# 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.
### 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**.
#### 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.
