Assistance importing 3DT ScanFly panorama and planar images into LiDAR360MLS

[Manolis Chrysanidis]

Hello,

I have a 3DT ScanFly mobile mapping system, and we recently purchased LiDAR360MLS. I am currently trying to import ScanFly point cloud and camera data into LiDAR360MLS.

The point cloud and camera positions are in WGS 84 / UTM Zone 34N, EPSG:32634. The image positions now appear in the correct area of the point cloud, but I am experiencing two orientation and calibration problems:

1. The stitched panoramas appear rotated or upside down. In addition, when I turn toward one direction in the panorama window, the linked point-cloud view may show the opposite direction.
2. The five planar camera images load successfully, but the point cloud does not project correctly onto the photographs. The camera viewing pyramids also appear to have incorrect orientations.

Screenshots showing both problems are included.

I have shared the complete dataset through Drive so that you can investigate the issue. The shared files include:

• files/cam.res — original ScanFly camera calibration file
• files/internal_cameras_calibration.3dtc — original ScanFly internal and external camera calibration file
• files/  camera_settings.ini — camera settings file I created for LiDAR360MLS
• scanfly_original_folders/JPEGS/cameraIndex.csv — original ScanFly camera index and pose file
• scanfly_original_folders/  JPEGS/orig/02169-1781955065_framepos.txt — original frame-position file
• scanfly_original_folders/  SNNCT-IP02169/02169-1781955065/orig/02169-1781955065_framepos_panorama.txt — original panorama frame-position file
• scanfly_original_folders/  JPEGS/02169-1781955065_framepos1.txt — processed frame-position file used with the JPEGS export
• files/EX_20260629_181729__20260620_112655_L00_WGS_84-UTM_zone_34N__000_color.las — point cloud
• scanfly_original_folders/  files/panoramas.imglist — panorama image list created for LiDAR360MLS
• scanfly_original_folders/  files/planar.imglist — planar image list created for LiDAR360MLS
• The original ScanFly image folders
• Screenshots of the panorama and planar-image alignment problems

In the ScanFly JPEGS folder, every capture contains five planar images and one stitched panorama. For example:

0_00000000.jpg
1_00000000.jpg
2_00000000.jpg
3_00000000.jpg
4_00000000.jpg
5_00000000.jpg — stitched panorama

The ScanFly software also creates an SNNCT-IP02169 folder containing files such as:

0000000000.jpg — stitched panorama
0000000000_front.jpg
0000000000_back.jpg
0000000000_left.jpg
0000000000_right.jpg

Could you please help me with the following?

1. Confirm the correct .imglist structure for both panoramic and planar images.
2. Confirm the required Roll, Pitch and Heading convention and rotation order used by LiDAR360MLS.
3. Confirm whether the ScanFly attitude values need an additional boresight or panorama-seam correction.
4. Check whether my camera_settings.ini contains the correct parameters and Camera ID mapping.
5. Provide or help create a LiDAR360MLS-compatible .cal file for the five ScanFly cameras.
6. Confirm whether Camera IDs should be 0–4 or 1–5 and where the CameraName field must appear in the planar image list.
7. Confirm which ScanFly image product should be used: the 5_*.jpg panoramas from the JPEGS folder or the panoramas from the SNNCT-IP02169 folder.

My goal is to correctly link the panoramas and planar images to the point cloud so that image navigation, point-cloud overlay and image-based measurements work correctly.

The download link is here

Thank you in advance for your assistance.

Best regards,
Manolis Chrysanidis