Register scans into point clouds

This unit will teach how to register multiple laser scans into a single point cloud.

Any referenced datasets can be downloaded from "Module downloads" in the module overview.

Register 3D scanned files - Exercise

Note: This exercise continues with the project started in the Start a ReCap Project exercise from the previous unit. If you have not already done so, you will need to complete that exercise first. 

Task 1: Open an existing project and manual register

  1. On the home screen, click open.



  2. In the Open Project dialog box, navigate to the C:\Temp folder and select the ReCap Pro Practice.rcp file. 
  3. Click Open. You will notice that there are the four imported files from the previous unit’s exercise. 
  4. Hover your cursor over auto register scans in the lower-right corner of the interface and select manual registration. 
    • The software will begin preparing the imported files for registration. 
  5. In the upper-left corner, select the Lee_Lg_11 structured scan. 
  6. Once it is done loading, click new registration group.



  7. If the registration & target identification tips dialog displays, click got it!. 

You should now have Lee_Lg_11 on the left half of your screen representing group 1 and the remaining Lee_Lg scans on the right half of your screen. 

Task 2: Add targets and merge scans

  1. In the right-side view of your screen, click Lee_Lg_12. It will take a second for it to load as it is trying to find matching data. 
  2. In both views respectively, click and hold your left mouse button to pan around and use your mouse wheel to zoom in and out. Look for the C – 400 distillation column. You should see the 1630 target towards the lower half of the column.  
  3. In the left- and right-side views, zoom as close as possible to the 1630 target.



  4. Starting with the left-side view, click on the target icon at the bottom of your screen to go into target mode.



  5. Select the center of the 1630 target in the left-side view.



  6. In the dialog box, leave the name as target0000 and click accept. 
  7. In the right-side view of the screen, click in the center of the 1630 target. In the dialog box, expand the target name and select target0000. This creates a match between the two scans.



  8. Click accept. 
  9. In the left-side view, zoom out until you see the 1629 target on a steel column that is to the right of the distillation column. Repeat finding the 1629 target in the right-side view as well. 
  10. You are still in target mode. Starting in the left side, click the 1629 target. In the dialog box, click accept to accept the target0001 name. 
  11. In the right-side view, click on the 1629 target. In the dialog box, expand the target name and select target0001. 
  12. Click accept. 
  13. In the right-side view, click merge scan. Once it is done processing, Lee_Lg_12 will turn green, indicating it has found enough matches to be added to group 1 on the left side. 
  14. Hover your cursor over Lee_Lg_12 and in the refinement results flyout, click approve.



  15. Lee_Lg_12 will now appear under Lee_Lg_11 on the left side of the screen. 
  16. In the right-side view, the scan starts for the next scan Lee_Lg_13. You can pan and zoom in the view to try and find targets. If none are found, click merge scan. 
  17. When the scan turns green, hover over it and in the refinement results flyout, click approve. 
  18. Repeat looking for similar targets for scan Lee_Lg_10. When done, click merge scan. 
  19. When the scan turns green, hover over it and in the refinement results flyout, click approve.

Task 3: Add additional standard scans

  1. In the upper-left corner, click import files.



  2. Click the plus icon to import additional files.



  3. In the Import Point Clouds dialog box, navigate to the Lee Datset>LeeSuet Support folder and select the Lee_Lg_14.rcs, Lee_Lg_15.rcs, Lee_Lg_16.rcs, and Lee_Lg_17.rcs files. 
  4. Click Open. 
  5. Once the files are done loading, click resume registration in the lower-right corner. 
  6. You will now see your group 1 on the left side of the screen and on the right side are the new scans files. 
  7. In the right-side view, Lee_Lg_14 should be the active scan. 
  8. In the left-side view, click on the Lee_Lg_13 scan. 
  9. Pan around the left-side view until you find target 1411 that is on the chain-link fence. 
  10. Repeat panning on the right side to find target 1411.



  11. Verify you are still in target mode. Starting in the left-side view, click the center of the 1411 target. In the dialog box, click accept to accept the default target name target0002. (Your target name may differ depending on how many targets you have found.) 
  12. In the right-side view, click on the 1411 target. In the dialog box, expand the target name and select target0002. 
  13. Click accept. 
  14. In the right-side view, click merge scan. Once it is done processing, Lee_Lg_14 will turn green, indicating it has found enough matches to be added to group 1 on the left side. 
  15.  Hover over it and in the refinement results flyout, click approve. 
  16. The next scan Lee_Lg_15 will display on the right side. 
  17. In the left-side of the view, click on the Lee_Lg_14 scan. Pan around and try to find similar targets in the view. If none are found, click on the next scan in the left-side view until you get up to scan Lee_Lg_11. 
  18. In scan Lee_Lg_11, pan and zoom to find the electrical panel that has target 1272 on it. Repeat finding the same target on the right side for the Lee_Lg_15 scan.



  19. Verify you are still in target mode. Starting in the left-side view, click the center of target 1272. In the dialog box, click accept to accept the default target name target0003.  
  20. In the right-side view, click on the 1272 target. In the dialog box, expand the target name and select target0003. 
  21. Click accept. 
  22. In the right-side view, click merge scan. Once it is done processing, Lee_Lg_15 will turn green, indicating it has found enough matches to be added to group 1 on the left side. 
  23.  Hover over it and in the refinement results flyout, click approve. 
  24. In the right-side view, the next scan displays (Lee_Lg_16). Click merge scan. When the scan on the right side turns green, hover over it and in the refinement results flyout, click approve.  
  25. Repeat for scan Lee_Lg_17.