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3D Scan Recording

Compatible with: LRS4000 picoScan100

3D scan recording turns a rotating 2D LiDAR into a 3D scanner without host-side geometry code. While the sensor rotates on an axis, it combines consecutive 2D scans with the rotation angle and stores one point cloud as a .pcd file on the device. The angle comes from the built-in IMU or from an encoder on the axis. Open the result in CloudCompare.

The device keeps only the most recent point cloud, and there is no continuous 3D output. For continuous 3D data or custom transforms, process the scans on the host as described in 3D With 2D LiDARs.

3D scan recording interface

Live capture of the 3D scan recording interface on a picoScan100.

Record in SOPASair

  1. Mount the sensor so its scan plane sweeps the area of interest as it rotates.
  2. Open Application → 3D scan recording, select the rotation source (IMU or encoder), and enter the sensor offset from the rotation axis.
  3. Start the recording, rotate the sensor through the sweep, and stop the recording.
  4. Download the point cloud when saving is complete.

Record over the REST API

Writing parameters and calling methods requires challenge-response authentication.

Record over the REST API: parameter and values.

Parameter Values
ScanMergerEnabled true / false
ScanMergerSource 0 IMU, 1 ENCODER
ScanMergeTrigger 0 METHOD; on the LRS4000 also 1 DIGITAL_INPUT
RotationOffset {x, y, z} in mm: sensor offset from the rotation axis
  1. Write the parameters and persist them with POST /api/WriteEeprom.
  2. picoScan150 only: POST /api/ResetScanMergeView to clear the previous recording.
  3. POST /api/StartScanMerge and move the axis through the sweep. With ScanMergeTrigger = 1, a digital input starts and stops the recording instead.
  4. POST /api/StopScanMerge.
  5. picoScan150 only: poll GET /api/MergeSaving until it changes from true back to false.
  6. Download the point cloud. On the picoScan150, use port 80 outside /api/: curl http://192.168.0.1/cloud.pcd -o cloud.pcd. On the LRS4000, download it in SOPASair under Application → 3D scan recording.

The endpoints are listed in the LRS4000 and picoScan100 REST API references. For a complete example, see the House 3D Capture project.

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