Mantis Vision F5-B User manual

Brand: Mantis Vision

Model: F5-B

Type: User manual

F5 3D Imaging System User Manual

D Imaging System User

Manual

Version 1.0

F5-B 3D Imaging System

User Manual

F5 3D Imaging System User Manual

Important Notice

All intellectual property rights in this publication are owned by Mantis Vision LTD.

and protected by applicable copyright laws and international treaty provisions.

Mantis Vision LTD. retains all rights not expressly granted. No part of this

publication may be reproduced in any form whatsoever or used to make any

derivative work without prior written approval by Mantis Vision LTD.

Mantis Vision LTD. reserves the right to revise this publication, and/or make

improvements or changes in the product(s) and/or the program(s) described in

this documentation at any time without prior notice. The information in this

document is provided in good faith. However, it is provided without any warranty

that it is accurate or complete and on the express understanding that Mantis

Vision LTD. shall have no liability whatsoever to other parties in any way arising

from or relating to the information or its use.

Any product described in this publication is furnished under its own license

agreement.

All other trademarks or registered trademarks are the property of their respective

owners.

F5 3D Imaging System User Manual 
 
 
3 
About This User Manual 
This user manual contains the following chapters: 
  Chapter 1, Introducing the F5-B 3D Imagining System, page 11, introduces the 
components of the F5-B 3D Imaging system and provides an overview of the 
workflow for using it. 
  Chapter 2, Getting Ready to Scan, page 28, describes how to assemble the 
scanning equipment (3D camera) in order to prepare for scanning. 
  Chapter 3, KaplaVision Application, page 32, describes the various options 
provided by the KaplaVision application for decoding the video scanned by the 
F5-B Scanner, in order to produce 3D point cloud files (MPC files). KaplaVision 
also enables you to stitch, visualize and export the captured 3D data. 
  Chapter 4, Advanced – Stitching Tool, page 53, describes how to use the 
advanced KaplaVision Manual Stitching Tool. 
  Chapter 5, Advanced – Measurement Tool, page 75, describes how to use the 
MVP Measurement Tool to take precise measurements in a 3D point-cloud. 
  Appendix A, Installing KaplaVision, page 113, describes how to install the 
KaplaVision application on a Windows-based workstation. 
  Appendix B, Calibrating the F5-B Scanner, page 117, describes how to 
calibrate the F5-B. 
 
 

F5 3D Imaging System User Manual 
 
 
4 
Table of Contents 
About This User Manual ..........................................................................................................................3 
Table of Contents ....................................................................................................................................4 
Documentation Conventions ...................................................................................................................7 
Laser Safety Precautions ...................................................................................................................... 8 
General ....................................................................................................................................................8 
Engineering .............................................................................................................................................9 
Labels .......................................................................................................................................................9 
Additional Safety and Precautions .....................................................................................................10 
1   INTRODUCING THE F5-B 3D IMAGING SYSTEM ............................................... 11 
Introducing Mantis Vision ...................................................................................................................11 
Technical Specifications and System Requirements .............................................................................12 
Specifications.........................................................................................................................................12 
System Requirements ...........................................................................................................................13 
F5-B 3D Imaging System Overview ......................................................................................................14 
3D Camera Imager .................................................................................................................................15 
The KaplaVision Application .................................................................................................................17 
Workflow – Using the F5-B 3D Imaging System ...................................................................................18 
2  GETTING READY TO SCAN ........................................................................................ 28 
Scanning Technique Guidelines ...........................................................................................................28 
Preparing for Your First Scan ...............................................................................................................31 
Disassembling After Scanning .............................................................................................................31 
3  KAPLAVISION APPLICATION ................................................................................... 32 
Live View / Player View .......................................................................................................................34 
Live View ................................................................................................................................................34 
KaplaVision Live View Toolbar ...............................................................................................................36 
Recording Information ..........................................................................................................................37 
Player View ............................................................................................................................................38 
KaplaVision Player View Toolbar ...........................................................................................................41 
File Explorer ........................................................................................................................................42 
Searching for a Folder/File ....................................................................................................................42 
File Explorer Toolbars ............................................................................................................................43 
File Explorer Toolbar (Top) ....................................................................................................................43 

F5 3D Imaging System User Manual 
 
 
5 
File Explorer – File Toolbar (Bottom) .....................................................................................................44 
Processing Files ......................................................................................................................................44 
File Explorer – Right-click Menu ............................................................................................................45 
Exporting from KaplaVision .................................................................................................................47 
Denoising ............................................................................................................................................49 
Surfacing (Meshing) ............................................................................................................................50 
Defining KaplaVision Configuration Settings .......................................................................................51 
4  ADVANCED – STITCHING TOOL .............................................................................. 53 
Introducing the Stitching Tool .............................................................................................................53 
Why Stitch Together Multiple MPC Files? .............................................................................................53 
Why Stitch Together Multiple Point Cloud Segments? .........................................................................53 
Opening the Stitching Window ............................................................................................................54 
Tabs and Options ...................................................................................................................................55 
Stitching Window Toolbar .....................................................................................................................56 
Main Tab ................................................................................................................................................56 
Edit Segment Tab ...................................................................................................................................57 
Segment Registration Tab .....................................................................................................................57 
Point Filter Tab ......................................................................................................................................58 
Point Removal Tab .................................................................................................................................58 
Point Cloud Viewing Area ......................................................................................................................58 
Controlled Stitching .............................................................................................................................62 
Starting Automatic Registration ............................................................................................................63 
Segment Registration ............................................................................................................................63 
Deleting Segments by Minimum Frame Size .........................................................................................70 
Additional Features tab .......................................................................................................................72 
Denoise ..................................................................................................................................................72 
Mesh ......................................................................................................................................................73 
Measurement tool .................................................................................................................................73 
5  ADVANCED – MEASUREMENT TOOL ..................................................................... 75 
Introducing the Measurement Tool .....................................................................................................75 
Measurement Tool User Interface .......................................................................................................76 
Toolbars .................................................................................................................................................77 
Defining Snap Planes and Lines Used for Reference in Measurements ................................................81 
Defining a Snap Plane Using Point Sets .................................................................................................81 
Defining a Snap Plane Using an Existing Plane ......................................................................................83 
Defining a Cut Plane ..............................................................................................................................84 

F5 3D Imaging System User Manual 
 
 
6 
Defining a Cut Plane Using an Existing Plane.........................................................................................86 
Defining a Cut Plane Perpendicular to Two Planes ...............................................................................87 
Defining a Snap Line by Two Points .......................................................................................................90 
Defining a Snap Line Perpendicular to Two Planes ...............................................................................91 
Using Previously Defined Planes............................................................................................................94 
Measuring Elements ............................................................................................................................94 
Measuring the Distance from a Point and a Plane ................................................................................94 
Measuring the Distance between Two Points .......................................................................................96 
Measuring the Distance from a Line to a Point .....................................................................................98 
Measuring the Angle Between Two Lines .......................................................................................... 100 
Measuring the Angle Between Two Planes ........................................................................................ 101 
Defining a Point at a Specific Angle from a Projected Line ................................................................. 102 
Measuring the Diameter of a Projected Circle or Cylinder ................................................................. 104 
Measuring the Diameter of a Free-form Circle .................................................................................. 106 
Defining Missing Geometry (Points, Lines and Planes) ...................................................................... 108 
Finding Missing Points ........................................................................................................................ 108 
Finding Missing Lines .......................................................................................................................... 109 
Finding Missing Planes ........................................................................................................................ 109 
Managing Measurements and Views ................................................................................................ 110 
Defining a Coordinate System ........................................................................................................... 111 
Installation Introduction ................................................................................................................... 113 
Installing – How To ............................................................................................................................ 113 
Step 1: Camera Calibration ................................................................................................................ 121 
Step 2: Wall (EPI) Calibration ............................................................................................................. 123 
Step 3: RIG Calibration ...................................................................................................................... 123 
 
   

F5 3D Imaging System User Manual

Documentation Conventions

Notes provide additional important information.

Tips provide shortcuts or special guidance that may

enable optimal performance.

Warnings indicate conditions or practices that could

result in death or serious injury. It may also describe

potential serious adverse reactions and safety hazards.

Caution indications relate to conditions or practices

that are potentially hazardous that may result in minor

or moderate injury to the user or damage to the

equipment or other property. Caution indications may

also be used to indicate practices necessary for

effective use of the device

F5 3D Imaging System User Manual

CLASS 1M LASER PRODUCT

Laser Safety Precautions

General

The Mantis Vision Camera model F5-B is designed and built to comply with the

American standard

for laser

products Title 21 CFR, 1040.10 and the International

standard for laser products IEC60825-1:2007-03 as a Class 1M laser product based

on Class 3B lasers.

Beginning with models produced from June 2013, the Mantis Vision Camera

model F5 is designated as Class 1M. All systems produced before this date are

classified as Class 1.

A Class 1 laser is safe under all conditions of normal use. This means the

maximum permissible exposure (MPE) cannot be exceeded when viewing a laser

with the naked eye or with the aid of typical magnifying optics, such as a telescope

or microscope.

A Class 1M laser product does not pose any risk for the naked eye, but may cause

retinal injury for people using optical magnifiers (M). As the use of the MVC is in

areas where magnifiers are not intended to be used, there is no eye hazard and no

need for protective eyewear.

In order to prevent any misunderstanding, never use an optical magnifier in the

area where the F5-B is working.

A Class 3B laser beam is normally hazardous when intrabeam ocular exposure

occurs, including accidental short-time exposure. Staring directly into a Class 3B

laser beam may result in serious retinal injury. Viewing a diffuse reflection of Class

B is normally safe. Protective eyewear must be used when direct Class B is

accessible.

F5 3D Imaging System User Manual

Engineering

The F5-B Scanner is designed and built to follow the International standards for

laser products, including:

 Protective Housing: The internal Class B laser beam path is enclosed to

prevent any hazardous laser radiation leak. In addition, the external

protective housing prevents human access, during operation, to laser

radiation in excess of the AEL of Class 1M.

 Controls: The controls are located so that operation does not require

exposure to radiation in excess of the AEL of Class 1M.

Labels

The MVC F5 carries the following identification and classification labels:

 Identification: The figure below shows the identification label and its

location on the F5-B device.

Figure 1: Location of the Identification Label on the F5-B Scanner

 Classification: The figure below shows the content of the classification

label. This label is not included on the product.

Figure 2: Classification Label

F5 3D Imaging System User Manual

Additional Safety and Precautions

The Mantis Vision F5-B 3D Imaging System’s handheld 3D Camera Imager (Imager)

comprises a small video camera and a light projector. The video camera and light

projector are mounted at the ends of an anodized aluminum dowel, fitted with an

ergonomic hand grip. The Mantis Vision Camera (MVC) projects infrared light onto

the scene through a slide. The light source of the Mantis Vision projector is an

808nm VCSEL ARRAY Laser, whose beam is shaped and manipulated to achieve

the beam profile required for the F5-B application. The laser source itself emits a

beam that has maximum power of QCW 30 Watt (Class 3B).

When this light passes through the optical system, it is sufficiently diffused to be

classified as a Class 1 laser product.

The following basic safety guidelines must be adhered to at all times:

 Do not modify any F5-B components.

 Do not use a damaged Imager.

 Do not remove the lens of the projector or camera.

 Do not aim the laser output through optical instruments, such as eye

loupes, magnifiers or microscopes within a distance of 100 mm (4”).

 Do not remove the laser assembly access cover. There are no user-

serviceable parts inside.

Use of controls or adjustments, or performance of procedures other than

those specified herein may result in exposure to hazardous radiation.

Failure to comply with these basic safety instructions may result in personal

injury or the injury of others. Even moderately powered lasers can cause

serious irreversible injury to the human eye. High-power lasers can burn skin,

and reflected laser light can be hazardous. Remember that Mantis

Vision’s laser emits IR light, which is not visible to the human eye. If you

cannot see it or feel it, it does not mean that it is not potentially hazardous if

misused.

F5 3D Imaging System User Manual

1 Introducing the F5-B 3D

Imaging System

This chapter introduces the components of the F5-B 3D Imaging system and

provides an overview of the workflow for using it.

Introducing Mantis Vision

Mantis Vision is the international leading developer and producer of user-centric

3D model creation solutions.

Mantis Vision has a vision of a world enhanced through the use of 3D technology,

in which everyone has the access and tools to imagine, create and experience in

3D.

Mantis Vision was founded in 2005 by a team of experts in 3D imaging, graphics,

digital video, animation, computer graphics and algorithms.

F5 3D Imaging System User Manual

Technical Specifications and System

Requirements

Specifications

 F5-B Weight:

 Imager: 1.7 kg (~3.75 lb)

 F5-B Size:

 Imager (Outer Boundary Dimensions): 33 cm x 16 cm x 6 cm

(13” x 6.3” x 2.4”)

 Field of View (FOV):

 Vertical: 38°

 Horizontal: 44°

 Diagonal: 56°

 Camera Sensor: CMOS (E2V – EV76C560ABT)

 2D Camera Resolution: 1.3 Megapixels

 3D Resolution: ~ 58,000 points per frame

 Projector Wavelength: 808 nm (Infrared)

 Projector Light Source: VCSEL ARRAY Laser (Class 3B Laser)

 Product Eye Safety Rating: Class 1M Laser Product (see the Laser Safety

Precautions section on page 8 for more details)

 Ambient Operating Temperature Range: (-)10° Celsius to 50° Celsius (14°

to 122° Fahrenheit)*

 Ambient Charging Mode Range: (: (-)10° Celsius to 40° Celsius (14° to

104° Fahrenheit)*

 Lighting Conditions: Total darkness through direct sunlight (range

degrades in the presence of IR light sources)

 Simultaneous scanning Range: 60 cm – 4 m (24” – 157")

 Single Frame Accuracy: Up to 0.5 mm at a range ≤ 1 m

F5 3D Imaging System User Manual

 Continuous Acquisition:

 Minimum Data Storage Capacity: 1 hour (normally ~2 hours)

 Minimum Battery Life: 1 hour (normally ~2 hours)

NOTE

the internal battery can be replaced only at a manufactory certified

labs

* Pending Testing.

System Requirements

The following are the minimum system requirements for the KaplaVision

workstation:

 Windows 8 and above, 64-bit

 16 GB RAM

 Intel Quad Core Processor (i7 recommended)

The following are the minimum system requirements for a Measurement Tool

standalone installation:

 Windows XP 32-bit / Windows 7 32-bit / Windows 7 64-bit / Windows 8

64-bit (Beta)

 Any resolution monitor

 4 GB RAM

 Any x86 / x64 processor

 GPU (Graphic card) with 1GB memory − NVIDIA/ATI (Intel not supported)

F5 3D Imaging System User Manual

F5-B 3D Imaging System Overview

Mantis Vision’s proprietary technology enables 3D model capturing of highly

dynamic scenes. At its core is a breakthrough single frame coding method for

structured light imaging. The F5-B Handheld Imager is capable of automatically

capturing a dense 3D point-cloud model of the environment in each frame. Tens

of thousands of points are decoded while maintaining high accuracy.

Figure 3: F5-B 3D Imaging System Suitcase

Rugged Case

Imager

Power Supply

USB Imager Cable

Diffuser

F5 3D Imaging System User Manual

Mantis Vision’s F5-B 3D Imaging System consists of the following components:

 3D Camera Imager on page 15 is a 3D acquisition (scanning) unit for

capturing 3D scenes in field environments.

 KaplaVision Software on page 17 is a software application for processing

and visualizing the acquired 3D data.

 Mantis Vision Measurement Tool on page 75 is a software application for

taking precise measurements of a 3D point-cloud or a single 3D frame.

3D Camera Imager

The 3D Camera Imager is a handheld 3D scanning unit for capturing 3D scenes.

Figure 4: Imager

The handheld Imager combines a small video camera (1.3 Megapixel, angular field

of view 38° x 44° (H x W)) and a laser-based infrared light projector. The camera

and projector are mounted on the ends of an anodized aluminum dowel, coated

with an ergonomic rubberized hand grip.

The light projector casts infrared light (808nm wavelength) onto the scene

through a slide (mask) containing Mantis Vision’s patented single-coded pattern.

Laser Projector

Laser Button

Video Camera

Rec/Stop Trigger

Thumb Button

F5 3D Imaging System User Manual

The Imager has a simultaneous working range of 60 cm to 4 m (24 " to 160").

The Rec/Stop Trigger button (also called the Index Finger button) enables you to

start and stop scanning.

The Thumb button enables you to navigate through the scanner calibrating

process (see pg. 117).

The Laser button allow you to enable/disable the connection between the

scanner and the KaplaVision software (see figure 4)

The F5-B Imager has one socket that allows you to either connect it with USB 3.0

to the workstation, or charge it to using a power source. The scanned videos are

stored on the workstation.

In order to operate, it must be connected via a USB 3.0 cable to a Windows-based

workstation, on which the KaplaVision application is installed.

F5 3D Imaging System User Manual

The KaplaVision Application

The KaplaVision application allows you to process and visualize the raw 3D data

scanned by the F5-B in order to achieve the required 3D point cloud model.

The KaplaVision application simplifies the creation, viewing, analysis and export of

3D data models. It includes color and infrared data processing and visualizations

of 3D point cloud models.

The various KaplaVision tools allow you to:

 “Fly” through the captured scene, viewing the 3D data from all angles.

 Create 3D point cloud models of objects from the scene and export them to

various file formats compatible with standard third-party 3D processing

software tools.

Figure 5: KaplaVision – Main Window

The KaplaVision application also includes the following:

 Mantis Vision Advanced Stitching Tool, page 53, which allows you to

combine (align, register and merge) various 3D point cloud pieces into a single

point cloud in order to recreate the 3D structure of the scanned scene.

 Mantis Vision Measurement Tool, page 75, which is a software application

for taking precise measurements of a 3D point cloud or a single 3D frame.

F5 3D Imaging System User Manual

Workflow – Using the F5-B 3D Imaging System

The following diagram shows an overview of how to use the F5 3D Imaging

System followed by a short description of each step and a reference to where this

procedure is described in detail:

Step 1 Connecting Scanning Equipment

Step 2 Scanning

Step 3 reviewing the scan in KaplaVision

Step 4 Registration (Various)

Step 5 Point Cloud Processing

Step 6 Additional Options

Step 7 Exporting

Figure 7: Workflow – Using the F5-B 3D Imaging System

1. Connecting Scanning Equipment:

Connect the handheld Imager to the windows based Workstation on which the

KaplaVision application has been installed.

2. Scanning:

Before you start scanning, we highly recommend that you read the Scanning

Technique Guidelines section on page 28.

F5 3D Imaging System User Manual

3. Double-click the KaplaVision desktop icon shown below:

Figure 1: KaplaVision Desktop Icon

The KaplaVision main window is displayed, showing the view seen by the F5-B 3D

Camera Module. For example, as shown below:

Figure 2: KaplaVision Main Window

4. If this is the first time you are using KaplaVision or the first time you are using a

specific F5-B Imager, then you must check that the correct path to the

configuration file and the calibration files is specified, as described on page 51.

5. Click the Live Decoding button in the KaplaVision toolbar to select whether

the images scanned by the F5-B are decoded immediately or not.

Figure 3: KaplaVision Toolbar

F5 3D Imaging System User Manual

▪ Live Decoding: When this button is selected (highlighted as shown

above), the images scanned by the F5-B will be decoded immediately and

can be displayed in the KaplaVision window, as they are scanned frame-

by-frame, as described in the Live View section on page 38.

▪ No Live Decoding: When the Live Decoding button is not highlighted, the

images scanned by the F5-B are not decoded immediately. You can

decode these files later (Offline), as described on page 26.

A. Select the required Decoding Mode from the dropdown list in the top center of

the KaplaVision window to specify the type of decoding that the F5-B performs,

as shown below:

Figure 4: Selecting the Decoding Mode

▪ Point Cloud: The F5-B scanner records the captured object as a point cloud in

the specified option from the decoding list.

▪ Depth Map: The F5-B scanner records the captured object as a depth map in

the specified option from the decoding list - only relevant if the recording

modes are Recording 2D, 3D, 2D+3D

▪ Mesh: Specifies that the F5-B scanner records the captured object as a mesh

in the specified option from the decoding list.

B. Select the required Recording Mode from the dropdown menus in the top

center of the KaplaVision window to specify the type of recording that the F5-B

scanner performs, as shown below:

Figure 9.1: Selecting the recording mode

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Mantis Vision F5-B User manual

Brand: Mantis Vision

Model: F5-B

Type: User manual

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