kaarta CONTOUR User Manual Download

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K A A R T A E N G I N E

U . S . P A T E N T N O . 1 0 , 9 6 2 , 3 7 0
A N D O T H E R P A T E N T S P E N D I N G

USER GUIDE

U G - C 1 - 2 2 . 0 3 - 0 1 1 - 0 3 2 2

Summary of Contents for CONTOUR

Page 1: ...K A A R T A E N G I N E U S P A T E N T N O 1 0 9 6 2 3 7 0 A N D O T H E R P A T E N T S P E N D I N G USER GUIDE U G C 1 2 2 0 3 0 1 1 0 3 2 2 ...

Page 2: ...ize mesh and overlay images The device also has adjustable parameters for modeling and can transfer pointclouds to an external drive through a USB 3 0 port These functions are described in more detail in this manual To build a 3D model with Contour you simply press the scan button and walk through the space you would like to model The model is generated in real time on the screen and can be opened...

Page 3: ...omatically Please ensure a reliable Internet connection and sufficient power before starting an update Typically the update process takes a few minutes with a high speed Internet connection Contour also alerts you if it has not checked for updates in more than 30 days Software updates include bug fixes and new features so it is important to stay up to date with the latest software See the About ta...

Page 4: ...ables and innovative ways to use Contour to satisfy your client needs Do you have an original application interesting subject matter or just a cool render you created with Contour We d love to hear from you and highlight your story Email us at info kaarta com ...

Page 5: ...a Exposure options for Cover Photo The camera exposure level can now be adjusted for the cover photo New processing preset The Color Loop Close Level processing preset has been added This preset is now recommended by Kaarta for best results Color adjustment during Resume Replay Color can now be adjusted for images captured during Resume Replay Kaarta Cloud Uploading During uploading to Kaarta Clou...

Page 6: ...tory tracking Repaired issue that was occasionally making the trajectory lose laser mapping updates and only track visual odometry sometimes for an extended period This fix should have a significant impact on colorization especially in environments challenging for visual odometry Resume from prior map Repaired issue that was causing the failure to resume from a prior map when the map was far from ...

Page 7: ... 10 12 seconds Auto pause Auto pause works more consistently During scanning if the confidence meter is low the scan is automatically paused after 12 seconds There is a count down that displays on screen for the final 5 seconds to alert the impending pause Auto pause also occurs while resuming or replaying a scan in the event the initial lock on fails Auto pause functionality during replay only ap...

Page 8: ... issues encountered while scanning Pointcloud Preview The Scan Detail screen shows a preview of the pointcloud generated and replay of the path walked to help identify the scan Improved post processing High density Improved post processing cleans and colorizes pointclouds up to full collected density at faster speeds This allows faster post processing through more efficient and optimized algorithm...

Page 9: ... accelerate the data pipeline flow They are smaller and much faster to transfer and process Firmware Upgrade For existing Contour users a key improvement is related to the operation of the lidar encoder which gives precise rotation of the lidar Improved firmware results in smaller scan data and reduced errors in pointclouds This is a firmware update requiring a factory reprogramming to implement S...

Page 10: ...hat s In The Box 13 Identifying Contour Components 14 Back of Contour 14 Front of Contour 14 External Components 15 Using Contour Out of the Box 17 Before You Begin Mapping 17 Contour User Account 17 Serial Number 17 Neck Strap 18 USB Wireless Mouse and Keyboard 18 Chapter 2 19 Contour Operation 19 It s a Computer 19 Main Gallery 19 Main Gallery Menu 20 Albums and File Hierarchy 28 ...

Page 11: ...can 39 Scanning 41 Scanning Menu 42 Scanning Status Bar 48 Camera Views 50 Scan Details 51 Overview 52 Resume Replay 53 File Management 55 Image Management 57 Processing 58 Kaarta Cloud 67 Chapter 4 70 Scanning for Advanced Users 70 Understanding Keyposes 70 Adding Data 71 Chaining and Branching Operation 72 Chapter 5 76 Tips for Collecting Better Data 76 General 76 Indoor Scanning 77 ...

Page 12: ...n Generation of a ply File 81 Double Registration 81 Small Rooms Narrow Hallways 82 Reflections 82 Occlusions Moving Objects 83 Battery Usage 84 Automatic Shut Off 84 Battery Best Practices 85 Troubleshooting Assistance 85 Chapter 7 87 FAQs 87 Appendix I 90 Contour Specifications 90 Appendix II 92 Google Chromecast Connection 92 ...

Page 13: ... I N T H E B O X 1 Kaarta Contour 2 USB Wireless Mouse and Keyboard 3 AC Charger 4 USB 3 0 Hub 5 Neck Strap 6 Pelican Case not pictured 7 Kaarta Contour documentation on USB Drive not pictured 8 Kaarta stylus pen not pictured 9 Camera lens cleaning wipe not pictured 4 1 2 5 3 ...

Page 14: ...C O M P O N E N T S B A C K O F C O N T O U R F R O N T O F C O N T O U R LCD TOUCHSCREEN SCAN START STOP BUTTON NECK STRAP LUG USB 3 0 AND USB PORT COVER COLORIZATION CAMERA MAPPING LIDAR NECK STRAP LUG POWER ON OFF BUTTON FEATURE TRACKER CHARGING EXT BATTERY PORT ...

Page 15: ...o extend scan times or to keep Contour from powering down automatically when Contour s internal battery gets low External batteries are hot swappable so batteries can be replaced as needed Neck Strap Lugs These are used to attach the supplied neck strap for extended scanning times and to prevent accidentally dropping Contour For information about adjusting your neck strap see Neck Strap on page 18...

Page 16: ...A C O M 1 6 Note Please ensure that any external battery or AC supply used to charge operate Contour meets the following requirements Output voltage 12 30 VDC Minimum current rating 3 Amps Maximum current rating 5 Amps ...

Page 17: ... a password and opens the user interface at boot up S e r i a l N u m b e r Your Contour Serial Number can be found under the USB 3 0 and USB port cover located along the right rear side of Contour Figure 1 See Back of Contour diagram for guidance in locating the port cover The Serial Number is also located under the battery cover in the underside of Contour To open the battery cover gently place ...

Page 18: ...ommunication between yourself and Contour During shipping the receiver dongle is placed in the battery chamber of the wireless keyboard Figure 2 Open the battery compartment door and remove the receiver dongle To enable the mouse and keyboard plug the receiver dongle into one of Contour s USB ports directly or through the USB 3 0 hub Figure 2 USB mouse and keyboard receiver dongle location in wire...

Page 19: ... 3 0 hub or the USB 3 0 port directly Google Chrome browser is installed and can be used to upload data For demonstration purposes or group work Contour can also connect to a TV or monitor using Google Chromecast and your local Wi Fi network See Appendix II for more information M A I N G A L L E R Y Press and hold the Power On Off button on the left side of Contour until you see the button illumin...

Page 20: ...m the Main Gallery you can browse scans and albums by simply scrolling through the saved files using Contour s touchscreen or a connected mouse You can also search for a specific scan by typing into the Search Scans text box located in the upper right corner of the UI Figure 5 To the right of Search Scans is the Main Gallery Menu Click the Main Gallery Menu button three vertical dots to displays o...

Page 21: ...d scan s Hit the back arrow in the upper left to exit selection mode You can use the Merge function to combine two scans that are in the same coordinate system usually meaning that one scan was created by using the other scan as a base map or reference When you have two scans selected the Merge button activates Tap to combine scans Figure 7 Import Scan You can import a pointcloud file to Contour n...

Page 22: ...lery or Empty the contents of the trash bin Click the back arrow in the upper left to return to the Main Gallery Device Settings Device Settings provides access to information regarding the system s Status Scanning Help and About The settings screen provides information on the status of Contour s components the current options available for Scanning such as enabling exposure lock or saving a cover...

Page 23: ... The device settings screen provides information on The status of Contour s components The current options available for Scanning such as enabling exposure lock or saving a cover photo Different ways to access help or support for your Contour STA TU S The Status tab displays the status enabled or disabled of Contour s main components the Encoder IMU Color Camera and B W Camera Figure 8 ...

Page 24: ...see if that will provide adequate coverage A new folder imagesbw is created within the scan folder directory into which the resultant black and white images are stored See Scan Folders on Machine on page 29 for more details about scan folder contents Start with Exposure Locked provides options for setting the exposure duration based on the exposure of the cover photo image when you start a scan On...

Page 25: ...re 9 The Scanning tab of Contour System Settings HELP The Help tab provides useful information about the device and technical support including links for this user manual or an updated version tutorial videos Kaarta s support team contact information and Remote Support capability Figure 10 Figure 10 The Help tab of Contour System Settings ...

Page 26: ...a USB to Ethernet converter The device will automatically check for updates when connected to the Internet but there is also a Check for Updates button here to manually perform a check Tap the Check for Updates button to search for any software upgrades must be connected to the Internet While Contour searches for new software you are taken to the Jobs Queue screen You will see New SW Available to ...

Page 27: ...n installed double click the Update Complete job in the Jobs Queue Figure 13 The details of the Update Complete job display on the screen Figure 14 Click the Open File button at the bottom of the screen to restart the system and complete the system update Figure 13 The About tab Update Complete job in Jobs Queue ...

Page 28: ...example if you sharpen one of the pointclouds the sharpened pointcloud is put into the same folder as the original Every time a scan is initiated a new folder is created You can organize the files by creating albums Folders can then be selected and moved into a new or existing album Albums should be named in a manner that is descriptive of their contents Scan Tip Albums cannot be nested so establi...

Page 29: ...displays the Scan Details For more information on the Scan Details screen see the Scan Details section on page 51 S c a n F o l d e r s o n M a c h i n e As an alternative to the Contour UI all scan data files can be accessed in the Desktop recordings folder Figure 16 The desktop folder scheme mirrors what is shown in the UI ...

Page 30: ...r s replay or resume capability respectively These subfolders contain the files listed below Figure 17 Once post processing is run on a scan through Scan Details additional folders and files display in the scan folder See Processing on page 58 for more information about Contour s post processing capabilities The table below lists files and folders found within each scan and indicates whether the f...

Page 31: ...points colorized with imagery contour_config ini Summary information of Contour s selected modes and parameters used for the scan cover jpg The cover photo image for the current scan log txt1 Log file of post processing run from the Processing tab of Scan Details mesh ply1 A down sampled 3D mesh file consisting of polygons is created from the pointcloud during post processing mesh_full ply1 A full...

Page 32: ...downsized binary pointcloud file created during mapping localization as specified in the parameter file trajectory ply The trajectory file created showing either the path of the lidar during mapping localization or the path of the front lens of the Feature Tracker during mapping using the HD Camera view trajectory_post ply1 The trajectory file after post processing was applied color_mesh1 reality_...

Page 33: ...ges For more information about keyposes and their importance see Adding a Keypose on page 46 and Understanding Keyposes on page 70 1 These folders files are only available after post processing has been performed Images Scan Folders You can minimize or close the UI and navigate to the Desktop recordings images folder to see the color images captured during scanning or to delete or move data off th...

Page 34: ...ges folder located at desktop recordings images S Y S T E M I N F O R M A T I O N From the Main Gallery you can view Contour system information These elements are accessible throughout the Contour UI and are displayed on all screens Figure 19 ...

Page 35: ... Figure 20 This should allow enough time to stop scanning and either shut down Contour plug Contour into an AC power supply or attach an external battery to Contour If one of these actions is not taken the current scan may not be fully recoverable The battery has safety shutoffs that are sensitive and it is best to never run the battery fully down Recharge as soon as possible if the battery level ...

Page 36: ...r keep the color camera save rate as low as possible to conserve space To free up space you can delete scan data through the UI or manually delete scan folders from the recordings folder in the desktop If you manually delete remember to empty the trash to restore the disk space If you continue scanning with low disk space Contour will automatically stop scanning to prevent completely filling the d...

Page 37: ...tworks click on the networking icon in the top menu bar Figure 21 You can then select the network to connect or manually add a network with the Edit Connections option Figure 21 Contour Wireless Interface Warning Do not disconnect or edit the wired connection this is the connection to the laser sensor If edited Contour will be unable to scan If you accidently change or delete this Ethernet connect...

Page 38: ...ction screen Do not edit or disconnect S y s t e m T i m e System time is updated any time Contour is connected to the Internet or is manually updated You can manually change the time zone by clicking on the time in the upper right and entering the Time Date Settings ...

Page 39: ...in New Scan screen BEGIN NEW SCAN OPTIONS Start Scan Initiates lidar point collection You must Name your scan before you can start collecting data Any other pertinent information such as taking a Scan Photo or adding Notes should be completed prior to pressing the Start Scan button to begin scanning Name Tap into the Name textbox to add a scan name You can choose to name your scan in accordance wi...

Page 40: ... you can also rename the scan or add notes before scanning You will see a few scanning options that can be adjusted for this scan default values can be set in the system settings After taking the image if you like you can relocate to a different location to start the scan Either pressing the Scan Start Stop button again or pressing the Start Scan button in the upper right corner of the UI initiate...

Page 41: ...anning screen Figure 24 Figure 24 Scanning Screen From the Scanning screen you can change viewing options such as screen layout color cutting section confidence threshold and pointcloud orientation You can create keyposes and stop adding points to your scan The Scanning screen is comprised of three sections Scanning Menu Scanning Status bar and Camera Views Figure 25 ...

Page 42: ...hile scanning see Figure 25 From this menu you can change the Contour layout reorient the pointcloud in the map view change the scan resolution and adjust many camera settings Tap the Scan Settings button in the bottom right corner of the UI to expand the scanning menu further Figure 26 Tapping the button again will hide those menu options Figure 27 SCANNING MENU SCANNING STATUS BAR CAMERA VIEWS ...

Page 43: ...vailable when a certain camera view is enlarged or in focus See Camera Views on page 50 for more information about Contour s three camera views the Map Data view the Feature Tracking view and the HD Camera View For example with the HD Camera view in focus or enlarged tools specific to the operation of the HD camera will become available Figure 28 SCAN SETTINGS EXPANDED MENU ...

Page 44: ...se or an additional frame during scanning The total keyposes captured during a scan is displayed as a numerical superscript to the upper right of the keypose icon For more information see Understanding Keyposes Image Saver2 Tag Color Photo Tags a color photo The photos show up first in the image preview window and can be used as the only images for colorization of the pointcloud as opposed to all ...

Page 45: ...ress to lock the current exposure Exposure Lock Indicates the current exposure setting is in a locked state Press to return to automatic exposure Color Adjustment2 Change color Settings Adjusts the color settings on the HD Camera by using the sliding scale Scan Settings View Settings Tapping the Scan Settings button displays additional tools available during scanning Note Tap the Scan Settings but...

Page 46: ...ds is based on chronology time of pointcloud scan 2 This tool is only available on the HD Camera view Figure 29 The Floor Plan orientation can be helpful for visualizing the alignment between rooms as you scan a large space Adding a Keypose A keypose allows recording of an image for a specific location Keyposes refer to a camera image and scanner location orientation that is saved by Contour By de...

Page 47: ...ld like to walk less carefully through an already mapped space Confidence Threshold During scanning Contour s Confidence Meter displays in the upper right of the screen Figure 30 and Confidence Meter on page 48 for more details This is a visual indication of how well the latest data was placed in the map If the confidence drops to a low level manifest as an orange or red meter new data is no longe...

Page 48: ...Messages User messages are displayed in the top left These messages provide information about the current state of the scan Elapsed Time Time elapsed during current scan session Confidence Meter The Confidence Meter displayed in the upper right provides a visual indication of the quality of the map as it is being built This is an indication of how likely it is that the newest data is well matched ...

Page 49: ...es the likelihood of recovering a scan by resetting the location to the last stable position 5 seconds prior to the loss of confidence The user can then return to that position and hit play to seamlessly restart adding data to the map To adjust the levels at which Contour pauses scanning due to confidence of scan data see Confidence Threshold on page 47 To increase the confidence displayed adjust ...

Page 50: ... color camera on the Scanning Menu like tagging images for colorization see Figure 28 Map Data View By default the UI shows the map data as it is generated Points are colored by elevation You can rotate the model on screen with the touchscreen It is also possible to zoom by pinching with two fingers on the touchscreen or with a USB mouse using the scroll wheel Current scanner data is shown in whit...

Page 51: ... results especially in challenging areas like narrow hallways or doorways S C A N D E T A I L S To stop scanning click the Scan Start Stop button once Contour saves the pointcloud into a binary ply format which can be opened in pointcloud editors or CAD programs This file is saved during scanning and can be opened immediately after scanning is complete Once the scan is saved the Scan Detail screen...

Page 52: ...on for the scan and the scan preview with the trajectory and see the cover photo see Figure 33 SCAN DETAIL BUTTONS Browse Files Browse Files opens the recordings folder for the current scan Rename Selecting the Rename button allows you to change the Album or file names using the wireless keyboard or a graphical keyboard using the Contour touchscreen Delete The Delete button permanently deletes the...

Page 53: ...ng scanning While replaying some of the scanning menu options are available You can also stop the scan early with the Scan Start Stop button Figure 34 Resume Replay tab of the Scan Details OVERVIEW OPTIONS Summary Provides a summary of the scan including file name creation date last modification date scan size points collected duration average confidence keyposes recorded and number of color image...

Page 54: ...eaned pointcloud or a merged pointcloud including more than one prior scan The keyposes that you can resume from are displayed with their associated keypose number the scan time it was taken the black and white image from that location and a screenshot of the map at that location The first keypose keypose 0 is the start of the scan the last one is the end of the scan Intermediate keyposes can be a...

Page 55: ...gement tab displays all the pointcloud and mesh files associated with the scan Figure 37 One or multiple files can be selected and either converted to an las file or opened in CloudCompare an open source pointcloud viewing and editing tool The map is initially colored based on the time the data was collected this coloring can be turned off ...

Page 56: ...Click the Convert to LAS button to convert raw ply files to las file format and save those las files in the scan folder Those files can then be opened in a wider number of CAD programs Select the pointcloud ply file then click on the CloudCompare button to open the scan in the CloudCompare software Use the Select All prior to performing an action to select all files Post processed files also displ...

Page 57: ...l images for the current scan The File Management tab also has buttons to convert collected images to a video and open the generated video to view I m a g e M a n a g e m e n t The Image Management tab shows all color images captured during scanning Figure 38 Images tagged during scanning are shown at the top by default see HD Camera View on page 67 for more information about tagging images In thi...

Page 58: ...mount of clarity and visual understanding to pointcloud data When a scan is completed go to the Processing tab in the Scan Details for the scan in question Simply click the Run button at the top of the screen Figure 39 This sequences through a series of automated processing steps Once this sequence is completed you can select the post processed files under the File Management tab to open the proce...

Page 59: ...ing to the selected options Jobs Queue If you run post processing on multiple scans they can be queued to run unattended in the Jobs Queue To view pending scans select the Pending Jobs button in the lower right of the UI The Jobs Queue shows you which scans are currently being processed and which scans are scheduled to run Change the order of the queue using the Move to Top button remove jobs or r...

Page 60: ...rom the queue Clear Error Removes all errored jobs from the queue Clear Canceled Removes all canceled jobs from the queue For more advanced Processing use there are multiple preset levels of detail for the pointcloud resolution and the color projection steps as well as an advanced mode that enables more control of the results Advanced post processing options are enabled by selecting the Advanced O...

Page 61: ...splays the trajectory selected To change the trajectory file select from the drop down menu Keyposes Displays the keypose selected To change the keypose file select from the drop down menu Selected Images Choose to include all images or only selected images in post processing Pointcloud Operations Under Pointcloud Operations you find options for controlling the clarity of the pointcloud Figure 43 ...

Page 62: ... cleaning in post processing This process removes small and poorly defined clusters of points such as moving objects and reflections Outlier Cleaning Checking box cleans outliers from scan Accept the default or adjust the of Neighbors and Std Deviation values This process removes statistical outliers from the pointcloud It can also help to remove moving objects reflections and sensor noise of Neig...

Page 63: ...ud Optionally you can choose to turn on off direct colorization of your pointcloud during post processing and to rename the output file Figure 44 Please note that the automated process only colors certain points that were seen by the color camera e g those that were not captured while moving quickly including blurry or misplaced images and the quality of color is directly related to the quality an...

Page 64: ...erest to minimize blur and get better placement of images on the model Resolution is related to how close the camera is to the surface of interest and how close to a straight line it is viewed Orienting the camera so it is closer to perpendicular with each surface at some point during scanning helps and getting closer to finer details may also help If the exposure is set to adjust automatically en...

Page 65: ...ngles Images taken during scanning are projected onto this mesh These images can in some cases be seen at image resolution and provide a more photorealistic view of part of the scene Colorization of specific details in an environment A different use of Processing is to selectively color and project images for only specific areas of interest to capture details for modeling that are not clearly iden...

Page 66: ...mages during scanning for overlay allows you to produce meshes that show specific details that are important to modeling the environment accurately A D VA NC ED IMAG E C OLLEC TION AN D COLOR PROJEC TION The same approach of using manually selected pictures can be used to generate higher quality image meshes of smaller spaces specifically single rooms at a time To accomplish this first scan the ro...

Page 67: ...lor images as shown in Figure 32 With the color camera enlarged use the Image Saver button to tag the current image It is then possible to use only these tagged images for image overlay in post processing Figure 47 Figure 47 HD Camera view in focus K a a r t a C l o u d From Contour you can upload your scan directly to Kaarta s powerful cloud platform to process store and share 3D spaces Kaarta Cl...

Page 68: ... all files and starts the upload process The Jobs Queue shows the status of your upload as it proceeds Figure 49 KAARTA CLOUD OPTIONS Add to Existing Job Select to add your current scan to an existing Kaarta Cloud job Any existing jobs display as a drop down list Add to New Job Select to create a new job into which you will upload your scan When the radial button is selected the Contour keyboard a...

Page 69: ...s can be associated with your job directly in the Kaarta Cloud web interface Once your scan has been successfully uploaded it is available on Kaarta Cloud immediately For more information about Kaarta Cloud and how to process store and share your 3D spaces visit the Kaarta Cloud webpage at kaarta com kaarta cloud ...

Page 70: ...Branching onto the current or previous map Adding Data can be performed on imported pointclouds that were generated by any scanner Use the Add Keypose options while importing a pointcloud The imported pointcloud can then be used as a reference when creating a new Contour scan You can add data to an external scan just like you can add data to a Contour generated pointcloud Chaining and Branching pr...

Page 71: ...ss converts the file to a ply format and saves a subsampled version for localization From Contour s Main Gallery Menu select Import Scan see Main Gallery section and Figure 4 for more information The Import Pointcloud screen opens Figure 50 Select the file to import by clicking the Browse button to the right of the Source Location drop down menu Name the file by tapping into the Scan Name textbox ...

Page 72: ...ion Add a keypose of the X Y Z location and yaw angle with the Add Keypose button Delete a keypose by selecting it in the Keyposes list and pushing the Delete Keypose button Edit a keypose by double clicking on it in the Keyposes list and making any edits using the touchscreen Import Pointcloud Runs the import sequence C h a i n i n g a n d B r a n c h i n g O p e r a t i o n To create maps using ...

Page 73: ... those begin and ending keyposes are manually generated using the Add Keypose button during scanning in the order they were taken Alternatively you can select the location of a prior map from which to resume scanning by using the sliding bar at the bottom of the scan preview Figure 51 Resume Replay Scan After hitting the Yes button the scan cover photo screen opens You can take a cover photo add n...

Page 74: ...g and Branching Operation fro m a Contour Map Once the prior map has been loaded you should position Contour such that the bottom image matches the top camera image before selecting the Replay Scan button to start scanning It is best to wait a couple seconds after resuming to ensure the white laser scan lines are matching up with the registered pointcloud Generally the replay position accuracy sho...

Page 75: ...ng and Branching operations are a powerful feature of Contour Try building a quicker perimeter map to minimize any drift effects Use this map to start a chain or branch to add the necessary detail without worrying about cumulative drift effects ...

Page 76: ...aws intrigue and interest from anyone watching especially with the integrated screen displaying the pointcloud building in real time And we get it it s fun to show off and demonstrate such a cool high tech tool But to get the best data consider showing off Contour to curious onlookers before or after your actual scan and do the scanning alone For longer scan times consider using the neck strap to ...

Page 77: ...ntcloud to known GCPs can be done in 3rd party pointcloud editing software including CloudCompare s Align tool See Kaarta s Using CloudCompare manual for more information Consider the final pointcloud size density you want and plan accordingly As a rule of thumb Contour collects 35 000 points per second If you need higher density data walk and turn slowly For sparser data you can walk much faster ...

Page 78: ...n D o o r w a y s Doorways are a common obstacle in indoor scanning When passing through a doorway it is important to allow Contour to establish an accurate alignment of two spaces on each side of it If the space you are entering is large much of which is visible from the original room try to capture the new room from multiple angles before passing through the doorway This will allow Contour to ma...

Page 79: ... the same physical spot twice during a scan The loop closure processing looks for these manually identified loop closures first Do this in a location with good 3D features all around e g a larger room not a hallway or closet If the loop is a hallway end and or add keyposes at corners pointed where you can see two sections of hallway When revisiting a space walk near where you walked before and poi...

Page 80: ...itional tips to info kaarta com for possible inclusion in future revisions of this manual Visit our training resources at https www kaarta com resources for more in depth scanning techniques including our Better Scanning with Contour video series BEFORE LOOP CLOSURE AFTER LOOP CLOSURE BEFORE LOOP CLOSURE AFTER LOOP CLOSURE ...

Page 81: ... like to create a pointcloud now D O U B L E R E G I S T R A T I O N Double registration can occur for the following reasons Drift which occurs over an elapsed distance of scanning Excessive dynamic motions To address the first issue Kaarta has developed a loop closure tool for Contour The images below show the same data set before left and after right Figure 56 The second issue is resolved by fin...

Page 82: ...tures These surfaces cause the light to be distorted in such a way that it interferes with the data acquisition process For shiny and reflective surfaces the light scatters and bounces in uncontrollable directions resulting in false features Figure 58 shows an example of bad data due to reflectivity The wall at the bottom of the pointcloud is reflected into the scanner through the mirror and regis...

Page 83: ...rrors occur to the overall scene However the moving objects still get registered as blurred points or extruded tunnels taking an otherwise nice 3D pointcloud and adding extraneous points which must be manually excised It is better to collect data without these artifacts when possible A common misconception is to think that the closer you are to an object the more accurate the measurement Laser sca...

Page 84: ...longer if Contour is powered on performing built in processing or running Cloud Compare A u t o m a t i c S h u t O f f Contour has a built in uninterruptible power supply UPS that senses when the internal battery is approaching 0 and automatically shuts down When the battery is at 35 you are warned to charge Contour This allows enough time to mindfully stop a scan power off Contour and start char...

Page 85: ...tour it is necessary to fully charge the device before storing Note Storing Contour with a low charge could lead to battery failure killing some of the lithium ion cells and rendering the battery unrecoverable After any duration of storage the first action should be to charge Contour using the provided AC adapter before powering on the device This will ensure that the device is ready to operate wh...

Page 86: ...K A A R T A C O M 8 6 For issues relating to the scanning environment be sure to visit our Community Support Forum at http www kaarta com community for additional tips and techniques not covered in our manual ...

Page 87: ...this Does the unit contain an IMU or does it rely on a SLAM algorithm or a combination of the two Yes Contour includes an IMU and uses an algorithm designed to map while localizing and vice versa Our algorithms are arguably the best Kaarta Engine currently holds the 1st and 2nd places in the KITTI Benchmark dataset for Visual Odometry SLAM and were awarded 1st place in the 2016 and 2017 Microsoft ...

Page 88: ...ra image exposure That time is known very accurately because of hardware synchronization and the calibration of the camera location relative to the laser How long can a battery last during a scan session Approximately 1 hour when new If continuous scanning is planned for longer than 45 minutes it is recommended to purchase an external battery Can the scanner work in harsh environments e g dust hig...

Page 89: ...our scan is 1 hour If scans go much longer than one hour the processing may take a significant amount of time or fail altogether Instead of one long continuous scan it is highly recommended to plan the scanning area and section off areas that can be scanned separately using the Keypose and Resume functionality Point clouds produced using this method will be automatically aligned and much smaller t...

Page 90: ... DOF X Y Z Roll Pitch Yaw PROCESSOR Intel i7 dual core PORT 1 USB 3 0 STORAGE 500 GB SSD OS Ubuntu Linux OS LIDAR 0 1m min 30m max range 190 horizontal FOV 190 vertical FOV Accurate to 3cm ACCURACY 30mm lidar 10mm post processed for typical room environments SPEED 35 000 points second 5km hr 3 1mph typical walking speed 2 5 hrs to scan 10k sq m 110 000 sq ft CAMERA Onboard HD color camera ADD L SE...

Page 91: ...ACCESSORIES USB wireless keyboard and mouse 4 port USB 3 0 hub for downloading data AC power adaptor Neck strap Pelican case WARRANTY 1 year SAFETY Laser safety classification 1 MODEL NUMBERS KRT CNT XX 00 010 Contour KRT CNT SW 00 010 1 yr software service KRT CNT HW 01 010 1 yr extended hardware warranty KRT CNT HW 02 010 2 yr extended hardware warranty ...

Page 92: ... a Wi Fi connection to the local network The Chromecast unit connects to the Contour through a Wi Fi network Both Contour and the Chromecast must be on the same Wi Fi network On Contour Google Chrome is on the left side bar that shows up when you move the mouse to the left or hit the Windows key on the keyboard and type Chrome Figure 59 Figure 59 Chrome button on Contour desktop menu To find Chrom...

Page 93: ...A C O M 9 3 Chromecast in the list that should show automatically once the Chromecast is set up on the same Wi Fi network Figure 61 Figure 60 Casting from Chrome Figure 61 Cast desktop GOOGLE CONTROLS CAST CAST DESKTOP ...

Page 94: ...W W W K A A R T A C O M 9 4 To cast click the Cast icon in the upper right of the browser To stop casting tap Cast again and select Disconnect ...

Page 95: ...e 430 Pittsburgh PA 15213 USA www kaarta com info kaarta com K A A R T A E N G I N E U S P A T E N T N O 1 0 9 6 2 3 7 0 A N D O T H E R P A T E N T S P E N D I N G C O N T O U R U S E R G U I D E U G C 1 2 2 0 3 0 1 1 0 3 2 2 ...

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