I Malign Reference Guide

IMAlign™
3D Image Alignment Software

Version 12.1 for Windows
IMAlign is a trademark of InnovMetric Software Inc.
© 1995-2013 InnovMetric Software Inc. All rights reserved.
This manual, as well as the software described in it, is furnished under license and may be
used or copied only in accordance with the terms of such license. The content of this
document is furnished for informational use only, and is subject to change without notice.
InnovMetric Software Inc. assumes no responsibility or liability for any errors or inaccuracies
that may appear in this document.
Except as permitted by such license, reproduction in whole or in part in any way without
written permission from InnovMetric Software is strictly prohibited.
Contents
12 1. Getting Started
13 1.1 Starting IMAlign
13 1.1.1 Starting IMAlign from the PolyWorks/Workspace Manager
15 1.1.2 Starting IMAlign from the Windows shortcut
16 1.1.3 Starting IMAlign from a command line
17 1.2 About IMAlign
17 1.3 Using the Support Assistant
17 1.4 Exiting IMAlign
18 1.5 Getting help
18 1.5.1 The reference documentation
19 1.5.1.1 Related documentation
19 1.5.1.2 Accessing the reference documentation from dialog boxes
19 1.5.1.3 Topics not yet documented
20 1.5.2 What’s new in IMAlign
20 1.5.3 V11 to V12 menu correspondences
20 1.6 Getting technical support
22 2. Fundamentals
23 2.1 Supported point clouds
23 2.1.1 Supported types of organized point clouds
23 2.1.2 Processing unorganized point clouds
24 2.2 Introducing IMAlign
24 2.2.1 Images
25 2.2.2 Polygonal models
26 2.2.3 Global reference points
26 2.3 Image alignment techniques
27 2.3.1 Interactive image alignment techniques
27 2.3.2 Iterative image alignment technique
27 2.4 Preprocessing operations
28 2.5 Basic modes
28 2.5.1 The basic visualization mode
28 2.5.2 The Select Elements mode
28 2.5.3 Interactive alignment and editing operations
29 2.5.4 Undoing operations
30 2.6 Working with large numbers
30 2.7 Setting the units of length
31 2.7.1 Importing objects with inconsistent units
31 2.7.2 Importing objects with unknown units
IMAlign Reference Guide V12.1 3

Contents
31 2.8 Customizing the module

32 2.9 Editing the user configuration
33 3. Managing Projects
34 3.1 Introduction
34 3.2 Creating a new project
34 3.3 Opening a project
36 3.3.1 Loading point clouds into an existing IMAlign project
36 3.4 Saving a project
37 3.5 Opening recent projects
39 4. The User Interface

40 4.1 Introduction
40 4.2 The title bar
40 4.3 The menu bar
42 4.4 The Standard toolbar
42 4.4.1 Contents
42 4.5 The status bar
43 4.6 The Tree View pane
44 4.6.1 Introduction
44 4.6.2 Selecting objects using the mouse
45 4.6.3 Selecting objects using the arrow keys
45 4.6.4 Dragging objects from the tree view to a dialog box
45 4.6.5 Renaming objects interactively in the tree view
45 4.6.6 Changing the order of objects within their branch
46 4.6.7 Hiding objects
47 4.6.8 Moving objects in the tree view
47 4.6.9 Expanding and collapsing branches
47 4.6.10 Introducing the shortcut menus
48 4.6.10.1 Using shortcut menus in the tree view
50 4.6.11 Using an object’s property sheet
51 4.7 Using panes
52 4.7.1 The 3D Scene pane
52 4.7.1.1 Using shortcut menus in the 3D scene
52 4.7.1.2 Shortcut menus
53 4.7.1.3 Visibility
53 4.7.2 The Dialog Zone pane
53 4.7.3 The Histogram pane
54 4.7.4 The Macro Script Editor pane
54 4.7.5 The Command History pane
55 4.8 Customizing the visual layout
55 4.9 Controlling the display of special items
56 4.9.1 Displaying the dockable panes

Contents
56 4.10 Generating snapshots of the 3D scene
57 5. Importing Objects
58 5.1 Introduction
58 5.2 Importing files
59 5.3 Importing point clouds
61 5.3.1 The categories of point clouds
64 5.3.2 Import parameters
65 5.3.2.1 Project-related parameters
66 5.3.2.2 File-related parameters
71 5.3.3 Particularities when importing certain types of files
71 5.3.3.1 CDM (Konica Minolta) files
72 5.4 Importing polygonal models
72 5.5 Importing an IMAlign project
74 5.6 Importing recent files
75 6. Creating 3D Images from Point Clouds

76 6.1 Creating 3D images from unorganized and line scan point clouds
76 6.1.1 Overview
77 6.1.2 Creating 3D images manually
77 6.1.2.1 Introduction
77 6.1.2.2 Delimiting a subset of the point cloud
82 6.1.2.3 Hiding and deleting points
83 6.1.2.4 Creating a 3D image from a subset of points
84 6.1.2.5 A procedure used to manually create 3D images
86 6.1.2.6 An example of editing points: hiding an unwanted background
88 6.1.3 Creating 3D images automatically
88 6.1.3.1 Introduction
88 6.1.3.2 A procedure for automatically creating 3D images
93 6.2 Creating 3D images from spherical grid point clouds
94 6.2.2 Creating 3D images by subdividing spherical grid point clouds
95 6.2.2.1 Common parameters
98 6.2.2.2 Interpolation options for the By Angle method
98 6.2.2.3 Interpolation options for the By Angle & By Range method
100 6.2.2.4 Removing data points from the 3D image creation process
101 6.2.2.5 An example of the By Angle & By Range subdivision method
101 6.2.3 Changing the interpolation parameters of a composite 3D image
103 7. Editing Objects and Elements

104 7.1 Undoing and redoing operations
104 7.2 Deleting and recovering objects and elements
104 7.2.1 Deleting objects
105 7.2.2 Deleting elements
105 7.2.3 Deleting nonoverlapping 3D image points
106 7.2.4 Recovering deleted elements

Contents
107 7.3 Editing objects

107 7.3.1 Scaling objects
109 7.3.2 Inverting object orientation
109 7.3.3 Using the property sheet of objects
109 7.3.3.1 Properties common to all objects
110 7.3.3.2 Properties of IMAlign projects
111 7.3.3.3 Properties of polygonal models
112 7.3.3.4 Properties of other objects
112 7.4 Locking and unlocking 3D images
113 7.5 Ignoring and using objects and elements
113 7.5.1 Ignoring objects
113 7.5.2 Ignoring 3D image points
114 7.5.3 Using ignored objects
114 7.5.4 Using ignored 3D image points
114 7.6 Grouping and ungrouping images
115 7.6.1 Grouping images
115 7.6.2 Ungrouping images
117 8. Selecting Objects and Elements

118 8.1 Selecting objects
118 8.1.1 Selecting objects in the tree view
118 8.1.2 Selecting objects using standard commands
119 8.1.3 Selecting objects interactively in the 3D scene
120 8.2 Selecting object elements
120 8.2.1 Controlling the selection process
120 8.2.2 Standard selection operations
121 8.2.3 Selecting elements interactively
121 8.2.3.1 The Selection Context dialog box
122 8.2.3.2 Selecting single elements
122 8.2.3.3 Performing a volumetric selection using a freeform contour
123 8.2.3.4 Performing a volumetric selection using a polygonal contour
123 8.2.3.5 Configuring the colors used for the volumetric selection opera-
tion
123 8.2.4 Selecting elements by luminance
124 8.3 Selecting image groups from images
125 8.4 Selecting 3D images
125 8.5 Selecting 3D image points
125 8.5.1 Selection options for the grow and shrink operations
126 8.5.2 Growing or shrinking a selection of 3D image points
127 8.5.3 Selecting the best data
127 8.5.4 Selecting 3D image points with respect to a polygonal model
128 8.5.5 Selecting 3D image points that are ignored for alignment
128 8.5.6 Selecting 3D image points that are ignored for merging
129 8.6 Selecting image reference points
129 8.6.1 Selecting reference points using tree view menus

Contents
131 9. Viewing in the 3D Scene

132 9.1 The display mode of objects
132 9.1.1 Setting the Static and Dynamic display mode of objects
132 9.1.1.1 Understanding a display mode
132 9.1.1.2 Understanding the default display modes for 3D images
133 9.1.2 Module display options
133 9.1.3 Modifying the display mode of a set of 3D images
134 9.2 Controlling the visibility of objects and elements
134 9.2.1 Hiding objects and elements
134 9.2.2 Restoring the visibility of objects and elements
134 9.2.3 Keeping objects and elements visible
135 9.2.4 Toggling the visibility of objects and elements
135 9.3 Viewing using views
135 9.3.1 Setting standard views
136 9.3.2 Setting custom views
136 9.4 Viewing by centering objects or by rotating the 3D scene
136 9.4.1 Centering objects in the 3D scene
137 9.4.2 Rotating the 3D scene around the viewing axis
137 9.5 Mirroring the view or the lights
137 9.5.1 Mirroring the view using standard axes
137 9.5.2 Mirroring the lights
138 9.6 Viewing the hidden elements of the graphical user interface
138 9.6.1 Displaying user-hidden contextual parameters
138 9.6.2 Displaying hidden panes
138 9.7 Changing the view in the 3D scene using the mouse
139 9.7.1 Rotating about the X and the Y axes
140 9.7.2 Translating along the X and the Y viewing axes
140 9.7.3 Translating along the viewing Z axis
141 9.7.4 Rotating about the Z viewing axis
141 9.7.5 Zooming by delimiting a rectangular area
142 9.7.6 Remaining in Dynamic display mode for several transformations
142 9.7.7 Undoing transformations
143 10. Aligning 3D Images

144 10.1 Introduction
144 10.2 Overview
144 10.2.1 Aligning a set of 3D images
145 10.2.2 Optimizing the alignment
145 10.3 The Split View Alignment mode
147 10.3.1 Presenting the split view in the 3D scene
147 10.3.2 Configuring the mode
148 10.3.3 Aligning 3D images manually
148 10.3.4 Aligning a 3D image automatically

Contents
149 10.4 Aligning by matching pairs of points

152 10.5 Aligning automatically
152 10.6 Aligning manually by applying translations and rotations
153 10.6.1 Constraining the alignment using image reference points
153 10.6.2 Performing an interactive manual alignment
155 10.6.3 Applying operations
155 10.6.4 Performing 3D rotations about standard or viewing axes
156 10.6.5 Performing 3D translations along standard axes
156 10.6.6 Performing 3D translations using a vector
156 10.6.7 Undoing the operations
157 10.7 Aligning using the iterative best-fit alignment technique
157 10.7.1 Opening the dialog box
158 10.7.2 Constraining the best-fit alignment technique
159 10.7.3 Specifying geometrical parameters
160 10.7.4 Visualizing image alignment errors
160 10.7.4.1 Generating histograms of the image alignment errors
161 10.7.4.2 Refreshing the 3D scene
161 10.7.5 Evaluating the slipping during the image alignment process
162 10.7.6 Evaluating the convergence of the image alignment process
163 10.7.6.1 Specifying the number of iterations
163 10.7.6.2 Specifying a convergence criterion
164 10.7.7 Following the progression of the iterative process
165 10.8 Aligning using reference points
165 10.8.1 Creating reference points
165 10.8.1.1 Creating and editing global reference points
170 10.8.1.2 Creating and editing image reference points
179 10.8.1.3 Importing image reference points from a text file
179 10.8.2 Aligning by automatically matching reference points
181 10.8.3 Aligning by manually matching reference points
183 10.8.4 Displaying the match report
183 10.9 Applying transformation matrices to 3D images
183 10.9.1 Transforming 3D images using a matrix
183 10.9.2 Centering 3D images on screen
183 10.9.3 Moving 3D images to their initial position
184 10.10 Quickly aligning large sets of unaligned 3D images
185 11. Tools

186 11.1 Managing device positions
187 11.2 Loading point clouds without loading 3D Image data
188 11.3 Setting a huge translation value
190 11.3.1 Example
190 11.3.2 How to specify that IXF and Riegl RSP Project point clouds are geo-refer-
enced
191 11.3.3 Importing 3D Images from PTX and ASCII point clouds
191 11.3.4 Setting a huge translation
192 11.3.5 Examples of using the huge translation value

Contents
194 11.4 Processing shortcuts

194 11.5 Commands
195 11.6 Macro scripts
195 11.7 Visual layouts
199 11.8 Saving the current configuration to the user configuration
199 11.9 Specifying options
200 12. Editing 3D Images

201 12.1 Creating 3D images from polygonal models
201 12.1.1 Specifying the display in the 3D scene
202 12.1.2 Finding the desired viewpoint
202 12.1.3 Removing undesired triangles
203 12.1.4 Fixing the viewpoint and creating a 3D image
203 12.1.5 Exiting the mode
204 12.2 Measuring deviations between 3D images
204 12.2.2 Measuring deviations
207 12.2.3 Visualizing deviations by means of color maps
208 12.2.4 Selecting 3D images that are out of tolerance
208 12.3 Visualizing 3D image overlapping
209 12.4 Keeping the best line data
210 12.5 Reducing the amount of overlap in 3D images
211 12.5.1 Defining data quality
211 12.5.2 Using the integrated overlap reduction methods
211 12.5.2.1 Reducing the overlap
213 12.5.2.2 Visualizing the overlap
214 12.5.3 Using the manual overlap reduction method
215 12.6 Smoothing 3D images
219 12.7 Interpolating 3D images
221 12.8 Remeshing organized point clouds to fill small holes
222 12.9 Specifying a minimum Z value for 3D images
223 12.10 Editing points of 3D images
223 12.11 Using the property sheet of 3D images
224 12.11.1 Properties common to all objects
224 12.11.2 Properties of 3D images
228 13. Scanning Objects

229 13.1 Introduction
229 13.1.1 A typical scan session
229 13.1.2 Units and device position
230 13.2 Main dialog box of plug-ins
231 13.3 Line scanning options
231 13.3.1 General options for line scanning
233 13.3.2 Surface scan options
233 13.3.2.1 Main options
234 13.3.2.2 Filtering options

Contents
238 13.4 Additional information

238 13.4.1 Customizing sounds
239 14. Setting Options

240 14.1 General options
242 14.2 Project options
243 14.3 Display options
245 14.3.1 3D Scene display options
247 14.3.2 Tree view display options
248 14.3.3 Interface color display options
250 14.3.4 Lights display options
250 14.3.5 Material display options
251 14.3.6 Image display options
252 14.3.7 Polygonal model display options
253 14.4 Default name options
253 14.5 Image options
255 14.5.1 Point cloud options
256 14.5.1.1 Planar grid/mesh options
258 14.5.1.2 Line scan options
260 14.5.1.3 Spherical grid options
262 14.6 Polygonal model options
262 14.7 Alignment options
263 14.8 Device position options
263 14.9 Selection options
265 15. Exporting Objects

266 15.1 Introduction to exporting aligned 3D images
266 15.2 Exporting aligned 3D images to file
267 15.3 Exporting aligned 3D images to separate files
269 15.4 Exporting aligned 3D images as polygonal models
270 15.5 Exporting matrices
271 15.6 Exporting global reference points
272 15.7 Exporting image reference points
273 16. Plug-ins and Macros

274 16.1 Using and creating plug-ins
274 16.2 Using IMAlign from an external application
274 16.3 Creating macro scripts
274 16.3.1 Recording and editing macros using the Macro Script Editor window
274 16.3.2 Using the Macro Script Control Language
276 Appendix A: Supported Digitizers

277 A.1 Digitizers
277 A.1.1 Planar grid and mesh type digitizers
278 A.1.2 Line scan type digitizers
279 A.1.3 Spherical grid type digitizers

Contents
280 A.1.4 Unorganized point cloud type digitizers
281 Glossary
288 Index

Getting Started 1
The PolyWorks IMAlign module (IMAlign) is a software tool that accepts point clouds from all digitizers, and
permits capturing point clouds in real time, and allows aligning these point clouds using the shape of the
points clouds and, if desired, reference points.
This chapter how to start IMAlign and how to obtain help in the form of documentation and technical
support.

Getting Started Starting IMAlign
1.1 Starting IMAlign

IMAlign is only available from within the PolyWorks/Workspace Manager. The
subsections that follow describe different ways to start IMAlign. When starting IMAlign
using a PolyWorks shortcut or a call on the command line, the PolyWorks/Workspace
Manager is opened first, and then the module is started. Note that the PolyWorks/
Workspace Manager allows multiple instances of the IMAlign module.
The PolyWorks/Workspace Manager interface is shown in Figure 1.1. For complete

information concerning the PolyWorks/Workspace Manager, see Chapter 3 The
PolyWorks/Workspace Manager of the PolyWorks Reference Guide.
1.1.1 Starting IMAlign from the PolyWorks/Workspace Manager
To start the PolyWorks/Workspace Manager, double-click the PolyWorks shortcut on

your desktop, or follow this procedure:
1. Press the Start button on the Windows toolbar.
2. Point the (All) Programs folder.
3. Point the PolyWorks folder.
4. Click PolyWorks.
The PolyWorks/Workspace Manager opens.
To start the IMAlign module from the PolyWorks/Workspace Manager, while specifying
an input file/project in the active workspace on startup, do one of the following:
 Double-click an IMAlign project.
 Drag a valid object (i.e., IMAlign project, polygonal model, point cloud) onto the
Start IMAlign button on the Modules toolbar.
 Select an IMAlign project or a point cloud and click in the Wizard pane on a phrase
preceded by the IMAlign icon.
 Right-click over an IMAlign project and click Open in IMAlign on the shortcut menu.
 Right-click over a polygonal model or a point cloud and click Import in IMAlign on the
shortcut menu.
To open the IMAlign module without specifying a file on start up, proceed as follows:
 Click the Start IMAlign button on the Modules toolbar.

Figure 1.1 The PolyWorks/Workspace Manager interface.
 Right-click over the IMAlign Projects branch and click Create using IMAlign on the
shortcut menu.
 Right-click over the Point Clouds branch in the active workspace and click Import in
IMAlign on the shortcut menu.
 Select the top level object in the active workspace, make choices in the Wizard
window, and click a phrase that is preceded by the IMAlign icon.
The IMAlign interface is shown in Figure 1.2.

Figure 1.2 The IMAlign graphical user interface.
1.1.2 Starting IMAlign from the Windows shortcut
To start IMAlign using the Windows shortcut that is created at installation, proceed as
follows:
1. Press the Start button.
2. Point the (All) Programs folder.
3. Point the PolyWorks folder.
4. Click IMAlign.
If the PolyWorks/Workspace Manager was not already open, it opens and the IMAlign
module starts. The Workspaces area contains an empty, untitled workspace with an
empty IMAlign project. If the PolyWorks/Workspace Manager was already open, the
IMAlign module starts with an empty IMAlign project in the active workspace.

1.1.3 Starting IMAlign from a command line
IMAlign may be invoked from a command line. A general call to IMAlign has the
following format:
imalign [input_project_directory |
project_name -pwk workspace_name]
[-macro [path]macro_name [argument1...] ]
[-verbose]
where,
The input_project_directory is an optional parameter. It specifies the path to a

standalone IMAlign project directory on disk, or an IMAlign project in a workspace. In
the latter case, the IMAlign project name is case sensitive, and the -pwk parameter is
used to specify the name of the workspace, which includes its absolute path. The
workspace is read into the PolyWorks/Workspace Manager and becomes the active
workspace.
The -macro parameter can be invoked to specify a macro_name to run on starting

IMAlign. Arguments can also be provided on the command line. If no path is specified, a
search for a macro of the specified macro_name will be performed, in order, at the
following four locations:
 The application’s current visual layout.
 The workspace associated with the application.
 The user’s configuration directory, which is defined as:
UserconfigDirectory\.innovmetric.version\macro\ApplicationName\
The user’s configuration directory is specified by the User configuration option on

the General page of the PolyWorks/Workspace Manager Options dialog box.
 The PolyWorks system configuration directory, which is defined as:
PolyWorksInstallationDirectory\macro\ApplicationName\
The -verbose parameter can be invoked to display various messages.
If the PolyWorks/Workspace Manager was not already open, it opens and the IMAlign
module starts. If the PolyWorks/Workspace Manager was already open, only the
IMAlign module starts.
If a standalone IMAlign project directory was specified, a message window is displayed

asking confirmation to add the point clouds used by the IMAlign project to the
workspace associated with the IMAlign module.

Getting Started About IMAlign
1.2 About IMAlign

The Help > About IMAlign command provides copyright and version information for
your IMAlign module.
On choosing the command, a splash screen is displayed that displays the software’s
version and build number. The build number helps InnovMetric Software’s
development team track the precise source code used to compile the module.
1.3 Using the Support Assistant

When an application ends unexpectedly, a message window is displayed indicating the
situation and asks to invoke the Support Assistant. When the Yes button is pressed, a
file browser is displayed to specify a file name and a location on disk. A detailed report
providing information on your system and on the most recent crash is generated in a
text file and opened on your computer.
If the No button is pressed, the Support Assistant tool can always be accessed from the
Help menu of the PolyWorks/Workspace Manager, or the Help menu of the module.
The Support Assistant can also be invoked by way of a command line, executed from
the bin subdirectory of the PolyWorks installation directory. A general call to the
Support Assistant has the following format:
support_assistant [system_report_filename] [-p]
 The system_report_filename parameter specifies the file name and location for the
created report.
 The -p parameter specifies that the system report should display in a Notepad
application.
These two parameters are optional. If they are not specified, the report appears directly
in the Command Prompt window.
For technical support, send this report directly to your PolyWorks provider, or to the
InnovMetric Software technical team by e-mail at support@innovmetric.com.
1.4 Exiting IMAlign

The File > Exit command on the menu exits the instance of the IMAlign module.
If the current IMAlign project has been modified, a message is displayed to prompt
saving the project. Press the Yes button to specify saving the project, the No button to
specify not saving the project, or Cancel to end the operation and return to IMAlign. If
saving the project is specified and the associated workspace is untitled, the PolyWorks/
Workspace Manager prompts for a workspace name, which is used to save the project.

Getting Started Getting help
Note that on closing an alignment project in this way, the application may ask to
reduce the image overlap if it has not been done before. This is recommended
procedure if the next step is to merge the project using the IMMerge module. Answer
Yes to perform the overlap reduction and No to continue with the close operation
without performing overlap reduction. For more information on overlap reduction, see
Section 12.5 Reducing the amount of overlap in 3D images.
For a complete description of the PolyWorks/Workspace Manager, see Chapter 3 The

PolyWorks/Workspace Manager of the PolyWorks Reference Guide.
1.5 Getting help

The Help menu offers access to documentation in PDF format as well as information
about your version of IMAlign. It also offers a menu correspondence tool that is useful
for users of PolyWorks V11 who cannot locate a specific tool in the new V12 menu
structure.
1.5.1 The reference documentation
The Help > Reference Guides menu offers commands that provide access to the
InnovMetric Software manuals related to IMAlign. These manuals consist of Adobe PDF
files which require that Adobe Reader be installed on your system:
IMAlign
Loads the IMAlign Reference Guide into Adobe Reader. This is the document that
the IMAlign dialog boxes link to when the ? symbol on their title bar is clicked.
Talisman Network Security and Setup

Loads the Talisman Network and Security Guide into Adobe Reader. This
document presents network issues that network administrators should consider
when using PolyWorks/Talisman. Talisman is a remote control application for
Apple mobile computing devices (e.g., iPod touch, iPhone, or iPad) that provides
access to project saving, macro scripts, and 3D scene display, without having to
navigate back and forth to the computer running PolyWorks.
Commands
Loads the Command Reference Guide in a Web browser. This document presents
the application commands that are specific to the module as well as the elements
of the Macro Script Command Language.
Macro Script
Loads the Macro Script Reference Guide into Adobe Reader. This document
explains how to create basic macros by saving and editing macros using the Macro
Script Editor. It also describes the Macro Script Command Language that enables
users to add programming functionalities to macros.

Getting Started Getting help
PolyWorks SDK
Loads the PolyWorks SDK Reference Guide into Adobe Reader. This document
provides information concerning plug-ins and COM architecture. Many samples
are provided.
A custom document is available for each standard PolyWorks plug-in offered from a
module’s Tools > Plug-ins menu. Each document provides information concerning
device setup and requirements, and describes specific parameters offered in the
device-related dialog boxes.
1.5.1.1 Related documentation
The following documents offered in PDF format, available from the Help > Reference
Guides menu of the PolyWorks/Workspace Manager, offer related information:
 The PolyWorks® Reference Guide presents the PolyWorks software suite, including the
PolyWorks/Workspace Manager, and explains how to customize the user interface by
means of visual layouts. It also explains how to invoke modules from the PolyWorks/
Workspace Manager. Finally, appendixes describe the installation procedure for both
node-locked and floating licenses.
1.5.1.2 Accessing the reference documentation from dialog boxes
On clicking the question mark on the title bar of an IMAlign dialog box, the PDF
version of the appropriate reference guide, or other appropriate document, opens to
the related section. Pressing the F1 key performs the same operation with respect to a
dialog box, and displays the appropriate Wizard when in an interactive mode if the
Wizard is not already displayed.
1.5.1.3 Topics not yet documented
Topics not yet documented will be available shortly in the documentation of upcoming
major and intermediate releases of PolyWorks 12.1.
Summary information on this topic may be found in the “What’s New in IMAlign”
document, available under the Help menu of the PolyWorks/IMAlign module, or in a
learning video.
For immediate information on this subject, please contact your technical support
personnel.

Getting Started Getting technical support
1.5.2 What’s new in IMAlign
The Help > What’s New submenu of the IMAlign module offers documents that
summarily explain what is new in the major and intermediate releases of PolyWorks:
 The “What’s New in IMAlign V12.0” document is useful for users who have worked
with previous versions of this module. It contains a summary of what is new in the
latest major release of IMAlign.
A summary of what is new in all modules is available under the Help > What’s New
submenu of the PolyWorks/Workspace Manager.
 The “Intermediate Release Notes” document provides the list of fixes and
enhancements in each intermediate release of PolyWorks since the last major release
of PolyWorks. It is also available under the Help > What’s New submenu of the
PolyWorks/Workspace Manager.
1.5.3 V11 to V12 menu correspondences
In version 12, the menu structure of IMAlign has been improved. To help the transition
between V11 and V12, a menu correspondence item is offered on the Help menu.
On choosing the Help > V11 to V12 Menu Correspondence command, a V11 menu bar is
displayed, allowing users to navigate within the V11 menu structure. When the pointer
is over a menu item, a tooltip is displayed to indicate the new item name and position
within the V12 menu structure (see Figure 1.3 (a)). If the menu item is clicked, the new
item name and position are displayed in a window (see Figure 1.3 (b)), which allows
users to view the menu correspondence while navigating within the V12 menus.
1.6 Getting technical support

Report any problems to your PolyWorks provider, and send your suggestions directly to
InnovMetric Software at www.innovmetric.com. The InnovMetric Software technical
support team can also be contacted by e-mail at support@innovmetric.com.

Getting Started Getting technical support
Figure 1.3 The V11 to V12 menu correspondence displayed in a tooltip (a) and in a window (b).
(a)
(b)

Fundamentals 2
The PolyWorks IMAlign module (IMAlign) is a software tool that accepts point clouds from all digitizers.
IMAlign converts the point clouds to a 3D image format. IMAlign also provides line scanning plug-ins that
allow scanning physical objects and saving each scan pass as a 3D image. Finally, IMAlign allows importing
polygonal models and creating 3D images from these models. IMAlign can manipulate up to a hundred
million digitized points in the 32-bit version of PolyWorks. The limit in the 64-bit version of PolyWorks is
determined by the amount of available RAM.
The 3D image format allows optimally aligning a set of 3D images in order to bring all the 3D images into a
unique global coordinate system. By default, the alignment process uses the natural shape of the scanned
object, so no targets are required. However, it is possible to import and create reference points, which may
be used to constrain the best-fit alignment operation. Statistics and histograms show the quality alignment
for each aligned 3D image.
IMAlign directly supports large numbers. This information may be of particular interest to surveyors. This
subject is discussed in detail in Section 2.6 Working with large numbers.
This chapter provides an overview of the IMAlign module. It presents the concept of an IMAlign project, the
objects in a project, the basic modes in IMAlign, and how to perform and undo operations. This chapter also
explains how to configure this module.

Fundamentals Supported point clouds
2.1 Supported point clouds

Point clouds can be divided into two main categories. Unorganized point clouds purely
consist of an unordered list of (x, y, z) point coordinates. On the other hand, some 3D
digitizers are capable of organizing point clouds in such a way that a polygonal mesh
can be automatically built from an ordered list of (x, y, z) point coordinates.
IMAlign supports both categories of point clouds. Organized point clouds can be
directly imported into IMAlign through a proprietary file format or InnovMetric
Software’s public PIF format. Once loaded in IMAlign, an organized point cloud
becomes a 3D image.
Unorganized point clouds are also supported. However, they must first be processed
and interactively “organized” in order to generate 3D images.
2.1.1 Supported types of organized point clouds
A 3D image, or 3D parametric image, is defined as a 3D surface mesh that can be

mapped and interpolated onto a parametric surface, usually a plane or a cylinder.
IMAlign supports all organized point clouds that can be transformed into planar 3D
images. Cylindrical meshes, however, are not supported.
A raw 3D image - or organized point cloud - is defined as a 3D surface mesh measured

by a 3D digitizer. A raw 3D image is described by a set of (x, y, z) point coordinates and
the connectivity information between these points. There are two ways a raw 3D image
can be specified in IMAlign. A 3D surface mesh can be described by an array of points or
by a polygonal mesh. As shown in Figure 2.1 (a) and (b), the points in a raw 3D image
need not be distributed in any particular way in the 2D parameterization space.
For several algorithms used in the IMAlign module, however, it is more convenient to
describe a 3D surface mesh by an array of points distributed on a square grid in the 2D
parameterization space (see Figure 2.1 (c)). In this document, a 3D image
parameterized on a square grid is called an interpolated 3D image. IMAlign provides
interpolation routines to transform raw 3D images into interpolated 3D images. The
interpolated points that make up the 3D image are referred to as 3D image points.
2.1.2 Processing unorganized point clouds
The Point Cloud Organizer tool allows importing unorganized point clouds (i.e.,
without point connectivity or point normal information) and transforming them into
interpolated 3D images.

Fundamentals Introducing IMAlign
Figure 2.1 Two raw parametric images and one interpolated image mapped onto a 2D
parametric space (i, j). In (a), the mesh is described by an array of data points that
may be irregularly distributed. In (b), the mesh is described by a triangulation. In (c),
the mesh is described by an array of data points distributed on a square grid.
(a) Irregular array (b) Polygonal mesh (c) Regular array
j j j
i i i
2.2 Introducing IMAlign

IMAlign offers an object-oriented approach to image alignment. As shown in Figure 2.2,
a global object called the IMAlign (alignment) project encloses all other objects. Within
an alignment project, several categories of objects can be generated.
2.2.1 Images
Images are created from imported point clouds. They may be single 3D images, created
from point clouds in the planar grid/mesh, the line scan, or the unorganized point
cloud categories, or composite 3D images which are created from point clouds in the
spherical grid category.
Single 3D images are point clouds that are imported into IMAlign and that are
transformed into one or more single 3D images. Each 3D image is found under the
project object. It can have children of the following type:
 Image reference points – An object used to handle various point measurements

that are needed in more sophisticated alignment processes. The points are
measured along with the 3D image and are expressed in the same coordinate
system as the 3D image data. An image reference point could be the center of a
target, or any arbitrary point to constrain the best-fit alignment algorithm. A 3D
image can have an unlimited number of image reference points. Each image
reference point has a weight and a tolerance.
Composite 3D images contain sub-images, and are created when extracting images
from spherical grid point clouds. These point clouds are subdivided into a large number
of 3D images on loading into IMAlign. To help increase efficiency, and to avoid a very

Fundamentals Introducing IMAlign
Figure 2.2 The IMAlign object hierarchy.
Alignment project
Images
Single 3D images
• Image reference points
Composite 3D images
• Image reference points
• Sub-images
Polygonal models
Global reference points
The IMAlign object hierarchy
The Tree View pane
large number of objects in the first level of the tree view, the point cloud’s 3D images
are grouped under a parent object called a composite 3D image. The child 3D images
are referred to as sub-images. A composite 3D image is shown in Figure 2.3. Users will
work mostly with composite 3D images, while expert users may wish to manipulate
sub-images. A composite 3D image has two children:
 Image reference points – See the preceding description provided for single 3D
images.
 Sub-images – 3D images in PIF format produced by the subdivision of a spherical

grid point cloud. Individual sub-images do not have image reference points.
2.2.2 Polygonal models
Polygonal models may be imported into IMAlign. Normally this is done for two
purposes: to create 3D images from the object or for visualization purposes.
For example, a large object has been digitized and a polygonal model created. Parts of
the object have not been scanned as shown by the incomplete polygonal model. The
model may serve as a guide when finishing the digitizing using a line scanner device
controlled from within IMAlign by way of a plug-in. As the points are captured to 3D
image format, they overlay the holes in the polygonal model.

Fundamentals Image alignment techniques
Figure 2.3 Station_1 is a composite 3D, containing several sub-images whose relative
alignment is fixed.
2.2.3 Global reference points
Global reference points are points measured in a fixed global coordinate system (e.g.,
measured by GPS or by a total station). Each global reference point has a weight and a
tolerance.
Typically, users will match the image reference points of individual 3D images (single or
composite) to global reference points in order to align 3D images into the global
coordinate system.
2.3 Image alignment techniques

There are two types of image alignment techniques. The first type requires an
interaction with the user through mouse operations. Interactive image alignment
techniques are used to specify an initial approximation of the alignment. The second
type of image alignment technique consists of a least-squares iterative algorithm that
automatically refines the approximation provided by the user. This automated
technique is used to compute a final, accurate alignment of a set of 3D images.

Fundamentals Preprocessing operations
2.3.1 Interactive image alignment techniques
Four techniques allow aligning 3D images interactively. The first three are mouse-
driven, while the fourth uses discrete values. The first technique consists in manually
aligning one or several 3D images using the mouse. The six degrees of freedom in a
rigid transformation matrix are accessible using the mouse in a very intuitive manner.
Pick the 3D images and align them with respect to a set of previously aligned 3D
images.
The next two image alignment techniques are based on point matching. Using the
mouse, the user can generate one tiepoint pair, and let the application automatically
align a set of 3D images. If the first method does not work, the user can create several
tiepoint pairs to generate an approximative alignment of a set of 3D images. These two
methods are used to obtain a close approximation of the final alignment prior to
invoking the iterative image alignment technique.
The last technique consists of specifying precise 3D rotations and translations in a

dialog box by way of discrete values, or the use of a slider.
2.3.2 Iterative image alignment technique
A state-of-the-art least-squares iterative algorithm is used to optimally align a set of 3D

images. This algorithm aims at minimizing the 3D distances between surface overlaps
in a set of 3D images, and assumes that a good approximation of the alignment has
been provided by the user. A key feature of the technique is that it distributes the
alignment error over all of the image transformation matrices, which ensures a well-
balanced alignment of a set of 3D images.
The best-fit alignment technique may be constrained by specifying reference points,

and best-fitting 3D images while keeping the image reference points within tolerance
from their original position. This alignment technique allows the combination of the
best-fit alignment technique and known points, for example targets, digitizer positions,
or points measured by a robot or a GPS device.
2.4 Preprocessing operations

In addition to image alignment techniques, IMAlign also offers operations to
preprocess 3D images.
Some internal algorithms used by IMAlign require that every planar 3D image be
interpolated along a square grid defined in the 2D parametric space of the plane.
Consequently, a 3D image interpolation routine is offered that allows processing raw
3D images. This interpolation routine is automatically invoked when a raw 3D image is
input to IMAlign. It is also possible to re-interpolate a 3D image that has already been
interpolated.
In addition, undesirable parts in a 3D image can be deleted or ignored:

Fundamentals Basic modes
 A volumetric 3D image point selection technique allows selecting any part of one or
more 3D images. This point selection technique can be used to eliminate
background points, or parts that are not well measured by the 3D digitizer.
 A minimum z value can be specified for planar 3D images to eliminate background

points.
2.5 Basic modes

This chapter presents an overview of the different modes that allow visualizing objects,
selecting object elements, and performing image alignment and editing operations.
2.5.1 The basic visualization mode
When IMAlign is started, it is initially set to the basic visualization mode. In this mode
the pointer consists of an arrow, and rotations and translations can be performed on
the current set of objects. See Chapter 9 Viewing in the 3D Scene for complete
information on visualization capabilities.
2.5.2 The Select Elements mode
To interactively select object elements, the Select Elements mode must be active. The
mode is entered/exited by pressing the Select Elements button on the Selection
toolbar, or by pressing the SPACEBAR. The pointer then becomes a cross. Note that a set
of objects cannot be translated or rotated while in Select Elements mode. See Chapter
8 Selecting Objects and Elements for complete information on element selection.
2.5.3 Interactive alignment and editing operations
In addition to the Select Elements mode, there are several interactive alignment and
editing operations that are all performed as follows:
1. Invoke the operation, either by pressing a toolbar button or by selecting a menu

command. A specific operation mode is launched. Pointers other than the standard
arrow and cross are used as a visual feedback representing the current mode of
operation. In addition, a Wizard provides detailed instructions on the operation.
2. Perform some actions using the mouse.
Most interactive operations can be temporarily exited to modify the viewpoint.

Press the SPACEBAR, perform rotations and translations on the set of 3D images, and

Fundamentals Basic modes
then press the SPACEBAR again. A special pointer consisting of an arrow and a
capital I is used to indicate that the interactive mode has been temporarily exited.
3. Exit the specific operation mode. Some operations exit as soon as your action
completes its execution. Other operations need to be explicitly terminated. In all
cases, the ESC key can be used at any time to exit or to cancel an operation mode.
2.5.4 Undoing operations
The Edit menu offers commands that allow undoing certain operations (i.e., object
creation cannot be undone) that were previously performed:
Undo Operation_id (Description)

Undoes the last operation in the module’s Undo stack. Operation_id identifies the
type of operation that will be undone. The Description field specifies the exact
operation that will be undone if the Undo command is chosen. The following types
of operations can be undone in the module:
Operation Description
Align Alignment operations.
Delete Object-deletion operations.
Edit Element-editing operations, except for the

Interpolate and Set Minimum Z Value operations.
To undo those two operations, reperform the
operation on the same objects using appropriate
parameters.
Manual Alignment Interactive alignment operations performed

using the Manual Alignment dialog box.
Point Definition Point-anchoring operations.
Select Element selection operations.
Transformation Transformation (rotation or translation)

operations.
View Visibility operations (i.e., Hide, Keep, Restore,

Swap) performed on elements.
Redo
Reperforms the last undone operation. The Redo command does not indicate the
last editing operation that was performed. The Redo operation must be done
immediately after the Undo operation. It becomes unavailable once another
operation is performed, including translation/rotation operations in the 3D scene.
Note that it is possible to remove the last transformation operations and return to
the last editing operation.

Fundamentals Working with large numbers
Remove Undos
A submenu that offers two commands:
Transformation
Removes all rotation/translation operations from the Undo stack.
All
Removes all operations from the Undo stack. This may be useful if system
memory is low. On choosing All, a confirmation window is displayed.
Press the Yes button to continue, or the No button to end the operation.
2.6 Working with large numbers

Certain users may want to import objects that are expressed in a large-number
coordinate system. Large numbers are those having more than seven digits including
the decimals. Because of the current limitations of computers, and in line with the
objective of preserving decimal accuracy, a method has been implemented that
reduces all numbers to a small-number coordinate system. This method applies to
ASCII, PTX, IXF, and Riegl RSP Project point clouds expressed in a large-number
coordinate system. It also includes ASCII point clouds containing reference points
expressed in large numbers (e.g., GPS points). For more information, see Section
10.8.1.1 Creating and editing global reference points.
2.7 Setting the units of length

PolyWorks units of length are specified by way of the option in the Default length
units option on the General page of the PolyWorks/Workspace Manager Options
dialog box (for more information, see Section 3.5.2 Setting PolyWorks options of the
PolyWorks Reference Guide).
New instances of modules use that unit by default for the Length option of the Units
section on the General page of their options dialog box. The Length option can be
changed to other systems of units. All objects in a project must be expressed in the
same units of length. The units of length can be changed, and all objects in the project
are converted to the new units of length.
Objects that are imported into a module fall into three categories:
 Objects containing units information, and those units are the same as the project’s
units of length.
 Objects containing units information, and those units are not the same as the
project’s units of length. These inconsistent units must be resolved. This is explained
in Section 2.7.1 Importing objects with inconsistent units.
 Objects containing no units information. These unknown units must be resolved.

This is explained in Section 2.5.2 Importing objects with unknown units.

Fundamentals Customizing the module
Note that in the case of an object in a project that is expressed in the incorrect units, the
Units Conversion method of the Scale Objects dialog box, available on the Edit menu,
can be used to convert the object to the correct units of length.
2.7.1 Importing objects with inconsistent units
When an object is imported that contains units information which is different from a
project’s units of length specification, the object is automatically converted to the
project’s units of length.
For these few cases that do not yet respect these standards, the Inconsistent Units
message window, shown in Figure 2.4, is displayed, indicating the units of length and
the object’s units, and asking the user to confirm converting the object to the project’s
units of length:
 On pressing the Yes button, the object is converted to the project’s units of length.
The object retains its Original units information and its Units factor property
reflects the conversion operation. For example, Working units is set to feet and an
IGES file import operation has detected that the IGES file’s units information reads
millimeters. Once imported, its Original units property is set to millimeters and its
Units factor property is set to .00328.
 On pressing the No button, the object is imported but not converted. Its Original
units property is the same as the project’s units of length and its Units factor
property is set to 1.
 On pressing the Cancel button, the import operation is ended.
2.7.2 Importing objects with unknown units
The import parameters determine the units of imported objects that do not contain
units information. Its use is configured on the General page of the IMAlign Options
dialog box (see Section 14.1 General options).
2.8 Customizing the module

All of the module options are conveniently located in the IMAlign Options dialog box,
which is presented in detail in Chapter 14 Setting Options. The dialog box is accessed
by choosing Tools > Options.

Fundamentals Editing the user configuration
Figure 2.4 Inconsistent units are detected when an object on import has units information
different from the project’s working units of length. The user is prompted to convert
the object to the current working units of length.
2.9 Editing the user configuration

The module comes with a default user configuration, which is read when an instance of
the module is started. The options mentioned previously are part of the user
configuration. Changes made to options can be saved to the user configuration. For
complete information, see Section 11.8 Saving the current configuration to the user
configuration.

Managing Projects
3
This chapter explains how to manage IMAlign projects, which includes opening and saving projects.

Managing Projects Introduction
3.1 Introduction
Once a set of 3D images has been aligned and a unique global coordinate system has
been computed, the final results have to be communicated to users or to another
program. To make that communication possible, an IMAlign project format has been
defined. An IMAlign project contains information about the individual 3D images in a
project, including the image transformation matrix that transforms the local image
coordinate system into the global coordinate system.
The File menu provides access to operations that allow:
 Opening and importing an IMAlign project into IMAlign.
 Saving the current set of 3D images to an IMAlign project.
3.2 Creating a new project

The File > New Project command allows creating a new IMAlign project. It removes the
current set of objects from the application to create a completely new set. The new,
empty IMAlign project has the default name Untitled.
If the current project contains unsaved changes, a message window is displayed

indicating the situation and asking to save the changes – the Yes button save the
changes and continues, the No button does not save the changes and continues, and
the Cancel button ends the operation.
3.3 Opening a project

The File > Open Project command allows opening an existing IMAlign project.
On choosing the command, the file browser shown in Figure 3.1 is displayed to specify
an existing IMAlign project. The left part of the browser window offers two shortcuts,
Open Workspaces and PolyWorks, to allow easily locating the IMAlign projects. The
first shortcut gives access to the open workspaces, while the second one gives access to
all workspaces in the PolyWorks folder. The path associated with this folder is specified
on the General page of the PolyWorks/Workspace Manager Options dialog box.
When a project is selected in the file browser and the browser preview pane is
displayed, the preview image of the project appears in the right part of the browser.
If a project is already open in the module when the command is given, and it has
unsaved changes, a message window is displayed indicating the situation and asking
to save the changes. Press the Yes button to save the changes and to continue, or press
the No button to continue without saving.

Managing Projects Opening a project
Figure 3.1 The dialog box used to open an IMAlign project.
Browse in open
workspaces, or
workspaces in the
PolyWorks folder
Projects can be opened either from a workspace or from a standalone project directory:
 When a project in a workspace is specified, it is loaded directly in the IMAlign module.

The instance of the IMAlign module from which the import command was given
becomes associated to the workspace that contains the specified project. If the
IMAlign Project is not in an open workspace, then that workspace is opened.
 When a standalone IMAlign project directory is specified, a message window is

displayed, indicating that the point clouds used by the IMAlign project will be
incorporated into the current workspace. Press the OK button and the project is
added to the workspace, the point clouds are copied under the Point Clouds branch,
and the project is opened in the module. Press the Cancel button to end the
operation. The display of this window for future import operations may be disabled
by selecting the Never show this dialog box again check box.
If, on reading the IMAlign project, an associated file cannot be found, the dialog box
shown in Figure 3.2 is displayed to resolve the path to the missing file. The name of the
missing file is indicated in the first text box. A new path to the file may be specified
directly in the second text box, or by pressing the Browse button and locating the file.

Managing Projects Saving a project
Figure 3.2 When importing a standalone IMAlign project, and an associated file cannot be
found, the dialog box shown here is displayed to resolve the path to the file or to
cancel the import operation.
Then, press the OK button. Or, press the Skip button and the import will continue
without the file. To cancel the import operation, press the Cancel button.
3.3.1 Loading point clouds into an existing IMAlign project
It is possible to import raw scan data from any digitizer. Importing point clouds is
described in Section 5.3 Importing point clouds, and importing polygonal meshes is
described in Section 5.4 Importing polygonal models.
3.4 Saving a project

The following commands on the File menu allow saving alignment projects:
Save Project
Saves the current IMAlign project to its associated workspace.
If the project has never been saved, see the procedure described in the following
topic (Save Project As).
Save Project As
Saves the current IMAlign project in a specified workspace.
The project is automatically associated to the active workspace. This setting can be
changed by browsing in the list of existing workspaces.
If the associated workspace is untitled, a message window is displayed indicating

the situation - the OK button displays a file browser to specify a workspace name
and location, and the Cancel button ends the operation.

Managing Projects Opening recent projects
Figure 3.3 The dialog box used to save the current IMAlign project as a new project.
When the workspace is specified, the dialog box shown in Figure 3.3 is displayed
to allow specifying a file name. Specify a project name manually. Note that the
following characters cannot be used in the name of a project: /, \, :, *,?, “, <, > and |.
Press the Save button to launch the operation, or the Cancel button to end the
operation.
The current IMAlign project will be assigned the specified name and be saved to
the workspace. If a workspace other than the currently associated workspace is
specified in the address bar, the project and its dependent objects are copied to
the new workspace. The workspace where the project is copied becomes the
active workspace, and the instance of the IMAlign module doing the saving is
associated with the active workspace.
3.5 Opening recent projects

The File > Recent Projects command displays a list of recently opened IMAlign projects
and their location (i.e., workspace or standalone directory). Clicking an IMAlign project
name opens it in the instance of the module.

Managing Projects Opening recent projects
To be opened successfully, selected recently processed projects must still be located at

the location of the previous import.

The User Interface 4
This chapter describes the organization, use, and customization of the graphical user interface.

The User Interface Introduction
4.1 Introduction
As shown in Figure 4.1, the user interface offers a menu bar, a Standard toolbar, other
toolbars, a status bar, and several main dockable panes. The Tree View pane offers a tree
view where each object is represented. The 3D Scene pane hosts a 3D rendering
window where 3D objects are displayed. Here, mouse-based rotations/translations are
applied globally to all objects. The status bar displays messages about the status of the
application and the name of interactive modes invoked by the user.
The graphical user interface elements (e.g., menu bars, toolbars, dockable panes, macro
scripts) are completely customizable by way of visual layouts offered on the Tools >
Visual Layout submenu.
Additional information on customizing the user interface (e.g., customizing a visual

layout, docking/undocking panes) can be found in Chapter 4 Customizing the
Graphical User Interface of the PolyWorks Reference Guide.
4.2 The title bar

The title bar displays the name of the module, the name of the current project and the
name of the workspace that contains it.
4.3 The menu bar

There are eight menus on the main menu bar:
Menu Description
Used to load point clouds and convert them to 3D images, and

File
import/export objects.
Offers object-editing operations. Certain operations apply to all

Edit objects, such as deleting objects, while other operations are specific
to certain objects.
Offers operations for the selection of objects and their elements

Select
based on various criteria.
Offers operations to specify the pose or visibility of objects and their

View elements in the 3D scene as well as the display of the main dockable
panes.
Align Provides access to techniques that allow aligning 3D images.

The User Interface The menu bar
Figure 4.1 The IMAlign graphical user interface.
Menu bar Processes toolbar
Standard
toolbar 3D Scene
toolbar
Selection
toolbar
Status bar
Status of operations
and menu helpers
Current mode, selection information, and
project status and management area

The User Interface The Standard toolbar
Menu Description
This menu offers all the secondary tools that are not part of the main
module workflow, such as operations that allow editing 3D images,
flagging image points, and creating and editing image reference
points. It offers as well commands that allow recording macro
scripts, using the Command History pane, and modifying and saving
visual layouts.
The menu offers standard PolyWorks plug-ins (e.g., plug-ins for line
scanning using specific devices and transferring the points directly
to IMAlign) and allows customizing the plugins menu directory
Tools
using standard Windows techniques. Note that a custom PDF
document for most PolyWorks plug-ins, detailing setup and device-
specific line scanning parameters, is available through the
PolyWorks/Workspace Manager’s Help menu as well as the Help
menu of the modules that offer plug-ins.
Finally, it allows modifying the options of the module, which include
general options (e.g., units, browsers, using wizards), project
settings, default names, display options, object-specific options, and
selection options. It also allows modifying the user configuration.
It offers operations that allow capturing a project preview image,

Window taking a snapshot of the 3D scene, and bringing the PolyWorks/
Workspace Manager on top.
Offers on-line documentation for the module and related

documents, and allows launching the Support Assistant to report
Help
problems. Its About IMAlign command displays the version and build
number of your PolyWorks software.
4.4 The Standard toolbar
4.4.1 Contents
The Standard toolbar offers operations that allow loading and saving projects, undoing
operations, and more.
4.5 The status bar

The status bar area, located at the bottom of the graphical user interface as shown in
Figure 4.1, is divided into an area to the left and an area to the right.
The area to the left displays tooltips and the status of operations (e.g., Ready).

The User Interface The Tree View pane
The area to the right is the Notification Area. It displays icons that have their own
infotip. An icon may display information (e.g., the current mode or the current units of
length) and certain items may be clicked to access shortcuts to tools for those items
(e.g., access to the General page of the IMAlign Options dialog box that allows defining
the units of length for the project). See the table that follows for a description of the
icons that may appear to the right on the status bar, a short description of the item, and
a reference to where complete information can be found.
Icon and Tooltip Description
Number of 3D images selected in the tree view.
Number of 3D image points selected in the 3D scene.
The device position is oriented to gravity.
The temperature compensation scaling factor.
Active device position. Clicking the icon’s menu button

displays a list of the project’s device positions and shows the
current device position (has a check mark), and allows clicking
a new active device position. Clicking the icon opens the
Device Positions dialog box. For more information, see Section
11.1 Managing device positions.
Huge Translation. A button that opens the Huge Translation

dialog box in the Dialog Zone. Only present when a huge
translation value has been specified for the project.
Current units of length. Clicking the icon’s menu button

displays a list that shows the available units and the current
unit of length (has a check mark), and allows clicking a new
unit of length. Clicking the icon opens the General page of the
IMAlign Options dialog box that allows changing the units of
length. For more information, see Section 14.1 General
options.
4.6 The Tree View pane

The Tree View pane shows the objects contained in the project. By default, it is tabbed
with the Dialog Zone pane in order to allow maximum space for the 3D Scene pane. In
certain circumstances, the Tree View pane is automatically brought on top of the Dialog

Zone pane. For example, when a dialog box is closed and the Dialog Pane becomes
empty, the Tree View pane is brought on top of it.
Objects created appear in the Tree View pane. They are placed in logical categories, the
topmost object being the project itself. As a result, objects can be rapidly located and
easily selected to be managed (e.g., hidden) or as input for certain operations. Object
indices, which represent the sequential order of objects under their branch, may be
displayed as a prefix to the object name. For more information on displaying indices,
see Section 14.3.2 Tree view display options. Shortcut menus are offered by right-
clicking most objects and branches in the tree view, making it easy to apply operations
to specific objects, or those objects grouped under a branch. Standard Windows-based
selection operations can be used to select objects in the tree view.
4.6.1 Introduction
The Tree View pane is a central and hierarchal object management unit.
Each object is represented by an item in the Tree View pane. Items are displayed using a
tree view, and consist of an icon and an object name.
IMAlign features a tree view. The Tree View pane contains a list of the objects contained
in the project:
 3D images created from imported files. They are placed under the Images branch.
Ungrouped 3D images are shown first and image groups of 3D images are shown
afterward.
 Polygonal models, under the Polygonal Models branch.
 Global reference points, under the Global Reference Points branch.
4.6.2 Selecting objects using the mouse
Objects may be selected using standard Windows-based techniques:
 To select an object, click over it. Other selected objects are automatically deselected.
 To select a set of consecutive objects:
 Click the first object, press and hold the SHIFT key, and then click the second
object.
 Drag a selection rectangle in the tree view. As soon as any part of an object name
is included within the rectangle, the object is selected.
 To select a set of nonconsecutive objects, press and hold the CTRL key while clicking
the objects.

The number of selected 3D images and sub-images is displayed on the current

selection area of the status bar, to the far right.
4.6.3 Selecting objects using the arrow keys
Objects may be selected in the tree view using the arrow keys.
 When a child object is selected, use the left arrow key to selected the parent object.
 When a parent object is selected and the branch is expanded, use the right arrow key
to select the child object.
The arrow keys can also be used to expand and collapse branches, as explained in
Section 4.6.9 Expanding and collapsing branches.
4.6.4 Dragging objects from the tree view to a dialog box
It is possible to provide values for certain items in dialog boxes by dragging an object
over them. For example, the coordinates of a vector endpoint may be obtained from
the center of a circle. While dragging objects over items allowing them to be dropped,
the object’s icon and name are displayed. When an item does not allow objects to be
dropped, or when an object does not have the required geometrical properties, a No
sign is superimposed on the normal object icon.
4.6.5 Renaming objects interactively in the tree view
Object names can be changed interactively in the tree view by selecting an object and
clicking it a second time within a short period of time, or by pressing the F2 key. The
name of branches cannot be changed.
4.6.6 Changing the order of objects within their branch
The order of objects within a branch can be modified by dragging selected objects.
Objects can also be transferred into objects that allow this operation (i.e., image
groups).

While dragging objects, the tree view automatically scrolls up or down as required and
a visual indication shows where the object selection will be relocated in the branch. See
the table that follows for examples.
Visual indication Description
Moving a 3D image above an image group

A red line appears above a 3D image group
when the mouse pointer is placed over the top
part of the 3D image group.
Transferring a 3D image into a 3D image

group
The name of a 3D image group is highlighted
when the mouse pointer is placed between the
top and bottom part of the rectangle
surrounding it.
Moving a 3D image below another 3D image

A red line appears below a 3D image when the
mouse pointer is placed below the bottom part
of the 3D image.
Releasing the mouse button on the red line relocates the selected objects at that
location, and releasing it on the highlighted object transfers the selected objects into
that object.
When an item does not allow objects to be inserted or transferred, the item is not
highlighted and a No sign is superimposed on the normal object icon.
When an object changes position within its branch, its index changes as well to
represent its new position. By default, the object index number is not displayed. For
more information, see Section 14.3.2 Tree view display options.
4.6.7 Hiding objects
The visibility status of an object can be changed by middle-clicking the object in the
tree view. The visibility status can also be changed for more than one object at a time:
 For a selection of objects, hold down the SHIFT key and middle-click. The current
object selection is maintained.
 For the objects that are located in the same branch, middle-click the branch:
 If at least one object in the branch is visible, all objects in the branch will be
hidden when middle-clicking.

 If all objects in the branch are hidden, they will become visible when middle-
clicking.
Changing the visibility status of a parent object changes visibility status of its children.
Changing the visibility status of child objects has no effect on the visibility status of the
parent objects.
Note that object selection in the tree view is maintained while middle-clicking.
4.6.8 Moving objects in the tree view
A reference point, or selected reference points, can be dragged and dropped on a 3D

image, the Global Reference Points branch, a 3D image’s Reference Points branch, a
global reference point, or an image reference point. The reference point is added to the
end of the current list of reference points at that location. Press the ESC key to cancel
the drag operation.
4.6.9 Expanding and collapsing branches
Branches of the tree view can be expanded and collapsed using the following
operations:
 Click the plus (+) sign to expand a branch or the minus (-) sign to collapse a branch.
 Double-click the branch to expand a collapsed branch, or collapse an expanded

branch. Note that this operations can only be performed on main branches of the
tree view and not on the objects contained in a branch.
 Select an object contained in a branch and use the left arrow key to collapse the
branch, or select a collapsed branch and use the right arrow key to expand the
branch. Note that using the left arrow key on a branch will collapse the entire tree
view.
The arrow keys can also be used to select child or parent objects, as explained in
Section 4.6.3 Selecting objects using the arrow keys.
4.6.10 Introducing the shortcut menus
Shortcut menus provide a subset of key operations that are related to the selected or
clicked objects. Shortcut menus are offered for objects in the Tree View pane and
objects in the 3D Scene pane.

4.6.10.1 Using shortcut menus in the tree view
The tree view’s shortcut menus add functionality to this object management tool. The
shortcut menus provide a wide range of functions without offering all of the operations
available using the main menus. On the other hand, they may offer some items that are
not found on the main menus; for example, a branch menu typically offers selection
operations for only objects under its branch. This guide follows primarily the menu bar
organization, but also documents those shortcut menu items that are not offered on
the main menus.
The following types of shortcut menus are available:
 Right-click an object. The menu that is displayed offers the most common operations
for that object including, at the bottom, the shortcut menu(s) of the branch(es)
between parentheses. When clicking an object, any current selection in the tree view
is deselected.
 Right-click a branch to display a branch menu. Operations are offered that are
specific to the object type. They include creating and importing objects and
selection operations. See Figure 4.2 (a).
 Right-click a selection of same-type objects. The menu that is displayed offers

operations for that object type, including, at the bottom, the shortcut menu(s) of the
branch(es) between parentheses. If the selection consists of objects of more than
one object type, the menu that is displayed offers operations that are valid for all of
the object types in the selection. See Figure 4.2 (b).
 If a branch, or an object is right-clicked with the CTRL key pressed and held down, a
menu is displayed offering operations that will be carried out on the clicked object,
regardless of the current selection in the tree view; see Example 1 that follows. The
current selection is preserved, unless a dialog box operating on the clicked object
needs to be displayed; see Example 2 that follows. This is referred to as the Focus
mode. The first item on the shortcut menu indicates the name of the focused object.
See Figure 4.2 (c).
A shortcut to the Focus mode exists when only one object is to be selected – select
the object and right-click over the object.
Note that the focused object is enclosed within a red rectangle, indicating a focus.
If the selection consists of 3D images only, the menu obtained by right-clicking over a
selected object is composed of four menus and two commands:
Export
A menu that offers the same operations as found on the File > Export Images and
the File > Export Alignment Matrices submenus.

Figure 4.2 The IMAlign object tree offers shortcut menus.
(a) A branch shortcut menu offers operations specific to its object type. If the branch has a
parent branch, its menu items are also offered as the submenu at the bottom of the menu.
(b) To the left, a shortcut menu for a selection of same-type objects, including the shortcut
menu for the branch. To the right, a shortcut menu for a selection of not same-type objects;
only operations available for all of the types of objects are offered.
(c) The Focus mode allows preserving the selection in the object tree, in most cases, while
displaying a shortcut menu specific to the focused object. A red rectangle encloses the name
of the focused object. To activate this mode, hold down the CTRL key and right-click an object/
branch. See the two preceding examples.

View
A menu that provides operations that control the display and the visibility of
objects.
Edit
A menu that provides image-editing operations. For example, 3D images can be
locked/unlocked, ignored/used, and deleted.
Align
A menu that provides image alignment operations that are also found on the Align
menu.
Collapse All
Closes all of the subbranches of 3D images.
Properties
Displays a property sheet which can be used to view, and to modify in a single
operation, properties common to all selected 3D images.
4.6.11 Using an object’s property sheet
As mentioned in the previous section, all of the properties of an object selected in the
tree view can be viewed by choosing Edit > Object Properties. Several basic properties
are also represented visually in the tree view, as shown in Figure 4.3. The following is a
list of properties common to all objects that have visual feedbacks to represent their
values within the tree view:
Property Description
Displayed to the right of the object’s icon, enclosed within

Index number
parentheses.
Displayed to the right of the object index. All object names are
Name
unique within a project.
When an object is visible in the 3D scene, its icon is displayed in

Visibility the tree view. When the object is hidden, its icon is also hidden
in the tree view.
When an object is ignored, a No sign is superimposed on the

Use status normal icon. For more information, see Section 7.5 Ignoring and
using objects and elements.

The User Interface Using panes
Figure 4.3 Visual feedback that appears in the tree view to represent certain properties of 3D
images.
Visual feedbacks:
Standard
Hidden
Locked
Ignored
Inverted
Icon
Two properties that are specific for 3D images are also displayed in the tree view:
Property Description
When the image alignment is locked, a padlock is

alignment status superimposed on the normal icon of the 3D image. For more
information, see Section 12.9 Specifying a minimum Z value for
3D images.
If the orientation of a 3D image has been inverted, the colors of

orientation the 3D image’s icon are permuted . For more information, see
Section 7.3.2 Inverting object orientation.
For a complete description of the properties of 3D images, see Section 12.11.2

Properties of 3D images.
4.7 Using panes

Panes are specialized areas of the GUI that can be hidden and docked. Pane visibility
can be controlled by corresponding items on the View menu as well as the items on the
shortcut menu that is displayed on right-clicking the title bar of any visible pane.
For complete information on how to dock/undock panes, see the section Section 4.3.1
Customizing the docking panes in the PolyWorks Reference Guide.

Figure 4.4 An object’s shortcut menu in the 3D scene.
4.7.1 The 3D Scene pane
The 3D Scene pane contains the main graphical window. It is used to view and edit
visible objects, anchor on objects, select objects/elements, and so on. Shortcut menus
are available for visible objects as well.
4.7.1.1 Using shortcut menus in the 3D scene
ALT+right-click to access the shortcut menu by object type for objects visible in the 3D
scene. The name of the clicked object appears at the top of the menu. For an example,
see Figure 4.4.
4.7.1.2 Shortcut menus
Shortcut menus are offered for visible objects in the 3D scene. They can be accessed as
follows:
 In Default mode, or an interrupted mode that allows it, ALT+right-click over a visible
object. Note that the first button on the 3D Scene toolbar must be selected in order
to allow using the ALT key.
The menu header displays the name of the object. The menu is the same as the
shortcut menu offered for the object in the tree view. Note the following:

 The selection in the tree view is not affected unless a command is executed that
requires an object selection (e.g., Edit > Object Properties).
4.7.1.3 Visibility
The 3D Scene pane cannot be hidden.
4.7.2 The Dialog Zone pane
The Dialog Zone pane is an area where most dialog boxes are displayed. By default, it
appears tabbed with the Tree View pane in order to allow maximum space for the 3D
Scene pane. In certain circumstances, the Tree View pane is automatically brought on
top of the Dialog Zone pane. For example, when a dialog box is closed and the Dialog
Pane becomes empty, the Tree View pane is brought on top of it.
In the Dialog Zone pane, if two dialog boxes are open at the same time, they become
tabbed. Parts of a dialog box that are partially hidden can be viewed by using the
pane’s scroll bars or by holding down the middle mouse button and dragging the
dialog box.
4.7.3 The Histogram pane
The Histogram pane, shown in Figure 4.5, contains histograms of image alignment
errors following a best-fit iterative alignment operation. Histograms can be presented
for each 3D image, or each image group, using the By image group and By image
option buttons.
The following features are associated with each histogram in the tree view:
 The histograms are drawn using vector graphics. The size of the display can be
modified by zooming in/out with the mouse wheel, or by right-clicking over the
histogram and choosing on the shortcut menu one of the four options that allow
scaling the histograms: 25%, 50%, 75%, or 100%.
 Move the mouse pointer over a histogram and push and hold down the left mouse
button to display a window that allows viewing all relevant information, such as
values for the mean and the standard deviation.
 Histograms can be exported to a HTML file by right-clicking over the histogram and
clicking the Export command on the shortcut menu. A file browser is displayed.
Specify a file name and location and press the Save button.
The snapshot in Figure 4.5 shows the Histogram pane with the shortcut menu and an
information window for a histogram for a best-fit aligned 3D image.

Figure 4.5 The Histogram pane, undocked, with the pane’s shortcut menu displayed, as well as
statistics for the second histogram.
4.7.4 The Macro Script Editor pane
The Macro Script Editor pane, shown in Figure 4.6, can be used to record each of your
actions in the software as commands and save them as a macro script to a Unicode text
file. A macro script can then be edited, enhanced by a simple but powerful
programming language, and assigned to toolbar buttons for execution. Refer to the
Macro Script Reference Guide for complete documentation on the Macro Script Editor
and the macro script programming language. Note that Chapter 16 Plug-ins and
Macros also provides some summary information.
Note that this pane cannot be used when certain operation modes are active (e.g.,
Point Cloud Organizer).
4.7.5 The Command History pane
The Command History pane echoes the commands that result in actions given by way
of menus, interfaces, and toolbars, as well as those executed by macro scripts.
It also offers a command line area that allows the user to give individual commands to
see what they do. Echoed commands may be copied and pasted to the command line
area, and the TAB key can be used to complete partial command words to create
commands more quickly.

The User Interface Customizing the visual layout
Figure 4.6 The Macro Script Editor allows recording, editing, enhancing, and running macro
scripts.
For more information on using this pane, see Section 2.1.2 The Command History pane
of the Macro Script Editor Reference Guide.
4.8 Customizing the visual layout

Visual layouts control the content and layout of the graphical user interface. They are
fully customizable. For complete information, see Chapter 4 Customizing the Graphical
User Interface of the PolyWorks Reference Guide.
4.9 Controlling the display of special items

The Window menu offers commands that control the display of the dockable panes,
display special contextual parameter dialog boxes, allow managing visual layouts, and
taking a snapshot of the 3D scene.

The User Interface Generating snapshots of the 3D scene
4.9.1 Displaying the dockable panes
Several commands on the View menu allow displaying the module’s dockable panes:
Dialog Zone
Displays a dockable pane of the same name that contains most dialog boxes. For
more information, see Section 4.7.2 The Dialog Zone pane.
Tree View
Displays a dockable pane of the same name that offers a tree view. For more
information, see Section 4.6 The Tree View pane.
Note that the 3D Scene pane is always visible. These panes can be moved to any
desired location, unless the Lock docking windows check box is enabled. The check
box is located on the Options tab of the Customize Visual Layout dialog box. For more
information, see the section Section 4.3.2.14 Customizing options of the PolyWorks
Reference Guide.
4.10 Generating snapshots of the 3D scene

The Window > Capture 3D Scene Image command allows generating a snapshot of the
contents of the 3D Scene pane, including any overlapping dialog boxes.
On choosing the command, a file browser is displayed to save the snapshot to an

external file. Proceed as follows:
1. Specify a location, and specify an output file name in the File name text box.
2. Specify a format in the Save as type list box. Choose from: Microsoft’s Bitmap Files
(*.bmp), JPEG Files (*.jpg; *.jpeg), SGI Files (*.rgb), and TIFF Files (*.tif).
3. Press the Save button to launch the operation, or press the Cancel button to end
the operation.
The background color used for the snapshot is defined by the Snapshot Background -
Bottom and the Snapshot Background - Top colors, which are white by default. The
colors can be edited; for more information, see Section 14.3.3 Interface color display
options.

Importing Objects 5
This chapter presents tools for the importation of point clouds, and extracting sets of 3D images from them.
The extraction of 3D images for certain types of point clouds may require some user input.

Importing Objects Introduction
5.1 Introduction
Files are imported using the commands in the File > Import menu. They enable
importing:
 Point clouds
 Polygonal models
 IMAlign projects
Note that image and global reference points can be created by importing text files. This
creation method is called From Text File and is available from the Align menu. For
information, see Section 10.8.1 Creating reference points.
The operations presented in this chapter are available through the File menu, and
principally the File > Import > Point Clouds command. The point cloud files are copied to
the Point Clouds branch of the workspace associated with the IMAlign module, and the
extracted 3D image files are stored in the IMAlign project. The Keep external to
workspace import option (see Section 14.5.1 Point cloud options) that enables
specifying that point cloud files not be copied to a workspace (Keep external), but be
referenced using absolute paths to disk locations. This may be useful for very large files
or when copying the same file to more than one workspace. Note that when
compressing the workspace, for quicker transfer between users, a message box queries
to include the external point clouds in the workspace before compressing the
workspace. For more information, see the section Section 3.6 Manipulating workspaces
in the PolyWorks Reference Guide.
If your files are expressed in a large-number coordinate system, it may be necessary to

specify a huge translation. See Section 11.3 Setting a huge translation value before
launching an import operation.
5.2 Importing files

Choosing a command on the File > Import menu displays the file browser shown in
Figure 5.1. Files can be selected in folders or within PolyWorks workspaces. To quickly
locate the PolyWorks workspaces, two shortcuts are offered in the left part of the
browser (see Figure 5.1 (a)):
 Open Workspaces: Contains a shortcut for each workspace that is currently open in
PolyWorks. This shortcut points to a subdirectory (called Open Workspaces) of the
PolyWorks directory.
 PolyWorks: Contains the above-mentioned directory (Open Workspaces) and the list
of all workspaces previously saved in the PolyWorks subdirectory.

Importing Objects Importing point clouds
Figure 5.1 The file browser used to import files from folders and PolyWorks workspaces.
(a) Browse in
open workspaces,
or workspaces in
the PolyWorks
folder
(c) Opens a dialog box (b) File type

with import options filter
Multiple file selection is possible and a file type filter is offered (see Figure 5.1 (b)). When
required, import options are offered during the import process, either through the
Options button in the window browser (see Figure 5.1 (c)) or once the import
operation is launched.
See the following sections for information on the commands used to import objects
from the File > Import menu.
5.3 Importing point clouds

The File > Import > Point Clouds command allows importing point clouds using a
browser similar to the one described in Section 5.2 Importing files.
By default, all point clouds are viewed in the browser window. However, a filter may be
set for the browser window using a list box. The list box allows filtering point cloud files
by category (i.e., Planar Grids/Meshes, Line Scans, Spherical Grids, Unorganized Point
Clouds) or by type (e.g., *.ris, *.sab, *.rtpi). Point clouds can be imported from disk or
from workspaces.
If importing IXF, PTX, or Riegl RSP Project files that are geo-referenced (i.e., in large
numbers), see Section 11.3 Setting a huge translation value.

Figure 5.2 If the file type cannot be determined, a new file type may be specified using the dialog
box shown here.
Once the file selection is made and the Open button is pressed, a dialog box may
display to offer import parameters (see the following subsection for information on
each parameter). Note that if the file does not have a known file extension (e.g., .abc),
this is detected on opening the file, and a dialog box displays see Figure 5.2, which
offers all available formats. Choose the correct format and then press the OK button to
continue the import operation, or the Cancel button to cancel the operation.
When point clouds are imported, they may be copied to the workspace associated with
the IMAlign module that is doing the importing and the resulting object is linked to the
point cloud. These objects are used by the IMAlign project, but are not encapsulated
within the project on saving. However, if the objects are transformed during the import
operation, then they are not copied to a workspace but are rather added directly to the
IMAlign project. Any editing applied to point clouds within an IMAlign project does not
affect in any way its linked point clouds in the workspace.
Point clouds are imported into IMAlign as 3D images, and then aligned by the user.
Some point clouds are imported directly, like those in the planar grid/mesh category,
and others require user-directed processing to produce quality 3D images. If additional
processing is required to assist in the extraction of 3D images from the selected point
clouds, the appropriate tools are displayed. New 3D images are saved to the Images
branch in the tree view.
The Alignment option on the Images page of the IMAlign Options dialog box may
affect the alignment of the imported set of 3D images. For more information, see
Section 14.5 Image options.

Imported 3D images are inserted into the current IMAlign project. If 3D images are
already loaded in IMAlign and the objective is to initiate a new alignment process,
choose the File> New Project command prior to importing a set of 3D images.
This section explains how to import point clouds. The precise workflow to follow
depends on the type of point cloud. The categories of point clouds are described in
Section 5.3.1 The categories of point clouds.
5.3.1 The categories of point clouds
PolyWorks divides point clouds into categories of point clouds: Planar Grids/Meshes,
Line Scans, Spherical Grids, and Unorganized Point Clouds. Point clouds in the first
category are organized, point clouds in the next two categories are semi-organized,
and point clouds in the fourth category are unorganized. Each category has specific
import options, and processing workflow. The supported point cloud file formats in
each category are shown in the table that follows.
Supported Point Cloud Formats
Planar Grid/Mesh Point Clouds
3D Digital (.pmjx)1 Hymarc (.hyscan, .hys)

3D Scanners (.ris) Konica Minolta (.cdk, .cdm, .rgv, .vvd)
Atos/GOM (.surf, .sur) Kreon (.grk)
Breukmann (.bre) Neutral/InnovMetric (.pif, .pf )
CNRC Files nub3d (.pf, .pif )
Opton/EOIS (.xyz)
CogniTens XYZ Files (.xyz)1
ShapeGrabber (.pf, .pif )
Comet/Steinbichler (.ac)
Solutionix (.icv)
Cyberware Echo Files
ViALUX (.pct)
Genex (.gti)
Voxelan (.mgf )
Holovision (.hvi)
Line Scan Point Clouds
3D Scanners (.sab, .sab2) Perceptron SWL (.swl)

Kreon (.cwk) Perceptron SWB (.swb)
Metron (.met)2 T-Scan/Leica (.ac)
Neutral/InnovMetric (.psl) T-Scan/Steinbichler (.ac)
Spherical Grid Point Clouds
3rd Tech (.rtpi) Leica (.ptx)

AVEVA ZFC Files (.zfc) Mensi (.soi)
Optech (.ixf, .pif, .pf )
Callidus Text Files
Surphaser (.btx)
(.txt, .asc, .ascii, .pc, .pt, xyz)
Topcon (.ptx)
Faro FLS Files (.fls)
Z+F Files (.zfs)
iQvolution (.iQscan)
Riegl (.3dd, .rsp3, .xml, .rxp)

Supported Point Cloud Formats
Unorganized Point Clouds
Text Files (.asc, .ascii, .pc, .pt, .xyz, .txt) Perceptron (.bin)
IGES Files (.igs, .iges)
LAS Files (.las)
Laser Design (.scn)
1. These point clouds are missing connectivity information, and possibly

surface normal information, necessary for the PolyWorks alignment and
meshing processes. The Point Cloud Organizer allows creating pre-aligned
3D images by selecting overlapping point subsets, assigning point normal
information, and specifying image creation parameters. Some file formats
can be automatically organized. The tool is presented in Section 6.1 Creating
3D images from unorganized and line scan point clouds.
2. Includes the following binary formats: 0x11 (x, y, z coordinates only) and
0x22 (coordinates and digitizer input/output information).
3. Requires a Riegl driver. The PolyWorks installation copies a Riegl driver
installation program to your hard disk in the installation directory. If on
specifying the import of a 3DD file no driver can be found, or an earlier
driver version is detected, the Riegl driver installation program is launched.
Once the installation is complete, the import operation will continue in
IMAlign.
Point clouds in workspaces may also be imported into the module, depending on the
format.
Planar grids/meshes refers to point clouds that can be qualified as planar and organized.
Planar means that the digitized points were captured with respect to a viewing plane
and organized means that the proprietary format provides surface information (i.e.,
how the points are connected together).
Line scans are point clouds produced by a line scanner. Such a point cloud typically
contains several passes, each one composed of a set of scan lines. Each pass should be
in the same plane. These point clouds are missing point normal and/or connectivity
information required by the operation that creates 3D images. Once the files are
opened, the Point Cloud Organizer tool, described in Section 6.2 Creating 3D images
from spherical grid point clouds, opens in the background and displays a dialog box
that enables automatically converting each pass to a 3D image in InnovMetric
Software’s PIF format. Note that the Point Cloud Organizer automatically calculates
scan line curvature for line scan point clouds, which is saved as part of each 3D image.
For more information, see the Curvature calculation option on the Line Scans page of
the IMAlign Options dialog box, described in Section 14.5.1.2 Line scan options.
LIDAR Spherical grid point clouds are large surveying (long-range) point clouds that
cover thousands of square meters. Each point cloud is partially or completely spherical,
and certain formats contain subscans. On import, they are processed in the Create
Images from Spherical Grid tool to create pre-aligned, overlapping composite 3D
images. This tool is described in detail in Section 6.2 Creating 3D images from spherical
grid point clouds.

Unorganized point clouds are point clouds that may be missing point connectivity or
point normal information. The Point Cloud Organizer tool allows importing these point
clouds, and transforming them into interpolated 3D images. This tool is described in
detail in Section 6.1 Creating 3D images from unorganized and line scan point clouds.
A summary of the information provided above that is related to the workflow when
importing a point cloud in a given category is provided in the table that follows.
Planar Grid/ Spherical Unorganized

Line Scan
Mesh Grid Point Cloud
Import see Section see Section see Section see Section

options 14.5.1.1 Planar 14.5.1.2 Line scan 14.5.1.3 14.5.1 Point
grid/mesh options Spherical grid cloud options
options options
Image None, in almost Point Cloud Create Images Point Cloud

creation all cases (these Organizer1 from Spherical Organizer1
tool files contain all Grids2
the information
needed to
automatically
create 3D
images)
Image proprietary InnovMetric InnovMetric InnovMetric

file PIF file3 PIF file3 PIF file3
format
1. These point clouds are missing connectivity information, and possibly

surface normal information, necessary for the PolyWorks alignment and
meshing processes. The Point Cloud Organizer allows creating pre-aligned
3D images by selecting overlapping point subsets, assigning point normal
information, and specifying image creation parameters. Some file formats
can be automatically organized. The tool is presented in Section 6.1 Creating
3D images from unorganized and line scan point clouds.
2. The Create Images from Spherical Grids tool divides spherical grid point
clouds into pre-aligned composite 3D images. The tool is presented in
Section 6.2 Creating 3D images from spherical grid point clouds.
3. 3D images are shown in the tree view and are saved in the project. The
original files are stored in the associated workspace under the Point Clouds
branch.

Figure 5.3 The dialog box that displays import parameters. In this example, more than one file
format is imported, including Hymarc Hyscanand text files.
Project-related
parameters
File-related
parameters
5.3.2 Import parameters
This subsection explains the parameters offered during the import process, once the
file selection has been made and the Open button has been pressed. As explained
below, there are two types of parameters:
 Parameters related to the import option specifications in the IMAlign Options dialog
box in the project where files are imported.
These parameters allow specifying whether point clouds are imported as Reference
objects or Data objects, as well as specifying object units for the imported files that
do not contain unit information. They are documented in Section 5.3.2.1 Project-
related parameters).
 Parameters that depend on the format of the imported files. They are documented in
Section 5.3.2.2 File-related parameters.
Examples of both types of parameters are shown in Figure 5.3.

5.3.2.1 Project-related parameters
This subsection explains the import parameters that are used to determine how the
point cloud file is integrated in the project. The parameters offered during the import
process depend on the specifications made in the IMAlign Options dialog box. Note
that this subsection contains the whole list of parameters. They are listed in the order in
which they appear in the dialog box displayed during the import process.
5.3.2.1.1 Object units
If the Unknown units option on the General page of the IMAlign Options dialog box
has been set to Specify at import, the following items are offered in the Import
Parameters dialog box for files with unknown units:
Object units
A list box that allows specifying the units of length for the imported files. Choose
from: Nanometers, Microns, Millimeters, Centimeters, Decimeters, Meters,
Kilometers, Micro-Inches, Mils, Inches, Feet, US Survey Feet, and Miles. The
default value is Millimeters. Press the OK button to continue, or the Cancel button
to end the operation. On pressing the OK button, the following occurs:
 If the object units and the module’s units of length are the same, the objects
are imported and their Original units property is set to the specified units.
 If the object units and the module’s units of length are different, the objects
are scaled to the module’s units of length, which becomes the objects’ Units
factor property, and their Original units property is set to the specified
units.
Note that if multiple files of different formats are imported and they do not have
unit information, only one dialog box is displayed to allow specifying the unit for
the objects (i.e., the unit will apply to all imported files). To import multiple files
with different units, one import process must be performed for each unit that
needs to be specified.
5.3.2.1.2 Pre-alignment
If the Center on screen list box of the Pre-alignment group label on the Images >
Point Clouds > Planar Grids/Meshes page of the IMAlign Options dialog box has been
set to Confirm, a message may be displayed during the import process to allow
confirming the centering of incoming 3D images. This message, shown in Figure 5.4, is
displayed when the 3D image that is currently imported is not the first one to be
inserted into the project.

Figure 5.4 The message displayed to confirm whether the 3D image is centered on the screen.
5.3.2.1.3 Subsampling factor
When the Confirm at import option of the subsampling factor has been selected on
the Images > Point Clouds > Spherical Grids page of the IMAlign Options dialog box
(see Section 34.5.2.4 Spherical grid import options), the following item is offered in the
Import Parameters dialog box.
The Spherical grids section offers the following parameter that allows specifying the
subsampling factor to use when importing spherical grid point clouds:
Subsampling factor
A list box that offers subsampling factors to reduce the number of points in the
point cloud. For example, a factor of 1/4 keeps one point in every four. The default
value is the one set in the IMAlign options. Note that this subsampling operation
is not applied to Callidus as well as 3DD and RXP Riegl files.
5.3.2.2 File-related parameters
This subsection explains the import parameters that are specific to the type of
imported files. During the import process, only the parameters relevant to the file
selection are displayed in the Import Parameters dialog box.
5.3.2.2.1 Callidus files
When importing a Callidus file, the Import Parameters dialog box offers a Text files
section (see Section 5.3.2.2.8 Text files). Note that one of the parameters, the Import as
Callidus file check box, is specific to Callidus files and is explained below. When this
check box is selected, an additional dialog box, shown to the right in Figure 5.3 is
displayed. It offers the following items:

File name
A text box that displays the name of the file being processed.
The Digitizer position section offers the following items:
x
A text box that allows specifying the x coordinate of the digitizer position. The
default value is 0.
y
A text box that allows specifying the y coordinate of the digitizer position. The
default value is 0.
z
A text box that allows specifying the z coordinate of the digitizer position. The
default value is 0.
Additional information
When importing Callidus files, the Template list box offers the Callidus template to use
to read the Callidus text file. It is defined as follows:
 A line for each point providing:
- A global point index.
- A horizontal index.
- A vertical index.
- The (x, y, z) coordinates of the point (in small numbers).
 A last line containing a trailer.
In a Callidus file, only the horizontal index, the vertical index, and the (x, y, z)
coordinates are used. Users may customize their text exports in Callidus to export only
these values. Custom templates can be designed in IMAlign to read any format. The
tools are accessed by pressing the adjacent Templates button. See the section Section
5.3 Reading and writing text files using templates in the PolyWorks Reference Guide for
complete information on creating templates.
5.3.2.2.2 Cyberware Echo files
The Cyberware Echo files section of the Import Parameters dialog box offers a
parameter when importing a ring of 3D image files:
Vertical position
A text box that specifies the vertical position of the scanner in millimeters. The
default value is 0 mm.

Additional information
A ring of Echo scans consists of a set of scans acquired at different viewing angles by
rotating the measured object using a turntable. Each scan file must have the same
generic file name and a three-digit integer suffix specifying the rotation angle in
degrees.
Example: The six files IMCase000, IMCase060, IMCase120, IMCase180, IMCase240, and
IMCase300 would represent a 6-scan ring acquired at 60-degree intervals.
Since the rotation angles are encoded in the file names, the application can load a scan
ring and automatically compute an initial approximate alignment. When the import
process is launched, an external translation program is invoked. The program extracts a
point cloud from the ring files and creates one point cloud Data object.
5.3.2.2.3 Hymarc Hyscan files
A Hyscan file that contains a set of 3D images is imported by extracting the set of 3D
images from a Hyscan file, and loading them as 3D images in the PIF format. This
information is extracted using an external translation program.
The Hymarc Hyscan files section of the Import Parameters dialog box offers
parameters used when importing a Hyscan file containing a set of 3D Images:
Interpolation step
The interpolation step for the 3D images extracted from the file. The default value
is 0.2 mm.
Max internal angle

The maximum internal angle of a triangle generated by the polygonalization
operation, specified in degrees. The default value is 120 degrees.
Max orientation angle

The maximum angle between a surface normal vector and the Z axis of the 3D
image, specified in degrees. The default value is 75 degrees.
Max triangle side

The maximum length of a triangle edge generated by the polygonalization
operation. The default value is 2.0 mm.
Image group info

A list box providing three image grouping options. Choose from: One Global
Image Group (all PIF files will belong to the same image group), One Image
Group per Record (all PIF files will belong to distinct image groups), and Use
Hyscan Alignment (image groups are automatically generated from the
information contained in the Hyscan file). The default value is Use Hyscan
Alignment.

5.3.2.2.4 Leica PTX files
The Leica PTX files section of the Import Parameters dialog box offers a parameter
used when importing a Leica PTX file:
Color
A list box that specifies a type of color information to import from the input files.
Choose from: Color (RGB colors) or Intensity (intensity levels, which range from 0
to 255). The default value is Color. When Color is specified, each point is assigned
an RGB color. When Intensity is specified, each point is assigned a shade of gray
that corresponds to its intensity level.
Note the following:
 If Color is specified and the file being imported only contains intensity information,
each point is assigned a shade of gray that corresponds to its intensity level.
 If Color is specified and the file being imported contains no color information
(neither color nor intensity), each point is assigned the color white.
 If Intensity is specified and the file being imported does not contain intensity
information, each point is assigned the color white, even if the file contains color
information.
5.3.2.2.5 Mensi SOI files
The Mensi SOI files section of the Import Parameters dialog box offers a parameter
used when importing a Mensi SOI file:
Fill holes
A check box, available for the SOI file format only, that offers to automatically add
extra points in order to fill some holes in the grid. By default, the check box is
cleared.
5.3.2.2.6 Riegl 3DD files
The Riegl 3DD files section of the Import Parameters dialog box offers a parameter
used when importing a Riegl 3DD file:
Color
A list box that specifies a type of color information to import from the input files.
Choose from: Color (RGB colors) or Intensity (intensity levels, which range from 0
to 255). The default value is Color. When Color is specified, each point is assigned
an RGB color. When Intensity is specified, each point is assigned a shade of gray
that corresponds to its intensity level.
Note the following:

 If Color is specified and the file being imported only contains intensity information,
each point is assigned a shade of gray that corresponds to its intensity level.
 If Color is specified and the file being imported contains no color information
(neither color nor intensity), each point is assigned the color white.
 If Intensity is specified and the file being imported does not contain intensity
information, each point is assigned the color white, even if the file contains color
information.
5.3.2.2.7 Riegl RSP files
When importing 3DD files from a Riegl RSP Project, the dialog box, shown in Figure
5.5 (a), is displayed. It is used to select 3DD files included within a specified Riegl RSP
Project. Select the 3DD files to import by selecting their check box. To select them all
press the Check All button, and to deselect them all press the Check None button.
Once the files are selected, press the OK button. A second dialog box, shown in Figure
5.5 (b), is displayed to specify file-reading parameters.
Note the following concerning the importing of RSP Projects:
 If the RSP Project contains global reference points, they are added to the current
IMAlign project.
 If there are image reference points associated with the imported 3DD files, they are
added to the IMAlign project under the corresponding composite 3D images.
 The IMAlign project’s Huge translation parameter value is always synchronized with
the huge translation value in the RSP Project. If the RSP Project does not contain a
huge translation value, the huge translation in the IMAlign project is set to (0,0,0). A
message window is displayed when values are assigned to the huge translation
informing the user of the operation.
5.3.2.2.8 Text files
The Text files section of the Import Parameters dialog box offers parameters used
when importing unorganized point clouds:
Import as Callidus file

A check box that allows specifying parameters related to Callidus files. This item is
documented in Section 5.3.2.2.1 Callidus files.
Geo-referenced file
To be documented.

Figure 5.5 The dialog boxes used to import 3DD files from a Riegl RSP Project file.
(a)
(b)
Template
A list box that allows choosing a context-specific template used to read text files,
including ASCII point clouds. To access other standard templates, or to define
custom templates, press the Templates button. See Section 5.3.1 Importing from
text files of the PolyWorks Reference Guide for more information on templates
used in reading text files.
Import x,y,z as Northing, Easting, Elevation

A check box that enables switching the x and the y coordinates for each
point on import. By default, the check box is cleared.
5.3.3 Particularities when importing certain types of files
5.3.3.1 CDM (Konica Minolta) files
Single-scan and multiscan files may be specified. Both single-scan and multiscan files
are converted to the PIF 3D image format.
In the case of a multiscan file, each scan within the file is converted to an individual 3D
image file in PIF format. Both the CDM files and the PIF files are written to the
workspace, and the PIF files are linked to the IMAlign project. For example, if the
multiscan file scan.cdm contains three scans, the following objects will be found under
the Point Clouds branch in the workspace: scan.cdm, scan_000000.pf, scan_000001.pf,
and scan_000002.pf.

Importing Objects Importing polygonal models
5.4 Importing polygonal models

The File > Import > Polygonal Models command allows importing one or more polygonal
models. Polygonal models can also be imported from among the recently imported
polygonal model files; for more information, see Section 5.6 Importing recent files.
On choosing theFile > Import > Polygonal Modelscommand, a file browser similar to the
one shown in Figure 5.1 is displayed to specify polygonal model files. The table that
follows provides the list of supported file formats.
Supported Polygonal Model Formats
CNRC files (*.cnrc) Polygonal models in workspaces (*.pwk;

DirectModel JT files (*.jt) *.pwzip; *.pwkpm)
InnovMetric PQK files (*.pqk) STL ASCII files (*.stla)
InnovMetric POL files (*.pol) STL binary files (*.stlb)
Nastran NAS files (*.nas) STL files (*.stl)
PLY files (*.ply) VRML files (*.wrl)
Wavefront OBJ files (*.obj)
By default, all polygonal model files are viewed. However, a filter may be set for the
browser window using a list box.
Note that if the file does not have the correct file extension (e.g., .abc), this is detected
on opening the file, and a dialog box displays (see Figure 5.6), which offers all available
formats. Choose the correct format and then press the OK button.
The imported polygonal model is saved in the workspace associated with the module,
under the Polygonal Models branch, and the polygonal model in the IMAlign module is
linked to that object in the workspace.
Polygonal models are saved to the Polygonal Models branch of the tree view.
It is possible to extract 3D images from a polygonal model. For more information, see
Section 12.1 Creating 3D images from polygonal models.
5.5 Importing an IMAlign project

The File > Import > IMAlign Projects command allows importing an existing IMAlign
project into the current project.
Choosing this command displays the file browser used to select an IMAlign project.
When a project is selected and the browser preview pane is displayed, the preview
image of the project appears in the right part of the browser.

Importing Objects Importing an IMAlign project
Figure 5.6 If the file type cannot be determined, a file type may be specified using the dialog box
shown here.
The IMAlign project can be imported from a standalone IMAlign project directory or
from a workspace. If the project is in another workspace or is standalone, the project’s
point clouds are imported into the workspace associated with the IMAlign module.
IMAlign then inserts the project’s aligned 3D images into the current set of 3D images.
The 3D images belonging to the previous set of 3D images are deselected, the new 3D
images are initially selected, and IMAlign is set to Split View Alignment mode, enabling
the interactive alignment of the inserted set of 3D images.
If, on reading the IMAlign project, an associated file cannot be found, the dialog box,
shown in Figure 5.7, is displayed to resolve the path to the missing file. The name of the
missing file is indicated in the first text box. A new path to the file may be specified in
the second text box manually, or the Browse button can be used to locate the file. Then
press the OK button to load the file. If the missing file cannot be provided, press the
Skip button and the import will continue without the file.
This function makes possible the alignment of two independent sets of aligned 3D
images.
Note that the value of the huge translation of the inserted project is assigned to the
huge translation of the current project.

Importing Objects Importing recent files
Figure 5.7 When importing a standalone IMAlign project, and an associated file cannot be
found, the dialog box shown above is displayed to resolve the path to the file.
5.6 Importing recent files

The File > Recent Files command displays a list of recently imported files and their
location (i.e., workspace or standalone directory). Clicking a file name opens it in the
instance of the module.
To be imported successfully, the selected recently imported file must be at the location
of the previous import.

Creating 3D
Images from Point
6
Clouds
As explained in Chapter 5 Importing Objects, certain point cloud formats, unorganized and line scan point
clouds, spherical grid point clouds, and some planar grid/mesh point clouds, require processing in order to
obtain the 3D images that IMAlign can use to perform its operations. This chapter describes the two tools
offered to achieve this goal, the Create Images from Spherical Grids tool for spherical grid point clouds, and
the Point Cloud Organizer tool for the other types of point clouds.

Creating 3D Images from Point Clouds Creating 3D images from unorganized and line scan point clouds
6.1 Creating 3D images from unorganized and line scan

point clouds
One or more same-type unorganized point clouds, or proprietary line scanner point
cloud files can be imported using the File > Import > Point Clouds command. These
point clouds are missing connectivity information, and possibly surface normal
information, necessary for PolyWorks alignment and meshing processes. In this case,
the Point Cloud Organizer tool automatically is displayed. It allows creating several pre-
aligned 3D images from one or more unorganized point clouds. This tool is detailed in
this appendix.
When using the Point Cloud Organizer tool the tree view is made unavailable and all
existing objects are hidden. When leaving this mode, the tree view becomes available
and objects are displayed based on their visibility status.
The contents of ASCII point clouds may be geo-referenced (i.e., be in large numbers).
For information on how geo-referenced files are processed, see Section 11.3 Setting a
huge translation value.
The Point Cloud Organizer automatically calculates scan line curvature for line scan
point clouds, which is required by the Keep Best Line Data operation (see Section 12.4
Keeping the best line data). Two parameters control calculating the scan line curvature.
For more information, see the options in the Curvature calculation group label on the
Line Scans page of the IMAlign Options dialog box, described in Section 14.5.1.2 Line
scan options.
6.1.1 Overview
On importing unorganized point clouds, the application detects whether they contain
surface normal information or not.
If the point cloud does not have normal information, the Point Cloud Organizer may be
used to manually delimit a subset of points using a plane, which allows obtaining
normal information, and specify image creation parameters for the point subset,
resulting in the creation of a 3D image. This process, described in Section 6.1.2 Creating
3D images manually, must be repeated for each desired 3D image, and if the 3D images
are to be processed in the IMMerge module, overlap must be obtained between
neighboring 3D images.
If the point clouds have surface normal information, the application may be able to
automatically identify individual point subsets (i.e., passes), each with their own surface
normal information. This replaces the process of manually delimiting subsets. The first
pass is displayed and image creation parameters may be specified, and then used for all
3D images. As a result, the point cloud is automatically organized. This procedure is
detailed in Section 6.1.3 Creating 3D images automatically. If the 3D images are to be
processed by the IMMerge module, the individual passes stored in the input files must
already contain overlap with neighboring passes. Otherwise, additional points may
need to be acquired to provide the required overlap.

6.1.2 Creating 3D images manually
6.1.2.1 Introduction
The Point Cloud Organizer tool, in the case of point clouds without surface normal
information, is used as follows. A subset of data points can be delimited manually to
which a viewing direction can be assigned. The subset is then projected on a plane
normal to the viewing vector.
Each subset may need to be edited to remove points that may be behind other points.
Once the subsets have been defined with surface normal information, a surface mesh is
triangulated for each subset, a grid interpolation is computed, and finally a 3D image
file is saved in PIF format. Figure 6.5 illustrates the procedure for one subset, in the case
of a point cloud without surface normal information. There is no limit to the number of
new 3D images which may be created. See this process illustrated in Figure 6.1. The
procedure is detailed in Section 6.1.2.5 A procedure used to manually create 3D images.
Keep the following in mind when selecting and editing each individual subset of the
point cloud:
 It is important that a subset not contain data points that are behind other data points
(underliers).
 There must be overlap between adjacent subsets for the meshing algorithm of the
downstream IMMerge™ module to work correctly. When manually delimiting data
point subsets in the Point Cloud Organizer, each one must eventually overlap with its
neighbors.
 The presence of overlap can be verified once the Point Cloud Organizer session is
over by viewing the 3D images in the 3D scene. If overlap is missing between certain
3D images, this can be corrected. Load the same input files and delimit new data
subsets that, once transformed into 3D images, provide the missing overlap.
6.1.2.2 Delimiting a subset of the point cloud
Once the unorganized point cloud files have been read by IMAlign and displayed in the
3D scene, the Point Cloud Organizer dialog box, shown in Figure 6.2, is displayed. The
Viewpoint for interpolation grid group box allows anchoring a viewpoint that will be
used by the interpolation operation:
Anchor
A button that allows fixing a specific viewpoint or viewing vector for a data point
subset, which is required to determine surface normal information. On pressing
the button, the point cloud is oriented so that its viewing vector points toward the
user.

Figure 6.1 The steps involved in manually creating 3D images from unorganized point clouds.
Import files
• PMJX, CogniTens • ASCII Point Cloud

• All Line Scan formats • IGES Point Cloud Manually organize
• ASCII Point Cloud (planar + • BIN (Perceptron) point clouds
point normal information) • SCN (Laser Design)
Auto-organize point clouds –

see Section 6.1.3 Creating 3D
images automatically Remove undesired points
- Can subsample the point

Auto Organize button cloud
- Can delete selected points
Define a subset of points
- Position the point cloud and

fix the viewpoint
- Can remove points under the
subset with the clipping plane
- Can select & hide unwanted
points (remove underliers)
Create 3D image from points
- Import Image dialog box:

• Max edge length
• Interpolation step
• Max angle
- Click OK
IMAlign...
- Creates the 3D image

- Makes hidden points visible
- Places the clipping plane
behind the point cloud

Use clipping plane

A check box that enables the display of the clipping plane. The Plane position
slider allows removing points from the meshing process by moving the plane over
the data points, along the current viewing vector. Points behind the clipping plane
are temporarily set aside. Visible points above the clipping plane are associated as
one subset of data points. After an interpolation operation, the position of the
clipping plane is always reset to behind the point cloud and normal to the viewing
vector.
The color of the clipping plane is determined by the Plane color. Modifying user
interface colors is discussed in Section 14.3.3 Interface color display options.
The clipping plane is not considered by the Auto Organize operation, described
in Section 6.1.3 Creating 3D images automatically.
The clipping plane may be used to remove an unwanted background; for more
information, see Section 6.1.2.6 An example of editing points: hiding an unwanted
background.
The Point cloud group box displays the number of points in the subset of data points
that will be used by the interpolation operation:
Current # of points
A text box that displays the current number of points in the current subset. The
number does not include points behind the clipping plane or deleted points.
# displayed points
A text box that displays the current number of visible points in the current subset.
Only the displayed points are used by the triangulation routine.
Subsample
A button that allows the subsampling of point clouds when the point cloud data
is too dense. Points removed by subsampling are considered to be deleted.
Pressing the button displays the Subsample dialog box, shown in Figure 6.3, that
offers random and uniform subsampling methods. The dialog box contains the
following items:
Type
A list box that controls the type of subsampling. Choose from:
 Random – Points are randomly deleted until the number of points

remaining in the point cloud is equal to the value specified in the
Percentage text box.
 Uniform – The selected objects are sampled with the objective of

generating uniformly sampled point clouds in which the point-to-
point spacing is equal to the value specified in the Step text box.

Figure 6.2 The Point Cloud Organizer dialog box, configured to manually process an
unorganized point cloud.
Percentage/Step
A text box that is labeled Percentage when Type is set to Random.
Specify the percentage of the current number of points to keep. The
default value is 50 %.
A text box that is labeled Step when Type is set to Uniform. Specify the
desired step. The default value is 1 mm.
The dialog box also features an Advanced button that opens a section at the
bottom of the dialog box that offers the following item:
Min step ratio

A text box that is only available when Type is set to Uniform. It specifies
an absolute minimum point-to-point spacing as a fraction of the
subsampling Step. The default value is 0.375.
For example, with a subsampling Step set to 1.0 mm, a Min step ratio
value of 0.375 would guarantee a minimum point-to-point spacing of
0.375 mm.
Press the Apply button to launch the subsampling operation. The Close button
dismisses the dialog box.
Subsampling may be undone by choosing the Edit > Recover Deleted Elements
command.

Figure 6.3 The Subsample dialog box, configured to subsample points (a) randomly or (b)
uniformly.
(a) (b)
Several items are offered separately at the bottom of the dialog box:
Show images under construction

A check box that enables the display of the 3D images that have already been
created in the current session of the Point Cloud Organizer tool. In addition, when
using Auto Organize, the display changes for each viewing vector found in the
point cloud. Clearing this check box permits the operation to continue without the
multiple display updates. By default, the check box is selected.
If the current object color mode is Object (see Section 9.1.2 Module display
options), each 3D image will be displayed with a separate color. The viewing
vector of each 3D image, seen in the upper right hand corner of the 3D scene, will
also have the color of the 3D image it is associated with.
Group images
A check box that enables putting newly created 3D images in the same image
group. When cleared, newly created 3D images are not grouped. By default, the
check box is cleared. Image groups are discussed in Section 7.6 Grouping and
ungrouping images.
Auto Organize
A button that is enabled if the application detects subsets with surface normal
information within the imported point clouds. It launches the automatic
generation of 3D images from the subsets found in the input files. The application
can automatically determine a viewpoint for each subset. As a result,
specifications made by the user with respect to the viewpoint or the clipping
plane are not taken into consideration. this feature is documented in Section 6.1.3
Creating 3D images automatically.
Note that if the Processing priority option, offered by the IMAlign Options dialog
box, is set to Speed, the creation of 3D images is parallelized (i.e., performed using
all processors). For more information, see Section 14.5 Image options.

Done
A button that dismisses the Point Cloud Organizer tool. When pressed, a
confirmation window is displayed indicating that the imported point clouds will
be removed from memory. Press Yes to continue, or press No to cancel and return
to the Point Cloud Organizer. When the Point Cloud Organizer is dismissed, the 3D
scene displays the new 3D images generated during the Point Cloud Organizer
session.
6.1.2.3 Hiding and deleting points
Data points that are not displayed are not used for triangulation, and are not saved as
part of the 3D image. Once the point subset has been used by the interpolation
operation, the hidden data points automatically become visible. Similarly, when using
Auto Organize, any hidden data points become visible after the creation of the first 3D
image. Selecting operations are discussed in Chapter 8 Selecting Objects and Elements.
Deleted points are not used for the creation of 3D images. Deleted data points can be
recovered. Deleted data points include: data points selected on the point cloud and
explicitly deleted, as well as data points deleted as a result of a subsampling operation.
Commands on the Edit, Select, and View menus allow controlling the display of the data
points of the point cloud:
Action on (selected) data points Command
Selection Select > Elements menu
Select all of the visible data points. All
Invert the selection status of all of the data points. Invert
Deselect all of the visible data points. None
Select data points interactively. Note that the Selection Interactively

mode determines results of the operation (see Section
8.2.1 Controlling the selection process).
Visibility View > ...
Hide the selected data points. Hide > Point Cloud Points
Display the current selection only. Keep > Point Cloud Points
Restore the visibility of all of the hidden data points. Restore > Point Cloud Points
Switch the visibility status of all of the data points. Toggle Visibility > All Point
Visible data points become hidden and hidden data Cloud Points
points become visible.
Deletion Edit > ...
Deletes the selected data points. Delete > Elements
Recovers all deleted data points. Recover Deleted Elements

Note that to see the data points in the 3D scene, the drawing type of the Static display
mode of 3D images should be set to Point (see Section 14.3.6 Image display options).
To increase the size of the points, use the Point size (pixels) list box (see Section 14.3
Display options).
6.1.2.4 Creating a 3D image from a subset of points
When in the Point Cloud Organizer, the Import Image dialog box, shown in Figure 6.4, is
displayed by pressing the Next button in the Wizard window, the Next Step (Tab)
button, or the TAB key (the 3D Scene pane must have the focus). The dialog box allows
creating a 3D image from the current data point subset. It offers an item that controls
the interpolation grid:
View the interpolation grid

A check box that enables the display of the interpolation grid. When selected, the
display includes a factor (e.g., 1/8) at the bottom right of the 3D scene. To view the
grid that will be used for interpolation, zoom in on the point cloud until the factor
is 1/1. By default, the check box is selected.
The next two items control the triangulation of the data points:
Max edge length

A text box that allows ignoring triangles that have an edge longer than the
specified value. When the value is changed, the new triangulation is immediately
displayed. The default value is 4.0 mm.
Max angle
A text box that ignores triangles whose surface normal is at a greater angle from
the viewing vector than this value. The default value is specified by the Max angle
option on the Point Clouds page of the IMAlign Options dialog box (see Section
14.5.1 Point cloud options). The effect of changing the max angle is not displayed
in the 3D scene.
The next item controls the step for the interpolation routine:
Interpolation step
A text box that specifies the resolution of the interpolation grid. The default value
is 0.4 mm.
The Use same values for all images item is only available when the Auto Organize
feature is available; for more information, see Section 6.1.3 Creating 3D images
automatically.
Grid interpolation is launched by pressing the OK button. The created 3D image is

saved to the IMAlign project. A new 3D image is displayed in the tree view. To cancel
the operation, press the Cancel button.

Figure 6.4 The dialog box used to triangulate the data subset points.
See Section 12.7 Interpolating 3D images for more information concerning

interpolation.
6.1.2.5 A procedure used to manually create 3D images
Choose the File > Import > Point Clouds command. A file browser is displayed. Specify
from workspaces or from disk one or more point clouds of the following types: ASCII
Point Cloud, IGES Point Cloud, BIN (Perceptron), or SCN (Laser Design). The Point Cloud
Organizer dialog box is displayed (see Figure 6.2). Create as many 3D images as desired,
repeating the following procedure for each 3D image:
1. Remove unwanted points from the point cloud (optional).
1.1 Select and delete/hide undesired data points.
Press the SPACEBAR to enter Select Elements mode. With the SHIFT key
pressed and held, use the middle mouse button to identify a 3D area. The
delimited area is identified based on the selection mode (see Section 8.2.1
Controlling the selection process).
To delete undesired data points, press the DEL key or choose the Edit >
Delete > Elements command. To hide the selected data points, choose the
View > Hide > Point Cloud Points command.
See Section 6.1.2.6 An example of editing points: hiding an unwanted

background for a procedure that allows removing undesired background
data points.
1.2 Reduce the density of data points in the point cloud – press the
Subsample button.
2. Specify the viewpoint.

2.1 Use standard mouse-based operations to translate and rotate the point
cloud. The current viewing vector is displayed as a flashing arrow in the
upper right-hand corner of the 3D scene.
2.2 When the correct viewpoint is established, press the Anchor button and
the object is turned to face the user (i.e., its viewpoint is normal to the
display screen).
3. Remove points temporarily from the current meshing process (optional).
3.1 Use the clipping plane. Select the Use clipping plane check box and use
the Plane position slider to remove data points below the clipping plane
from the data point subset.
3.2 Select and hide data points.
Controlling the selection process). Hide the selected data points by
choosing the View > Hide > Point Cloud Points command.
4. Launch the meshing process.
4.1 Once the set of data points to be meshed is ready, press the Next button
of the Wizard, the Next Step (Tab) button, or the TAB key, to launch the
triangulation algorithm.
The mesh for the current subset is computed and displayed, and the
Import Image dialog box is displayed (see Figure 6.4).
4.2 To view the interpolation grid, select the View the interpolation grid
check box.
5. Set the grid interpolation parameters.
WARNING: Do not press the OK button at this point. Instead, type new values
in the text fields, if desired, and the display is immediately
recalculated for visualization purposes.
Specify values for the Max edge length, the Max angle, and the Interpolation step
text boxes.
The meshing algorithm may establish connectivity where there is none – in this
case, specify a smaller value for the Max edge length parameter; a typical value is
10 times the Interpolation step. If the display has unwanted small holes, then some
connections may not have been made – try increasing the value of the Max edge
length parameter.
6. Interpolate the 3D image.
When satisfied, press the OK button. The grid interpolation is computed to build the
internal 3D image which is saved to the IMAlign project and added to the tree view.

Each 3D image is named, by default, using the name of the first point cloud read and
adding a numerical increment to it, starting at 0.
Once the 3D image has been created, the control returns to the main dialog box, the
clipping plane is replaced below the point cloud, and any hidden data points are
made visible.
7. Create another 3D image
Repeat the process again, starting at the second step, to create as many overlapping
3D images as necessary.
8. Terminate the point cloud organization session
When finished, close the Point Cloud Organizer by pressing the Done button. A
confirmation window informs the user that on continuing, the original point clouds
will be removed from RAM.
An example of creating a 3D image is shown in Figure 6.5.
6.1.2.6 An example of editing points: hiding an unwanted background
An unwanted background captured during the scanning operation may need to be

eliminated. The editing can be done in the Point Cloud Organizer main dialog box. The
procedure is as follows:
1. Give the point cloud the correct orientation. The background to remove should be
at the back of the point cloud.
2. Press the Anchor button.
3. Select the Use clipping plane check box in the Viewpoint for interpolation grid
group box.
4. Advance the clipping plane slightly to hide just the background.
5. Choose the Select > Elements > All command.
6. Clear the Use clipping plane check box.
7. Choose the Select > Elements > Invert command.
8. Choose the Edit > Delete > Elements command. The background is deleted.
The deleted data can be recovered at any time by choosing the Edit > Recover Deleted
Elements command.

Figure 6.5 The unorganized point cloud is shown in (a). A data point subset is defined
consisting of all the displayed points above the blue clipping plane in (b). In (c), the
same data point subset after triangulation and prior to interpolation.
(a) (b)
(c)

6.1.3 Creating 3D images automatically
6.1.3.1 Introduction
Many digitizers arrange their output data in scan lines, often called stripes. A scan line is
a series of data points taken from a given digitizer position and orientation. Normally,
every scan line has a viewing direction (digitizing vector) associated with it. These scan
lines are often arranged in sets called patches, or passes.
The information stored in proprietary point cloud files can be used to automatically
define subsets – one for every pass in the files – which can be used to directly create
new 3D images, instead of having to manually define each subset and its viewing
direction. This can save the user substantial time. For each pass found, a subset is
defined and an average viewing direction is computed from the viewing direction of
every scan line in the pass. This is illustrated in Figure 6.6.
If more than one input file is used to create the point cloud, the total number of subsets
in the point cloud will correspond to the number of passes found in all of the input files.
For the Auto Organize feature to work properly, input data should be obtained using
small passes of the digitizer while maintaining its orientation relatively constant
throughout the pass; as well, there should be overlap between adjacent passes. If
overlap is missing, additional points may have to be captured and the new point cloud
processed by the Organizer to create additional 3D images.
6.1.3.2 A procedure for automatically creating 3D images
Choose the File > Import > Point Clouds command. A file browser is displayed. Specify
from workspaces or from disk one or more point clouds of the following types: PJMX, all
Line Scan formats, or ASCII Point Cloud (planar with point normal information). If
importing ASCII Point Cloud with point normal information, specify Points + Vectors in
the Template list box in the Import Parameters dialog box that is displayed.
If the Auto-organize option on the Line Scans page of the IMAlign Options dialog box
is cleared, start with step 1. Editing may be done on the point cloud before creating 3D
images. then press the Auto Organize button and follow the instructions in step 2.
If the Auto-organize option is selected, the automatic image creation process is

launched; start at step 2.
1. Remove unwanted points from the point cloud (optional).
1.1 The Point Cloud Organizer dialog box is displayed (see Figure 6.2), and the
Auto Organize button is available.
1.2 Select and delete undesired data points.

Figure 6.6 The steps involved in automatically creating 3D images from certain point clouds using the
Point Cloud Organizer.
Import files
• PMJX, CogniTens • ASCII Point Cloud

Auto-organize • All Line Scan formats • IGES Point Cloud
point clouds • ASCII Point Cloud (planar + • BIN (Perceptron)
point normal information) • SCN (Laser Design)
Manually organize point

Auto- Cleared clouds - see Section 6.1.2
organize
Creating 3D images
option
manually
Auto Organize button
Selected
A new pass (subset) is displayed
Create 3D image from pass
- Import Image dialog box:

• Max edge length
• Interpolation step
• Max angle
- Click OK
A digitizing vector
is found and a 3D
image is created
Same values
for all passes? No
Yes
For each remaining pass, a

digitizing vector is found and a
3D image is created

Controlling the selection process). Delete undesired data points – use the
DEL key or choose the Edit > Delete > Elements command.
1.3 Reduce the density of data points in the point cloud – press the
Subsample button in the Point Cloud group box.
2. Launch the meshing process
2.1 Once the set of data points to be meshed is ready, press the Auto
Organize button to launch the triangulation algorithm.
The mesh for the first subset is computed and displayed, and the Import
Image dialog box is displayed (see Figure 6.4).
2.2 To view the interpolation grid, select the View the interpolation grid
check box.
3. Set the triangulation parameters.
WARNING: Do not press the OK button at this point. Instead, type new values
in the text fields, if desired, and the display is immediately
recalculated for visualization purposes.
3.1 Specify values for the Max edge length, the Max angle, and the
Interpolation step text boxes. These parameters are described in Section
6.1.2.4 Creating a 3D image from a subset of points.
The algorithm may have established connectivity where there is none – in

this case, lower the Max edge length parameter; a typical value is 10
times the Interpolation step. If the display has small holes not apparent
in the original point cloud, some connections may not have been made –
try increasing the Max edge length parameter.
3.2 To use the same triangulation parameter values for all images, the Use the
same values for all images check box must be selected. The check box is
selected by default. When the check box is cleared, the Import Image
dialog box is displayed to query new values for each subsequent subset.
4. Interpolate all of the 3D images.
4.1 Press the OK button – the grid interpolation is computed to build the
internal 3D image which is saved to the IMAlign project and added to the
tree view.
Each 3D image is named, by default, using the name of the first point
cloud read and adding to it a numerical increment, starting at 0.
If the Use the same values for all images check box is selected in the
Import Image dialog box, the process automatically continues with the
next subset until all subsets have been processed. A message window is

displayed to report on progress, and it offers a Cancel button to stop the

image creation operation.
Note that if the Processing priority option, offered by the IMAlign

Options dialog box, is set to Speed, the creation of 3D images is
parallelized (i.e., performed using all processors). For more information,
see Section 14.5 Image options.
Once the subsets have been processed, the automatic image creation procedure is
stopped, and the Point Cloud Organizer dialog box is displayed. At this point, the
manual procedure (see Section 6.1.3 Creating 3D images automatically) can always
be used to create additional 3D images from the point cloud.
5. End the point cloud organization session
Press the Done button to dismiss the dialog box. A confirmation window informs
indicates that the original point clouds will be removed from RAM.
See Figure 6.7 for an illustration of the Auto Organize feature.

Figure 6.7 Using the Auto Organize feature of the Point Cloud Organizer.
1. To the far left the original point

cloud, produced by a line scanner, is
displayed in the Point Cloud
Organizer. It contains two passes.
To its right, the background has

been edited. This does not affect the
original file.
2. The Auto Organize feature has been

started. The first pass is displayed.
The Import Image dialog box is
displayed with initial parameters.
They may be changed. The final
parameters result in a precise
triangulation. Pressing the OK
button launches the grid
interpolation, resulting in a 3D
image. Here, the same values will be
used for all passes.
3. Auto Organize has finished. Two 3D images are displayed in the 3D scene and are represented in the
tree view.

Creating 3D Images from Point Clouds Creating 3D images from spherical grid point clouds
6.2 Creating 3D images from spherical grid point clouds

When importing spherical grid point clouds, the Create Images from Spherical Grid
tool, that allows creating composite 3D images from spherical grid point clouds, is
displayed.
The tool allows removing unwanted data points prior to image creation, and then
specifying parameters to subdivide the point cloud by angle and distance, or by angle
only, in order to create the composite 3D image. If the point cloud represents for
example the inside of a tunnel, the composite 3D image contains individual sub-
images that are like overlapping planar tiles that together describe the tunnel’s
spherical shape.
6.2.1 Introduction
When entering the Create Images from Spherical Grid mode, the tree view is made
unavailable and all existing objects are hidden. While all main menu commands are
available, most cannot be performed as they use an object selection. The commands
used to select, hide, and delete data points are available. When leaving this mode, the
tree view becomes available and objects are displayed based on their visibility status.
The subdivision of spherical grid point clouds results in the creation of a composite 3D
image in the tree view. While a large number of sub-images (i.e., PIF files) may be
created per point cloud, or per subscan within a point cloud, they are grouped under a
single composite 3D image which makes object manipulation very easy. The relative
alignment of the sub-images of a same composite 3D image is locked. Note that an
image reference point is automatically created at the digitizer position. It is assigned
the name DIGITIZER POS followed by the index associated with the composite 3D
image. An example of a composite image is shown in Figure 6.8.
If multiple files have been selected, or the selected format supports multiple subscans,
(e.g., IPX from Optech, PTX from Leica, SOI from Mensi) the Use same values for all
images option allows applying the image creation parameters determined for the first
point cloud/subscan to the remaining point clouds/subscans.
The contents of certain file formats (e.g., IPX from Optech, PTX from Leica, RSP Project
from Riegl) may be geo-referenced (i.e., in large numbers). For information on how files
that are geo-referenced are processed, see Section 11.3 Setting a huge translation
value.
Note that spheres contained in FARO FLS files are displayed along with the point cloud
as green points with their specified name, and are created as image reference points as
part of the 3D composite image creation process.

Figure 6.8 A composite 3D image under the Images branch in the tree view. It contains one
reference point that corresponds to the digitizer position.
6.2.2 Creating 3D images by subdividing spherical grid point clouds
There are two subdivision methods: By Angle or By Angle & By Range. When a
method is specified, the dialog box offers appropriate parameters; see Figure 6.9 (a)
and Figure 6.9 (b). Subdivision allows creating planar 3D images and may lower
memory requirements.
Subdivision By Angle creates 3D images by looking at the data from the digitizer
position using corridors of view whose width and height is determined by a specified
angle. All data viewed within a corridor of view is interpolated using the same
interpolation parameters. This is useful when most of the data is at the same distance
from the digitizer, such as when the point cloud is the front of a building digitized from
face on, a tunnel, or other object pretty much at a fixed distance from the digitizer.
Subdivision By Angle & By Range uses the same corridor of view approach. The
difference is that at given ranges of distance from the digitizer position (e.g., 0-20 feet,
20-40 feet, 40-80 feet), different interpolation parameters are used to take into account
the fact that the number of data points varies linearly with the distance from the
digitizer. This is useful when the point cloud contains data over a distance from the
digitizer, such as an intersection or a train crossing, or a stadium scanned from the
middle of the playing field. Since a larger interpolation grid is applied to the ranges
farther from the origin, the number of interpolated points can be lessened by 50% and
more. The output is a large number of 3D images but a much smaller total number of

interpolated points, which in turn results in smaller memory requirements and faster
processing.
Note that in both cases, there is overlap between adjacent 3D images.
6.2.2.1 Common parameters
When importing a spherical grid point cloud, the dialog box used to subdivide the
point cloud, shown in Figure 6.9, is displayed, offering the following items:
File name
A text box that displays the name of the current file. The file name is followed by
the subscan number when the format supports subscans (i.e., IXF, PIF, and SOI).
Subdivision method
A list box that offers two methods that allow subdividing the current point cloud/
subscan. Choose from By Angle or By Angle & By Range. the default value is By
Angle & By Range. The dialog box contents are determined by the specified
method.
When the method is By Angle, the digitizer position is shown as a red point and
two red circles represent the Minimum distance and Maximum distance values.
When the method is By Angle & By Range, there are additional green circles that
delimit the ranges specified in the dialog box and a yellow circle at the focus
distance.
Subdivision angle
A list box that specifies an angle, in degrees, used to divide the spherical point
clouds into smaller areas that can be remeshed by rectangular grids. Choose from:
10, 15, 20, 25, 30, 35, and 40. The default value is 20. If this value is changed in the
import dialog box, and the OK button is pressed, the new value is kept until it is
changed, or the application is closed. For very detailed and intricate shapes, a
value smaller than 20 may improve the quality of the final representation.
The Interpolation options section contents depend on the subdivision method. For
this reason, it is documented separately. See Section 6.2.2.2 Interpolation options for
the By Angle method for options for subdivision By Angle and see Section 6.2.2.3
Interpolation options for the By Angle & By Range method for options for subdivision
By Angle & By Range.
The Scan properties section offers items related to manipulating the scan in the 3D
scene:
Elevation axis
A list box that can be set to X, Y, or Z, and specifies the axis going from the south
pole to the north pole of the spherical grid. The purpose of this parameter is to
adapt to various file formats written by hardware manufacturers. There are
formats written in two flavors, using either the Z or the Y axis as the elevation axis.
It is very important to use the correct axis in order to apply the proper subdivision
strategy. The default value is Z.

Figure 6.9 The dialog box used to subdivide spherical grid point clouds by angle (a) or by angle
& by range (b).
(a) (b)
Four items allow specifying the data points to use when creating 3D images:
Minimum distance
A text box that specifies a distance from digitizer position where data begins to be
considered for image creation. A value is automatically calculated that
corresponds to the point closest to the digitizer position. A value may be entered
manually or be specified using sliders displayed at the top of the 3D scene (see the
Use distance sliders option). Data points in the 0 to Minimum distance text box
value interval are not displayed and they are not used to generate 3D images. Note
that when subdivision is By Angle & By Range, this distance also specifies the
lower limit of the first range.

Maximum distance
A text box that specifies a distance from digitizer position beyond which data is no
longer being considered for image creation. A value is automatically calculated
that corresponds to the point farthest from the digitizer position. A value may be
entered manually or be specified using sliders displayed at the top of the 3D scene
(see Use distance sliders). Data points outside the Maximum distance are not
displayed and they are not used to generate 3D images. Note that when
subdivision is By Angle & By Range, this distance also specifies the upper limit of
the last visible range.
Use distance sliders

A check box that enables the display of two sliders at the top of the 3D scene. The
first slider is used to set the Minimum distance text box value and the second
slider is used to set the Maximum distance text box value. The current value of a
slider position is shown in the appropriate text box. By default, the check box is
cleared.
Reset
A button that allows recalculating Minimum distance and Maximum distance
values that will exclude no data points for the current scan or subscan.
The dialog box offers an item that is useful when the file being processed contains
subscans:
Use same values for all images

A check box that enables creating 3D images for the current and the remaining
subscans using the current dialog box values.
There are four buttons at the bottom of the dialog box:
Preview
A button that refreshes the display in the 3D scene using the current dialog box
values. Note that pressing the ENTER key when the dialog box has the focus has
the same effect.
Skip
A button that cancels processing the current subscan and loads the following
subscan. If the current subscan is the last subscan, or if the current file has no
subscans, the dialog box is dismissed.
Create
A button that launches the image creation operation. If Use same values for all
images is selected, all remaining subscans are processed as well, using the current
dialog box values.
Close
A button that ends the image creation process and dismisses the dialog box.
Note that rotation/translation operations can be performed on the 3D scene, and that
the ranges follow by default. Normally the spherical coordinate system is set in such a
way that the Z axis goes from the south pole to the north pole of the sphere. Circles

indicating the subdivision boundaries are coplanar with the equatorial circle. Users can
also use the Y or X axis as the south pole/north pole axis by using the Elevation axis list
box.
6.2.2.2 Interpolation options for the By Angle method
Interpolation options are image creation parameters. The following are offered in the
Interpolation options section for the By Angle subdivision method:
Step
A text box that specifies an interpolation step (grid sampling step) in point cloud
units. A value is automatically calculated at the initial Minimum distance location
in the scan data. A value may be entered manually.
Max angle
A text box that specifies a maximum deviation between the incoming laser beam
and the surface normal vector. The default value is determined by the Max angle
option for 3D images (see Section 14.5 Image options).
This parameter is synchronized with the Max angle option. If this value is changed
in the subdivision dialog box, and the Create or the Preview button is pressed, the
value of the Max angle option for 3D images changes as well.
Max edge length

A text box that specifies the maximum edge length for any triangle connecting
digitized points. The default value is ten times the Step value. A value may be
entered manually. If a new value is then specified for the Step parameter, a new
value is automatically calculated for this parameter, overriding the value specified
manually.
Reset
A button that resets the values of parameters in this section to their initial values.
When using the By Angle subdivision method, the same interpolation parameter
values are used for the creation of all sub-images.
6.2.2.3 Interpolation options for the By Angle & By Range method
Interpolation options are image creation parameters. The following are offered in the
Interpolation options section and the Advanced section for the By Angle & By
Range subdivision method.
The Interpolation options section allows specifying image creation parameters. All
but Max angle are base values. The base values are applied to the first range of data
points and doubled for each subsequent range of data points. The Max angle value is
the same for each range. The Interpolation options section offers the following items:

Focus distance
A text box that specifies a distance from the digitizer position. By default, it is the
initial Minimum distance value. A value may be specified manually. This distance
is used for two purposes. At focus distance, it identifies a circular zone of data
points in the middle of the first range. Its value is then doubled to calculate the
upper limit of the first range. Secondly, it designates the area where the Step at
focus value is calculated. Note that each time a distance value is specified, the
Step at focus value is automatically recalculated.
The Focus Distance is displayed as a yellow line. It may not be visible if it is located
at the Minimum distance.
Step at focus
A text box that specifies a point-to-point spacing. It is automatically calculated by
the application at the Focus distance. A value may also be specified manually. The
value is assigned to the first range and it is doubled for each subsequent range.
See also the Min step parameter.
Max angle
A text box that specifies a maximum deviation between the incoming laser beam
and the surface normal vector. The default value is determined by the Max angle
option for 3D images (see Section 14.5 Image options).
This parameter is synchronized with the option’s value. If you change this value in
the subdivision dialog box and press the Create or Preview buttons, the value of
the Max angle option for 3D images changes as well.
Max edge length at focus

A text box that specifies the base value used to limit the maximum triangle edge
length for each range. The default value is ten times the Step at focus value. A
value may be entered manually. If a new value is then specified for the Step at
focus parameter, a new value is automatically calculated for this parameter,
overriding the value specified manually. This value is used for the first range and
doubled for each subsequent range.
To see the bridging in the 3D scene, set the drawing type of the Static display
mode to Flat (see Section 14.3.7 Polygonal model display options).
Reset
A button that resets the values of parameters in this section to their initial values.
The Advanced section offers the following items:
Number of ranges
A text box that specifies the number of ranges of data points to apply to the scan.
The default value is 10. It is not recommended to use a larger value as the effect of
doubling the interpolation parameters for each subsequent range may produce
values that are too large with respect to the raw data, and the number of PIF files
(i.e., sub-images) may become quite large.

A range is delimited by a lower and an upper limit, displayed as green circles. Note
the following:
 The lower limit of the first range is always located at Minimum distance.
 If a limit is beyond Maximum distance, it is not displayed.
 The upper limit of the last visible range is always at Maximum distance.
Min step
A text box that specifies the minimum step to be used to interpolate a range of
data points. The minimum recommended value is twice the digitizer’s standard
deviation. The default value is 0.15 mm.
An example of subdividing by angle and by range is provided in Section 6.2.2.5 An

example of the By Angle & By Range subdivision method.
6.2.2.4 Removing data points from the 3D image creation process
Hidden or deleted data points are not used in the creation of 3D images. Three menus,
View, Select, and Edit, offer commands that allow selecting data points and hiding or
deleting them. The table that follows explains the command to choose for a list of
actions. Note that to see the data points in the 3D scene, set the default drawing type to
Point (see Section 14.3.6 Image display options).
Action Command
Selection Select > Elements > ...
Select all of the visible data points. All
Invert the selection status of all of the data points. Invert
Deselect all of the visible data points. None
Deletion Edit > ...
Delete the selected data points. Deleted points are Delete > Elements
not used for the creation of 3D images.
Recover all deleted data points. Recover Deleted Elements
Visibility View > ...
Hide the selected data points. Hide > Point Cloud Points
Display the current selection only. Keep > Point Cloud Points
Restore the visibility of all of the hidden data Restore > Point Cloud Points
points.
Switch the visibility status of all of the data points. Toggle Visibility > All Point Cloud
Visible data points become hidden and hidden Points
data points become visible.

6.2.2.5 An example of the By Angle & By Range subdivision method
Let’s assume that the following values have been specified in the Create Images from
Spherical Grid dialog box:
Parameters by section Value
Interpolation options
Focus distance 1.000
Step at focus .004
Max edge length at focus .040
Advanced
Number of ranges 3
Min step 0.000
Scan properties
Minimum distance 1.000
Maximum distance 10.000
The Step at focus and the Max edge length at focus values are used as is for the first
range and are doubled for each subsequent range. See Figure 6.10 for an illustration of
ranges, and a table with the image creation parameters used for each range.
6.2.3 Changing the interpolation parameters of a composite 3D image
Once a composite 3D image is created in the tree view, the Interpolation step and the
Max edge length parameters may be edited, if desired. This is easy to do, as the
application knows which sub-images were created from which range.
Display the property sheet for the composite 3D image, open the Interpolation tab,
enter a new base value for each parameter, and press the Apply button. An appropriate
value is automatically calculated for each sub-image. For more information on the
properties of 3D images, see Section 7.3.3 Using the property sheet of objects.

Figure 6.10 Interpolation parameter values by range.
4.0 2.0
range range
3 2
Minimum distance (red)

Focus distance (yellow)
Maximum distance (red)
Interpolation parameter values/range
Max edge
Range Interpolation step Max
length
angle
base values Focus dist. = 1.0 Step at focus = .004 At focus = .04
range 1 min distance to 2.0 .004 .04
range 2 2.0 to 4.0 .008 .08 75
range 3 4.0 to max distance .016 .16

Editing Objects
and Elements
7
This chapter presents tools that allow editing objects and their elements. This includes undoing and redoing
operations, deleting and recovering objects and elements, editing the objects (e.g., scaling), locking and
ignoring objects, as well as grouping objects. It also describes how to access the properties of objects, some
of which can be edited. The operations presented in this chapter are available from the Edit menu.

Editing Objects and Elements Undoing and redoing operations
7.1 Undoing and redoing operations

Several operations on the Edit menu allow undoing and redoing operations:
Undo operation_name
Undoes the last undoable operation. The name of the operation to undo forms the
last part of the command (e.g., Undo Create (Duplicate Object)).
Redo operation_name
Redoes the last redoable operation. The name of the operation to redo forms the
last part of the command (e.g., Redo Create (Duplicate Object)).
Remove Transformation Undos

Removes all transformation operations from the undo stack. Transformation
operations change the view in the 3D scene. Such operations include mouse-
based operations (e.g., zoom, rotate) and menu commands (e.g., View > Center >
Objects).
Remove All Undos

Removes all undoable operations from the undo stack.
Some operations are not redoable. In addition, certain operations require clearing the
undo stack, such as deleting a 3D image object. When an operation affects the undo
stack, a message is displayed to inform the user.
7.2 Deleting and recovering objects and elements

Objects and their elements (i.e., 3D image points, model triangles) can be deleted, and
deleted object elements can be recovered. Several editing operations are offered for 3D
image points.
IMPORTANT: If the IMAlign project is to be imported into the IMInspect module, it is

strongly recommended to do any desired editing in the IMInspect module only. Do not
do any editing (e.g., deleting or ignoring 3D image points, reducing overlap) in the
IMAlign module – editing in IMAlign causes the interpolation grid to be used in the
import operation in IMInspect, which results in some data points, especially along the
boundary of the point cloud, to not be imported in IMInspect.
7.2.1 Deleting objects
The Edit > Delete > Objects command removes all of the objects selected in the tree
view from the current alignment project.
If the selection contains objects for which the deletion cannot be undone, a
confirmation window is displayed; press the OK button to continue and delete the
selected objects without the possibility of recovering them and remove all undos as

Editing Objects and Elements Deleting and recovering objects and elements
well, or press the Cancel button to end the operation. Objects for which the deletion
cannot be undone include 3D images and polygonal models.
7.2.2 Deleting elements
Elements can be deleted and deleted elements can be recovered. When elements are
deleted, the deletions are performed internally without modifying the original objects.
Subsequently, the deleted elements can be recovered.
Note that deleted 3D image points are not used by the downstream IMMerge module.
WARNING: If your intention is to load the IMAlign project in IMInspect, it is strongly

recommend to not delete any 3D image points in IMAlign, but rather do those
deletions in the downstream IMInspect module.
The Edit > Delete > Elements command allows deleting the set of currently selected
elements. Deleted elements are no longer displayed, and they are not used by the
application. Deleted elements can be recovered; see Section 7.2.4 Recovering deleted
elements).
Note that when deleting a 3D image point, interpolation grid neighbors are
reconnected to existing grid points. For an example, see Figure 7.2.
7.2.3 Deleting nonoverlapping 3D image points
Non-overlapping 3D image points can be deleted. This is particularly useful for road
applications where moving objects (e.g., pedestrians, cars) should be removed from
point clouds so as not to be considered as shapes and used for alignment by the best-fit
iterative alignment method.
A simple example involves scanning the same scene twice. In the first point cloud there
is an unwanted object, such as a car, which must be removed. The identification of
points to remove is the purpose of the second point cloud, assuming that in the second
point cloud there is no car at the same place as in the first point cloud (moving object).
There is obviously no overlap with the first point cloud with respect to the car. Lets
assume that both point clouds have been read and transformed to two corresponding
3D images in the tree view, and that they are visible.
To perform the operation for the preceding example, select the 3D image containing
the mobile object and choose the Edit > Delete > Non-Overlapping Image Points
command; the object selection can be modified once the dialog box is displayed, if
desired. The dialog box, shown in Figure 7.1, is displayed, offering the following items:
Maximum distance
A text box that specifies a maximum search distance along the surface normal
direction; it is used to find overlapping points. The default value is 2.0 mm.

Editing Objects and Elements Deleting and recovering objects and elements
Figure 7.1 The dialog box used to delete nonoverlapping points.
Point sets
A group box that allows specifying the tree view selection. It offers two choices:
Images
An option button that specifies that the tree view selection is considered
to be image based. Selected 3D images must be visible.
Image groups
An option button, selected by default, that specifies that the tree view
selection is considered to be image group based. All of the 3D images of
an image group must be selected and visible.
Press the Apply button to launch the operation. If desired, select different images and
press the Apply button again. Press the Close button to dismiss the dialog box.
When the operation is launched, all points for which there is no overlap among the
other visible 3D images (selected and deselected) are deleted from the selected 3D
images. As a result, the car is removed from the first set of 3D images. The second set of
3D images, which has served its purpose, can then be manually deleted.
For this example to work correctly:
 The first and second point clouds should have the same point density.
 The 3D images created from the two point clouds should use the same image
creation parameters.
7.2.4 Recovering deleted elements
The Edit > Recover Deleted Elements command allows recovering elements deleted from
the visible objects (i.e., 3D images, polygonal models) selected in the tree view. If any
selected 3D images are not visible, a message box is displayed informing the user of
this fact and proposes to make those 3D images visible and to continue the operation;

Editing Objects and Elements Editing objects
Figure 7.2 Deleting a 3D image point. When deleted, its grid neighbors reconnect to the closest
points.
Display mode
Point Wireframe Flat
3D image point
selected
3D image point
deleted
press the Yes button to continue the operation as indicated or press the No button to
end the operation.
Note that this operation also undoes deletions performed during the current project
editing session with the Point Cloud Organizer tool or the Create Images from Spherical
Grid tool.
Note that while model triangles and points of point clouds being imported may only be
deleted using the Edit > Delete > Elements command, 3D image points may be deleted
by several operations, including overlap reduction, object element deletion, and
deleting nonoverlapping points.
7.3 Editing objects

The Edit menu allows editing objects through operations (e.g., scale, invert orientation),
and to some degree by means of their properties sheet.
7.3.1 Scaling objects
Objects can be scaled. The selected objects must be used and unlocked.To scale
selected objects, choose the Edit > Scale Objects command. The dialog box shown in
Figure 7.3 is displayed. It is used as follows:
1. Specify a type in the Scaling type list box. Choose from:

Figure 7.3 The dialog box used to scale objects. It offers several scaling types.
 Uniform – Scale all selected objects uniformly (i.e., equally applied to the x, y,
and z coordinates). All scaling operations, including successive operations, apply
to the objects’ original dimensions. To return any 3D object to its original
dimensions after a uniform scaling operation, apply a scaling Factor of 1 (100%).
 Units Conversion – Convert an object from its original units to different units.
This operation affects an object’s Original units and Units factor properties, but
does not affect its Uniform scaling factor property.
For example, an object is imported into a project whose units of length are
millimeters. The object’s Original units and Units factor properties are
millimeters and 1, respectively. The user knows however that the object was
measured in centimeters. A centimeters to millimeters conversion could be
performed. The new Original units and Units factor properties would be
centimeters and 10, respectively, and the object would be expressed in
millimeters in the project.
 If Units Conversion is chosen, specify a unit in the From list box. The initial value
is the Original units value of the selected object(s), if they are identical for all
objects; otherwise choose a unit. The To list box is unavailable and set to the
project’s units of length (see the Units section on the General page of the
IMAlign Options dialog box).
2. Specify a value in the Factor text box that is applied to the objects’ original
dimensions.
Examples: a value of 1 leaves the objects’ elements unchanged, .5 divides their

dimensions by two, and 2 doubles their dimensions.
3. When available, the Reset button allows setting the Factor to 1 and the From list
box to the project’s units of length.
4. Press the Apply button to launch the operation.
5. Press the Close button to dismiss the dialog box.

7.3.2 Inverting object orientation
The Edit > Invert Image Orientation command allows inverting the orientation of all
selected 3D images. This operation cannot be performed on sub-images.
7.3.3 Using the property sheet of objects
The Edit > Object Properties command allows viewing the property sheet of a selected
object, and editing some of the properties as well. If several same-type objects are
selected, only those properties that are common to all of the objects will be available
for visualization and editing, leaving a blank when the values throughout the set are
different. Note that the selection of objects within the tree view can be modified with
the property sheet open.
The Previous and Next buttons at the bottom of the property sheet allow displaying
information about the previous or next object in the tree view. These buttons are
disabled when more than one object is selected.
Certain object properties can be modified on the property sheet. To transfer the values
of the modified properties to the application, press the Apply button. If the Auto-
apply check box is selected, pressing the Previous or the Next button automatically
transfers the values of the modified properties to the application. The Close button
7.3.3.1 Properties common to all objects
All objects share one property that identifies the object:
Name
The name of the object in the tree view. The name can be edited, enabling the
assignment of more significant names to objects.
All objects, except IMAlign project objects, share two properties concerning the status
of the object:
Hidden
A check box that indicates that the object is hidden. Note that visible image
reference points are only displayed when their parent 3D image is visible.
Ignored
A check box that indicates that the object is ignored by the application. For more
information, see Section 7.5 Ignoring and using objects and elements.
Lastly, all objects, except IMAlign project objects, have a color box near the top right of
the property sheet. To edit the object’s color, click over the color box, specify a new
color in the dialog box that is displayed, and press the OK button.

Figure 7.4 The property sheet for an IMAlign project.
7.3.3.2 Properties of IMAlign projects
A selected IMAlign project’s property sheet can be accessed by choosing the Edit >
Object Properties command. It is shown in Figure 7.4. The Project tab offers one item:
Number of interpolated points

A text box that displays the number of interpolated points in all of the 3D images
included in the project. These points are valid interpolated points - they meet the
interpolation criteria per 3D image and are displayed in the 3D scene.

Figure 7.5 The property sheet for polygonal models.
7.3.3.3 Properties of polygonal models
The property sheet of a selected polygonal model can be accessed by choosing the Edit
> Object Properties command. It is shown in Figure 7.5. The top area of the sheet
provides an item concerning the file format of the polygonal model:
Format
The file format in which the polygonal model is stored.
The Polygonal Model tab of the sheet contains the following items:
Number of triangles
A text box that displays the number of triangles in the polygonal model.

Editing Objects and Elements Locking and unlocking 3D images
Nb of displayed triangles
A text box that displays the number of displayed triangles in the polygonal model.
Scaling factor
A scaling factor that multiplies the (x, y, z) coordinates of triangle vertices. The
scaling factor is mainly used to modify the unit of measurement in which an object
is expressed.
Source in workspace
A text box that displays the source object of a selected object in the workspace.
7.3.3.4 Properties of other objects
The properties of other objects are presented in the sections indicated in the table that
follows.
Object Section
3D image Section 12.11.2 Properties of 3D images
global reference point Section 10.8.1.1.7 Properties of global reference points
image reference point Section 10.8.1.2.11 Properties of image reference points
7.4 Locking and unlocking 3D images

Two commands on the Edit menu control the alignment of selected 3D images.
Lock Images
Locks the alignment of all selected 3D images. No interactive alignment
techniques can be applied to locked 3D images.
Locked 3D images are used by the iterative image alignment algorithm, but their
image alignment transformation matrix is not modified by the algorithm.
Unlocked 3D images still align themselves on locked 3D images.
Unlock Images
Unlocks the alignment of all selected 3D images. These 3D images are free to move
so that their image transformation matrix can be modified by any alignment
technique.

Editing Objects and Elements Ignoring and using objects and elements
7.5 Ignoring and using objects and elements

Objects can be temporarily removed from the alignment project by ignoring them, and
image points can be removed from certain processes by ignoring them (i.e., best-fit
alignment). The ignored status can be removed from such objects and elements by
using them.
7.5.1 Ignoring objects
The Edit > Ignore > Objects command allows ignoring objects. The command specifies
to temporarily not display, and to set aside, the selected objects from the current
alignment project, without deleting them. When an object is ignored, a No sign is
superimposed on its normal icon.
Ignored objects are not considered by most operations, except those specifically for
ignored objects (e.g., Select > Objects > Ignored). For example, ignored 3D images are
not used in alignment and area computations, they cannot undergo the majority of the
editing operations, and so on.
Note that while ignored objects are not displayed, they are not considered to be hidden
by the module.
7.5.2 Ignoring 3D image points
Two commands on the Edit > Ignore submenu allow ignoring selected 3D image points.
Image Points for Alignment

Assigns the ignored-for-alignment status to the set of currently selected 3D image
points.
3D image points with the ignored-for-alignment status are still rendered, but are
not used when the alignment of a set of 3D images is optimized.
Image Points for Merging

Assigns the ignored-for-merging status to the set of currently selected 3D image
points.
3D image points with the ignored-for-merging status are rendered and are used
by the alignment algorithms. Therefore, this status has no effect in IMAlign itself.
However, the ignored-for-merging status is saved in the output project generated
by IMAlign and is used by IMMerge to discard image points during the image-
merging process.

Editing Objects and Elements Grouping and ungrouping images
Figure 7.6 The tree view before and after 3D images are grouped together.
7.5.3 Using ignored objects
The Edit > Use > Objects operation allows removing the ignored status from the selected
objects. Selected objects that are not ignored are not affected. The objects that are no
longer ignored are now considered part of the current project, and their display is no
longer prohibited.
7.5.4 Using ignored 3D image points
Two commands on the Edit > Use submenu allow recovering ignored 3D image points.
Image Points for Alignment

Removes the ignored-for-alignment status from the set of currently selected 3D
image points.
Image Points for Merging

Removes the ignored-for-merging status from the set of currently selected 3D
image points.
7.6 Grouping and ungrouping images

It is possible to create groups of 3D images whose relative alignment cannot change
(i.e., is locked). As a result, alignment algorithms will optimize the alignment of image
groups instead of aligning individual 3D images. Image groups are displayed in the tree
view at the position of the first 3D image among those selected to be grouped. For an
example, see Figure 7.6.

3D images can only belong to one image group at a time. It is not possible to create
empty image groups. Similarly, image groups that become empty are automatically
deleted.
Certain operations applied to the image group are also applied to the 3D images within
the group. For example, ignoring the image group ignores all of the 3D images that it
contains.
The icon of an image group mirrors the properties of the 3D images in the group when
all of the 3D images in an image group have one or more similar properties. For
example, when all of the 3D images in an image group are hidden, the icon of the
image group is hidden as well. Note that when one or more 3D images in an image
group is locked, the image group is locked as well. In this way, the icon of the image
group may communicate helpful information quickly, without having to open the
image group branch.
Image groups do not have their own property sheet. Rather, they offer a property sheet
configured for the state of the 3D images within the group. Changes made and applied
to the property sheet are applied to the 3D images in the group.
Two operations on the Edit menu allow the grouping and ungrouping of selected 3D
images.
7.6.1 Grouping images
The Edit > Group Images operation creates a new image group and puts the selected 3D
images in it. The default name is image group <number>, where <number> is an
automatically incremented integer number for image groups. If the image selection
contains an image group, its 3D images are transferred to the new image group, and
the selected image group is deleted, as it is empty. Note that 3D images may be added
to an existing image group using a standard drag-and-drop operation performed in the
tree view.
The index number of 3D images does not change because they are grouped. As a result,
macro scripts that make use of an object index are not affected by this operation.
It is possible to rename an image group. Select the image group, press the F2 key to
enter an editing mode, and type a new name. Or, CTRL+right-click over the image
group, click Rename, and type a new name.
7.6.2 Ungrouping images
The Edit > Ungroup Images operation ungroups the selected 3D images. The ungrouped
3D images are displayed normally under the Images branch in the tree view in order of
their index number.
3D images can also be dragged from an image group to the Images branch, or within
another image group.

If an image group becomes empty as a result of the operation, it is automatically

deleted.

Selecting Objects
and Elements
8
This chapter presents tools that allow selecting and editing the visible elements of visible objects. The
elements of 3D images are 3D image points and the elements of polygonal models are triangles.
In addition, the points of point clouds processed on importing are also considered to be elements. However,
they exist only temporarily, while the point cloud is being processed using the Point Cloud Organizer tool or
the Create Images from Spherical Grid tool. It is useful to be able to select these elements and hide or delete
them as part of the 3D image creation process, or use them to create image reference points. They are
removed from memory once the tool is closed (i.e., they are not saved to the project).
Elements can be deleted, and deleted elements can be recovered.
IMAlign offers standard selection operations and element and interactive element selection tools applicable
to all visible objects. Region-based selections are always volumetric and can be performed using a freeform
or a polygonal contour. Selected elements are displayed using the Selection color, which is red by default
and is configurable; for more information on interface colors, see Section 14.3.3 Interface color display
options. The number of selected 3D image points is displayed on the current selection area of the status bar,
to the far right.

Selecting Objects and Elements Selecting objects
8.1 Selecting objects

There are several ways to select objects:
 Standard Windows-based techniques allow selecting objects in the tree view.
 Main menu commands allow selecting: objects, only 3D images, and only image
reference points.
 Branch menu commands allow selecting image and global reference points.
8.1.1 Selecting objects in the tree view
The tree view offers standard Windows-based techniques that allow selecting 3D
images:
 Select one object by clicking over the object.
 Select a consecutive range of objects by clicking over the first object, pressing and
holding the SHIFT key, and then clicking over the last object.
 Select a set of objects that are not contiguous by pressing and holding the CTRL key
while clicking over the desired objects.
8.1.2 Selecting objects using standard commands
Several methods are offered on the Select > Objects submenu to select objects:
All
Selects all objects.
Invert
Switches the current selection status of the objects. Selected objects become
unselected while unselected objects become selected.
None
Deselects all objects.
Interactively
Allows selecting objects in the 3D Scene pane by object type by picking or using
a selection rectangle.
See Section 8.1.3 Selecting objects interactively in the 3D scene for complete
information.

Selecting Objects and Elements Selecting objects
Figure 8.1 The dialog box used to configure the selection when a project contains composite 3D
images.
8.1.3 Selecting objects interactively in the 3D scene
The Select > Objects > Interactively command makes a link between object selection and
the 3D scene:
The Select > Objects > Interactively command enables the interactive Select Object
mode that allows selecting objects in the tree view by picking or by dragging a
selection rectangle in the 3D scene.
The mode offers two selection methods. An object can be selected in the 3D scene by
clicking over a screen pixel belonging to the object. The type and index of the selected
object is displayed at the top of the 3D Scene pane. Or, the middle mouse button can
be used to drag a rectangular selection zone. Visible objects partially or completely
enclosed within the rectangular selection zone, are then identified.
If the CTRL key is up when a selection operation is successfully performed, all other
items in the tree view are deselected, and the picked object or objects is/are selected. If
the CTRL key is down, tree view selections are preserved and the selection status of the
picked object or objects is/are switched. The interactive mode is exited by pressing the
ESC key.
This mode can also be invoked by using the CTRL + SHIFT + SPACEBAR shortcut, or by
pressing the Select Objects button on the Selection toolbar.
If the IMAlign project contains one or more composite 3D images, the dialog box,
shown in Figure 8.1, is displayed to configure what object to select when specifying
interactively a composite 3D image. The Composite image group box contains two
option buttons: Complete image and Sub-image. When an option is selected, it is
active immediately. To disable the display of this dialog box, select the Do not show
this window check box. To redisplay the dialog box when in this operation mode,
choose the View > Contextual Parameters command.

Selecting Objects and Elements Selecting object elements
8.2 Selecting object elements
8.2.1 Controlling the selection process
The Selection mode controls the selection status of elements when a volumetric
selection is performed.
The Selection Mode menu button on the Selection toolbar (located to the right of the
3D Scene pane) provides three modes that apply to all elements:
Button Mode Description
All elements found by the selection algorithm

Mark
become selected.
All elements found by the selection algorithm

Unmark
become unselected.
All elements found by the selection algorithm invert

Toggle their selection status, from selected to unselected, or
from unselected to selected.
These same specifications are offered in the Selection Context dialog box (see Section
8.2.3.1 The Selection Context dialog box).
8.2.2 Standard selection operations
The Select > Elements submenu offers standard selection tools that apply to all visible
elements. Note that the specifications made for the Selection mode do not apply to the
first three tools, as they are of a global nature.
All
Selects all visible elements.
Invert
Inverts the selection status of the visible elements if at least one element is
selected.
None
Deselects all selected elements.
Interactively
Enables the mode that allows selecting elements interactively.

See Section 8.2.3 Selecting elements interactively for more information.
8.2.3 Selecting elements interactively
A volumetric element selection technique is available that allows selecting a set of

elements. This point selection technique is applied to all visible objects. Note that for a
triangle of a polygonal model to be selected, its three vertices must be included in the
selection.
The element selection technique is available from within the Select Elements mode.
There are three ways to access/exit the Select Elements mode:
 Choose the Select > Elements > Interactively command.
 Press the Select Elements toolbar button on the Selection toolbar.
 Press the SPACEBAR when the 3D Scene pane has the focus.
In Select Elements mode, the pointer becomes a cross, and by default the Selection
Context dialog box, shown in Figure 8.2, is displayed. The selection status of selected
elements depends on how the Selection mode is defined (discussed in Section 8.2.1
Controlling the selection process).
8.2.3.1 The Selection Context dialog box
On entering the interactive Select Elements mode, the Selection Context dialog box,
shown in Figure 8.2, is displayed by default.
When the current mode allows more than one type of element, the Elements to select
group box is offered to specify the type of elements to select. It contains two check
boxes: Image points and Model triangles. In certain specialized modes, such as the
Point Cloud Organizer, the type of element is unique so the user is not offered a choice.
The two configurations of the dialog box are shown in Figure 8.2.
The next two items consist of a reminder text (a hint) and a status label that reflects the
current use of the SHIFT and the CTRL keys and the effect these keys have on the
selection operation:
Volume selection (Shift)

A reminder to press the SHIFT key to enable a volumetric selection. If the SHIFT key
is up, the adjacent status label reads Disabled, and if the SHIFT key is down, it
reads Volume.

Figure 8.2 The standard dialog box used to define the selection context (a). Note that in certain
modes, the type of element is unique. As a result, the choice of elements to select is
removed from the dialog box (b).
(a) (b)
Freeform/Polygonal (Ctrl)
A reminder that by default the selection contour is freeform, and to press the CTRL
key for a polygonal contour. If the CTRL key is up, the adjacent status label reads
Freeform, and if the CTRL key is down, it reads Polygonal.
The dialog box also offers one item that allows defining the selection mode:
Selection mode
A list box that indicates the current selection mode. Choose from: Mark, Toggle,
Unmark (for descriptions of the selection modes, see Section 8.2.1 Controlling the
selection process). Changes made in the list box are immediately transferred to the
application.
The Do not show this window check box disables this window for future selection
operations. To display the dialog box when in this operation mode, choose the View >
Contextual Parameters command. Note that closing the window exits the Select
Elements mode.
8.2.3.2 Selecting single elements
Left-click a single element to select it.
8.2.3.3 Performing a volumetric selection using a freeform contour
Selecting a set of elements is performed by pressing and holding the SHIFT key,
pressing and holding the middle mouse button, then delimiting a 2D area in the 3D
scene using the mouse. Once the middle mouse button is released, the selection

algorithm determines the set of elements whose projection on the computer screen
lies within the delimited 2D area, and updates the selection status of these elements.
Note that when pressing and holding the SHIFT key, the first status label in the
Selection Context dialog box shows Volume. The second status label shows Freeform.
For more information, see Section 8.2.1 Controlling the selection process.
8.2.3.4 Performing a volumetric selection using a polygonal contour
To define a polygonal contour used to delimit a selected area, press and hold the CTRL
key, in addition to the SHIFT key. Middle-click to generate a vertex in the polygonal
region. Right-click to indicate that the last vertex has been selected; the last vertex is
connected to the first vertex to close the polygonal contour.
Note that when pressing and holding the SHIFT key, the first status label in the
Selection Context dialog box shows Volume. When pressing and holding the CTRL key,
the second status label shows Polygonal. For more information, see Section 8.2.1
Controlling the selection process.
8.2.3.5 Configuring the colors used for the volumetric selection operation
Two colors are used for region selection operations. The Pencil color is used to render a
user-generated 2D contour. The Selection color is applied to selected elements. By
default, the Pencil color is yellow and the Selection color is red. Interface colors can be
modified (see Section 14.3.3 Interface color display options).
8.2.4 Selecting elements by luminance
In surveying, shiny targets are used to align point clouds. It is possible to select
elements based on their luminance. These selected elements could then be used to
create reference points, which can be used for alignment purposes.
The Select > Elements > By Luminance command allows selecting visible elements (i.e.,
data points, 3D image points) found within a 3D search distance based on their
luminance. This function is available in the Create Images from Spherical Grid mode
and the Default mode. On choosing this command, the dialog box, shown in Figure 8.3,
is displayed, and an interactive mode is launched. The dialog box offers the following
items:
Search radius
A text box that specifies a 3D distance used to identify candidate points. Valid
values are greater than 0. The default value is 250 mm.

Selecting Objects and Elements Selecting image groups from images
Figure 8.3 The dialog box used to select elements by luminance.
Minimum luminance
A text box that specifies the minimum luminance that a point within the search
distance must have to be selected. Valid values range from 0 to 255. The default
value is 250.
To configure the interactive mode with new values, make specifications and press the
Apply button. The interactive mode works as follows:
 To select points: Click a 3D location to specify from where to start the search. The
cumulative number of 3D image points selected is displayed on the status bar, to the
right.
 To preview the point selection: Click a 3D location and hold the mouse button to see
a preview of the selected points. Either release the mouse button to perform the
selection, or move the pointer away from the selection to cancel the previewed
selection.
 To translate the 3D scene: When the 3D Scene pane has the focus, press the
SPACEBAR, then translate the 3D scene, and press the SPACEBAR again to return to
the selection mode.
 Right-click or press the ESC key to exit the mode.
Press the Close button to dismiss the dialog box.
8.3 Selecting image groups from images

The Select > Image Groups > From Images command finds the image groups to which
one or more selected 3D images belong, and selects all of the 3D images belonging to
the identified image groups.
For information on image groups, see Section 7.6 Grouping and ungrouping images.

Selecting Objects and Elements Selecting 3D images
8.4 Selecting 3D images

The Select > Images submenu offers different methods used to select 3D images:
All
Selects all of the 3D images.
Invert
Switches the current selection status of the 3D images. Selected 3D images
become deselected while deselected 3D images become selected.
None
Deselects all of the 3D images.
Hidden
Selects all hidden 3D images.
Locked
Selects all of the 3D images whose image transformation matrix is currently
locked.
Ignored
Selects all of the 3D images that have an ignored status.
From Elements
Selects all of the 3D images for which at least one 3D image point is selected.
8.5 Selecting 3D image points

3D image points can be ignored for alignment and ignored for merging (see Section
7.5.2 Ignoring 3D image points). They can then be selected based on these properties.
3D image points can also be selected based on their distance from a polygonal model
or using quality criterion. Finally, 3D image points can be added to, or removed from, a
selection of 3D image points using grow and shrink operations. These operations are
offered on the Select > Image Points submenu.
8.5.1 Selection options for the grow and shrink operations
Options for the grow and shrink element selection operations (see Section 8.5.5
Selecting 3D image points that are ignored for alignment) are offered on the Selection
page of the IMAlign Options dialog box, which is documented in Section 14.9 Selection
options. To access the dialog box, choose the Tools > Options command.

Selecting Objects and Elements Selecting 3D image points
Figure 8.4 An illustration of the Shrink N and the Shrink All N operations when frontier points are
included in the selected areas.
Original selection Shrink 3 Shrink All 3
8.5.2 Growing or shrinking a selection of 3D image points
Three operations on the Select > Image Points submenu allow growing and shrinking
points included in the selected areas:
Grow N
Adds N layers of points to the selected areas.
Shrink N
Subtracts N layers of points from the selected areas. A point can only be
deselected if it is connected to a valid unselected, visible point.
Shrink All N
Subtracts N layers of points from the selected areas.
The result of the Shrink N and the Shrink All N operations only differ if frontier points
are selected. For an example, see Figure 8.4.
The value of N can be modified by choosing the Tools > Options command and editing
the Number of layers option on the Selection page of the IMAlign Options dialog box.
See Section 14.9 Selection options for more information on the Number of layers
option that specifies growing/shrinking a selection.

Figure 8.5 The dialog box used to select nonredundant visible data.
8.5.3 Selecting the best data
The Select > Image Points > Best Data command allows selecting the best data (i.e., 3D
image points) in a set of selected 3D images. If, in a given area, a 3D image point is
unique, it is the best data. If there are several points, data quality criteria, explained in
Section 12.5.1 Defining data quality, is used to determine the best data.
On choosing the command, the dialog box, shown in Figure 8.5, is displayed. It offers
the following item:
Maximum distance
A text box that specifies the maximum distance to use to detect overlapping areas
and to select the best data in those areas. The default value is 2.0 mm.
Press the OK button to launch the operation, or the Cancel button to end the
operation.
Only visible and hidden 3D images are processed; ignored 3D images are not
considered. The Maximum distance value allows finding areas of overlap, and data
quality criteria are used to find the best data. The best data found in the selected,
visible 3D images is selected and can be processed.
This operation is useful when manually reducing overlap in a set of visible 3D images.
For more information, see Section 12.5.3 Using the manual overlap reduction method.
8.5.4 Selecting 3D image points with respect to a polygonal model
The Select > Image Points > From Polygonal Models command allows selecting 3D image
points with respect to selected polygonal models.
On choosing the command, the dialog box, shown in Figure 8.6, is displayed. It offers
the items that follow to select 3D image points:

Figure 8.6 The dialog box used to select 3D image points using polygonal models.
Closer than
An option button that allows specifying selecting points using the Distance as a
maximum distance from the polygonal models.
Farther than
An option button that allows specifying selecting points using the Distance as a
minimum distance from the polygonal models.
Distance
A text box that specifies a 3D distance from the triangles of selected polygonal
models. The default distance is 2 mm.
Press the Select button to launch the operation and the Close button to dismiss the
dialog box.
The selection status of selected elements depends on how the selection mode is
defined (discussed in Section 8.2.1 Controlling the selection process).
8.5.5 Selecting 3D image points that are ignored for alignment
The Select> Image Points > Ignored for Alignment command allows selecting 3D image
points that have been previously ignored for alignment.
For information on ignoring points for alignment, see Section 7.5.2 Ignoring 3D image
points.
8.5.6 Selecting 3D image points that are ignored for merging
The Select> Image Points >Ignored for Merging command allows selecting 3D image
points that have been ignored with respect to processing in the downstream IMMerge
module.

Selecting Objects and Elements Selecting image reference points
For information on ignoring points for the merging operation, see Section 7.5.2
Ignoring 3D image points.
8.6 Selecting image reference points

The Select > Image Reference Points submenu offers different methods used to select
image reference points:
All
Selects all image reference points
Invert
Switches the current selection status of the image reference points. Selected
image reference points become deselected while deselected image reference
points become selected.
None
Deselects all image reference points.
Hidden
Selects hidden image reference points.
Ignored
Selects ignored image reference points.
8.6.1 Selecting reference points using tree view menus
The Select submenu of a Reference Points branch’s shortcut menu offers five commands
that allow selecting image reference points belonging to the parent 3D image:
All
Selects all image reference points.
Invert
Switches the current selection status of the image reference points. Selected
image reference points become deselected while deselected image reference
points become selected.
None
Deselects all image reference points.
Hidden
Selects hidden image reference points.

Selecting Objects and Elements Selecting image reference points
Ignored
Selects ignored image reference points.
The Select submenu of the Global Reference Points branch’s shortcut menu offers the
same five commands that allow selecting global reference points.

Viewing in the 3D
Scene
9
The View menu offers operations that allow controlling the visibility of objects and certain object elements,
as well as the visibility of the available panes. In addition, it allows specifying specific views of objects in the
3D scene.
This chapter describes those operations. Furthermore, it explains how the mouse can be used to modify the
position and orientation of the 3D scene.

Viewing in the 3D Scene The display mode of objects
9.1 The display mode of objects
9.1.1 Setting the Static and Dynamic display mode of objects
9.1.1.1 Understanding a display mode
A display mode specifies how 3D surface geometry is displayed on the computer

screen. Only 3D images and polygonal models have a display mode. The display mode
is defined by two parameters: drawing type and subsampling factor. The drawing type
specifies the manner in which objects are rendered. For example, 3D images can be
rendered using the Flat, Point, Smooth, Wireframe, and Bounding Box (Dynamic
display mode only) drawing types. The second display mode parameter is the
subsampling factor, which speeds up the display process.
There are two display modes. The Static display mode is the standard mode used to
draw a set of objects. The Dynamic display mode controls the rendering when the user
changes the position and orientation of the 3D scene. It is a good idea to specify a
coarse Dynamic subsampling factor to increase the display rate when the 3D scene is
moving. When it stops, the application switches back to the Static mode to draw a more
accurate graphical representation of the 3D scene.
9.1.1.2 Understanding the default display modes for 3D images
3D images have a default Static display mode and a default Dynamic display mode.
When a new 3D image is added, its Static and Dynamic display modes’ drawing type
and subsampling are automatically set to Default, which means that they will be
rendered using the default Static and Dynamic display modes for 3D images.
Section 14.3 Display options explains how to modify the default Static and Dynamic
display modes for 3D images. Any changes to these modes modify the display modes
of all 3D images whose mode is set to Default.
The display mode of an individual 3D image, or of a set of 3D images, can also be

manually set to specific values, such as Static Flat, Dynamic Point, Static 1/1, or
Dynamic 1/64, from a shortcut menu or from the property sheet (see Section 9.1.3
Modifying the display mode of a set of 3D images). When a 3D image’s drawing type
and/or subsampling factor is set to a specific value, it will not be affected by changes
made to the default display modes for 3D images. See Section 9.1.3 Modifying the
display mode of a set of 3D images for more information.

Viewing in the 3D Scene The display mode of objects
9.1.2 Module display options
Display options for the 3D Scene pane, for objects, or for display in general are offered
on the Display page, and its sub-pages, of the IMAlign Options dialog box. For
complete information, see Section 14.3 Display options. To open the dialog box, choose
the Tools > Options command.
9.1.3 Modifying the display mode of a set of 3D images
The display modes of selected 3D images can be modified.
To modify the Static/Dynamic display mode of a set of 3D images using object shortcut
menus:
1. Select a set of 3D images in the tree view.
2. Right-click and set the Drawing type and Subsampling factor for the Static and
Dynamic display modes through the tree view shortcut menu View > Static or View
> Dynamic.
A list of possible Static/Dynamic display modes for the particular object category is
displayed. Specify the new Static/Dynamic display mode for the selected objects.
To modify the display modes of a set of 3D images, using a property sheet:
1. Select one or more 3D images in the tree view.
2. Choose the View > Object Properties command.
3. Click the Display modes tab.
4. Edit the Static and/or the Dynamic Drawing type.
5. Press the Apply button.
Note that the Static and Dynamic display mode parameters can also be set to Default.
As already mentioned, when an object is displayed using the Default drawing type, it is
drawn using its object type’s default drawing specifications.
See Section 9.1.1.2 Understanding the default display modes for 3D images for more
information on the Static and Dynamic display mode parameters and default settings
of the 3D Image object category.

Viewing in the 3D Scene Controlling the visibility of objects and elements
9.2 Controlling the visibility of objects and elements
9.2.1 Hiding objects and elements
The View > Hide submenu offers operations that hide the selected objects or elements:
Objects
Hides the selected objects.
Point Cloud Points

Hides the selected points of point clouds.
These points are only available when a point cloud is being processed on import,
before being transformed into one or more 3D images. This is the case when
processing unorganized point clouds using the Point Cloud organizer tool, or
when processing spherical grid point clouds using the Create Images from
Spherical Grid tool. When these tools are closed, the point cloud points are
removed from RAM memory.
Triangles
Hides the selected triangles of polygonal models.
9.2.2 Restoring the visibility of objects and elements
The View > Restore submenu offers operations that restores the visibility of selected
hidden objects or elements:
Objects
Restores the visibility of selected objects.
Point Cloud Points

Restores the visibility of hidden point cloud points, typically in the context of
processing point clouds on import to create 3D images.
Triangles
Restores the visibility of hidden triangles for selected polygonal models.
9.2.3 Keeping objects and elements visible
The View > Keep submenu offers operations that allow keeping only selected objects or
elements visible, hiding the nonselected objects or elements:

Viewing in the 3D Scene Viewing using views
Objects
Keeps only the selected objects visible.
Point Cloud Points

Keeps only the selected point cloud points visible.
Triangles
Keeps only the selected triangles visible.
9.2.4 Toggling the visibility of objects and elements
The View > Toggle Visibility submenu offers operations that allow inverting the visibility
status of objects or elements:
Objects
Inverts the visibility status of selected objects. Visible objects are hidden, and
hidden objects are made visible.
All Objects
Inverts the visibility status of all objects. Visible objects are hidden, and hidden
objects are made visible.
All Point Cloud Points

Inverts the visibility status of all point cloud points. Visible point cloud points are
hidden, and hidden point cloud points are made visible.
All Triangles
Inverts the visibility status of all triangles. Visible triangles are hidden, and hidden
triangles are made visible.
9.3 Viewing using views
9.3.1 Setting standard views
The View > Standard Views submenu contains a set of standard operations related to
rigid transformations and projection types. If the operation is offered on the 3D Scene
toolbar, its icon appears below in the right margin as part of its description.
View +X
Centers visible objects in the 3D scene and makes the positive X axis point toward
the user.

Viewing in the 3D Scene Viewing by centering objects or by rotating the 3D scene
View -X
Centers visible objects in the 3D scene and makes the negative X axis point toward
the user.
View +Y
Centers visible objects in the 3D scene and makes the positive Y axis point toward
the user.
View -Y
Centers visible objects in the 3D scene and makes the negative Y axis point toward
the user.
View +Z
Centers visible objects in the 3D scene and makes the positive Z axis point toward
the user.
View -Z
Centers visible objects in the 3D scene and makes the negative Z axis point toward
the user.
9.3.2 Setting custom views
The View > Custom Views submenu contains operations that allow saving a view of the
3D scene and then loading it at a later time:
Load
Loads a pose file containing a 4x4 rigid transformation matrix and a projection
type. This transformation and projection is applied to the current set of objects.
Choosing this command results in the display of a standard file browser. Specify a
file name and location, and press the Open button. Press the Cancel button to end
the operation.
Save
Saves the pose of the object to a file. The pose consists of a 4x4 rigid
transformation matrix and a projection type. Choosing this command results in
the display of a standard file browser. Specify a file name and location, and press
the Save button. Press the Cancel button to end the operation.
9.4 Viewing by centering objects or by rotating the 3D scene
9.4.1 Centering objects in the 3D scene
The View > Center submenu offers other operations that center objects in the 3D scene:

Viewing in the 3D Scene Mirroring the view or the lights
Objects
Centers selected objects in the 3D scene.
All Objects
Centers visible objects in the 3D scene.
9.4.2 Rotating the 3D scene around the viewing axis
The View menu offers an operation that rotates the 3D scene around the viewing axis:
Rotate 90° around View

Rotates the 3D scene 90° counterclockwise around the viewing axis.
9.5 Mirroring the view or the lights
9.5.1 Mirroring the view using standard axes
The View > Mirror View submenu offers operations that allow mirroring the current
view:
Mirror about XY
Mirrors the current view about the standard XY plane.
Mirror about YZ
Mirrors the current view about the standard YZ plane.
Mirror about ZX
Mirrors the current view about the standard ZX plane.
9.5.2 Mirroring the lights
The View menu offers an operations that allows mirroring the lights in the 3D scene:
Mirror Lights
Mirrors the light sources about the 3D scene’s vertical axis.

Viewing in the 3D Scene Viewing the hidden elements of the graphical user interface
9.6 Viewing the hidden elements of the graphical user

interface
9.6.1 Displaying user-hidden contextual parameters
The View > Contextual Parameters command controls the display of special contextual
dialog boxes (e.g., additional dialog boxes to help users) that have been hidden by the
user. The command is only available if the current mode has a special contextual dialog
box. Such dialog boxes offer a Do not show this window check box to enable disabling
their display.
When a contextual dialog box is hidden by the user, selecting the Contextual
Parameters command displays the hidden contextual dialog boxes and clears the
dialog box’s Do not show this window check box.
9.6.2 Displaying hidden panes
The View menu offers operations to show individual panes that are hidden. If the pane
is displayed, the operation has no effect.
Dialog Zone
Displays the Dialog Zone pane.
Tree View
Displays the Tree View pane.
Histogram
Displays the Histogram pane.
9.7 Changing the view in the 3D scene using the mouse

This section briefly explains how to change the position and orientation of a set of
objects in the 3D scene.
All six degrees of freedom needed to reach any desired position and orientation in 3D
space can be accessed using the mouse in a very intuitive manner. Object-centered
methods allow moving freely in 3D space. The mouse allows picking a 3D object and
then rotating and translating the object. Using only the mouse, three translations and
two rotations may be performed. One further rotation may be performed using the
SHIFT key. Each operation is described in the subsections that follow.

Viewing in the 3D Scene Changing the view in the 3D scene using the mouse
Figure 9.1 A menu offered on the 3D Scene toolbar, available in the default mode and other
specific modes, that controls the transformations permitted in the 3D scene using the
mouse.
All operations Rotation Only
Translation Only Zoom Only
Zoom Box Only Rotation about View Axis Only
The first button allows access to all of the standard mouse-based rotation/translation/
zoom operations. The other buttons assign one same operation to all of the mouse
buttons, which is useful for new users who have not yet mastered the standard mode.
In the default mode, several choices under the Mouse Button Behavior menu button
on the 3D Scene toolbar are available to specify the allowed transformations in the 3D
scene using the mouse, as shown in Figure 9.1.
In the subsections that follow, references to the X, Y, and Z axes refer to the screen
coordinate system, with the Z axis pointing toward the user.
9.7.1 Rotating about the X and the Y axes
To rotate about the X axis and the Y axis viewing axes, click and hold the left mouse
button inside the 3D scene. Rotations are performed by moving the mouse in the
desired directions. See Figure 9.2 (a). When a click occurs over a screen pixel belonging
to a 3D surface, the (x, y, z) coordinates of the point are computed. The 3D scene is then
rotated about the 3D location. If the click occurs over a background pixel instead of a
surface pixel, the rotations are performed about the center of the bounding box. While
rotating about the X axis and the Y axis, the pointer icon changes to the one shown to
the right.
Rotations can also be constrained to a vertical or a horizontal viewing axis by pressing

and holding down the SHIFT key before clicking. The decision to use the horizontal or
the vertical axis is determined by the first 10-pixel displacement made with the mouse -
if the displacement is close to the vertical axis, the rotation is performed about the
horizontal axis, and if the displacement is close to the horizontal axis, the rotation is
performed about the vertical axis. The pointer icon changes slightly, keeping only its
vertical component or only its horizontal component.

Figure 9.2 Using the left and middle mouse buttons to change the position and orientation of a
3D object. In (a), the left mouse button is used to rotate the 3D object about the X axis
and the Y axis. In (b), the middle mouse button is used to translate the 3D object along
the X axis and the Y axis.
y
z
(a) -x (b) +y
-y +y -x +x
+x -y
9.7.2 Translating along the X and the Y viewing axes
To translate along the X axis and the Y axis, click and hold the middle mouse button.
Translations along the X axis or the Y axis are performed by moving the mouse in the X
or Y directions respectively, inside the 3D scene. See Figure 9.2 (b). While translating
along the X axis and the Y axis, the pointer icon changes to the one shown to the right.
9.7.3 Translating along the viewing Z axis
Translating along the Z axis is equivalent to a zoom operation. This translation is

illustrated in Figure 9.3 (a). Click and hold the right mouse button, then move the
mouse forward and backward. When the mouse is moved forward, a positive
translation is performed on the 3D object, and the scene moves nearer to the user.
When the mouse is moved backward, a negative translation is performed on the 3D
object, and the scene moves farther away from the user. Please note that when the
orthogonal projection type is used and the 3D scene is set to Split View Alignment
mode, translations along the Z axis are performed simultaneously on the two
viewports. While translating along the Z axis, the pointer icon changes to the one
shown to the right.

Note that in the case of a mouse that has a wheel button as the middle button:
 Rotating the wheel forward and backward will cause the 3D scene to, respectively,
zoom in and zoom out using the center of the 3D scene.
 Pushing and holding down the SHIFT key while rotating the wheel forward and
backward will cause the 3D scene to, respectively, zoom in and zoom out using the
current pointer position in the 3D scene.
The pointer does not change when zooming with the wheel button.
9.7.4 Rotating about the Z viewing axis
Press and hold down the SHIFT key to access this operation. Rotating about the Z axis is
performed by clicking and holding the right mouse button, then moving the mouse in
the right or left direction. See Figure 9.3 (b). While rotating about the Z axis, the pointer
icon changes to the one shown to the right.
It is also possible to rotate the 3D scene by increments of 90 degrees about the viewing
axis. The rotation is performed by holding down the SHIFT key and quickly right-
clicking. If the right mouse button is held down for less than half a second, a
counterclockwise rotation of 90 degrees is applied about the rotation axis. If the right
mouse button is still down after half a second, the standard unconstrained rotation
mode is activated.
9.7.5 Zooming by delimiting a rectangular area
In addition to zooming using the Z axis translation method, zooming can be performed
on an object part by delimiting a rectangular area:
1. Press and hold the SHIFT key.
2. Middle-click to create a first rectangle corner.
3. Drag the pointer to the opposite rectangle corner.
4. Release the middle mouse button.
A zoom will operate on the delimited area. While zooming on the delimited area, the
pointer icon changes to the one shown to the right.

Figure 9.3 Using the right mouse button to change the position and orientation of the 3D
object. In (a), the right mouse button is used to translate the 3D object along the Z
axis. In (b), the right mouse button enables rotation about the Z axis when the SHIFT
key is pressed.
y
x
z
+z + Shift key
(a) (b)
-z +z
-z
9.7.6 Remaining in Dynamic display mode for several transformations
PolyWorks user interfaces use two display modes. The Dynamic display mode is used
when the 3D scene is rotated and/or translated. The Static mode is applied when the
3D scene is not moved. Applications automatically switch between the Static and
Display modes, depending on the actions of the user. To remain in the Dynamic display
mode for a sequence of rotations and translations, press and hold the CTRL key. When
the actions have stopped, and the CTRL key has been released, the display mode
automatically switches back to the Static mode.
9.7.7 Undoing transformations
The Edit > Undo Transformation (Description) command allows undoing operations on
the View menu as well as user transformations. The Description field specifies the exact
operation to undo. For example, Undo Transformation (Pose Center).

Aligning 3D
Images
10
This chapter presents tools that allow aligning 3D images into a unique coordinate system.

Aligning 3D Images Introduction
10.1 Introduction
The alignment methods require 3D images to meet two criteria, which influences the
acquisition process. First, each 3D image must share some redundant information, or
overlap, with adjacent 3D images. And secondly, each 3D image should contain at least
some variation in shape in the overlapping areas, since IMAlign does a shape-based
alignment (variations in shape help lock the images). Images lacking overlap and/or
changes in shape may not align correctly.
Images may have image reference points. Image reference points could be target
center locations or any arbitrary point in the image, and are expressed in the same
coordinate system as the image. They can be used for image-to-image alignment and
for alignment to global reference points, which could represent GPS points or points
measured by a total station. All of the alignment techniques, except Auto-Match
Reference Points, Manual Match Reference Points, and Split View, can be constrained in
order to keep the image reference points within tolerance from their original position.
10.2 Overview
The standard approach is to specify an approximate alignment between 3D images and
then use the best-fit algorithm to refine the approximate image alignment.
10.2.1 Aligning a set of 3D images
Two mouse-driven tools allow specifying an approximate alignment between 3D

images:
 Split View mode – A technique that consists in manually aligning one or several 3D
images using only the mouse. If there are no alignment constraints (i.e., nonignored
image reference points), the six degrees of freedom in a rigid transformation matrix
are accessible using the mouse in a very intuitive manner. The user picks the 3D
images and aligns them with respect to a set of previously aligned 3D images. This
technique is documented in Section 10.3 The Split View Alignment mode.
 Point pairs – An alignment technique is based on point matching, explained in

Section 10.4 Aligning by matching pairs of points. It offers two methods:
 One Point Pair – Using the mouse, one point pair can be generated, which
enables the application to automatically align a set of 3D images. The picked
points are used as a starting point for the best-fit alignment algorithm that is
called in the background, documented in Section 10.7 Aligning using the
iterative best-fit alignment technique.
 N Point Pairs – Using the mouse, create several point pairs to generate an
approximative alignment of a set of 3D images.

Aligning 3D Images The Split View Alignment mode
The Manual Alignment tool allows applying rotations and translations to selected 3D
images, either manually by applying discreet values or interactively using sliders. This
technique is documented in Section 10.6 Aligning manually by applying translations
and rotations.
Finally, there are two reference point matching techniques: Auto-Match Reference
Points and Match Reference Points. These techniques are documented in Section
10.8.2 Aligning by automatically matching reference points and Section 10.8.3 Aligning
by manually matching reference points respectively.
All of these techniques are used to obtain a close approximation of the final alignment
of a set of 3D images prior to applying the iterative image alignment technique.
10.2.2 Optimizing the alignment
The Best-Fit Alignment and Comparison tool uses a state-of-the-art least-squares

iterative algorithm to optimally align a set of 3D images. This algorithm aims at
minimizing the 3D distances between surface overlaps in a set of 3D images, and
assumes that a good approximation of the alignment has been provided by the user. A
key feature of the technique is that it distributes the alignment error over all image
transformation matrices, which ensures a well-balanced alignment of a set of 3D
images. Several alignment constraints can be specified. This tool is documented in
Section 10.9 Applying transformation matrices to 3D images.
10.3 The Split View Alignment mode

Mouse-based rotations and translations performed in the 3D scene, in the Default
mode, merely change the viewpoint and do not affect the alignment of the 3D images.
The interactive Split View Alignment mode allows manually aligning 3D images
selected in the tree view (see Figure 10.1) using mouse-based rotations and
translations. If the selected 3D images have reference points, they may be used to
constrain the alignment. Note that if aligning just one single 3D image, an automatic
alignment mode is offered as well.
Before entering Split View Alignment mode, select in the tree view the 3D images
(visible, not locked) to align with respect to the visible, deselected 3D images. The
mode is enabled as follows:
 By choosing the Align > Split View command, or the CTRL + SPACEBAR shortcut.
 When adding a new 3D image (i.e., planar grid/mesh-type point clouds), or an

existing IMAlign project containing 3D images is inserted into the current project,
and the Split View Alignment tool if specified by the Interactive alignment option
(for more information, see Section 14.5.1.1 Planar grid/mesh options). The newly
added 3D images can then immediately be reoriented, if necessary.

Figure 10.1 In (a), IMAlign in the Split View Alignment mode. In (b), using the mouse, an
approximate alignment between the set of 3D images in the left viewport and those
in the right viewport is obtained.
Mouse-based rotations and translations are
applied independently in the two viewports
(a)
 Nonselected visible objects  Selected 3D images

 Alignment is locked  Align to 3D images in the
by default left viewport
(b)
The mode features a dialog box and a split view in the 3D scene, shown in Figure 10.1.
Pressing the Close button dismisses the dialog box.

10.3.1 Presenting the split view in the 3D scene
The Split View Alignment mode features a left and a right viewport. In the Split View
Alignment mode:
 Selected 3D images are displayed in the right viewport, while deselected objects that
are visible are displayed in the left viewport.
 On entering the mode, the current projection type is memorized and the
Perspective projection type is automatically applied to allow transformations along
the Z axis (zooming). The user can change the projection type. On leaving this mode,
the memorized projection type is automatically reapplied.
10.3.2 Configuring the mode
The Split View Mode dialog box offers three check boxes that allow configuring the
mode:
Constrain by reference points

A check box that enables constraining the alignment using nonignored image
reference points. The check box is cleared by default, and it is synchronized with
the same check box in other alignment dialog boxes. When the check box is
selected, a message concerning alignment constraints is displayed at the top of
the 3D scene, and if there are three or more nonignored reference points among
the 3D images, a message is displayed, informing the user that an alignment
cannot be performed.
If any alignment is performed by mouse operations, degrees of freedom are

constrained as follows:
 One reference point – Only rotations about this point are allowed.
 Two reference points – Only one rotation is allowed about the axis joining
these two points. This rotation-about-axis operation is performed with the
left mouse button by clicking any location and dragging the mouse along
the horizontal direction.
Lock left viewport transformations

A check box that enables locking the 3D images in the left viewport (within the
context of the mode). By default, it is selected. When it is cleared, users may apply
rotations/translations to these 3D images as well.
If any of the 3D images in the left viewport are locked (i.e., has the Locked status in
the tree view), the check box is selected and unavailable, as it is not permitted to
transform the 3D images.

Superimpose right images

A check box that enables superimposing the set of 3D images in the right viewport
onto the set of 3D images in the left viewport, while transformations are made
using the mouse. This allows previsualizing the result of the transformations in the
Default mode. By default, the check box is cleared.
10.3.3 Aligning 3D images manually
Rotations and translations performed using the mouse are applied independently to
the left and right sets of 3D images. The same operations are available as offered in the
global mode; for more information, see Section 9.7 Changing the view in the 3D scene
using the mouse. They allow giving selected 3D images an orientation similar to the
orientation of nonselected 3D images.
As explained previously, if the alignment is constrained by reference points, the mouse-

based rotations may be restricted. With one image reference point, only rotations
about this point are allowed. With two image reference points, only one rotation is
allowed about the axis joining these two points. This rotation-about-axis operation is
performed with the left mouse button by dragging the mouse along the horizontal
direction.
The SPACEBAR can be used to temporarily enter Select Elements mode. It is then
possible to select 3D image points and delete them prior to aligning the newly added
3D images. Once the editing operations have been performed, press the SPACEBAR
again to return to Split View Alignment mode.
10.3.4 Aligning a 3D image automatically
If there is only one single 3D image in the right viewport, the automatic alignment tool
may be launched by setting parameters in the Automatic alignment section, and then
pressing the Start button. The Advanced subsection offers items that control the
automatic alignment method. The automatic alignment tool tries several initial guess
alignments, and from these starting points it attempts to reach the correct solution.
The first item is a slide bar:
Automatic alignment
A slide bar that allows controlling the sampling of the reference 3D images on the
left. When set close to Fast, the number of initial solutions is lower, which means
a faster computing time but a lower success rate. When set close to Exhaustive,
the number of initial solutions is higher, which means a higher success rate but a
slower computing time. The default value should work well on a variety of point
clouds. It can be increased if the alignment fails.
The Advanced subsection offers the items that follow:

Aligning 3D Images Aligning by matching pairs of points
Allotted time (seconds)

A text box that specifies a maximum number of seconds for the execution of the
automatic method. After the time is elapsed, the computation is stopped. If an
acceptable solution has been found, the 3D image in the right viewport will be
transformed. Valid values are 1 second or more. The default value is 30 seconds.
Search distance
A text box that specifies a distance used to match points from the 3D image in the
right viewport to surfaces from the reference 3D images in the left viewport.
The value needs to be significantly larger than the Maximum distance of the best-
fit alignment algorithm. A search distance that is too small would result in no
solution, and a search distance that is too large could result in incorrect solutions.
In general, values ranging from 30 to 100 mm work well for close-range digitizing
systems. The default value is 50 mm.
Acceptable mean error

A text box that defines a criterion used to accept an alignment solution. If the
average alignment error is lower than the acceptable mean error, the solution is
acceptable. Valid values are larger than zero. The default value is .02 mm.
10.4 Aligning by matching pairs of points

A powerful, automatic procedure is available to generate an approximate alignment
between two sets of objects located each in their own viewport: the selected, visible 3D
images to transform, and the other visible 3D objects to use as fixed objects. When the
selection contains a 3D image group, it is transformed if it contains at least one
nonignored 3D image; the transformation applied to the 3D image group is applied to
all of the 3D images that it contains, even the ignored ones.
The procedure first allows positioning objects in the two viewports similarly to facilitate
picking points on similar locations in each viewport. It then matches either one pair of
points, or 3 or more pairs of points, picked on a similar location on a) the selected 3D
images (i.e., mobile points), and b) the other 3D objects (i.e., fixed points). The
alignment operation brings the mobile point of the pair onto the fixed point of the pair,
for each point pair. When picking only one pair of points, a best-fit alignment is
automatically performed as well.
Note that when picking n pairs of points, it is possible to have 3 or more global
reference points as the nonselected objects (i.e., no 3D images). Pairs of points are
created by clicking a global reference point in one viewport and a 3D image location in
the other viewport.
The Image subsampling parameter used by the One Point Pair Alignment mode can
be modified from the IMAlign Options dialog box. Subsampling the 3D images
increases computation speed.
To perform the alignment, proceed as follows:

1. Check the status of 3D objects in the tree view.
 The 3D images to transform must be selected, visible, unlocked, and nonignored.
 The other objects (i.e., 3D images and global reference points), that remain fixed,
must be visible. For the 1 Point Pair alignment tool, at least one 3D image must
be visible for use by the incorporated best-fit alignment.
 When a new 3D image is added, or a set of 3D images is inserted, all existing 3D

images are automatically deselected and the newly added 3D images are
selected.
2. Choose the Align > Point Pairs command, or press the corresponding button on the
Processes toolbar (shown to the right). The Point Pairs Alignment dialog box is
displayed, and the 3D scene is split into two viewports; see Figure 10.2 (a).
Only the selected 3D images are displayed in the viewport to the right, while other
visible 3D images and global reference points are displayed in the viewport to the
left.
On entering the mode, the current projection type is memorized and the
Perspective projection type is automatically applied to allow transformations along
the Z axis (zooming). The user can change the projection type. On leaving this mode,
the memorized projection type is automatically reapplied.
3. Position the objects in either viewport using the mouse to facilitate the picking of
matching points, as shown in Figure 10.2 (b). Only the two independent camera
positions change – the objects are not being transformed at this point.
If the goal is to use the 1 Point Pair picking method, it is important to position the
objects quite similarly in order to provide an optimal starting point for the
alignment algorithm.
4. To align objects by picking one point, click the 1 Point Pair button to the right of the
Method label. Proceed as follows:
 When using the 1 Point Pair method, click over two corresponding points in the
left and right viewports.
 As soon as the second point is anchored, the set of selected 3D images is

automatically translated based on the matched points, and then the best-fit
object alignment algorithm is invoked. If the alignment is successful, the mode
is exited and the dialog box is closed.
If the alignment succeeds, it means that the iterative image alignment algorithm
has converged to an accurate solution. The selected 3D images are automatically
locked. If the automatic alignment fails, a message is displayed to that effect. The
procedure can be performed again picking two other points, or it may be preferable
to match N pairs of points (see below) and then manually invoke the best-fit object
alignment algorithm (see Section 10.7 Aligning using the iterative best-fit
alignment technique).

Figure 10.2 In (a), the Point Pairs Alignment dialog box and the 3D scene configured with two
viewports. The right one contains a selected 3D image. In (b), the objects have been
positioned using the mouse to facilitate picking points. In (c), four points are picked.
Corresponding points have the same number and color.
(a)
(b)
(c)

Aligning 3D Images Aligning automatically
5. To align objects using several points, click the N Point Pairs button to the right of
the Method label. The N Point Pairs method consists in picking a minimum of three
pairs, but at least five pairs are recommended as the quality of the alignment
increases with the number of point pairs. Pick points as follows:
 The SPACEBAR may be pressed to temporarily exit the mode and perform
rotations/translations which are applied to the two sets of objects. Press the
SPACEBAR again to return to the alignment mode.
 Click pairs of points by clicking first in one viewport and then in the other
viewport for each pair, or pick all of the points (e.g., mobile points) in the right
viewport and then click all of the matching points (e.g., fixed points) in the same
order in the left viewport to complete the point pairs.
A pair of points is easily identified – the points are displayed using the same color
and have the same number in subscript (e.g., 1, 2, 3); see Figure 10.2 (c).
 A middle-click allows cancelling the last picked point.
 Right-click to compute the alignment, or press the ESC key to exit the picking
mode (any points already picked are discarded). If the alignment is computed,
the mode is exited and the dialog box is closed.
6. Press the Close button to dismiss the dialog box.
10.5 Aligning automatically

The Split View Alignment mode offers a powerful automatic image alignment tool that
works without any user interaction to align one single 3D image at a time. For more
information, see Section 10.3.4 Aligning a 3D image automatically.
10.6 Aligning manually by applying translations and

rotations
A manual alignment tool allows applying translations and rotations to selected visible
and unlocked 3D images. Note that the selection may be modified while using the tool.
The alignment mode is activated by choosing the Align > Manual Alignment command.
On choosing the command, the dialog box shown in Figure 10.3 is displayed. It allows
specifying rotations/translations in text boxes, or by means of an interactive mode
performing rotations/translations in the 3D scene using sliders.
When finished, press the Close button or the ESC key to dismiss the dialog box.

Aligning 3D Images Aligning manually by applying translations and rotations
Figure 10.3 The Manual Alignment dialog box.
10.6.1 Constraining the alignment using image reference points
The Constrain by reference points check box at the top of the dialog box enables
using image reference points in the selected 3D images as alignment constraints. By
default, the check box is cleared, and any image reference points are ignored by the
alignment operations. When the check box is selected:
 If there is an available image reference point among the selected 3D images, the
operations that follow are limited as to preserve the image reference point.
 If more than one of the selected 3D images has an alignment constraint, their centers
of rotation must be identical for any operations to be applied.
 If no alignment can be performed because of the constraints, a message is displayed

to inform the user.
Note that the Constrain by reference points check box is also offered for other
alignment techniques, and that the parameter is synchronized for these techniques.
10.6.2 Performing an interactive manual alignment
With respect to the display in the 3D scene:

Figure 10.4 The display in the 3D scene when using the interactive manual alignment mode. The
sliders at the top are activated by selecting the corresponding check boxes at the top
of the Manual Alignment dialog box.
(b)
(a)
Click the slider icon to

change the slider step
Display of total
rotations applied to
currently selected 3D
images
Rotation center
 When the x, y, or z check boxes in the 3D rotation group box are selected,
corresponding sliders are automatically displayed that allow performing 3D
rotations about the corresponding axis.
 The rotation center, which is used for 3D rotations only, is displayed.
Place the mouse pointer over a slider to display the type of slider, its step, and the total
rotation of that type (e.g., Rotation about X) performed using that slider.
A slider can be used by dragging the slider, clicking the slide bar, or by clicking the
slider’s arrow buttons. Each click of a slider arrow button translates the selected 3D
objects by a positive or a negative step value. To change the step value, click a slider’s
icon. The dialog box shown in Figure 10.4 (b) is displayed to specify a new step. Press
the OK button to transfer the value to the application.

Figure 10.4 (a) shows the display in the 3D scene when performing an interactive
manual alignment.
10.6.3 Applying operations
Operations may be performed interactively using the sliders or the mouse, which are
applied immediately. In addition, there are two methods that allow applying discrete
rotations/translations in the dialog box and pressing either the Apply button or the
ENTER key:
 When the Apply button is pressed, all of the rotations/translations specified in the
dialog box are globally applied in the following order: the 3D rotation, the 3D
translation, and then the vector-based transformation.
 When the ENTER key is pressed, the mouse pointer is located, and only the
transformation specified in the group box identified by the pointer location is
applied.
To reset all of the angular rotation or displacement values to 0, press the Reset button.
10.6.4 Performing 3D rotations about standard or viewing axes
The 3D rotation group box is used to apply a 3D rotation about the X axis, the Y axis,
and the Z axis, or the horizontal, vertical, and viewing vectors, and proceeds as follows:
1. Specify the type of axes in the Rotate about list box. Two choices are offered: the X,
Y, Z axes, or Horiz., Vert., View (the horizontal, vertical, viewing vectors which
correspond to the axes of the display screen).
The choice will determine the labels displayed for the three check boxes below and
to the left:
 When X, Y, Z is chosen, the labels displayed are x, y, and z.
 When Horiz., Vert., View is chosen, the labels displayed are Ht, Vt, and Vw. To
simplify the text that follows, the x, y, and z labels will be used when referring to
the check boxes.
2. Specify the exact rotation axes:
 To rotate about a major axis, first select the x, the y, and/or the z check box
related to this axis.
 To rotate about a screen viewing vector, first select the Ht, the Vt, and/or the Vw
check box related to this vector.
3. Specify a rotation center. Several methods are available:

 Press the Pick Center button. This enables an interactive mode that allows
picking a rotation center in the 3D scene. Once a rotation center is picked, the
sliders are reset to their middle position and their total translation/rotation value
is reset to zero.
 Enter values in the text boxes under the Rotation center label. If a rotation in x
is specified, provide the (y, z) coordinates of the rotation center. If a rotation in y
is specified, provide the (x, z) coordinates of the rotation center. Finally, if a
rotation in z is specified, provide the (x, y) coordinates of the rotation center. If
two or three rotation axes are specified, provide all three coordinates of the
rotation center.
4. Specify a rotation angle using one of two methods:
 Specify an angle for each of the chosen axes, under the Angle label. If two or
three rotations are combined in the same operation, they are performed in the
following order: x, y, and z.
 Use the sliders in the 3D scene. There is one for each axis check box that is
selected.
10.6.5 Performing 3D translations along standard axes
The 3D translation group box offers x, y, and z text boxes that allow specifying a 3D
translation along the X axis, the Y axis, and the Z axis.
10.6.6 Performing 3D translations using a vector
The Vector group box allows translating selected 3D images along a vector. A vector
must first be specified using the i, j, and k text boxes of the Vector group box.
A translation is performed by entering a displacement value in the Translation text box

and pressing the ENTER key.
10.6.7 Undoing the operations
To undo the translation/rotation operations stored in the Undo stack, use the Edit >
Undo command, or give the focus to the main user interface and use the CTRL+Z
shortcut.

Aligning 3D Images Aligning using the iterative best-fit alignment technique
10.7 Aligning using the iterative best-fit alignment technique

The main image alignment technique is an iterative algorithm that computes an
optimal alignment by minimizing the 3D distances between surface overlaps in a set of
3D images acquired from unknown viewpoints. With each iteration, the algorithm
multiplies each 3D image transformation matrix by the incremental transformation
matrix that best improves the image alignment with respect to the other 3D images.
This incremental matrix is computed using a linear least-squares technique, and results
from averaging the best alignment parameters of each image point.
This best-fit alignment technique may also be constrained by: a) specifying an

elevation axis, using image reference points, or b) specifying a 3D tolerance. See
Section 10.7.2 Constraining the best-fit alignment technique for complete information
on constraining image alignment.
Note two important aspects of the algorithm:
 The first is the need for a minimum overlap between each 3D image and the other
3D images in the current set of 3D images, as mentioned in the introduction to this
chapter.
 The second key aspect of the method is that at least one 3D image must be locked
while running the iterative process. The image transformation matrix of a locked 3D
image is not modified by the iterative alignment technique. To lock selected 3D
images, choose the Edit > Lock Images command. Locking one central 3D image that
has substantial overlap with other 3D images is a good choice, and should speed up
the process convergence. If no 3D images are locked, one 3D image in the current set
of 3D images is arbitrarily locked.
Note that in the case of a constrained alignment that makes use of the Sequential
image group lock feature, no 3D images should be locked initially – the alignment
process will take care of locking and unlocking 3D images. For more information, see
Section 10.7.2 Constraining the best-fit alignment technique.
10.7.1 Opening the dialog box
On choosing the Align > Best-Fit command, or the corresponding button on the
Processes toolbar, the Best-Fit Alignment and Comparison dialog box, shown in Figure
10.5, is displayed. It provides image alignment and image comparison tools.
The dialog box’s Start button starts the iterative process. After the process is started,
the Start label changes to a Stop label, which can be pressed to safely stop the
alignment algorithm.
The following subsections explain how to use this tabbed dialog box to control the
iterative image alignment algorithm.

10.7.2 Constraining the best-fit alignment technique
The Best-fit tab of the Best-Fit Alignment and Comparison dialog box offers several
items related to constraining the alignment. To make the items available, select the Use
constraints check box. By default, the check box is cleared. When selected, three
options that allow constraining the alignment are made available:
Elevation axis
An option button that specifies identifying an axis to be used to constrain the
alignment. This option allows preserving an elevation axis obtained by making the
digitizer level prior to capturing point clouds.
When the option is selected, an adjacent list box is made available that offers the
standard axes. Choose from: X, Y, and Z (the default value). The alignment
optimizes the four remaining degrees of freedom (i.e., the three translations and
the rotation about the elevation axis). Note that the Sequential image group
lock check box located after the Tolerance option is made unavailable.
Reference points
An option button, selected by default, that specifies using 3D image reference
points as constraints. It also makes available the Sequential image group lock
check box (located after the Tolerance option).
When selected, a 3D image’s nonignored reference points constrain its degrees of

freedom as follows:
 One image reference point – Only three rotational degrees of freedom about
this point are allowed.
 Two image reference points – Only one rotational degree of freedom about
the axis joining these two points is allowed.
 Three image reference points (or more) – No degrees of freedom are

available – the 3D image’s alignment is locked.
Note that image reference points have a 3D tolerance property that is considered
by the best-fit operation. When a value greater than 0 is specified, it is usually very
small. This allows the image reference points, and the 3D images to which the
reference points belong, to translate slightly within their 3D tolerance.
Tolerance
An option button that allows constraining the displacement of all 3D image points
by a tolerance, which is entered in the adjacent text box. The default value
is .5 mm.
An additional constraint is offered that controls the locking of 3D images:
Sequential image group lock

A check box that is available when the constraint is by Tolerance or Reference
Points. When selected, the option specifies that at each iteration of the alignment
algorithm, the currently locked image group is unlocked and the next image

Figure 10.5 The tab used to configure the iterative image alignment technique.
group in the tree view is locked. This respects the basic constraint requirement
that at least one image group be locked, but shifts the condition to each
consecutive image group, freeing the unlocked image group to move within its
constraints. This is essentially a feature for a constrained alignment.
10.7.3 Specifying geometrical parameters
Two items of the Best-fit tab, shown in Figure 10.5, define geometrical parameters of
the iterative image alignment algorithm:
Maximum distance
A text box that defines a maximum acceptable distance between an image point
and another 3D image. If an image point is farther than this maximum distance
from another 3D image, the best alignment parameters between that point and
the 3D image are not computed. The Maximum distance parameter controls the

Figure 10.6 An example of a histogram of image alignment errors.
Image name
Red dotted line:

last nonempty
histogram bin
Red dotted line:
first nonempty
histogram bin
robustness of the image alignment computations. It is specified in the same units

as the 3D images. The default value is 2.0 mm.
Subsampling
A list box that defines a subsampling factor for the set of 3D images, which allows
controlling the number of 3D points for which the best image alignment
parameters are computed. Choose from: 1/1, 1/4, 1/9, 1/16, and 1/25.
Subsampling increases computation speed, and is used to accelerate the
convergence of the process when a large number of 3D images are aligned. The
default value is 1/4.
10.7.4 Visualizing image alignment errors
Two items of the dialog box’s Best-fit tab, shown in Figure 10.5, control the
visualization of the image alignment errors. The alignment error of an image point is
defined as the 3D distance between this point and another 3D image. The 3D distance
must be smaller than the Maximum distance to be considered an alignment error.
10.7.4.1 Generating histograms of the image alignment errors
Histograms of the image alignment errors are computed for all 3D images that are not
locked or ignored and displays them in the Histogram pane. An example of an error
histogram is shown in Figure 10.6. The mean and standard deviation of the alignment
error distribution are indicated by vertical dotted lines. The first and last nonempty
histogram bins are indicated by two vertical half-lines displayed in red. The name at the
upper left corner represents the index of a 3D image or an image group. Relevant
statistics for a histogram can also be obtained as well. For information on using the
Histogram pane, see Section 4.7.3 The Histogram pane.

The Display group box of the Best-fit tab provides an item that allows controlling the
range of the histograms:
Histogram range
A combo box specifies the range of the histograms. A value may be entered
manually in the combo box, which is interpreted as the range from minus value to
plus value. Or, a choice may be made from the following offered values:
 Auto – The histogram range is automatically determined from the results

obtained from the previous iteration of the alignment process.
 Maximum Distance – The histogram is computed for alignment errors

ranging from minus Maximum distance to plus Maximum distance.
10.7.4.2 Refreshing the 3D scene
Refreshing the 3D scene is controlled using an item in the Display group box:
Refresh mode
A list box that controls the frequency at which the 3D scene is updated. It offers the
following choices: None (specifies that the graphical windows are not updated
during the iterative process; this item is only available when the Show slipping
color map check box is cleared.), Continuous (specifies that the graphical
windows are updated whenever a new image alignment has been computed), and
1 Iteration, 4 Iterations, and 16 Iterations (specify that the graphical windows
are updated for every 1, 4, or 16 iterations of the iterative image alignment
technique).
10.7.5 Evaluating the slipping during the image alignment process
It is possible to determine whether 3D images are slipping or not during the alignment
process. Slipping is necessary during the first iterations in order to get all the 3D images
aligned. On the other hand, it is undesirable at the end, as it means that the 3D images
or the object shape insufficiently constrain the alignment to produce a reliable
solution.
The Slipping statistics group box of the Best-fit tab offers two items that allow
controlling the slipping analysis:
Show slipping color map

A check box, cleared by default, that enables the slipping analysis tool. When a
point moves by more than 1*10-6 (without subsampling) as a result of an iteration
of the best-fit alignment algorithm, its slipping is analyzed by considering the
angle between the direction of the displacement of the point and the surface
normal of the point. An angle close to 90 degrees characterizes slipping while an
angle between 0 and 60 degrees does not. A color map is displayed to help
visualize the slipping.

The slipping color map is based on the traffic light analogy. Green means that no
or little slipping is occurring (i.e., from 0 to 60 degrees). Yellow means that slipping
is likely occurring (actually there are two shades of yellow - a greenish yellow (from
60 to 80 degrees) and standard yellow (i.e., from 80 to 85 degrees)). Red means
that there is definitely slipping (i.e., from 85 to 90 degrees). Gray means that the
point does not overlap any other 3D image.
Along with the color map, a global slipping percentage is displayed in the
Statistics tab in the rightmost column. This number represents the number of
points in the red range compared to the total number of points that experienced
slipping. 3D images for which the slipping percentage is dangerously high are
highlighted by displaying a red square to the right of the percentage.
Note that when the check box is selected, the Refresh mode list box, if it is set to
None, is set to 1 Iteration. Screen refreshes are enabled in order to view slipping.
Acceleration factor
A text box that allows specifying a value, between 1 and 20. This factor allows
increasing the speed of the slipping computations. The smaller the number, the
smaller the increase in speed. The default value is 10. Here is an example, with 10
as the acceleration factor:
 At iteration #1, all points are processed to find the ones that overlap other 3D
images. The slipping is also computed.
 For iterations 2 to 10, the slipping is computed for only those points that were
found to overlap other 3D images (at iteration #1).
 At iteration #11, the two preceding steps are repeated for the next interval of ten
iterations, and so on.
10.7.6 Evaluating the convergence of the image alignment process
As described in the introduction to Section 10.5 Aligning automatically, the image

alignment algorithm iteratively refines each 3D image transformation matrix by
computing an incremental transformation matrix that best improves the image
alignment with respect to the other 3D images. The iterative process has converged
when all incremental transformation matrices computed during one iteration are
nearly identity matrices (multiplying a transformation matrix by an identity matrix has
no effect on the image alignment).
Two different methods may be used to specify a stopping criterion: one is based on a
number of iterations, while the other is based on a convergence criterion value. The
two stopping criteria can be activated simultaneously. When one of the stopping
criteria is met, the iterative alignment process is stopped.

10.7.6.1 Specifying the number of iterations
One item in the Convergence group box of the Best-fit tab provides control over the
number of iterations of the image alignment process:
# Iterations
A combo box that provides control over the number of iterations of the image
alignment process. Choose from: Evaluation Only, Unlimited, 5, 10, 50, and 100,
or enter a value for the number of iterations. Selecting Unlimited disables the use
of this stopping criterion.
A special feature has been implemented when Evaluation Only is selected. A

complete iteration of the image alignment process is performed and the
alignment histograms are computed. However, the incremental transformation
matrices generated by the optimization procedure are not applied to the 3D
images. Therefore, specifying Evaluation Only allows evaluating the quality of the
image alignment without actually performing this alignment.
10.7.6.2 Specifying a convergence criterion
A convergence criterion value can be specified to automatically stop the alignment

process when the incremental transformation matrices computed in one iteration are
nearly identity matrices. This convergence criterion value is computed for each
computed incremental matrix, and is defined as the sum of the squared differences
between the identity matrix elements and the incremental matrix elements. The
criterion value converges towards zero as the incremental matrices tend toward
identity matrices. When the convergence criterion is 0, the incremental alignment
matrix is exactly an identity matrix.
The Convergence combo box of the Best-fit tab provides control over the
convergence criterion value of the alignment process. Enter a value, or choose from:
Undefined, 0.001, 0.0001, 0.00001, or 0.000001. The default value is a predefined
value calculated using the standard deviation of the digitizer specification in the
project (see Section 14.2 Project options for more information). Choosing Undefined
disables the use of this stopping criterion.
To obtain fast and accurate results, the value of the Convergence parameter should be
-2
 -----
set to , where  represents the standard deviation of the 3D digitizer in model
 25
units. This guarantees that the accuracy of the final alignment will be at least 25 times
better than the standard deviation of the 3D imaging device. This accuracy should be
appropriate for most 3D modeling applications. To obtain very accurate results – at the
expense of additional computation time – the value of the Convergence parameter
 - 2
 --------
can be set to .
 100

Figure 10.7 The Statistics tab of the Best-Fit Alignment and Comparison dialog box.
10.7.7 Following the progression of the iterative process
The Statistics tab of the Best-Fit Alignment and Comparison dialog box, shown in
Figure 10.7, shows the current number of iterations performed on the set of 3D images.
It also displays an information line for each 3D image whose transformation matrix is
allowed to change. An information line begins with the image name, followed by the
last computed value of the convergence criterion, the mean, and the standard
deviation of the image alignment error distribution. The last item provides the slipping
percentage, and is calculated when the Show slipping color map check box is selected
in the Best-fit tab. The percentage is the number of points in the red range compared
to the total number of points that have experienced slipping within the current
iteration; for more information on slipping, see Section 10.7.5 Evaluating the slipping
during the image alignment process.

Aligning 3D Images Aligning using reference points
10.8 Aligning using reference points

Image reference points and global reference points may be used in different alignment
operations (e.g., Split View). This section explains how to create both types of reference
points, and describes alignment methods that are based on reference points.
10.8.1 Creating reference points
10.8.1.1 Creating and editing global reference points
Global reference points can be created from a main dialog box that offers several
creation methods. Once created, global reference points can be edited numerically.
The dialog box is available in the Default mode as well as in the following image
creation modes: Create Images from Spherical Grids and Point Cloud Organizer.
Once created, global reference points can be dragged and dropped in the Tree View to
become image reference points. For more information, see Section 4.6.8 Moving
objects in the tree view.
10.8.1.1.1 Creating global reference points
To create global reference points, choose the Align > Reference Points > Create > Global
Reference Points command or press the corresponding button on the Reference Point
Creation toolbar. A contextual dialog box is displayed that is configured by the choice
of creation method. All cases are shown in Figure 10.8. The dialog box is used as follows:
1. In the Name text box, specify an object name or accept the default value GRP
<number>, where <number> is an automatically incremented integer for global
reference points. Successive global reference points have an incremented number.
2. In the Method list box in the Creation method section, choose a method:
 Anchor – Create by picking points on 3D locations (described in Section

10.8.1.1.2 Creating by anchoring).
 Numerically – Create by specifying point coordinates manually (described in

Section 10.8.1.1.3 Creating numerically).
 From Text File – Create by importing point coordinates from a text file
(described in Section 10.8.1.1.4 Creating from text file).

Figure 10.8 The main dialog box showing the three methods used to create global reference
points.
(b) Numerically
(a) Anchor
(c) From Text File
Additional creation parameters appropriate to the method may appear

immediately below the list box in the Parameters section.
For information on each creation method and its additional creation parameters, if
any, see the subsections listed previously.
3. If options are displayed for the specified method, provide values or accept the
default values.
4. In the Alignment options section, make specifications or accept the default values.
This section is described in Section 10.8.1.1.5 Specifying alignment options.

5. Press the button at the bottom left of the dialog box. Its label is determined by the
specified method.
6. If desired, repeat the preceding steps using the same or a different method.
7. When finished, press the Close button to dismiss the dialog box.
10.8.1.1.2 Creating by anchoring
Choosing the Anchor method configures the dialog box as shown in Figure 10.8 (a).
This method allows picking points on 3D locations in the 3D scene. There are no
additional creation parameters.
On pressing the Anchor button, an interactive picking mode is enabled. If in the

Default mode, any visible polygonal models are temporarily hidden. If picking on
points, it may be helpful to increase the point size by way of the Point Size list box on
the Object Display Options menu button of the 3D Scene toolbar. Click to anchor
points. The SPACEBAR may be pressed to translate/rotate the 3D scene. Right-click or
press ESC to exit the anchoring mode.
10.8.1.1.3 Creating numerically
Choosing the Numerically method configures the dialog box as shown in Figure
10.8 (b). This method allows specifying directly the global reference points coordinates
in the Point group box in the Parameters section. Specify values in x, the y, and the z
text boxes.
In addition, if the huge translation values equal 0, the dialog box offers the Set Huge
Translation and align images to point check box. It enables assigning the coordinates
of the specified point to the huge translation and aligning the existing 3D images by
centering their bounding box on the point.
Press the Create button to launch the creation operation.
10.8.1.1.4 Creating from text file
Choosing the From Text File method configures the dialog box as shown in Figure
10.8 (c). It allows creating global reference points from information in a text file. There
are no additional creation parameters.
Press the Browse button. A file browser is displayed. Specify a file name and location
and press the Open button. The Import Parameters dialog box is displayed. In the Text
files section, specify a file-reading template in the Template list box. One context-
specific template is offered to define the contents of a line that defines a global
reference point:
 Points Only – Three floating-point numbers describing the (x, y, z) coordinates of the
point.

To specify or create a different template, press the Templates button. See the section
Section 5.3.1 Importing from text files in the PolyWorks Reference Guide for more
information on templates used to read text files.
The dialog box also offers an additional import parameter, Import x, y, z as Northing,
Easting, Elevation. When selected, the x and the y coordinates for each point are
swapped.
Finally, if the huge translation values equal 0, the browser offers the Set Huge
Translation and align images to first point check box. It enables assigning the
coordinates of the first point in the text file to the project’s Huge Translation
parameter, and aligning the existing 3D images by centering their bounding box on the
point.
Press the OK button to launch the creation operation, or the Cancel button to end the
operation.
10.8.1.1.5 Specifying alignment options
The Alignment options section, shown in Figure 10.8 (a), allows specifying tolerance
and weight values for the global reference points to be created. It offers the following
items for each creation method:
Tolerance
A group box that offers two ways to specify a tolerance:
3D
An option button, selected by default, that specifies a 3D tolerance.
Specify a value in the adjacent Value text box. The default value is
0.5 mm.
Per axis
An option button that specifies a tolerance per axis. Specify values in the
x, y, and z text boxes. The default value for each axis is 0.289 mm.
Note that the distinct tolerances along the three axes are useful if the
global reference point is measured by a GPS device, as GPS is more
accurate along the X and Y axes (Easting/Northing) than along the Z axis
(Elevation).
Weight
A text box that allows specifying a weight. It requires a positive value. If set to 0,
the point is ignored. A point with a larger value has relatively more influence when
aligning using reference points. The default value is 1.0.
10.8.1.1.6 Editing global reference points
Global reference points can be edited using the objects’ property sheet. For more
information, see Section 10.8.1.1.7 Properties of global reference points.

Figure 10.9 The property sheet for global reference points.
Global reference points can be displayed along with their annotations. Annotation
display is controlled by the Annotation check box in an object’s property sheet. The
annotations of global reference points are shown in orange.
10.8.1.1.7 Properties of global reference points
The property sheet of a selected global reference point can be accessed by choosing
the Edit > Object Properties command. It is shown in Figure 10.9. The Reference Point
tab of the sheet contains the following items:
Point
A group box that contains the x, y, and z coordinates of the point in, respectively,
the x, y, and z text boxes.

Tolerance
A group box that species a tolerance. Specify a new 3D tolerance by setting 3D and
entering a value in the Value text box, or specify a new tolerance per axis by
setting Per axis and entering a value in the x, the y, and/or the z text boxes.
Weight
A text box that specifies a positive number that indicates the relative influence of
the point.
Annotation
A check box that enables the display of the object’s annotation.
10.8.1.2 Creating and editing image reference points
Image reference points are created using a main dialog box that offers several creation
methods. Once created, image reference points can be edited numerically.
The dialog box is available in the Default mode as well as in the following image
creation modes: Create Images from Spherical Grids and Point Cloud Organizer.
Once created, image reference points can be dragged and dropped in the Tree View to
become associated with a different 3D image, or to become a global reference point.
For more information, see Section 4.6.8 Moving objects in the tree view.
10.8.1.2.1 Creating image reference points
To create image reference points, choose the Align > Reference Points > Create > Image
Reference Points command, or press the corresponding button on the Reference Point
Creation toolbar. A contextual dialog box is displayed that is configured by the choice
of creation method and, in some cases, sub-method. All cases are shown in Figure 10.8.
The dialog box is used as follows:
1. In the Name text box, specify an object name or accept the default value RP
<number>, where <number> is an automatically incremented integer for image
reference points. Successive image reference points have an incremented number.
2. In the Image list box, choose a 3D image to which the new image reference point(s)
will be associated. Only visible and nonignored 3D images are offered. If a valid 3D
image is already selected on giving the Create command, the list box will be set to
that object.
The list box is not offered in the Create Images from Spherical Grids mode.
3. Choose a method in the Method list box in the Creation method section.
 Anchor – Create image reference points by picking on 3D locations (described

in Section 10.8.1.1.2 Creating by anchoring).

Figure 10.10 The main dialog box showing each method to create image reference points.
(a) Anchor
(d) From Digitizer Position
(b) Numerically
(e) From Elements
(c) From Bounding Box
(f) From Text File

 Numerically – Create image reference points by providing point coordinates

manually (described in Section 10.8.1.1.3 Creating numerically).
 From Bounding Box – Create image reference points from the bounding box
that bounds the points of the specified 3D image (described in Section 10.8.1.2.4
Creating from bounding box).
 From Digitizer Position – Create image reference points from the digitizer
position of the specified 3D image (described in Section 10.8.1.2.5 Creating from
digitizer position).
 From Elements – Create image reference points from the geometric properties
of Primitives (e.g., center point) fit to a selection of 3D image points or raw data
points (described in Section 10.8.1.2.6 Creating from elements).
 From Text File – Create image reference points by importing point coordinates
from a text file (described in Section 10.8.1.1.4 Creating from text file).
Additional creation parameters appropriate to the method may appear in a

Parameters section, or a Sub-method list box may appear.
For information on each creation method and its additional creation parameters, if
any, see the subsections mentioned previously. Note that not all methods are
offered in all creation contexts.
4. If a Sub-method list box appears, make a choice.
5. If options are displayed for the specified method/sub-method, provide values or

accept the default values.
6. In the Alignment options section, make specifications or accept the default values.
This is described in Section 10.8.1.1.5 Specifying alignment options.
7. Press the button at the bottom left of the dialog box. Its label is determined by the
specified method.
If a 3D image is specified in the Image list box, the new image reference points are
associated with that image. Otherwise, they are associated with the 3D image under
construction, as when creating image reference points in the Create Images from
Spherical Grid mode.
8. If desired, repeat the preceding steps using the same or a different method.
9. When finished, press the Close button to dismiss the dialog box.
10.8.1.2.2 Creating by anchoring
Choosing the Anchor method configures the dialog box as shown in Figure 10.10 (a).
This method allows picking points on 3D locations in the 3D scene. There are no
additional creation parameters.

On pressing the Anchor button, an interactive picking mode is enabled. If picking on

points, it may be helpful to increase the point size by way of the Point Size list box on
the Object Display Options menu button of the 3D Scene toolbar. Click to anchor
points. The SPACEBAR may be pressed to translate/rotate the 3D scene. Right-click or
press ESC to exit the mode.
If anchoring in the Default mode, only the specified 3D image is visible in the 3D scene,
and the tree view is not available. On exiting the mode, the tree view becomes available
and the objects are displayed using their visibility status.
10.8.1.2.3 Creating numerically
Choosing the Numerically method configures the dialog box as shown in Figure
10.10 (b). This method allows specifying directly the image reference points
coordinates in the Point group box. Specify values in x, the y, and the z text boxes.
10.8.1.2.4 Creating from bounding box
Choosing the From Bounding Box method configures the dialog box as shown in
Figure 10.10 (c). This method creates eight image reference points that bound the
points of the specified 3D image. There are no additional creation parameters. Press the
Create button to launch the creation operation.
Note that this method is only available in the Default mode. It is not offered in the
image-creation modes.
10.8.1.2.5 Creating from digitizer position
Choosing the From Digitizer Position method configures the dialog box as shown in
Figure 10.10 (d). This method creates an image reference point from the digitizer
position of the specified 3D image. If there is no digitizer position, a message will
inform the user. The dialog box offers additional creation parameters that allow
offsetting the point along a vector defined in the original digitizer coordinate system:
Offset along vector

A group box that specifies an offset along a vector. The vector can be specified by
choosing a standard X, Y, or Z axis in the Vector list box, or by choosing Custom
and entering values manually in the i, j, and k text boxes that appear. Specify an
offset in the Offset text box. The default value is 0 mm.
To illustrate, let’s take an example. If Offset is set to 100 millimeters and the vector is set
to the standard Z axis, then the image reference point would be located at 100
millimeters above the digitizer position, along the Z axis.
Note that while LIDAR point clouds all have a digitizer position, other point cloud
formats may or may not have a digitizer position. The digitizer position of visible 3D

images can be displayed by selecting the Digitizer position check box on the Display
> Images page of the IMAlign Options dialog box; for complete information, see
10.8.1.2.6 Creating from elements
Choosing the From Elements method configures the dialog box as shown in Figure
10.10 (e). This method fits one or more Primitives to the selection of 3D image points or
raw data points and uses them to extract a specific point. The Sub-method item offers
a menu that offers a list of icons. Each icon specifies a type of Primitive to fit and how
the image reference point will be extracted from the temporary Primitive. Additional
creation parameters, whose description follows, may also apply to the sub-methods.
See the icons in the table that follows:
Icon Primitive Extraction Additional parameters
None Average of points None
Sphere Center Fit type, Constraints
Cone Apex Fit type
Intersection of the 3
3 Planes Fit type, Planes
planes
Rectangle Center Fit type
Fit type, Constraints,

Polygon Center
Number of sides
Circle Center Fit type, Constraints
The additional creation parameters, referred to in the table, have the following
functionalities:
Fit type
A group box that specifies the fitting type to use to when fitting geometric
primitives. It offers three types of fit:
Best-fit
An option button, selected by default, that specifies using the standard
best-fit algorithm that performs a pure least-squares approach, which
best-fits primitives on all selected elements. This option button makes
available a check box:

Reject outliers
A check box, selected by default, that specifies automatically
rejecting outlier elements prior to best-fitting a primitive.
Outliers are points that lie far from the average of the points used
to fit the primitive. The standard deviation of the points is used to
determine outliers.
Min
An option button that specifies using the minimum fitting algorithm. A
Min primitive is the largest primitive that does not enclose any in-
tolerance elements.
Max
An option button that specifies using the maximum fitting algorithm. A
Max primitive is the smallest primitive that encloses all in-tolerance
elements.
Constraints
A group box that allows specifying one or more constraints when fitting a
primitive. It offers the following parameter:
Radius
The radius of circles, polygons, and spheres can be specified by selecting
this check box and entering a value in the adjacent text box. The default
value is 1 mm. This item is available when the Fit type is set to Best-fit.
The following item is only offered when fitting polygons:
Number of sides
A list box that specifies the number of sides on the polygon to fit. The list box offers
six choices: 3, 4, 5, 6, 7, and 8.
The following item is only offered when fitting Planes:
Planes
A group box that allows fitting three separate Planes from three separate element
selections. Make a selection and press the Fit button. The status of the first plane
passes from Undefined to Defined. Do the same for the two other planes.
As the fitted Primitives are only temporary, a Preview button is offered that displays the
fitted Primitive as well as the point that would be used to create an image reference
point. If the display cannot be performed, the user is not informed.
Press the Create button to launch the creation operation. If the operation is successful,
the current element selection is annulled.

10.8.1.2.7 Creating from text file
Choosing the From Text File method configures the dialog box as shown in Figure
10.10 (f ). This method creates image reference points from information in a text file.
New image reference points are assigned to the name of the 3D image that they
provide; otherwise, they are assigned to the one specified in the Image list box. There
are no additional creation parameters.
Press the Browse button. A file browser is displayed. Specify a file name and location
and press the Open button. The Import Parameters dialog box is displayed. In the Text
files section, specify a file-reading template in the Template list box. Three context-
specific templates are offered to define the contents of a line that defines an image
reference point:
 Points + Image Names – Three floating-point numbers describing the (x, y, z)

coordinates of the point, followed by one string providing the name of the 3D image
file to which the image reference point will be assigned.
 Points + Names – Three floating-point numbers describing the (x, y, z) coordinates

of the point, followed by one string providing the name of the image reference point.
 Points Only – Three floating-point numbers describing the (x, y, z) coordinates of the
point.
To specify or create a different template, press the Templates button. See the section
Section 5.3.1 Importing from text files of the PolyWorks Reference Guide for more
information on templates used to read text files.
swapped.
Press the OK button to launch the creation operation, or the Cancel button to end the
operation.
10.8.1.2.8 Specifying alignment options
The Alignment options section allows specifying tolerance and weight values for the
image reference points to be created. It offers the following items for each creation
method:
Tolerance
A group box that offers two ways to specify a tolerance:
3D
An option button that allows specifying a 3D tolerance. Specify a value in
the adjacent Value text box. The default value is 0.5 mm.
Per axis
An option button that allows specifying a tolerance per axis. Specify
values in the x, y, and z text boxes. The default value per axis is 0.289 mm.

Note that the distinct tolerances along the three axes are useful if the
image reference point is measured by a GPS device, as GPS is more
accurate along the X and Y axes (Easting/Northing) than along the Z axis
(Elevation).
Weight
A text box that allows specifying a weight. It requires a positive value. If set to 0,
the point is ignored. A point with a larger value has relatively more influence when
aligning using reference points. The default value is 1.0.
10.8.1.2.9 Creating image reference points using the command language
The command language offers the same creation methods. In addition, for the From
Bounding Box and the From Digitizer Position methods, those commands consider
the current object selection. This allows batch processing existing 3D images. For
example, creating image reference points from the bounding box for three selected 3D
images.
10.8.1.2.10 Editing image reference points
Image reference points can be edited using the objects’ property sheet. For more
information, see Section 10.8.1.2.11 Properties of image reference points.
Image reference points can be displayed along with their annotations. Annotation
display is controlled by the Annotation check box on an object’s property sheet. The
annotations of image reference points are shown in green.
10.8.1.2.11 Properties of image reference points
The property sheet of a selected reference point can be accessed by choosing the Edit >
Object Properties command. It is shown in Figure 10.11. The Reference Point tab of the
sheet contains three items. The first item displays point coordinates:
Point
A group box that contains the x, y, and z coordinates of the point in, respectively,
the x, y, and z text boxes.
The next two items are used by the constrained best-fit alignment technique:
Tolerance
A group box that species a tolerance. Specify a new 3D tolerance by setting 3D and
entering a value in the Value text box, or specify a new tolerance per axis by
setting Per axis and entering a value in the x, the y, and/or the z text boxes. The
best-fit alignment guarantees that the reference points remain within tolerance.
The default value assigned to this item is 0.5 mm.

Figure 10.11 The property sheet for image reference points.
Weight
A text box that specifies a positive number that indicates the relative influence of
the point.
The last item controls the display of the object’s annotation:
Annotation
A check box that enables the display of the object’s annotation.

10.8.1.3 Importing image reference points from a text file
The Align > Reference Points > Create > Image Reference Points From File command allows
reading a text file containing image reference points.
On choosing this command, a file browser is displayed to specify a file name and
location and press the Open button. The Import Parameters dialog box is displayed. In
the Text files section the Points + Names template is already specified in the
Template list box. According to this default template, an image reference point file
should contain one line per point. Each line should consist of three floating-point
numbers describing the (x, y, z) coordinates of the point, followed by one string
providing the name of the 3D image file to which the image reference point will be
assigned.
A different template may be specified by pressing the Templates button and using the
dialog boxes that are made available (explained in the section Section 5.3.1 Importing
from text files of the PolyWorks Reference Guide). When the Points Only template is
specified, all of the points in the file must belong to the same 3D image which must be
selected in the tree view. 3D images can have as many image reference points as
desired.
swapped.
Once the specifications have been made, press the OK button to launch the operation
or the Cancel button to cancel the operation.
10.8.2 Aligning by automatically matching reference points
A set of 3D images with image reference points can be aligned using an automatic
reference point matching method. This method matches the image reference points of
selected, visible 3D images to either (a) only the global reference points, or (b) to the
global reference points and the image reference points of nonselected, visible 3D
images. Note that a minimum number of reference points is required:
 The set of selected 3D images must collectively have at least three image reference
points.
 There must be at least three global reference points, or at least three combined
global reference points and image reference points of nonselected 3D images.
On choosing the Align > Reference Points > Auto-Match command, or pressing the
corresponding button on the Processes toolbar, the dialog box in Figure 10.12 is
displayed, offering the following items:
Match reference points of selected images to

A group box that offers two option buttons that determine to which points the
image reference points of selected 3D images should be matched:

Figure 10.12 The dialog box used to align 3D images by automatically matching reference points.
Global reference points only

An option button that specifies aligning only to the global reference
points (points in a global coordinate system).
Global and image reference points

An option button that specifies aligning the set of selected 3D images to
the remaining 3D images by means of common targets (i.e., global
reference points and the image reference points of visible 3D images that
are not selected).
The group box also offers an item that allows specifying a 3D distance that controls
the alignment algorithm:
Tolerance
A text box that specifies a 3D distance that is used for two purposes. The
default value is .50 mm. First, it is used to identify clusters of close image
reference points and close global reference points, and average them
into single points (called, respectively, source and destination points).
Secondly, the distance is used to match the source points to the
destination points.
The dialog box also features an Advanced button that unfolds a hidden section of the
dialog box, which offers the following items
Initial match optimization

A group box that specifies a Max number of points to use for the initial matching
stage of the operation. Values range from 3 to 1000 with 25 as the default value.
The default value is satisfactory in almost all cases. However, in the event that the
alignment fails, try specifying a larger value and reperforming the alignment.
Press the OK button to launch the alignment operation, or the Cancel button to
dismiss the dialog box.

The first step of the automatic matching method consists of defining the source points
and the destination points.
 The source points consist initially of all of the image reference points of the selected,
visible 3D images. To limit their number, clusters of close image reference points are
averaged into single points. Take for example two 3D images that were previously
aligned and that contain the same targets in the 3D scene. Each common target is
represented by two image reference points that are close to each other (i.e., within
the Tolerance distance). This situation is detected and each pair of two image
reference points is averaged into one source point. Note that there must be at least
three source points for the operation to continue.
 The destination points are initially all of the global reference points and, if specified,
the image reference points belonging to visible 3D images that are not selected. To
limit their number, close reference points are averaged into single points. There must
be at least three destination points for the operation to continue.
Then, the source points are matched to the destination points. All possible matches are
considered and the best solution is retained.
A HTML report about all auto-matching operations performed on an IMAlign project is

available. For more information, see Section 10.8.4 Displaying the match report.
10.8.3 Aligning by manually matching reference points
The Align > Reference Points > Manual Match command allows aligning selected 3D
images to unselected 3D images by matching reference points within each set of 3D
images. At least two image reference points must be available from among the selected
3D images, and at least two image and/or global reference points must be available
from among the unselected 3D images and the list of global reference points.
On choosing the command, the tree view is disabled and two viewports are displayed
in the 3D scene. The selected 3D images and their available reference points are
displayed in the right viewport and the other available reference points and 3D images
are displayed in the left viewport. In addition, the dialog box, shown in Figure 10.13, is
displayed, offering the following items:
Method
A list box that specifies the method to use to match reference points. Two methods
are offered: 3 Points or More requires matching three or more reference points,
while 2 Points + Elevation Axis requires matching two reference points and
specifying an elevation axis.
Note that if only two reference points are available on starting the mode, the only
choice offered by the list box is 2 Points + Elevation Axis.
Clustering distance
A text box that specifies a distance that allows identifying points close to a
matched reference point in the left viewport. These close points are considered to
be a cluster, and a virtual point is created from the average of the points in the

Figure 10.13 The dialog box used to align 3D images by matching reference points.
cluster. This virtual point is then used for the alignment operation; using a virtual
point minimizes the error. The default value is 0.5 mm. If no cluster is found using
the distance value, when 0 is specified for example, the matched reference point
is used for the alignment operation.
Elevation axis
A list box offered for the 2 Points + Elevation Axis method. It allows specifying an
axis that limits another degree of freedom. Choose from X, Y, and Z. The default
value is Z.
The mode proceeds as follows:
1. To match points, click a fixed point or its annotation in the left viewport and then do
the same for the corresponding mobile point in the right viewport. Or, click all of the
desired points in the right viewport and then click all of the desired points in the
same order in the right viewport.
Matched points and their annotation are displayed using the same color.
If point matching has begun and a different Method is specified, the current
matching information is discarded and the point matching starts over again.
2. It is possible to temporarily leave the mode to rotate/translate the 3D scene by

pressing the SPACEBAR.
3. Right-click or press the TAB key to launch the alignment.
If an insufficient number of points were matched, an error message is displayed and

the matching can continue. Right-click to launch the alignment.
The (mobile) points in the left viewport are aligned to the (fixed) points in the right
viewport, and if the method is 2 Points + Elevation Axis, the viewing vector of the set
of selected 3D images is aligned with the specified elevation axis. The mode is exited
after the alignment, and the tree view is re-enabled.

Aligning 3D Images Applying transformation matrices to 3D images
10.8.4 Displaying the match report
A HTML report about all auto-matching operations performed on an IMAlign project is

available for display by choosing the Align > Reference Points > Match Reports
command. The list of matched points as well as the point-to-point deviations after
matching is provided.
10.9 Applying transformation matrices to 3D images

Three operations on the Align menu allow applying transformation matrices to a set of
selected 3D images, none of which have alignment constraints (i.e., available reference
points):
10.9.1 Transforming 3D images using a matrix
The Align > Transform Images using Matrix command applies a transformation matrix to
selected 3D images.
On choosing the command, a file browser is displayed to select a transformation matrix

file. Specify a file name and location, and press the Open button.
10.9.2 Centering 3D images on screen
The Align > Center Images on Screen command centers on screen the selected 3D
images.
This function allows retrieving a 3D image that has been lost during alignment
computations.
10.9.3 Moving 3D images to their initial position
The Align > Move Images to Initial Position command resets the alignment of selected 3D
images by setting their matrix to Identity.
This function allows visualizing the 3D images as they were originally digitized.

Aligning 3D Images Quickly aligning large sets of unaligned 3D images
10.10 Quickly aligning large sets of unaligned 3D images

Several 3D digitizers can generate large sets of unaligned 3D images. In this case, an
approximative alignment needs to be built by aligning 3D images one by one. There is
an optimized method to perform this incremental alignment task:
1. Load all of the 3D image files at once by choosing the File > Import > Point Clouds
command.
2. Select and ignore all of these 3D images, except one.
3. Choose the Align > Next Ignored Image command to align the first ignored 3D image.
The application is automatically set to the Split View Alignment mode.
4. Perform the alignment (see Section 10.3 The Split View Alignment mode).
If the method used does not automatically exit the mode, then do so manually.
5. When using the The Split View Alignment tool, if the alignment of the 3D image was
not successful, then select and hide this 3D image and proceed to the next ignored
3D image. Process all ignored 3D images similarly.
6. If 3D images were hidden because they could not be aligned in the preceding step,
make them visible, ignore them, and repeat the preceding procedure until all 3D
images have been aligned.
Note that on encountering a 3D image with a constrained alignment (i.e., with one or
more nonignored image reference points) the Next Ignored Image command will cancel
displaying an appropriate error message.

Tools 11
This chapter presents the module’s auxiliary tools, found on the Tools menu. They include operations that
allow editing 3D images, operations related to plug-ins, device positions, and a project’s huge translation, as
well as operations that allow recording macro scripts and editing visual layouts. The menu also provides
access to the module’s options dialog box, and an operation that allows saving the current configuration to
the user configuration.
Shorter subjects are included in this chapter, while more elaborate subjects, like editing 3D images,
scanning using plug-ins, and customizing module options are contained within their own chapter. These
include:
 Chapter 12 Editing 3D Images
 Chapter 13 Scanning Objects
 Chapter 14 Setting Options

Tools Managing device positions
Figure 11.1 The Device Positions dialog box and its shortcut menu.
11.1 Managing device positions

The device position mechanism allows moving a device and then continuing to acquire
aligned data. It consists of information that describes the position of a device and
information that allows aligning a device position to other device positions, in order to
acquire data correctly aligned when displacing the device. Device positions are created
within an IMInspect project and are saved at the workspace level. Each device position
has a uniform scaling factor; if set to one, there is no scaling of acquired points. Device
positions are explained in the chapter Using Multiple Device Positions of the IMInspect
Reference Guide.
To manage device positions, choose the Tools > Device Positions command. The dialog
box, shown in Figure 11.1, is displayed.
The central list displays the device positions available to the project. Clicking a list item
once selects it, and clicking it twice allows renaming it. The following buttons are
offered below the list:
Button Description
Activate Device Position

A button that allows making the selected device position the active
device position. This operation is available on a device position’s shortcut
menu.
Device Position Matrix

A button that offers operations, documented in text that follows, to edit
and export the matrix of the selected device position. These operations
are available on a device position’s shortcut menu.

Tools Loading point clouds without loading 3D Image data
The Device Position Matrix button, described in the preceding table, displays a menu
that offers operations to edit and export the matrix of the selected device position. Its
Export submenu offers the following operations:
4x4
Exports the specified matrix to an external ASCII file as a 4x4 matrix. On choosing
this command, a file browser pops up. Specify a directory and a file name, and then
press the Save button.
Euler
Exports the specified matrix to an external ASCII file in Euler form (i.e., three
rotations and three translations). On choosing this command, a file browser is
displayed. Specify a directory and a file name, and then press the Save button.
Its Edit submenu offers the following operations:
Set from File

Replaces the matrix with one read from a file. On choosing the command, a file
browser is displayed to select a transformation matrix file. Specify a file name and
location, and press the Open button.
Reset to Identity
To be documented.
Transform from File

Applies a transformation matrix to the selected device position. On choosing the
command, a file browser is displayed to select a transformation matrix file. Specify
a file name and location, and press the Open button.
Transform from File (Inverse)

Applies the inverse of a transformation matrix to the selected device position. On
choosing the command, a file browser is displayed to select a transformation
matrix file. Specify a file name and location, and press the Open button.
A command is offered at the bottom of the menu:
Rename
Allows renaming the selected device position. Enter the desired name in the list
area and click away from the list item.
11.2 Loading point clouds without loading 3D Image data

IMAlign can be configured so that no 3D Image data is read. The No Data mode is
enabled by choosing the Tools > No Data Mode command. The message “No image data
in this mode” is displayed near the top of the 3D Scene pane. Note that the project must
be empty to enable/disable this mode.

Tools Setting a huge translation value
In the No Data mode, an IMAlign project can be opened or imported, and 3D Images
from planar grid/mesh point clouds can be imported by way of the File > Import > Point
Clouds command.
The No Data mode is useful when:
 Quickly creating large projects and manipulating the properties of 3D Images before
loading the 3D Image data.
 Simply modifying the properties of 3D Images in existing IMAlign projects.
To load the actual 3D Image data:
1. Save the current IMAlign project.
2. Choose the File > New Project command.
3. Clear the Tools > No Data Mode check command.
4. Reopen the IMAlign project.
11.3 Setting a huge translation value

Under revision: This section describes V11 operation(s). It will be soon updated for the
V12.1 operation(s). Updated documentation will be available to users in the upcoming
major and intermediate releases of PolyWorks 12.1. For summary information on this topic,
consult the document “What’s New in IMAlign”, available from the Help menu of the
PolyWorks/IMAlign module. For immediate information on this subject, please contact your
technical support personnel.
3D Images may be created from files in large numbers. Large numbers are those having
more than seven digits including the decimals. Because of the current limitations of
computers, and in line with the objective of preserving decimal accuracy, a method has
been implemented that reduces all numbers to a small-number coordinate system.
Users only have to flag a file as being in large or small numbers and the application
manages the rest.
Four spherical grid point cloud types may contain coordinates written in large
numbers. They may be grouped into two categories by how they may be flagged as
containing large numbers. The first group contains a flag within the file and the value to
assign to the Huge translation parameter in IMAlign. Formats in this group include IXF
from Optech and RSP Project from Riegl.
The second group allows specifying the file status by way of a dialog box. Formats in
this group include PTX from Leica and generic ASCII files. The user can specify on
import that PTX files from Leica and ASCII point clouds are geo-referenced or not in
three ways.
 The first way is on importing the file into the PolyWorks/Workspace Manager and
using the Geo-referenced file check box in the dialog box. This operation is

explained in the section Section 3.8.1 Importing point clouds of the PolyWorks
Reference Guide. The file is tagged as being geo-referenced or not, and that
information is read by IMAlign when importing the file directly from the PolyWorks/
Workspace Manager.
 The second way is by using the Geo-referenced file check box in the import dialog
box when importing the file from disk into IMAlign. When the check box is selected,
the file is specified as being geo-referenced.
 The third way also applies to importing a file from disk. It can be seen as a double
check in case the user forgets to select the Geo-referenced file check box in the
import dialog box. The Geo-reference Wizard is a module option. When selected,
and the Geo-referenced file check box is cleared on importing a PTX or an ASCII file,
the wizard appears, displays the coordinates of a point – the digitizer position for the
PTX file or the first point for an ASCII file – and asks whether the file is geo-referenced
or not. A Yes and a No button are offered to make the choice.
Once a file has been flagged as being geo-referenced or not, IMAlign proceeds as
follows:
 On importing a geo-referenced file and the project’s huge translation values equal 0,
or the huge translation values are different from 0 but the project is empty, the value
in the file is assigned to the project’s Huge translation parameter and then the
import operation continues. The huge translation value is subtracted from the
coordinates of the point cloud being imported.
In the case of IXF or Riegl RSP Project files, a message informs the user each time the
huge translation value is changed. In the case of PTX or ASCII files, a message informs
the user that the huge translation value has been changed only when the value was
nonzero and the project was empty.
 On importing a geo-referenced file and the project’s huge translation values is

different from 0 and the project is not empty, the project’s Huge translation
parameter is not changed. The import operation continues. The huge translation
value is subtracted from the coordinates of the point cloud being imported.
 On importing a file that is not geo-referenced, the file is imported as is independent

of the value of the huge translation.
 In both cases, geo-referenced and non geo-referenced files are in small numbers. For
display purposes, the huge translation value is added to the coordinates of the 3D
Images and they both appear in large numbers.
Two specific workflows have been developed. Only applies to ASCII, PTX, and Riegl RSP
Project point clouds expressed in a large-number coordinate system. This includes
ASCII point clouds containing reference points expressed in large numbers (e.g., GPS
points). A typical scenario could include point clouds expressed in small or large
numbers, and GPS points that are expressed in large numbers.

Figure 11.2 How the huge translation is used. In the first column, each object is represented by a
single point. The first object is in small numbers and the second object is in large
numbers. The project’s Huge translation parameter value is set to a large value. The
second column shows the point coordinates after import. The huge translation value
has been subtracted from the coordinates of the object in large numbers. Both
objects are now in small numbers. The third column shows that for display purposes,
the huge translation value is added to the actual coordinates of each point.
Display Coordinates =
Geo- Actual Coordinates
Objects Actual Coordinates +
referenced? (in small numbers)
Huge Translation
x=1.234567 No x=1.234567 x=3,000,001.234567

y=1.234567 y=1.234567 y=3,000,001.234567
z=1.234567 z=1.234567 z=3,000,001.234567
x=3,000,012.34567 Yes x=12.34567 x=3,000,012.34567

y=3,000,012.34567 y=12.34567 y=3,000,012.34567
z=3,000,012.34567 z=12.34567 z=3,000,012.34567
Huge translation: x=3,000,000 y=3,000,000 z=3,000,000
11.3.1 Example
The project’s Huge translation parameter allows handling large-number coordinate

systems while keeping numbers in small-number coordinate systems.
The huge translation consists of the coordinates of a point expressed in large numbers.
By default, it is set to (0,0,0), which has no effect. When a value is assigned to the
project’s Huge translation parameter, the values of the huge translation are
subtracted from any objects flagged as being in large numbers. However, from a
display point of view, all objects appear to be in the large-number coordinate system.
See the table in Figure 11.2 for an example.
11.3.2 How to specify that IXF and Riegl RSP Project point clouds are geo-
referenced
A field in IXF files from Optech and Riegl RSP Project files from Riegl is reserved to
indicate whether the file is geo-referenced or not, and if so what value to assign to the
IMAlign project’s Huge translation parameter.

On importing a geo-referenced file and the project’s huge translation values equal 0 or
the project is empty, the value in the file is assigned to the project’s Huge Translation
parameter and then the import operation continues. A message informs the user that
the huge translation value has been changed. The huge translation value is subtracted
from the coordinates of the point cloud being imported.
On importing a file that is not geo-referenced, the file is imported as is, independent of
the value of the huge translation.
In both cases, geo-referenced and non geo-referenced files are in small numbers. For
display purposes, the huge translation value is added to the coordinates of the 3D
Images and they both appear in large numbers.
11.3.3 Importing 3D Images from PTX and ASCII point clouds
The user can specify on import that PTX files from Leica and ASCII point clouds are geo-
referenced or not in three ways.
 The first way is on importing the file into the PolyWorks/Workspace Manager and
using the Geo-referenced file check box in the dialog box. This operation is
explained in the section Section 3.8.1 Importing point clouds in the PolyWorks
Reference Guide. The file is tagged as being geo-referenced or not and that
information is read by IMAlign when importing the file directly from the PolyWorks/
Workspace Manager.
 The second way is by using the Geo-referenced file check box in the import dialog
box when importing the file from disk into IMAlign. When the check box is selected,
the file is specified as being geo-referenced.
 The third way also applies to importing a file from disk. It can be seen as a double
check in case the user forgets to select the Geo-referenced file check box in the
import dialog box. The Geo-reference Wizard is an option, offered on the General
page of the IMAlign Options dialog box (for more information, see Section 14.1
General options). When selected, and the Geo-referenced file check box is cleared
on importing a PTX or an ASCII file, the wizard appears, displays the coordinates of a
point – the digitizer position for the PTX file or the first point for an ASCII file – and
asks whether the file is geo-referenced or not. A Yes and a No button are offered to
make the choice.
11.3.4 Setting a huge translation
The project’s Huge Translation parameter value can be set in several ways:
 Choose the Tools > Huge Translation command, or press the corresponding button on
the Processes toolbar to display the dialog box shown in Figure 11.3. Values may be
specified manually in the dialog box. Or, press the Import button to display a file
browser. Specify a point cloud file name and location. To assign different templates,
press the Options button and make specifications in the dialog box that is displayed,

Figure 11.3 The dialog box used to specify a huge translation for the IMAlign project.
then press the OK button. See the section Section 5.3.1 Importing from text files in
the PolyWorks Reference Guide for more information on templates used to read text
files. When the correct specifications have been made, press the Open button. The
file is read and the first x, y, z coordinates are used as the project’s Huge Translation
parameter value.
Press the Apply button to transfer the value to the application and the Close button
to dismiss the dialog box.
11.3.5 Examples of using the huge translation value
Three examples demonstrate using the huge translation value.
The three examples that follow demonstrate using the huge translation.
Example 1
Context: The point clouds are expressed in a large-number coordinate system.
Take the most simple example. The point clouds (in ASCII, PTX, or RSP Project format)
are expressed in large numbers. The (x, y, z) coordinates of the first digitized point of the
first point cloud are (4,333,222 345,333 121,242). The user would proceed as follows:
1. Choose the Tools > Huge Translation command or press the corresponding button
on the Processes toolbar. The dialog box, shown in Figure 11.3, is displayed. Specify
the coordinates of a large number in one of the following ways:
 Manually enter the values in the Translation x, Translation y, and Translation z

text boxes.
 Press the Open Point Cloud button to specify the name of the point cloud in the
file browser that is displayed. On pressing the Open button, the point cloud is

opened and the coordinates of the first point are read into the project’s Huge
translation parameter.
Press the Apply button to have the specified values transferred to the project’s
Huge translation parameter.
2. Import your point clouds into IMAlign, where they are converted to 3D Images.
Internally the huge translation value is subtracted from the coordinates of the
digitized points, preserving decimal accuracy. In fact, this value is subtracted from
all objects subsequently loaded into IMAlign.
The display shows 3D Images in the large-number coordinate system (e.g., select the
Grid check box on the 3D Scene page of the IMAlign Options dialog box (see Section
14.3.1 3D Scene display options)).
3. Proceed with the alignment of the 3D Images that are in the tree view.
Example 2
Context: The point clouds and reference points are expressed in a large-number
coordinate system.
The user would proceed similarly to Example 1 above:
1. Set the project’s Huge translation parameter.
2. Import your point clouds, which will be converted into 3D Images.
3. Import your reference (e.g., GPS) points (see Section 10.8.1.1 Creating and editing
global reference points). They appear as Global reference points in the tree view.
4. Align the 3D Images into a common coordinate system.
5. Align the 3D Images all at once to the imported global reference points.
The display shows the 3D Images and the global reference points in the large-number
coordinate system.
Example 3
Context: The point clouds are expressed in small numbers and your GPS points are
expressed in large numbers.
The approach is to load objects expressed in small numbers, set the project’s Huge
translation parameter, and then load objects expressed in large numbers:
1. Load your point clouds (expressed in small numbers), which are converted to 3D
Images.
2. The 3D Images may be aligned now or once the procedure is finished.

Tools Processing shortcuts
3. Set the project’s Huge translation parameter using the coordinates of one of the
GPS points. All objects already loaded in IMAlign are automatically translated by the
huge translation value.
4. Load the GPS points (see Section 10.8.1.1 Creating and editing global reference
points). They appear as global reference points in the tree view. Internally, the huge
translation value is subtracted from their coordinates, while the display shows the
points at their large-number coordinates. Because of the translation performed in
the previous step, the 3D Images now also appear in the large-number coordinate
system.
5. If not already done, align the 3D Images into a common coordinate system, and
then align them as a whole to the global reference points.
11.4 Processing shortcuts

The Tools menu offers two commands that allow opening the current IMAlign project in
another module to continue processing the data.
Create Polygonal Model

Saves the current IMAlign project and closes the IMAlign module, and then opens
the IMMerge module with the IMAlign project already loaded with values
assigned to parameters based on the IMAlign project. See the IMMerge Reference
Guide for complete information on generating a polygonal model from an IMAlign
project.
Inspect IMAlign Project

Saves the current IMAlign project and closes the IMAlign module, and then opens
a new instance of the IMInspect module containing the IMAlign project loaded as
a surface Data object.
11.5 Commands
The Commands menu offers the following commands:
Command History
Displays the Command History pane which displays the commands invoked by
the user.
Start Recording
Starts the recording of commands invoked by the user.
Stop Recording
Stops the recording of invoked commands.

Tools Macro scripts
Paste Recording in New Macro Script

Pastes the recorded commands into the active macro script. If necessary, the
Macro Script Editor pane is opened, a new macro script is opened, and the
recorded commands are pasted into the active macro script.
The last three commands are also found on the Tools menu of the Macro Script Editor.
For complete information on the Command History pane, the Macro Script Editor tool,
and the scripting language, see the Macro Script Reference Guide. It is offered on the
Macro Script Editor’s Help menu and the module’s Help > Reference Guides submenu.
11.6 Macro scripts

The Macro Scripts menu offers the following commands:
Macro Script Editor

Displays the Macro Script Editor pane.
New Macro Script

Opens a new macro script in the Macro Script Editor. It also displays the pane if
necessary.
Run Macro Script File

Opens a special file browser to find the macro script file to execute. On pressing
the browser’s Open button, the instructions in the files are read and executed. The
file browser is presented in Section 2.3.1 Opening a macro script fileof the Macro
Script Reference Guide.
IMPORTANT: Some commands may not be able to be executed by the current

version of the IMAlign module. The version of PolyWorks must be the same or be
more recent than the version of commands in the script file. Each script begins
with the Version statement that indicates the version for which it was created. For
more information, see Section 2.4.1 General macro script notions of the Macro
Script Reference Guide.
For complete information on the Macro Script Editor tool and the scripting language,
see the Macro Script Reference Guide. It is offered on the Macro Script Editor’s Help
menu and the module’s Help > Reference Guides submenu.
11.7 Visual layouts

The Tools >Visual Layout submenu offers the commands that follow. A brief description
is provided for each command. A reference is also made to the section of the PolyWorks
Reference Guide chapter that explains the functionality in detail.
The first commands allow specifying a system visual layout.

Tools Visual layouts
Manufacturing
Loads the Manufacturing system visual layout.
Surveying
Loads the Surveying system visual layout.
All Applications
Loads the All Applications system visual layout.
Note that new system visual layouts can be added by either saving or copying a visual
layout to the visual_layout subdirectory of the PolyWorks installation directory. This
customized system visual layout then appears at the end of the system visual layouts
list available under the Tools > Visual Layouts submenu of the corresponding module.
The submenu also offers the following commands that allow performing operations on
existing visual layouts:
Load
Loads a visual layout from an external file.
For more information, see Section 4.2.4 Loading a visual layout of the PolyWorks
Reference Guide.
Save
Saves a visual layout to an external file.
For more information, see Section 4.2.3 Saving a visual layout of the PolyWorks
Reference Guide.
Backups
Loads a backed up visual layout file from a list of layout files. A layout file is
identified by the date and hour it was backed up.
For more information, see Section 4.2.1 Understanding the visual layout
mechanism of the PolyWorks Reference Guide.
Import Macro Scripts from Layout

Creates a new toolbar with the macro scripts imported from a visual layout file.
For more information, see Section 4.2.6 Importing macro scripts from visual
layouts of the PolyWorks Reference Guide.
Customize
Starts the visual layout customization mode.
Customizing toolbars, menu bars, menu item shortcuts, options, and macro scripts is
done using a module’s Customize Visual Layout dialog box, shown in Figure 11.4. For
complete information, see Section 4.3 Customizing an application’s visual layout of the
PolyWorks Reference Guide.

Figure 11.4 The Customize Visual Layout dialog box.
The Customize Visual Layout dialog box offers the following tabs:
Toolbars
A tab that offers the list of toolbars available in the application. It allows showing
and hiding toolbars, as well as creating, renaming, and deleting custom toolbars.
It also offers the Reset button to reset the selected toolbars to their initial state.
Commands
A tab that lists all the of the commands in the application. Choose a main menu
command or a toolbar in the Categories list box, and all of the available
commands for the selected category appear in the Commands list box. To add a
command to a toolbar or menu, select it in the Commands list box and drag in on
the desired toolbar or menu.
Keyboard
A tab that allows assigning a keyboard shortcut to any command available in the
application.
Options
A tab that offers allows locking the docking windows, setting the size of toolbar
buttons, and defining the screen tips and animation type.
Macro Scripts
A tab that allows managing the macro scripts in the current visual layout and
assigning them to a toolbar or menu.

For complete information on customizing visual layouts, choose the Interface

Customization command on the Help menu of the PolyWorks/Workspace Manager. The
PolyWorks Reference Guide opens in PDF format to the chapter on visual layout
customization.

Tools Saving the current configuration to the user configuration
11.8 Saving the current configuration to the user

configuration
When PolyWorks is installed, it comes with a default standard configuration for the
PolyWorks/Workspace Manager as well as for each module. Each user also has a
configuration file that allows customizing each module. This file, which is read on
launching an instance of a module (i.e., an application), contains no settings initially.
IMAlign may easily be configured to specific needs by means of a configuration file,

which contains window sizes and positions, the display modes, color information, the
selection mode, and various dialog box parameters, module options, and more. The
Tools > Save User Configuration command allows transferring the application’s current
configuration settings to the current user’s personal configuration file.
On choosing this command, a message window is displayed stating that the current
user configuration will be erased. Press the OK button to continue the operation or the
Cancel button to end the operation. When continuing, the current configuration is
saved to a file which becomes the new default configuration for the user when starting
another instance of that application.
11.9 Specifying options

The Tools > Options command opens the IMAlign Options dialog box. It offers options
for the entire module, some of which should be specified before using the module as
they configure operations performed on object import, determine the use of wizards,
and more. These options are documented in Chapter 14 Setting Options.
Exporting

Editing 3D Images 12
3D images, their elements, and their reference points can be edited. The corresponding operations are
located on the Tools > Images submenu.
The editing operations for 3D images include:
 Keeping the best line data.
 Reducing the number of points in the overlapping areas in a set of 3D images.
 Smoothing 3D images.
 Interactively reinterpolating a 3D image.
 Setting a minimum Z value for a 3D image.
Other operations allow ignoring 3D image points for alignment or merging, and creating and editing image
reference points.
This chapter describes these operations, and presents the properties of 3D images, which may be edited.

Editing 3D Images Creating 3D images from polygonal models
12.1 Creating 3D images from polygonal models

To create 3D images from a selected visible polygonal model, choose the Tools > Images
> Create from Polygonal Model command. The dialog box, shown in Figure 12.1, is
displayed. In addition, the Tree View pane is made unavailable, and only the selected
polygonal model is visible in the 3D scene. To see the model triangles in the 3D scene,
the drawing type of the Static display mode should be set to Wireframe; for more
information, see Section 14.3.7 Polygonal model display options.
Creating the 3D images consists in the following steps, which are explained in detail in
the subsections that follow:
1. Transform the model using the mouse.
2. Edit (i.e., deleting, hiding) model triangles if desired.
3. Press the Next Step (Tab) button, or the TAB key, to set the current viewpoint and
display a dialog box used to create a 3D image from the current viewpoint.
4. Repeat this process until all of the desired areas of the polygonal model have been
captured in the form of 3D images.
Note that the tree view is unavailable when using this tool. As a consequence, no
operations on existing objects are available. When the process is over, the new 3D
images are added to the IMAlign project.
12.1.1 Specifying the display in the 3D scene
The dialog box features two items that control the display in the 3D scene:
Show polygonal model

A check box that enables the display of the polygonal model. It is useful to hide the
model at intervals during the 3D image creation process to visualize areas not yet
saved as 3D images and any holes that may exist between adjacent 3D images. The
check box is selected by default.
Show images under construction

A check box that enables the display of newly created 3D images. The check box is
selected by default.

Figure 12.1 The dialog box used to create 3D images from polygonal models (a). On pressing the
Next Step (Tab) button or the TAB key, the dialog box used to specify image creation
parameters is displayed (b).
(a) (b)
12.1.2 Finding the desired viewpoint
In this mode, the polygonal model can be rotated and translated in the 3D scene to
determine a viewpoint from which the mesh will be interpolated. The standard mouse-
based operations are used to rotate/translate the model.
12.1.3 Removing undesired triangles
Certain model triangles may be undesired. Model triangles can be removed from the
image creation process by selecting and then either hiding or deleting them; deleted
triangles may be recovered at any time. Only visible model triangles are used in the
creation of 3D images. The following operations found on the main menus allow
selecting and editing model triangles, which are elements of the selected polygonal
model.
The Select > Elements submenu offers four commands that allow selecting model
triangles: All, Invert, None, and Interactively (launches an interactive mode that allows
performing a volumetric selection of visible model triangles using either a freeform or
polygonal contour). For complete information on these operations, see Section 8.2
Selecting object elements.
The View submenu offers four commands that allow controlling the display of the
model triangles: View > Hide > Triangles, View > Keep > Triangles, View > Restore >
Triangles, and View > Toggle Visibility > All Triangles. For more information, see Section
9.2 Controlling the visibility of objects and elements.

The Edit menu offers two commands that allow deleting selected model triangles and
recovering all deleted model triangles: Edit > Delete > Elements and Edit > Recover
Deleted Elements. For more information, see Section 7.2 Deleting and recovering
objects and elements.
12.1.4 Fixing the viewpoint and creating a 3D image
The viewpoint is fixed by pressing the Next Step (Tab) button or the TAB key. At this
point, the Import Image dialog box, shown in Figure 12.1 (b), is displayed. It offers
parameters that determine an interpolation step that is used to regrid the polygonal
mesh, and results in the creation of a 3D image:
View interpolation grid

A check box that enables the display of the interpolation grid. The check box is
Interpolation step
A text box that specifies a 2D parametric distance between two consecutive
horizontal or vertical neighbors in the interpolated 3D image. The default value
is 0.4 mm.
Max angle
A text box that specifies a maximum angle, in degrees, between a surface normal
vector and the viewing vector. The default value is 75 degrees.
Note that the Max edge length parameter is not available. The reason is that this
operation respects the meshing in the original file that could be undone by setting a
value smaller than the largest triangle edge length. Similarly, the Max edge length
property of a 3D image created from a viewpoint on a polygonal model is set to a very
large number (i.e., 1,000,000 mm).
Press the OK button to launch the image creation operation. A 3D image is created,
automatically named, saved in the current IMAlign project, and read into the tree view.
The 3D image’s name includes the name of the polygonal model. Press the Cancel
button to end the operation.
The Import Image dialog box is closed. Continue the image creation process until all of
the desired areas of the polygonal model have been used to create 3D images.
For additional information on the interactive mode that allows reinterpolating 3D

images, see Section 12.7 Interpolating 3D images.
12.1.5 Exiting the mode
The dialog box offers an item that allows exiting the mode:

Editing 3D Images Measuring deviations between 3D images
Done
A button that exits the mode.
Note that all editing operations (i.e., hiding and deleting selected model triangles)
performed in the mode are conserved.
12.2 Measuring deviations between 3D images

This section presents the tools offered by the Best-Fit Alignment and Comparison
dialog box to compute and view three types of discrepancies that enable analyzing the
results of the best-fit image alignment operation:
 The discrepancies between aligned 3D images of a set.
 The discrepancies between the highest and lowest 3D images of a set.
 The individual deviations of 3D image points before and after alignment.
They are available on the Comparison tab of the Best-Fit Alignment and Comparison
dialog box, which is displayed by choosing the Tools > Images > Measure Deviations
command.
12.2.1 Introduction
The three-tab Best-Fit Alignment and Comparison dialog box is shown in Figure 12.2.
The Comparison tab features three group boxes. The Comparison group box
measures the three kinds of discrepancies. The Visualization group box controls the
mapping between computed discrepancies and colors. The Out-of-tolerance images
group box allows selecting 3D images that are out of a user-defined tolerance.
12.2.2 Measuring deviations
The Deviation type list box of the Comparison tab offers three deviation types:
Points to Images
This deviation type computes the distances between 3D image points and the
surfaces of other 3D images.
There are two image comparison scenarios:
A. Comparison between nonselected 3D images and selected 3D images.
B. Comparison between all 3D images, all 3D images being selected.

Figure 12.2 The Comparison tab of the Best-Fit Alignment and Comparison dialog box.
In both scenarios, the discrepancy of an 3D image point is computed as the

maximum 3D distance along the surface normal direction between this point and
an overlapping 3D image. The search for overlapping 3D images is limited to
values between minus Comparison Maximum distance and plus Comparison
Maximum distance.
The Absolute error option button is available for both scenarios, and specifies that
discrepancies are computed as absolute 3D distances. The Signed error option
button is available for scenario A only, and allows the measurement of signed 3D
distances. A positive distance indicates that a point from a selected 3D image is
above a nonselected surface. A negative distance indicates that a point from a
selected 3D image is below a nonselected 3D image surface. See Figure 12.3 (a).
Individual Points
This deviation type computes the 3D distance between the position of individual
points before the alignment operation and their position after the alignment

Figure 12.3 An illustration of the different comparison techniques.
Comparison
Illustration
Techniques
(a) Points to Images

Computes the distance
(error) from each point to
its farthest 3D image.
(b) Individual Points

final
Computes the
displacement distance
related to each point
from initial to final
alignment position. initial
(c) High to Low Image

Computes the maximum
distance between all 3D
images by choosing the
highest and the lowest
3D image for a local area.
operation. Deviations whose absolute value is smaller than the Comparison

Maximum distance are retained. See Figure 12.3 (b).
High to Low Image

This deviation type, selected by default, computes the distances between points
and the surfaces of other 3D images that are above and below the points.
There are two image comparison scenarios:
A. Comparison between nonselected 3D images and selected 3D images.
B. Comparison between all 3D images, all 3D images being selected.

For each overlapping 3D image point, the maximum 3D distance in the surface
normal direction between the point and an overlapping 3D image is computed,
and it is added to the maximum 3D distance in the direction opposite to the
surface normal between the point and an overlapping 3D image. The search for
overlapping 3D images is limited to values between minus Comparison
Maximum distance and plus Comparison Maximum distance. Results whose
absolute value is smaller than two times the Comparison Maximum distance are
retained. Small areas of 3D images that participate in a same overlap should have
the same color.
It is also possible to control the number of 3D image points used for the comparison
operation by means of the Subsampling list box. Five subsampling factors are offered:
1/1, 1/4, 1/9, 1/16, and 1/25. Using a smaller number of 3D image points increases the
speed of the comparison operation.
By default, the color scale, displayed when performing the discrepancy measurement
operation, ranges from the smallest to the largest discrepancy. The No Auto Range
check box allows using the range specified in the Minimum error and Maximum error
text boxes of the Visualization group box.
To launch a discrepancy measurement operation, press the Show Deviations button.

Once the computations are completed, the color mode for objects is automatically set
to Color Map; see Section 9.1.2 Module display options for more information on setting
the object color mode. In this mode, discrepancies are mapped as colors on 3D images.
A color scale is automatically displayed to the right in the 3D scene, indicating the
correspondence between discrepancies and colors. The next section shows how to
modify this default behavior. See Figure 12.3 (c).
12.2.3 Visualizing deviations by means of color maps
When the Color Map color mode is enabled, a color scale is displayed to the right in the
3D Scene pane. This color scale uses a classic rainbow progression. Graduations are
automatically generated and displayed to the left of the color scale. These graduations
indicate the correspondence between discrepancies and colors. The Visualization
group box of the Comparison tab provides an item that allows specifying a type of
scale:
Scale type
A list box that specifies the type of scale to use. If the discrepancy measurement
has been performed in Absolute error mode, the only available scale type is
Linear. The correspondence between discrepancies and colors is then linear.
When Signed error mode is used, three scale types are provided: Linear, Zero-
centered, and Mirrored. When Zero-centered is selected, the zero graduation is
placed in the middle of the 3D scene, and the scales below and above the zero
graduation are linear. When the Mirrored scale type is used, a negative and a
positive range of discrepancies can be visualized simultaneously.
In addition to the scale type, the range of discrepancies mapped as colors can be
controlled. By default, for any scale type and type of error, an automatic range is used to

Editing 3D Images Visualizing 3D image overlapping
map all discrepancies as colors. To view a particular range of discrepancies, there are
two scenarios:
 In Absolute error mode, or if the Mirrored scale type is used, specify a range within
0 and Comparison Maximum distance in the Minimum error and Maximum error
text boxes respectively.
 For all other situations, specify a range within minus Comparison Maximum
distance and plus Comparison Maximum distance in the Minimum error and
Maximum error text boxes respectively.
The new visualization settings are made effective by pressing the Update button.
Points of selected 3D images whose discrepancies are within the user-specified range
are displayed using one of the color scale’s colors. Relevant points whose discrepancies
are out of the user-specified range are displayed using a dark gray color. Finally,
irrelevant points for which no discrepancy has been measured are displayed in white.
Note that if the No Auto Range check box is selected, the range specified in the
Minimum error and Maximum error text boxes is used. If this is the case, press the
Auto Range button to show the automatic range.
12.2.4 Selecting 3D images that are out of tolerance
Once the deviations have been calculated, it is possible to select 3D images that are out
of tolerance using the Out-of-tolerance images group box. The procedure is as
follows:
1. Specify a value in the Deviation tolerance text box.
2. Specify a percentage of points out of tolerance in the % of points out of tolerance

text box.
3. Press the Select Objects button. The 3D images that meet the two criteria are
selected in the tree view.
12.3 Visualizing 3D image overlapping

The Tools > Images > Visualize Overlapping command opens the Reduce Overlap dialog
box to the Visualization tab that offers parameters to visualize image overlap using a
color map. This functionality is described in Section 12.5.2.2 Visualizing the overlap.

Editing 3D Images Keeping the best line data
Figure 12.4 Examples of (a) poor and (b) ideal laser line orientations with respect to a fillet.
(a) In this line scan, the laser line has the worst (b) In this line scan, the laser line has an ideal
possible orientation, which results in orientation with respect to the high-curvature
insufficient point density along the high- direction on the fillet
curvature direction on the fillet
12.4 Keeping the best line data

A tool is available that allows keeping the line scan data with the best orientation. In
fillet areas, it is desirable for the PolyWorks process that the laser line be as
perpendicular as possible to the fillet orientation; see Figure 12.4. The tool deletes
undesirable fillet data in overlapping 3D images created from line scan point clouds. It
applies to nonignored 3D images.
The tool uses the scan line curvature information contained within the 3D images. This
information is automatically calculated on importing a line scan point cloud or when a
laser scanner plug-in sends a line scan to IMAlign. The scan line curvature is calculated
for each data point and is transferred to the corresponding 3D image. Two 3D image
options, Evaluation distance and Max point-to-point distance, are used to calculate
the scan line curvature. For more information on these parameters, see the Images
page of the IMAlign Options dialog box, described in Section 14.5 Image options.
To use the tool, choose the Tools > Images > Keep Best Line Data command. The dialog
box, shown in Figure 12.5, is displayed, offering the following items:
Max distance
A text box that specifies the maximum distance to use to detect image overlap.
The default value is 4.0 mm.
Max curvature radius

A text box that specifies a curvature radius. Only the overlapping 3D image points
where the radius of curvature is lower than this value are processed (the smaller

Editing 3D Images Reducing the amount of overlap in 3D images
Figure 12.5 The dialog box used to keep the best line data.
the radius of curvature, the sharper the fillet). This avoids deleting 3D image points
in areas of low curvature. The default value is 5.0 mm.
The Advanced button opens a section that offers the following items:
Overlapping line scans

A group box that offers a parameter that applies to areas of overlap:
Min curvature ratio

A text box that specifies a minimum ratio between the curvature radius
of a 3D image point in the 3D image being considered and the highest
curvature of a 3D image point in an overlapping 3D image. The default
value is 2.0.
Press the OK button to launch the operation or the Cancel button to end the operation.
When the operation is launched, the areas of image overlap are detected and analyzed
with respect to their curvature. When the curvature radius of the 3D image points in
these areas is smaller than the Max curvature radius for at least one overlapping 3D
image, the 3D image points whose curvature is significantly smaller than the maximum
curvature (Min curvature ratio) are deleted. The deleted points can be recovered using
the Edit > Recover Deleted Elements command.
12.5 Reducing the amount of overlap in 3D images

Being able to identify and keep the best set of nonoverlapping 3D image points in the
overlapping regions of a set of 3D images dramatically reduces the amount of overlap,
thereby reducing memory usage and speeding up the meshing process in IMMerge.
This section describes two ways to perform an overlap reduction, which should only be
performed once all 3D images have been aligned.

12.5.1 Defining data quality
When using overlap reduction methods, two criteria are combined to define the quality
of 3D image points:
 The viewing angle of all 3D image points is measured, and points with surface
normals directed towards the digitizer are considered to have the highest quality.
 A 3D image’s interpolation step. The smaller the step, the better the quality.
Note that with respect to spherical grid point clouds, 3D image points located closer
to the digitizer have a smaller interpolation step and are therefore of a higher quality.
In this case, the point-to-digitizer distance is used indirectly as a quality metric. For
information concerning creating 3D images from spherical grid point clouds, see
Section 6.2 Creating 3D images from spherical grid point clouds.
12.5.2 Using the integrated overlap reduction methods
The Tools > Images > Reduce Overlap command, or its corresponding toolbar button on
the Processes toolbar, is displayed the two-tab dialog box shown in Figure 12.6. It
allows reducing the overlap among the nonignored 3D images as well as visualizing
the overlapping.
12.5.2.1 Reducing the overlap
The Overlap reduction tab provides overlap reduction methods and parameters:
Maximum distance
A text box that specifies a 3D distance used to detect overlapping areas. The
default value is 2.0 mm.
Max # of overlapping images

A text box that guarantees a maximum number of overlapping 3D images. The
default value is 10.
The grow layers operation (see Number of overlap layers) applied once the best
3D image points have been found, to ensure overlap with adjacent 3D images,
results in overlap. In some areas, multiple grow layer operations may overlap,
causing multiple overlap. This parameter limits the number of layers of overlap
accepted at the end of the operation.
Number of overlap layers

Sets the width of the band of overlap between adjacent 3D images, defined in
number of point layers. A value of 5 is recommended when meshing 3D images

Figure 12.6 The dialog box used to visualize and reduce image overlap.
with IMMerge, and a value of 2 is recommended for inspection applications. The

default value is 5.
Overlap reduction
A list box that offers two overlap reduction methods:
 Best Data (Std) – Applies a standard overlap reduction operation to all

nonignored 3D images. First, the set of best nonoverlapping 3D image
points in the overlapping regions of the 3D images is identified. Then, a tiny
band of overlapping 3D image points is added to these regions for meshing
purposes. The rest of the 3D image points are deleted. This method is
 Best Data (Extreme) – Applies an extreme overlap reduction operation to

all nonignored 3D images. This option is appropriate when there is a high
degree of overlap, and is used as follows. Select a set of base 3D images that
cover almost all of the object. On pressing the OK button, the standard
overlap reduction is applied to the selected 3D images. Then, the overlap
between the base 3D images and the other nonignored 3D images is
reduced. A tiny band of overlap between adjacent 3D images is preserved
for meshing purposes.
Optimize speed by subsampling

A check box that allows subsampling the points in appropriate regions in order to
increase processing speed. The quality of the retained points may not be quite as
good as without this option, but in many cases the difference is negligible. The
check box is cleared by default.
Press the Start button at the bottom of the dialog box to launch the reduce overlap
operation. If the View button has already been pressed in the Visualization tab,
presented in the subsection that follows, pressing the Start button also launches the

Figure 12.7 The Visualization tab of the Reduce Overlap dialog box.
computation operation used to visualize the number of overlap layers. The overlap is
reduced using the specified parameters and the data quality criteria described in
Section 12.5.1 Defining data quality.
Note that the deleted elements (i.e., 3D image points) can be recovered immediately by
undoing the operation, or later by choosing the Edit > Recover Deleted Elements
command.
12.5.2.2 Visualizing the overlap
The Visualization tab, shown in Figure 12.7, offers items that allow viewing the
overlapping in the set of 3D images by way of a color map:
Maximum distance
A text box that displays the value for the same parameter on the Overlap
reduction tab.
Overlapping image limits

A group box that allows specifying different upper and lower limits of overlapping
3D images. It offers the following items:
Max # of overlapping images

A text box that specifies a maximum number of overlapping 3D images.
The default value is 10.
Min # of overlapping images

A text box that specifies a minimum number of overlapping 3D images.
The default value is 1.

Figure 12.8 The color map used to visualize overlapping 3D images using the Auto Range option.
Here, parts of six images overlap in the areas displayed in red.
Auto Range
A button that automatically sets the range to the minimum and the
maximum values. It is only available after the View button has been
pressed.
Update
A button that shows only the specified range of the computed color map. It is only
available after the View button has been pressed.
View
A button that computes the number of overlapping images. A color map is applied
to the 3D images and the corresponding color scale is displayed to the right in the
3D scene.
An example of a color map is shown in Figure 12.8.
12.5.3 Using the manual overlap reduction method
There also is a manual method for removing overlap among the nonignored 3D
images:
1. Ignore all 3D images for which overlap reduction is not required. They are not
considered.

Editing 3D Images Smoothing 3D images
2. Make visible all 3D images for which overlap needs to be reduced, and select them.
3. Choose the Select > Image Points > Best Data command.
A dialog box is displayed. Specify a value in the Maximum distance text box, used
to detect overlapping areas. Press the OK button to launch the operation. The best
data is selected using the specified parameter and the data quality criteria
described in Section 12.5.1 Defining data quality.
See Section 8.5.3 Selecting the best data for a complete description of this
command.
4. Choose the Select > Image Points > Grow N command.
Concerning N, a value of 5 is recommended when meshing 3D images with

IMMerge, and a value of 2 is recommended for inspection applications. The default
value for grow and shrink operations is offered on the IMAlign Options dialog box.
For more information, see Section 14.9 Selection options.
5. Choose the Select > Elements > Invert command.
6. Press the DELETE key or choose the Edit > Delete > Elements command.
Note that the deleted elements (i.e., 3D image points) can be recovered immediately by
undoing the operation, or later by choosing the Edit > Recover Deleted Elements
command.
12.6 Smoothing 3D images

The Tools > Images > Smooth command offers a tolerance-based smoothing filter that
produces smoothed 3D images. The operation first smooths a copy of the raw 3D
image used to create a selected 3D image. It then reinterpolates the 3D image using
the smoothed raw 3D image, resulting in a smoothed 3D image. This operation can be
applied to standard and composite 3D images.
The smoothing filter preserves the features in the raw 3D image. The filter divides a raw
3D image into high-curvature and low-curvature areas, and applies more smoothing in
low-curvature areas, and less smoothing in high-curvature areas in order to conserve
their features. The Smooth dialog box, shown in Figure 12.9, offers the following items:
Curvature radius threshold

A text box that specifies a radius of curvature value used to segment a raw 3D
image into low-curvature and high-curvature areas. Areas with a curvature radius
greater than the threshold are considered low curvature, and areas with a
curvature radius smaller than the threshold are considered high curvature.
It is recommended to use a value that is twice or three times the radius of

curvature of the largest feature to be preserved. The default value is 30.0 mm.

Figure 12.9 The Smooth dialog box.
Max edge length

A text box that specifies a maximum triangle edge length that determines the
continuity of the 3D image. It avoids connecting points that are too far from each
other. The default value is 4.0 mm. In the case of composite 3D images, this value
is used for the first range, and it is doubled for each subsequent range.
Minimize data loss along border

A check box that enables minimizing data loss along the border. Points along the
border are kept but a narrow band along the border is not smoothed. When this
option is not enabled, all regions are smoothed, but data loss may occur along the
extreme edge of the border. By default, the check box is cleared.
Low-curvature parameters
A section that offers three items that control the smoothing in low-curvature
areas:
Grid sampling step

A text box that specifies the square edge length of the grid used to
subdivide and smooth the area. A larger value increases the smoothing
effect.
The default value is 2.0 mm. In the case of composite 3D images, this
value is used for the first range, and it is doubled for each subsequent
range.

Figure 12.10 A side view of the smoothing process. The point A at the center of the smoothing filter
radius will move towards the average position of the other points within the filter
radius, but will never move by more than the user-specified smoothing tolerance
distance.
Filter radius
A
Tolerance
Before smoothing point A After smoothing point A
Filter radius (x step)

A text box that specifies an integer value that, when multiplied by the
Grid sampling step, provides a 3D distance (a sphere) around a point for
the smoothing filter. A larger radius increases the smoothing effects and
allows more noise reduction. The default value is 3.
Tolerance
A text box that specifies a maximum deviation between a smoothed
point and its original position. The default value is 0.150 mm.
High-curvature parameters
A section that offers three items that control the smoothing in high-curvature
areas:
Grid sampling step

effect.
range.
Filter radius (X step)


Figure 12.11 The result of smoothing 3D images. Each 3D image is shown with its own color.
Original 3D images New 3D images after the smoothing operation
Tolerance
As a general rule, the larger the Grid sampling step and the Filter radius, the greater
the smoothing. Best results are obtained when the ratio of the second value to the first
is less than 6. See Figure 12.10 for a diagram that illustrates smoothing a point.
Press the Apply button to launch the smoothing and the Close button to dismiss the
dialog box. See Figure 12.11 for an example of smoothed 3D images.
Note the following:
 The original 3D image is replaced in the Tree View by the new 3D image. Its name is
composed of the name of the original 3D image followed by an underscore, the
letters sm for smoothing, an underscore, and a unique four-character identifier.
 The new raw 3D image is written to the associated workspace as a point cloud. If the
original point cloud is visible in the associated workspace, the new one is visible as
well.
 Note that the project no longer has a dependency with the raw 3D image (i.e., the
point cloud) used to build the original 3D image.

Editing 3D Images Interpolating 3D images
Figure 12.12 Interpolating a 3D image. Specify an interpolation Step and a Max angle threshold.
IMAlign displays the 3D image and a subsampled 2D interpolating grid.
12.7 Interpolating 3D images

The application’s iterative image alignment algorithm requires that 3D images be
interpolated on a square parametric grid. As a result, an interpolation routine is offered
to transform raw 3D images into interpolated 3D images.
The interpolation routine is invoked when a raw 3D image is added to a project, or by

selecting a visible 3D image in the tree view and then choosing the Tools > Images >
Interpolate command. The dialog box, shown in Figure 12.12, is displayed. The
following parameters of the interpolation routine are offered:
Step
A text box that specifies the 2D parametric distance between two consecutive
horizontal or vertical neighbors in the interpolated 3D image. It is given in image
units. The default value is .25 mm.
Max angle
A text box that specifies the maximum angle between a surface normal vector and
the Z axis of the parameterized 3D image coordinate system. Values range
from .01 to 89.99, and can be specified manually or using the adjacent slider. The
default value is 75 degrees.
This threshold is used to detect discontinuities in a 3D image. Figure 12.13

illustrates this parameter. Modifications to this parameter can be seen in real time
in the 3D scene when Max edge length is set to Automatic.

Editing 3D Images Interpolating 3D images
Figure 12.13 An illustration of the max angle parameter.
Scanner
Angle
Digitizing vector
Digitizing vector
Point normal
Point
normal
Points
Max edge length

A combo box that allows specifying the maximum acceptable triangle edge
length. Choose Automatic, the default value, or enter a value. Note that if the 3D
image is in PIF format, as a result of importing line scans, unorganized point
clouds, or creating 3D images from imported polygonal models, this item is a text
box where a value must be entered. Modifications to this parameter can be seen
in real time in the 3D scene.
Swing angle
Rotation angle about the Z axis, applied in the parameterized 3D image
coordinate system. This item does not appear in the dialog box but is specified
through rotations in the 3D scene; the text that follows explains this behavior.
When a 3D image is being interpolated, the dialog box, shown in Figure 12.12, is
displayed. It displays the file name of the 3D image, and allows the specification of the
Step and the Max angle parameters. The 3D image being interpolated is also displayed
in the 3D scene using an orthogonal projection. A 2D subsampled square grid, whose
squares have a side equal to a multiple of Step, is superimposed over the surface of the
3D image. The subsampling factor is indicated in the lower right corner of the 3D scene.
Preview the results of the interpolation using these methods:
 View any concave area along the edge of the 3D image. If there is unwanted bridging,
decrease the value of the Max edge length parameter.

Editing 3D Images Remeshing organized point clouds to fill small holes
Translate the 3D image along the X and Y axes by clicking and holding the middle
mouse button, and then moving the mouse in the X and Y directions respectively.
 Zoom out on the 3D image. If there are holes apparent, increase the value of the Max
edge length parameter.
Zoom on the 3D image by clicking and holding the right mouse button, then moving
the mouse forward and backward. Performing a zoom can affect the value of the
subsampling factor.
 Rotate the 3D image about the Z axis by pressing and holding the SHIFT key, clicking
and holding the right mouse button, then moving the mouse in the right or left
directions. This rotation angle determines the value of the Swing angle.
 The object may also temporarily be rotated along any axis. Enter the Interrupt mode
(press the SPACEBAR), perform rotations, and then leave the Interrupt mode (press
the SPACEBAR). On leaving the Interrupt mode, the 3D image is again displayed
using an orthogonal projection.
The interpolation is performed by pressing the OK button, or is ended by pressing the

Cancel button.
Note:
 When reinterpolating an existing 3D image that has undergone editing in IMAlign, a

confirmation window is displayed to inform the user that any editing operations
previously applied to the 3D image will be annulled by the interpolation operation.
Press the OK button to continue or the Cancel button to cancel the operation.
 If a raw 3D image is being added to the current set of 3D images and the
interpolation procedure is canceled, the addition operation is automatically
canceled.
12.8 Remeshing organized point clouds to fill small holes

When digitizers producing organized point clouds are used, he polygonal mesh
generated by the digitizer is directly read and a 3D image is interpolated from it.
Because of physical issues, such as specular reflections, it may happen that occasional
points or a fine row of points are missing in the organized point clouds. These missing
points will produce small holes in the 3D images, the size of which are most often
smaller than twice the interpolation step.
The Tools > Images > Remesh command allows remeshing organized point clouds and
filling small holes. On choosing the command, the dialog box, shown in Figure 12.14, is
displayed. It is used to remesh selected, visible 3D images. It offers the following item:
Max edge length

A text box that specifies a maximum triangle edge length. Any triangles whose
edge length exceeds the specified value are ignored by the remeshing operation.
The default value is 100 mm.

Editing 3D Images Specifying a minimum Z value for 3D images
Figure 12.14 The dialog box used to remesh selected 3D images.
On pressing the OK button, the 3D images are remeshed. For each 3D image, the
original set of points is reread ignoring the mesh information provided by the digitizer,
and the set of points is re-triangulated. Note that this operation cannot be undone.
This operation can also be automatically applied to all incoming 3D images. See the
Remesh option on the Images page of the IMAlign Options dialog box, described in
12.9 Specifying a minimum Z value for 3D images

A minimum Z value for a planar 3D image can be interactively set by first selecting a
visible 3D image in the tree view and then choosing the Tools > Images > Set Minimum Z
Value command. This operation cannot be undone using the Edit > Undo command.
However, the 3D image points hidden by the operation can be recuperated by
reperforming the Set Minimum Z Value operation.
On choosing the command, the dialog box, shown in Figure 12.15, is displayed. It
contains a slider which can be displaced between the minimum and maximum Z values
of the 3D image. Simultaneously, a 3D plane is displayed in the 3D scene. This plane is
parallel to the X-Y plane of the 3D image coordinate system, and its Z value is provided
by the slider position. This enables visualizing the part of the 3D image that would be
affected (see next paragraph) if a given minimum z value was applied to this 3D image.
Figure 12.15 illustrates the procedure.
What happens to the 3D image points that are below the X-Y plane? Firstly, they are not
visible in the 3D scene after the Set Minimum Z Value operation, and they are not used
by any of the IMAlign tools (e.g., alignment, comparison). In addition, with respect to
other modules, note the following:
 IMMerge: The points below the plane are not used by the IMMerge meshing process.
 IMInspect: If the IMAlign project is imported into IMInspect, the Set Minimum Z Value
operation does not affect the availability of any digitized points in IMInspect.
The color of the X-Y plane is determined by the Plane color. Interface colors can be
modified (see Section 14.3.3 Interface color display options).

Editing 3D Images Editing points of 3D images
Figure 12.15 Interactively setting a minimum Z value. A plane parallel to the X-Y plane of the 3D
image coordinate system, and having a z value equal to the minimum z value, is
displayed in the 3D scene. A slider enables the interactive modification of the
minimum Z value between the lower and upper limits of the 3D image’s bounding
box.
12.10 Editing points of 3D images
12.11 Using the property sheet of 3D images

The Edit > Object Properties command allows viewing the property sheet of a selected
object, and sometimes edit some of the properties as well. If several same-type objects
are selected, only those properties that are common to all of the objects will be
available for visualization and editing, leaving a blank when the values throughout the
set are different. Note that the selection of objects within the tree view can be modified
with the property sheet open.
The Previous and Next buttons at the bottom of the property sheet allow displaying
information about the previous or next object in the tree view. These buttons are
disabled when more than one object is selected.
Certain object properties may be modified on the property sheet. To transfer the values
of the modified properties to the application, press the Apply button. If the Auto-
apply check box is selected, pressing the Previous or the Next button automatically
transfers the values of the modified properties to the application. The Close button

Editing 3D Images Using the property sheet of 3D images
12.11.1 Properties common to all objects
All objects share four properties, which are described in Section 7.3.3.1 Properties
common to all objects.
12.11.2 Properties of 3D images
A selected 3D image’s property sheet can be accessed by choosing the Edit > Object
Properties command. It is shown in Figure 12.16.
The first two properties are used when only one 3D image is selected and present
information on the 3D image file, as well as its position:
Format
The file format in which the 3D image is stored.
Index
The index of the 3D image in the IMAlign project. Each 3D image has a unique
image number. For single 3D images, this number is a positive integer. The first 3D
image has index 1. For composite 3D images, the parent composite 3D image has
a positive integer index number and its sub-images also have positive index
numbers that start at 1. So the index number of a sub-image is composed of the
index number of the parent composite 3D image and its index number. This is
useful to know when using certain macro commands that identify 3D images by
their index number.
The Image tab provides the following information:
Minimum Z value
The minimum z value of a 3D image point in the parameterized 3D image
coordinate system.
Scaling factor
A scaling factor that multiplies the (x, y, z) coordinates of 3D image points and the
image interpolation step. The scaling factor is mainly used to modify the unit of
measurement in which a 3D image is expressed.
Original units
A text box that displays the original units of the object. These units were read in
the original file on import or determined on import using the Unknown Units
Wizard. This wizard is described in relation with the General page of the IMAlign
Options dialog box; for more information, see Section 14.1 General options.

Figure 12.16 The property sheet for 3D images.
Units factor
The factor applied to an object’s original units to convert the object to the project’s
units of length. For more information on the Length option of the Units section,
see the General page of the IMAlign Options dialog box.
Source in workspace
A text box that displays the name of the source image or polygonal model of a
selected object in the associated workspace.
The Interpolation tab provides access to four geometrical parameters related to the
interpolation of the 3D image and indicates the resulting number of interpolated
points:

Number of interpolated points

A text box that displays the number of interpolated points. These points are valid
interpolated points - they meet the interpolation criteria and are displayed in the
3D scene. In the case of a composite 3D image, the number displayed corresponds
to the number of interpolated points in all of its sub-images.
Interpolation step
The 2D parametric distance between two consecutive horizontal or vertical
neighbors in the interpolated 3D image. It is given in image units.
Max angle (degrees)

The maximum angle between a surface normal vector and the Z axis of the
parameterized 3D image coordinate system. This threshold is used to detect
discontinuities in a 3D image.
Max edge length

The maximum acceptable triangle edge length.
Swing angle (degrees)

The rotation angle about the Z axis, applied in the parameterized 3D image
coordinate system.
The Display modes tab provides access to the image drawing type and the
subsampling factor:
 The Static Drawing type can be set to Default, Flat, Point, Smooth, or Wireframe.
 The Subsampling factor in Static display mode can be set to Default, 1/1, 1/4, 1/16,
or 1/64.
 The Dynamic Drawing type can be set to Default, Bounding Box, Flat, Point,
Smooth, or Wireframe.
 The Subsampling factor in Dynamic display mode can be set to Default, 1/1, 1/4, 1/
16, or 1/64.
The default Static and Dynamic display modes are configured on the Images page
(under the Display page) of the IMAlign Options dialog box. See Section 14.3.6 Image
display options for more information.
Two additional properties concern the status of the 3D image:
Inverted
A check box that, when selected, indicates that the 3D image’s orientation has
been inverted. With respect to composite 3D images, this property can be selected
for all of the sub-images at the composite 3D image level. This check box cannot
be selected for an individual sub-image.
Locked
A check box that, when selected, indicates that the 3D image’s alignment
transformation matrix is locked. With respect to composite 3D images, this

property can be selected for all of the sub-images at the composite 3D image level.
This check box cannot be selected for an individual sub-image.

Scanning Objects 13
Line scanning plug-ins for use with version 12.1 or later of the IMAlign module are offered through the Tools
> Plug-ins submenu.
This chapter describes the PolyWorks plug-in dialog box. Most of the parameters are offered in the plug-in’s
main dialog box, and are described in the subsections that follow. Those parameters that are device-specific
are described in the device’s custom document, which is available on the Help > Reference Guides > Plug-ins
submenu of the PolyWorks/Workspace Manager, or the Help > Reference Guides submenu of the modules
that offer line scanning.

Scanning Objects Introduction
13.1 Introduction
Line scanning plug-in dialog boxes are accessed by choosing a plug-in on the Tools >
Plug-ins submenu, or on the menu provided by the Scan button located on the
Processes toolbar, shown to the right, and then pressing the Scan button. Note that the
menu offered by the Scan button offers all but third-party plug-ins.
For a plug-in to be available, the corresponding or related .dll file must exist in the
plugins subdirectory of the PolyWorks installation directory (e.g., c:\program
Files\InnovMetric\PolyWorks 12.1 (64-bit)\plugins), and the plug-in must selected on
the Plug-ins page of the PolyWorks/Workspace Manager Options dialog box.
The parameters used most often are offered in the main dialog box of the plug-in, and
the other parameters that are usually specified once are offered in the Line Scan
Options dialog box that is available from the main dialog box.
Note that each pass becomes a 3D image and is also written under the host
workspace’s Point Clouds branch as a .PF file. In addition, scan line curvature is
automatically calculated for each pass, and the results are controlled by the parameters
in the Scan line curvature section on the Images page of the IMAlign Options dialog
box; for more information, see Section 14.5 Image options. Scan line curvature is used
by the Keep Best Line Data operation, described in Section 12.4 Keeping the best line
data.
13.1.1 A typical scan session
Scanning in PolyWorks involves performing a scan session using the appropriate device
controls. The bullets that follow define terms that are used throughout this document.
They are followed by the procedure for performing a scan session in PolyWorks.
 A scan line is the set of aligned points captured in a common plane of light by the
laser line scanner at regular intervals.
 A pass is all of the scan lines acquired after pushing the acquisition button and before
pushing the acquisition button a second time; the plug-in dialog box also offers a
hold and release approach to capturing passes for certain devices.
 As mentioned previously, each pass acquired is used to create an individual 3D

image; a corresponding file is also created in the host workspace. A session involves
scanning one or more passes with the same parameters.
13.1.2 Units and device position
Data acquired is in the module’s working units and uses the module’s active device
position.

Scanning Objects Main dialog box of plug-ins
Figure 13.1 An example of the contents of a line scanning plug-in dialog box.
13.2 Main dialog box of plug-ins

Surface scanning is offered in IMAlign. The purpose is to capture the surface of an
object. An example of a plug-in dialog box is shown in Figure 13.1. It offers the items
that follow.
Scan name
A text box that specifies a name that will be assigned to each scan. Accept the
default name surface scan or enter a new name. Each scan will be assigned the
specified name with an incremented integer to make the name unique. Names
resemble surface scan_000000.pf, surface scan_000001.pf, and so on.
For information on editing default names, see Section 14.4 Default name options.
Test mode
A check box that enables using the Test mode. In this mode, surfaces can be
scanned and their organization and the specified filtering parameters can be
evaluated by looking at the temporary results on the screen. When the scanning
session is over, the temporary scan data is automatically deleted. It is
recommended to use the object’s finest feature as the test area.
If there are holes between the scan lines on the screen, scan more slowly or
increase the Max edge length (on the Surface Scan page of the Line Scan
Options dialog box). If there is unwanted bridging, specify a smaller Max edge
length. Redo the test to evaluate the new parameters.
Number of points
A text box that displays the number of points sent by the plug-in to the
application.

Scanning Objects Line scanning options
Options
A button that displays a dialog box that offers options for the line scanning plug-
in. It is described below in Section 13.3 Line scanning options.
If a device-specific section is offered next, its parameters are described in the

device’s custom document, which is available on the Help > Reference Guides >
Plug-ins submenu of the PolyWorks/Workspace Manager, or the Help > Reference
Guides submenu of the modules that offer line scanning.
Start Scan/End Scan

The button that controls a scanning session. Pressing Start Scan disables most
parameters in the dialog box and puts the application in a mode to receive scan
line data from the plug-in. Once pressed, its label changes to End Scan. Pressing
the End Scan button tells the application that point acquisition is terminated and
enables the disabled parameters in the dialog box.
Note that some device’s may have a button that allows ending the scan session.
Close
A button that dismisses the plug-in dialog box.
13.3 Line scanning options

The Options button displays the Line Scan Options dialog box that offers options for
the line scanning plug-in. An example of the dialog box is shown in Figure 13.2. This
dialog box is unavailable during a scan session.
13.3.1 General options for line scanning
The General page of the Line Scan Options dialog box, shown in Figure 13.2, offers
several general options.
The Utilities section offers several options that may be grouped into device-specific
options and options that configure the general behavior of the software with respect to
probing operations. Those parameters that are device-specific are described in the
device’s custom document, which is available on the Help > Reference Guides > Plug-ins
submenu of the PolyWorks/Workspace Manager, or the Help > Reference Guides
submenu of the module.
The Automatic viewpoint section enables using the automatic viewpoint mode when
scanning. When activated, the camera is automatically positioned for the current
scanning operation using smooth transitions between viewpoints. It offers the
following options:
Device vertical axis

A list box that specifies the axis that corresponds to the scanning device’s vertical
axis and that is aligned to the device positions. When scanning, rotations in the 3D

Figure 13.2 An example of the Line Scan Options dialog box.
scene are automatically performed around the specified axis to provide the
appropriate viewpoint. However, when the orientation of the scanner is the same
as the specified device vertical axis, the 3D scene is rotated along the standard axis
that is best aligned with the horizontal vector of the current viewpoint.
A value is automatically provided by the selected scanning device’s vertical axis.

Choose from +X, -X, +Y, -Y, +Z, and -Z. For most devices, the default value is +Z.
Scan line close-up zoom (%)

A text box that enables specifying the percentage of the shortest side of the 3D
scene (height or width) the scan line occupies in the close-up viewpoint. A positive
value greater than zero must be specified. The default value is 40%.
When the scan line is detected, the viewpoint automatically moves into close-up
zoom and is centered on the center of the scan line. Certain events, such as the
translation of the scan line or the rotation of the scanner, trigger a movement of
the 3D scene viewpoint, zooming in or out of the 3D scene to ensure that the
specified close-up zoom is respected.

Figure 13.3 An example of the Surface Scan page of the Line Scan Options dialog box.
The Data transfer section offers an item that controls the transfer of scan lines
between the plug-in and the application:
Refresh delay (ms)

A text box that specifies a guaranteed data transfer time in milliseconds between
two screen updates. This may be used to prevent too many screen updates. The
default value is 500 ms.
The Data processing section offers the following item:
Parallel processing
A check box that enables using parallel processing for operations required when
processing incoming line scans (e.g., triangulation). In most cases, the check box is
selected by default to allow optimal processing. However, when the parallel
processing feature is undesirable for the correct functioning of a specific plug-in,
the check box is cleared.
13.3.2 Surface scan options
The Surface Scan page of the Line Scan Options dialog box, shown in Figure 13.3,
offers options related to the acquisition of the surface of objects.
13.3.2.1 Main options
The following items control the meshing and gridding operations applied to all of the
line scan data in a pass:
Max edge length

A text box that specifies a maximum length for a triangle edge when triangulating
one pass from an averaged viewing plane. The default value is 4.0 mm.

Figure 13.4 The Surface Scan > Filtering page.
Interpolation step
A text box that specifies the point-to-point spacing of the interpolation grid. The
default value is 0.40 mm.
Max angle
A text box that specifies the maximum deviation in degrees between the averaged
viewpoint and a triangle’s normal vector, used to discard surfaces measured at a
steep viewing angle. The default value is 75.0 degrees.
13.3.2.2 Filtering options
The Surface Scan > Filtering page of the Line Scan Options dialog box, shown in
Figure 13.4, offers options used in filtering scan lines and smoothing scan passes.
The Filter scan lines optional section offers a powerful real-time scan line filtering
method that allows smoothing digitized points and increasing the efficiency of post-
processing. When activated, the section offers two items to configure the filter:
Max point-to-point distance

A text box that specifies a maximum distance between two neighboring points of
the same scan line in order to consider them as neighbors. It should be set to a
value similar to Max edge length (see Section 13.3.2.1 Main options). The default
value is 4.0 mm.
Standard deviation
A text box that specifies the standard deviation. The value should be set to the
standard deviation of a scan line’s noise distribution (i.e., one sigma) in the
specified units. The default value is .050 mm.

Figure 13.5 Scanning without (a) and with (b) the scan line filter. In (b), the resulting triangulation
produces triangles with a better aspect ratio and whose orientation describes a
smoother surface.
(a) An example of scanning results without using the PolyWorks scan line filter
The points of a
scan line
The resulting
triangulation
(b) An example of scanning results when using the PolyWorks scan line filter
The points of a
scan line
The resulting
triangulation
An example of a surface scanned using this filter is shown in Figure 13.5.
The Smooth scan passes optional section enables a real-time, tolerance-based

smoothing filter that preserves the features in a scan pass. The filter divides a pass into
high-curvature and low-curvature areas, and applies less smoothing to points in high-

curvature areas in order to conserve their features, and more smoothing to points in
low-curvature areas. When activated, the section offers the following items:
Curvature radius threshold

A text box that specifies a radius of curvature value used to segment a raw 3D
image into low-curvature and high-curvature areas. Areas with a curvature radius
greater than the threshold are considered low curvature, and areas with a
curvature radius smaller than the threshold are considered high curvature.
It is recommended to use a value that is twice or three times the radius of

curvature of the largest feature to be preserved. The default value is 30.0 mm.
Max edge length

A text box that specifies a maximum triangle edge length that determines the
continuity of the 3D image. It avoids connecting points that are too far from each
other. The default value is 4.0 mm. In the case of composite 3D images, this value
is used for the first range, and it is doubled for each subsequent range.
Minimize data loss along border

A check box that enables minimizing data loss along the border. Points along the
border are kept but a narrow band along the border is not smoothed. When this
option is not enabled, all regions are smoothed, but data loss may occur along the
extreme edge of the border. By default, the check box is cleared.
Low-curvature parameters
A section that offers three items that control the smoothing in low-curvature
areas:
Grid sampling step

effect.
range.
Filter radius (x step)

Tolerance
High-curvature parameters
A section that offers three items that control the smoothing in high-curvature
areas:

Figure 13.6 A side view of the smoothing process. The point A at the center of the smoothing filter
radius will move towards the average position of the other points within the filter
radius, but will never move by more than the user-specified smoothing tolerance
distance.
Filter radius
A
Tolerance
Before smoothing point A After smoothing point A
Grid sampling step

effect.
range.
Filter radius (X step)

Tolerance
As a general rule, the larger the Grid sampling step and the Filter radius, the greater
the smoothing. Best results are obtained when the ratio of the second value to the first
is less than 6. See Figure 13.6 for a diagram that illustrates smoothing a point.

Scanning Objects Additional information
13.4 Additional information
13.4.1 Customizing sounds
The sound files used by PolyWorks when acquiring data are available in the sound
subdirectory of the PolyWorks installation directory. It is possible to customize the
sounds by providing a .wav sound files. Follow the instructions provided in the
readme.txt file also available in the sound subdirectory. As indicated in the readme.txt
file, the original .wav sound files should not be modified as they could be overwritten
by the default .wav files when installing a future intermediate release of PolyWorks.

Setting Options 14
Options allow customizing the module. Some options should be specified before using the module to
perform tasks, as those options are fundamental and affect import operations, the behavior of certain
modes, the use of wizards, and so on. Other options are preferences and may be specified later, such as
those options that allow personalizing the default display of objects or the contents of the 3D scene.
All of the module options are conveniently located in the IMAlign Options dialog box, which is accessed by
choosing the Tools > Options command.
The options are organized as follows: general, project, display related, and object specific. Any changes
made to options, and applied by pressing the dialog box’s OK or Apply buttons, only affect that instance of
the module. To save applied option specifications to the user configuration, choose the Tools > Save User
Configuration command. The options are all documented in this chapter.
Note that information on how to use the options dialog box (i.e., apply changes, interpret error messages) is
provided in Section 5.2 Using a module’s Options dialog box of the PolyWorks Reference Guide.

Setting Options General options
Figure 14.1 The General page.
14.1 General options

The General page of the IMAlign Options dialog box, shown in Figure 14.1, offers
general options:
The Units section offers an option related to the units of measurement for a project:
Length
A list box that specifies the units of length measurement for a project. Choose
from: Microns, Millimeters, Centimeters, Meters, Inches, Feet, and US Survey
Feet. The default value is Millimeters.
When the length specification is changed and the project already contains
objects, all objects are converted to be defined in the new measurement units.
This may be a long operation.
The Imported files section offers options related to the import process.
Unknown units
A group label that offers the following options when importing files (i.e.,
polygonal model and point cloud files) that do not have unit information. Once
imported, all files must be expressed in the same unit of length as the instance of
the module associated with the project (i.e., working units).

Setting Options General options
Use working units

An option button that allows specifying that imported files with
unknown units are automatically assigned the same working units as the
instance of the module associated with the project.
Specify at import
An option button, selected by default, that allows specifying object units
on import for those files that do not contain unit information.
When the option button is selected and a file with unknown units is
imported, parameters are offered in an import dialog box to allow
specifying the units for the files. The parameters are presented in Section
5.3.2.1.1 Object units.
The Browsers section offers an option for file and directory browsers:
Working directory
A check box that enables specifying a directory to which a browser initially refers
when it is displayed. When the check box is selected, a path may be entered
manually in the adjacent text box, or entered interactively by pressing the
adjacent browse button and specifying a path. When the check box is cleared, the
working directory is the last directory used. The check box is cleared by default.
The Wizards section offers options related to the module’s wizards:
Interactive mode wizard

A check box that enables the display of a wizard each time an interactive
alignment or editing operation is invoked. This Wizard window provides
instructions concerning the execution of the operation and useful shortcuts. In
some cases, step-by-step tutorial instructions are provided; they are accessed by
pressing the wizard’s Next button. Note that if this option is disabled, it is still
possible to display a wizard window in an operation mode by pressing the F1 key.
The check box is cleared by default.
Geo-reference wizard
A check box that enables using the Geo-Reference Wizard when importing ASCII
or PTX files from disk which have not been previously flagged as geo-referenced
(i.e., by means of the Geo-referenced file check box in the import dialog box). The
wizard obliges the user to specify whether the file is geo-referenced or not. If
multiple same-type files were selected by the user, the wizard is displayed for each
file.
The wizard is shown in Figure 14.2. In the case of ASCII files, the coordinates of the
first point in the file are displayed. In the case of PTX files, the coordinates of the
first digitizer position are displayed. Pressing the Yes button indicates that the
coordinates are geo-referenced. When the Huge Translation value in the project is
set to 0, 0, 0, or the project is empty, the coordinates displayed are assigned to the
Huge Translation. Pressing the No button indicates that the coordinates are not
geo-referenced. The Huge Translation value is not changed. Selecting the
Deactivate wizard check box sets the check box to Off, disabling the wizard.

Setting Options Project options
Figure 14.2 The Geo-Reference Wizard.
The default value of the check box is determined by the layout specified in the
PolyWorks/Workspace Manager. When the layout is Survey, the check box is
automatically selected, and when a different layout is specified, the check box is
automatically cleared.
The check box is cleared by default.
14.2 Project options

The Project page of the IMAlign Options dialog box, shown in Figure 14.3, offers
options related to projects:
Load application settings

IMAlign offers project configurations that, when read on loading an IMAlign
project, supersede the current configuration, composed of the system
configuration and the user configuration. This facilitates working with projects
created by other users, as all of the appropriate project settings are contained in
the project configuration.
This list box controls using a project’s application settings on loading into IMAlign.
Choose from Yes, No, and Confirm. The default value is Yes. When Confirm is
specified, a message window is displayed on loading a project asking to use the
project’s configuration. Then, press the Yes button to use the project
configuration or the No button to not use the project configuration. For the new
setting to be made effective, it must be saved to the user configuration (i.e.,
choose the Tools > Save User Configuration command).
Automatic backup
A check box that enables the automatic backup of the project. The check box is
selected by default. It makes available one item:

Setting Options Display options
Figure 14.3 The Project page.
Delay (minutes)
A text box that specifies the frequency in minutes at which the automatic
backup is performed. Integer values greater than 0 are accepted. The
default value is 30 minutes.
Digitizer
A list box that specifies a supported digitizer. When a digitizer is chosen in the list
box, the digitizer’s recommended Max angle, Max distance, and Convergence
values are also assigned. The default value is Generic Close Range. The list of
supported digitizers, and their values for these parameters, is found in Appendix A.
14.3 Display options

The Display page of the IMAlign Options dialog box, shown in Figure 14.4 offers
general display options.
The Dialog boxes section offers the following option:
Number of digits after point

A text box that specifies the number of digits after the point to display for floating-
point numbers. Accepted values range from 0 to 15 inclusively. The default value
is 3.
The Message windows section offers the following options:
Window scaling (%)

A text box that specifies a scaling factor to apply to message windows, as well as
to the input dialog boxes available from the Macro Script Control Language. Valid
values include integer values that range from 100 to 500 inclusively. The default
value is 100%, which corresponds to the original size. Scaling message windows
may be useful for applications that require seeing the windows from a distance
and that allow responding by pressing buttons from a distance.

Figure 14.4 The Display page.
Restore Hidden Messages

A button that restores the display of those message windows that have a Never
ask this question again check box that has been selected, and those dialog boxes
that have a Never show this dialog box again check box that has been selected.
This button is only available once such a check box has been selected, and it
becomes unavailable immediately after it has been pressed.
The Color scales section offers the following option:
Font size
A text box that specifies the font size of color scale graduations. Accepted values
range from 2 to 30 inclusively. The default value is 9.
The Objects section offers options for the display of objects:
Color mode
A list box that specifies the type of color information to use to render the surface
geometry of 3D images and polygonal models. Five choices are offered:
 Default Material– Draw objects using the default material color. The
Default Material properties are used to render 3D objects when the color
mode is set to Default Material. For more information on using material
definitions, see Section 5.5 Setting material display options of the PolyWorks
Reference Guide.
 Object – Draw each object using its own object color. Object colors are
automatically provided, and can be changed by means of an object’s
property sheet. This is the default value. Having 3D images drawn in distinct
colors may be useful when performing the image alignment task.

Note the following in the case of composite 3D images. For each sub-image
to be displayed with a different color, the Sub-Images branch that contains
them must be open.
 Image Group – Draw each image group using its own color. Ungrouped
images are drawn using the Object object color.
 Point – Draw color 3D images in full color resolution when available. In this
mode, each vertex of a 3D image is drawn using its measured RGB colors.
 Color Map – Provides a color-coded representation of discrepancies

between 3D images.
Point size (pixels)

A list box that defines the size in pixels used to render 3D points. Values from 1 to
5 are available. The default value is 2. Note that this item is also available on the
Object Display Options option menu of the 3D Scene toolbar.
The Surface visualization subsection of the Objects section offers options that allow
controlling the rendering of displayed back-facing and front-facing polygons of 3D
images and polygonal models:
Front face
A list box that specifies the rendering of the front faces of the polygons. Choose
from: As Is (renders front faces using their color information), Dark (renders front
faces using the current definition of the Dark interface color), and None (disables
the rendering of front faces). The default value is As Is.
Back face
A list box that specifies the rendering of the back faces of the polygons. Choose
from: As Is (renders back faces using their color information), Dark (renders back
faces using the current definition of the Dark interface color), and None (disables
the rendering of the back faces). The default value is Dark.
14.3.1 3D Scene display options
The Display > 3D Scene page of the IMAlign Options dialog box, shown in Figure 14.5,
offers display options for the 3D scene.
The Utilities section offers a variety of options:
Grid
A check box that enables displaying a grid in the 3D scene when the projection
type is set to Orthogonal. The grid is automatically graduated. When the viewing
direction is parallel to a standard view (i.e., +X, -X, +Y, -Y, +Z, -Z), the grid displays
true coordinates, and the message True Grid is displayed in the 3D scene. For all
other viewing directions, the grid is a relative one and should only be used to make

Figure 14.5 The Display > 3D Scene page.
differential measurements, and the message Relative Grid is displayed in the 3D

scene. The check box is cleared by default.
Pointer coordinates
A check box that enables displaying the approximate (x, y, z) coordinates of the
point under the pointer tip in the 3D scene. Pointer coordinates are only made
visible when the pointer passes over a 3D pixel, and are displayed to the right of
the pointer. The check box is cleared by default.
Bounding box
A check box that enables drawing the project’s bounding box. The check box is
cleared by default.
The current definition of the Bounding Box interface color is used to render the
bounding box. It can be changed through the Interface Colors page of the
IMAlign Options dialog box.
The Standard views section offers the following option:
Car views
A check box that allows configuring the six standard views (i.e., +X, -X, +Y, -Y, +Z, -
Z) for a standard car. For example, the Z view will be rotated so that the X axis
points up and the Y axis points right (instead of having the X axis point left and the
Y axis point up). The check box is cleared by default.

The Axes section offers options that control the display of axes in the 3D scene:
Origin
A check box that enables displaying the X, Y, and Z axes by means of red, green,
and blue lines at the origin (0, 0, 0) of the coordinate system. The check box is
cleared by default.
Lower left corner

A check box that enables displaying three red, green, and blue three-dimensional
arrows in the lower left corner of the 3D scene. The check box is selected by
default.
Bounding box
A check box that enables displaying the X, the Y, and the Z axes, by means of red,
green, and blue lines respectively, having the same dimensions as the project’s
bounding box. The check box is cleared by default.
Labels
A group label that offers items that specify the labels to display at the tips of each
axis:
X-Y-Z
An option button that specifies setting the axis labels to x, y, and z. This
option is selected by default.
Ea-No-El
An option button that specifies setting the axes labels to Ea (Eastern), No
(Northern), and El (Elevation).
The Projection section allows specifying the projection type:
Orthogonal
An option button that sets the projection type to Orthogonal. This option is
Perspective
An option button that sets the projection type to Perspective and makes
available the Angle text box to specify a viewing angle, which must be larger than
0 and smaller than 180. The default value is 25.0 degrees.
14.3.2 Tree view display options
The Display > Tree View page of the IMAlign Options dialog box, shown in Figure 14.6,
offers display options for the tree view.

Figure 14.6 The Display > Tree View page.
Show empty branches

A check box that enables displaying the empty branches in the tree view. By
default, the check box is cleared.
Show object indices

A check box that enables displaying object indices in the tree view as a prefix to
the object name (e.g., (5) object_name). An object’s index number is in relation to
its position under its branch; changing the position of an object in the tree view
changes its index number. The index numbers are used when building macros that
allow automating tasks in PolyWorks. For example, it is possible to obtain the
number of objects within a branch and then to process the objects one by one
using their index number. By default, the check box is cleared.
14.3.3 Interface color display options
The Display > Interface Colors page of the IMAlign Options dialog box, shown in
Figure 14.7, allows modifying the default interface colors.
Colors are presented in a table with two columns: Item and Color. The list can be sorted
by clicking the Item column header. Specify a color by clicking the color for an item and
clicking a color in the list that is displayed. The following colors are editable:
Background - Bottom
Color used to define the color at the bottom of the 3D scene. Set to gray by default.
The color is used, with the corresponding top color, to generate a top-to-bottom
gradient background.
Background - Top
Color used to define the color at the top of the 3D scene. Set to black by default.
The color is used, with the corresponding bottom color, to generate a top-to-
bottom gradient background.
Bounding Box
Color used to render the bounding box. Set to white by default.

Figure 14.7 The Display > Interface Colors page.
Dark
Color used to render back or front faces of polygons, depending on their rendering
status. Set to dark blue by default.
Mark
Color used to render user-generated points. Set to red by default.
Pencil
Color used to render 2D contours generated by the user. Set to yellow by default.
Plane
Color used to render the planes displayed for the Set Minimum Z Value operation
and the Point Cloud Organizer tool. Set to pink by default.
Selection
Color used to render selected elements. Set to red by default.
Snapshot Background - Bottom

Color used to define the bottom color of the background used when capturing
snapshots. Set to white by default. The color is used, with the corresponding top
color, in generating a top-to-bottom gradient background.
Snapshot Background - Top

Color used to define the top color of the background used when capturing
snapshots. Set to white by default. The color is used, with the corresponding
bottom color, in generating a top-to-bottom gradient background.

Figure 14.8 The Display > Lights page.
Figure 14.9 The Display > Material page.
14.3.4 Lights display options
The Display > Lights page of the IMAlign Options dialog box, shown in Figure 14.8,
offers options related to the lighting in the 3D scene.
The Light sources section offers options related to light sources:
Use to render colored 3D images

A check box that enables the use of light sources when rendering color 3D images.
This option only affects the Point color mode. The check box is cleared by default.
Edit Light Sources

A button that displays a light-editing window. The window’s initial settings are
determined by the current IMAlign light source definitions. The window allows the
specification of up to four directional light sources, and buttons allow loading and
saving light setup files. See Section 5.6 Setting lighting display options of the
PolyWorks Reference Guide for a detailed description of the light-editing process.
14.3.5 Material display options
The Display > Material page of the IMAlign Options dialog box, shown in Figure 14.9,
offers options related to material.

The Default material section offers the following option:
Edit Default Material

A button that displays a tool that allows specifying default material properties.
Material properties are used during the rendering process whenever an input
model contains partial or no material specification. See Section 5.5 Setting
material display options of the PolyWorks Reference Guide for a detailed
description of the material-editing process.
14.3.6 Image display options
The Display > Images page of the IMAlign Options dialog box, shown in Figure 14.10,
offers options to specify the global display mode of 3D images.
The Digitizer position section offers the following option that displays the digitizer
position of 3D images:
Digitizer position
A check box that enables the display of the digitizer position of visible 3D images,
when available. The check box is cleared by default.
Note that while LIDAR point clouds all have a digitizer position, other point cloud
formats may or may not have a digitizer position.
The Default static display and Default dynamic display sections offer the following
options that specify the default Static and Dynamic display mode of 3D images:
Drawing type
A list box that specifies the rendering type for the default Static or Dynamic display
mode. Choose from:
 Bounding Box – Draws the bounding box of each 3D image instead of

rendering the individual 3D images.
 Flat – Renders 3D images as flat-shaded surfaces.
 Point – Renders 3D images as 3D points.
 Smooth – Renders 3D images as smooth-shaded surfaces.
 Wireframe – Renders 3D images in wireframe.
For the default Static display mode, the default value is Flat. For the default
Dynamic display mode, the default value is Wireframe.
Note that the Bounding Box drawing type is available for the default Dynamic
display mode only.

Figure 14.10 The Display > Images page.
Figure 14.11 The Display > Polygonal Models page.
Subsampling
A list box that specifies the default Static or Dynamic display mode subsampling
factor. Choose from: 1/1 (all 3D image points), 1/4 (one of every four points), 1/16
(one of every sixteen points), and 1/64 (one of every sixty-four points).
For the default Static display mode, the default value is 1/1. For the default
Dynamic display mode, the default value is 1/4.
Note that the Drawing type and Subsampling parameters for the default Static and
Dynamic display modes of 3D images can also be easily changed using the Object
Display Options menu button of the 3D Scene toolbar.
14.3.7 Polygonal model display options
The Display > Polygonal Models page of the IMAlign Options dialog box, shown in
Figure 14.11, offers options to specify the global display mode of polygonal models.

Setting Options Default name options
Figure 14.12 The Default Names page.
The Static display and Dynamic display sections offer the following options that
specify the Static and Dynamic display mode of polygonal models:
Drawing type
A list box that specifies the polygonal model rendering type for the Static or
Dynamic mode. Choose from: Flat (displays polygonal models as flat-shaded
surfaces), and Wireframe (displays polygonal models in wireframe).
For the Static and the Dynamic display modes, the default value is Flat.
Subsampling
A list box that specifies the Static or Dynamic display mode subsampling factor.
Choose from: 1/1 (all triangles), 1/4 (one of every four triangles), 1/16 (one of
every sixteen triangles), and 1/64 (one of every sixty-four triangles). For the Static
and the Dynamic display modes, the default value is 1/1.
14.4 Default name options

The Default Names page of the IMAlign Options dialog box, shown in Figure 14.12,
allows specifying new default names for objects. It offers a list with the Object Type
and Default Name columns, which is sorted in alphabetical order on the object type.
To edit a default name in the list, click it and enter a new name. Press the ESC key to
undo the current editing. The list may feature a scroll bar to navigate the list.
14.5 Image options

The Images page of the IMAlign Options dialog box, shown in Figure 14.13, offers
options related to 3D images. Its subpages offer import options, organized by type of
point cloud, that allow specifying creation parameters and optional operations that
may be applied when importing point clouds that are used to obtain 3D images.
The Processing section offers the following options:

Setting Options Image options
Figure 14.13 The Images page.
Reduce overlap on exit

A list box that specifies whether or not to perform an overlap reduction operation
when exiting IMAlign or closing an IMAlign project. Choose from:
 No – The application is exited/the project is closed without performing an

overlap reduction. The default value is No.
 Yes – The dialog box used to perform an overlap reduction is displayed

automatically.
 Confirm – A window is displayed asking to perform an overlap reduction.

The confirm message box offers the Yes and No buttons that launch the
behaviors described previously. The message box also has a Never ask this
question again check box. When this item is selected, the action
corresponding to the pressed button is launched, and the value in the list
box is set to the same value.
Note that before invoking the overlap reduction operation, three conditions must
be met: the project has been saved, it contains more than one 3D image, and no
overlap reduction has been performed previously. For information concerning the
overlap reduction operation, see Section 12.5 Reducing the amount of overlap in
3D images.
Processing priority
A group label that specifies the type of processing priority for random access
memory (RAM) usage when processing 3D images (i.e., on import and when
editing). It contains the following items:
Speed
An option button that specifies prioritizing speed when processing 3D
images. This option speeds up image processing, and requires a
sufficient amount of RAM that is normally found in up-to-date computers
with up-to-date operating systems. The option button is selected by
default for 64-bit operating systems.

Figure 14.14 The Images > Point Clouds page.
Memory usage
An option button that specifies prioritizing memory management when
processing 3D images. This option enables efficiently processing very
large point clouds, or 3D images of any volume, when available RAM is
limited. The option button is selected by default for 32-bit operating
systems.
Note that for recent computers and operating systems, and in most situations, the
Processing priority option should be set to Speed. However, when processing
very large point clouds, such as surveying point clouds, or when there are memory
management issues when processing 3D images, the Processing priority option
can be changed to Memory usage.
The IMAlign project import section offers the following option:
Reset image status

A check box that enables resetting the status of 3D images imported from an
existing IMAlign project to the status of newly created 3D images (i.e., unlocked,
visible, not inverted, nonignored). The check box is selected by default.
14.5.1 Point cloud options
The Images > Point Clouds page, shown in Figure 14.14, offers general import options.
It also has subpages with import parameters specific to each category of point cloud:
planar grid/mesh, line scan, and spherical grid.
The Import section offers the following options:
Max angle
A text box that specifies the maximum angle threshold that is applied to each
added 3D image. When the angle between a surface normal vector and the
parameterization plane normal vector is larger than Max angle, the neighboring
3D image points are disconnected. The default value is 75 degrees.

Import PIF files as

A group label that specifies the import of PIF files. The following items are offered.
Planar grids/meshes
An option button, selected by default, that specifies importing PIF files as
point clouds in the planar grid/mesh category.
Spherical grids
An option button that specifies importing PIF files as point clouds in the
spherical grid category.
Keep external to workspace

A check box that enables specifying to not copy point clouds to the workspace
associated with the current IMAlign project, which may be practical for very large
point clouds. Instead, the name of the point clouds appears under the Point
Clouds branch of the workspace with a special symbol superimposed on their
icon, and the workspace retains an absolute path to the external files. By default,
Note that certain problems may arise when sharing a workspace with external
datasets. For example, if the workspace is sent to a user on another computer, a
dialog box will be displayed on opening the IMAlign project stating that the
external dataset cannot be found and offering a browser to provide a new path to
the object. As well, if the file loaded as external to the workspace is moved to
another directory on the computer, on opening the IMAlign project the same
dialog box will be displayed to query a new path for the file.
When compressing a workspace with external files, the user is queried with
regards to adding the external files to the workspace as part of the compression
operation.
14.5.1.1 Planar grid/mesh options
The Images > Point Clouds > Planar Grids/Meshes page of the IMAlign Options
dialog box, shown in Figure 14.15, offers options for point clouds in the planar/grid
category.
Pre-alignment
A group label that contains the parameters related to the pre-alignment of 3D
images during the import process. It contains the following items:
Center on screen
A list box that allows specifying whether the incoming 3D images will be
centered. Centering sets the alignment transformation matrices of newly

added 3D images in such a way that they appear in the center of the 3D
Scene pane. Choose from:
 Yes – The incoming 3D images are centered in the IMAlign

coordinate system.
 No – The incoming 3D images are not centered and will remain in

their original coordinate system.
 Confirm – A confirmation window is displayed each time one or

several 3D images are inserted, allowing centering these 3D images
or not. The default value is No.
Note that 3D images imported from an existing IMAlign project are

centered as a whole, thereby preserving their relative alignment.
Interactive alignment
A check box that enables specifying the approximate alignment
between 3D images (i.e., none or using a specific alignment tool). By
default, the check box is selected. When it is cleared, no alignment tool is
entered into on image import.
When the option is selected, an adjacent list box is made available that
offers two choices: Point Pairs (the alignment is based on point
matching using the Point Pairs Alignment tool) and Split View (the
alignment is performed manually using the mouse using the Split View
Alignment tool). The default value is Point Pairs.
Interpolation step
A combo box that controls the interpolation of incoming 3D images. If set to
Automatic, a step is extracted from the input 3D image file and if necessary an
interactive step specification procedure is invoked. An interpolation step may also
be specified manually. The default value is Automatic.
Max edge length

A combo box that defines a default maximum triangle edge length. Choose
Automatic or enter a positive floating-point number that would then be applied
to any incoming 3D image, unless it is superseded by another value entered in a
specific import dialog box. The default value is Automatic.
When a Max edge length is defined, any triangle in the structured point cloud
having an edge length longer that the value provided is ignored. When a 3D image
is captured at a very oblique angle, the Max angle may then be increased
considerably, and the Max edge length may be used to remove impossible
triangles created by the large Max angle. This is useful for long-range digitizing
applications.
Remesh
A check box that enables the remeshing process for incoming organized point
clouds. The check box is cleared by default. When the check box is selected, an
item is made available:

Figure 14.15 The Images > Point Clouds > Planar Grids/Meshes page.
Max edge length

A text box that allows specifying a maximum distance used to rebuild the
mesh. Valid values are greater than 0. The default value is 100 mm.
When an organized point cloud file is imported in IMAlign, and the check box is
cleared, the mesh connecting digitized points is extracted from the file. When the
check box is selected, the triangles of the incoming file are ignored and the points
are retriangulated. Any triangles whose edge length exceeds the specified
maximum edge length are ignored.
Cyberware Echo files

A group label that specifies how to import Echo files from Cyberware. It offers the
following item:
Import complete ring

A check box that enables importing complete Echo rings. When selected,
the selected scan file is imported along with complete rings. Otherwise,
only the selected scan file is imported. By default, the check box is
cleared.
14.5.1.2 Line scan options
The Images > Point Clouds > Line Scans page of the IMAlign Options dialog box,
shown in Figure 14.16, offers import options for point clouds in the line scan category.

Figure 14.16 The Images > Point Clouds > Line Scans page.
Auto-organize
A check box that enables automatically organizing line scan point clouds that are
processed by the Point Cloud Organizer tool (described in Appendix 6). By default,
the check box is selected.
Filter scan lines

A check box that allows activating a filter that reduces the amount of noise in the
line scan data by reducing the number of points in each scan line within a
tolerance controlled by the Standard deviation parameter. When the check box
is selected, two items are made available:

A text box that defines the maximum distance used to determine that
two points are neighbors on a scan line. The default value is 4.0 mm.
Standard deviation
A text box that specifies the standard deviation of the point cloud data.
The default value is .050 mm.
Curvature calculation
A group label that offers parameters that are used to compute scan line curvatures
in imported line scan files and in scans obtained live when scanning in IMAlign
using a hand-held line scanner. This information is calculated for, and saved as part
of, each 3D image. It is used by the Keep Best Line Data operation (see Section
12.4 Keeping the best line data) to keep the best data in overlapping areas of 3D
images based on the scan line curvatures. In the case of imported line scan files,
the processing is done by the Point Cloud Organizer tool. The following
parameters are required to do this processing:

Figure 14.17 The Images > Point Clouds > Spherical Grids page.
Evaluation distance
A text box that specifies a distance used to define a neighborhood about
each point that allows computing its curvature on a scan line. When
noise is high, a larger evaluation distance helps to reduce the effect of the
noise in computing the curvature. The default value is 1.0 mm.
Note that the scan line filter allows reducing noise in imported line scan
files and in scans obtained live when scanning in IMAlign using a hand-
held line scanner.

A text box that specifies a distance that is used to cut the scan line when
the distance between two points on a scan line is too large. The default
value is 4.0 mm.
Perceptron files
A group label that offers the following option for Perceptron files:
Invert digitizing vectors

A check box that enables inverting digitizing vectors. By default, the
check box is selected.
14.5.1.3 Spherical grid options
The Images > Point Clouds > Spherical Grids page of the IMAlign Options dialog box,
shown in Figure 14.17, offers import parameters for point clouds in the spherical grid
category.
Subsampling factor
A list box that offers subsampling factors to reduce the number of points in the
point cloud. For example, a factor of 1/4 keeps one point in every four. The default

value is 1/1. Note that this subsampling operation is not applied to Callidus as well
as 3DD and RXP Riegl files.
Confirm at import
A check box that allows accepting or changing the subsampling factor
value at import. By default, the check box is cleared.
Remesh
A check box that enables the remeshing process for incoming spherical grid point
clouds. By default, the check box is cleared.
When a spherical grid point cloud file is imported, and the check box is cleared, the
mesh connecting digitized points is extracted from information in the file. When
the check box is selected, the triangles of the incoming file are ignored and the
points are retriangulated using the spherical coordinates in the file.

Setting Options Polygonal model options
Figure 14.18 The Polygonal Models page.
14.6 Polygonal model options

The Polygonal Models page of the IMAlign Options dialog box, shown in Figure 14.18,
offers the options that follow.
The Import section offers the following parameter:
Keep external to workspace

A check box that enables specifying to not copy point clouds to the workspace
associated with the current IMAlign project, which may be practical for very large
point clouds. Instead, the name of the point clouds appears under the Point
Clouds branch of the workspace with a special symbol superimposed on their
icon, and the workspace retains an absolute path to the external files. By default,
Note that certain problems may arise when sharing a workspace with external
datasets. For example, if the workspace is sent to a user on another computer, a
dialog box will be displayed on opening the IMAlign project stating that the
external dataset cannot be found and offering a browser to provide a new path to
the object. As well, if the file loaded as external to the workspace is moved to
another directory on the computer, on opening the IMAlign project the same
dialog box will be displayed to query a new path for the file.
When compressing a workspace with external files, the user is queried with
regards to adding the external files to the workspace as part of the compression
operation.
14.7 Alignment options

The Alignment page of the IMAlign Options dialog box, shown in Figure 14.19 (a),
offers options related to alignment operations.
The One point pair section offers an option to configure the image subsampling for
the One Point Pair Alignment mode:

Setting Options Device position options
Figure 14.19 The Alignment (a), Device Positions (b), and Selection (c) pages.
(a) Alignment page
(b) Device Positions

page
(c) Selection page
Image subsampling
A list box that specifies a subsampling factor for the 1 Point Pair Alignment mode.
Subsampling the 3D images increases computation speed. Choose from: 1/1 (all
points), 1/4 (one in four points), 1/16 (one in sixteen points), and 1/25 (one in
twenty-five points). The default value is 1/4.
14.8 Device position options

The Device Positions page of the IMAlign Options dialog box, shown in Figure 14.19
(b), offers one option:
Active positions created in IMInspect

A list box that specifies activating device positions created in IMInspect. Choose
from Yes, No, and Confirm.
14.9 Selection options

The Selection page of the IMAlign Options dialog box, shown in Figure 14.19 (c), offers
an option related to selection operations.
The Grow & shrink section offers the following option:
Number of layers
A text box that specifies the number of layers of that are added or subtracted each
time a growing or shrinking operation is performed. Valid values are greater than
1. The default value is 5.

Setting Options Selection options

Exporting Objects 15
This chapter presents tools that allow exporting 3D images, image alignment matrices, and reference points.
The operations presented in this chapter are available through the File menu.
Export operations make use of the current selection, including selected 3D images with the ignored status. If
a composite 3D image is selected, all of its sub-images are selected for the export operation. It is also
possible to select only specific sub-images. In order to simplify the contents of this chapter, no distinction
will be made between single 3D images and sub-images – they will all be referred to as 3D images.

Exporting Objects Introduction to exporting aligned 3D images
15.1 Introduction to exporting aligned 3D images

It is important to know what points will be exported as a result of an export operation
involving 3D Images. And that depends on whether or not an editing operation has
been performed on each selected 3D image.
If no editing (i.e., deleting points) has been performed on a selected 3D image, all of its
original digitized points are exported.
However, if even a point was deleted on a selected 3D image, only the original digitized
points that map onto the visible zones of the 3D image are exported. In both cases,
points that may be exported are referred to as valid digitized points. Note that several
parameters (e.g., interpolation step, max edge length) and operations (e.g., Set
Minimum Z Value) determine the visible zones of an interpolated 3D image.
Consequently, if the goal is to export all of the original digitized points after performing
alignment operations, do not perform any editing operations on the 3D images to
export.
15.2 Exporting aligned 3D images to file

The File > Export > Images to File command saves to an ASCII file the (x, y, z) coordinates
of valid digitized points of selected 3D images. The alignment transformation matrices
are applied to the original 3D image data. As a result, the point cloud file is defined in a
unique coordinate system.
On choosing the command, a file browser is displayed. Specify a file name and location.
Then, if desired, configure the export operation using the items that follow.
Save as type
A list box that specifies the type of file format. Choose from: PTX Files (*.ptx) and
Text Files (*.txt). When exporting as PTX files, each selected 3D image must have
a digitizer position.
The Options button, available when Text Files is specified, displays the dialog box
shown in Figure 15.1 that offers the following items:
Data filtering
A list box that specifies a criteria used when exporting points. It can be set to None
(i.e., no points are rejected) or Ignore points without normals (i.e., points without
normals are rejected). The default value is None.
Template
A list box that offers standard templates to use when exporting to an ASCII point
cloud. Choose from: Points Only, Points + Colors, and Points + Intensities. The
default value is Points Only.

Exporting Objects Exporting aligned 3D images to separate files
Figure 15.1 Options when saving selected 3D images to a single text file.
Number of digits after decimal point

A text box that specifies the number precision. Valid values range from 1 to 15
digits after the decimal point. The default value is 6.
Scientific notation
A check box that enables using scientific notation. By default, the check box is
cleared.
Press the Save button to launch the export operation, or the Cancel button to end the
operation.
15.3 Exporting aligned 3D images to separate files

The File > Export > Images to Separate Files command saves the (x, y, z) coordinates of the
valid digitized points, or the interpolated points if exporting to the InnovMetric PIF
format or the text file format, of each selected 3D image to a separate ASCII file. The
alignment transformation matrices are applied to the original 3D image data. As a
result, the point cloud files are defined in a unique coordinate system.
On choosing the command, a directory browser is displayed. Specify a directory, and

make the additional specifications:
Save as type
A list box that specifies the type of output file format. Choose from the following
types: Breukmann BRE Files (*.bre), Comet/Steinbichler AC Files (*.ac),
InnovMetric PIF Files (*.pf;*.pif), SURF Files (*.surf), and Text Files (*.txt).
The Options button displays a dialog box like the one shown in Figure 15.2 that offers
items based on the specified file format type.

Exporting Objects Exporting aligned 3D images to separate files
Figure 15.2 Options available when exporting selected 3D images to individual files. A naming
option is available for all files (a), and other options are offered specifically when
exporting to InnovMetric PIF files (b) and text files (c).
(a) Common export option (c) Options when exporting to text file
(b) Options when exporting to

InnovMetric PIF files
One item is offered for all file formats:
Generic name
A text box that specifies the default generic name {IMG:r}. A generic file name
uses a variable that refers to the name of the 3D image being processed as well as
modifiers that allow editing the name.
Let’s take an example: {IMG:r}. IMG is a variable that specifies the file name of
the original 3D image. To construct the output file name from the original file
name, type {IMG}, which represents the value of the IMG variable.
Two modifiers allow the modification of this variable. The :r modifier removes the
extension of the file name, while the :e modifier removes everything but the
extension. The modifiers should follow the IMG string and be enclosed within the
braces (e.g., {IMG:r}).
The resulting default file name is the original file name whose extension has been
replaced by the extension associated with the specified file type.
The string %d may also be used in a generic file name. It represents an integer
number indicating the image index in the IMAlign project.
For more information concerning variables and modifiers, refer to the Macro Script
Reference Guide, which is available through the PolyWorks/Workspace Manager’s
Help menu.

Exporting Objects Exporting aligned 3D images as polygonal models
An item is offered for the InnovMetric PIF file and text file formats:
Export interpolated data

A check box that enables exporting interpolated grid points, using the current
interpolation parameters, instead of the originally digitized points. By default, the
check box is cleared.
Note that the InnovMetric PIF file is a regular grid format. When exporting to this
format, if the originally imported file was not in the planar grid/mesh category and
was not defined as a regular grid, only interpolated points are exported, whether
the check box is selected or not.
Additional items are offered for only the text file format:
Data filtering
A list box that specifies a criteria used when exporting points. It can be set to None
(i.e., no points are rejected) or Ignore points without normals (i.e., points without
normals are rejected). The default value is None.
Template
A list box that offers standard templates to use when exporting to an ASCII point
cloud. Choose from: Points Only, Points + Colors, and Points + Intensities. The
default value is Points Only.
Number of digits after decimal point

A text box that specifies the number precision. Valid values range from 1 to 15
digits after the decimal point. The default value is 6.
Scientific notation
A check box that enables using scientific notation. By default, the check box is
cleared.
Press the OK button to accept the values and close the dialog box, or the Cancel button
to dismiss the dialog box. Then, press the Select Folder button to launch the export
operation, or the Cancel button to end the operation.
15.4 Exporting aligned 3D images as polygonal models

The File > Export > Images as Polygonal Models command allows saving selected 3D
images as external polygonal model files of various formats. The alignment
transformation matrices are applied to the original 3D image data. As a result, all
external polygonal model files are defined in a unique coordinate system.
On choosing the command, a directory browser is displayed. Specify a directory, and

make the additional specifications:
Save as type
A list box that specifies the type of polygonal model file format. Choose from the
types shown in Figure 15.3.

Exporting Objects Exporting matrices
Figure 15.3 The polygonal model file formats.
The Options button displays a dialog box, like the one shown in Figure 15.4, that offers
items based on the output file type. One item is offered for all file types:
Generic name
A text box that specifies a generic file name required by the operation. By default,
the generic name {IMG:r} is used. See Section 15.3 Exporting aligned 3D images
to separate files which provides complete information concerning generic names.
The following items are offered when exporting to the IGES file type:
Convert units
A check box, only offered for the IGES file type, that allows converting IGES units
to other units. By default the check box is cleared. When selected, the following
item is made available:
Exported units
A list box that specifies the exported units. Choose from: Microns,
Millimeters, Centimeters, Meters, Inches, and Feet. The default value is
Millimeters.
Press the OK button to accept the values and close the dialog box, or the Cancel
button to dismiss the dialog box.
Press the Select Folder button to launch the export operation, or the Cancel button to
end the operation.
15.5 Exporting matrices

The File > Export > Image Matrices command allows exporting the alignment matrices of
selected 3D images to 4x4 matrix files or to TRF matrix files.

Exporting Objects Exporting global reference points
Figure 15.4 Options available when exporting 3D images as polygonal models. In this case, the
specified file type is IGES.
On choosing the command, a directory browser is displayed. Select an output

directory. Specify the type of matrix file as well:
Save as type
A list box that specifies the type of matrix file. Choose from the following types:
 4x4 Matrix Files (*.txt) – Exports the alignment matrices of selected 3D

images to text files that are compatible with the IMEdit™ and the IMInspect™
modules of PolyWorks.
 TRF Matrix Files (*.txt. *.trf)– Exports the alignment matrices of selected
3D images to TRF files.
Press the Select Folder button to launch the export operation, or the Cancel button to
end the operation.
The alignment matrix of each selected 3D image is exported to an individual text file
which is named as follows: <3D_image_name>.txt.
15.6 Exporting global reference points

The File > Export > Global Reference Points command allows exporting selected global
reference points to a text file. The line format consists of the point’s x, y, z coordinates
and its name.
On choosing the command, a file browser is displayed. Specify a file name and location
and press the Save button to launch the export operation, or the Cancel button to end
the operation.

Exporting Objects Exporting image reference points
15.7 Exporting image reference points

The File > Export > Image Reference Points command allows exporting selected image
reference points to a text file. The line format consists of the point’s x, y, z coordinates
and the name of the 3D image with which the point is associated.
On choosing the command, a file browser is displayed. Specify a file name and location
and press the Save button to launch the export operation, or the Cancel button to end
the operation.

Plug-ins and
Macros
16
This chapter briefly describes using plug-ins and macros scripts to enhance your processing in PolyWorks.

Plug-ins and Macros Using and creating plug-ins
16.1 Using and creating plug-ins

InnovMetric Software provides plug-ins for certain modules. Functionalities can also be
added to IMAlign by creating plug-ins using the PolyWorks SDK.
For complete information on using the PolyWorks SDK, see the PolyWorks SDK
Reference Guide. It can be accessed from the Help > Reference Guides submenu of the
PolyWorks/Workspace Manager.
16.2 Using IMAlign from an external application

It is possible to use IMAlign from an external application by using the PolyWorks SDK.
For example, macro commands can be sent to the module.
Complete information is available in the PolyWorks SDK Reference Guide. Samples

written in Visual Basic, Visual Basic .NET, Visual C++, Delphi, C#, and Excel are provided.
16.3 Creating macro scripts

Macro scripts can be recorded, edited, and run using the Macro Script Editor. The Macro
Script Control Language allows increasing their functionality by adding programming
language elements (e.g., loops, conditions, variables, and more).
Complete information is available in the Macro Script Reference Guide and the HTML
Command Guide. Both are offered on the Help menu of the Macro Script Editor tool.
16.3.1 Recording and editing macros using the Macro Script Editor window
Full macro scripting possibilities are offered through the Macro Script Editor pane,
shown in Figure 16.1. It allows recording, editing, and executing macros, and it comes
with a friendly command completion feature that is useful when editing macros, as well
as a complete HTML help feature that documents each command.
16.3.2 Using the Macro Script Control Language
Macro scripts can also be enhanced with the Macro Script Command Language (MSCL),
PolyWorks’ simple but powerful programming language. The MSCL offers conditional
command execution (IF/ENDIF), repeatable operations (WHILE/ENDWHILE), the
possibility of calling other macros, global variables, and more.

Plug-ins and Macros Creating macro scripts
Figure 16.1 The Macro Script Editor pane.

Appendix
Supported
Digitizers
A
This chapter lists the digitizers supported in IMAlign.

Supported Digitizers Digitizers
A.1 Digitizers
The Project page of the IMAlign Options dialog box, presented in Section 14.2 Project
options, allows choosing a digitizer. As explained in that section, when a digitizer is
specified, the digitizer’s recommended Max angle, Max distance, and Convergence
values are also assigned, and appear in related dialog boxes. The tables that follow list
the supported digitizers and their values with respect to these three parameters. The
digitizers are grouped in subsections by the type of point clouds they produce: planar
grid and mesh, line scan, spherical grid, and unorganized.
A.1.1 Planar grid and mesh type digitizers
Planar grid and mesh point clouds are most often planar datasets that contain the
connectivity information that allows creating 3D images directly. In some cases,
however, because of the large variety of file formats, the user must provide additional
information.
Max Max Conver- File

Name Units
distance angle gence format
3D Digital millimeters 3.0 75 0.000016 pmjx
3D Scanners millimeters 0.000004 ris

1.5 75
Replica
Breuckmann millimeters 1.5 75 0.000004 bre
CogniTens millimeters 0.000004 pif

1.5 75
Optigo
Cyberware Echo microns 64 echo

3000 75
rings
Dimensional millimeters 0.000004 pif

1.5 75
Photonics
EOIS Handy millimeters 3.0 75 0.000016 xyz
Generic Close millimeters 0.000001 pif

2.0 75
Range
Genex millimeters 3.0 75 0.000016 gti
Gom Atos millimeters 1.5 75 0.000004 surf
Hymarc millimeters 1.5 75 0.000004 hyscan
Imetric millimeters 1.5 75 0.000004 pif
Inspeck millimeters 4.0 75 0.0001 pif
Konica Minolta millimeters 0.000004 rgv

1.5 75
RANGE7


Name Units
Konica Minolta millimeters 0.0001 vvd

4.0 75
VIVID 700
Konica Minolta millimeters 0.0001 cdm

4.0 75
VIVID 900
Kreon on CMM millimeters 1.5 75 0.000004 grk
Micro- millimeters 0.000004 pif

1.5 75
measure
nub3d millimeters 0.000004 pif

1.5 75
(nub3d)
Optonet millimeters 1.5 75 0.000004 pif
Solutionix millimeters 1.5 75 0.000004 icv
Steinbichler millimeters 0.000004 ac

1.5 75
Comet
Steinbichler millimeters 0.000016 ac

3.0 75
Tricolite
ViALUX millimeters 1.5 75 0.000004 pct
Vitana Shape- millimeters 0.000016 pif (Shape

3.0 75
Grabber Grabber)
Voxelan millimeters 4.0 75 0.0001 mgf
Wicks&Wilson millimeters 0.0004 pif

6.0 80
TriForm
A.1.2 Line scan type digitizers
Line scan point clouds may contain many passes. These point clouds require processing
on import using the Point Cloud Organizer tool (see Appendix 6 Creating 3D Images
from Point Clouds). Interpolation parameters must be specified, and may be applied to
all passes. The tool processes each subscan from a determined planar view. Each
subscan results in a 3D image.

Name Units
3D Scanners millimeters 0.000004 sab

1.5 75
ModelMaker
Faro ScanArm millimeters 3.0 75 0.000004 psl
Kreon on arm millimeters 1.5 75 0.000004 cwk


Name Units
Leica T-Scan millimeters 0.000004 ac (T-

1.5 75 Scan/
Leica)
Metron millimeters 1.5 75 0.000004 met
Perceptron millimeters 1.5 75 0.000004 swl
Polhemus millimeters 3.0 75 0.000004 psl
Romer millimeters 3.0 75 0.000004 psl
Steinbichler T- millimeters 0.000004 ac

1.5 75
Scan
A.1.3 Spherical grid type digitizers
Spherical grid point clouds do not meet the planar requirement, which is required for
the creation of 3D images. Therefore, they are processed on import using the Create
Images from Spherical Grid tool (see Section 6.2 Creating 3D images from spherical grid
point clouds). The user provides tile size and interpolation parameters, and a composite
3D image is automatically created for each point cloud. Each planar tile becomes a sub-
image of a composite image.

Name Units
3rd Tech meters 0.1 85 0.000016 rtpi
AVEVA meters 0.1 85 0.000016 ZFC
Callidus meters 0.1 85 0.000016 callidus
Faro LS meters 0.1 85 0.000016 FLS
iQvolution meters 0.1 85 0.000016 iQscan
Leica HDS meters 0.1 85 0.000016 ptx
Mensi meters 0.1 85 0.000016 soi
Optech meters 0.1 85 0.000016 pif
Riegl 3DD meters 0.1 85 0.000016 3dd
Riegl RXP meters 0.1 85 0.000016 rxp
Surphaser meters 0.1 85 0.000016 btx
Topcon meters 0.000016 ptx

0.1 85
(Topcon)


Name Units
Z+F meters 0.1 85 0.000016 ZFS
A.1.4 Unorganized point cloud type digitizers
Unorganized point clouds do not contain required connectivity information. Therefore,

they are processed, on import, using the Point Cloud Organizer tool (see Section 6.1
Creating 3D images from unorganized and line scan point clouds). The user defines
planar views and provides interpolation parameters that enable the creation of 3D
images.

Name Units
Laser Design millimeters 1.5 75 0.000004 scn
Renishaw millimeters 1.5 75 0.000004 ASCII

Point
Cloud

Glossary
# Symbol used in some dialog boxes to represent the term

“Number (of )”. For example, # displayed points should be
read as “Number of displayed points”.
2D Parametric A 3D surface mesh that can be mapped and interpolated

Image onto a 2D parametric space.
3D Three Dimensional. Often applied to the description of CAD

systems (e.g., 3D CAD), indicating that the resulting file is a
volumetric representation that has dimensions in the X, the
Y, and the Z axes.
3D Image A 3D surface mesh that can be mapped and interpolated

onto a parametric surface, usually a plane or a cylinder.
IMAlign supports all organized point clouds that can be
transformed into planar 3D images.
Unorganized point clouds must be processed and
interactively organized in order to generate 3D images.
Once loaded in IMAlign, an organized point cloud becomes
a 3D image. A polygonal mesh can be automatically built
from an ordered list of (x, y, z) point coordinates.
3D Image Point An element of a 3D image.
Align To bring one or more sets of 3D images into a unique global

coordinate system. Also referred to as registration in the
industry. Shape-based alignment is an alignment method
that uses topographical changes as ways of controlling
degrees of freedom.
Alignment An operation that allows obtaining the desired position and

orientation of an object, which is often with respect to other
objects.
Available A term used to designate an object that can be used by a

given operation (e.g., is nonignored).
Bbox See Bounding Box (bbox).

Glossary
Bounding Box A bounding box is the smallest rectangular prism that

(bbox) contains all of the nonignored objects in the 3D scene,
regardless of their visibility status. A 3D image’s bounding
box is the smallest rectangular prism that contains all of the
object’s elements, regardless of their visibility status.
Color Map A graphical technique to visualize differences between the

measured configuration of an object and its CAD model.
Dimensional differences are mapped onto the CAD model
using a color spectrum to indicate location and magnitude.
A color scale maps the deviations to values.
Composite 3D An image created as a result of importing a spherical grid

Image dataset. Each dataset, or each subscan contained within the
dataset, results in the creation of many sub-images,
grouped together under a parent composite 3D image. This
allows easy object manipulation.
Data Point An element of an imported point cloud which is available in

tools that process datasets on import in order to create 3D
images, such as the Point Cloud Organizer Tool, and the
Create Images from Spherical Grids tool.
Degrees of Freedom Describes the number of directions of movement and refers

to how the position and orientation of an object is
described relative to a coordinate system. Usually consists of
three linear translations (X, Y, Z) and three rotations about
the three axes (pitch, yaw, and roll) relative to the three axes.
Deviation 1. The distance that points differ from each other or the
distance that points differ from the surface model.
2. The difference between 3D coordinates of two points,
generally between as-designed versus as-built.
Deviation Map See Color Map.
Digitized Point A single measurement value that it defined by its (x, y, z)

location.
Digitizer Position The (x, y, z) position of the digitizer. If this position is

obtained by a GPS device located above the digitizer, it may
be necessary to subtract the difference in height from the
proposed position to obtain the digitizer’s true position.
Discrepancy The discrepancy of an image point is the maximum 3D

distance along the surface normal direction between this
point and an overlapping 3D image.
Display Mode A display mode specifies how 3D surface geometry is

displayed on the computer screen. It typically includes a
drawing type and a subsampling factor.

Glossary
Drawing Type Specifies the manner in which objects are rendered. Typical
drawing types include flat, point, smooth, wireframe, and
bounding box (Dynamic display mode only).
Elements They include the image points of 3D images, the triangles

of polygonal Models, and the points of point clouds
processed during importation. An example of the last type
of element are the data points that are visible in the 3D
Scene when using the Point Cloud Organizer tool. These
points can be selected and then hidden, deleted, and
recovered. Points that are not visible in the 3D scene are not
used in the creation of 3D images. Once the processing of
the point cloud is finished it is removed from memory and is
not saved to the project.
Error A discrepancy between a computed, observed, or measured

value or condition and the true, specified, or theoretically
correct value or condition. An error has a distance and a
direction.
Error Distribution The spread of statistics within known or possible limits,

especially in relation to the norm or to expectations.
Error Map See Color Map.
Free Form Surface Contours that cannot be defined with simple linear or
quadratic mathematical equations. Many natural shapes,
such as the human face, are examples. Synonym: Organic.
Identity Matrix The original coordinate system of a 3D image.
Ignored An object status in PolyWorks. An ignored object is not

displayed and is not considered by most operations. A No
sign is superimposed on its icon in the tree view. Antonym -
Used.
Interpolate To estimate the value of a mathematical function that lies

between known values. IMAlign creates an interpolated grid
of input data while conserving the original data. IMAlign
imports files that consist of raw data points. The files are
triangulated and a square interpolated grid is created from
the surface, resulting in a 3D image. The points at the grid
intersections can be referred to as 3D image points, or more
generally as points.
Interpolated Point See 3D Image Point.

Glossary
Interpolation Step For several algorithms used in IMAlign, it is more convenient

to describe a 3D surface mesh by an array of data points
distributed on a square grid. The interpolation step
represents the 2D distance between two consecutive
horizontal or vertical neighbors in an interpolated 3D
image.
Iterate A process of achieving a desired result by repeating a

sequence of steps and successively getting closer to that
result.
Large Numbers In IMAlign, large numbers are those having more than seven
digits including the decimals. A typical example would be
GPS points.
LIDAR Digitizer LIDAR is an acronym for Light Detection And Ranging. LIDAR
range finder digitizers use the time of flight of a beam of
light to measure distance to a solid object.
Line Scan Point Short-range point clouds that typically contain a large
Clouds number of overlapping planar “passes”. On import they are
processed in the Point Cloud Organizer tool to create 3D
images.
Locked The status of an object whereby its alignment cannot be

changed. For example, a 3D image that is locked remains
visible, and is considered by the alignment algorithm for the
alignment of other images, but its alignment remains
unchanged.
Luminance A measure of brightness.
Material A material definition is a compact representation that

models the behavior of a polygon under the influence of
light sources. A material is represented by five properties:
ambient, diffuse, and specular colors, shininess, and
emissive color.
Merge A process accomplished by IMMerge which converts

aligned surface data, for example an IMAlign project, into a
unique global surface triangulation or polygonal mesh.
Mesh A grid-like polygonal subdivision of the surface of a

geometric model.
NA An abbreviation that stands for Not Applicable. Used in

tables where no value can be attributed for a given item.
No. An abbreviation that stands for Number (or Number of ). For

example, “No. of triangles” should be read “Number of
triangles”.

Glossary
Noise Data in a point cloud that is not representative of the

scanned object. Noise may result from extraneous objects in
the scan field (e.g., a fixture), the reflectivity of an object, or
features that cause scattering of the light source (e.g., a
sharp corner).
Organic Surface Surfaces that reflect natural, free-form shapes and textures.
Ant. prismatic, geometric.
Organized 3D data (points) that are captured in an structured fashion

(often an array) that is determined by the scanning
hardware as opposed to the operator. Antonym:
Unorganized.
Outlier A single point of data offset from the primary body of the
data set, making it suspect.
Overlap Redundant areas in adjacent 3D images.
Parametric Equation Mathematical equations giving coordinates: a set of

mathematical equations in which coordinates of points are
explicitly expressed in terms of independent parameters.
Parametric Image A 3D surface mesh that can be mapped and interpolated

onto a 2D parametric space.
Planar Grid Point Short-range, organized point clouds. On import, they

Cloud typically contain sufficient information to directly create 3D
images.
Pass A pass is all of the scan lines acquired after starting

acquisition and before ending acquisition. Each pass
captured in IMAlign is converted to a separate 3D image.
PIF File Format A binary file format that describes 3D parametric images
devised by InnovMetric Software. The PIF format supports
the definition of planar and cylindrical 2D parametric
spaces. It should be noted, however, that PolyWorks does
not support cylindrical images. For complete information
on the PIF format, see Appendix E of the PolyWorks
Reference Guide.
Point Cloud A collection of data points.
s Symbol for standard deviation.
Raw Data Point See Data Point.
Scan Line The set of aligned points captured in a common plane of

light (i.e., line scans) by a line scanner at regular intervals.
Session A session involves scanning one or more passes with the

same parameters.

Glossary
Small Numbers In IMAlign, small numbers are those having, at the most,
seven digits including the decimals.
Spherical Grid Point Large surveying (long-range) point clouds that cover
Cloud thousands of square meters. Each point cloud is partially or
completely spherical. On import, they are processed in the
Create Images from Spherical Grid tool to create 3D images.
Sub-Image See Composite 3D Image.
Subsampling When subsampling is used during file import, it means

using less than all of the available data. In this case, there is
data loss but it is desirable because the data density is too
great. When subsampling is used during any other
operation, it lessens the number of image points used as a
way of speeding up the operation. In this case, no data is lost
as a result of subsampling.
Surface Normal A vector that is perpendicular to a surface at the point where

it intersects with a plane tangent to the surface.
Template A predefined method that allows reading the contents of a

text file. PolyWorks file browsers offer context-related
templates. Users can define their own as well.
Text File An ASCII or Unicode file format used to read/write

information. An ASCII point cloud is a special case of a text
file.
Transformation A change in the size, location, or orientation of an object.
Transformation A mathematically shorthand method of describing

Matrix positioning, rotating, and sizing of an object. When applied
to an object, the item will often be in a different place,
orientation, and size. The inverse of a transformation matrix
will restore the object to its original place, orientation, and
size.
Undo Stack A stack of undoable operations maintained on a last-in-first-

out basis. Note that certain operations may delete the
contents of the undo stack (e.g., deleting certain key
objects). Usually, a message informs the user of this before
launching the operation.
Unorganized 3D data (points) that is captured in a random fashion that is

controlled by operator (speed, position) and not the
scanning hardware. Antonym: Organized.
Unorganized Point Unorganized short-range point clouds. On import they are

Clouds processed in the Point Cloud Organizer tool to create planar
3D images.

Glossary
Used An object status in PolyWorks. Used objects are considered

by operations. Antonym - Ignored.
Viewing Vector Also referred to as the camera position.
Weight The relative worth of an observation compared to any other

observation.
Workspace A workspace is composed of a descriptive XML file and a

folder containing files and projects. The container holds
certain files input to PolyWorks modules (polygonal models
and point clouds) as well as files output as part of the
PolyWorks process (e.g., projects, polygonal models). The
XML file keeps track of which files/projects are used by
which project (notion of dependency). This information is
used in copy/paste, delete, and file open operations
performed in the Workspace Manager.
Workspace Manager The PolyWorks/Workspace Manager allows managing your

data by way of workspaces, in addition to launching
PolyWorks applications. It also allows configuring PolyWorks
options and entering license keys.

Index
Numerics using mouse-based transformations in Split

View Alignment mode 148
3D Digital, loading PMJX files 63 ATOS
3D digitized datasets 23 loading SURF files 62
3D Images auto-match Reference Points 179
applying a transformation matrix to 183 automatic alignment 148, 152
composite, definition 24 automatically matching Global and Image Refer-
definition 23 ence Points 180
grouping 115 automatically matching Global Reference Points
index number of 50 180
inverting the orientation of 109 automatically matching Reference Points 179
locking 112 axes display
locking one for the best-fit alignment 157
bounding box 246, 247
pre-processing 27 origin 246, 247
properties of 224 upper left corner 246, 247
properties visible in the object tree 50
remeshing 221
resetting the alignment of 183 B
single 24
ungrouping 115 back-facing triangles
rendering 245
unlocking the alignment of 112
visibility of 50 backup delay, setting the 244
3D Scanners, loading RIS files 59 backup, automatic 244
basic visualization mode 28
bounding box
A color of 248
using in the Dynamic display mode 251
AC files from Steinbichler 63
viewing in the 3D scene 247
aligning
BRE files from Breuckmann 63
matching 1 pair of points 149
Breuckmann
aligning 3D Images
loading BRE files 63
approximate alignment 184
automatically 148, 152
best-fit iterative alignment 158 C
overview 157
centering selected 3D Images 183 CDK files from Konica Minolta 63
locking/unlocking image alignment 112 CDM files from Konica Minolta 63
on import 256 CNRC files from CNRC 59
resetting the alignment 183 CNRC, loading CNRC files 59

Index
color E
by object 245
by Subgroup 245 Echo files from Cyberware 63
Default 244 EOIS, loading XYZ files 63
error map 245 error mapping
from module 244 color mode 245
setting the color mode 244 types of 207
tiepoint pairs 249 exiting the module 17
comparing aligned 3D Images 204 exporting
composite 3D Images, definition 24 3D Images
configuring to polygonal files 269
saving the current settings 199 aligned point clouds 266, 267
specifying a digitizer 243 alignment matrices 270
using recommended settings 243
constrained alignment 158
F
contextual help 19
contextual parameters, show 138 Features
creating a new set of 3D Images 34 fitting types 174
Cyberware, loading rings of Echo scans 67 front-facing triangles
cylindrical images, not supported 23 rendering 245
D G
deleting Genex GTI files 63
3D Image points 105 getting help 18
deviations. See discrepancies Global Reference Points
discrepancies between 3D Images after alignment anchoring 167
measuring 204 importing from a text file 167
visualizing 207 numerically 167
display modes Global Reference Points, definition 26
Dynamic graphical user interface
bounding box 251 3D Scene pane 52
flat 251 Dialog Zone pane 53
point 251 menu bar 40
smooth 251 title bar 40
wireframe 251 Tree View pane 44
introduction 132 grid, viewing in the 3D scene 245
Static GRK files from Kreon 59
flat 251 growing selected areas 126, 263
point 251 GTI files from Genex 63
smooth 251
wireframe 251
dockable panes 56 H
Dynamic display mode help
definition 132 complete reference information 18
contextual 19
help, getting 18
histograms of alignment errors 160

Index
HoloVision, loading HVI files 62 RSP Project files from Riegl 70

Huge Translation 190 SURF files from ATOS 62
setting 191 Vivid scans from Konica Minolta 63
using 190 XYZ files from EOIS 63
HVI files from HoloVision 62 inserting an IMAlign Project 72
interactive alignment technique 27
interactive mode wizard 241
I interface colors
ICV files from Solutionix 62 Background - Bottom 248
ignoring Background - Top 248
3D Image points for alignment 113 Bounding Box 248
3D Image points for merging 113 Dark 249
image alignment, locking 112 Magnetized Ctrl Pts 249
Image groups Mark 249
creating 115 Pencil 249
finding, by selecting 3D Images 124 Plane 249
undoing a grouping of 3D Images 115 Selection 249
Snapshot Background - Bottom 249
image groups, color 245
Snapshot Background - Top 249
Image Reference Points
interface colors, specifying 248
anchoring 172
deselecting all 129 interpolation
from bounding box 173 3D Images 219
from digitizer position 173 grid, when creating images from a Polygonal
Model 203
from primitives 174
grid, when creating images from unorganized
from text file 176
point clouds 83
importing 179
max angle 219
inverting the selection of 129
max edge length 220
numerically 173
step
properties 178
configuring 257
selecting all 129
property of 3D Images 226
selecting hidden 129
reinterpolating 219
selecting ignored 129
when creating images from a Polygonal
Image Reference Points, definition 25 Model 203
IMAlign Projects, properties of 110 when creating images from spherical
importing 59 grids 98
AC files from Steinbichler 63 when creating images from unorganized
BRE files from Breuckmann 63 point clouds 83
CDK files from Konica Minolta 63 swing angle 220
CDM files from Konica Minolta 63 inverting 3D Image orientation 109
Echo files from Cyberware 63
GRK files from Kreon 59
GTI files from Genex 63 J-L
HVI files from HoloVision 62
Konica Minolta
ICV files from Solutionix 62
loading CDK files 63
PIF files 62
loading CDM files 63
PMJX files from 3D Digital 63
loading Vivid scans 63
polygonal files 72
Kreon, loading GRK files 59
rings of Echo scans from Cyberware 67
large-number coordinate system and limitations
RIS files from 3D Scanners 59

Index
30 157
locking image alignment 112, 157 overlap, visualizing 213
M P
Macro Script Control Language 274 panes
Macro Script Editor 54, 274 3D Scene 52
matching Dialog Zone 53
Global and Image Reference Points 180 Tree View 44
Global Reference Points 180 picking objects in the 3D scene 118, 119
Reference Points 179 PIF files, loading 62
max angle 219 plug-ins 42
max edge length device-specific documentation 42
reinterpolating 3D Images 220 PMJX files from 3D Digital 63
maximum distance 159 Point Cloud Organizer
menu bar, overview 40 Auto Organize 76
minimum z value Auto Organize, procedure 88
setting for 3D Images 222 point clouds
MSCL. See the Macro Script Control Language organized, definition 23
unorganized, definition 23
pointer coordinates 246
O polygonal files, importing 72
object tree Polygonal Models
Histogram tab 44 creating 3D Images from 201
selecting 3D Images in the 44, 118 Polygonal Models, definition 25
shortcut menus 48 poses
standard Windows-based selecting 44 center objects in the 3D scene 137
Tree View tab 44 center selected objects in 3D scene 137
visual conventions 50 loading from a file 136
objects rotate 90 degrees 137
composite 3D Images, definition 24 saving to a file 136
deleting 104 view +x 135
Global Reference Points, definition 26 view +y 136
index number of 50 view +z 136
picking in the 3D scene 118, 119 view -x 136
Polygonal Models, definition 25 view -y 136
removing the ignored attribute from 114 view -z 136
selecting 118 programming macro scripts 274
single 3D Images 24 projection types
use status 50 orthogonal 247
visibility of 50 perspective 247
opening
a polygonal model file 72
opening an IMAlign Project 34
Q
optimizing the alignment 145 quitting the module 17
overlap reduction
on exiting 254
overlap, required between adjacent 3D Images

Index
R all 125
belonging to image groups 124
raw 3D Images 23 deselecting all 125
recent projects or 3D Images, importing 37 from elements 125
recovering hidden 125
deleted elements 106 ignored 125
redoing operations 29 locked 125
Reference Points, definition 24 selecting 3D points
Reference Points, matching automatically 179 ignored for merging 128
reinterpolation of 3D Images 219 selecting data points
releasing 3D Images. See 3D Images, unlocking all data points 100
remeshing 3D Images 221 deselecting all data points 100
remeshing new 3D Images 257, 261 inverting the selection status of data points
100
removing
selecting Image Reference Points
all operations 30
all 129
transformations 30
deselecting all 129
reset to identity 183
hidden 129
Riegl RSP Project file 70
ignored 129
RIS files from 3D Scanners 59
Selection Context window 121
rotating
Selection mode
about the x axis 139
contour
about the y axis 139
freeform 122
rotating objects in the 3D scene 141 polygonal 122
volumetric 121
S selection status of 3D Images, inverting 125
shrinking selected areas 126, 263
saving
single 3D Images 24
the current configuration 199
slipping, evaluation during best-fit alignment 161
the current project 36
snapshots
scaling 3D Images and effect on the interpolation
generating 56
step 224
Solutionix, loading ICV files 62
Select Elements mode 28
Split View Alignment mode 145, 147
selected areas
Split View Alignment mode, understanding 145
deleting 105
growing 126, 263 starting IMAlign 13
shrinking 126, 263 from the command line 16
from the Windows shortcut 15
selecting
from the Workspace Manager 13
all objects 118
and mark 120 Static display mode
and toggle 120 definition 132
and unmark 120 flat 251
deselecting all objects 118 for polygonal models 251, 252 to ??
global selection operations 120 point 251
inverting the selection status of objects 118 smooth 251
wireframe 251
selecting 3D Image points
ignored for alignment 128 Steinbichler
volumetric selection techniques 121 loading AC files 63
selecting 3D Images step at focus 99

Index
subdivide by range
example 101
sub-Images, definition 25
subsampling
dynamic display 252
static display 252
SURF files from ATOS 62
swing angle 220, 226
T
transformation matrices, of selected 3D Images,
exporting 270
translating
along the x axis 140
along the y axis 140
along the z axis 140
tree view
Objects 44
U
undoing
deletions 106
operations 29
transformations 142
user interface 40
using 3D objects 114
V-Z
viewpoint
rotate 90 degrees 137
visualizing image alignment errors 160
visualizing overlap 213
Voxelan, loading MGF scans 59
wizards
interactive mode 241
Workspace Manager
drop-down menu 40
icon 40
XYZ files from EOIS 63
zooming in the 3D scene 141

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I Malign Reference Guide

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IMAlign™

3D Image Alignment Software

© 1995-2013 InnovMetric Software Inc. All rights reserved.

IMAlign Reference Guide V12.1 3

31 2.8 Customizing the module

39 4. The User Interface

IMAlign Reference Guide V12.1 4

56 4.10 Generating snapshots of the 3D scene

75 6. Creating 3D Images from Point Clouds

103 7. Editing Objects and Elements

IMAlign Reference Guide V12.1 5

107 7.3 Editing objects

117 8. Selecting Objects and Elements

IMAlign Reference Guide V12.1 6

131 9. Viewing in the 3D Scene

143 10. Aligning 3D Images

IMAlign Reference Guide V12.1 7

149 10.4 Aligning by matching pairs of points

185 11. Tools

IMAlign Reference Guide V12.1 8

194 11.4 Processing shortcuts

200 12. Editing 3D Images

228 13. Scanning Objects

IMAlign Reference Guide V12.1 9

238 13.4 Additional information

239 14. Setting Options

265 15. Exporting Objects

273 16. Plug-ins and Macros

276 Appendix A: Supported Digitizers

IMAlign Reference Guide V12.1 10

280 A.1.4 Unorganized point cloud type digitizers

IMAlign Reference Guide V12.1 11

IMAlign Reference Guide V12.1 12

1.1 Starting IMAlign

The PolyWorks/Workspace Manager interface is shown in Figure 1.1. For complete

1.1.1 Starting IMAlign from the PolyWorks/Workspace Manager

To start the PolyWorks/Workspace Manager, double-click the PolyWorks shortcut on

1. Press the Start button on the Windows toolbar.

2. Point the (All) Programs folder.

3. Point the PolyWorks folder.

The PolyWorks/Workspace Manager opens.

 Double-click an IMAlign project.

 Click the Start IMAlign button on the Modules toolbar.

IMAlign Reference Guide V12.1 13

Figure 1.1 The PolyWorks/Workspace Manager interface.

The IMAlign interface is shown in Figure 1.2.

IMAlign Reference Guide V12.1 14

Figure 1.2 The IMAlign graphical user interface.

1.1.2 Starting IMAlign from the Windows shortcut

1. Press the Start button.

2. Point the (All) Programs folder.

3. Point the PolyWorks folder.

IMAlign Reference Guide V12.1 15

1.1.3 Starting IMAlign from a command line

project_name -pwk workspace_name]

[-macro [path]macro_name [argument1...] ]

The input_project_directory is an optional parameter. It specifies the path to a

The -macro parameter can be invoked to specify a macro_name to run on starting

 The application’s current visual layout.

 The workspace associated with the application.

 The user’s configuration directory, which is defined as:

The user’s configuration directory is specified by the User configuration option on

 The PolyWorks system configuration directory, which is defined as: