Abstract: A 3D measuring instrument and method of operation is provided that includes a registration camera and a an autofocus camera. The method includes capturing with the registration camera a first registration image of a first plurality of points and a first image with the first camera with the instrument in a first pose. A plurality of three-dimensional (3D) coordinates of points are determined based on the first image. A second registration image of a second plurality of points is captured in a second pose and a focal length of the autofocus camera is adjusted. A second surface image is captured with the first camera having the adjusted focal length. A compensation parameter is determined based in part on the captured second surface image. The determined compensation parameter is stored.

Abstract: A system and method for analyzing a surface of an object is provided. The system includes a 3D measurement device operable to acquire a plurality of points on the surface of the object and determine 3D coordinates for each of the points. The system further includes processors operably coupled to the 3D measurement device. The processors are responsive to computer instructions when executed on the processors for performing a method comprising: generating a point cloud from the 3D coordinates of the plurality of points; extracting a first set of points from the plurality of points; defining a first reference geometry through the first set of points; measuring at least one first metric from each of the points in the first set of points to the first reference geometry; and identifying a nonconforming feature based at least in part on the at least one first metric.

Abstract: A system includes one or more processors that are configured to compensate a measurement tool by performing a method. The method includes capturing a first data using the measurement tool. The method further includes capturing a second data using the measurement tool. The method further includes detecting a first natural feature in the first data. The method further includes computing a difference in positions of the first natural feature in the first data and the second data respectively. The method further includes computing a compensation parameter to adjust the measurement tool based on the difference computed.

Abstract: A 3D measuring instrument includes a registration camera and a surface measuring system having a projector and autofocus camera. In a first pose, the registration camera captures a first registration image of first registration points. The autofocus camera captures a first surface image of first light projected onto the object by the projector and determines first 3D coordinates of points on the object. In a second pose, the registration camera captures a second registration image of second registration points. The autofocus camera adjusts the autofocus mechanism based at least in part on adjusting a focal length to reduce a difference between positions of the first and second registration points. A second surface image of second light is captured. A compensation parameter is determined based at least in part on the first registration image, the second registration image, the first 3D coordinates, the second surface image, and the projected second light.

Abstract: A method for determining three-dimensional (3D) coordinates of an object surface with a 3D measuring device includes forming from the determined 3D coordinates a mesh having a first face, constructing a voxel array aligned to the first face, obtaining a plurality of images from a first camera having a corresponding plurality of poses, obtaining for each voxel in the voxel array a plurality of voxel values obtained from the corresponding plurality of images, determining for each voxel row a quality value determined based at least in part on an average value of a first quantity and a dispersion of the first quantity, the first quantity based at least in part on first voxel values determined as a function of pose, and determining a distance from a point on the first face to the object surface based at least in part on the determined quality values for the voxel rows.

Abstract: A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit a first scanner and a second scanner. One or more processors performing a method that includes causing the first scanner to determine first plurality of coordinate values in a first frame of reference based at least in part on a measurement by at least one sensor. The second scanner determines a second plurality of 3D coordinate values in a second frame of reference as the base unit is moved from a first position to a second position. The determining of the first coordinate values and the second plurality of 3D coordinate values being performed simultaneously. The second plurality of 3D coordinate values are registered in a common frame of reference based on the first plurality of coordinate values.

Abstract: A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit a first scanner and a second scanner. One or more processors performing a method that includes causing the first scanner to determine first plurality of coordinate values in a first frame of reference based on an emitted first beam of light and a received first reflected light. The second scanner determines a second plurality of 3D coordinate values in a second frame of reference as the base unit is moved from a first position to a second position. The determining of the first coordinate values and the second plurality of 3D coordinate values being performed simultaneously. The second plurality of 3D coordinate values are registered in a common frame of reference based on the first plurality of coordinate values.

Abstract: A 3D measuring instrument includes a registration camera and a surface measuring system having a projector and autofocus camera. In a first pose, the registration camera captures a first registration image of first registration points. The autofocus camera captures a first surface image of first light projected onto the object by the projector and determines first 3D coordinates of points on the object. In a second pose, the registration camera captures a second registration image of second registration points. The autofocus camera adjusts the autofocus mechanism based at least in part on adjusting a focal length to reduce a difference between positions of the first and second registration points. A second surface image of second light is captured. A compensation parameter is determined based at least in part on the first registration image, the second registration image, the first 3D coordinates, the second surface image, and the projected second light.

Abstract: A system includes a three-dimensional (3D) scanner that captures a 3D point cloud with multiple scan-points corresponding to one or more objects scanned in a surrounding environment. The system further includes a camera that captures an image of the surrounding environment. The system further includes one or more processors that colorize the scan-points in the 3D point cloud using the image. Colorizing a scan-point includes determining, for the scan-point, a corresponding pixel in the image by back-projecting the scan-point to the camera. Colorizing the scan-point includes assigning, to the scan-point, a color-value based on the corresponding pixel. Colorizing the scan-point includes computing, for the scan-point, a distance of the scan-point from the camera. Colorizing the scan-point includes determining, based on the distance, that the scan-point is occluded from only one of the camera and the 3D scanner, and in response, updating the color-value assigned to the scan-point.

Abstract: A three-dimensional (3D) measuring instrument includes a registration camera and a surface measuring system having a projector and an autofocus camera. For the instrument in a first pose, the registration camera captures a first registration image of first registration points. The autofocus camera captures a first surface image of first light projected onto the object by the projector and determines first 3D coordinates of points on the object. For the instrument in a second pose, the registration camera captures a second registration image of second registration points. The autofocus camera adjusts the autofocus mechanism and captures a second surface image of second light projected by the projector. A compensation parameter is determined based at least in part on the first registration image, the second registration image, the first 3D coordinates, the second surface image, and the projected second light.

Abstract: An example method includes receiving, via a 3D scanner, a 3D scan of the environment. The 3D scan includes a global position and is partitioned into a plurality of 3D submaps. The method further includes receiving, via a two-dimensional (2D) scanner accessory, a plurality of 2D submaps of the environment. The method further includes receiving coordinates of the scan position in the plurality of 2D submaps in response to the 3D scanner initiating the acquisition of the 3D scan. The method further includes associating the coordinates of the scan position with the plurality of 2D submaps. The method further includes performing real-time positioning by linking the coordinates of the scan position with the plurality of 2D submaps using a SLAM algorithm. The method further includes performing, based at least in part on the real-time positioning, a registration technique on the plurality of 3D submaps to generate a global map.

Abstract: A method for determining three-dimensional (3D) coordinates of an object surface with a 3D measuring device includes forming from the determined 3D coordinates a mesh having a first face, constructing a voxel array aligned to the first face, obtaining a plurality of images from a first camera having a corresponding plurality of poses, obtaining for each voxel in the voxel array a plurality of voxel values obtained from the corresponding plurality of images, determining for each voxel row a quality value determined based at least in part on an average value of a first quantity and a dispersion of the first quantity, the first quantity based at least in part on first voxel values determined as a function of pose, and determining a distance from a point on the first face to the object surface based at least in part on the determined quality values for the voxel rows.

Abstract: A three-dimensional (3D) measuring instrument includes a registration camera and a surface measuring system having a projector and an autofocus camera. For the instrument in a first pose, the registration camera captures a first registration image of first registration points. The autofocus camera captures a first surface image of first light projected onto the object by the projector and determines first 3D coordinates of points on the object. For the instrument in a second pose, the registration camera captures a second registration image of second registration points. The autofocus camera adjusts the autofocus mechanism and captures a second surface image of second light projected by the projector. A compensation parameter is determined based at least in part on the first registration image, the second registration image, the first 3D coordinates, the second surface image, and the projected second light.

Abstract: An example method includes moving a base unit through an environment, the base unit comprising the first scanner and the second scanner. The method further includes capturing, by the first scanner, a first scan of the environment, the first scan comprising at least one first scanline The method further includes capturing, by the second scanner, a second scan of the environment, the second scan comprising at least one second scanline, wherein the second scanner scans about a first axis at a first speed and scans about a second axis at a second speed. The method further includes determining, by a processing system, an intersection at an object surface between one of the at least one first scanline and one of the at least one second scanline The method further includes aligning, by the processing system, the first scan and the second scan based at least in part on the intersection.

Abstract: A system and method for analyzing a surface of an object is provided. The system includes a 3D measurement device operable to acquire a plurality of points on the surface of the object and determine 3D coordinates for each of the points. The system further includes processors operably coupled to the 3D measurement device. The processors are responsive to computer instructions when executed on the processors for performing a method comprising: generating a point cloud from the 3D coordinates of the plurality of points; extracting a first set of points from the plurality of points; defining a first reference geometry through the first set of points; measuring at least one first metric from each of the points in the first set of points to the first reference geometry; and identifying a nonconforming feature based at least in part on the at least one first metric.

Abstract: A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit a first scanner and a second scanner. One or more processors performing a method that includes causing the first scanner to determine first plurality of coordinate values in a first frame of reference based on an emitted first beam of light and a received first reflected light. The second scanner determines a second plurality of 3D coordinate values in a second frame of reference as the base unit is moved from a first position to a second position. The determining of the first coordinate values and the second plurality of 3D coordinate values being performed simultaneously. The second plurality of 3D coordinate values are registered in a common frame of reference based on the first plurality of coordinate values.

Abstract: A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit and a 2D scanner. A 3D scanner is coupled to the base unit, the 3D scanner measuring 3D coordinates and grey values of surfaces in the environment, the 3D scanner operating in either a compound or helical mode. Processors perform a method comprising: causing the 3D scanner to measure a first 3D coordinate values while operating in one of the compound or helical mode as the base unit is moved from the first to the second position; causing the 3D scanner to measure a second 3D coordinate values while operating in compound mode when the base unit is stationary between the first and second position; and registering the first 3D coordinate values and second 3D coordinate values into a single frame of reference.

Abstract: A system and method for analyzing a surface of an object is provided. The system includes a 3D measurement device operable to acquire a plurality of points on the surface of the object and determine 3D coordinates for each of the points. The system further includes processors operably coupled to the 3D measurement device. The processors are responsive to computer instructions when executed on the processors for performing a method comprising: generating a point cloud from the 3D coordinates of the plurality of points; extracting a first set of points from the plurality of points; defining a first reference geometry through the first set of points; measuring at least one first metric from each of the points in the first set of points to the first reference geometry; and identifying a nonconforming feature based at least in part on the at least one first metric.

Abstract: A system and method for measuring three-dimensional (3D) coordinate values of an environment is provided. The system includes a movable base unit and a 2D scanner. A 3D scanner is coupled to the base unit, the 3D scanner measuring 3D coordinates and grey values of surfaces in the environment, the 3D scanner operating in either a compound or helical mode. Processors perform a method comprising: causing the 3D scanner to measure a first 3D coordinate values while operating in one of the compound or helical mode as the base unit is moved from the first to the second position; causing the 3D scanner to measure a second 3D coordinate values while operating in compound mode when the base unit is stationary between the first and second position; and registering the first 3D coordinate values and second 3D coordinate values into a single frame of reference.

Abstract: A device and method for scanning and measuring an environment is provided. The method includes providing a three-dimensional (3D) measurement device having a controller. Images of the environment are recorded and a 3D scan of the environment is produced with a three-dimensional point cloud. A first movement of the 3D measurement device is determined and then an operating parameter of the 3D measurement device is changed based at least in part on the first movement.