FAQs

LiDARMill: Frequently Asked Questions

I collected data with the wrong rover profile. Can this be corrected when post processing in LiDARMill?

Yes, you can correct any rotation and translation values when post processing in LiDARMill. In the Navlab pipeline, ensure that the IMU to Antenna lever arm offsets and the Body to IMU Rotations are corrected. In the Spatial Fuser pipeline, ensure that the LiDAR rotations and translations/offsets are corrected. Camera rotations and translations can also be corrected if applicable.

If you don't have these values handy, the correct values could be obtained from past project reports and trajectory reports from pipelines you've ran with that desired profile.

Please note that the OEM6 or OEM7 IMU orientation inputted into your rover profile is not the same as the NavLab or Inertial Explorer IMU to Body rotation.

Can I start a Spatial Fuser pipeline before my NavLab pipeline is finished processing?

Yes, as soon as a NavLab pipeline is created, the succeeding Spatial Fuser pipeline can be created. Ensure to select the "Processing" post-processed trajectory as an input artifact when creating your Spatial Fuser pipeline.

My SpatialFuser pipeline failed due to CameraSnap/black imagery. What do I do?

Disable imagery in the Camera section of the SpatialFuser pipeline. Be sure to disable Per Exposure Pose Correction as well, as that could still cause a failure despite the imagery being disabled.

What reference station data file formats can be used with SpatialExplorer?

LiDARMill can accept a wider variety of reference station data file formats, as LiDARMill has access to many openly available RINEX converters. It's always recommended to upload your raw reference station data to LiDARMill - if the LiDARMill Analyze Reference Station, try uploading a RINEX version of the data.

SpatialExplorer can only process raw data from receivers that use NovAtel OEM GNSS receivers, which typically includes brands such as Stonex, Leica and Topcon. Raw data produced by the Stonex S900, sold by Phoenix LiDAR, can be processed in SpatialExplorer. Raw data from other receivers should be converted to RINEX prior to use in SpatialExplorer.

Can I colorize using a GeoTIFF?

To colorize a pointcloud using a GeoTIFF, start by uploading the GeoTIFF under the Documentation tab in the project. This will automatically create a pipeline called "GeoTIFF optimization." When creating a SpatialFuser pipeline, ensure the GeoTIFF is enabled on the file selection screen. Doing so causes the camera options to disappear from the configuration steps on the next screen and enforces LiDARMill to use the GeoTIFF for colorization instead of the images.

FIle Selection Screen where the user selects the GeoTIFF artifact to use for colorization