3D Laser Scanning With Modelmaker

ModelMaker Basic Training Course
Prepared by 3D Scanners (UK) Ltd

April 2003
Version 1.100
3D Scanners (UK) Limited 2003

Reproduction and Distribution Forbidden
Table of Contents
Introduction........................................................................................................4
Technology......................................................................................................5
Process Overview...........................................................................................6
User Interface..................................................................................................7
User Interaction............................................................................................8
Toolbars.......................................................................................................9
ModelMaker Panes....................................................................................10
New / Opening / Closing Files...................................................................11
Scroll Bars..................................................................................................12
Display modes...........................................................................................12
Showing/Hiding..........................................................................................13
Introduction Review......................................................................................13
ModelMaker & Arm Configuration ...................................................................14
Faro Probe Calibration..................................................................................15
Probe Identification....................................................................................15
Initial Point Capture....................................................................................16
Final Point Capture....................................................................................17
Calibration Verification...............................................................................17
Calibration Acceptance..............................................................................20
Sensor Alignment..........................................................................................22
Parallel Plane Check..................................................................................26
Alignment Verification................................................................................27
Set-up Exercise.............................................................................................28
Set-up Review...............................................................................................28
Scanning..........................................................................................................29
Localiser Handling........................................................................................29
Scanning Strategy.........................................................................................30
Sensor Orientation.....................................................................................30
.....................................................................................................................32
Scanning Preparation...................................................................................32
Scanning Parameters...................................................................................33
Sampling.......................................................................................................34
Scan Menu....................................................................................................34
Data Quality..................................................................................................34
Scanning Exercise........................................................................................37
Scanning Review..........................................................................................37
Datuming..........................................................................................................38
Datuming Menu.............................................................................................38
Datuming New Entity Menu..........................................................................39
Creating New Points..................................................................................39
Creating New Lines....................................................................................41
Creating New Planes.................................................................................42
Creating New Spheres...............................................................................43
Creating New Cylinders.............................................................................43
Creating New Circles.................................................................................44
Interactive Creation of Entities Through the Datum Menu...........................45
Measuring Entities:....................................................................................45
Required Points for New Entity Construction...............................................48
New Point Creation Techniques Comparison...............................................49
Co-Ordinate System Generation Methods...................................................50
3D Scanners (UK) Limited 2003 2
3-2-1 Alignment:.........................................................................................50
Three planes:.............................................................................................51
N Points:.....................................................................................................51
Single plane:..............................................................................................52
Required Entities for Different Alignment Techniques..................................52
Alignment Viewports.....................................................................................53
Transformation and Rotation of ANY Alignment...........................................53
Datuming Exercise – N Point Alignment.......................................................55
Datum Entity Extraction.............................................................................57
Copying of Data into a Common Viewport................................................58
Matching of Alignment Entities..................................................................59
Application of the Transformation Matrix...................................................60
Datuming Review..........................................................................................61
3D Scanners (UK) Limited has worked to verify the accuracy of the information contained in
this manual as of its publication date: however: such information is subject to change without
notice and 3D Scanners (UK) Limited is not responsible for any errors that may occur in this
document.

Introduction
The ModelMaker scanning system provides the first stage in many inspection,
reverse engineering and multi media projects. Physical objects can be quickly
digitised in to thousands or millions of points in one coherent data set suitable
for many different processes.
This training manual has been designed to meet the following objectives: -
• Enable user to set-up the ModelMaker scanning system.

• Give the user an understanding of scanning techniques and approach to
scan jobs.
• Make the user familiar with datuming tools and methods
• Give an insight in to data processing
In order to give all trainees an awareness of the system a brief demonstration

of the ModelMaker will be given by the course trainer. This will cover the
following points: -
• x,y,z positions from localiser, image view from camera.

• Navigation through menus with arm
• Scanning of a part and capturing datum entities
• Demonstration of sectioning

Introduction
Technology
A laser line is projected onto the object. The line is viewed at an angle by a
camera so that height variations in the object can be seen as changes in the
shape of the line. The resulting captured image of the stripe is a profile that
contains the shape of the object. From calibration data for the sensor a depth
measurement is then calculated from the profile. This process is known as
laser triangulation.
Laser triangulation is a relatively old technology; laboratories have been using

this technique for measurement for over thirty years. Only in the last ten years
have suitable computers for this work become cost effective to offer industrial
portable scanning systems.
In order to synchronise the images taken from the camera with the correct
arm positions there is a connection between the arm and the ModelMaker
scanner (trigger cable) that provides the signal for this.
ModelMaker achieves more flexibility over other scanning systems by being

able to optimise the laser power for different coloured objects.
On the ModelMaker W range of sensors each time the camera captures a

profile 300 depth measurements are taken along the laser line. This process
is repeated 25 times per second, enabling the system to capture up to 7500
points per second.

Introduction
Process Overview
In the flow diagram below a typical scanning job is described. Most jobs would
follow a similar route to the point of capturing the point cloud.
After this point there are different options which are typically
driven by the downstream application for the data.
Obtain brief for data

use
Consider area
to be scanned
Ensure part is suitably

secured for scanning
Scan
These Process data in to suitable format for

processes end user. I.e. mesh, sample, cross-
could be section. (This could also include
completed in a aligning separate scans.)
third party
package
Export data in suitable

format
Inspection Reverse
engineering

Introduction
User Interface
ModelMaker has a typical windows based interface.
The diagram below shows the terminology for different parts of the viewport
used in ModelMaker.
Menu
Toolbar
Option
Buttons
s
Scanning Panes (Scan Context

Control Menu pane selected) menu RMB
Scroll Bars

Introduction
User Interaction
To offer the user a flexible efficient interface to the ModelMaker software there
are several different interface methods. The table below gives
an oversight to the different methods.
Mouse –typical Microsoft left mouse button functionality is

used to navigate through menus. Menu lists will roll down,
left-click on the desired option to select. Right mouse button
is used to access the context menu.
Keyboard – To open a menu option using the Keyboard,
press the <Alt> plus the letter that is underlined in the
menu's title. You choose a menu selection by pressing its
underlined letter, or by using the cursor keys to highlight it
and then pressing <Enter>.
Keyboard Shortcuts -A full list of the available shortcut keys
can be found under the help menu. For example Ctrl + S
will save the current document
Greyed Out Menus and Selections -Menus may be greyed
out when menu options are not applicable to the current
data object or when there is no data object in the current
window.
Context Menu - These menus are available only in the
workspace and the entity panes. (Accessed through the
Right Mouse Button)
Arm and hand-switches –The scanning control menu can
be operated by using the arm in association with the hand
switches. Button A is typically used to open or close a
menu. Any menus with > next to them can be expanded to
give more options.
The Escape key can be used to close any menu.

Introduction
Toolbars
In the diagram below there is a description of the different ModelMaker toolbar

icons. Where there is an arrow in the bottom right hand corner of an icon
there is an expanded list of commands; these are also detailed below.
See Redisplay
Pan
Below Last Colour
Plot
See
Below
New Refresh Rotate

Document View See
Save File Invert Below
Zoom
Selection
Open File Toggle Front Zoom Align

Selection Window Sensor
Capture Dynamic
Lasso Selection
Pick Single Point Points
Box Selection Pick Pair Points Capture Static
Ellipse Selection Points
Pick Triangle

Introduction
ModelMaker Panes
Panes offer more functionality than normal toolbars. The three panes in
ModelMaker all have different functionality.
Scan Pane Entities Pane Output Pane
Scan Pane is typically controlled through interactive use of the arm and hand
switches. This works like a typical toolbar.
Entities pane – the mouse is used to interact with this menu.
• Allows you to work quickly on all data entities in a document, without

having to select them in the window.
• Allows you to manage your data and the way it is displayed.
• Entity operations are mainly performed using context menus (right click
mouse button).
Output pane
Records and results of different functions applied to the data sets are
recorded here. This information can be copied and pasted as in
any text editors.

Introduction
New / Opening / Closing Files
Toolbar buttons can be used to open any ModelMaker files the standard
format being .sab files. In order to create a new file from a scanned object the
'new' document button can be used or alternatively by selecting Prescan from
the Scan pane a new document is automatically opened.
All files should be saved in a suitable directory. When work is finished the file
should then be saved and closed if continuing work in ModelMaker.
It is possible to have many files open in ModelMaker at the same time.

Display of multiple files can easily be controlled through the Window menu.
Zoom / Pan / Rotate.
There are three methods for zooming/panning in ModelMaker, Toolbar icons,

Scroll bars or mouse functionality.
Toolbar icons can be used by selecting and then clicking and dragging with
the Left mouse button.
Mouse. ModelMaker recognises a three-button mouse. Use the following key

combinations to change the view.
Shift + Left Mouse Button Rotate

Shift + Middle Mouse Button Zoom
Shift + Right Mouse Button Pan

Introduction
Scroll Bars
Clicking on the bottom right button will change from Zoom and Pan view to
Rotate view:
1. Rotate around screen Z-axis

1. Pan left and right
2. Rotate around screen Y-axis
2. Zoom in and out
3. Rotate around X screen axis
3. Pan up and down
Display modes
In the table below the various different display modes for different types of
entity are shown. In ModelMaker these are referred to as rendering modes.
Rendering mode Example Entity types applicable to
Scans/meshes, Polylines,
Points
Points
Polygons Scans/meshes, Polylines
Flat Shaded Scans/meshes
Smooth shaded Scans/meshes

Introduction
Showing/Hiding
Changing the display mode of any entity can be done in two ways. This can
be done globally from the context menu in the workspace or alternatively
through the context menu in the entity pane, shown here.
Introduction Review
Discuss these points with the course tutor
• Technology – parts of the sensor.

• Interface methods.
• Context menus – different functionality in different locations.
• Possible display modes for different entities.
• Changing display modes –globally, for specific entities.

ModelMaker & Arm Configuration
This section covers the set-up of the ModelMaker system. There are many
other considerations to be made when starting a scanning job; these will be
covered in more details later on.
How to connect the different parts of the system together is not detailed in this
manual. The course trainer will cover this thoroughly. There is also an online
ModelMaker help file that covers this in detail. Many users have colour coded
stickers to assist set-up. This avoids unnecessary problems associated with
incorrect connection of cables.
Tip
Colour code all connections with stickers whilst the course tutor is present to
make future set-ups easier.
In order to obtain good scan results the most important part of the set-up is
the calibration of the Faro probe and alignment of the ModelMaker sensor.
This section focuses solely on this. Pictures are used extensively to describe
the various angles and settings required. Trainees may benefit from making
their own additional notes in addition to this.

Faro Probe Calibration
The first stage once the equipment is assembled together is to complete a

probe calibration. This is easier to complete without having the sensor
attached to the arm.
To do this we use the Single Hole Probe Calibration in the Faro software.
(The screen shots shown here show the use of Caliper 3D, this can also be
completed in CAM2 or Anthro-Cam.)
Probe Identification
Check that this size

matches the probe
attached to the
arm.

Initial Point Capture
The next step involves capturing a series of points using the buttons on the
front of the Faro arm.
Follow this series of images for the first 10 points.
Position 1 Hold
(0.5sec)
Press front button
Press back button
The probe is now rotated through approximately 300

for the next point to be taken.
Position 2 Hold
(0.5sec)
Press front button
Press back button

This process of rotating the probe
approx. 300 and taking points is
continued until point 11.

Final Point Capture
Before continuing in the same manner for the next 10 points it is necessary to
flip the arm through 1350.
1350
Position 11 After
Flipping Arm
Through 1350 Hold
(0.5sec)
Press front button
Press back button
Again repeat for points 12 – 20 rotating probe

300 between capturing points.
Once all the points have been taken the results of this process will be
displayed. The results show an average error. Even if this value is within the
accuracy of the arm it CAN NOT be assumed that the probe calibration is
good.
Calibration Verification
The next stage involves checking the probe calibration prior to continuing with
alignment of the sensor. To do this we now use the ModelMaker software to
complete this check.
IMPORTANT
ENSURE THAT FARO SOFTWARE IS CLOSED PRIOR OT OPENING THE
MODELMAKER SOFTWARE.

After opening a new document select the ‘Capture Dynamic Points’ tool in
ModelMaker.
A similar process to the probe calibration is now performed.
Start and stop the capture of points by either using the remote hand switches
or foot pedals.

Start with the arm Start capture then

in this position. rotate the probe
through 3600 as
shown
Stop capture at 0
3600 360
Flip arm in to 135

0
new position
shown
Start capture then

rotate the probe
through 3600 as
shown Stop capture at
0
360 3600
There will now be a cluster of points on the screen. Press Escape to

cancel capture dynamic point capture

Calibration Acceptance
The next step is to analyze the results of this test.

Select all of the captured points then fit a single point.
A result box will be displayed.
These results should be checked as follows: -
For Faro Gold

arms the three
distances in the
box on the left
should be below
the 2-sigma value
shown on the right

There is a second visual check that can be made on the data. The ideal
results are shown below (these results are for a Faro Gold 8’ arm)
In the event that the results are poor results similar to those below will be
seen. Here two separate clusters from the different arm orientations can be
clearly seen.
IF EITHER OF THESE TESTS FAIL REPEAT STEPS 1-5.

Sensor Alignment
Once the probe calibration is complete it is now necessary to complete the

sensor alignment.
Always make sure that the certified settings check box is ticked.
Enter the sizes of the alignment block as shown and ensure that the correct
probe diameter for the arm is entered.

The alignment works by capturing the same planes with the probe and then
the sensor. Once the data is captured the computer calculates a
transformation matrix to map the sensor data on to the x, y, z data from the
arm.
For each face of the alignment block the same procedure is followed. The first
step is to capture points on the face using the probe on the Faro arm. Points
should be taken as shown in the diagram below.
As the points are taken an estimated RMS reflecting the accuracy of the
results is displayed. If this is higher then the expected results then investigate
this prior to continuing.

The next step involves capturing the same plane with the laser stripe. In order
to achieve the best possible alignment the same method should be followed
each time you set-up. Follow the images below to capture the 9laser stripes.
DO NOT START THIS UNTIL THE SENSOR HAS WARMED UP FOR AT

LEAST 20 MINUTES. A WARNING WILL APPEAR IF THE LASER HAS
BEEN ACTIVATED FOR AT LEAST 20 MINUTES
Rear View Plan View
1.
2.
3.
4.
5.
6.

Rear View Plan View
7.
8.
9.
When all of the stripes have been captured an estimated RMS reflecting the
accuracy of the results is displayed. If this is higher then the expected results
again investigate this prior to continuing.
The process of capturing the points then the stripes now needs to be
completed for the remaining four planes.
Once all the data has been captured the computer will calculate the
alignment.
Before starting to scan the alignment should be checked. There are several
different ways that this can be done.

Parallel Plane Check
Slowly scan Plane 1 (in the direction of the blue arrow) horizontally in one
continuous motion, keeping the sensor approximately normal to the surface.
Pause the scan, rotate the sensor 180 degrees and scan plane 1 again.
Now scan Plane 3, in the same manner.
This can either be completed on panes 1 and 3 or 2 and 4.
Plane 1 Plane 1
Plane 3 Plane 3
Delete any points scanned that are not on the surface of either of the planes.
Then select one of the planes (use lasso tool).
Select the Points/Fit/Parallel Planes menu item.
Enter the certified distance between the parallel planes and press Apply. The
parallel plane fit results dialog box appears. Check this result against that
expected for your system.
Plane deviation from the centre - is the error between the certified distance
between the planes and the measured distance between the planes, but it is
shown as the error for one plane only.

Alignment Verification
Make three passes with the scanner along the edge of the alignment block as
shown (red, green, and blue). Then rotate the view and look along the edge. It
should not be possible to see the separate passes.
One additional test at this stage is to fit a plane to each face of the alignment
block.

Set-up Exercise
Each trainee should go through calibrating the probe and aligning the sensor
(larger groups may have to split this between pairs).
Set-up Review
Discuss the following points with your course tutor: -
• When would you use a different type of probe calibration?

• Considerations prior to starting set-up.
• What values should you expect to achieve at the different stages of set-
up?

Scanning
Before You Start - Plan Your Scan
• What is your objective?

Copying, Modification, Visualisation, etc. Consider all stages of the
process before beginning to scan. What format will the data need to be
exported in?
• Can the part be scanned?

There are two main considerations with respect to determining whether a
particular part can be scanned. They are surface finish and topology...
• Can the part be painted?

If the surface is too shiny it will produce noise in the data, Matt finish
preferred.
• How will the part be scanned?

The area to be scanned and the density of data required should also be
determined at this stage.
Localiser Handling
When setting up the ModelMaker system to perform a scanning job, first

check that the localiser and sensor geometry allows you access all areas of
the part. To do this, perform a quick dry run with no scanning to ensure:
• That you can scan with the sensor at the nearest point of the
object to the arm base without the arm being in a bad orientation.
• That you can scan at the furthest point of the object from the
arm base. If you are capturing datum points from the part, check that
the probe has access to these points.
• If you are using datum cones, for example scanning a whole car,
it is recommended to perform a dry run to ensure the layout is correct
for the size of object.
When positioning an arm, try to avoid:
• Collisions between arm and object, this can move the object or
the arm
• Not being able to reach to scan all parts of the object
• Arm reaching the end of travel on any of its joints, can add
errors
• Excess twisting of the sensor and arm cables

Scanning
Scanning Strategy
Strip scanning is the most efficient

• Creating a number of strips by scanning in passes
• Try to make one pass over each area of the model with only a small
overlap
• Always move the sensor in one direction (probe first), smoothly and
consistently
• Always capture sufficient data in areas of high detail/curvature
Sensor Orientation
In general keep the laser directed approximately 90 degrees to the surface.

Scanning
The ideal approach for most scan jobs is to collect very dense data on
features and sparse data in between.
Orient the stripe across a feature line or an edge and follow along the line.
Stripe is at 900 across a

style line and across an
edge
Scanning Tips
Rigidity
During scanning the object and localizer base must not move relative to each
other.
• Use a strong bench, tripod or magnetic base
• Attach the object to the bench
Laser reflection or absorption

Shiny, glass, unpainted plastic or matt black objects do not scan well due to
laser reflection or absorption.
• Try and check higher laser power setting 2,3,4
• Try lower ambient thresholds.

Scanning
Scanning Preparation
To optimise for different colours the laser power and ambient threshold are
adjusted. As a rough guide for light colours a low laser power is used i.e. 1
and for dark colours a high laser power is required. When changing the laser
power the ambient threshold should also be adjusted. Use the calibrated view
to help optimise the settings of the sensor.
Laser Power - Click and drag the indicator to the desired setting. (1 is the
minimum, 4 the maximum).
Ambient Threshold - Sets the sensitivity of the sensor to surrounding light. A

high value is used in a bright environment, a lower value in a darker
environment. Please note: Lower values can be better at picking up darker
colours.
Material Drop Down List Box – this box enables default settings to be stored
and quickly retrieved. Set the laser power and ambient threshold to the
required settings, then by clicking on new material these values are then
stored.

Scanning
Scanning Parameters

Scanning
Sampling
It is possible to process the data during scanning. Until the user is confident
with the scanning system we would recommend that the online 1D and 2D
sampling not be used. These functions can always be applied after the scan
has been performed.
Area (2D) Sampling – this produces a regular grid of points over each scan
patch.
Linear (1D) Sampling - Defines how many points are obtained along the laser
line while scanning.
Rendering mode during scanning - enables the user to select the way
captured data is displayed while scanning.
Maximum Point Spacing During Scanning

These settings are used to avoid large holes in the resulting scan data. When
the distance between captured points is larger than the values set here the
scanner will stop capturing data. The operator will then see a void on the
screen and can alter their scanning approach to avoid this.
Scan Menu
PreScan is used to set the size of the object to

enable a suitable viewing size. The data acquired in
PreScan is not used in the actual scan of the object
Scan is used to capture data from the sensor.
View enables the workspace view to be altered

through use of the arm and hand switched.
Datum opens a new menu specifically for capturing

geometric objects.
Multi Site – this is a tool for capturing large objects.

This is not covered in this course. See datum
section for scanning with multiple arm positions.
• Rest, This is a safety feature to protect any

recent scan data from accidental modification. The
arm will automatically select this item when in a
resting position.
Data Quality

Scanning
After scanning an assessment of the data quality should always be made.
Problems with scan date can usually be divided in to one of the following
categories.
Overlaps / Scarring This is typically caused by a poor alignment.

• Perform an alignment check.
• If this is poor then perform a probe calibration
check.
• The next stage would be to do a complete
setup of the system.
Ensure that the part and localiser are not moving.
Has the probe worked loose?
Synchronisation due to memory being completely

full.
Noisy Data My physical object is perfectly smooth, why isn’t

the data?
• The surface finish may not be suitable for
scanning and should be prepared prior to
scanning.
• Even coloured parts can be transparent to the
laser and may require preparation.
•
All scanning systems are affected by the speckle interference of

monochromatic light on sub-micron surface imperfections. The result is noise
in the resulting scan data. On many surface finishes the size of this noise is
very small and does not affect the data. All scanning software typically has
tools to remove this when it is a concern, in ModelMaker this is done using the
merge command.

Scanning
When scanning the file should be saved on a regular basis. It is possible that
too much data is captured for the computer to handle, in this event a warning
message will be shown. In the table below an indication is given for the time
that it may take to fill the memory. Online sampling can be used to avoid
running out of memory; it is not recommended that this be used until the
operator is competent with the scanner.
Scanning time vs PC memory
120
Continuous Time Scanning
100
Scanning Time (raw)
80
(mins)
60
Scanning Time (using on-
40 line 2D sample
1mmx1mm)
20
0
128 256 384 512 640 768 896 1024
RAM Memory (Mb)

Scanning
Scanning Exercise
Each student must complete this exercise individually.
The object of this exercise is to create a scan of the object mounted on the
board. When scanning considerations should be given to the set-up of the
part and system and also the data acquired.
With the assistance of the course tutor follow this advised approach to scan
the object: -
• Position the part relative to the scanner – can the complete geometry be
captured?
• Optimise the scanner for the surface finish of the part.
• Does the part require any preparation?
• Consider scanning approach to be used on the part – angle of laser line to
features, position of sensor relative to the surface.
• When scanning try to avoid over scanning the same area several times.
Scanning Review
• ModelMaker is a delicate and valuable instrument and should be treated

like one.
• Before commencement of any scanning/alignment procedures the sensor
should switched on and allowed to stabilize for between 20-30 minutes
• Do not block the optical path of the laser or CCD sensor to the object.
• Make sure you do not touch the optical wind.
• Removal of any of the covers/lenses on the ModelMaker system will
invalidate any warranty.
• Laser light is emitted from the aperture in the centre of the sensor. Never
look into the laser aperture.
• It is recommended that the laser is left active when the arm is at rest, this
avoids warm up times and can actually help to prolong the life of the laser.
After scanning analyse the data with the course tutor.

Consider the following points: -
• Data density
• Speed of scan
• Angle of laser lines
• Holes in data?
• Reverse scans?

Datuming
Unlike some optical measuring systems, ModelMaker has the ability to

capture hard datum points from physical objects using the localiser touch
probe. Taking points in this manner can achieve a more accurate result than
using the scan data. Datum features can also be created from the scan data if
this is more applicable.
By capturing datum features from an object the scan can be aligned to the
CAD co-ordinate system. This can be done prior to data capture so that the
scan data is captured straight in to the desired co-ordinate system.
Datum features can be created in three ways:
• Interactively via the localiser and Datum pane
• Through the Datuming_New entity menu (typically to create reference

datums)
• By fitting datum entities through scan data, through the Points_Fit menu.
If you are a CAM2 Measure user, you may prefer to use the functionality of
CAM2 to create co-ordinate systems. These can then be imported in to
ModelMaker so that the scan data is captured in the same co-ordinate system
as geometric entities created in the Faro software.
Datuming Menu
When entering the datuming menu we can find two different tools:
New entity: this command will allow us to create entities such as points, lines,
Using existing entities or entering co-ordinates.
Generate co-ordinate system from: this command will allow us to create an

exact copy of the co-ordinate system used in the CAD model using features
from the object.

Datuming
Datuming New Entity Menu
There are several different ways that datum points can be created from
existing features, these are typically known as ‘new’ points.
Creating New Points
Co-ordinates: creates a point by

entering the XYZ co-ordinates. Use
the name field if you wish to change
the name
Intersection: Creates a point in the

intersection between an existing line
and plane. Use the name field if you
wish to change the name.
Average: Creates an average point of

the selected points. To select the
points we want to use, we just have to
highlight the point on the left-hand
window and hit the “add>>” button.
The point created will be the average
point of all the points in the right-hand
window.

Datuming
Projection: creates a point by

projecting an existing entity onto a
plane. The entity is projected using
the plane’s vector direction and the
created point will lie in the plane.
Three planes: Creates a point in the

intersection point of the existing
plane. Use the name field if you wish
to change the name
Line: Creates a point using the edges

(first point-last point) or middle point
of an existing line. Use the name field
if you wish to change the name.
Sphere: Creates a point using the

center point of an existing sphere or
circle. Use the name field if you wish
to change the name

Datuming
Creating New Lines

Co-ordinates: creates a line by
entering the co-ordinates of the
starting and ending points. Use the
name field if you wish to change the
name
Two points: creates a line between

two existing points. Use the name
field to rename the created line. The
results will be shown on the bottom
part of the window.
Two planes: creates a line in the

intersection of two existing planes.
The length of the line will depend on
the size of the planes. The created
line can also be named on the
corresponding field.
Cylinder: Creates a line using the axis

direction of an existing cylinder. The
length of the line will be the same as
the cylinder’s height. The line can be
renamed on the name field.

Datuming
Creating New Planes
Point and normal: creates a plane by

using an existing point and a vector
information. The selected point will be
at the center of the plane and will lie
on the plane. The results will be
shown at the bottom of the window.
Use the name field if you wish to
change the name
Three points: creates a best-fit plane

through three existing points. The
positive direction will be calculated
using the right-hand rule. Use the
name field if you wish to change the
name
Line and point: Creates a best-fit

plane using an existing line and a
point. Use the name field if you wish
to change the name
Two lines: Creates a best-fit plane

using two existing lines. This tool only
works with coplanar lines (planes with
same direction). The name of the
created plane can be changed in the
name field.

Datuming
Circle: Creates a plane using the

projection plane of an existing circle.
The results will be shown on the
bottom of the window.
Creating New Spheres
Co-ordinates: Creates a sphere by

entering the co-ordinates of the center
and the desired radius. The name can
be entered in the corresponding field.
Creating New Cylinders
Co-ordinates: Creates a cylinder by

entering the base centre point co-
ordinate and the top centre point co-
ordinate. The diameter of the cylinder
will depend on the value entered in
the radius field.

Datuming
Creating New Circles
Creates a circle by entering the XYZ

co-ordinates, the radius and the
vector information. The name of the
created circle can be changed in the
name field

Datuming
Interactive Creation of Entities Through the Datum Menu
This command will allow us to measure different entities by using the touch
probe.
To access these menus expand the Datum option in the scan menu.
Measuring Entities:
Point: when selecting this command we will be able to measure an average

point. Hit B button to start collecting point and B button again to stop. Hit A
button to finish measuring.
Please note that the points taken correspond to the center of the probe (non-
compensated points).
Point
Capture
d

Datuming
Line: In order to measure a line you will need to take a minimum of three
points. Take the first point, followed by the “middle point” and finally the third
point (using B button). Press A button to finish the session. This line will be
created offset from the surface at a distance equal to the radius of the probe.
I.e. probe diameter 6mm, the line will be 3mm away from the surface.
Plane: This entity requires a minimum of three points. Take points anywhere
on the plane with B button. Once we have enough points, hit A button. The
system will prompt us for another point in order to establish a normal direction
and the compensation of the probe radius. To take that point, we need to
move away from the plane and hit B button. A RMS will appear on the screen.
Hit B button again to confirm entity.
Sphere: A sphere can be defined with a minimum of four points. Take the
points as evenly spread as possible by pressing B Button. Hit A button to
finish measuring. Since the sphere is created with non-compensated points,
The resulting sphere will be X mm bigger than the original sphere, X being the
probe diameter.
Probe Diameter: 6mm
3mm 3mm
Original sphere Diameter: 44mm Created sphere Diameter: 50mm
I.e.: probe diameter = 6mm; resulting sphere diameter = 50mm  real

sphere diameter = 44mm

Datuming
ModelMaker can apply probe compensation after the element has been
measured (only spheres and circles can be compensated). To do so, we need
to go into the entities pane and highlight the entity we wish to modify. When
pressing the RMB on top of the highlighted entity, the following window will
appear:
Selecting Increase Radius will

allow us to compensate the
radius of the entity. We can enter
a positive value (for “inside”
measurement) or a negative
value (for “outside”
measurements). We can also
keep the measured entity by
ticking the Create Copy box.
Cylinder: This element requires a minimum of 12 points spread around the

cylinder. Press B button to collect the points and A button to finish the
measurement. Press B button again to confirm entity.
Please notice that the radius of probe will not be compensated.
Circle: This entity will require a minimum of three points and a projection
plane. As soon as we select the circle entity, the following window will appear:
You can select an existing plane as the projection plane by selecting it from
the drop-down menu and press OK. If we haven’t got the desired projection
plane, we can define it prior to measuring the circle by pressing Capture.
Take the points by pressing B button (notice that we will need to follow the
measure plane instructions if we selected Capture before measuring the
circle). Press A to finish measuring and B button to confirm entity.
When measuring circles, the probe diameter is not compensated (depending

on software version). Please refer to measure sphere in order to compensate
the probe radius if required.

Datuming
Probe Diameter:
6mm
P
1 P
3
P
2
Original Circle Diameter: Created Circle Diameter:

20mm 14mm
Required Points for New Entity Construction
Minimum Probe Can Entity Be

Entity
Number Of Points Compensation Compensated?
Point Average No No
Line 3 No No
Plane 3 Yes Yes
Sphere 4 No Yes
Cylinder 12 No No
Circle 3 No Yes

Datuming
New Point Creation Techniques Comparison
Create
Method 1 Method 2 Method 3 Method 4 Method 5 Method 6 Method 7
Entity
Intersecti Projectio LINE
Co- Sphere/
on n Circle (First,
Point Ordinate Average Middle, 3 Plane
Plane- Point- (Centre)
(X,Y,Z) Last)
Line Plane
Co- 2 Planes
Cylinder
Line Ordinate 2 Points Intersecti - - -
Axis
(X,Y,Z) on
Circle
Line And 2 Lines
Point And 3 Points (Projectio
Plane Point (Coplana - -
Normal (Best-Fit) n
(Best-Fit) r)
Plane)
Co-
Ordinate
Sphere And - - - - - -
Radius
(X,Y,Z)
Co-Ordinate
(2 Points)
Cylinder And - - - - - -
Radius
Co-
Ordinate,
Circle Radius - - - - - -
And
Normal

Datuming
Co-Ordinate System Generation Methods
3-2-1 Alignment:
PLANE: Select the plane that defines the direction of the axis selected in the
Co-ordinate frame.
COORDINATE FRAME: Is the direction that the selected plane is going to

define.
• 0XY: defines Z-axis direction (vector direction = positive
direction).
• 0YZ: defines X-axis direction (vector direction = positive
direction).
• 0XZ: defines Z-axis direction (vector direction = positive
direction).
LINE: the selected line will be projected onto the previous plane and will
define one of the two remaining axis directions. That line can be selected in
two ways:
From list: select an existing line (measured or created)
Plane intersection: it will create an intersection between the plane selected

previously and the plane selected in this field.
AXIS: In this field we have to select what axis and sense (positive or negative)
is the line defining.
Please notice that the options in this field will depend on what axis the first
plane is defining.
ORIGIN: the point selected in this field will become the origin (x=0, y=0,z=0)
of the co-ordinate system. We can also define that point in two ways:

Datuming
From list: select an existing point (or point reducible entity such as Sphere,
circle,…)
Plane intersection: it will intersect the plane selected in this field with the line
selected in the previous step, or with the two previously selected planes
(planes in the previous fields).
Three planes:
0XY: the plane (its vector information) selected in this field will define the Z
axis direction.
0YZ: the plane (its vector information) selected in this field will define the X
axis direction.
0XZ: The plane (its vector information) selected in this field will define the Y
axis direction.
Notice that all three planes should be orthogonal. If the planes are not
orthogonal, the co-ordinate system will be created as follows:
The plane entered in the first field will defined the Z axis direction (as it
normally would). The intersection of that plane with the plane entered in the
second field will define the X axis direction. Finally, The intersection of the
three entered planes will set the origin.
N Points:
This alignment requires a set of points in the
CAD co-ordinate system, and a set of
corresponding points in the global co-ordinate
system (not- aligned points). We need to
match the GLOBAL point (first field) with the
corresponding CAD point (second field). Hit
“Add” to accept the pair of points. If we make a
mistake, highlight the wrong pair and hit
“remove”. Repeat this operation for all the
points. Once we have all the points “matched”,
hit OK and a transformation RMS will be
shown on the bottom of the window. It will
require a minimum of three pairs to carry this
alignment on. If we make a mistake, highlight
the wrong pair and hit “remove”.
See the exercise at the end of this chapter for
3D Scanners (UK)aLimited
worked example.
2003 51
Datuming
Single plane:
Using this alignment we will only be able to set one of the axis direction. We
will not be able to define the direction of the two remaining axes or the origin
of the co-ordinate system. In the name field we enter the name we want the
co-ordinate system to have. In the Plane field we enter the plane which is
going to define our axis. Finally, we use the Co-ordinate field to establish what
axis is the plane defining.
Required Entities for Different Alignment Techniques
Alignment Required Entities Method
-The Vector Of Plane 1

-3 Planes
Defines X, Y Or Z
-2 Planes And A Point
-A Line Defines One Of
3-2-1 Alignment -2 Planes And A Line
The 2 Remaining Axes.
-1 Plane, 1line And A
-A Point Defines The
Point
Origin.
-Plane 1 Defines X,Y Or
Z
-Plane1/Pane2
Intersection. Line
Three Plane - 3 Planes
Defines A Second Axis.
-Intersection Of Three
Planes Defines The
Origin.
- Match Measured
/Created Points With
N-Points - Point Reducible Entity
Corresponding Cad
Points.
-The Plane Defines
Either X, Y Or Z-Axis.
Single Plane - 1 Plane The Remaining 2 Axes
And Origin Cannot Be
Defined.
-Aligns The Viewport To
The 0XY Plane (Z-Axis).
Viewport - None The Two Remaining
Axes And The Origin
Cannot Be Defined.

Datuming
Alignment Viewports
This alignment is particular case of single plane alignment. This option aligns
the current view plane to the 0XY plane. Before using this alignment, we need
to get the view plane we want to use as 0XY (notice that any of the standard
viewports can be used). The transformation will occur as soon as we hit the
viewport alignment option.
Transformation and Rotation of ANY Alignment
Sometimes we cannot get the desired alignment just by using any of the
previous alignment methods. This can often be achieved by using an
alignment then transforming the alignment.
If we tick the translate and/or rotate box, we will activate the

translation/rotation parameters.
Using the translation parameters will allow us to move the origin to a specified
distance from the current origin. We can move all three axes or move only
one.
Using the rotation parameters will allow us to rotate each axis to a new
position using angular values. We can rotate all the axes at the same time or
independently.
We can use translate and rotate independently or combine both of them in

order to get the desired alignment.
Finally, we can create a copy of the actual alignment by ticking the Create
copy box. This can be helpful if we don’t get the desired alignment and need
to go back to the original alignment.
*NOTE: You will find the transform/rotate window in the entities pane (left-
bottom side of the screen). All you need to do is to put the mouse cursor on
top of the desired system (alignment) and click the RMB. The window will
appear when you select transform… from the following drop-down menu:

Datuming
Import/Export Alignment files (CAM2 Measure users only)
If you are a CAM2 Measure user, you might want to Import/Export an

alignment created in CAM2 Measure. All you need to do is export the .pos file
from CAM2 Measure, and then import it into ModelMaker by using
File/import… and selecting the .pos type of file. The alignment should be
automatically activated, however, 3DScanners highly recommends to check
the origin and directions of the axes to make sure we imported the desired co-
ordinate system.
We can check at any time what alignments we have got (if any) and whether
they are activated or not. To do so, all you need to do is go into the Entities
pane and click on top of Datuming with LMB. We will see a list of all the datum
and co-ordinate systems we have. Use the RMB drop down menu to apply
(“activate” alignment) or apply reverse (“de-activate” alignment).

Datuming
Datuming Exercise – N Point Alignment.
Exercise objectives
• Understand how two separate scans can be combined together.
• Be familiar with the N-point alignment tool.
This is a typical example of aligning two separate scans into the same co-
ordinate system using N-points alignment method; this method is also
commonly referred to as ‘leap frog’.
Due to the shape of the object it is not possible to obtain complete coverage
from one arm position without moving the part. The object has been scanned
in two separate processes using three spheres as the common items between
both scans.
The complete scan.

Datuming
The approach to this exercise is shown in the flow diagram.
Scan side A including reference

spheres, save and close file
Scan side B including reference

spheres, save and close file
Open both files in separate

windows in ModelMaker
Create reference spheres in both files
Copy and paste reference files from

‘fixed scan’ to mobile scan
Use N point alignment to create new

co-ordinate system, copy and paste
scans together and combine
There are several key points with the approach to this exercise.
• Notice how the spheres are spaced as far apart from each other as
possible. This ensures that the best possible result is obtained.
• In a real exercise it is recommended that at least five points be used. This
helps to average the error and in the event that any spheres are not
usable this should still hopefully leave three or four usable spheres.
• The minimum number of scans has been taken to achieve the objective of
a complete scan for the part – never take more scans than necessary.

Datuming
Work through the following instructions to complete this exercise.
Load datasets (BoneA.sab and BoneB.sab) into ModelMaker. These should

be in separate windows.
Datum Entity Extraction
Working in file BoneA.sab.

Use the lasso tool to select each sphere individually and fit a sphere to all
three.
For each created entity rename it to " New Sphere X", where the X is number
1, 2, 3. This is done in the entity pane.
Tip
Make use of the tile command under the windows menu to make it easier to
view both files at the same time.
Repeat the above for file BoneB.sab

When renaming the spheres the names should reflect the naming convention
in the first file.
Both files should be similar to the example below.
Tip.
Spheres are difficult to scan, especially smaller ones! Make use of the error
map tools to check for rogue data. When rogue data is found delete this and
fit a new sphere.

Datuming
Copying of Data into a Common Viewport
Select all of the created spheres in the file BoneB.sab by right clicking on the
datuming folder of entities pane
Once selected these can then be copied and then pasted in to the file
BoneA.sab
File BoneA.sab should now resemble the images below.

Datuming
Matching of Alignment Entities
From Datuming/Generate Co-ordinate System menu option select Alignment

from N Points…
Using drop down menus and "Add” button, select the corresponding points.
The n points alignment has created a new co-ordinate system that exists in
the entities pane. When this is first created it is not applied; the user must
manually apply the co-ordinate system.

Datuming
Application of the Transformation Matrix
Apply new co-ordinate frame to the scene. Right click on the co-ordinate
frame in entities pane and select - apply.
All of the data in BoneA.sab has now been moved so that it is aligned to the
second scan BoneB.sab.

Datuming
Copy all the points from the first dataset BoneA.sab
Paste the points from BoneA.sab to the BoneB.sab
This should now look like the following image.
The two scans can now be combined in to one entity.
Datuming Review
Discuss these points with the course tutor

• Alternative types of reference points that can be used.
• Number of reference points that have been used.
• Mounting methods of spheres.
• Which data set has been moved?
• How could this technique be expanded for larger objects with more
positions?


3D Laser Scanning With Modelmaker

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3D Laser Scanning With Modelmaker

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ModelMaker Basic Training Course

Prepared by 3D Scanners (UK) Ltd

3D Scanners (UK) Limited 2003

3D Scanners (UK) Limited 2003 3

• Enable user to set-up the ModelMaker scanning system.

In order to give all trainees an awareness of the system a brief demonstration

• x,y,z positions from localiser, image view from camera.

3D Scanners (UK) Limited 2003

Laser triangulation is a relatively old technology; laboratories have been using

ModelMaker achieves more flexibility over other scanning systems by being

On the ModelMaker W range of sensors each time the camera captures a

3D Scanners (UK) Limited 2003 5

Obtain brief for data

Ensure part is suitably

These Process data in to suitable format for

Export data in suitable

3D Scanners (UK) Limited 2003 6

ModelMaker has a typical windows based interface.

Scanning Panes (Scan Context

3D Scanners (UK) Limited 2003 7

Mouse –typical Microsoft left mouse button functionality is

The Escape key can be used to close any menu.

3D Scanners (UK) Limited 2003 8

In the diagram below there is a description of the different ModelMaker toolbar

New Refresh Rotate

Open File Toggle Front Zoom Align

3D Scanners (UK) Limited 2003 9

Scan Pane Entities Pane Output Pane

• Allows you to work quickly on all data entities in a document, without

• Allows you to manage your data and the way it is displayed.

3D Scanners (UK) Limited 2003 10

New / Opening / Closing Files

It is possible to have many files open in ModelMaker at the same time.

Zoom / Pan / Rotate.

There are three methods for zooming/panning in ModelMaker, Toolbar icons,

Mouse. ModelMaker recognises a three-button mouse. Use the following key

Shift + Left Mouse Button Rotate

3D Scanners (UK) Limited 2003 11

1. Rotate around screen Z-axis

Rendering mode Example Entity types applicable to

Polygons Scans/meshes, Polylines

Flat Shaded Scans/meshes

Smooth shaded Scans/meshes

3D Scanners (UK) Limited 2003 12

Discuss these points with the course tutor

• Technology – parts of the sensor.

3D Scanners (UK) Limited 2003 13

3D Scanners (UK) Limited 2003

Faro Probe Calibration

The first stage once the equipment is assembled together is to complete a

Check that this size

3D Scanners (UK) Limited 2003 15

Initial Point Capture

Follow this series of images for the first 10 points.

Press front button

Press back button

The probe is now rotated through approximately 300

Press front button

Press back button

3D Scanners (UK) Limited 2003 16

Final Point Capture

Press front button

Press back button