More about HERON devices here: https://gexcel.it/en/
The data that is expected by Cintoo Connect from the Mobile Indoor device, such as Heron MS Twin Color and HERON Lite Color is obtained from a dedicated process in Reconstructor software that generates a structured RCP files in correspondence of each HERON photos.
In this specific case, clicking on ‘Export to Cintoo Cloud’ in Reconstructor software will automatically generate the structured point cloud that is expected by Cintoo Connect. So there is no need to ‘restructure’ this data as for other mobile devices. Uploading data from Gexcel Heron devices will then follow the same process than uploading terrestrial scans using RCP files. Please refer to the Uploading Scans sub-section of this section of the online documentation to upload such RCP files to Cintoo Cloud.