Manual RiAcquire Riegl

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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 thewritten permission of the publisher.

Products that are referred to in this document may be either trademarks and/or registered trademarks of therespective 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 noresponsibility for errors or omissions, or for damages resulting from the use of information contained in this documentor from the use of programs and source code that may accompany it. In no event shall the publisher and the author beliable for any loss of profit or any other commercial damage caused or alleged to have been caused directly orindirectly by this document.

Printed: August 2013.

RiACQUIRE-MLS

2013 Riegl LMS GmbH Austria


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IContents


Table of Contents

Part I Copyright notice 2

Part II RiACQUIRE 4

................................................................................................................................... 41 Introduction

................................................................................................................................... 42 Supported devices

................................................................................................................................... 53 Installation

.......................................................................................................................................................... 5System requirements

.......................................................................................................................................................... 6Setup

.......................................................................................................................................................... 6Start with command line parameter

................................................................................................................................... 84 Tutorial

.......................................................................................................................................................... 8First start.......................................................................................................................................................... 11New project

.......................................................................................................................................................... 13Initialization

.......................................................................................................................................................... 13Laser configuration

.......................................................................................................................................................... 15Camera configuration

.......................................................................................................................................................... 15Acquisition

................................................................................................................................... 215 Main window

.......................................................................................................................................................... 28Project tree window

.......................................................................................................................................................... 38Message window

.......................................................................................................................................................... 40Communication window

.......................................................................................................................................................... 41Device windows

......................................................................................................................................................... 44Scanner window

......................................................................................................................................................... 48INS-GPS window

......................................................................................................................................................... 50Tilt mount window

......................................................................................................................................................... 50Camera window

......................................................................................................................................................... 51VMX-CU window

......................................................................................................................................................... 52CP560, CP680 window

......................................................................................................................................................... 53VMX-CS6 window

.......................................................................................................................................................... 54View inspector window

.......................................................................................................................................................... 64View

......................................................................................................................................................... 65SOCS view

......................................................................................................................................................... 66TOP view

......................................................................................................................................................... 72CHASE view

......................................................................................................................................................... 73CAMERA view

.......................................................................................................................................................... 73Shortcuts

................................................................................................................................... 816 Dialogs.......................................................................................................................................................... 81Integration settings

.......................................................................................................................................................... 104License manager

.......................................................................................................................................................... 106Scanner settings

.......................................................................................................................................................... 110INS-GPS settings

.......................................................................................................................................................... 113Camera settings

.......................................................................................................................................................... 117Connection test

.......................................................................................................................................................... 118Laser configuration

.......................................................................................................................................................... 122Camera configuration

.......................................................................................................................................................... 123Environment settings


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.......................................................................................................................................................... 149Compress projects

.......................................................................................................................................................... 150Picture browser

.......................................................................................................................................................... 151Atmospheric conditions

.......................................................................................................................................................... 152Project report

.......................................................................................................................................................... 153Map Service

................................................................................................................................... 1547 Tools

.......................................................................................................................................................... 154Export trajectory

.......................................................................................................................................................... 155Export camera communication

.......................................................................................................................................................... 156Export VMX housekeeping

.......................................................................................................................................................... 156Firmware loader

.......................................................................................................................................................... 157Config Camera System

.......................................................................................................................................................... 158External scanner start

.......................................................................................................................................................... 158Import/Export scanner limits

.......................................................................................................................................................... 159Stop watch

.......................................................................................................................................................... 160Export TOP view

.......................................................................................................................................................... 161Format CAMDATA disks

.......................................................................................................................................................... 162Download CAMDATA

.......................................................................................................................................................... 163Download trajectory

.......................................................................................................................................................... 164Map downloader

Part III Appendix 167

................................................................................................................................... 1671 Abbreviations/Glossary

................................................................................................................................... 1692 Transformation matrix

................................................................................................................................... 1733 Project structure

................................................................................................................................... 1754 Camera trigger

................................................................................................................................... 1775 VZ400 INS-GPS

................................................................................................................................... 1806 File Formats

.......................................................................................................................................................... 180pos

.......................................................................................................................................................... 181rpp

.......................................................................................................................................................... 186pef

.......................................................................................................................................................... 187rte

.......................................................................................................................................................... 189gpx

.......................................................................................................................................................... 190kml

.......................................................................................................................................................... 191tpm

.......................................................................................................................................................... 191GDAL

................................................................................................................................... 1917 RiACQUIRE remote control

.......................................................................................................................................................... 191Mode of operation

......................................................................................................................................................... 192Prompt

......................................................................................................................................................... 193Data types

......................................................................................................................................................... 195Methods

......................................................................................................................................... 195Method declaration

................................................................................................................................... 196Method call example

......................................................................................................................................................... 197Properties

......................................................................................................................................... 197Read and write properties

......................................................................................................................................... 198Replies

................................................................................................................................... 198Reply of successful method call

................................................................................................................................... 198Reply of successful property write

................................................................................................................................... 199Reply of successful property read

................................................................................................................................... 199Reply of failed property read/write and method call

................................................................................................................................... 199Examples

......................................................................................................................................................... 200Messages and errors


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......................................................................................................................................... 200Global errors

......................................................................................................................................... 200Command errors

......................................................................................................................................... 201Project errors

......................................................................................................................................... 201Laser configuration errors

......................................................................................................................................... 202Camera configuration errors

......................................................................................................................................... 202Device errors

......................................................................................................................................... 202Asynchronous Messages

.......................................................................................................................................................... 203Control port

......................................................................................................................................................... 203Methods

......................................................................................................................................... 203Global

......................................................................................................................................... 204Project

......................................................................................................................................... 207Laser configuration

......................................................................................................................................... 211Camera configuration

......................................................................................................................................... 215Device control

......................................................................................................................................... 220View control

......................................................................................................................................................... 221Properties

......................................................................................................................................... 221Global

......................................................................................................................................... 221Project

......................................................................................................................................... 222Laser configuration

......................................................................................................................................... 222Camera configuration

......................................................................................................................................... 222Device

.......................................................................................................................................................... 223Data port

......................................................................................................................................................... 223Methods

......................................................................................................................................................... 224Output

......................................................................................................................................... 224Main header

......................................................................................................................................... 225Packet header

......................................................................................................................................... 225Scan points

................................................................................................................................... 226Scan points in cartesian scanner coordinates

................................................................................................................................... 227Scan points in polar scanner coordinates

................................................................................................................................... 229Scan points in cartesian WGS84 coordinates

................................................................................................................................... 230Scan points in polar WGS84 coordinates

......................................................................................................................................... 231Trajectory points................................................................................................................................... 232Trajetory points in cartesian WGS84 coordinates

................................................................................................................................... 232Trajetory points in polar WGS84 coordinates

.......................................................................................................................................................... 233Example

................................................................................................................................... 2358 Revision History

.......................................................................................................................................................... 235RiACQUIRE

................................................................................................................................... 2469 Copyright remarks

................................................................................................................................... 24610 Download

................................................................................................................................... 24611 Contact


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Part

ICopyright notice


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Copyright notice 2

(c) 2013

1 Copyright notice


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 thewritten permission of the publisher. Products that are referred to in this document may be either trademarksand/or registered trademarks of the respective owners. The publisher and the author make no claim to thesetrademarks. While every precaution has been taken in the preparation of this document, the publisher and theauthor assume no responsibility for errors or omissions, or for damages resulting from the use of informationcontained in this document or from the use of programs and source code that may accompany it. In no event shallthe publisher and the author be liable for any loss of profit or any other commercial damage caused or alleged tohave been caused directly or indirectly by this document.


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Part

IIRiACQUIRE


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2 RiACQUIRE

2.1 Introduction

RiACQUIRE covers a variety of tasks present in RIEGLs mobile and airborne laser scanning systems. Bothmobile and airborne systems comprise at least one laser scanner, an inertial measurement system in order toregister scan data in a coordinate system, and an operators work station. Many systems further comprise a GPSreceiver, camera subsystems, additional laser scanners, mass data storage devices, and mechanical subassemblies.

Tasks covered by RiACQUIRE

The tasks covered by RiACQUIRE are allocated to the phases of system integration, system verification andtesting, and operational data acquisition.An easy to use but powerful interface enhances communication with the supported RIEGL 2D and 3D laserscanners. With the aim of reducing workload for the system operator only the most relevant information isdisplayed and tasks can be executed semi-automatically. Scan parameters can be changed easily by choosing apredefined 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 dataprovided by the IMU/GPS-system. Based on time-synchronized scan data, position, and attitude information, scandata coverage is calculated in real time to indicate appropriate point density at the target area. This feature helpsyou to find gaps in the scan data during data acquisition thus avoiding another expensive survey to collect missingdata.

RiACQUIRE also provides visual information about the current measurements from the INS-GPS system forverification. Continuously logging of system status as well as INS-GPS attitude and position, provides a thoroughhistory of the survey for later documentation.

2.2 Supported devices

Scanner

Q120, Q120i, Q240, Q240i, Q560, Q680, Q680i, Q780, Q1560


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Z390, Z390i, Z420, Z420i, Z620

VQ-180, VQ-250, VQ-380, VQ-380i, VQ-450, VQ-480, VQ-480i, VQ-480-U, VQ-580, VQ-820-G,VQ-820-GU

VZ-400, VZ-1000, VZ-4000, VZ-6000

Data recorder

DR560, DR560RD, DR680, DR1560

Tilt mount

TM560

INS-GPS

IGI AEROcontrol

Applanix POS LV/AV/MV

OxTS RT Line

IXSEA AIRINS/LANDINS

NovAtel SPAN

Coda Octopus F180series

EPFL GIINAV

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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Serial interface RS232 (for some INS-GPS or camera trigger)

Graphics requirements:

Screen resolution at least 1024 by 768 pixels

32 MB Memory minimum, 64 MB or more recommended

OpenGL driver 1.4 or higher

Peripherals:

Pointing device like a mouse, touchpad, trackball or touchscreen

Standard keyboard

2.3.2 Setup

To install RiACQUIRE on Windows run SetupRiACQUIRE-MLS-Windows.exeor on Linux run SetupRiACQUIRE-MLS-Linux-x86. This program will guide through all steps of the installation process.

2.3.3 Start with command line parameter

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

NORMAL

RiACQUIRE_MLS.exe ./RiACQUIRE_MLSThis is the default and most commonmode for all users. Same as starting withinstalled shortcuts.

DEBUG RiACQUIRE_MLS.exe /

debug./RiACQUIRE_MLS /

debug

This mode shows more information fortroubleshooting.

See message window andcommunication window

EXPERT

RiACQUIRE_MLS.exe /expert

./RiACQUIRE_MLS /expert

Enables hidden menus and tools.

See integration settings and tools .

INTEL RiACQUIRE_MLS.exe /intel

./RiACQUIRE_MLS /intel

Enabled support for old Intel graphicscards which have problems with someOpenGL commands.

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 andpress Properties.

Edit the field Targetin the upcoming dialog and append the parameter afterthe 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-pfileor --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 toprompt the system integrator to describe the used system.

Please take a look to integration settings dialog for more details.

License

RiACQUIRE needs to work a valid license key and so the license manager will automatically be shown until alicense has been entered. Such a license key can be found on the license sheet or in a *.lic file which will bedelivered with RiACQUIRE.

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The picture below shows an example of such a license sheet.

Please enter the license codein the license manager . After adding a license key the license manager columnswill 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 for more information.

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Data storage

If the system contains of more than one VLinescanner it can be necessary to provide a hard disk for everyscanner 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 inthe environment settings for project .

The default directorydefines 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 writescan 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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laser device in the project tree window for that to change the logging path and click onAcquisition Path....

2.4.2 New projectBefore a mission can be started a project file is needed for reading and writing information. Such a file with theextension .rpp is an integral part of the data exchange between RiACQUIRE and RiPROCESS and containsreferences to all used devices, settings and acquired data. See project tree window for more information. Thefollowing lines describe how to use a project file.

Create new project

A new project can be created with

the button in the tool bar

the menu bar entry new project...

or the shortcut Ctrl+N

The appearing wizard helps to create the project.

The first page needs theproject nameand a directory where to create the project. By default theproject directorywill be set the folder defined in the environment settings but the directory can be changed to any otherdirectory. The last line shows where the new project will be created.

If theproject directoryalready contains a project with theproject namean error is shown to prevent overwriting anexisting project.

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On the last page is it possible to set where to write scan data to. By default the destination folderwill be set thefolder defined in the environment settings but the directory can be changed to any other directory. To changethe directory after creation please see project tree window . The second line shows where the scan data will bewritten to.

When writing scan data to a different folder than the project it is useful to the filling level of the used hard disk. Toenable it check the box show drive filling level. The box will be set to the value defined in the environment settings

.

The new project consists of all defined devices, laser configurations , area objects , control objects andthree view types.

Open existing project

Before open a project please make sure that RiACQUIRE is already prepared . There are three possibilities toopen a project:


the menu bar entry openproject...

or the shortcut Ctrl+O

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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 andcheck its content. RiACQUIRE expects that the project contains the same devices defined in integration settings

. If the project devices cannot be assigned to devices are defined in the integration settings RiACQUIREwill 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 menu bar entry initialize - initialize all

or the shortcut F6

RiACQUIRE will read and write information from and to the devices.

The scanner has to be time synchronized before it can start the acquisition. This is done automatically by thescanner (Q560, Q680, V-Line) or by RiACQUIRE (Q120, Q120i, Q240, Q240i, Z420i, Z390i). If RiACQUIREneeds to synchronize a scanner it needs GPS data. Therefore is it necessary that the INS-GPS is initialized andhas a green background in the INS-GPS window . If RiACQUIRE is able to synchronize the scanner it will add amessage like

GPS status of 'Scanner 1' changed to 'Correctly synchronized'

to the message window . Possible error messages always start with

Synchronization of 'Scanner 1' to GPSfailed.

After successful initialization the background color of all device windows should be green which signals that

everything is ok and the system is ready to use.

2.4.4 Laser configuration

To acquire scan data in needed scan pattern, laser configurations can be added to the project. There are threepossibilities to add them.

Add a new laser configuration

By performing a right click on the item laser configurations in the project tree window and selecting the entryadd...a new config will be added to the project. A double click in the new item will open an edit dialog.

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The name of the config should be clear to know immediately what this config is used for. By selecting the scannertype the scanner parameters will be set to all possible values for the selected type. This means it is not possible todefine invalid values.

By defining the scanner parameterand mission parameter the information box at the end of the dialog will showcorresponding scanner parameter and scan pattern.

For more information please see laser configuration dialog .

Import laser configuration

By performing a right click on the item laser configurations in the project tree window and selecting the entryimport...a dialog will be opened to select a project from where to import laser configurations. This is helpful whena big mission is splitted in several days and the same laser configurations need to be used every day.

Clone a laser configuration

By performing a right click on a item laser configuration in the project tree window and selecting the entry clonea copy of the selected item will be added to the project. This is helpful e.g. when a RIEGL3D scanner (e.g. VZ-400) is used and only the frame angle should be changed.

Default laser configuration

When creating a new project the default laser configurations defined in the environment settings will be addedto the project.

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2.4.5 Camera configuration

To trigger camera data camera configurations can be added to the project. There are three possibilities to addthem.

Add a new laser configurationBy performing a right click on the item camera configurations in the project tree window and selecting theentry add...a new config will be added to the project. A double click in the new item will open an edit dialog.

The name of the config should be clear to know immediately what this config is used for. For more informationplease see camera configuration dialog .

Import camera configuration

By performing a right click on the item camera configurations in the project tree window and selecting theentry import...a dialog will be opened to select a project from where to import camera configurations. This ishelpful when a big mission is splitted in several days and the same laser configurations need to be used everyday.

Clone a camera configuration

By performing a right click on a item camera configuration in the project tree window and selecting the entryclonea copy of the selected item will be added to the project.

Default camera configuration

When creating a new project the default camera configurations defined in the environment settings will beadded to the project.

2.4.6 Acquisition

Apply laser configuration

After initialization it is possible to apply a laser configuration to the scanner. This can be done with the scannersettings dialog which can be opened with

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or with the menu bar entry system - scanner settings...

In the appearing dialog it is possible to select a desired laser configurationwith the applybutton the settings aresent to the scanner.

The scanner is now prepared to reach the defined scan pattern.

Apply camera configuration

After initialization it is possible to apply a camera configuration to the camera. This can be done with the camerasettings dialog which can be opened with


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or with the menu bar entry system - scanner settings...

In the appearing dialog it is possible to select a desired camera configurationwith the applybutton the settings aresent to the camera.

The camera is now prepared to reach the defined camera pattern.

Start INS-GPS

The first started acquisition should be the trajectory. This can be done with


the menu bar entry start INS-GPS - start all INS-GPS

or the shortcut F8

A trajectory is supposed to be acquired all the time from mission start to mission end. The actual INS-GPS datawill be displayed in the INS-GPS window . Please make sure that this window shows plausible data. This canbe done by comparing window instruments to aircraft instruments or to vehicle movement. The trajectory of themission will be drawn in the TOP view .

Please note that for every INS-GPS an alignment is necessary to get an accurate trajectory. That foreRiACQUIRE provides an alignment wizard for some INS-GPS to get an accurate trajectory which will be startedafter pressing this button.

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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 needto stop it.

Starting camera can be done with


the menu bar entry start camera - start all camera

or the shortcut F10

The footprints of the triggered photos are visible in the TOP view .

When the camera type RiACQUIRE-Embeddedis used this button is not enabled because this is doneautomatically by the scanner.

Scan data acquisition for non V-Line scannersTo start the data acquisition of a nonV-Line (Zxxx, Qxxx) scanner is possible with


the menu bar entry start scanner - start all scanner

or the shortcut F7

The current scan data will be displayed in the scanner window

and can also be seen in the SOCS view . The CHASE view and TOP view show a combination of INS-GPS data and scan data.

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After the needed region of interest has been scanned, e.g. a flight stripe or a street or something else, the dataacquisition can be stopped with


the menu bar entry stop scanner - stop all scanner

or the shortcut Ctrl+F7

After stopping a scan it is possible to start the next scan when the scanner has reached it's initialized state whichcan be seen at the top of the scanner window.

Scan data acquisition for V-Line scanners

V-Line scanners have the advantage that the measurement and scan data acquisition is not coupled inRiACQUIRE. The idea is to start the measurement one time at the beginning of the survey and start/stop onlydata logging.

To start the measurement of a V-Line (VZxxx, VQxxx) scanner is possible with


the menu bar entry start scanner - start all scanner

or the shortcut F7

The current scan data will be displayed in the scanner window

and can also be seen in the SOCS view . The CHASE view show a combination of INS-GPS data anddecoded/acquired scan data. The TOP view 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 menu bar entry start logging scanner - start logging for all scanner

or the shortcut F11To stop and restart scan data logging can be done with


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 isuseful 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 menu bar entry stop logging scanner - stop logging for all scanner


After the complete region of interest has been scanned the measurement can be stopped with


the menu bar entry stop scanner - stop all scanner


Stop camera

Next stoped acquisition should be the camera. This can be done with


the menu bar entry stop camera - stop all camera


When the camera type RiACQUIRE-Embeddedis used this button is not enabled because this is doneautomatically by the scanner.

Stop INS-GPS

The last stoped acquisition should be the trajectory. This can be done with



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the menu bar entry stop INS-GPS - stop all INS-GPS


This should be the last action before closing the project.

Please note that for every INS-GPS an alignment is necessary to get an accurate trajectory. That foreRiACQUIRE provides an alignment wizard for some INS-GPS to get an accurate trajectory which will be startedafter pressing this button.

2.5 Main window

The RiACQUIRE main window consists of different parts as described below:

Main window screen of RiACQUIRE

All windows around the main window center are docking windows and can be resized, moved or tabbed. Thesewindows can be closed and opened with the view menu (see menu bar ) or by right clicking the menu bar areaor the tool bar area. These docking windows can be placed on every side of the main window so it is possible tocustomize the look of RiACQUIRE as desired.

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Menu bar

The menu bar provides access to all functions required in the main window. See also shortcuts and tool bars.

File

Offers functions to create, open, save or close a project.

Recently opened projects for convenience. See project .

Load profile allows to load environment settings and the main windowsettings from a file and overwrites the currently used profile settings. Seealso command line arguments .

Save profile allows to save currently used environment settings and themain window settings to a file. See also command line arguments .

Function to close RiACQUIRE.

Device

This menu contains actions for devices. See acquisition .

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Initialize Establish connection to a device and execute initialization routine.

Stand-ByMode

Close connection and execute stand-by routine.

Start Scanner Start measurement of RIEGL scanner. For non V-LineRIEGLscanners this starts data logging in addition.

Stop Scanner Stop measurement of RIEGL scanner. For non V-LineRIEGLscanners this stops data logging in addition.

Start LoggingScanner

Start data logging ofor RIEGLV-Linescanners.

Stop LoggingScanner

Start data logging for RIEGLV-Linescanners.

ToggleLoggingScanner

Toggles data logging for RIEGLV-Linescanners. A new record inthe project tree will be created.

Clear ScannerErrors

Clears all errors of the scanner.

Park Scanner Moves the scanner to its park position. This action is only availablefor RIEGL3D scanners (e.g. VZ-400).

Shut DownScanner

Scanner will be shut down. This action is only available for RIEGLV-Line.

RebootScanner

Reboots the scanner. This action is only available for RIEGLV-Line.

Read ScannerLimits

Reads all limits and parameters from the scanner. This action isonly available for RIEGLV-Line.

Reboot DataRecorder

Reboots a possibly available data recorder.

Shut DownData Recorder

Possibly available data recorder will be shut down.

Start INS-GPS Starts decoding and logging of INS-GPS data.

Stop INS-GPS Stops decoding and logging of INS-GPS data.

Apply TiltMount

Moves tilt mount to its defined position. This action is only availablefor RIEGLTM560.

Start Camera Start camera trigger.

Stop Camera Stop camera trigger.

Start LoggingCamera

Starts logging of camera data.


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System

Access to the dialogs for integration settings , scanner settings , INS-GPS settings , camera settings ,license manager , and environment settings .

Display

Functions to control and navigate in the available views (SOCS-,TOP- and CHASE- view) are placed in this menu.See view .

Tools

Some entries in this menu are only available if RiACQUIRE is executing in EXPERT mode or DEBUG mode. For a detailed description see tools .

Control Unit

Camera System

Export & Import

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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 anentry 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

HelpContents...

By starting the help contents the default browser on your work stationwill be started with the RiACQUIRE help.

About... Start a dialog about RiACQUIRE.

ProblemReports...

The default file browser is used to open the folder which containscreated problem reports of RiACQUIRE.

CompressProjects...

Starts a dialog which allows to compress one or ore projects to onezip-file. This is useful for support issues.

Tool bars

The tool bars provide quick access to the most frequently used functions of the menu bar . You can enable or

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disable a tool bar by choosing "View" in the menu bar or by right clicking on the menu bar area or the tool bararea. It is also possible to change the position of a tool bar by simply clicking the left edge of the toolbar and placeit at the desired position. Also a floating tool bar is supported. See also shortcuts and menu bar . Thefollowing tool bars are available:

File

New Project

Open Project

Save Project

See project .

System

Scanner Settings

INS-GPS Settings

Camera Settings

See scanner settings , INS-GPS settings and camera settings

Device

Initialize

Set Stand-By Mode For All

Start INS-GPS

Stop INS-GPS

Start Scanner

Stop Scanner

Start Logging Scanner (only available for RIEGLV-Line)

Stop Logging Scanner (only available for RIEGLV-Line)

Toggle Logging Scanner (only available for RIEGLV-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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Stop Logging Camera (not available for RiACQUIRE-Embedded camera)

A pressed button will trigger the action for all devices that are able to execute this action (see state machine ).By accessing the sub menu of a button (click on the arrow on the right side) the action can be executed for aspecific device in the list. Each list shows all available devices that can execute the action of the correspondingbutton.

See acquisition how to use the buttons.

Display

This tool bar contains actions for the currently selected view. Please see view for more details.

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 andsaving. 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 remotecontrol .

Project tree window

The project tree window shows information about the mission such as planned devices, configurations andacquired data. A detailed description can be found in the chapter project tree window .

Message windowThe messages window displays all important messages to keep you informed about the ongoing procedures. Adetailed description can be found in the chapter messages window .

Scanner window

The scanner window displays information about the current scan, GPS synchronization and the data recorderfilling level. A detailed description can be found in the chapter scanner window .

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 .

Tilt mount window

This window shows the actual angle of the tilt mount and allows to define the next angle to use.

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A detailed description can be found in the chapter tilt mount window .

Camera window

This window shows camera information.A detailed description can be found in the chapter camera window .

VMX-250-CU

This window shows the actual state of the VMX-250-CUand is only available for the Riegl VMX-250system.

A detailed description can be found in the chapter VMX-250-CU window .

VMX-250-CS6

This window shows the actual state of the VMX-250-CS6and is only available for the Riegl VMX-250-CS6system.

A detailed description can be found in the chapter VMX-250-CS6 window .

CP560-IS, CP680-IS

This window shows the actual state of the CP680 or CP560 and is only available for the Riegl CPsystem.

A detailed description can be found in the chapter CPxxx-IS window .

View inspector window

Will show information about data in currently selected view.

A detailed description can be found in the chapter view inspector window .

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 Project tree window

This window shows the current project tree. The column objectshows the project objects and the column infodisplays detailed information like assignment of devices and file size. For interaction of the project tree see alsoshortcuts .

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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 adata 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 freespace 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 useddrive.

RiACQUIRE will show a warning if the free space falls under 10GB, 8GB, 6GB and 4GB. If the free space is lessthan 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 bedefined in the environment settings and is suggested as project path when a new project is created.134


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All other following bars are showing the filling level of the hard disks where the scan data are written to. By thedefault all scan data are written to the project path but it is possible to change this path for each scanner. Thedefault path for each scanner can be set in the environment settings and is suggested as destination folderwhen 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 and selectAcquisition 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: Opens the folder containing the project file

Add Note: Adds a note sheet to the item

Create Report: Creates a project report

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Navigation devices

This contains all navigation devices for recording the altitude and position data.



A navigation device in the project file must have the same type and serial number as defined in the integrationsettings .



Start scanner automatically... See environment settings dialog .

Laser configurations

This contains all scanner configurations for a project. See also scanner settings .


Add: Creates a new empty laser configuration

Import: Imports all laser configuration from the selected project


Sort: Sorts the laser configurations ascending order (case sensitive).

A laser configuration contains parameter than can be applied to the scanner in the scanner settings dialog .


Edit: Shows the laser configuration dialog to edit the laser configuration

Rename: Allows to rename the item

Delete: Deletes the laser configuration from the project


Clone: Creates a clone of the selected laser configuration and adds it to the existing laserconfigurations

Tilt mounts

This contains all tilt mounts.


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All tilt mounts in the project file must have the same type and serial number as defined in the integration settings.



Laser devices

Contains the laser devices that can be used for this project.



All laser devices in the project file must have the same type and serial number as defined in the integrationsettings .



Acquisition Path: Allows to changed the path where to write scan data and the visibility of the filling bar.See environment settings .

Camera configurations

Contains all scanner configurations for a project. See also camera settings .


Add: Creates a new empty camera configuration

Import: Imports all camera configuration from the selected project


Sort: Sorts the camera configurations ascending order (case sensitive).

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: Shows the camera configuration dialog to edit the camera configuration


Delete: Deletes the camera configuration from the project


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Clone: Creates a clone of the selected camera configuration and adds it to the existing cameraconfigurations

Camera devices

Contains all cameras for this project.



All camera devices in the project file must have the same type and serial number as defined in the integrationsettings .



Atmospheric conditions

Contains atmospheric conditions for fine tuning post processing.


Edit: Shows the atmospheric conditions dialog to edit the camera configuration

POS data

This section contains all acquired position and orientation data for this project.



Export: Opens the export trajectory dialog with all existing trajectories ready for export

The name of the item represents the current date in the format YYMMDD_hhmmss. The trajectory in the aboveexample 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 integrationsettings which information are provided by which INS-GPS.

The information column contains the INS-GPS for this and the file size.


Explore: Opens the folder containing the project file

Export: Opens the export trajectory dialog with selected trajectories ready for export

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Records

The section records contains all recorded data of all scanners.



Explore: Opens the folder containing the file

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 .

If scan data acquisition for a scanner is started while an other scanner is currently acquiring no new record iscreated. The new scan data are added to actual record as can be seen in the tree for Record001.




Scan data

Stands for the scanner that produced the data which can be found in the info column. The name of this and thefollowing 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 integrationsettings which information are provided by which INS-GPS.



Acquired scan data can be represented with the following items:

monitoring stream of a line scan

monitoring stream of a frame scan

line scan

frame scan

file on data recorder which is only available for Q560 and Q680(i)

file of V-Line scanner

Camera data

file for camera

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The info column contains the configuration that has been used for this camera data and it's file size.



Add Note: Adds a note sheet to the item Open: Opens the picture browser with all entries in this file

Area Objects

This section contains all area entries.


Import: Imports area objects from selected file (Garmin PCX5 , GPS Exchange , GoogleEarth KML , TopoMISSION )

Export: Exports all existing area objects to selected file (Garmin PCX5 , GPS Exchange ,Google Earth KML )


Represents an area object which shows an area in the TOP view which has to be scanned. This is helpful tosee if the whole project area has been scanned.

By clicking the right mouse button on an area object item the following actions can be performed:

Delete: Deletes the area objects from the project

Export: Exports selected area object(s) to selected file (Garmin PCX5 , GPS Exchange ,Google Earth KML )


Route Objects

This section contains all route entries.


Import: Imports route objects from selected file (Garmin PCX5 , GPS Exchange , GoogleEarth KML , TopoMISSION )

Export: Exports all existing route objects to selected file (Garmin PCX5 , GPS Exchange ,Google Earth KML )


Represents a route object which shows a route in the TOP view which has to be scanned. This is helpful tosee if the whole project area has been scanned.

By clicking the right mouse button on a route object item the following actions can be performed:

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Delete: Deletes the route objects from the project

Export: Exports selected route object(s) to selected file (Garmin PCX5 , GPS Exchange ,Google Earth KML )


Goeimage Objects

This section contains all georeferenced image entries.


Import: Imports georeferenced images


Please note that only images with WGS84 coordinates (EPSG:4326) are supported!

Represents an geoimage object which will be shown in the TOP view .


Delete: Deletes the geoimage objects from the project and from disk



Control Objects

This section contains all control entries.


Import: Imports control objects from selected pef file

Export: Exports all existing control objects to selected file (Garmin PCX5 , GPS Exchange ,Google Earth KML )


Represents an control object which will be shown in the TOP view .


Delete: Deletes the control objects from the project

Export: Exports selected control object(s) to selected file (Garmin PCX5 , GPS Exchange ,Google Earth KML )


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Data collection

Stands for data saved to files for the TOP view .



Views

Stands for available views. The following are possible:

Chase view

TOP view


Export: Exports TOP view to selected file

SOCS view

Camera view



2.5.2 Message window

Normal message window

This window displays all important messages about ongoing procedures.

If RiACQUIRE has been started in DEBUG mode all messages in the log file will be shown and the columnheader is visible to allow to sort messages.

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Debug message window

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 Uses the icon and dark green color for messages. This is used for example when a device

was initialized successfully.

Information Uses the icon and dark blue color for messages. Is used for example when a file has beencreated.

Warning Uses the icon and dark red color for messages. Used when files with older version wasloaded.

Unknown Uses the icon and dark cyan color for messages. Is used when asking if user wants to saveproject.

Error Uses the icon and red color for messages. Used for events that stop operation and can't becontinued.

Failure Uses the icon and red color for messages. Used if no license has been found.

Aborted Uses the icon and dark red color for messages. Used when errors occur that do no allow youto continue.


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This window allows item selection and some actions which can be reached by right clicking or with shortcuts :

Select All Select all in the message window

Copy Copy selected text to clipboard

Clear Display Clear all messages from window

Auto Scroll If checked window scrolls automatically to bottom when a new entry is added

2.5.3 Communication window

Debug communication window

This window displays the entire communication with all devices and is only available in DEBUG mode . It ispossible to sort the entries in the columns for better troubleshooting.

The window consists of six columns:

Status icon

Date and time of PC where RiACQUIRE is running when message was created

INS-GPS time when message was created

Input to RiACQUIRE or output by RiACQUIRE

Communication device or software

Command transmitted or received

Response received or transmitted

RiACQUIRE has two kind of status icons. Every type has an icon and color.

Success Uses the icon and dark green color for entry. Communication was successfully executed.

Error Uses the icon and red color for messages. An error occurred during communication.

This window allows item selection and some actions which can be reached by right clicking or with shortcuts :

Select All Select all in the message window

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Copy Copy selected text to clipboard

Clear Display Clear all messages from window

Auto Scroll If checked window scrolls automatically to bottom when a new entry is added

2.5.4 Device windows

Device window

The title bar of every device window contains the device name it represents and it's state .

To have a quick overview of the device status the background of the window is colored to the correspondingstatus.

Green Everything is OK

Yellow Warning but work can be continued

Red Critical error and data may be corrupted

Logging stateindicator

The logging state indicator shows when data of the device are logged. This indicator can becustomized environment settings dialog .

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Device state machine

State machine for devices

Every device in RiACQUIRE has twotypes of states:

Final: Device has reached a state that allows the user to send next command.

Process: Device is currently executing a command and is not able to receive commands.

The state machine shown above allows three signal types:

Trigger: Change to next/previous final state required.

Success: Changed to next/previous final state successfully.

Error Change to next/previous final state was not possible.

The following lines describe the device stateswith the aid of a scanner:

Notinitialized:

The device is disconnected and no communication to scanner is done.


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Initializing: RiACQUIRE will try to establish a connection to the scanner and read some information fromscanner like data recorder status, GPS synchronization status,...

Initialized: This is the most important state of the scanner. The user can set scanner settings, set scannerto stand-by mode or is able to start work.

Preparework:

Device will be prepared for work.

Working: Data will be decoded and drawn to the SOCS-view, CHASE-view, device window and for non V-Linescanner written to a file.

Stop work: Device will be triggered to stop work.

Preparelogging:

Data logging for V-Linescanners will be prepared.

Logging: Data will drawn to the TOP-view for V-Linescanner written to a file.

Stoplogging:

Data logging for V-Linescanners will be stopped.

Togglelogging:

Data logging for V-Linescanners stopped and started again

Set stand-bymode:

Scanner will be disconnected.

Executing: This state is entered when commands like scanner scripts have to be executed.


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2.5.4.1 Scanner window

Graphical scanner window Textual scanner window

This window shows scanner measurement values for overview. The pictures above show the two appearancemode that are available, graphical and textual. Please see environment settings for more details on changingthese modes.

Laser This LED stands for the laser status if it is on or off. This LED can show three different statesand 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 initializedand so the laser status is not available. In the textual variant of this widget the text n.a. willbe shown.

If the scanner is initializing the LED will be dark green to signal that the scanner is initializingand so the laser status is not available at the moment. In the textual variant of this widgetthe 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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Laser safety This LED in the scanner window stands for the laser safety status of the scanner. This LED canshow five different states and a textual description is available when positioning the cursor overthe LED.

If the laser of a scanner is not eye safe (e.g. VQ-580) this instrument shows duringmeasurement if there are any echoes/targets in dangerous distance to the scanner. That forethere are two distances which will be differed:

ENOHD (Extended Nominal Ocular Hazard Distance): Minimum distance between the laserbeam and people looking into the scanner with optical aids like binoculars.

NOHD (Nominal Ocular Hazard Distance): Minimum distance between the laserbeam and people looking into the scanner with naked eyes.

Please see scanner manual for more information on eye safety.


If the scanner is not initialized the LED will be gray to signal that the scanner is not initializedand 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 initializingand so the laser safety status is not available at the moment. In the textual variant of thiswidget 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 syncstatus

The LED of the scanner window stands for the synchronization status of the scanner. This LEDcan show five different states and a textual description is available when positioning the cursorover the LED. The synchronization is done automatically (see acquisition ).


If the scanner is not initialized the LED will be gray to signal that the scanner is not initializedand so the synchronization status is not available. In the textual variant of this widget thetext n.a. will be shown.

If the scanner is initializing the LED will be dark green to signal that the scanner is initializingand so the synchronization status is not available at the moment. In the textual variant ofthis 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 receivea GPS signal. Reasons could be a wrong configuration of the scanner (see integrationsettings ), 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 synchronizationsignal.

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 lostthe synchronization signal this yellow LED will be shown. Possibly the GPS antenna couldnot receive GPS data. In textual mode is this state described by lost synchronization signal.

Las config Show the actual applied laser configuration of the scanner which defines the scan pattern.

Range Displays the lowest and highest range value of the current scan line. In graphical mode thewidget is auto scaled to the actual range. In textual mode the values can be seen in two boxesside by side.

RangeReadings

Shows how many laser beams of the current scan line returned a range value. No range valuescan be caused by a non reflecting target. A range readings value of 100% means that all laserbeams returned a range value.

Amplitude The amplitude scale describes the range of amplitudes detected in the current scan line. Thelowest amplitude value in the picture above is approximately 17% and the highest is 100%. Intextual mode the left box shows the lowest amplitude and right box the highest amplitude.

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-Lineis dB and percent for all others.

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Data recorderfilling

This item indicates the filling level of the data recorder in percent and is only available for theQ560 and Q680. The level will be shown with a green bar till 95%. Above this level the level willbe shown red. This should warn the user that the available data recorder space is almost fullyconsumed. The picture above shows a filling level of approximately 98%. In textual mode youwill see a box with the filling level in percent.

See also scanner settings .

Reflectance The reflectance scale describes the range of reflectivities detected in the current scan line. Thisvalue is only available for V-Linescanners. Please refer to the scanner manual for moreinformation about reflectance.

Power supply Shows the actual power supply voltage of the scanner. This value is for non V-Linescannersonly available when not scanning (initialized state ).

Devicetemperature

Displays the actual device temperature of the scanner. This value is for non V-Linescannersonly available when not scanning (initialized state ).

Devicehumidity

Displays the actual relative humidity in the scanner. This value is only available for V-Linescanners.

Devicepressure

Displays the actual atmospheric pressure in the scanner. This value is only available for V-Linescanners.

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2.5.4.2 INS-GPS window

Graphical INS-GPSwindow part1 Graphical INS-GPS window part2

Textual INS-GPSwindow

The title bar of the window contains the INS-GPS name and it's state. The other instruments will show currentIMU and GPS data. The pictures above show the two appearance mode that are available, graphical and textual.Please see environment settings 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 ) it is possiblethat the INS-GPS does not transmit date information and in this case RiACQUIRE will use thesystem date.

Seconds Shows the seconds of the week and seconds of the day received by the INS-GPS in the format / .

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Attitude This instrument shows the roll and pitch angle measured by the IMU. The yellow triangle onthe upper side shows the roll angle with the outside scale. The pitch angle is indicated by thescale inside the instrument. The yellow point of the symbolic vehicle points to the current pitchangle.

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 needlewhich 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 theheight 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 scalerange is 0 to 100 but there is no maximum limit for the range.

Trackedsatellites

This instrument shows the number of tracked satellites to give the operator a feedback aboutsatellite coverage. If the INS-GPS differs between GPS and GLONASS the instrument showsboth.

RiACQUIRE expects at least 7 satellites to show instrument in green color. If there are lessthan 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 3.0the bar is green, otherwise orange.

Please note that velocity values are not provided by every INS-GPS.

Roll accuracy

Pitch accuracy

Yaw accuracy

Shows accuracy of current values as bar and as text in the bar.

The middle of the bar shows the value of the user 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 useraccuracy 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 means received data can be d

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