Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner

A method for measuring and registering three-dimensional (3D) coordinates comprising:

• locating a measuring device in a first position, the measuring device including a 3D scanner and a two-dimensional (2D) scanner, the 2D scanner configured to sweep a beam of light in a plane;
• obtaining with the 3D scanner in the first position, a first 3D coordinates on an object, the 3D scanner configured to determine the 3D coordinates based at least in part on a speed of light in air;
• obtaining by the 2D scanner a first plurality of 2D scan sets by sweeping a beam of light in the plane while the measuring device moves from the first position to a second position, each of the first plurality of 2D scan sets being a set of 2D coordinates of points on the object, each of the first plurality of 2D scan sets being acquired by the 2D scanner at a different position relative to the first position;
• determining for the measuring device a first value corresponding to a first direction, a second value corresponding to a second direction, and a first rotation value, wherein the first value, the second value, and the first rotation value are determined based at least in part on a fitting of the first plurality of 2D scan sets according to a first mathematical criterion;
• obtaining with the 3D scanner, while in the second position, a second 3D coordinates on the object;
• determining by the measuring device, while the measuring device moves from the second position to a third position, a correspondence among registration targets present in both the first 3D coordinates and the second 3D coordinates, the correspondence based at least in part on the first value, the second value, and the first rotation value;
• and
• storing in a memory the first value, the second value, and the first value.