6.1 Camera Coloring Options

The Pipeline Decision Comes First

The L2 Pro and K2 both produce raw scan data that can be processed through 2 separate pipelines: LixelStudio for point cloud output and LCC Studio for 3D Gaussian Splatting output. Both pipelines work from the same onboard camera data captured during scanning. No pre-scan camera configuration is required; the device firmware handles capture automatically and the processing pipeline extracts what it needs.

The decision is about deliverable type, not field-side settings. Determine which output you need before processing begins. If you need both outputs from the same scan, run the data through both pipelines separately. The raw scan data supports either pipeline equally.

Onboard Camera Coloring

L2 Pro and K2 both produce colored point clouds from onboard cameras with no external camera required. The XGRIDS v4.0 workflow uses onboard panoramic camera data exclusively for these devices (Lixel Studio User Manual V4.0.0.0 §8.4). External panoramic camera workflows are reserved for older L1 and L2 devices that lack the onboard panoramic camera array.

L2 Pro Onboard Cameras

The L2 Pro is equipped with 2 × 48 MP panoramic cameras plus a 1 MP positioning camera. These cameras are always active during scanning. Color mapping is applied during the LixelStudio processing pipeline, where the v4.0 algorithm fuses camera imagery onto the point cloud geometry. Coloring quality on the L2 Pro benefits substantially from the v4.0 algorithm upgrade, with photo-realistic results and improved performance in low-light environments such as basements, parking lots, and corridors.

K2 Onboard Cameras and Real-Time True-Color

The K2 carries 3 onboard cameras: two fisheye lenses providing 200°×200° panoramic coverage and one forward-facing camera at 100°×85°. All three are 4000×3000 resolution with 1/2" CMOS sensors and rolling shutter. The K2 fuses camera imagery with the point cloud in real time as you scan, producing a colored point cloud at the moment the scan ends. Color quality is visible in the field, not the next day in LixelStudio.

What Onboard Coloring Covers

Onboard cameras are the standard for all current XGRIDS handheld scanners. The workflow is simpler than legacy external-camera approaches: no separate camera to configure, no synchronization timing rules, no mode-switching between pipelines. Coverage works across the full range of professional deliverables.

• As-built documentation where color aids navigation and visual identification of features
• Engineering point cloud deliverables for AEC, survey, and infrastructure projects
• 3DGS reconstruction in LCC Studio for photorealistic visualization and digital twins
• Heritage and architectural documentation where color fidelity matters
• Drone mode scans on the L2 Pro (handheld-mountable external cameras would not be practical in flight)

Field Practices for Reliable Onboard Coloring

Onboard cameras eliminate the configuration burden of external camera workflows, but a few field practices still affect the quality of coloring on the final point cloud. These apply to both L2 Pro and K2.

Keep Cameras Unobstructed

The most common cause of coloring gaps on otherwise-good scans is operator obstruction. A jacket sleeve, bag strap, or arm held across a camera for an extended period produces missing or degraded color for that section of the scan. Maintain a grip on the device that keeps all camera lenses clear. On the K2, real-time true-color means any obstruction during scanning is permanent in the resulting colored point cloud, with no post-processing recovery option.

Manage Lighting

Onboard cameras use auto-exposure during scanning. v4.0 substantially improved low-light coloring performance, especially in basements, parking lots, and corridors, but adequate ambient lighting still produces the best results.

• Avoid pointing cameras directly at the sun or other bright light sources during scanning. Direct overexposure corrupts color data for the affected area.
• Bring supplemental lighting for very dim spaces. A portable LED panel that provides consistent, even illumination produces better color results than relying on the camera's auto-exposure to compensate.
• Avoid uneven or changing light sources during the scan. Walking from a brightly lit area into a dim area at a constant pace causes the auto-exposure to lag, producing color banding at the transition.

Scan Duration and Movement

The scan must run for a minimum of 2 minutes for coloring to process successfully. A scan that ends at 90 seconds does not have sufficient camera data for the colorization step to complete. Plan routes that ensure at least 2 minutes of active scanning movement, and pad short scans with additional walk time before tapping Stop. Maintain a steady walking speed of approximately 1.5 ft/s (0.5 m/s). Sharp angular movements and rapid rotations reduce camera frame quality and produce blurred coloring on affected sections.

Carrying Posture

Carry the device with the front-facing reference of the scanner pointing in the direction of travel. Both L2 Pro and K2 use the front orientation as their reference for matching color to geometry. A consistent carrying posture throughout a session keeps the camera-to-geometry alignment stable and predictable.

Preventing Coloring Failures

Coloring failures on onboard-camera workflows are far less common than they were on external-camera setups. The pipeline-mode mismatches, synchronization gaps, and external-video-file verification steps that produced most legacy failures do not apply. A few causes remain, and they are all preventable in the field.