> For the complete documentation index, see [llms.txt](https://multiset.gitbook.io/multiset/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://multiset.gitbook.io/multiset/basics/third-party-scans/faro-scans.md).

# Faro Scans

MultiSet supports point cloud data captured using Faro laser scanners. To ensure the best localization performance, the data must be captured, processed, and exported according to specific guidelines.

### Supported Hardware

The following Faro devices are fully supported:

* **Faro Focus Series**
* **Faro Orbis**
* **Faro Flash/Hybrid** (formerly Blink/Swift workflows)

### Scanning Guidelines

High-quality data capture is essential for accurate localization. Please adhere to the following best practices during the scanning process:

* **Scan Spacing:** Maintain a distance of **1–2 meters** between scan locations. Close spacing ensures high overlap, which is critical for visual positioning.
* **Lighting:** Ensure the environment is well-lit. Avoid scanning in pitch-black areas or environments with rapidly changing lighting conditions.
* **Static Environment:** Minimize movement during the scan. Avoid areas with heavy foot traffic or moving machinery. If people are present, ask them to stand still or mask them out during post-processing.

#### Altimeter Settings (Critical)

Before starting your scan, you must **disable the Altimeter** on the scanner or controller app.

MultiSet requires the point cloud to use **Local Y coordinates** (relative to the first scan) rather than absolute geodetic height. Using the altimeter can introduce vertical shifts that misalign the map with the device's camera feed.

<figure><img src="/files/ZbMOfuQAyKLjiGeqfOO6" alt="" width="180"><figcaption></figcaption></figure>

### Point Cloud density

Exporting dense point clouds can crash the map processing and significantly increase processing times. We recommend a **medium** point cloud density or a voxel size of **0.5 - 1.0 CM.**

### Post-Processing in Faro SCENE

Once data capture is complete, import your raw scans into **Faro SCENE** software.

1. **Registration:** Register your scans to create a cohesive project.
2. **Cleanup:** Manually clean the point cloud to remove noise, reflections (from mirrors or glass), and "ghosts" caused by moving people or objects. Clean data results in faster and more accurate localization.

### Exporting for MultiSet

To generate a compatible map file, you must export the data as an **.e57** file with specific settings enabled.

1. In Faro SCENE, right-click your processed cluster or project and select **Export > Export Scan Points**.
2. Set the **Format** to E57 Files (\*.e57).
3. **Crucial:** Ensure the **Color Panorama Image** checkbox is **CHECKED**. MultiSet relies on these panoramic images for visual feature extraction.
4. Ensure **Full Scan** is selected (do not use "Selection" unless you specifically intend to crop the map).
5. Click **Export**.

<figure><img src="/files/SnNzdHTqtaolCENpp4z8" alt="" width="265"><figcaption></figcaption></figure>

#### Upload

Once the .e57 file is generated, zip it and then log in to the MultiSet Developer Portal and upload the file to create your new Map.

<figure><img src="/files/wdApX2gnR8Yba0mxgSN0" alt="" width="283"><figcaption></figcaption></figure>


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