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Pinchot C# Scanning API

This high level document covers the main objects, methods, and properties related to how the Pinchot API performs 3D laser scanning using ScanSystem, ScanHead, and IProfile objects. Refer to the Connection Guide for establishing connections before scanning.

High-Level Overview

Scanning is the process of acquiring 3D profile data from one or more ScanHead devices coordinated by a ScanSystem. The Pinchot API provides two scanning modes:

  • Frame Scanning (recommended): Organizes profiles from multiple scan heads into synchronized frames for easier processing
  • Low-Level Scanning: Provides individual profile access for maximum control and performance

Scanning Requirements

Before scanning can begin, the following prerequisites must be met:

  1. Connection: All scan heads must be connected via ScanSystem.Connect
  2. Configuration: Scan heads must be configured with windows, alignment, and laser settings
  3. Phase Table: A phase table must be created to coordinate laser/camera timing across scan heads

Data Transmission

Scan data is transmitted over TCP/IP from each scan head to the client application. The API automatically handles:

  • Profile Assembly: Raw scan data is assembled into complete IProfile objects
  • Coordinate Transformation: Camera coordinates are transformed to real-world coordinates using alignment parameters
  • Data Buffering: Profiles are buffered in memory queues for consumption by the application
  • Synchronization: Frame scanning ensures profiles from different scan heads are properly synchronized

Scanning Modes Comparison

Feature Frame Scanning Low-Level Scanning
Ease of Use High - automatic synchronization Medium - manual coordination required
Performance Good - optimized for most applications Excellent - maximum throughput
CPU Distribution Single consumer thread Multiple threads (one per scan head)
Data Organization Organized frames with slots Individual profiles
Recommended For Most applications, multi-head systems High-performance, single-head systems

Relevant API Calls

Core Scanning Methods

Phase Table Configuration

Frame Scanning Data Access

Low-Level Scanning Data Access

Data Structures