoid problems effected by multiple users.
3.7.2.1
Methods
3.7.2.1.1 Global
don't set to stand-by mode and return error if devices are used
Examples:
QUIT()[CR][LF]
*QUIT()[CR][LF]
This calls the function with its default arguments.
QUIT(0,1)[CR][LF]
?QUIT(0,1):40:DEVICE_STATE_ERROR[CR][LF]
This call intends to quit RiACQUIRE with saving all changes of the actually open project but without automatically
set devices that are in use to stand-by mode. So this function call aborts with the error message stated above
because at least one device is in use.
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3.7.2.1.2 Project
This project name is visible in the project tree of RiACQUIRE and is used to create
a project directory. The project name must not contain the following characters: \ / :
*?"<>|
projectDir
Directory where to create projects. The project data and scan data are written to the
directory projectDir\projectName.
Please note that the directory projectDir must exist, all needed sub directories
will be created.
If projectDir is empty the default path will be used.
Defines if devices should be stopped and set to stand-by mode automatically when
working or initialized.
autoStandby
don't set to stand-by mode and return error if devices are used
Examples:
PROJECT_NEW(Test, C:\Projects)[CR][LF]
*PROJECT_NEW(Test C:\Projects[CR][LF]
Creates a new project file at C:\Projects\Test\Test.rpp.
PROJECT_NEW(Horn,C:\proj, 0)[CR][LF]
?PROJECT_NEW(Horn,C:\proj,0):40:DEVICE_STATE_ERROR[CR][LF]
Tries to create a new project with name Horn at the file C:\proj\Horn\Horn.rpp. But at this time there is at least one
device in use and the function has been called without automatically set the devices to standby mode. So this call
will abort with the error code stated above.
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At first this function checks if devices are in use and if they should be set to stand-by mode as defined by
autoStandby.
The next step is to close a possibly open project and save changes if defined in saveChanges.
Then this functions tries to open an existing project at location filePathName.
filePathName
autoStandby
don't set to stand-by mode and return error if devices are used
Examples:
PROJECT_CLOSE()[CR][LF]
*PROJECT_CLOSE()[CR][LF]
Closes the current project.
void PROJECT_SAVE()
Saves the currently opened project. If no project is opened this function aborts with an error code.
Examples:
PROJECT_SAVE()[CR][LF]
*PROJECT_SAVE()[CR][LF]
Saves the open project.
PROJECT_SAVE()[CR][LF]
?PROJECT_SAVE():200:NO_PROJECT_OPEN[CR][LF]
Aborts with the error code above because there is no project open to save.
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Defines if devices should be stopped and set to stand-by mode automatically when
working or initialized.
autoStandby
don't set to stand-by mode and return error if devices are used
scanner
In order to set the write directory for a specific laser scanner, scanner determines
the number of the device.
Example:
PROJECT_SCANDATA_DIR_SET(C:\SCANDATA, 1)[CR][LF]
*PROJECT_SCANDATA_DIR_SET(C:\SCANDATA 1)[CR][LF]
Sets the acquisition directory for scanner 1 to C:\SCANDATA. E.g. scan data for a V-Line scanner will be written
to the path C:\SCANDATA\<projectName>\03_RIEGL_RAW\02_RXP\Scanner 1\
PROJECT_SCANDATA_DIR_SET(C:, 5)[CR][LF]
?PROJECT_SCANDATA_DIR_SET(C:, 5):401:DEVICE_NUMBER_UNKNOWN[CR][LF]
Tries to set the acquisition directory of scanner 5 but RiACQUIRE does not know scanner 5 so this function aborts
with the error message stated above.
scanner
In order to get the write directory for a specific laser scanner, scanner determines
the number of the device.
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Examples:
PROJECT_SCANDATA_DIR_GET(1)[CR][LF]
*PROJECT_SCANDATA_DIR_GET(1)=C:\SCANDATA[CR][LF]
Returns that data of scanner 1 are written to C:\SCANDATA
PROJECT_SCANDATA_DIR_GET(1)[CR][LF]
?PROJECT_SCANDATA_DIR_GET(1):200:NO_PROJECT_OPEN[CR][LF]
Aborts with the error code above because there is no project open.
3.7.2.1.3 Laser configuration
Name for the new script. This is just a describer to know what the script is used for.
In order to apply the parameters to a specific laser scanner, scanner determines the
number of the device.
scanner
mode
Please note that this configuration can be used for all scanners available in
RiACQUIRE which are of the same type as the specific device defined by scanner.
Defines the used mode which can be queried with
LAS_CONFIG_POSSIBLE_SCAN_MODE.
Please see Laser configuration
118
count
means continuous
65535
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208
A natural number n which defines to visualize every nth measurement of a scan line
and every nth scan line.
msm
65535
This parameter can be used to reduce the load of the CPU by simply increment the
value.
measProg
The measurement program defines the number of laser measurements per second
and some other values depending on the scanner (please refer to scanner manual
commad SCN_LOG_MODE for Q560 and Q680, for SCN_RATE for Qxxx and Zxxx,
for MEAS_PROG for VLine-series).
For possible measProg please see LAS_CONFIG_POSSIBLE_MEAS_PROG.
lineStart
Angle of the first laser measurement with respect to the laser scanners own
coordinate system in a single scan line, given in degrees.
lineStop
Angle of the last laser measurement with respect to the laser scanners own
coordinate system in a single scan line, given in degrees.
lineInc
Defines the angular increment between laser measurements in a single scan line,
given in degrees.
frameStart
For 3D scanners in line scan mode this defines the frame angle where to scan and in
RFOV sequence scan mode this defines the frame start angle, given in degrees.
frameStop
For 2D scanners in RFOV sequence scan mode this defines the frame stop angle,
given in degrees.
frameInc
For 3D scanners in RFOV sequence scan mode this defines the frame stop angle,
given in degrees.
For scanners with multi-time-around functionality this defines the MTA-zone to use.
Only available for the Q680. Please refer to laser scanner manual.
mtaZone
2
one
3
one
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For scanners with multi-time-around functionality this defines the near range
suppression level to use. Only available for the Q680. Please refer to laser scanner
manual.
nrsLevel
Examples:
LAS_CONFIG_ADD(300kHz_100LPS, 1, Line, 0, 10, 300kHz, 30, 130, 0.099, 180, 0,
0)[CR][LF]
*LAS_CONFIG_ADD(300kHz_100LPS, 1, Line, 0, 10, 300kHz, 30, 130, 0.099, 180,
0, 0)[CR][LF]
Creates a new line scan configuration for the scanner 1 which is a VZ400 and adds it to the actual project. The
parameters count, frameStop and frameInc are set to 0 because they are not used for line scan.
LAS_CONFIG_ADD(100kHz_RFOV, 1, RFOV, 0, 10, 100kHz, 30, 130, 0.099, 180, 200,
0.08)[CR][LF]
*LAS_CONFIG_ADD(100kHz_RFOV, 1, RFOV, 0, 10, 100kHz, 30, 130, 0.099, 180,
200, 0.08)[CR][LF]
Creates a new RFOV scan configuration for the scanner 1 which is a VZ400and adds it to the actual project. The
parameter count is set to 0 because is is not used for RFOV scan.
LAS_CONFIG_ADD(300kHz_Seq8, 1, Sequence, 8, 10, 300kHz, 30, 130, 0.099, 180,
200, 0.08)[CR][LF]
*LAS_CONFIG_ADD(300kHz_Seq8, 1, Sequence, 8, 10, 300kHz, 30, 130, 0.099, 180,
200, 0.08)[CR][LF]
Creates a new RFOV sequence scan configuration for the scanner 1 which is a VZ400and adds it to the actual
project.
LAS_CONFIG_ADD(300kHz, 2, Line, 0, 10, 300kHz, 60, 120, 0.05, 0, 0,
0)[CR][LF]
*LAS_CONFIG_ADD_V(300kHz, 2, Line, 0, 10, 300kHz, 60, 120, 0.05, 0, 0,
0)[CR][LF]
Creates a new line scan configuration for the scanner 2 which is a VQ480 and adds it to the actual project. The
parameters count, frameStart , frameStop and framInc are set to 0 because they are not available for the VQ480.
name
The name of the configuration that should be applied to the scanner id defined by
this parameter.
scanner
This is the number of the scanner for which the laser configuration should be
applied.
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Example:
LAS_CONFIG_APPLY(test,5)[CR][LF]
?LAS_CONFIG_APPLY(test,5):401:DEVICE_NUMBER_UNKNOWN[CR][LF]
Tries to apply the laser configuration with name test to scanner 5 but RiACQUIRE does not know scanner 5 so
this function aborts with the error message stated above.
Examples:
LAS_CONFIG_DELETE(240kHz_500m_80kt)[CR][LF]
*LAS_CONFIG_DELETE(240kHz_500m_80kt)[CR][LF]
Deletes the laser configuration with name 240kHz_500m_80kt from the current project.
LAS_CONFIG_DELETE(s1)[CR][LF]
?LAS_CONFIG_DELETE(s1):300:LAS_CONFIG_NAME_UNKNOWN[CR][LF]
Tries to delete the laser configuration with name s1 from the current project but the there is no config with this
name so this aborts with the error code stated above.
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filePathName
Examples:
LAS_CONFIG_IMPORT(C:\Project\Project.rpp)[CR][LF]
*LAS_CONFIG_IMPORT(C:\Project\Project.rpp)[CR][LF]
Imports all available laser configurations from the project file C:\Project\Project.rpp.
scanner
Examples:
LAS_CONFIG_POSSIBLE_MEAS_PROG(1)[CR][LF]
*LAS_CONFIG_POSSIBLE_MEAS_PROG(1)=50 kHz,100 kHz,150 kHz,200 kHz,300 kHz[CR][LF]
Returns all possible measurement programs for scanner 1.
scanner
Examples:
LAS_CONFIG_POSSIBLE_SCAN_MODE(1)[CR][LF]
*LAS_CONFIG_POSSIBLE_SCAN_MODE(1)=Line,RFOV,Sequence[CR][LF]
Returns all possible scan modes for scanner 1.
3.7.2.1.4 Camera configuration
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This function adds a new camera configuration with name name to the opened project. The parameters are
sent to the camera for configuration.
name
Name for the new script. This is just a describer to know what the script is used for.
In order to apply the parameters to a specific camera, camera determines the
number of the device.
camera
Please note that this configuration can be used for all cameras available in
RiACQUIRE which are of the same type as the specific device defined by camera.
Defines the used mode which can be queried with CAM_CONFIG_POSSIBLE_MODE.
mode
122
Defines the interval given in seconds that is used to trigger the camera.
interval
not allowed
0.1
60.0
distance
not allowed
0.1
9999.0
overlap
not allowed
99
Examples:
CAM_CONFIG_ADD(1 second, 1, Interval, 1, 0, 0, 1)[CR][LF]
*CAM_CONFIG_ADD(1 second, 1, Interval, 1, 0, 0, 1)[CR][LF]
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Creates a new interval camera configuration for the camera 1 which is a COMMON and adds it to the actual
project. The parameters distance is set to 0 because it is not used for interval.
CAM_CONFIG_ADD(10 meter, 1, Distance, 0, 10, 0, 1)[CR][LF]
*CAM_CONFIG_ADD(10 meter, 1, Distance, 0, 10, 0, 1)[CR][LF]
Creates a new distance camera configuration for the camera 1 which is a COMMON and adds it to the actual
project. The parameters interval is set to 0 because is is not used for distance.
void CAM_CONFIG_APPLY(STRING name, UINT8 camera)
This will apply a camera configuration with the name name to the camera camera.
name
The name of the configuration that should be applied to the camera id defined by this
parameter.
camera
This is the number of the camera for which the camera configuration should be
applied.
Example:
CAM_CONFIG_APPLY(test,5)[CR][LF]
?CAM_CONFIG_APPLY(test,5):401:DEVICE_NUMBER_UNKNOWN[CR][LF]
Tries to apply the camera configuration with name test to camera 5 but RiACQUIRE does not know camera 5 so
this function aborts with the error message stated above.
position
Examples:
CAM_CONFIG_AT(5)[CR][LF]
*CAM_CONFIG_AT(5)=Interval 1s[CR][LF]
Returns the name of the camera configuration at position 5.
CAM_CONFIG_AT(26)[CR][LF]
?CAM_CONFIG_AT(26):10:VALUE_OUT_OF_RANGE[CR][LF]
Tries to return the name of the camera configuration at position 26 but RiACQUIRE does not have a
configuration at this position so this function aborts with the error message stated above.
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RiACQUIRE has a list with all available camera configurations in the current project. This function deletes
the camera configuration with the name name.
name
Examples:
CAM_CONFIG_DELETE(Interval 1s)[CR][LF]
*CAM_CONFIG_DELETE(Interval 1s)[CR][LF]
Deletes the camera configuration with name Interval 1s from the current project.
CAM_CONFIG_DELETE(s1)[CR][LF]
?CAM_CONFIG_DELETE(s1):300:CAM_CONFIG_NAME_UNKNOWN[CR][LF]
Tries to delete the camera configuration with name s1 from the current project but the there is no config with this
name so this aborts with the error code stated above.
Examples:
CAM_CONFIG_IMPORT(C:\Project\Project.rpp)[CR][LF]
*CAM_CONFIG_IMPORT(C:\Project\Project.rpp)[CR][LF]
Imports all available camera configurations from the project file C:\Project\Project.rpp.
This is the number of the camera for which to return possible modes.
Examples:
CAM_CONFIG_POSSIBLE_MODE(1)[CR][LF]
*CAM_CONFIG_POSSIBLE_MODE(1)=Interval,Distance,Overlap[CR][LF]
Returns possible modes of camera 1.
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Type of the device to initialize (INS-GPS, scanner, tilt mount). It is also possible to
use the integer values instead of the enumerator values.
number
This is the number of the device that should be initialized, e.g. the second scanner.
Examples:
DEV_INIT(E_DEV_SCN,1)[CR][LF]
*DEV_INIT(E_DEV_SCN,1)[CR][LF]
Initializes the scanner 1.
DEV_INIT(0,1)[CR][LF]
*DEV_INIT(0,1)[CR][LF]
Initializes the INS-GPS 1.
Type of the device to set to standby mode (INS-GPS, scanner, tilt mount). It is also
possible to use the integer values instead of the enumerator values.
number
This is the number of the device that should be set to standby mode, e.g. the
second scanner.
Examples:
DEV_STANDBY(E_DEV_SCN,1)[CR][LF]
*DEV_STANDBY(E_DEV_SCN,1)[CR][LF]
Scanner 1 will be set to standby mode.
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216
DEV_STANDBY(0,1)[CR][LF]
*DEV_STANDBY(0,1)[CR][LF]
INS-GPS 1 will be set to standby mode.
Type of the device to start (INS-GPS, scanner, tilt mount). It is also possible to use
the integer values instead of the enumerator values.
number
This is the number of the device that should start working, e.g. the second scanner.
Examples:
DEV_START_WORKING(E_DEV_SCN,1)[CR][LF]
*DEV_START_WORKING(E_DEV_SCN,1)[CR][LF]
Scanner 1 will be triggered to start scanning.
DEV_START_WORKING(0,1)[CR][LF]
*DEV_START_WORKING(0,1)[CR][LF]
INS-GPS 1 will be started.
Type of the device to stop (INS-GPS, scanner, tilt mount). It is also possible to use
the integer values instead of the enumerator values.
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number
RiACQUIRE-MLS
This is the number of the device that should stop working, e.g. the second scanner.
Examples:
DEV_STOP_WORKING(E_DEV_SCN,1)[CR][LF]
*DEV_STOP_WORKING(E_DEV_SCN,1)[CR][LF]
Scanner 1 will be stopped.
DEV_ STOP_WORKING(E_DEV_TM,1)[CR][LF]
?DEV_STOP_WORKING(E_DEV_TM,1):10:METHOD_INVALID_ARG_VALUE[CR][LF]
The command intends to stop the tilt mount 1 but a tilt mount cannot be stopped.
Type of the device to stop (INS-GPS, scanner, tilt mount). It is also possible to use
the integer values instead of the enumerator values.
number
This is the number of the V-Line scanner that should start logging, e.g. the second
scanner.
Examples:
DEV_START_LOGGING(E_DEV_SCN, 1)[CR][LF]
*DEV_START_LOGGING(E_DEV_SCN, 1)[CR][LF]
Scanner 1 will be triggered to start data logging.
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218
type
Type of the device to stop (INS-GPS, scanner, tilt mount). It is also possible to use
the integer values instead of the enumerator values.
number
This is the number of the V-Line scanner that should stop logging, e.g. the second
scanner.
Examples:
DEV_STOP_LOGGING(E_DEV_SCN, 1)[CR][LF]
*DEV_STOP_LOGGING(E_DEV_SCN, 1)[CR][LF]
Scanner 1 will be triggered to stop logging.
Type of the device (INS-GPS, scanner, tilt mount). It is also possible to use the
integer values instead of the enumerator values.
number
Examples:
DEV_STATE(E_DEV_SCN,1)[CR][LF]
*DEV_STATE(E_DEV_SCN,1)=E_STATE_INITIALIZED[CR][LF]
Returns that scanner 1 is initialized.
Type of the device (INS-GPS, scanner, tilt mount). It is also possible to use the
integer values instead of the enumerator values.
Examples:
DEV_NUM(E_DEV_SCN)[CR][LF]
*DEV_NUM(E_DEV_SCN)=2[CR][LF]
Returns that two scanners are available.
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This function triggers every V-Line scanner supported by RiACQUIRE to shut down.
To shut down means for a scanner to shut down it's operating system and power-down.
Please note that this function is called threaded. This means the client can call this function for every device
without waiting for a response because this function call may take a few seconds.
scanner
This is the number of the scanner to shut down, e.g. the first scanner.
Examples:
SCN_SHUTDOWN(1)[CR][LF]
*SCN_SHUTDOWN(1)[CR][LF]
Scanner 1 will be shut down.
SCN_SHUTDOWN(2)[CR][LF]
?SCN_SHUTDOWN(2):404:DEVICE_METHOD_UNKNOWN[CR][LF]
The command intends to shut down the scanner 2 but the scanner is not a V-Line scanner and cannot be shut
down.
This is the number of the scanner to clear errors, e.g. the second scanner.
Examples:
SCN_ERRACK(2)[CR][LF]
*SCN_ERRACK(2)[CR][LF]
Error of scanner 2 will be cleared.
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scanner
220
This is the number of the scanner to park, e.g. the first scanner.
Examples:
SCN_PARK(1)[CR][LF]
*SCN_PARK(1)[CR][LF]
Scanner 1 will be parked.
SCN_PARK(1)[CR][LF]
?SCN_PARK(1):404:DEVICE_METHOD_UNKNOWN[CR][LF]
The command intends to park the scanner 1 but the scanner is not a 3D scanner like VZ400 or Z420.
This is the number of the scanner to reboot, e.g. the second scanner.
Examples:
SCN_REBOOT(2)[CR][LF]
*SCN_REBOOT(2)[CR][LF]
Scanner 2 will be rebooted.
3.7.2.1.6 View control
Examples:
VIEW_RENDERING_ENABLED(1)[CR][LF]
*VIEW_RENDERING_ENABLED(1)[CR][LF]
View rendering is enabled.
VIEW_RENDERING_ENABLED(0)[CR][LF]
*VIEW_RENDERING_ENABLED(0)[CR][LF]
View rendering is disabled.
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3.7.2.2
RiACQUIRE-MLS
Properties
3.7.2.2.1 Global
>60
not allowed
Read
Write
Examples:
AUTO_SAVE_TIME=2[CR][LF]
*AUTO_SAVE_TIME=2[CR][LF]
Sets auto save to 2 minutes.
AUTO_SAVE_TIME=0[CR][LF]
*AUTO_SAVE_TIME=0[CR][LF]
Disables the auto save function.
3.7.2.2.2 Project
STRING PROJECT_NAME
Contains the project name that is only visible in the project tree of RiACQUIRE and is just a describer.
Read
Write
Examples:
PROJECT_NAME[CR][LF]
*PROJECT_NAME=Vienna[CR][LF]
STRING PROJECT_FILE_PATH
Path and name of the opened project file.
Read
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Write
Examples:
PROJECT_FILE_PATH[CR][LF]
*PROJECT_FILE_PATH=C:\Project\Project.rpp[CR][LF]
3.7.2.2.3 Laser configuration
UINT16 LAS_CONFIG_COUNT
Contains the number of laser configurations that are available in current project.
Read
Write
Examples:
LAS_CONFIG_COUNT[CR][LF]
*LAS_CONFIG_COUNT=5[CR][LF]
3.7.2.2.4 Camera configuration
UINT16 CAM_CONFIG_COUNT
Contains the number of camera configurations that are available in current project.
Read
Write
Examples:
CAM_CONFIG_COUNT[CR][LF]
*CAM_CONFIG_COUNT=5[CR][LF]
3.7.2.2.5 Device
UINT16 CAM_CONFIG_COUNT
Contains the number of camera configurations that are available in current project.
Read
Write
Examples:
CAM_CONFIG_COUNT[CR][LF]
*CAM_CONFIG_COUNT=5[CR][LF]
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3.7.3
RiACQUIRE-MLS
Data port
The data port is used to transfer received and/or computed data of one device only to the client. To receive data
of a different device another TCP connection to the data port has to be established.
To receive data on this port the client has to define which data should be transferred. This is done only one time
after the connection has been established by calling the method START.
After executing this method successfully RiACQUIRE changes to the output mode and no more prompt is sent to
the client which means that it is not possible to reconfigure the data output.
3.7.3.1
Methods
void START(E_DEV type, UINT8 number, UINT16 outputRequest = 0)
This command configures the data port, defines the device in use and which kind of data should be
transferred. The device is defined by its type (INS-GPS, scanner, tilt mount) and it's number.
Which kind of data are transferred is defined by outputRequest.
After executing this command successfully the data transmission starts.
type
Type of the device to use. It is also possible to use the integer values instead of the
enumerator values.
number
This is the number of the device that should be used, e.g. the second scanner.
This is a bit encoded flag that contains information which data will be transmitted
on this port.
outputRequest
Scanner output
The following table describes which bits can be set for outputRequest for scanners.
Bit
Description
Default
Bit 0
Points of the last decoded scan line will be output in cartesian SOCS.
This contains only a few scan points depending on the used Monitor Step Multiplier
Bit 1
118
118
Points of the last transformed scan line will be output in polar WGS84 coordinates.
This contains only a few scan points depending on the used Monitor Step Multiplier
(c) 2013
Points of the last transformed scan line will be output in cartesian WGS84 coordinates.
This contains only a few scan points depending on the used Monitor Step Multiplier
Bit 3
Points of the last decoded scan line will be output in polar SOCS.
This contains only a few scan points depending on the used Monitor Step Multiplier
Bit 2
118
0
118
Appendix
224
Examples:
START(E_DEV_SCN,1,4)[CR][LF]
*START(E_DEV_SCN,1,4)[CR][LF]
Configures scanner 1 for this port and scan line points in cartesian WGS84 coordinates will be transmitted.
INS-GPS output
The following table describes which bits can be set for outputRequest for INS-GPS.
Bit
Description
Default
Bit 0
Bit 1
Examples:
START(E_DEV_INSGPS,1,2)[CR][LF]
*START(E_DEV_INSGPS,1,2)[CR][LF]
Configures INS-GPS 1 for this port and trajectory points in polar WGS84 coordinates will be transmitted.
3.7.3.2
Output
Data are transmitted as long as the device is in state E_STATE_LOGGING or E_STATE_WORKING. The byte order
of the data port output is most significant byte first (big endian).
3.7.3.2.1 Main header
This is the main header that is sent by RiACQUIRE when entering the output mode after calling the method
START. This is the first and the last time when this header is sent. It contains the most important information of
the protocol used by RiACQUIRE to transmit data and the device that produces these data.
Element
UINT8 headerSize
UINT8 headerID
Description
Value
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225
RiACQUIRE-MLS
E_DEV devType
UINT8 devNumber
Type of the device that uses this port for transmission. This is
the numerical value of the device (e.g. 1 and not E_DEV_SCN
).
specific
specific
UINT8 dataMainID
UINT16 dataSubID
2
specific
headerSize
size is 7 byte
01
headerID
Header version is 1
01
devType.
03
devNumber
02
dataMainID
0001
dataSubID
Description
Value
0xAFFE
UINT32 packageSize
specific
UINT16 output
specific
UINT16 sync
Depending on the used laser configuration 118 the measurement rate of the scanner can be too high for the CPU
on the PC that runs RiACQUIRE to compute all scan data in real time. And if RiACQUIRE controls a multiple laser
scanner system it is nearly impossible to compute the mass of scan data in real time. Also the main task of
RiACQUIRE is not to compute all scan data in real time but to monitor the used devices and give the operator a
quick feedback of the acquired data. So with this task description RiACQUIRE sets by default some settings to
reduce the scan data rate on the used monitoring port of the scanner.
(c) 2013
Appendix
226
To reduce the scan data rate on the monitoring port of the scanner, RiACQUIRE uses the monitor step multiplier
118 in the laser configuration which is a parameter in the scanner. The value of the monitor step multiplier 118 is
defined by the target monitor data rate 138 in the environment settings. So to get a higher scan data rate on the
remote control data port there are two parameters that be used to increase it:
the target monitor data rate
the monitor step multiplier
138
118
Another limitation is the echo filter 127 in the environment settings which allows by default only single echoes and
first echoes of multiple target echoes. This is because flying points are filtered out which is the optimum to render
the views.
3.7.3.2.3.1 Scan points in cartesian scanner coordinates
Description
Value
0xAFFE
specific
UINT16 points
specific
UINT64 time[0]
specific
INT32 x[0]
specific
INT32 y[0]
specific
INT32 z[0]
specific
INT16 amplitude[0]
specific
223
UINT16 output
specific
127
specific
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227
RiACQUIRE-MLS
UINT8 targetCount[0]
specific
specific
INT32 x[points-1]
specific
INT32 y[points-1]
specific
INT32 z[points-1]
specific
INT16 amplitude
[points-1]
specific
UINT64 time[points-1]
UINT8 target[points-1] The number of this scan point belonging to all targets
for this laser shot.
This is affected by the echo filter
UINT8 targetCount
[points-1]
specific
127
specific
specific
(c) 2013
Description
Value
0xAFFE
specific
UINT16 points
specific
UINT64 time[0]
specific
223
UINT16 output
Appendix
INT32 range[0]
specific
INT32 theta[0]
specific
INT32 phi[0]
specific
INT16 amplitude[0]
specific
specific
UINT8 targetCount[0]
127
specific
specific
UINT64 time[points-1]
specific
INT32 range[points-1]
specific
INT32 theta[points-1]
specific
INT32 phi[points-1]
specific
INT16 amplitude
[points-1]
specific
specific
UINT8 target[points-1] The number of this scan point belonging to all targets
for this laser shot.
This is affected by the echo filter
127
specific
(c) 2013
228
229
RiACQUIRE-MLS
UINT8 targetCount
[points-1]
specific
Description
Value
0xAFFE
specific
UINT16 output
UINT16 points
UINT64 time[0]
223
2
specific
INT64 x[0]
specific
INT64 y[0]
specific
INT64 z[0]
specific
INT16 amplitude[0]
specific
specific
UINT8 targetCount[0]
127
specific
specific
UINT64 time[points-1]
(c) 2013
specific
Appendix
INT64 x[points-1]
specific
INT64 y[points-1]
specific
INT64 z[points-1]
specific
INT16 amplitude
[points-1]
specific
UINT8 target[points-1] The number of this scan point belonging to all targets
for this laser shot.
This is affected by the echo filter
UINT8 targetCount
[points-1]
specific
127
specific
specific
Description
Value
0xAFFE
specific
UINT16 points
specific
UINT64 time[0]
specific
INT64 lon[0]
specific
INT64 lat[0]
specific
INT32 alt[0]
specific
223
UINT16 output
(c) 2013
230
231
RiACQUIRE-MLS
INT16 amplitude[0]
specific
specific
UINT8 targetCount[0]
127
specific
specific
specific
INT64 lon[points-1]
specific
INT64 lat[points-1]
specific
INT32 alt[points-1]
specific
specific
UINT64 time[points-1]
INT16 amplitude
[points-1]
UINT8 target[points-1] The number of this scan point belonging to all targets
for this laser shot.
This is affected by the echo filter
UINT8 targetCount
[points-1]
(c) 2013
specific
127
specific
specific
Appendix
UINT16 output
Description
Value
0xAFFE
specific
224
specific
INT64 x
specific
INT64 y
specific
INT64 z
specific
INT32 roll
specific
INT32 pitch
specific
INT32 yaw
specific
INT32 speed
specific
specific
UINT64 time
specific
specific
Description
Value
0xAFFE
specific
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232
233
RiACQUIRE-MLS
UINT16 output
224
specific
INT64 lon
specific
INT64 lat
specific
INT32 alt
specific
INT32 roll
specific
INT32 pitch
specific
INT32 yaw
specific
INT32 speed
specific
specific
UINT64 time
specific
specific
3.7.4
Example
The following lines should show how to prepare RiACQUIRE via remote control.
Before the client can control RiACQUIRE remotely the user has to prepare RiACQUIRE:
Enter the license keys
Enter the integration settings
Please see the user manual of RiACQUIRE for more information.
1. The first step to use RiACQUIRE is to create/open a project. RiACQUIRE is a project oriented software so a
project must always exist where RiACQUIRE can write to.
<C>PROJECT_NEW(Test, C:\Projects)[CR][LF]
<C,P>*PROJECT_NEW(Test, C:\Projects)[CR][LF]
2. To add laser configurations to the opened project the client can simply import laser configurations form a
project that has been shipped with RiACQUIRE.
<C,P>
LAS_CONFIG_IMPORT(C:\Programme\Riegl_LMS\RiACQUIRE\scripts\Q560-240kHz_sc
ripts.rpp)[CR][LF]
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Appendix
234
<C,P>
*LAS_CONFIG_IMPORT(C:\Programme\Riegl_LMS\RiACQUIRE\scripts\Q560-240kHz_s
cripts.rpp)[CR][LF]
3. Now the client can initialize the system. It is assumed that the system consists of one INS-GPS and two
scanners. Please note that this is done threaded by RiACQUIRE so the client can call this command without
waiting for a response. The INS-GPS should be the first device to initialize because the GPS stream is needed
for synchronization of the scanner.
<C,P>DEV_INIT(E_DEV_INSGPS,1)[CR][LF]
<C,P>*DEV_INIT(E_DEV_INSGPS,1)[CR][LF]
<C,P>DEV_INIT(E_DEV_SCN,1)[CR][LF]
<C,P>DEV_INIT(E_DEV_SCN,2)[CR][LF]
<C,P>*DEV_INIT(E_DEV_SCN,1)[CR][LF]
<C,P>*DEV_INIT(E_DEV_SCN,2)[CR][LF]
4. This is the point where the client can connect to data ports for both scanner and start them.
Scanner 1:
<D>START(E_DEV_SCN,1)[CR][LF]
<D>*START(E_DEV_SCN,1)[CR][LF]
Scanner 2:
<D>START(E_DEV_SCN, 2)[CR][LF]
<D>*START(E_DEV_SCN, 2)[CR][LF]
5. Now it's time to prepare both scanners. This is done by simply applying a script for both scanners. Please note
that this is done threaded by RiACQUIRE so the client can call this command without waiting for a response.
The execution of this may take up to 40 seconds so this should be called early enough.
<C,P>LAS_CONFIG_APPLY(240khz_120kt_450m_60deg,1)[CR][LF]
<C,P>LAS_CONFIG_APPLY(240khz_120kt_450m_60deg,2)[CR][LF]
<C,P>*LAS_CONFIG_APPLY(240khz_120kt_450m_60deg,1)[CR][LF]
<C,P>*LAS_CONFIG_APPLY(240khz_120kt_450m_60deg,2)[CR][LF]
6. The first device that is started is the INS-GPS in order to record the whole trajectory.
<C,P>DEV_START_WORKING(E_DEV_INSGPS,1)[CR][LF]
<C,P>*DEV_START_WORKING(E_DEV_INSGPS,1)[CR][LF]
7. If the area to scan has been reached the client can start data acquisition of both scanners. Please note that this
is done threaded by RiACQUIRE so the client can call this command without waiting for a response.
<C,P>DEV_START_WORKING(E_DEV_SCN,1)[CR][LF]
<C,P>DEV_START_WORKING(E_DEV_SCN,2)[CR][LF]
<C,P>*DEV_START_WORKING(E_DEV_SCN,1)[CR][LF]
<C,P>*DEV_START_WORKING(E_DEV_SCN,2)[CR][LF]
8. After the survey when the area of interest was left the client can stop the acquisition for both scanners. Please
note that this is done threaded by RiACQUIRE so the client can call this command without waiting for a
response.
<C,P>DEV_STOP_WORKING(E_DEV_SCN,1)[CR][LF]
<C,P>DEV_STOP_WORKING(E_DEV_SCN,2)[CR][LF]
<C,P>*DEV_STOP_WORKING(E_DEV_SCN,1)[CR][LF]
<C,P>*DEV_STOP_WORKING(E_DEV_SCN,2)[CR][LF]
9. The last step is to save changes in the actual project and close it. Then RiACQUIRE can be quit by the client.
<C,P> QUIT()[CR][LF]
<C,P>*QUIT()[CR][LF]
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235
RiACQUIRE-MLS
3.8
Revision History
3.8.1
RiACQUIRE
118
118
dialog
156
102
162
Bugfix:
No scan data visible
Crash when opening project with VMX cam data
Crash on data recorder error while communicating with scanner
Warning message "Scan sync status of 'Scanner X' changed to 'locked'" is only added to message window
Line Speed in laser configuration 118 dialog will be corrected to nearest possible value if editing finished.
Especially for Q560, Q680(i), Q780 the difference may be some lines/s.
Wrong GPS position for new V-Line firmware when using INS-GPS type "V-Line Scanner"
Fixed problems with MTA zone calculation
Control port of Remote Control
(c) 2013
Appendix
236
118
82
extensions
128
127
224
81
211
133
Removed PRR alternation, added MTA zone method and corrected MTA zone limits in laser configuration
Added laser switch and measurement output in laser configuration
Added colors for target type in SOCS View
118
65
Bugfix:
No trajectory visible for RiACQUIRE-Embedded
UAV Interface for RiACQUIRE-Embedded failed to start on short delays between opening projects
82
106
Camera settings
113
118
Bugfix:
Error message for VZ-scanners when starting measurement ?STOR_MEDIA
Crash when show all/hide all in View Inspector on empty RECORDS
VMX-CS6 White Balance Wizard problem with "Camera not triggered fixed" (RiTRIG 7.5.0.0)
VMX-CS6 Gaps when using "Distance" trigger (RiTRIG 7.5.0.0)
spontaneous crash when skipping alignment wizard for Applanix INS-GPS
Slow down on projects with many records
Wrong date in image names of VMX-CS6 (RiTRIG 7.5.1.0)
(c) 2013
118
237
RiACQUIRE-MLS
37
) like maps
126
Bugfix:
Some common bugs have been fixed
44
156
Memory manager to fix problems with less memory during data acquisition
Applanix raw data gaps check if RiACQUIRE logs raw data
Download of INS-GPS raw data
163
Bugfix:
Export TOP view
tool limits image size because generated KMZ files cannot be opened in Google Earth
160
Download CAMDATA
162
66
58
164
126
Bugfix:
Download CAMDATA
162
(c) 2013
Appendix
238
160
tool
162
157
Bugfix:
"Show All" and "Hide All" on Route Objects, Area Objects and Control Objects caused RiACQUIRE to crash
"Export Trajectory" for VLine-Scanner didn't worked
"Receiver noise" warning/error problem has been fixed for V-Line scanners
Double click on POSDATA and RECORDS in view inspector caused RiACQUIRE to crash
Memory and speed optimization for CAMDATA in TOP View (VMX-250-CS6)
(c) 2013
239
RiACQUIRE-MLS
New Feature:
TOP view has a new property Orientation Method which allows to choose Map Up or Track Up.
Selection tool for the TOP view.
Picture Browser that shows acquired pictures of the VMX-250-CS6.
Atmospheric conditions in project tree
Export of Control Objects
Support for VQ-820
Bugfix:
Critical memory problem in TOP view. Using low end PC may lead to high memory consumption which makes
the system slow and causes RiACQUIRE to crash
Timing problem when saving a project causes RiACQUIRE to crash
File open/save dialogs have blocked data logging
(c) 2013
Appendix
240
(c) 2013
241
RiACQUIRE-MLS
(c) 2013
Appendix
242
(c) 2013
243
RiACQUIRE-MLS
(c) 2013
Appendix
A directory where to save scan data can be set for every scanner to reduce load for one hard disk
Every scanner has now it's own SOCS view
A CHASE view has been added to see the scan data in world coordinate system and in 3D
The 2D view is now the TOP view and shows now more scan data with a lot of view types.
Clone of a laser configuration is now possible
MSM of a new laser configuration is set to laser devices * 10 by default
Scanner configuration has been enhanced
Remote control command LAS_CONFIG_ADD has been changed
(c) 2013
244
245
RiACQUIRE-MLS
(c) 2013
Appendix
Initial version
3.9
Copyright remarks
QWT
RiACQUIRE is based in part on the work of the QWT project (http://qwt.sf.net).
GDAL
RiACQUIRE uses binaries from the GDAL - Geospatial Data Abstraction Library (http://www.gdal.org/)
3.10
Download
3.11
Contact
RIEGL Laser Measurement Systems GmbH
3580 Horn, Riedenburgstrasse 48, AUSTRIA
Tel.:
+43-2982-4211
Fax.:
+43-2982-4210
email:
office@riegl.com
support:
support@riegl.com
website:
www.riegl.com
(c) 2013
246
247
RiACQUIRE-MLS
Index
-22D view
15, 54
-Aaborted 38
accuracy 110
acquiring 41
acquisition 15
air temp. 51
altitude 50, 110
altitude indicator 48
amplitude 44
Applanix 163
Applanix POS LV V4 81
area object 28
area objects 28
arguments 6
artificial horizon 110
atmosphere 151
atmospheric 151
atmospheric parameter 106, 123
attitude indicator 48
-Bbackup battery
51
-Ccalibration settings 81
CAMDATA 150, 156, 161, 162
camera 53, 66, 73, 113, 123, 150, 155, 157
camera configuration 113
camera panning tool 64
camera window 50
center aircraft 64
chase 72, 123
clear 161
clone camera configuration 15
clone laser configuration 13
color 54
common 73
communication 40, 155
communication settings 81
communication window 40
compass 48
complete 149
compress 149
condition 151
connection 117
connection test 81
control object 28
control objects 28
control unit 156
correctly synchronized 44
CP560 52
CP680 52
CPU load 53
create new project 11
CS6 53, 150
CU 156
Index
-E-
-I-
edit 153
enter license 8, 104
environment settings 123
error 38
essentials 149
executing 41
expert 6
export 154, 155, 156, 158, 160
external 158
external GPS 81
external pulse 81
IGI AEROcontrol 81
images 162, 164
Import 158
import camera configuration 15
import laser configuration 13
IMU 48
information 38
initialization 13
initialized 41
initializing 41
INS-GPS 4, 15, 81
INS-GPS emulator 177
INS-GPS settings 110
INS-GPS window 21, 48
installation 5, 6
integration settings 8, 81
internal GPS 81
internal memory 163
interval 113, 211, 222
introduction 4
IP 157
-Ffailure 38
fan 52
file 21
final state 41
firmware 156
footprint 66
format 161
free 65
-K-
-Hheater 1 52
heater 2 52
height AGL 50
help 21
housekeeping 156
html 152
humidity 151
KML
190
-L44
-Mmain window 21
map 54, 66, 123, 153, 164
248
249
RiACQUIRE-MLS
marquee zoom 64
menu bar 21
message window 21, 38
mission guidance 104
mode 6
MON 28, 54
mounting 65
program arguments 6
project 11, 28, 73, 149, 152
project folders 173
project structure 173
project tree 73
project tree window 21, 28
properties table 54
-N-
-R-
n.a. 44
navigation device 28
new camera configuration 15
new laser configuration 13
no synchronization signal 44
none 38
not initialized 41
range 44
range limit 44
range readings 44
raw data 163
record 28, 54
records 28, 54
remote control 191
remove 153
report 152
requirements 5
resize 123
roll 110
route objects 66
rpp 181
rte 187
-Oobject tree 54
open existing project 11
operating system 5
overlap 50, 211, 222
overlaps 66
-S-
-PPC temp. 51
PCX5 187
pdf 152
pef 186
picture 150
pitch 110
POF 28, 54
pos 154, 180
POS data 28, 54
power INS-GPS 51
power Scanner 51
power supply 51
PPS trigger edge 81
preparation for acquisition
prepare acquisition 41
pressure 151
primary GPS 110
process state 41
product ID 104
scan 160
scan pattern 118
scan script 106
scan stripes 66
scan sync 81
Scanner 4, 15, 81, 158
scanner settings 106
scanner window 21, 44
script 28, 106, 118, 122
select tool 64
serial number 104
services 153
settings 113
setup 6
shortcuts 73
shutdown 41
shutter 52
size 123
SOCS 123
2013 Riegl LMS GmbH Austria
Index
-Ttemp. electronics 52
temp. housing 52
temperature 151
test connection 117
Tilt mount 4, 50
Tilt mount window 50
time 159
tmp 191
tool bar 21
toolbar 123
tools 21
TOP 123, 160
TOP view 66
TopoMission 191
trajectory 66, 154, 163
trigger 50, 113, 158
trigger interval 50
type 81
-Uunknown 38
update time 54
upper range limit 44
user accuracy 110
2013 Riegl LMS GmbH Austria
user interface
21
-Wwarning 38
watch 159
window 21
-Xx-axis rotation
54
-Yyaw
110
-Zz-axis inverted
zip 149
zoom in 64
zoom out 64
54, 65
250