A Basic Tutorial Guide to

Cyclone Registration
1. Project Setup.
1.1. Setup process.
1.2. Creating a Database.
2. Importing Scans
2.1. Scan Import Window.
3. Finding Targets
3.1. Automatically Find Targets.
3.2. Manually Find Targets.
4. Registration
4.1. Registration Procedure.
4.2. Correcting registration Errors / Lowering Error Values.
4.3. Finalizing a Database.
5. Creating Modelspaces
6. Registration Guidelines

Every scan location has its own scan world, each with its own UCS (User Co-ordinate System) based on the scan
location. Registration brings the individual scan locations together to one common UCS. This guide will help with the
basics of the registration process using Leica’s Cyclone software, the software’s interface is that of version 8.0.3.

1 Project setup
Before the cyclone software is opened one should always consult with the project manager to ensure the project
parameters are met, because the database will be used not only by different personnel but at different times, it is
imperative that a simple system is developed to ensure all users at any given time can seamlessly use the database.

Although this guide mentions target naming without the use of a site map, this can be done but it is strongly
recommended that a site map (where available) always be used to label targets, as this prevents co-ordinate or location
errors.

1.1 Setup Process

This is done prior to opening the cyclone software and having your raw scans already downloaded to your local drive
from the scanner or external source (hard drive, flash drive, etc.)
1. Create a folder for the project based on the client and purpose e.g. Mittal_Vessel_D301
2. In that created folder create a folder named “Raw Scans”.
3. Copy the raw scans into this folder.
4. Create a folder named “Database”.

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1.2 Creating a Database
1. At the Cyclone-Navigator window, located at the top menu bar is Configure click this to drop down additional
options.
2. Click Databases, this will open the Configure Databases window, (see Fig: 1)

Fig 1: Cyclone Navigator

3. On the left of the window click the Add button to open the Add Database window, (see Fig: 2)

Fig 2: Add Database Window

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 4. At this window there would be two (2) sections, the upper would be where the database is named, (see Fig: 2).
Typically the database should be named after the folder the project is housed in e.g. Mittal Vessel.
5. The lower section would be the location of the database. Click the button to the right of this section and
navigate to the subfolder named Database found within your main project folder e.g. Mittal Vessel, (see Fig: 2).
6. Click Open to create your database, this would take you back to your Configure Databases window, ensure your
newly created database is checked in the visible checkbox, (see Fig: 3).

Fig 3: Configure Database (Visible) Window

7. Close the Configure Databases window to go back to your Navigator.
8. In your Cyclone-Navigator, expand the SERVERS folder, then PC (unshared) to view your database (see Fig: 4).

Fig 4: Cyclone Navigator Window

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1.2.1 Optional Step
Minimize the Cyclone-Navigator or simply just open the main folder where the project was created. Open the
subfolder Database, ensure there are 3 files within the database folder, two (2) subfolders and one (1) file, this file
would carry the name of the database itself.
Please note: if the database is to be copied or moved to another location the folder housing these files MUST be
copied Cyclone reads the database with that specific file structure if any of those are missing the database will not
work.

2 IMPORTNG SCANS

1. At the Cyclone-Navigator window, right click on the created database, this would bring up a quick menu.
2. Go to Create, then hover across to the arrow on the right to reveal items which can be created.
3. Click Project, to create a project, name this project Raw Scans (See Fig: 4 & 5).

Fig 5: Creating a Project Folder Fig 6: Naming a Project Folder

4. Right click the newly created project file, select Import… , this will open the import window , (see Fig: 7).
5. Navigate to your main project folder, then to you raw scans subfolder, select all the raw scans then click Open,
the Scan Import window will open, (see Fig: 8).
Please note: some folders may contain a .zfprj file DO NOT add this file to be imported (see Fig: 8).
6. Click OK to import the selected files. This could take between 5minutes to 15hours depending on the amount of
scans being imported and the import settings.
Please note: the higher the import subsampling automatically finding targets and finding pipes automatically
greatly increases the importation time.

2.1 Scan Import Window

At the scan import window, the following options would be set;

 Import Sub Sample: This is the amount of data which will be imported e.g. 1/4 = 25% of the actual scan data.
 Estimate Normals: The software considers points in the neighborhood of each other to approximate a surface.
Always keep checked.

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 Find Black & White Targets: This feature functions as named and is mainly used in automatic registration.
 Find Pipes Automatically: This feature functions as named, it is best used later on when the project has been
accurately registered, to yield better results.
 Min Diameter: specifies the minimum OD pipe you wish to find automatically.
 Max Diameter: specifies the maximum OD pipe you wish to find automatically.
 Apply All: This applies the desired settings to all the scans being imported, always keep checked unless specified.

DO NOT ADD

Fig 7: Importing Scans into a Project Fig 8: Selecting Scans to Import

Check for
Automatic Target Detection

Fig 9: Import Settings Window

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3 Finding Targets
Targets are set up as common points between scans making it easier to register scans together. They can be
found either automatically or manually. Both methods work very well and have their own pros and cons.

3.1 Automatically Find Targets

This done at the importing stage,
1. At step 6 in the importing stage check the box named Find Black & White Targets, (see Fig: 9).
2. When the importing is complete a Target Verification window will come up showing the detected targets for
each individual scan, (see Fig: 10).
3. Select the actual and accurate targets and use the Delete Marked Targets button to discard the inaccurate and
incorrect target detections. (see Fig: 10)
4. Copy all Targets to Control Space or close the window, you will be prompted with Copy all Unmarked Targets
to Control Space. Check this box then click the Yes button to continue.

Incorrect Targets
Detections

Fig 10: Target Verification Window

Please note: The Find Targets Automatically feature does not detect sphere targets. They must be manually found.

3.2 Manually Finding/Labelling Targets

3.2.1 Setup Process
This setup is only required once and would only need to be performed again if specified by your project manager or
scanner model has changed.
1. At the Cyclone-Navigator window, scroll down to the SCANNERS folder, right click the folder, select Scanners.
2. At the Configure Scanners window, click the Add… button to add a new scanner, this will open the Add Scanner
window (see Fig: 12).
3. Add Scanner window options:

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  Scanner Model: Select the model of your scanner in this drop down menu.
 Scanner Name: This can be any name specified by the user.
 IP Address: This is the address used when connecting the scanner to a computer. This address is located on
the scanner itself or can be found in the scanner’s software interface.
4. Click OK to complete adding a scanner. Now your SCANNERS folder in your Cyclone-Navigator would now be
populated with the newly added scanner, (see Fig: 13).

Fig 11: Cyclone Navigator Fig 12: Configure& Add Scanner Window Fig 13: Cyclone Navigator Added Scanner
5. Double click to open your newly created scanner, this will open the Scan Control window interface, (see Fig: 14).

Scanner Control
Panel

Fig 14: Scanner Control Window

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Please note: the right side of your window would show your Scanner Control Panel if more options are needed within
this control panel go to the top menu bar and click Window this would show all the options to add to the control
panel options visible on the control panel are checked on the left side of their names.
6. Go to the top menu bar and click the Edit option, then go to the Preferences. This will open the Edit Preferences
window, (see Fig: 15).

Fig 15: Scan Control Preferences

7. In your Edit Preferences window, your main changes will take place in the Scan options. Click the Scan tab and
edit the following:
1. Session / Default: This manipulates how your settings are saved, session saves setting only for that
session, once the Scan Control is closed those settings are lost. Default saves your settings as
software defaults, whenever the Scan Control is opened, the settings are always there.
2. Sphere Target Diameter: A specified sphere diameter can be inserted here, a drop down menu with
unit options, this aids the user as manual unit conversions are not required.
3. Survey Mode: This should be set to NO, survey mode is used for real-time data acquisition.
7. Click the Apply then OK button to save your settings.

3.2.2 Selecting & Labelling Targets

You first need to setup a project, this is done one (1) of two (2) ways. At the Scanner Control Panel or from the top
menu bar, using the Project option.
Scanner Control Panel Method
1. At the Project Setup, click the … button to the right of the Project section. This will open the Select a Project
window (an interface similar to your Cyclone-Navigator)

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 2. Expand your database, select your Raw Scans folder then click OK (see Fig: 16).

Fig 16: Select a Project Window

3. At the Project Setup, click the … button to the right of the Station section. This will open the Select a Scanworld
window (a station is the location of any given scan).
4. Select the scan name you desire then click OK, this will bring up scan in your grid screen (see Fig: 17).

Fig 17: Select a Scanworld & opened Scanworld Window

Top Menu Bar Method

1. At the top menu, select the Project option. This will open the Select a Project window (an interface similar to
your Cyclone-Navigator).
2. Expand your database, select your Raw Scans folder then click OK, (see Fig: 16).

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 3. At the top menu, select the Project option. This will open the Select a Scanworld window (a station is the
location of any given scan).
4. Select the scan name you desire then click OK, this will bring up scan in your grid screen (see Fig: 17).
3.2.2.1 Target Selecting & Labelling procedure
Selection can be a very difficult or very easy based on the individual’s ability to orient themselves within a
scanworld. The preview screen has a grid with a 0° mark which represents where the scanner began acquiring its data. A
good practice is to begin at this 0° mark and move in a clockwise direction looking for your targets.
One should always use both the site map (where available) along with the scanworlds’s modelspace to determine
their location and visible targets within that scanworld. This is very important as a single target can be common to
multiple scanworlds e.g.( target label A can be present in scanworlds 6, 7, & 9 as its location doesn’t change but scanner
positions do.
Labelling is based on either the project manager or a given site map created by the data acquisition team. This is one
of the most important steps in the manual process as it can make the registration process easy or difficult and time
consuming.
1. Beginning from your 0° mark, pan clockwise until a target is visible.
2. Using the Seek Mode, center view about the visible target, zoom into the target maintaining a clear picture.
3. Using either the Pick or Multipick Mode, pick one(1) point as close to the center of the target as you possibly can
(see Fig: 18).

Fig 18: Find Black & White Targets from Picks.

4. At the top menu bar click the Create Target option, then Find Black/White Targets from Picks…, this will open
the Labelling Window, this windows shows the amount of targets found, (see Fig: 19).

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 5. Double click the number of the detected target, this will open the Target Identification window, the target is
then named in the ID field. Click OK to close this window, (see Fig: 20).
Note: before labelling and accepting the target, you can pan in your viewport to ensure the placed vertex is as close to
the center as it possibly can be. This can cause large errors in your registration. Ensure a good placement before
accepting. Any incorrect placements can be cancelled then steps 3 repeated.

Fig 19: Labelling Detected Targets. Fig 20: Target Identification Window.
6. Close the Labelling window when completed labelling all the detected targets.
7. Continuing from your last visible target, pan until another target is visible.
8. Repeat steps 2 through 5 to select and label the remaining visible targets.

Optional Selection Method: a quick method of target selection is panning through your modelspace and picking all your
targets first using steps 2 & 3, then using steps 4 – 6 to name the group of the selections.

3.2.2.2 Sphere Selecting & Labelling procedure

Selecting and labelling spheres is exactly the same, with just one exception, the selecting of one (1) option.
1. Beginning from your 0° mark, pan clockwise until a sphere is visible.
2. Using the Seek Mode, center view about the visible sphere, zoom into the sphere maintaining a clear picture.
3. Using the Pick Mode, pick one(1) point as close to the center of the sphere as you possibly can, (see Fig: 23).
4. At the top menu bar click the Create Target option, then Sphere Target, this will open the Target Identification
window, the target is then named in the ID field. Click OK to close this window, (see Fig: 20).
Note: before labelling and accepting the sphere please ensure the sphere fits the cloud closely this can cause large
errors in your registration ensure a good fit before accepting (see Fig: 21 & 22). Any incorrect fit can be cancelled then
steps 3 repeated, however picking a different location of the sphere’s cloud.

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 Fig 21: Incorrect Cloud Fit Fig 22: Correct Cloud Fit
5. Click OK to end the labelling command.
6. Continuing from your last visible sphere, pan until another sphere is visible.
7. Repeat steps 2 through 4 to select and label the remaining visible spheres.

Fig 23: Find Sphere Window.

Note: The quick selection method does not work for spheres. Target spheres must be selected and labelled individually.
Once all targets and spheres within a scan are labelled select another scanworld using either method of section then
repeating the selection and labelling process of section.

4 Registration

4.1 Registration procedure

This is the software’s process of placing all the scans together to a common co-ordinate system. The targets, be
them labelled or unlabeled are the common points between these scans
1. At the Cyclone-Navigator window, right click on the created database, this would bring up a quick menu.
2. Go to Create, then hover across to the arrow on the right to reveal items which can be created.
3. Click Registration, to create a Registration, the naming of the registration is entirely up to the project manager,
(see Fig: 24).

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 Fig 24: Create a Registration.
4. Open the newly created registration file to find the Registration: Registration 1 window, (see Fig: 25).

a b c d

Fig 25: Registration Window.

a) ScanWorld options: These options can also be found on the top menu bar under the ScanWorld option.
b) Constraint options: These options can also be found on the top menu bar under the Constraint option.
c) Registration Options: These options can also be found on the top menu bar under the Registration option.
d) Cloud Constraint Options: These options can also be found on the top menu bar under the Cloud Constraint
options.
e) Project Tabs:
I. Scanworlds’ Constraints: shows the scans added to your registration.
II. Constraint List: shows the added constraints and their parameters (common scan worlds, error, etc.)
III. Modelspaces: shows the modelspace of any given scan, this is used in cloud to cloud registration.
5. In section a (see Fig: 25), click the Add ScanWorld icon to open the Select ScanWorlds for Registration window.
6. Expand your Raw Scans folder to view your scans, select your scans then click the double right arrow button to
add the scans.
7. Click OK to add your selected scans to the registration (see Fig: 26). By default your active tab would be set at
Scanworlds’ Constraints, ensure the scan you wanted are added to your registration, (see guideline

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 Note: when viewing the scans added to your registration the scan name shown in bold is your Home Scan all other
added scans will be registered to the UCS of the Home Scan. The home scan can be set from section a (see Fig: 25)
at any time before you register.

Fig 26: Selecting Scanworlds

8. In section b (see Fig: 25), click the Auto-Add Constraints icon to add the labelled targets and unlabeled targets.
9. Click the Constraint List tab, to view the added constraints.
10. In section c (see Fig: 25), click the Register icon to register the scans to each other
11. Click the Constraint List tab, to view the added constraints and their associated errors (see Fig: 27).

Fig 27: Registration Errors

Constraint list tab

Constraint ID: This is the ID of the labelled target.
Scanworld Column Left (1) & Right (2): These are the scanworlds the constraint ID is common between. The left column
(1) is used as the constraint’s base scan, the right column (2) is the scanworld the constraint is registered to. If there is
an error, the error would be based on the location of the constraint in the left column (1).
Type: This tells the target type, be it a Black & white target or a sphere.

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Status: The target could either be on or off. Targets which are off are not processed in the registration.
Weight: The weight of a constraint is the effect it has on the registration, the higher the weight of constraint, the greater
the priority is taken when registering that constraint.
Error: This is the highest distance error in a given direction.
Error Vector: This is the exact X, Y, and Z error distances of the constraint in column (2).

4.2 Correcting registration Errors / lowering error values

There are several method in which to correct and lower error distances in the registration. The first step of the
correction process would always be pinpointing the exact constraint responsible for that error.
1. In (Fig: 27) we notice the highest error value is .005m. There are 3 constraints with an error value of .005m, then
2 constraints at .004m. Let’s investigate the three (3) constraints at .005m.
2. Looking closely at the three (3) constraints with common .005m error values, we recognize the constraint ID
labelled “E” is common. Looking closer into the Scanworld columns we see that in scanworld column 2 the
scanworld named “mit 8.zfs” is common. We recognize that in scanworld mit 8.zfs, the target labelled “E” is the
probable cause of the .005m error.
3. To correct this we need to know the target type as its correction method is different. Looking back in (Fig: 27)
we can now go to Type column to determine the constraint type. We see this constraint is a Vertex and not a
sphere.

4.2.1 Vertex Correction

I. To correct a vertex we need to re-pick and re-label the target. This is done by going back to your Cyclone-
Navigator reopening your Scan Control Window (see section 3.2.2) and re-performing the selection and
labelling steps in Section 3.2.2.1
II. On completion of this step you will be prompted by a window to Replace Object in Control Space as it has
been recognized as a registration constraint. Select Replace All to replace the constraint (see Fig: 28).

Fig 28: Target Relabeling

III. Go back to your Registration window, in section b (see Fig: 25), click the Update Constraints icon, in section
c (see Fig: 25), click the Register icon to register the scans again using the updated constraints.
IV. Click the Constraint List tab, to view the updated constraints and their associated errors, (see Fig: 27).

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4.2.2 Sphere Correction
To correct a sphere you need to first remove them from all control spaces and modelspaces then re-pick and re-label
the target. This is done by going back to your Cyclone-Navigator reopening your Scan Control Window (see section
3.2.2) and re-performing the selection and labelling steps in Section 3.2.2.2
I. To remove spheres from your controlspace and model space, you need to go back to your Cyclone-
Navigator, locate the desired scan in your Raw Scans folder, open the modelspace view for the controlspace
(see Fig: 29).
Please note: each scan has more than one control space each scanworld is created with its own controlspace when it is
imported and however another is created when the scanworld is added to a registration.
II. Locate the desired sphere and delete it. You will be prompted with a warning window, once the correct
sphere is selected click Yes to accept.
III. Repeat steps I & II for all associated controlspaces and modelspaces.

Fig 29: A Scanworld’s Controlspaces & Modelspace

IV. Go back to your Cyclone-Navigator, reopen your Scan Control Window (see section 3.2.2) and re-do the
selection and labelling steps in Section 3.2.2.2
V. Go back to your Registration window, in section b (see Fig: 25), click the Update Constraints icon, in section
c (see Fig: 25), click the Register icon to register the scans again using the updated constraints.
VI. Click the Constraint List tab, to view the updated constraints and their associated errors (see Fig: 27).

4.3 Finalizing a Database

1. Repeat steps 1-3 using the relative constraint correction method until the errors are reduced to an acceptable
value (this value is set by the project manager in compliance with customer specifications).

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 2. Click the Scanworld’s Constraints tab, to view the added scanworlds. Select all the scanworlds in the Ungrouped
scanworld, DO NOT select the Ungrouped Scanworld!
3. At the top menu bar select Register, then select the View Interim Results option to open a temporary
modelspace of the registration results. This is the first Quality check of your point cloud, thoroughly inspect the
point cloud to detect, if any errors in the registration process. Close the modelspace when completed.
4. Once satisfied with the registration results, go to section c (see Fig: 25), click the Create ScanWorld/Freeze
Registration icon to complete the registration. When a registration is frozen it can no longer be modified, it
must before unfrozen for modifications to be performed.
5. In section c (see Fig: 25), click the Create Modelspace to create a model space of the completed registration.
Please note: at this point if any modifications are to be made to the registration all modelspaces associated with the
registration must be deleted. A registration cannot be unfrozen if there are modelspaces associated with it.
6. Close the registration window, go back to the Cyclone-Navigator and open the newly created modelspace,
located in your registration, (see Fig: 30).

Fig 30: New Modelspace from Registration.

5 Creating Modelspaces
Although a modelspace is created at the end of a registration, a project requires multiple modelspaces for safety as
well as continuity. In the modelspace folder, one (1) modelspace was already created. For office modeling purposes
three (3) additional folders will be added. For Client Delivery additional folders may be added, this is entirely dependent
on the set scope of works and project deliverable.
Modelspace Raw: This is the registered point cloud of all the data captured.
Modelspace Cleaned: This is a cleaned and un-unified cloud used in automatic pipe finding.
Modelspace Cleaned & Unified: This is a modelspace which has been cleaned then unified.

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Modelspace Working: This is the modelspace where modelling is actually carried out. As accidents do occur, a cleaned
and unified modelspace would provide a fast solution to accidental cloud deletion.

5.1 Creating Modelspaces for Internal Modeling

1. In your Cyclone-Navigator expand the Modelspaces folder, select the Modelspace File within the folder, right
click then copy.
2. Select the Modelspaces folder, right click then paste. An additional Modelspace file should now be in the
Modelspaces folder named Copy of Modelspace.
3. Select the original Modelspace File, right click then rename, this modelspace should be renamed to Modelspace
Raw.
4. Select the Modelspace copy File, right click then rename, this modelspace should be renamed to Modelspace
Cleaned.
5. Double click the Modelspace Cleaned file, at the mouse pointer 3 tooltip options would appear:
I. Open Temporary Modelspace View.
II. Create and Open Modelspace View.
III. Create Modelspace.
6. Select the Create and open Modelspace View. This would open a modelspace of your complete cloud
registration.
7. Using your fence tools delete unwanted portions of the cloud, focusing on your area of modeling interest. Close
when completed.
8. Select the Modelspace Cleaned file, right click then copy, paste this file into the Modelspaces folder.
9. Select the Modelspace Cleaned copy file, right click then rename, this modelspace should be renamed to
Modelspace Cleaned & Unified.
10. Select the Modelspace Cleaned & Unified file, right click then Unify Modelspace…, this would open the Unify
Clouds window.
11. At the Unify Clouds window, check the Reduce Cloud: Average Spacing, this would now allow you to input a
desired spacing, input the desired point spacing using the dropdown menu on the right to specify the input
units. (Point spacing value is usually set by the project manager).
12. Click the Unify button to begin the process, this usually takes between 5 mins to 5hrs depending on the amount
of scans. The cleaning can greatly reduce the time unifying time as it reduces the amount of points used in the
process.
13. Once the unification process is completed, select the Modelspace Cleaned & Unified file, right click then copy,
paste this file into the Modelspaces folder.
14. Select the Modelspace Cleaned copy file, right click then rename, this modelspace should be renamed to
Modelspace Working.
15. Open the Modelspace Working View and begin your modeling process.

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5.2 Creating Modelspaces for Client Delivery
1. In your Cyclone-Navigator expand the Modelspaces folder, select the Modelspace File within the folder, right
click then copy.
2. Select the Modelspaces folder, right click then paste. An additional Modelspace file should now be in the
Modelspaces folder named Copy of Modelspace.
3. Select the original Modelspace File, right click then rename, this modelspace should be renamed to Modelspace
Raw.
4. Select the Modelspace copy File, right click then rename, this modelspace should be renamed to Modelspace
Cleaned.
5. Select the Create and open Modelspace View. This would open a modelspace of the complete cloud registration.
6. Using your fence tools delete unwanted portions of the cloud, focusing on the required area of modeling
interest. Close when completed.

6 Registration Guidelines
1. Always consult the project manager before the beginning of any project. Doing this greatly reduces the risk of
errors which may result additional manhours due to reworks.
2. Importing scan data at a lower percentage greatly helps the registration process, especially if the processing
power of your computer is low. However this lowered percentage affects the quality. This is noticed when
locating targets at a distance.
3. Avoid selecting targets which are not at a good quality. If the entire target is not clearly visible to you, the
software may not accurately determine the center of the target, this results in registration errors.
4. When adding the constraint of a target, always view the position of the vertex relative to the target’s center
before naming and accepting its position, this reduces the time of having to find and delete them in the
respective scan’s controlspace and modelspace.
5. When finding and labelling targets of different types, focus on one target type, complete the selection and
labelling of that type, then move on to another.
6. When registering a large number of scans, import and register your scans in batches of 10 at maximum. This
allows you to easily detect if any problematic scanworlds which can in turn cause large errors in your
registration.
7. Always view your interim results thoroughly, this aids in detecting any processing errors, detected errors can be
easily rectified as the registration is not yet frozen.
8. Always keep modelspaces in your modelspaces folder, this keeps your database organized and easily understood
when accessed by another user.

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