Indoor Mobile Lidar devices produce ‘unstructured’ point clouds by scanning continuously the space along one or multiple walking path(s). While scanning, those devices also capture spherical images, which can be fully spherical (360-degree horizontal) or partially spherical. The registration software sold with the device will allow you to align one or multiple scanning sessions and to produce a single unstructured point cloud using SLAM technology (SLAM = Simultaneous Localization And Mapping).

Uploading this resulting unstructured point cloud in Cintoo Cloud will require to install and use Cintoo Connect Beta, which will ‘restructure’ this point cloud automatically.

  • ‘Restructuring’ will mean that Cintoo Connect will create 3D scan positions as if your mobile data was coming from tripod-mounted static scanners.
  • The resolution of those newly created 3D scans is computed automatically based on the resolution of your source unstructured point cloud.
  • There is no compromise on point cloud accuracy or density when using this process.
  • Those newly created 3D scans will count as static scans in your scan capacity.
  • You may download and export your newly created 3D scans from Cintoo Cloud as a unified or structured point clous as you would do with your static scan data.
  • You may of course merge static scans and mobile scans in Cintoo Cloud and navigate between them as long as they share the same coordinate system.

In the sections below, we describe import workflows that have been optimized for NavVis and GeoSLAM devices. Please check which section corresponds to your device. For other devices, please contact us at support@cintoo.com.

Step 1 (NavVis)– Prepare the Indoor Mobile Lidar data from a NavVis device

The data that is expected by Cintoo Connect from the Mobile Indoor device such as the NavVis M6 or the NavVis VLX is the following:

  1. The unstructured point cloud in E57 format
    • When using the Navvis tools for the post-processing of your point cloud, make sure to select ‘E57’ as the output file format:
  2. The walking /scanning path in CSV format
    • This CSV file is usually included in the same folder that contains the panoramic images.
    • You may want to look for a folder call ‘pano’ or ‘panoramic images’ where the raw files for your Indoor Mobile device are stored.
    • Note: If this CSV file is not included in the same folder than the panoramic image, make sure that it contains the path to the images in the right folder. For example, you can have the images in a “pano” folder, under the folder where the CSV file is. If all the image filenames are prefixed with “pano/” in the CSV file, the import workflow will work.
    • Example content:
  3. Optional: The geolocation information in XML format
    • This geolocation information is usually produced while putting multiple scanning sessions in the same coordinate system.
    • For single scanning sessions, this geolocation information is also produced when specifically requesting the E57 file as an export from your registration software.
    • This XML file may have an ‘_bundle’ in it for NavVis data.
    • Opening this XML file, you should see all scanning sessions being listed with some position and orientation for each.
    • This data will be used by Cintoo Connect for the restructuring process followed by the point cloud-to-mesh transformation and the upload to Cintoo Cloud.
    • Example content:
Multiple sessions:
  • If you have performed your scanning in multiple sessions, you will need to bring each E57 one by one together with the scanning path for each (item 2 above).
  • The geolocation XML (item 3 above) will also be mandatory in this case for each E57 import.
    • Cintoo Connect will look for each point cloud file name in the XML file.
  • Note that you can run several Cintoo Connect import sessions in parallel if your computer has enough capacity.

Step 1 (GeoSLAM) – Prepare the Indoor Mobile Lidar data from a GeoSLAM device

The data that is expected by Cintoo Connect from the GeoSLAM Mobile Indoor devices is the following:

  1. The unstructured point cloud in E57 format.
  2. The walking /scanning path in CSV format
  • 2.1 – If the equipment has no camera:
    • To be able to process the GeoSLAM data, you have to create a .csv file from the trajectory file, which is usually a .txt file.
    • First, open the .txt file on a text editor. It should look like this:
    • While the filename is a mandatory field, replace ‘%time’ (a useless field for our process) by ‘%filename’.
    • Then, rename ‘q0, q1, q2, q3’ by ‘qw, qx, qy, qz’
    • The result should look like this:
    • Save this file as a .csv file.
  • 2.2 – If the equipment has a camera:
    • If the equipment has a camera, the trajectory file should be fine.
    • You just need to save it as a .csv file.

Step 2 – Process and Upload the Indoor Mobile Lidar data using Cintoo Connect
As a Beta user, please request your Beta version of Cintoo Connect by sending an email to support@cintoo.com. The Cintoo Connect Beta version will then be installed on your computer, replacing the version that is currently installed. Once installed:

  • Create a new project.
  • Eventually create a receiving Work Zone for your scan data.
  • Then click on ‘Prepare and Upload’ in the main window or select ‘Upload Scans’ at the top right to invoke your Cintoo Connect Beta.
  • Cintoo Connect Beta will then propose a new User Interface allowing to select between static and mobile scans:

  • Selecting ‘Mobile’, you will get the following options to select your various requested files:
  • The Used capacity refers to the number of scans that have been uploaded in your various projects in your account.
    • Note that if you are uploading on behalf of another company, the scan capacity displayed here will be the one from this company and not the one corresponding to your own subscription.
  • For the Scanning Path, you are offered the ‘Positions sampling’ parameter that corresponds to the number of panoramic images that you will want to turn into 3D scans:
    • If your source of panoramic images comes from static spherical images (NavVis device), you may select a sampling between 1 and 10:
      • 1/1 means that all your panoramic images will be turned into 3D scans.
        • If you need more vantage points to perform measurements or create annotations, this is the option to use.
        • Of course, this will impact your scan capacity.
      • You may go down to one scan every 10 panoramic images (1/10) for example, or less.
    • If your source of panoramic images comes from a spherical video (GeoSLAM device), you may select a sampling in the following range:
      • Every 100 frames (= 1 * 3D scan every 4 seconds at 25 frames per second)
      • To 250 frames (= 1 * 3D scan every 10 seconds at 25 frames per second).
      • So, we recommend to set the ‘Positions sampling’ parameter somewhere between 100 and 250.

With this beta version, there are no progress bar yet in the user interface.

  • Some status information is displayed in the status bar at the very bottom of the Cintoo Connect window: “Status: Reading point cloud”, then “Status: Importing scan i/n”.
  • You may refer to the ‘Messages’ tab to check the detailed status of your running process.
  • On average, it takes about 1 minute to process 2 to 3 million points.
  • You may then want to run Cintoo Connect Beta overnight.
  • The multicore option is not yet available, as it is for static scans.

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