Installation and User Manual (v1.1) · 2020-02-02 · are only available for Linux. In order to run these software components, Emesent Software depends on VirtualBox. A VirtualBox

Emesent Software Installation and User Manual

Emesent SoftwareInstallation and User Manual (v1.1)

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IntroductionEmesent software enables Hovermap users to process captured datasets into point cloud and trajectory files.

This document provides information on how to install and use Emesent Software.

License AgreementEmesent Software is part of the Hovermap Desktop Software and any installation or usage is subject to acceptance of the included Emesent End User License Agreement (EULA).

System Requirements

Operating System Windows 10 Pro 64-Bit

Processor Intel Core CPU, 7th generation or later

BIOS Settings Hardware Virtualisation options must be enabled in system BIOS

Memory 32 GB

Disk Type SSD or NVME

Disk Space 6 GB free disk space for install, plus required disk space for datasets

Display Minimum 1920x1080 screen resolution

Graphics Card Nvidia Geforce GTX 1050 or better (recommended for CloudCompare)

Virtual Box VirtualBox 6.0.6 or later must be installed on the system.

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InstallationThe Windows release bundle of Emesent Software includes the following files:

This Document Emesent Software Installation and User Manual v1.1.pdf

Emesent EULA Emesent EULA v1.0.pdf

Software Installer EmesentSoftware-1.1.0.exe

VirtualBox Installer VirtualBox-6.0.8-130520-Win.exe

CloudCompare Installer CloudCompare_v2.10.2_setup_x64.exe

TeamViewer Installer TeamViewer_Setup.exe

Required Components

Emesent Software InstallerThe Windows release of Emesent Software is distributed as an executable installer. Double click the EmesentSoftware-1.1.0.exe installer file and follow the install wizard instructions. It is recommended to just apply the default options in the installer.

VirtualBox InstallerAlthough Emesent Software runs on Microsoft Windows, it includes software components that are only available for Linux. In order to run these software components, Emesent Software depends on VirtualBox. A VirtualBox installer file is included with the Windows release of Emesent Software.

Double click the VirtualBox-6.0.8-130520-Win.exe installer file and follow the install wizard instructions. It is recommended to just apply the default options in the installer. It is also recommended to reboot the system after installation.

Note: VirtualBox is currently incompatible with Hyper-V. Instructions on how to disable Hyper-V can be found on Microsoft’s support site here:https://support.microsoft.com/en-au/help/3204980/virtualization-applications-do-not-work-together-with-hyper-v-device-g

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https://support.microsoft.com/en-au/help/3204980/virtualization-applications-do-not-work-together-with-hyper-v-device-g


Optional Components

CloudCompare InstallerCloudCompare is an open source software tool use to view and modify point cloud files. A version is included with Emesent Software for convenience. Double click the CloudCompare_v2.10.2_setup_x64.exe installer file and follow the install wizard instructions.

Note: CloudCompare version 10.2 or later is required for LAS 1.4 files.

TeamViewer InstallerTeamViewer is remote desktop access software. It is used by Emesent to provide remote support for Emesent Software installs. It is recommended to install this prior to contacting Emesent for support.

Double click the TeamViewer_Setup.exe installer file and follow the install wizard instructions.

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Starting and System Configuration

System Page

The System page displays information about the the status of the SLAM processing software that runs within VirtualBox.

Software Version: This is the version of Emesent Software currently running. This information should be provided to Emesent when seeking support.

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VirtualBox Install: This will show the location of the VirtualBox command that Emesent Software is using to run the SLAM Processor virtual machine.

SLAM Processor: This show the status of the SLAM processor. Whenever Emesent Software is running, it will automatically start up the SLAM processor in the background. It is automatically shutdown when the Emesent Software window is closed. See “Startup Process” below for more details.

SLAM Memory: This displays the maximum amount of system memory the SLAM processor can use. By default this will be set to 7/8th of the total system memory. Note: Changing this value will result in the SLAM Processor being restarted, and any currently running processing jobs to fail.

Reset SLAM Processor: This button can be used to manually reset the SLAM Processor. See the “Troubleshooting” section below for when this can be used.

License Dongle: This displays the status of the license dongle. Processing Hovermap datasetsusing the SLAM Processor requires the license dongle be inserted into the machine.

SLAM Version: This displays the version of the SLAM module. This information should be provided to Emesent when seeking support regarding the output point cloud.

Profiles: This section contains a list of the SLAM parameter profiles. At the top of the list are thebuilt in profiles, followed by the user created profiles. The user created profiles can be deleted from the system by pressing the corresponding “Delete” button.

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Startup StagesWhen Emesent Software is started it will automatically start the SLAM Processor in the background and scan the license dongle. This can take between 10 to 30 seconds. The status of the SLAM Processor will automatically transition through the following steps:

1.

Resetting – Prepares system for running SLAM Processor

2.

Starting – Starts the SLAM Processor

3.

Scanning License – This checks the status of the license dongle and detects the version of the SLAM software module.

4.

Ready – The system is now ready to process Hovermap datasets.

When processing data the SLAM Processor will transition through the following steps:

1.

Running – The SLAM Processor is processing a Hovermap dataset.

2.

Ready – The system is now ready to process another Hovermap dataset.

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Processing a Hovermap Dataset

Hovermap Datasets Page

Drag & Drop Dataset(s) HereDrag & drop the Hovermap dataset folder onto the marked section at the top of the page. If the folder contains the expected dataset files the section will turn green. If the folder does not contain the expected dataset files it will turn red. If it turns red the folder will not be processed.

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File BrowserThe “Drag & Drop” area can also be clicked to open up a file browser window. This file browser can be used to navigate to the dataset folders. The “Select” button will highlighted when a foldercontaining a valid dataset is found.

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Current DatasetsOnce datasets have been opened they are listed in this screen. When there are many datasets opened then this section can be scrolled up and down. The screenshot below shows three datasets:

• Example Dataset 1



Example Dataset 1 has 5 processing jobs showing the different states a processing job can have. See comments on the processing jobs in the Dataset Interface section for details.

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Dataset interfaceThe section for each dataset includes:

•

Dataset: The name of the datasets, derived from the name of the folder containing the files.

•

Profile: The selected profile. Use the drop-down box to change all the processing parameters for this dataset to match a built-in or user created profile. See the Built-In Profiles section below for a discussion of these profiles.

Output Name: This field can be edited and is the name of the output for the next processing job. This name will be the name of the folder containing the output files and will also be included in the file name of the main output files. A number suffix will be appended if this output name already exists

•

Close: Button to close the dataset. This does not delete any files, however any processing jobs for this dataset will be cancelled.

Configure: Open the processing parameters dialog box to configure the SLAM processing. See the “Processing Parameters” section below for details.

Notes: Open up the notes dialog for this dataset.

Start: This kicks off a processing job using the currently configured processing parameters for this dataset.

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•

Processing Jobs: In the middle of the dataset interface is a list of processing jobs for that dataset. Each job has the following:

◦ Job Name: The name of the job. This will be set from the Output Name field but may contain additional suffix (e.g. “_01”) where a previous job exists with the same name.Clicking on the job name will open the output folder in a file browser.

◦ Run Time: The length of time the current processing job has been running. This doesnot include time where the system is processing other jobs or is starting up.

◦ Status: This field indicates which one of the following states:▪ Waiting – Waiting as the system is busy▪ Running – Processing the dataset▪ Succeeded – The processing job has been successful▪ Failed – The processing job has failed▪ Cancelled – The processing job has been cancelled▪ Unknown – Output data exists from another source

◦ Stage: When running this extra field will show the current stage of the processing jobs. These stages are:▪ Initialising: Preparing the processing job.▪ Local: Producing a map using local data.▪ Global: Optimising the map using global data.▪ Output: Generating output files as per the processing parameters.

◦ Cancel: The cancel button can be used to cancel processing jobs that are waiting or running.

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◦

FILES: Once a job is completed, the main output files can be listed and directly opened in external software. Click on the job line and it will expand downwards to include a list of clickable links to the output files.

Built-In ProfilesThere are three built-in profiles:

• standard: This is the recommended profile for most processing operations. It is recommend to use this profile unless there are issues with the mapping output.

Most users will only need to customise the output parameters that define the file format of the point cloud. See the Processing Parameters section below for more details.

• low_features: The low features profile includes adjustments to window size and iterations intended to handle environment with a relative lack of distinguishable geometric features.

It is not recommended to use this profile unless there is a problem with the output of the standard profile. While this profile may result in improve point clouds in some environments, it can result in worse point clouds in others. It can also significantly increase processing time.

• more_iterations: The more iterations profile includes increases to the iterations. It is intended to handle environments that are more challenging for the SLAM algorithm to handle.

It is not recommended to use this profile unless there is a problem with the output of the

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standard profile. This profile can significantly increase processing time.

Two common problems with the processing output that indicate a non-standard profile may improve results are:

• The point clouds output from the standard profile includes ghosting, copies of objects or overlapping objects.

• The trajectory file significantly diverges from known information about the actual trajectory. E,g, Where a dataset from a closed-loop flight (a flight that ended in roughly the same location it started), is processed and the trajectory file shows the start and end points a significant distance apart.

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Processing ParametersThe processing parameters contains three tabs, each with their own list of configuration parameters. The parameters most users will be interested in will be in the output section, where file formats for the point cloud can be selected.

Mapping

Minimum Range: This sets the minimum distance points must be from the sensor before they are accepted for processing. This is used to exclude liar points reflected from the Hovermap payload, drone, vehicle or operator from interfering with the SLAM algorithm or adding noise to the output point clouds.Default: 1.5 meters. This default is recommended for use when Hovermap is attached to a drone such as the DJI M600.

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Slider Size in Seconds: The length of the sliding window used when running the optimisation part of the SLAM process. Increasing this value may improve the chance of a good output whenthere are a low number of geometric features in the scan, at the cost of increasing the processing time.Default: 5 second.

Sliding Shift in Seconds: How far the above window is shifted each optimisation loop. Decreasing this value may improve the chance of a good output when there are a low number of geometric features in the scan, at the cost of increasing the processing time.Default: 1 second.

Global Registration

Number of Global Iterations: This is the number of overall loops performed as part of the global optimisation step in SLAM. Increasing it will improve the likelihood of a good output at thecost of increase processing time.Default: 11

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Output

Geo-reference Mode: Select the CRS for the coordinates in the point cloud and trajectory files:• UTM coordinates (recommended)• WGS84 coordinates• None – local coordinates with the origin at the start of the scan.

For ply and trajectory files in UTM or WGS84 coordinates, an addition *.prj file containing the projection information in OGC WKT format is written. Las files contain the projection information in the file header.Default: UTM

PointCloud LAZ (1.4): Output a point cloud in compressed LAS 1.4 format.Default: On

PointCloud LAS (1.4): Output a point cloud in uncompressed LAS 1.4 format.Default: OffPointCloud LAZ (1.2): Output a point cloud in compressed LAS 1.2 format.

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Default: Off

PointCloud LAS (1.2): Output a point cloud in uncompressed LAS 1.2 format.Default: Off

PointCloud PLY: Output a point cloud in compress PLY format.Default: Off

Subsampled PointClouds: Generate a subsampled point cloud for each of the selected options above.Default: On

Subsample Factor: Fraction of the points in the point cloud to sample. For example 0.10 will output 10% of the points.

PointCloud PLY: Output a point cloud in compress PLY format.Default: Off

Write Trajectory File: Output the Hovermap trajectory in XYZ format.Default: Off

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Troubleshooting

VirtualBox not installedIf the VirtualBox Install field displays the message “Error: VirtualBox not installed!” then VirtualBox should be installed on the system.

• Install VirtualBox using the installer provided with Emesent Software. See the “Installation” section of this document for details.

• If the error still persists contact Emesent support ([email protected]).

Sentinel key not found

If the License Dongle field displays the message “Sentinel key not found (H0007)” then the Hovermap license dongle needs to be inserted into a USB port on the system. The system will take approximately 10 seconds to detect a newly inserted USB dongle.

• If the error persists make sure there is a red LED light on the dongle. If there is no red light on the dongle, remove and re-insert the dongle.

• If the error persists even when the dongle is inserted press the “Reset” button to reset the SLAM Processor. Wait for the SLAM Processor.

• If the error still persists contact Emesent support ([email protected]).

Feature has expired

If the License Dongle field displays the message “Feature has expired (H0041)” then the licenseon the Hovermap license dongle has expired.

Contact Emesent support ([email protected]) to discussion options for extending the license.

Unknown Sentinel ErrorIf the License Dongle field displays the message “Unknown Sentinel Error (H0084)” there has

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mailto:[email protected]




been an error with the license dongle. This should usually resolves itself with 5 – 10 seconds.• If the error persists, remove and reinsert the license dongle.• If this doesn’t resolve the issue preset the “Reset” button to reset the SLAM Processor.• If the error still persists contact Emesent support ([email protected]).

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Documents

Installation and User Manual (v1.1) · 2020-02-02 · are only available for Linux. In order to run these software components, Emesent Software depends on VirtualBox. A VirtualBox