LIS Orientation - point cloud and image registration
The package contains tools for point cloud and image registration and orientation, including a 3D point cloud registration editor, and tools for the derivation of transformation matrices and iterative closest point adjustment (ICP). Applications are the registration of multiple scan positions and the reconstruction of camera poses (supporting the lense types telephoto, panorama and hemisphere).
Tool: Create Target Primitives
| Features |
|---|
| • reconstruction of primitives from target point sets (scanned targets) |
| • target types: sphere, rectangle/planar, centroid, centroid (minimum z) |
| Application |
|---|
| • point cloud registration |
| • preparation of tie points for transformation matrix derivation |
Tool: Derive Transformation Matrix
| Features |
|---|
| • derivation of a 4x4 transformation matrix between a slave and a master target point cloud |
| • consideration of scaling, optional |
| Application |
|---|
| • point cloud registration |
| • transformation matrix derivation (see also 'Apply Transformation Matrix' tool) |
Tool: Iterative Closest Point Adjustment
| Features |
|---|
| • iterative minimization of distances between two point clouds |
| • derivation of a 4x4 transformation matrix |
| • usage of pre-computed point normals, optional |
| • convergence control by RMS error or maximum number of iterations |
| Application |
|---|
| • refinement of point cloud registration |
| • transformation matrix derivation (see also 'Apply Transformation Matrix' tool) |
| • point cloud transformation |
Tool: Point Cloud Registration Editor [interactive]
| Features |
|---|
| • 3D viewer for simultaneous editing of two point clouds, separate views for each point cloud |
| • definition of rectangular subsets for viewing details |
| • selection of points by rectangle or polygon |
| • deletion of selected points (or the inverse) |
| • labelling of selected points (registration target ID) |
| • point attribute value report on mouse-over |
| Application |
|---|
| • labelling of registration targets / tie points in 3D |
| • preparation of tie points for transformation matrix derivation |
Tool: Prepare Data for Registration
| Features |
|---|
| • pre-processing of raw point cloud data for editing and registration |
| • creation of relevant attribute fields |
| • merging of main scan and its fine scans (of targets) into a single data set |
| • creation of a scanner object (scanner position) |
| Application |
|---|
| • data set preparation for point cloud registration |
Tool: Reconstruct Camera Pose
| Features |
|---|
| • camera pose derivation by correlation of point cloud tie points and image tie points (resection) |
| • reconstruction of camera position and orientation for a given image |
| • supported lense types: tele, panorama, hemisphere |
| Application |
|---|
| • derivation of camera pose from point cloud and image data |
| • data pre-processing for point cloud texturing with image ('Point Cloud Photographer' tool) |
| • data pre-processing for image creation from point cloud ('Point Cloud Photographer' tool) |