How to create a true intensity panoramic images from phase-shift TLS data bypassing firmware filtering of 3D points

[GastonDiaz]

Hello everyone,

I work with hemispherical photography of the forest canopy. I am interested in using active remote sensing technology to create hemispherical images. Terrestrial Laser Scanners can do that. I work with a FAROS Focus 130X. There is a paper about this topic https://www.sciencedirect.com/science/a ... 231930382X The principle in the paper is good, but there are a drawback that I spotted and we (me and the paper authors) want to address it.

Briefly, the 3D data suffer from filtering and we want to access the information before that filtering step in order to make images. We know that it is possible since both SCENE and TRIMBLE RealWorks software can do that, but they deliver a good-looking picture rather than the true intensity information (as the paper shows). Results can be obtained from this type of image, but they are far from ideal. We think that optimal results would be obtained from images just like that, but with the true intensity info in each pixel.

Any clue about how to produce such images would be greatly appreciated.

https://mfr.osf.io/render?url=https%3A% ... 2Fdownload (link to a figure that illustrates this problem)

[daniel]

Well, if you manage to load the FARO file in CloudCompare, then you can either use the bubble view mode (when selecting the cloud or its 'sensor' below it in the DB tree - see Display > Enter bubble-view mode).

Another option is to click on this 'sensor', and use the Edit > Sensor > TLS/GBL sensor > Create/show depth buffer, then you should see the depth buffer. This is more like what you want, but for now you can't color the depth map with the active scalar field. One would have to hack the code to allow for that.