## 3 Materials and Methods
### Characteristics of Raw Data and Selected Test Sites  
In order to verify the assumed idea of selection of the cartographic conversion of TLS data in the automated data orientation process, four test sites were selected (two decorated historical chambers at  
Figure 3: The functional diagram for the determination of XYZ coordinates based on pixel coordinates for raster images in the Mercator projection. the Museum of King Jan III's Palace at Wilanow) and the office room and empty shop at the shopping mall characterized by a not diversified structure and the surface geometry. Selected test sites necessary for verification of the effectiveness of point detection algorithms and an appropriate representation of a point cloud (raster images in the spherical projection, the Mercator projection, and as orthoimages) were characterized by varied dimensions, texture, adornments, and geometric complexity level. TLS data were acquired by two scanners: Z + F 5003 and Z + F 5006h. Additionally, in order to verify the assumed idea of data registration, two scanning variants were selected in each test site: (scenario A) close scanner stations where the same fragments of the surface are measured under similar angles and (scenario B) fragments of the surface measured under different angles from different distances and heights of the TLS positions. A scan located in the centre of and analysed chamber, having the highest coverage with remaining scans, was chosen as a reference scan. The process of manual selection of the reference scan was performed at the first stage of data processing. In order to perform an independent quality assessment, marked control points were distributed on three (out of four) test sites; they were measured using the tacheometric method. **Test site I: \"The Queen's Bedroom\"-Museum of King Jan III's Palace at Wilanow**  
Test site I was characterized by geometric complexity in the form of rich ornaments, bas-reliefs and facets. Moreover, there were mirrors in golden frames, and they were decorative fireplaces, and fabrics, etc., hanging on the walls (Figure 4). Measurements were performed using the phase scanner Z+F 5003 with a scanning resolution of 3.2 mm/10 m. Figure 5a presents the distribution of scanner positions and the scanning distances. Five out of six scans were acquired with the selected fragment of a chamber (the incomplete extent). The nineteenth scan (acquired with the full angular resolution) was applied as the reference scan. Sixteen marked points were distributed over the test site (considered as check points in further analyses), which were used for TLS data orientation. **Test site II: \"The Chamber with a Parrot\"-Museum of King Jan III's Palace at Wilanow**  
The characteristic features of test site II were the small number of ornaments and the lack of bas-reliefs, facets or fabrics on the walls. In this case, the walls were painted with patterns, which imitated spatial effects (Figure 6). An inventory of test site II was performed using the Z + F 5006h scanner (the newer generation), which was used to acquire four scans with a horizontal extent of 360\({}^{\circ}\) and a scanning resolution of 3.2 mm/10 m. Figure 5b presents the distribution of scanner positions and scanning distances, where the first scan was considered as the reference scan. Due to the prohibition to located marked points on historical surfaces, automatically detected points defined as check points, were used for the accuracy analysis. Figure 4: The point cloud in the spherical projection of test site I: “The Queen’s Bedroom” with marked points (red circles). **Test site III: \"The office room\"**  
Test site III is an office room, with a narrow lobby, where eight scans were acquired with a horizontal extent of 360\({}^{\circ}\) and a scanning resolution of 6.2 mm/10 m. On the analysed test site, walls were smooth, without the texture; lamps and power wires were located on the ceiling and the floor was covered with the dark carpet (Figure 7).