It's possible to combine laser-scans with drone images. The geometry will be build by the laser-scan and blind areas like roofs will be generated by the drone images. 

The images from the drone will also be used to generate texture for the 3d model.
The result is a complete environment in very high geometry with no blind spots.

The laser-scan can be from either static scans or with a mobile slammer solution.


Limitation: 
Inspection Cloud only supports point clouds with    known scan source positions. Moreover, if scan source positions specified in    the imported point cloud are incorrect, it will adversely affect the 3D    reconstruction or even cause a completely incorrect 3D reconstruction. 


Requirements:

  • Ground Control Points/Targets which is visible in both the laser-scan and drone images. 
  • Each scan must be exported separately in .e57, .las or .ptx format. 

Requirements Static scan:

  • For each exported file, the scanner location must be exported in same coordinate system as the Ground Control Points.

Requirements Mobile Scan:

  • A trajectory file with timestamp and X,Y,Z coordinates is required.
  • The trajectories must be provided as separated text files    (.txt or .csv) describing successive scanner positions associated with time. Inspection Cloud integrates a text file import wizard to extract trajectory data for    various text formats. 


Technical specifications:

PTX file format

General 

PTX format from Leica Cyclone is supported.

All PTX point clouds are considered to have intensity information and so point clouds will always have the intensity attribute. Color information is detected if a point line has seven elements. 


Static 

Header length and point list lengths must be reliable. A missing line in the header or a missing point between two headers leads to a failed import. However, a corrupted point line will be ignored. 

Point coordinates is computed using scanner registered position as scanner location and the transformation matrix. 

If the scanner position is manually added, the transformation matrix in the PTX header is still used to compute point coordinates. 


LAS 

General 

LAS format 1.0, 1.1 and 1.2 is supported. 

Color information is detected based on LAS Point data record format used. Point clouds will have a color attribute if the point format used is 2 or 3. Intensity attribute is detected if at least one point doesn’t have anintensity set to 0. 


Static 

LAS format doesn’t support scanner position information. When importing a static LAS, the scanner location from the user interface. 


Mobile 

The point clouds and the trajectory data are linked using timestamps. Therefore, LAS point data record format must be 1 or 3. 


E57 

General 

E57 format 1.0 and Leica E57 timebounds is supported.

Color information is detected based on the E57 file header. If in the header, the point fields of blue color, red color and green color are set to true, the pointcloud will have color attribute. For intensity, the point field of intensity is used to set the intensity attribute. 


Static 

The position of scanners is read from the pose information of each E57 scans. If this information is missing, it's assumed the pose is set to the identity. Georeferenced static scans must have a pose information, as an identity pose doesn’t make sense for georeferenced point clouds. 

If the scanner position is manually provided, the pose information in the E57 scans is still used to compute point coordinates. 


Mobile 

The point clouds and the trajectory data are linked using timestamps. Therefore, at least one E57 scan must have a timestamp field. If the E57 scan has an acquisition Start structure, the value is used as an offset for the timestamp stored for each point. If the E57 has a time Bounds structure and a time Minimum structure, the time Minimum value is used as an offset for the timestamp stored for each point, overriding the acquisition Start structure. 


Trajectory data 

Trajectory information is required to import mobile scans. A trajectory file must contain a list of the scanner positions associated with timestamps. The positions must be provided in the same spatial reference system than the point cloud coordinates, and trajectory timestamps must overlap with points timestamps. 

Trajectory example: 
Time;X;Y;Z
189321.10;15.96;-52.12;133.68
189321.20;15.21;-51.21;134.01
189321.30;14.75;-50.37;134.35
189321.40;14.10;-49.50;134.31
189321.10;13.78;-48.69;134.43
...