Using a Faro 3D Imager Device

in PolyWorks
 PolyWorks|Inspector™
 IMAlign™
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Using a Faro 3D Imager Device in PolyWorks

2020/03/17
PolyWorks® Metrology Suite 2020
Contents

4 Introduction

5 1. Requirements
5 1.1 Hardware and software components

6 2. Scanning objects in PolyWorks|

Inspector
6 2.1 Selecting and connecting to a device
6 2.2 Setting options in the PolyWorks|Inspector plug-in
13 2.2.1 Adding scanners to the scanner array
14 2.2.2 Localizing all the scanners in the scanner array

16 3. Scanning objects in IMAlign

16 3.1 Selecting and connecting to a device
16 3.2 Setting options in the IMAlign plug-in
23 3.2.1 Adding scanners to the array of scanners

24 4. Using Faro software

24 4.1 Using the Utilities dialog box
27 4.2 Using the Camera dialog box
27 4.2.1 Using the camera of the Faro 3D Imager AMP
28 4.2.2 Using the camera of the Faro Cobalt 3D Imager

Using a Faro 3D Imager Device in PolyWorks 2020 3

Introduction

The PolyWorks® Metrology Suite is a complete reverse-engineering and inspection

solution for high-density point clouds. It offers a wide choice of plug-ins that allow the
capture of 3D coordinate points by way of line or grid scanning devices.

This document explains how to configure both the Faro 3D Imager AMP and the Faro
Cobalt 3D Imager for use in the PolyWorks|Inspector and IMAlign modules of the
PolyWorks Metrology Suite. For any questions or issues related to the Faro devices or
their setup, contact a Faro representative.

Related documentation

Each PolyWorks Metrology Suite module has its own complete reference guide in the
PDF format. It can be accessed by pressing the ? symbol in the title bar of any open
module dialog box, or by looking under a module’s Help menu. The following
documents are closely related to the current one:

Reference
Description
guide

PolyWorks Contains a complete description of the Workspace Manager and

Reference explains how to customize the user interface.
Guide

PolyWorks| Explains the different functionalities in the PolyWorks|Inspector™

Inspector module of the PolyWorks Metrology Suite.
Reference
Guide

IMAlign Explains the different functionalities in the IMAlign™ module of the

Reference PolyWorks Metrology Suite.
Guide

Using a Faro 3D Imager Device in PolyWorks 2020 4

1. Requirements
This chapter describes the requirements when scanning with a Faro 3D Imager device
in the PolyWorks|Inspector and IMAlign modules of the PolyWorks Metrology Suite.

1.1 Hardware and software components

Before scanning, the following requirements must be met:

 The PolyWorks Metrology Suite 2020 with the latest intermediate release must be
installed to ensure having the most up-to-date plug-ins (available from the Technical
Support Zone of InnovMetric’s web site).

For the Faro 3D Imager devices, the Faro3DImager.dll file is installed in the Plugins
subfolder of the PolyWorks Metrology Suite installation folder.

 Faro 3D Imager must be selected on the Plug-ins page of the Workspace Manager
Options dialog box. This dialog box is displayed the first time that the PolyWorks
Metrology Suite is opened. It is also available at any time by clicking the Workspace
Manager Options button in the Workspace Manager.

For information about the different options available in the Workspace Manager
Options dialog box, see the “Setting PolyWorks options” section of the PolyWorks
Reference Guide.

Using a Faro 3D Imager Device in PolyWorks 2020 5

2. Scanning objects in PolyWorks|
Inspector
The Faro 3D Imager uses blue light technology to capture grid scans. It is calibrated to
capture quality points within a certain field of depth, from its minimum calibration
range to its maximum calibration range. Points outside of the field are rejected by the
device. The device can also automatically determine the optimal exposure time and, for
AMP devices, light intensities. Users can define manual exposure times and light
intensities.

Each grid scan obtained using the Faro 3D Imager is saved in PolyWorks|Inspector as a
point cloud Data object in its own device position.

This chapter describes the Faro 3D Imager plug-in parameters for both the Faro 3D
Imager AMP and the Faro Cobalt 3D Imager devices.

2.1 Selecting and connecting to a device

Scanning in the PolyWorks|Inspector module is supported through plug-ins. To start
the plug-in, choose 3D Imager on the Tools > Plug-ins > Faro submenu, or choose Faro
3D Imager on the menu offered by the Scan split button located on the Devices toolbar,
and then click the button icon. The button is shown to the right.

When the Single Scanner mode is specified, the connection is automatically activated
on starting the plug-in if a scanner is already specified. If the automatic connection fails,
the Connect button of the Scan dialog box allows manually establishing the
connection with the 3D Imager device.

2.2 Setting options in the PolyWorks|Inspector plug-in

This section describes the options offered by the plug-in.

When the grid scanning plug-in is opened, the Scan dialog box is displayed in the
Dialog Zone. This dialog box, shown in Figure 2.1, differs slightly depending on the Faro
device that is used. It offers the items that follow.

Scan name
A text box that allows specifying a default name that is assigned to each new Data
object that results from each scan. The default name is surface scan <number>,
where <number> is an automatically incremented integer. Names can be edited,
if desired. For information on editing default names, see the “Default name
options” section of the PolyWorks|Inspector Reference Guide.

The Device section offers the following parameters:

Using a Faro 3D Imager Device in PolyWorks 2020 6

Scanning objects in PolyWorks| Inspector Setting options in the PolyWorks|Inspector plug-in

Figure 2.1 Examples of the Scan dialog box when a Faro 3D Imager Cobalt is specified. It is
configured for (a) the Single Scanner mode and (b) the Scanner Array mode.

(a) (b)

Using a Faro 3D Imager Device in PolyWorks 2020 7

Scanning objects in PolyWorks| Inspector Setting options in the PolyWorks|Inspector plug-in

Mode
A list box that allows specifying the acquisition mode, indicating whether a single
scanner or a scanner array is used to acquire data. Choose from:

 Single Scanner – A single scanner is used at a time.

 Scanner Array – A scanner array can be configured so as to save time during

data acquisition. Scanners can be divided into groups. Scanners within the
same group are used to acquire data simultaneously. When a group has
finished acquiring data, the next group starts acquiring data while the
previous group is processing data.

Note that scanners should only be put within the same group if they do not
interfere with one another. For example, their beams must not cross other
beams and scanning zones must cover different areas.

If the Single Scanner mode is specified, the following item is offered:

Scanner
A combo box that allows specifying the scanner used to acquire data. Choose from
the list of detected scanners, or specify the host name of the scanner manually. By
default, the combo box is empty.

If the Scanner Array mode is specified, a list area is offered. It allows specifying the
scanners included in the scanner array as well as organizing them into groups. The list
area works as follows:

 Scanners are displayed in the order they are used for data acquisition.

 Scanners within the same group are used simultaneously.

 Scanners are displayed using their host name. Double-click a scanner to specify a
different host name manually, or click the adjacent arrow to choose a different
scanner from the list of scanners currently detected on the network and not already
included in the scanner array.

 Groups of scanners are named Group <number> by default, where <number>

represents an automatically incremented number. Double-click a group to edit its
name.

 Groups of scanners can be expanded and collapsed using the plus (+) and minus (-)
signs.

Using a Faro 3D Imager Device in PolyWorks 2020 8

Scanning objects in PolyWorks| Inspector Setting options in the PolyWorks|Inspector plug-in

A horizontal toolbar is also offered when the Scanner Array mode is specified. It offers
the following operations, which can also be accessed by way of a shortcut menu that is
displayed by right-clicking in the table:

Button Description

Add
A button that opens the Add Scanners dialog box, which is used to add
scanners to the scanner array. For more information on the Add Scanners
dialog box, see Section 2.2.1 Adding scanners to the scanner array.

Remove
A button that removes the currently selected scanners from the scanner
array.

Group for Simultaneous Acquisition

A button that groups the selected scanners for simultaneous acquisition.

Ungroup
A button that ungroups the selected scanners.

Localize All
A button that launches the localization operation for all scanners. For
more information on the localization operation, see Section 2.2.2
Localizing all the scanners in the scanner array.

When the Scanner Array mode is specified, the Device parameters section allows
specifying the parameters of the scanners selected in the list area of the Device section;
the parameters that are offered depend on the selected scanners. It is possible to edit
scanners one at a time, or to edit multiple scanners at the same time.

The Device parameters section offers the following items:

Scanners
An uneditable text box, offered for the Scanner Array mode, that indicates which
scanners are currently selected in the list area of the Device section. Move the
mouse pointer over the text box to display a tooltip that indicates the complete list
of scanners.

Boundary extraction
A check box, cleared by default, that is offered for Cobalt devices whose firmware
version is 1.3 or later. When selected, the device extracts Data points that
represent the boundaries of the scanned object. In PolyWorks|Inspector, these
Data points are stored in a new boundary Data object; its default name is boundary
scan - <scan name>, where <scan name> is the name of the surface Data object
containing the corresponding planar grid. For information on editing default
names, see the “Default name options” section of the PolyWorks|Inspector
Reference Guide.

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Scanning objects in PolyWorks| Inspector Setting options in the PolyWorks|Inspector plug-in

Manual exposure
A check box, cleared by default, that enables specifying exposure times and, for
the Faro 3D Imager AMP, the light intensities to use when scanning. When cleared,
the optimal exposure time/light intensity is determined automatically. When
selected, it makes available a list with the following columns:

Time (ms)
A column that lists the exposure times. Valid values range from 1 to
400 ms inclusively. To modify a value in the Time (ms) column, click an
existing text box in the list, and type in the desired value. The default
value is 20 ms or is the same as the value set in the camera view.

Light Intensity (%)

A column that lists the light intensities when scanning with the Faro 3D
Imager AMP. To modify a value in the Light Intensity (%) column, click
an existing text box in the list, and type in the desired value. Valid values
range from 1 to 100% inclusively. The default value is 100% or is the same
as the value set in the camera view.

When scanning with the Faro Cobalt 3D Imager, the light intensity is set
to 100%.

To add a row to the list, press the Add button ; when adding a new row, the
values are initialized using the current settings in the Camera window for the
Exposure Time and the Light Intensity (Faro 3D Imager AMP only). To remove
one or multiple rows from the list, select them and press the Remove button .

Capture mode
A list box, only available for the Faro Cobalt 3D Imager, that allows specifying the
data capture mode. Choose from:

 Quick – Captures data seen simultaneously by both cameras using a lower

resolution, which is faster but acquires less points.

 Stereo – Captures data seen simultaneously by both cameras. This is the

default value.

 Enhanced Stereo – Captures all the visible data, which is useful when one
camera has a line-of-sight problem. Two scans are produced, one from the
left camera that includes the data seen by it and the data that intersects with
the data seen by the camera to the right, and a second object containing the
data seen exclusively by the right camera. In PolyWorks|Inspector, two point
cloud Data objects are created in the same device position.

Multipath removal
A list box that is offered depending on the firmware version of the device. It allows
specifying the level at which the device removes multipath reflections (i.e., noise
that results from the reflectivity of an object). A higher level typically results in less
noise, but it also increases acquisition time. Choose from: Off and Level <n>,

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Scanning objects in PolyWorks| Inspector Setting options in the PolyWorks|Inspector plug-in

where <n> is a number that represents the level. The levels that are offered
depend on the firmware version of the device. The default value is Off.

Utilities
A button that opens the Utilities dialog box, which offers general information on
the device as well as native Faro functionalities. For more information, see Section
4.1 Using the Utilities dialog box.

Camera
A button that opens the Camera dialog box, which provides access to the Faro 3D
Imager AMP and Cobalt device cameras; related native Faro functionalities are also
offered. For more information, see Section 4.2 Using the Camera dialog box.

The Scanning options section offers the following parameters. Note that when using a
scanner array, these parameters are common to all scanners:

Align scans
A check box, selected by default, that enables specifying aligning additional Data
objects using one of the methods that follow. Note that when this check box is
selected, a different device position is used for each scanning session.

Find targets
A check box, selected by default, that enables identifying
photogrammetry targets when scanning in order to create device
position targets. When selected, targets are displayed as green crosses in
the camera view.

One of the following alignment methods in PolyWorks|Inspector may be used,

which is determined using the settings of the Find targets and the Rotary table
check boxes:

 Target-based alignment

When the Find targets check box is selected, Data objects are aligned using
device position targets. The device position targets are automatically
aligned in PolyWorks|Inspector.

 Point Pairs alignment

When the Find targets and Rotary table check boxes are cleared, the Point
Pairs Alignment dialog box is displayed automatically after an additional
Data object is acquired. It allows aligning Data objects interactively using
the Point Pairs alignment method; a Best-Fit alignment is then automatically
performed in the background.

Once the alignment of Data objects performed using the target-based or Point
Pairs methods is complete, it can be improved by performing a global alignment
of all the Data objects using a standard Best-Fit alignment (i.e., all the Data objects
are free to move except one). For more information, see the “Best-fitting Data
objects to Data objects” section of the PolyWorks|Inspector Reference Guide.

Using a Faro 3D Imager Device in PolyWorks 2020 11

Scanning objects in PolyWorks| Inspector Setting options in the PolyWorks|Inspector plug-in

When the Find targets check box is cleared and the Rotary table check box is
selected, an alignment operation is not required. Instead, the alignment is
computed from the calibration of the rotary table.

Automatic viewpoint
A check box, selected by default, that enables activating the automatic viewpoint
after the alignment. The automatic viewpoint centers and orients toward the
operator the scanned object in the 3D scene.

Rotary table
A check box, cleared by default, that enables using the rotary table when
scanning. When selected, the following items are available:

Number of scans
A text box that allows specifying the number of scans to acquire when
scanning. Valid values are greater than 0. The default value is 4 scans.

Step (degrees)
A text box that allows specifying the angle in degrees (i.e., step) between
each scan. Valid values range between -360° and 360°. The default value
is 90°.

Note the following:

 When Align scans is selected, and Rotary table is selected and Find targets
is cleared, the alignment of the scans is computed from the calibration of the
rotary table.

 When Rotary table is selected, a different device position is used for each
scanning session.

 When the Scanner Array mode is specified, the rotary table must be
connected to the first scanner in the scanner array, as it is used to perform
the rotation of the table.

Same device position for all scanners

A check box, offered for the Scanner Array mode, that enables using the same
device position for all Data objects created by the different scanners in the scanner
array. If the check box is cleared, each scanner uses a different device position. By
default, the check box is selected.

The bottom section of the dialog box offers the following buttons:

Connect/Disconnect
A button that allows manually establishing/terminating the connection with the
Faro 3D Imager device. When connected to the device, the label of the Connect
button changes to Disconnect. The Disconnect button is unavailable during a
scanning session.

Note that when using a scanner array, multiple connections are maintained at the
same time. When the Connect button is pressed, a connection is established with

Using a Faro 3D Imager Device in PolyWorks 2020 12

Scanning objects in PolyWorks| Inspector Setting options in the PolyWorks|Inspector plug-in

Figure 2.2 The Add Scanners dialog box.

all the scanners currently selected in the list area of the Device section, and
subsequent connections are established as different scanners are selected; if no
scanner is selected, a connection is established with the first scanner of the list
area. When the Disconnect button is pressed, all scanners are disconnected.

For more information, see Section 2.1 Selecting and connecting to a device.

Start Scan/End Scan

A 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 grid
scan data from the plug-in. Once pressed, its label changes to End Scan. The scan
ends automatically, but can be ended while scanning using the rotary table by
pressing the End Scan button. When the scan ends, the parameters in the dialog
box are enabled.

Close
A button that disconnects the Faro 3D Imager device and dismisses the plug-in
and Camera dialog boxes. Pressing the Connect button or Start Scan button
before pressing the Close button applies the changes made to the values in the
dialog box. The Close button is unavailable during a scanning session.

Note that the dialog box parameters are only available when a scanning session is not
started.

2.2.1 Adding scanners to the scanner array

The Add Scanners dialog box, shown in Figure 2.2, is used to add scanners to the
scanner array. It is accessed by pressing the Add button, shown to the right. It offers the
Available scanners list area, which lists the scanners detected on the network and not

Using a Faro 3D Imager Device in PolyWorks 2020 13

Scanning objects in PolyWorks| Inspector Setting options in the PolyWorks|Inspector plug-in

already included in the scanner array. Each scanner is preceded with a check box used
to select which scanners are added to the scanner array.

The following buttons are also offered:

Refresh
A button that updates the content listed in the list area, searching for newly
detected scanners on the network. Pressing this button does not affect the
selection currently made in the list area.

Select All
A button that selects all the scanners currently listed in the list area.

Select None
A button that clears the selection status of all the scanners currently listed in the
list area.

Press the OK button to add the selected scanners to the scanner array and close the
dialog box, or press the Cancel button to close the dialog box. When scanners are
added to the scanner array, they are not added to groups, unless there is only one
group.

2.2.2 Localizing all the scanners in the scanner array

The Localize All button, shown to the right, is used to launch the localization operation
for all scanners included in the scanner array. When the scanners are localized, the data
acquired by the different scanners in the array are aligned. The transformation matrices
used to localize the scanners are saved in the user configuration.

The localization operation only works in empty inspection projects. On launching the
operation, the current project is closed and an empty one is opened. If the project
being closed contains unsaved data, a message is displayed to save the project before
closing it.

The localization operation works as follows:

1. A file browser is displayed and is used to import the global targets that correspond
to the ones seen by the scanners.

2. A connection is automatically established with the first scanner.

3. The targets are automatically measured by the scanner using a configuration that is
optimal for the detection of targets:

 Target detection is used.

 The following exposure times are used: 10 ms, 30 ms, and 50 ms.

 The stereo capture mode is used.

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Scanning objects in PolyWorks| Inspector Setting options in the PolyWorks|Inspector plug-in

4. The measured targets are aligned to the global targets, and the corresponding
transformation matrix is assigned to the scanner.

5. The measured targets are deleted.

6. A connection is automatically established with the next scanner in the scanner

array, and steps 3. to 6. are repeated until all scanners are localized.

Using a Faro 3D Imager Device in PolyWorks 2020 15

3. Scanning objects in IMAlign
The Faro 3D Imager uses blue light technology to capture grid scans. It is calibrated to
capture quality points within a certain field of depth, from its minimum calibration
range to its maximum calibration range. Points outside of the field are rejected by the
device. The device can also automatically determine the optimal exposure time and, for
AMP devices, light intensities. Users can define manual exposure times and light
intensities.

Each grid scan obtained using the Faro 3D Imager is saved under the Point Clouds
branch of the Workspace Manager. In IMAlign, each grid scan is converted to a planar
grid/mesh category of 3D image.

This chapter describes the Faro 3D Imager plug-in parameters for both the Faro 3D
Imager AMP and the Faro Cobalt 3D Imager devices.

3.1 Selecting and connecting to a device

Scanning in the IMAlign module is supported through plug-ins. To start the plug-in,
choose 3D Imager on the Tools > Plug-ins > Faro submenu, or choose Faro 3D Imager on
the menu offered by the Scan split button located on the Processes toolbar, and then
click the button icon. The button is shown to the right.

When the Single Scanner mode is specified, the connection is automatically activated
on starting the plug-in if a scanner is already specified. If the automatic connection fails,
the Connect button of the Scan dialog box allows manually establishing the
connection with the 3D Imager device.

3.2 Setting options in the IMAlign plug-in

This section describes the options offered by the PolyWorks plug-in.

When the grid scanning plug-in is opened, the Scan dialog box is displayed in the
Dialog Zone. This dialog box, shown in Figure 3.1, differs slightly depending on the Faro
device that is used. It offers the items that follow.

Scan name
A text box that allows specifying a default name that is assigned to each 3D image.
The default name is surface scan. Names can be edited, if desired. For information
on editing default names, see the “Object options” section of the IMAlign
Reference Guide.

The Device section offers the following parameters:

Using a Faro 3D Imager Device in PolyWorks 2020 16

Scanning objects in IMAlign Setting options in the IMAlign plug-in

Figure 3.1 Examples of the Scan dialog box when a Faro 3D Imager Cobalt is specified. It is
configured for (a) the Single Scanner mode and (b) the Scanner Array mode.

(a) (b)

Using a Faro 3D Imager Device in PolyWorks 2020 17

Scanning objects in IMAlign Setting options in the IMAlign plug-in

Mode
A list box that allows specifying the acquisition mode, indicating whether a single
scanner or a scanner array is used to acquire data. Choose from:

 Single Scanner – A single scanner is used at a time.

 Scanner Array – A scanner array can be configured so as to save time during

data acquisition. Scanners can be divided into groups. Scanners within the
same group are used to acquire data simultaneously. When a group has
finished acquiring data, the next group starts acquiring data while the
previous group is processing data.

Note that scanners should only be put within the same group if they do not
interfere with one another. For example, their beams must not cross other
beams and scanning zones must cover different areas.

If the Single Scanner mode is specified, the following item is offered:

Scanner
A combo box that allows specifying the scanner used to acquire data. Choose from
the list of detected scanners, or specify the host name of the scanner manually. By
default, the combo box is empty.

If the Scanner Array mode is specified, a list area is offered. It allows specifying the
scanners included in the scanner array as well as organizing them into groups. The list
area works as follows:

 Scanners are displayed in the order they are used for data acquisition.

 Scanners within the same group are used simultaneously.

 Scanners are displayed using their host name. Double-click a scanner to specify a
different host name manually, or click the adjacent arrow to choose a different
scanner from the list of scanners currently detected on the network and not already
included in the scanner array.

 Groups of scanners are named Group <number> by default, where <number>

represents an automatically incremented number. Double-click a group to edit its
name.

 Groups of scanners can be expanded and collapsed using the plus (+) and minus (-)
signs.

Using a Faro 3D Imager Device in PolyWorks 2020 18

Scanning objects in IMAlign Setting options in the IMAlign plug-in

A horizontal toolbar is also offered when the Scanner Array mode is specified. It offers
the following operations, which can also be accessed by way of a shortcut menu that is
displayed by right-clicking in the table:

Button Description

Add
A button that opens the Add Scanners dialog box, which is used to add
scanners to the scanner array. For more information on the Add Scanners
dialog box, see Section 3.2.1 Adding scanners to the array of scanners.

Remove
A button that removes the currently selected scanners from the scanner
array.

Group for Simultaneous Acquisition

A button that groups the selected scanners for simultaneous acquisition.

Ungroup
A button that ungroups the selected scanners.

An additional operation can only be performed in PolyWorks|Inspector. It allows

localizing all scanners within a scanner array so that their data is aligned. Once a
scanner array is localized in PolyWorks|Inspector, the localization is also effective in
IMAlign. For more information, see Section 2.2.2 Localizing all the scanners in the
scanner array.

When the Scanner Array mode is specified, the Device parameters section allows
specifying the parameters of the scanners selected in the list area of the Device section;
the parameters that are offered depend on the selected scanners. It is possible to edit
scanners one at a time, or to edit multiple scanners at the same time.

The Device parameters section offers the following items:

Scanners
An uneditable text box, offered for the Scanner Array mode, that indicates which
scanners are currently selected in the list area of the Device section. Move the
mouse pointer over the text box to display a tooltip that indicates the complete list
of scanners.

Manual exposure
A check box, cleared by default, that enables specifying the exposure times and,
for the Faro 3D Imager AMP, the light intensities when scanning. When cleared, the
optimal exposure time, and light intensity for the Faro 3D Imager AMP, is
determined automatically. When selected, it makes available a list with the
following columns:

Time (ms)
A column that lists the exposure times. Valid values range from 1 to
400 ms inclusively. To modify a value in the Time (ms) column, click an

Using a Faro 3D Imager Device in PolyWorks 2020 19

Scanning objects in IMAlign Setting options in the IMAlign plug-in

existing text box in the list, and type in the desired value. The default
value is 20 ms, or is the same as the value set in the camera view.

Light Intensity (%)

A column that lists the light intensities when scanning with the Faro 3D
Imager AMP. To modify a value in the Light Intensity (%) column, click
an existing text box in the list, and type in the desired value. Valid values
range from 1 to 100% inclusively. The default value is 100%, or is the
same as the value set in the camera view.

When scanning with the Faro Cobalt 3D Imager, the light intensity is set
to 100%.

To add a row to the list, press the Add button . To remove one or multiple rows
from the list, select them and press the Remove button .

Capture mode
A list box, only available for the Faro Cobalt 3D Imager, that allows specifying the
data capture mode. Choose from:

 Quick – Captures data seen simultaneously by both cameras using a lower

resolution, which is faster but acquires less points.

 Stereo – Captures data seen simultaneously by both cameras. This value is

selected by default.

 Enhanced Stereo – Captures all the visible data, which is useful when one
camera has a line-of-sight problem. Two scans are produced, one from the
left camera that includes the data seen by it and the data that intersects with
the data seen by the camera to the right, and a second object containing the
data seen exclusively by the right camera. In IMAlign, two 3D images are
produced, containing image reference points if Find targets is selected, that
are aligned together in the case of a Point Pairs alignment.

Utilities
A button that opens the Utilities dialog box, which offers general information on
the device as well as native Faro functionalities. For more information, see Section
4.1 Using the Utilities dialog box.

Camera
A button that opens the Camera dialog box, which provides access to the Faro 3D
Imager AMP and Cobalt device cameras; related native Faro functionalities are also
offered. For more information, see Section 4.2 Using the Camera dialog box.

The More subsection offers the following items:

Align scans
A check box, selected by default, that enables specifying aligning additional scans
using one of the methods that follow. Note that the settings of the Find targets
and the Rotary table check boxes are considered in determining the method to
use.

Using a Faro 3D Imager Device in PolyWorks 2020 20

Scanning objects in IMAlign Setting options in the IMAlign plug-in

 Target-based alignment

When the Find targets check box is selected, 3D images are aligned using
image reference points. When there are image reference points in the
IMAlign project, only they are used to align 3D images, using a deviation
tolerance of 0.5 mm.

 Point Pairs alignment

When the Find targets and Rotary table check boxes are cleared, the Point
Pairs Alignment dialog box is displayed automatically after every additional
3D image is acquired. It allows aligning 3D images interactively using the
Point Pairs alignment method; a Best-Fit alignment is then automatically
performed in the background (all the preceding 3D images are temporarily
locked).

Note that once the alignment of 3D images performed using the target-based or
Point Pairs methods is complete, it can be improved by performing a global
alignment of all the 3D images using a standard Best-Fit alignment (i.e., all the 3D
images are free to move except one). For more information, see the “Aligning
using the iterative best-fit alignment technique” section of the IMAlign Reference
Guide.

Note that when the Find targets check box is cleared and the Rotary table check
box is selected, an alignment operation is not required. Instead, the alignment is
computed from the calibration of the rotary table.

Find targets
A check box, selected by default, that enables identifying photogrammetry
targets when scanning in order to create image reference points. When selected,
targets are displayed as green crosses in the camera view. When Align scans is
selected, the image reference points are used to align 3D images.

Automatic viewpoint
A check box, selected by default, that enables activating the automatic viewpoint
after the alignment. The automatic viewpoint centers and orients toward the
operator the scanned object in the 3D scene.

Rotary table
A check box, cleared by default, that enables using the rotary table when
scanning. When selected, the following items are available:

Number of scans
A text box that allows specifying the number of scans to acquire when
scanning. Valid values are greater than 0. The default value is 4 scans.

Step (degrees)
A text box that allows specifying the angle in degrees (i.e., step) between
each scan. Valid values range between -360° and 360°. The default value
is 90°.

Note the following:

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Scanning objects in IMAlign Setting options in the IMAlign plug-in

 When Align scans is selected, and Rotary table is selected and Find targets
is cleared, the alignment of the scans is computed from the calibration of the
rotary table.

 When the Scanner Array mode is specified, the rotary table must be
connected to the first scanner in the scanner array, as it is used to perform
the rotation of the table.

Remesh scans
A check box available for the Faro Cobalt 3D Imager that enables activating an
automatic remesh of the 3D image to improve its quality. By default, it is selected.
When selected, the following text box is made available.

Max edge length

A text box that allows specifying the maximum length of a triangle edge
resulting from a remesh. Valid values are greater than 0. The default value
is 1.0 mm.

The bottom section of the dialog box offers the following buttons:

Connect/Disconnect
A button that allows manually establishing/terminating the connection with the
Faro 3D Imager device. When connected to the device, the label of the Connect
button changes to Disconnect. The Disconnect button is unavailable during a
scanning session.

Note that when using a scanner array, multiple connections are maintained at the
same time. When the Connect button is pressed, a connection is established with
all the scanners currently selected in the list area of the Device section, and
subsequent connections are established as different scanners are selected; if no
scanner is selected, a connection is established with the first scanner of the list
area. When the Disconnect button is pressed, all scanners are disconnected.

For more information, see Section 3.1 Selecting and connecting to a device.

Start Scan/End Scan

A 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 grid
scan data from the plug-in. Once pressed, its label changes to End Scan. The scan
ends automatically, but can be ended while scanning using the rotary table by
pressing the End Scan button. When the scan ends, the parameters in the dialog
box are enabled.

Close
A button that disconnects the Faro 3D Imager device and dismisses the plug-in
and Camera dialog boxes. Pressing the Connect button or Start Scan button
before pressing the Close button applies the changes made to the values in the
dialog box. The Close button is unavailable during a scanning session.

Note that the dialog box parameters are only available when a scanning session is not
started.

Using a Faro 3D Imager Device in PolyWorks 2020 22

Scanning objects in IMAlign Setting options in the IMAlign plug-in

Figure 3.2 The Add Scanners dialog box.

3.2.1 Adding scanners to the array of scanners

The Add Scanners dialog box, shown in Figure 3.2, is used to add scanners to the
scanner array. It is accessed by pressing the Add button, shown to the right. It offers the
Available scanners list area, which lists the scanners detected on the network and not
already included in the scanner array. Each scanner is preceded with a check box used
to select which scanners are added to the scanner array.

The following buttons are also offered:

Refresh
A button that updates the content listed in the list area, searching for newly
detected scanners on the network. Pressing this button does not affect the
selection currently made in the list area.

Select All
A button that selects all the scanners currently listed in the list area.

Select None
A button that clears the selection status of all the scanners currently listed in the
list area.

Press the OK button to add the selected scanners to the scanner array and close the
dialog box, or press the Cancel button to close the dialog box. When scanners are
added to the scanner array, they are not added to groups, unless there is only one
group.

Using a Faro 3D Imager Device in PolyWorks 2020 23

 Figure 4.1 The General tab of the Utilities dialog box in PolyWorks|Inspector.

4. Using Faro software

The Utilities and the Camera dialog boxes provide access to information and
functionalities native to Faro. They are documented in the sections that follow. For
complete information on the Faro software, contact a Faro representative.

4.1 Using the Utilities dialog box

The Utilities dialog box, shown in Figure 4.1, can be accessed by pressing the Utilities
button in the Device parameters section of the Scan dialog box. It offers two tabs:
General and Functions.

The General tab, shown in Figure 4.1, is used to indicate device information.

The Information section offers the following items:

IP address
An uneditable text box that displays the IP address the plug-in is connected to.

Serial number
An uneditable text box that displays the serial number.

Using a Faro 3D Imager Device in PolyWorks 2020 24

Using Faro software Using the Utilities dialog box

Figure 4.2 The Functions tab of the Utilities dialog box in PolyWorks|Inspector.

Compensation time
An uneditable text box that displays the time of the last compensation.

Image width (pixels)

An uneditable text box that displays the image width in pixels.

Image height (pixels)

An uneditable text box that displays the image height in pixels.

Range finder
An uneditable text box that indicates whether range finders are Available or
Unavailable.

Rotary table
An uneditable text box that indicates whether a rotary table is Available or
Unavailable.

Temperature (ºC)
An uneditable text box that displays the temperature.

The Functions tab, shown in Figure 4.2, offers the available functions for the Faro 3D
Imager devices.

The Device section offers the following items:

Using a Faro 3D Imager Device in PolyWorks 2020 25

Using Faro software Using the Utilities dialog box

Calibrate
A button that allows launching Faro’s Faro3DImagerCompensation application.

Diagnostics
A button that allows launching Faro’s 3DImagerDiagnostics application.

The Rotary table section offers the following items, available only when the device has
a rotary table:

Calibrate
A button that allows performing the calibration of the rotary table.

Align
A button that starts the alignment process of the rotary table.

Go Home
A button that moves the rotary table to its absolute zero degree position.

Press the Close button to dismiss the dialog box.

Using a Faro 3D Imager Device in PolyWorks 2020 26

Using Faro software Using the Camera dialog box

4.2 Using the Camera dialog box

The Faro 3D Imager AMP and Cobalt devices both have cameras. They allow users to
see the field of view as well as the impact of the Exposure Time and Light Intensity
settings on the image prior to data capture and to make any needed adjustments. Their
use is presented in the subsections that follow.

4.2.1 Using the camera of the Faro 3D Imager AMP

The Camera dialog box of the Faro 3D Imager AMP (1 camera) is automatically
displayed when connecting to the device. The image is displayed in the camera view.
The dialog box can also be accessed by pressing the Camera button in the Device
parameters section of the Scan dialog box. The Camera dialog box is displayed, as
shown in Figure 4.3. It offers items that allow configuring the scanning zone, displaying
targets, activating range lasers, and setting the exposure times. It also allows setting
the light intensities.

Custom scanning zone

A button, deactivated by default, that allows modifying the activation state of a
custom scanning zone. Once pressed, the button remains activated. When
activated, a green rectangle with handles delimits a selection zone in the camera
view. When the pointer is over an handle, the pointer changes to a two-headed
arrow to allow redimensioning the selection zone. When the pointer is over the
selection zone, the pointer changes to a four-headed arrow to allow dragging the
selection zone to a new location.

Range lasers
A button that allows modifying the activation state of the range lasers. When
activated, lasers are projected onto the area of interest. By default, it displays the
activation state of the range lasers. Once pressed, the button remains activated.

Exposure time
A slider that increases/decreases the exposure time to acquire the image
displayed in the camera view. Valid values range from 1 to 400 ms. The default
value is 20 ms.

Light intensity
A slider that increases/decreases the light intensity to acquire the image displayed
in the camera view. Valid values range from 1 to 100%. The default value is 100%.

Overexposed and Underexposed Areas

A button that allows displaying overexposed areas in red and underexposed areas
in blue.

Using a Faro 3D Imager Device in PolyWorks 2020 27

Using Faro software Using the Camera dialog box

Figure 4.3 The Camera dialog box of the Faro 3D Imager AMP. Here, the custom scanning zone
(green rectangle) is activated.

The Camera dialog box closes automatically when disconnecting from the device.

4.2.2 Using the camera of the Faro Cobalt 3D Imager

The Camera dialog box of the Faro Cobalt 3D Imager (2 cameras) is automatically
displayed when connecting to the device. The image is displayed in the camera view.
The dialog box can also be accessed by pressing the Camera button in the Device
parameters section of the Scan dialog box. The Camera dialog box is displayed, as
shown in Figure 4.4. It offers items that allow configuring the scanning zone, displaying
targets, activating range finders, and setting the exposure times.

Custom scanning zone

A button, deactivated by default, that allows modifying the activation state of a
custom scanning zone. Once pressed, the button remains activated. When
activated, a green rectangle with handles delimits a selection zone in the camera
view. When the pointer is over an handle, the pointer changes to a two-headed
arrow to allow redimensioning the selection zone. When the pointer is over the
selection zone, the pointer changes to a four-headed arrow to allow dragging the
selection zone to a new location.

Range finder
A list box that allows specifying the range finder mode to use. Modes that are
offered depend on the firmware version of the device. Choose from:

 Off

Using a Faro 3D Imager Device in PolyWorks 2020 28

Using Faro software Using the Camera dialog box

Figure 4.4 The Cameras dialog box of the Faro Cobalt 3D Imager.

 On – Lasers are projected onto the area of interest. It is only offered if other
modes are not offered.

 Cross Hair – A crosshair is projected onto the area of interest.

 Picture Frame – A bright rectangle with a cross in the middle is projected

onto the area of interest).

The first available value is specified by default.

Exposure time
A slider that increases/decreases the exposure time to acquire the image
displayed in the camera view. Valid values range from 1 to 400 ms. The default
value is 20 ms.

Overexposed and Underexposed Areas

A button that allows displaying overexposed areas in red and underexposed areas
in blue.

The Camera dialog box closes automatically when disconnecting from the device.

Using a Faro 3D Imager Device in PolyWorks 2020 29