kaarta STENCIL 2 User manual

WWW.KAARTA.COM
USER GUIDE

2
INTRODUCTION
Congratulations on the purchase of Kaarta Stencil®2. In this document you will find complete
instructions to use Stencil 2 from initial set up to mastery. You’ll learn to operate the scanner,
interface with a computer, and to customize the parameters for best results. This guide also
covers GNSS operations, provides tips for optimum data collection, and gives detailed
instructions on working with point clouds.
This guide also answers questions with a list of Frequently Asked Questions and Case Studies.
With Stencil 2, comes a Kaarta Documentation Drive that contains a copy of this user guide,
training slides, the mechanical mounting interface plate dimensions, and the Circle_Centered.obj
file.
Visit our website for additional information and updates. www.kaarta.com
OVERVIEW
Kaarta Stencil®2 is a low cost, customizable mobile mapping platform for rapid mobile scanning;
a computer small enough to fit in your hand but powerful enough to process and view any of the
data it captures.
CARE
Like any precision instrument, take precautions to ensure a long, useful life of the device. Treat it
with care. Avoid rough handling, dust, and water exposure. Use the shipping case to protect it
during transportation.
SCOPE
These instructions are for Stencil 2 Software Version S2-20.02 with Ubuntu 16.04 installed.
Software Updates and Hardware Upgrades are available for all Stencils. Please email
[email protected] with the Stencil Serial Number for the best options for your
particular unit. See Release Notes for a summary of new features for Stencil 2 and a list of the
newest features included in this release. Older Release notes are at the end of this manual.

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RELEASE NOTES
Stencil 2 features exciting new enhancements to the User Interface, GNSS localization, mapping
accuracy, confidence metrics, Adaptive Data Replay, hardware, software, and data collection.
Below is an overview of the new features and their benefits. More details on each new feature is
provided throughout this guide.
NEW FOR SOFTWARE RELEASE S20.02 (FEBRUARY 2020)
Hardware
HDMI dummy
plug removal
Changes to the video settings in the BIOS for S/N >
150 allow Stencil 2 to operate without the need for
an HDMI dummy plug when using an iPad.
Performance
Improvements
Improved loop
closure
More accurate correction of Stencil trajectories
based on GNSS data. Automatic determination of
physical and temporal offsets used for loop
closure.
Improved scan
matching
algorithms
Many improvements in live scanning and Adaptive
Data Replay to yield better point clouds and
trajectories.
Easier
localization
Localization map is displayed prior to moving for
quicker identification of initial pose.
Improved
data post-
processing
CCC Builder
(Alpha Release)
New Tool to perform CloudCompare operations
without using CPU resources for visualization
LAS file generator
Export a binary LAS file from a Stencil point cloud.
LAS file merging
Easier merging of multiple LAS files with GNSS data
Additional scalar
fields for point
clouds
More scalar fields are now available for improved
visualization, cleaning, and editing of point clouds
(including range, normals, curvature, noise filtering
values, and confidence).
Additional
cleaning options
Two new filters have been added to remove
moving objects and clean / level point clouds
GNSS
PPK correction
pipeline
New post-processed kinematic (PPK) correction
pipeline utilizing CORS base stations.
Improved GNSS
integration
Intermediate trajectory file for direct comparison
of GNSS and Stencil trajectories. Stencil offsets are
now configurable for the Loop Closure Tool.

4
NEW FOR SOFTWARE RELEASE S20.02 (FEBRUARY 2020)
Improved
information
stats and
tools to
increase
productivity
New automated
scripts
Many scripts have been added to clean,
manipulate, and improve point clouds,
interoperability, and processing.
Improved
reporting and
statistics
Improved error reporting, output stats from Loop
Closure Tool, more data in the scan_info files and
logging of Processor data during scanning / replay
to help debug customer issues.
Adaptive Data
Replay
Improved
interface
Ability to start, single step, pause at, and stop
replay from parameters. Standalone tool sets
Mapping/Localization and with/without camera
modes within the dialog box.
Kaarta Cloud
integration
Upload to Kaarta
Cloud
Enable uploading to Kaarta Cloud directly from
Stencil for processing.

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CONTENTS
Introduction .......................................................................................................................................2
Overview.........................................................................................................................................2
Care...............................................................................................................................................2
Scope ............................................................................................................................................2
Release Notes ................................................................................................................................3
Chapter 1..........................................................................................................................................10
Getting started.............................................................................................................................10
What’s in the Box ......................................................................................................................10
Getting to Know Stencil 2.........................................................................................................10
Getting to Know Stencil 2 - older units...................................................................................11
Status Indicator .........................................................................................................................12
Power/Operating Mode Buttons.............................................................................................13
Using Stencil 2 Out of the Box ...................................................................................................14
Before You Begin Mapping: .....................................................................................................14
Start Mapping............................................................................................................................14
Stop Mapping ............................................................................................................................14
Scan Folder Contents ...............................................................................................................15
Chapter 2..........................................................................................................................................18
Stencil 2 Operations....................................................................................................................18
It’s a Computer ..........................................................................................................................18
Using the iPad ...........................................................................................................................18
Desktop Icons............................................................................................................................20
Tool Icons...................................................................................................................................22
Mapping with the Feature Tracker..........................................................................................24
Feature Tracker Best Practice..................................................................................................25
Recording Color Images while mapping ................................................................................26
Using the Mode Switch Icons ..................................................................................................26

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Kaarta User Interface ...............................................................................................................28
File structure-mapping/localizing scans.................................................................................32
Localization................................................................................................................................34
Localizing based on a prior map overview ............................................................................35
Confidence Values ....................................................................................................................36
Chapter 3..........................................................................................................................................38
Tools for Additional Functionality .............................................................................................38
Loop Closure Tool.....................................................................................................................38
Sharpening Tool ........................................................................................................................38
Floor Planner Tool.....................................................................................................................39
Command Line tools ................................................................................................................42
CloudCompare Command Line Editor Tool (ALPHA VERSION) ...........................................49
Using point clouds from other programs ..............................................................................50
Chapter 4..........................................................................................................................................52
GNSS Operations.........................................................................................................................52
Integrating GNSS with Stencil..................................................................................................52
GPS Setup ..................................................................................................................................52
GNSS Monitor Status ................................................................................................................53
Syncing Stencil Clock to GNSS time ........................................................................................53
Finding the USB port on Stencil 2, if not known....................................................................53
Recording GNSS Raw Data to use for PPK Processing .........................................................54
Processing PPK Data.................................................................................................................54
Using the loop closure tool overview .....................................................................................55
Key Poses and Geo-locating point clouds..............................................................................56
Loop closure using confidence values ...................................................................................59
Running loop closure twice .....................................................................................................59
Loop Closure with GNSS Data .................................................................................................60
Loop Closure Tool settings ......................................................................................................60
GNSS Loop Closure Example...................................................................................................69

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Loop Closure Tool Effect ..........................................................................................................70
Using Separately Logged Data in the Loop Closure Tool.....................................................72
Using Non-GNSS Data for Loop Closure ................................................................................73
Chapter 5..........................................................................................................................................74
Case Studies.................................................................................................................................74
Case Study 1: Loop Closure Mapping without GNSS Data...................................................74
Case Study 2: Ground Vehicle Navigation..............................................................................76
Case Study 3: Air-ground Collaborative Mapping .................................................................77
Chapter 6..........................................................................................................................................79
Tips for Collecting Better Data...................................................................................................79
General.......................................................................................................................................79
Handheld scanning - Indoors ..................................................................................................80
Handheld scanning - Outdoors ...............................................................................................80
Vehicle Mounted Scanning ......................................................................................................81
Aerial Scanning..........................................................................................................................82
Request for additional Scanning Tips.....................................................................................82
Problems / Issues ........................................................................................................................83
.ply file error or non-generation .............................................................................................83
Sun glare ....................................................................................................................................83
Double registration...................................................................................................................84
Small rooms/narrow hallways.................................................................................................85
Reflections .................................................................................................................................86
Darker/Brighter Environments................................................................................................86
Using CloudCompare..................................................................................................................87
Visualization basics...................................................................................................................87
Colorize Point Cloud by Z-Coordinates ..................................................................................89
Colorizing the point cloud by time using scalar fields..........................................................90
Colorization scales and Intensity values ................................................................................91
Geo-locating point clouds ........................................................................................................94

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Cleaning and merging .ply files: ..............................................................................................96
Point cloud cleanup ..................................................................................................................96
Merging Point clouds................................................................................................................97
ICP Matching in CloudCompare ..............................................................................................97
Chapter 7........................................................................................................................................102
FAQ..............................................................................................................................................102
Appendix I ......................................................................................................................................108
Customizing Velodyne Wiring ..................................................................................................108
Wiring the Connector................................................................................................................108
Appendix II .....................................................................................................................................110
Mounting Stencil 2 ....................................................................................................................110
Appendix III ....................................................................................................................................111
Parameter Definitions...............................................................................................................111
Typical parameters to set ..................................................................................................... 122
Appendix IV....................................................................................................................................124
Working with ROS......................................................................................................................124
Mode switching commands.................................................................................................. 124
Start / Stop mapping using ROS commands ...................................................................... 124
Creating a reference map for localization .......................................................................... 124
Remote commands not supported ..................................................................................... 125
Coordinate transforms for localization ............................................................................... 125
Important localization topics................................................................................................ 126
Reporting global position during localization..................................................................... 126
Localizing based on current GNSS location........................................................................ 126
Sensor Calibration ................................................................................................................. 128
Ethernet................................................................................................................................... 128
Appendix V.....................................................................................................................................133
Replaying Stencil 2 Data ...........................................................................................................133
Replaying Bag files in localization mode ............................................................................. 135

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Appendix VI....................................................................................................................................138
Synchronize Computer to Stencil 2.........................................................................................138
Computer setup ..................................................................................................................... 138
Setup Ethernet connection to Stencil 2............................................................................... 138
Setting Computer to Stencil 2 ROS Master ......................................................................... 139
Echoing the Localization topic.............................................................................................. 139
Showing map, camera, and pose information using RVIZ................................................ 140
Synchronize Stencil 2-To-Computer Time........................................................................... 140
SSH to Stencil 2....................................................................................................................... 141
Mapping and Localization Confidence ................................................................................ 141
Appendix VII...................................................................................................................................142
Troubleshooting ........................................................................................................................142
Appendix VIII..................................................................................................................................143
Previous Software Release Notes............................................................................................143

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CHAPTER 1
GETTING STARTED
WHAT’S IN THE BOX
GETTING TO KNOW STENCIL 2
1. iPad 10.2 inch display, 32GB RAM, and Wi-Fi dongle for wireless display and operation
2. AC charger for Stencil 2
3. Stencil 2 with Tripod Mounting Plate
4. Feature Tracker
5. Velodyne Lidar Sensor, including documentation on the Kaarta USB drive
6. Velodyne Interface Box, AC Supply, and country adapters (not shown)
7. Battery Pack - 23,000 mAH (US shipments only)
8. Battery Pack Charging Accessories (Use this charger only for battery charging)
9. Feature Tracker Cable (Installed)
10. Velodyne Inline Connector (Installed)
11. USB Status Indicator
12. Kaarta documentation on the Kaarta USB3 Drive (not shown)