This allows you to import a scanned image of a floor plan, and use it as a background in the 2D view.
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Click File > Raster Background.
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Click the Browse button to select the saved image to make into the new background.
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To be sure that the new image is rendered at the specified scale, click Set Register Points in Image.
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Click and hold on the yellow squares and move each box so that a known dimension is represented by the yellow line.
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Set the distance to the distance that is known.
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Click OK.