Viewing point cloud data

Owned by Jack Mulford
Last updated: Dec 08, 2023 by John Marshall
3 min read

Terran360 comes with a web user interface, Terran360 Control Centre, where the system can be operated and configured. Features include:

  • Viewing radar point cloud data

  • Live localisation status: Localised, Open-Loop or Lost

  • Live speed and odometry status

  • Recording and downloading logs from localisation runs

  • Running post processing analysis on logs

  • Processing GPS data

  • Manage licencing

  • Displaying output data feeds

Accessing Terran360 Control Centre

To access Terran360 Control Centre, enter the edge computer’s IP address in your browser search bar.

To begin logging data, toggle the status button to ‘Active’.

You will then be prompted to enter a name for the logged data. Click 'Start', this will begin recording data to log files, the amount of data logged is fully configurable within the 'Config' tab.

Live data will now be displayed on the main panel. The example below shows radar point clouds displayed in Terran360 when driving in an urban setting.

Red Points - Live landmarks generated from the radar device.

Green Points - Landmarks from the previous radar scan.

Red Trailing Line - The path that the radar localiser has taken, based on odometry.

To stop logging data, toggle the status button to 'Stopped':

Viewing Logs

To view the log directory, click 'Logs', navigate the directory to view the files:

Post-processing Analysis Tools

From the logs menu, you can find options to run the post-processing scrips. With one-click, this provides detailed graphical analysis of logs including:

  • Full route odometry in local frame

  • Distance travelled

  • Velocity plots

  • Scan credibility metrics

  • Report summary in .pdf format

Further analysis is available Terran360 is configured to receive ground truth GPS NMEA data simultaneously with radar odometry:

  • Radar odometry vs GPS ground truth comparison

  • Crosstrack / Downtrack error of Terran360 pose estimate vs GPS ground truth

  • Velocity comparisons

  • Route travelled in UTM frame

  • Google Earth .kml file output

Example of analysis data from egomotion_plots.html

Example of ground truth comparison data from radon-v-gps-plot.html

Downloading Log Files

From the logs menu, you can download the log files to disk. Files are downloaded an archived .tar format.

View Licence Status

To view the licence status, click ‘Config' > 'Licence’

 

If the licence has expired during your loan period, please contact us and we will arrange a renewal.

Terran360 Data Output

Terran360 outputs positioning data as NMEA messages over UDP in a vendor specific NMEA 0183 message format. NMEA messages parameterise a 2D pose of the radar at a specific time as x, y and yaw angle relative to an origin.

This is logged in the file nmea_messaged.csv, or to view a live feed in the Terran360 Control Centre, click: ‘Feeds' > 'NMEA’

Other feeds can be viewed or downloaded from this panel, the ‘Services' and 'Performance’ feeds can be useful for diagnostics or troubleshooting issues.