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Ethan Ward
Ethan Ward

CR-Studio 2.0 Software for CR-Scan Lizard: Calibration File and User Manual



Mindvision appears to be the manufacturer of the camera based on files I found in the installation directory. When I plugged the scanner into my Windows machine I could only see the 2 additional cameras. I also plugged it into a USB port on my Unraid server to confirm. Windows is not the most user-friendly when doing this type of investigation.


Another quick experiment was seeing if I could scan completely untethered. This setup is using a Steam Deck with Windows installed along with a power bank that can output 12V for the scanner. I had to purchase a USB-C hub for the Steam Deck and I already had the power bank. I did one proof of concept scan and went as expected. The software is not really designed for this small of a screen and I had to auto-hide the taskbar to fully access all the buttons and sliders. I did the scans on the Steam deck then moved the files over to my PC to create the 3D mesh. I could see designing a 3D printed case with 20 thread for the scanner and making this a completely mobile handheld scanner.




cr scan lizard calibration file download



According to the needs of users, we will continuously optimize and upgrade the software to bring better user experience. CR Studio 2.0 supports free OTA online upgrade, bringing real-time surprises. Users can also download calibration files online, no worries about losing them.


It is recommended that users confirm that the following control software is installed:ZEB Horizonif(typeof ez_ad_units!='undefined')ez_ad_units.push([[300,250],'manuals_plus-medrectangle-4','ezslot_6',116,'0','0']);__ez_fad_position('div-gpt-ad-manuals_plus-medrectangle-4-0');SHB firmware version 2.2.0ZEB VisionZEB Vision firmware version 2.1.0These can be downloaded from GeoSLAM website ( -started-zeb-vision/). Site SelectionFundamental to the processing of the system calibration dataset, is the identification of features in both the laser data (typically in the intensity field), and the imagery. Therefore, site selection where the system calibration data is acquired needs careful consideration. To maximize the likelihood of calculating the most accurate system calibration, the following factors must be observed for the collection of the system calibration data:


Before conducting the capture, the following should be considered:Ideally, the calibration will be carried out using the ZEB Backpack. If a ZEB Backpack is not available, the calibration can be carried out using ZEB Horizon mounted on a standard reference plate. As with any capture using the ZEB Vision, the operator should walk at a slower than normal walking speed. This will increase point density in the laser data and reduce the risk of blurred images.if(typeof ez_ad_units!='undefined')ez_ad_units.push([[300,250],'manuals_plus-leader-4','ezslot_19',916,'0','0']);__ez_fad_position('div-gpt-ad-manuals_plus-leader-4-0'); The operator should keep the system as steady as possible during the capture, avoiding any sudden / sharp movements that will result in blurred images and errors in the point cloud.There is no requirement to specifically point the camera or scanner at a particular feature.Before conducting the capture, make sure that the ZEB Vision camera is firmly attached to the ZEB Horizon by ensuring that: the 4 mounting screws are secure and have been tightened with equal torque.the ZEB Vision camera is mounted flush to the rear plate of the ZEB Horizon by removing the four rubber dampers from the back of the scanner.if(typeof ez_ad_units!='undefined')ez_ad_units.push([[300,250],'manuals_plus-mobile-leaderboard-1','ezslot_20',917,'0','0']);__ez_fad_position('div-gpt-ad-manuals_plus-mobile-leaderboard-1-0');the v-mount is secured to the camera assembly. If the v-mount is loose, the system may rotate on the v-dock during capture.Backpack Capture


The following USB storage device file formats are supported, exFAT, FAT32 and NTFS. Downloading data is an automatic process whereby only data that has not previously been downloaded will be transferred.ZEB VisionData from the ZEB Vision is stored on the internal data drive in the camera. Each capture is stored in a separate project folder, e.g., Project_1, Project_2 etc. Images from the front and rear lens are stored individually, in JPG format. The file naming convention is: nnn_F_xxxxxx.jpg -> Front lens. nnn_R_xxxxxx.jpg -> Rear lens.Where: nnn: image number.F, R -> lens -> image from either Front or Rear lens.xxxxxx: internal camera timestamp.A copy of the camera calibration file (camera_cal.json) is stored on the camera. When a new capture is started, a copy of the calibration file will automatically be copied into the project folder.


From Version 3.3.0 of the GeoSLAM Datalogger Control Tool, users can simply interact with the ZEB Vision camera, including applying firmware changes, uploading calibration files and downloading images. To download data from the camera:


To delete data from the camera: With the ZEB Vision connected to the ZEB Horizon datalogger, power on the datalogger if not already powered on.Connect the camera directly to a PC using the supplied ethernet cable. Open -> GeoSLAM Datalogger Control Tool. Select -> Remote -> Connect.Select -> ZEB Vision, at the Control Selection pop-up. Input -> IP Address -> 169.254.0.206 into the dialog.Select -> OK, to continue.Select -> Local -> Browse, Browse to a directory to copy the data from the camera.Select -> Ok, to continue.. Select -> Remote -> user defined directory, e.g. Project_2 .Delete data from the camera using GeoSLAM Datalogger Control Tool. Right-Click -> Delete.Select -> OK, at the pop-up to confirm the action.Select -> OK, at the pop-up to confirm the successful action.Alternatively, data can be browsed using any FTP file browser. Send DataOnce data has been collected and downloaded, this should be sent to support@geoslam.com.


Once GeoSLAM has received and evaluated the data, the user will shortly receive an updated camera calibration file. This file must be uploaded to the camera to ensure that for every subsequent capture where ZEB Vision data is acquired, a copy of the calibration file will be included in the images folder, otherwise, images cannot be processed.Processing data from the ZEB Vision requires GeoSLAM Connect version 2.1.1 and later. Please see Appendix C of the GeoSLAM Connect Software Guide for more information on how to process and view your ZEB Vision data.Uploading the Calibration FileFrom Version 3.3.0 of the GeoSLAM Datalogger Control Tool, users can simply interact with the ZEB Vision camera, including applying firmware changes, uploading calibration files and downloading images.To update the calibration file on the camera:


The CR Studio software can output data in most common 3D formats. You can save your files as OBJ, PLY, or STL files. This allows you to import your scans into most popular software, including Blender, 3DMax, Rhino, and Maya.


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Fossils that are similar to skeletal elements of extant lizard genera appeared in continental North America (North of Mexico) during the Miocene [1, 2]. However, the referrals of those and other Cenozoic lizard fossils to extant genera and species were not supported with apomorphic diagnoses in the context of modern hypotheses of phylogenetic relationships [3,4,5]. Diagnosis of fossils using apomorphies eliminates biases or errors that result from reliance on phenetic similarity or modern biogeographic distributions of species as tools to support identifications of fossils [3], and a fossil must be assigned to a clade using apomorphies or via phylogenetic analysis to be usable as a node calibration for that clade in divergence time analyses [6]. Distinguishing plesiomorphy from apomorphy is challenging, particularly for clades lacking phylogenetic clarity and when mostly fragmentary and disarticulated fossils are available for study, as is often the case for lizards [3, 6]. Moreover, many existing apomorphies were described with respect to an articulated skull, may be difficult to interpret on disarticulated elements, or were originally intended to diagnose higher-level relationships [3]. Still, some researchers have succeeded in using apomorphies to identify Cenozoic lizard fossils at the genus and species level [7,8,9,10,11,12,13,14,15,16,17,18].


I conducted relaxed-clock divergence time analyses in BEAST v1.10 [74] with two different models, a model with one mean clock rate for the entire dataset, and a model with two mean clock rates, one for the nuclear data and one for the mitochondrial data (hereafter referred to the one-rate and two-rate models). Those analyses included four node calibrations (see Methods). I also analyzed both models with all fossil calibrations except the sand lizard calibration to test the sensitivity of the divergence times to the calibration, and those analyses included three calibrations. Additionally, I conducted analyses for both models that included all fossil calibrations and in which the divergence of the western clade of Uma was constrained to the Pleistocene, and those analyses included a total of five calibrations.


I performed multispecies coalescent analyses on a Sanger dataset of Uma that includes multiple individuals of each terminal taxon, and I added representatives of each of the other sand lizards (Callisaurus, Cophosaurus, Holbrookia) to allow for a node calibration. Multispecies coalescent analyses were conducted in BEAST 2.5 [79] using *BEAST.


Osteological nomenclature follows Evans [60] unless otherwise noted. I compared the fossil to a variety of taxa by reviewing literature of squamate skeletal anatomy and by examining specimens. I examined disarticulated specimens when possible because the fossil is a single, disarticulated cranial element and many of the morphological features are difficult to observe or correctly interpret on articulated skulls. I expanded my comparisons beyond taxa that are closely related to Uma (other phrynosomatid lizards), taxa that are morphologically similar to phrynosomatid lizards (crotaphytid lizards), and taxa that are restricted to North America (North American teiids, scincomorphs, anguids, and other iguanian lizards). When possible, I examined more than one specimen from more than one locality as well as specimens of different sizes for each taxon, particularly for phrynsomatid taxa, in order to take account of intraspecific variation. I was generally not able to account for sexual dimorphism, because sex data were not available for most specimens. A list of comparative specimens is provided in Additional file 1.


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