kaarta CONTOUR User manual

KAARTA ENGINE
U.S. PATENT NO. 10,962,370
AND OTHER PATENTS PENDING
USER GUIDE
UG- C 1 - 2 2 . 0 3 - 0 1 1 - 0322

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INTRODUCTION
Congratulations on your purchase of Kaarta Contour®. In this document you will find complete
instructions to use Contour from initial set up to mastery. You’ll learn to operate the scanner, to
interface with a computer, and to customize parameters for best results. This guide also covers
post-processing options, provides tips for optimum data collection, and gives detailed instructions
on working with pointclouds.
This guide answers the most Frequently Asked Questions (FAQs) about Contour and provides links
to Contour Case Studies. Contour comes with a Kaarta Documentation Drive that contains a copy
of this user guide, as well as training slides.
Visit our web site at www.kaarta.com for updates and additional information.
OVERVIEW
Kaarta Contour is a mobile hand-held scanner that generates 3D models and image data of spaces.
Contour can be used to collect data, review files, and post-process pointclouds to clean, sharpen,
colorize, 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 in
pointcloud editors and CAD programs when scanning and post-processing is complete.
Contour contains a scanning lidar, touch screen, computer, MEMS-based IMU, feature tracking
camera, colorization camera, and the powerful Kaarta Engine to generate detailed 3D maps while
moving through a scene. Contour is also a computer for viewing data and post-processing data
and can be used with the provided USB wireless mouse and keyboard to improve pointcloud
manipulation.
KAARTA ENGINE
Real-time registered pointcloud generation
Real-time localization
Multi-sensor input (lidar, IMU, feature tracker)
Continuously self-correcting minimal drift techniques
Implicit loop closure
Fast, explicit loop closure at point of scan
Point-of-scan work confirmation
Pointcloud sharpening technology

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CARE
Like any precision instrument, take precautions to ensure a long, useful life of the device. Treat it
with care. Avoid rough handling, dust, water exposure, and extreme temperatures, such as below
freezing (0°C or 32°F) or hot temperatures (above 35°C/95°F). Keep Contour out of the sun. Use
the shipping case to protect it during transportation.
SCOPE
These instructions are for Contour Software Version C1-22.03. Software Updates and Hardware
Upgrades are available for all Contours. Please email [e-mail] with the
Contour Serial Number for the best options for your particular unit. For help locating your Contour
Serial Number, see Serial Number on page 17.
See Release Notes for a summary of new features for Contour.
SOFTWARE UPDATES
Kaarta has an automated process that ensures your Contour is up to date. When Contour is
connected to the Internet, it will connect to Kaarta’s software server. If an update is available,
Contour displays a prompt to update software now or later (the next time the user interface is
opened). If you click yes, the software downloads and installs automatically. 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 tab of Device
Settings on page 26 for instructions to manually check for software updates and install them.
REGISTRATION
Your newly purchased Contour is shipped with an Official Registration Card which contains
pertinent information for successfully registering your device, including a copy of your Serial
Number, at the Kaarta registration website address: kaarta.com/register. If your card is misplaced,
the product’s Serial Number can be found directly on Contour (see Serial Number on page 17 for
assistance in locating the Serial Number). You must read and accept the End User License
Agreement (EULA) to register your product; not fully registering your device could delay product
support or any associated product warranty.
CASE STUDIES
For examples of Case Studies, please visit the Kaarta website at https://www.kaarta.com/case-
studies/ where we feature challenges that were overcome by utilizing Contour, projects with

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unique circumstances and deliverables, 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 [e-mail].

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RELEASE NOTES
NEW FOR CONTOUR SOFTWARE RELEASE C1-22.03 ( MAR 2022)
User Interface
User Interface
Refresh
Overall style and design updates for the UI.
Browse files
Added button to open current scan folder from within the
UI.
Default date format
Users can select the format for saved dates through the
Scanning tab of Device Settings.
Enhancements
B&W Imagery
availability
Added the ability to capture black and white photos during
scanning (at varying speeds) and save them to disk.
Confidence
Threshold/Confidence
Filter
The threshold (low, medium, high) for scan matching quality
can be manually changed during scanning. By selecting Low
or Medium Confidence, Contour will continue scanning even
when scan matching may be poor. The default confidence
threshold for scanning can be set in the Scanning tab of
Device Settings.
Camera 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 Cloud, you have the option to
include/exclude images and raw data.
NEW FOR CONTOUR SOFTWARE RELEASE C1-20.07 (JUL 2020)
User Interface
Kaarta Cloud
enabled
Options for uploading scan data directly to Kaarta Cloud
have been enabled from the newly installed Kaarta Cloud
tab of the Scan Details screen. To successfully upload to
Kaarta Cloud, an account is required, and Contour must
have Wi-Fi connection to a wireless network.
Main Gallery Menu
Options available on the Main Gallery (sort by, view, select,
import, device settings) have been consolidated into the
centralized Main Gallery Menu.
Processing tab
The Reality Layer tab of Scan Details is now called
Processing.

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NEW FOR CONTOUR SOFTWARE RELEASE C19.10.02 (DEC 2019)
Bug Fixes
Copy to USB
Repaired issues that were causing the user interface to
close or crash when copying scans to a USB drive.
Importing point
clouds
Repaired issue that was causing a failure to import point
clouds not stored on the device. The import button on the
Main Gallery can now be used to import scans from other
devices.
Enhancements
Improved
sharpening
Improved the sharpening post-process results.
Scan detail display
Improved the scan detail display of files sizes and number
of photos.
Increased video
rate
Increased video rate to 20 times real time for faster
playback and review.
NEW FOR CONTOUR SOFTWARE RELEASE C19.10.01 (NOV 2019)
Bug Fixes
Floor leveling
Repaired issue that was causing the cleaning process to fail
to produce a point cloud when leveling a file large enough
for tiling.
Trajectory 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 0,0,0. Map
manager now adjusts the map spatial center to the start
NEW FOR CONTOUR SOFTWARE RELEASE C1-20.07 (JUL 2020)
Enhancements
Ability to compress
files for upload
When copying a scan to USB, you can elect to compress the
files for compatible upload to Kaarta Cloud.
Resume/Replay
Improved the resume/replay scan interface. Added the
option of a slider bar to choose location from which to
resume or replay a scan.
Added Recycle Bin
Deleted files are temporarily placed in the recycle bin
instead of being permanently removed from Contour.
Improved post-
processing
performance
Improvements in post-processing allow for the processing
of larger pointclouds on the device, at a quicker rate.

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NEW FOR CONTOUR SOFTWARE RELEASE C19.10.01 (NOV 2019)
location before reading the prior map, so that data far from
0,0,0 is not thrown out due to being out of map range.
Note: Resume from a prior map will not load points that are
farther than 800m in x/y or 200m in z from 0,0,0.
Contour software
upgrade
installation
problems
Repaired issues with previous software upgrade. The
update process will now automatically try to fix any package
management problems by running "dpkg --configure -a" and
"apt-get install -f".
The upgrade installation will no longer display error
messages when installation works properly.
Enhancements
Improved
visualization
Trajectory visualization is now improved during live
scanning (colored by time and larger). The trajectory display
is published at a lower rate, improving the processing
load/lag.
Auto-restart of
sensors
Sensor drivers (encoder, IMU, color camera, and B/W
camera) are automatically restarted if no data is received for
a specified time (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 applies to new scans that were
performed after this patch was installed.
Jumpback Jumpback functionality has been added. If confidence is lost
on a scan, it will “jumpback” to 5 seconds prior to the loss of
confidence. This automatic jumpback increases the
likelihood of recovering by resetting the location to the last
stable position.
You can now also replay a scan with a jumpback. The
jumpback replay functionality only applies to new scans that
were performed after this patch was installed.
TeamViewer
software update
The newest version of TeamViewer QuickSupport is included
in this patch.
NEW FOR C ONTOUR S OFTWARE RELEASE C19.10 (OCT 2019)
User Interface
Additional Scanning
Menu options
Options for viewing scan data in the user interface have
been expanded to include changing the pointcloud

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NEW FOR C ONTOUR S OFTWARE RELEASE C19.10 (OCT 2019)
orientation, adjusting pointcloud colorization, as well as
changing the depth of view and scale of the scans.
Photo color
adjustment scale
A sliding color scale can now be utilized when taking a cover
photo or adding a photo to a scan to adjust color settings.
Scanning status bar
The scanning status bar (including User Messages, Elapsed
Time, Confidence Meter, and Total Points Collected) has
been moved to the top of the screen.
Multi-touch zoom
Pinching will now zoom the scanning view on the Contour
user interface.
Confidence Meter
Confidence Meter is now displayed as a visual indication of
confidence (a color scale from red to green), instead of a
numerical output.
Accuracy
Improvements The overall accuracy of Contour has improved significantly,
yielding 2-5cm variance across an entire interior scan when
coupled with other scan-matching improvements.
Scan files and
Previews
Smaller scan
formats
Pointcloud files are now saved as binary files with much
smaller sizes. Raw data files are now much smaller and
record all the time, enabling replay of raw data to
investigate any 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
algorithms.
Job queue
You can now queue multiple jobs to run unattended. Set
them up, hit run, and sleep peacefully.
Software
High Definition
scanning mode
High Definition mode provides greater pointcloud detail and
uses a more selective uncertainty rejection model. When
scanning thoughtfully, the use of this mode produces
significantly better pointcloud and post-processing results.
Point Density view
Point Density view provides a real-time color preview map
using point density to visualize where more scanning is
needed. Point Density view supports better scanning for
much improved modeling. See points collected locally while
scanning. This feature uses a color range to represent low to
high density.
Color by intensity
Color by intensity visualization blends and mixes colors
resulting in an improved color pointcloud and better visual
definition. In turn, this reveals more detail for scan-to-BIM
or scan-to-information processes. This feature uses intensity

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NEW FOR C ONTOUR S OFTWARE RELEASE C19.10 (OCT 2019)
information for colorization (every point in the pointcloud
gets a color from a picture or from intensity).
Improved
colorization
The color imaging camera has improved exposure, gain, and
white balance control. Software now blends and filters
images faster and better in the direct colorization of
pointclouds.
Binary .ply files
Binary .ply files 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. Scan quality is significantly improved, with no
other changes to the system. Additionally, this update
allows future firmware upgrades to be implemented over
Wi-Fi without requiring units to be returned to the factory.

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CONTENTS
Introduction .........................................................................................................................................2
Overview.........................................................................................................................................2
Care .................................................................................................................................................3
Scope...............................................................................................................................................3
Software Updates..........................................................................................................................3
Registration....................................................................................................................................3
Case Studies...................................................................................................................................3
Release Notes...................................................................................................................................5
Chapter 1 ............................................................................................................................................13
Getting Started...............................................................................................................................13
What’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

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Scan Folders on Machine.....................................................................................................29
System Information ................................................................................................................... 34
Battery ....................................................................................................................................35
Disk Space ..............................................................................................................................36
Trash Bin ................................................................................................................................37
Wireless ..................................................................................................................................37
System Time ..........................................................................................................................38
Chapter 3 ............................................................................................................................................39
Basic Scanning ...............................................................................................................................39
Begin A New Scan....................................................................................................................... 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

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Doorways ...............................................................................................................................78
Hallways and Stairwells........................................................................................................78
Loop Closure..........................................................................................................................79
Chapter 6 ............................................................................................................................................81
Problems/Issues ............................................................................................................................81
Improper or Non-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

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CHAPTER 1
GETTING STARTED
WHAT’S IN THE BOX
1Kaarta Contour
2USB Wireless Mouse and Keyboard
3AC Charger
4USB 3.0 Hub
5Neck Strap
6Pelican Case (not pictured)
7Kaarta Contour documentation on USB Drive (not pictured)
8Kaarta stylus pen (not pictured)
9Camera lens cleaning wipe (not pictured)
4
1 2
5
3

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IDENTIFYING CONTOUR COMPONENTS
BACK OF CONTOUR
FRONT OF CONTOUR
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

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EXTERNAL COMPONENTS
Note: Use the Power On/Off button rather than the Ubuntu power off option
to properly shutdown the device.
CONNECTORS A ND PORTS
USB 3.0 Type A
The USB 3.0 Type A connector can be used with the wireless
mouse/keyboard for easier computer operations or use with
CloudCompare. It can also be used for high speed USB 3.0 drives for fast
data transfers. A USB 3.0 hub is supplied to use a mouse and a second USB
external device at the same time.
USB 3.0 Micro B
The USB 3.0 Micro B connector is not currently operational.
Charging/External
Battery Port
The charging and external battery port is located next to the Power On/Off
button on the left side of Contour. Contour can be charged with the
supplied AC charger for Contour.
An external battery can be used to 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.
POWER/OPERATING B UTTONS
Power On/Off
Power On
Push and hold the Power On/Off button for five seconds. The
LED ring around the button turns blue when Contour is
powered on.
Power Off To power down, push the button and hold for five seconds or
until Contour begins to shut down.
Scan Start/Stop
Start or
Stop
Scanning
Once Contour is fully powered on, the
Scan Start/Stop
button
initiates the scanning operation. The LCD screen guides you
through options such as taking a cover image to identify the
scan. Pressing the button a second time starts scanning.
Pressing it during scanning stops scanning and saves the
pointcloud.

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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

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USING CONTOUR OUT OF THE BOX
BEFORE YOU BEGIN MAPPING
Contour software is already installed and configured to operate out of the box, which allows
you to start scanning immediately. If shipped in the United States, the battery is charged to
approximately 30%. Begin by charging the battery with the AC charger while you get familiar
with Contour operations. It takes approximately one hour to fully charge the scanner.
Contour User Account
Contour runs on the Ubuntu Linux Operating System. The user account is contour_user with
password contour. The device comes set up to automatically log in without a password and
opens the user interface at boot up.
Serial Number
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 Contour on a hard surface,
with the screen facing down. Carefully remove the battery cover with a 2mm allen wrench.
Remove the battery from the chamber to reveal the Serial Number.
Figure 1: Serial Number locations (1) under USB 3.0 and USB port cover and (2) in battery chamber.
A copy of your Contour Serial Number is also provided on the Kaarta Official Registration
Card, which was shipped with your device. For more details, please see the Registration
section of this manual.
1 2

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Neck Strap
Contour comes supplied with a neck strap, for scanning safety and comfort. You can easily
reconfigure the strap by lifting either of the two quick-adjuster handles. Readjust the length
of the strap and then close the quick-adjuster handle to secure the strap. For more
information about the Contour neck strap, please visit peakdesign.com/products/slide.
USB Wireless Mouse and Keyboard
Contour is shipped with a USB wireless mouse and keyboard, to allow for easier
communication 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 wireless keyboard battery chamber.
If the keyboard doesn’t work normally, try the following steps to repair.
1. Turn on your device and the keyboard, press ESC + for 3 seconds.
2. Insert the USB receiver into the USB port of your device, 2.4G indicator will be ON
after flickering a while, then you can use the keyboard.
RECEIVER/DONGLE LOCATION

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CHAPTER 2
CONTOUR OPERATION
IT’S A COMPUTER
Contour not only has full computing capabilities to easily and accurately capture real world
spaces, it can be used to review files, adjust parameters, and reprocess raw data. It also
performs post-processing data functions such as sharpening, loop closure, and floor plan
generation.
Like any computer, it works with external devices. You can connect the included wireless
keyboard and mouse (or a wired keyboard and mouse), using the USB 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.
MAIN GALLERY
Press and hold the Power On/Off button on the left side of Contour, until you see the
button illuminate blue indicating power has been turned on. Contour takes about a minute
to fully boot up and be ready for scanning.
When the device boots, the Contour User Interface (UI) automatically opens. There is also
a Kaarta desktop icon to reopen the interface if it is closed (Figure 3).
Figure 3: Kaarta desktop icon.
KAARTA DESKTOP ICON

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After booting up, the LED around the Scan Start/Stop button will flash green once when
the system is ready to scan. The UI opens to the Main Gallery screen where scans are
displayed when generated (Figure 4).
Figure 4: Contour user interface Main Gallery view. Albums and prior scans are displayed.
Main Gallery Menu
From 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 options for viewing, sorting, selecting,
and importing scans. From the Main Gallery Menu, you can also see system/device settings
and open Contour’s jobs queue.