LidarCamera360 v0.3.0

What's Changed in v0.3.0

Native 360° Equirectangular Video Support

• Hardware-accelerated decoding for 360° panoramic MP4 and dual-fisheye INSV video streams.
• Spherical camera projection (COLMAP Model 17) for single- and dual-lens panoramic setups.

RootSLAM Global Pose Graph SLAM Optimization (Loop Closure)

• Integration of square-root bundle adjustment formulation (Santucci et al., arXiv:2610.15157).
• QR-based nullspace marginalization ($Q_2^T$) preventing condition number squaring.
• SE(3)/SO(3) manifold retractions in float32 arithmetic, eliminating long-corridor trajectory drift and ghosting.

RF-DETR Person & Operator Masking via Vulkan

• Accelerated deep segmentation via Vulkan to detect and mask pedestrians.
• Operator cleanup radius (--operator-radius) to avoid dynamic ghosting in point clouds and 3DGS training datasets.

Full-Density 3DGS Dataset Export

• Export sparse point cloud seeds directly to PostShot, Spirula Studio, and Nerfstudio without downsampling (tested up to 28.5M+ points).
• NTFS hardlink restructuring with zero disk storage overhead.

Multi-Camera & Auxiliary Sensor Fusion

• Simultaneous calibration and fusion of a 3rd high-resolution forward-facing camera (smartphone/action-cam) alongside 360° rigs.

Vulkan GPU Colorizer

• Multi-view top-3 consensus color projection powered by Vulkan compute shaders.

Binaries Included

• LidarCamera360-v0.3.0-windows-x64.zip: Standalone directory bundle.
• LidarCamera360_portable.exe: Standalone single-file portable executable (no ROS, WSL, or Linux setup needed).

LidarCamera360 v0.2.0 - Eagle Scanner Support & Full Raw 3DGS Seeding

LidarCamera360 v0.2.0 Release 🦅✨

We are excited to announce LidarCamera360 v0.2.0! This major release introduces full support for the Eagle LiDAR Scanner, eliminates downsampling constraints for 3D Gaussian Splatting (3DGS) seeding, introduces automatic SfM + LiDAR point cloud fusion, adds timelapse auto-calibration, and includes interactive 3D clipping and gizmos.

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🌟 Key Highlights & What's New

1. Eagle LiDAR Scanner & Insta360 X6 Hardware Support 🦅

   • Native integration with 3DMakerPro Eagle LiDAR scanner and Insta360 X6 360° cameras.
   • Built-in rigid calibration profiles, optical parameters, and automated trajectory alignment.

2. Full Raw LiDAR & Fused Point Cloud Seeding for 3DGS 🎯

   • Trajectory-Based Mode (SLAM): Seeds 3D Gaussian Splatting with 100% of the raw, dense metric LiDAR point cloud (no artificial 1.5M downsampling cap).
   • Reconstruction-Based Mode (SfM): Automatically fuses metric SfM keypoint tie-points (preserving 2D camera tracks for reprojection consistency) with dense metric LiDAR surface points into a unified COLMAP seed model.
   • Proven faster 3DGS training convergence in Spirula Studio and LichtFeld Studio on modern GPUs (e.g. RTX 5070 Ti) using only ~6.5 GiB VRAM for 28.5M+ points!

3. Zero Duplicate Storage (NTFS Hardlinks & Junctions) ⚡

   • COLMAP/3DGS export now uses NTFS hardlinks (os.link) and directory junctions instead of copying hundreds of image files, saving gigabytes of disk space and exporting in seconds.

4. Timelapse & Video Auto-Calibration ⏱️

   • Intelligent handling of INSV timelapse and variable framerates via direct binary telemetry extraction and adaptive IMU gyro cross-correlation.

5. Enhanced 3D Viewer & Point Cloud Clipping Box 📦

   • Interactive 3D Oriented Bounding Box (OBB) clipping tool with 6-plane shader slicing.
   • Interactive translation and rotation gizmos for real-time sensor alignment.

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📦 Release Assets

• LidarCamera360_portable.exe: Single-file portable standalone executable for Windows 10/11 64-bit (no Python or installation required).
• LidarCamera360-v0.2.0-win64.zip: Complete uncompressed standalone folder distribution.

LidarCamera360 v0.1.0 - Portable Release

LidarCamera360 v0.1.0

Highlights:

• Unified Processing Studio: End-to-end LiDAR and 360° camera processing pipeline (Inputs -> FAST-LIVO2 SLAM -> IMU Auto-Sync -> Point Cloud Colorization -> 3DGS COLMAP Deliverables).
• Default 2.0 FPS Extraction: Optimized frame sampling rate for enhanced reconstruction and photogrammetry accuracy.
• Refined UI: Streamlined options, removal of clutter, real-time live execution console, and Fluent Design.
• High-Performance Acceleration: Native C++ FAST-LIVO2 SLAM, PyAV multi-threaded GPU/CPU decoding, and Vulkan 1.4 compute shader point cloud colorizer.
• Deliverables: Colored point clouds (.PLY, .PCD) and metric-scaled 3D Gaussian Splatting (3DGS) COLMAP datasets.

Binaries:

• LidarCamera360_portable.exe: Standalone, zero-install portable Windows executable.