Appendix A: Integration for Reality Capture Experts

Written By Ian Jack

The Core Differences of Lixel SLAM Scanners

Two Parallel Processing Pipelines

XGRIDS has two completely separate software platforms that produce different outputs from the same raw scan data, with no conversion between them. You must decide which pipeline (or both) you will run before going to the field.

Feature LixelStudio (Point Clouds) LCC CyberColor Studio (3DGS)
Output type Colored point clouds (.las, .e57, .rcp) 3D Gaussian Splat models (.lcc, .ply, .usdz, 3D Tiles, mesh)
Cost Free (included with scanner) Annual premium subscription ($2,500/year)
GPU requirement NVIDIA recommended (RTX 3060+ 12 GB) NVIDIA CUDA mandatory (RTX 2080Ti/3060 minimum). AMD GPUs not supported.
Primary use CAD/BIM, surveying, as-built documentation Visual walkthroughs, client presentations, web sharing, VR
Downstream tools Revit, AutoCAD, Navisworks, CloudCompare, any E57/LAS tool LCC Viewer, LCC for BIM (Revit plug-in), NVIDIA Omniverse, Cesium, Unity, Unreal
Processing ratio Approximately 20–30× scan duration Approximately 20 minutes per 1 minute of scan data (Standard quality)

CRITICAL: LCC Studio requires a CUDA-capable NVIDIA GPU; AMD and Intel GPUs are not supported. First launch compiles CUDA kernels and can take 2–5 minutes, which is normal.

Hardware at a Glance

Spec L2 Pro K1 PortalCam
Scan rate 320K pts/sec (16 ch) or 640K pts/sec (32 ch) 200K pts/sec 856K pts/sec
Range 0.5–120 m (standard) or 0.5–300 m (extended) 0.3–40 m (131 ft) Up to 60 m (197 ft)
Weight 1.7 kg without battery ~1 kg (2.2 lb) Under 900 g
Storage 1 TB SSD TF card (check capacity at purchase) 512 GB internal; optional external SSD up to 2 TB
Operating time ~1.5 hours per battery ~1.5 hours per battery (swappable) ~60 minutes per battery
IP rating IP54 IP54 Not specified
Temperature range -20 to 50 °C -20 to 50 °C -20 to 45 °C
Mobile app LixelGO (iOS/Android) LixelGO (iOS/Android) LCC Scan (iOS/Android)
Outputs via LixelStudio + LCC Studio LixelStudio + LCC Studio LCC Studio only
RTK module Yes (Standard or Survey-grade) Yes (Standard or Survey-grade) Via RTK-enabled scan mode
Key strength Largest sites, campus-scale, outdoor/indoor, drone-mountable Single buildings, indoor-focused, lightweight Photorealistic 3DGS, visual fidelity, speed

IMPORTANT: L2 Pro/K1 operating time is approximately 1.5 hours per battery; plan segments and carry spares for larger projects.

Software Ecosystem Map

  • LixelGO (mobile app): Controls K1 and L2 Pro via WiFi, with real-time point cloud preview, RTK configuration, control point marking, and project management.
  • LCC Scan (mobile app): Controls PortalCam via Bluetooth + WiFi, with Standard, Portrait, and RTK scan modes.
  • LixelStudio (desktop, Windows only): SLAM optimization, point cloud generation, colorization, coordinate transformation, editing, and E57/LAS/RCP export; 3 lifetime licenses included with L2 Pro/K1 purchase.
  • LCC CyberColor Studio (desktop, Windows only): 3D Gaussian Splatting reconstruction, model viewing, editing, cropping, color grading, measurement, and web publishing, available in Basic and Premium subscription tiers.
  • LCC for BIM (Revit plug-in): Imports .lcc models into Revit with AI-assisted modeling tools and real-time sync. This plug-in can save 70%+ of BIM modeling time, automating doors, walls, floors etc.
  • LixelWeb: Browser-based 3D sharing platform for publishing LCC models online.

Computer Hardware Requirements

XGRIDS processing is highly compute-intensive; under-specced workstations are a primary cause of failures and slow turnaround. If needed, consider using a GPU Cloud provider like RunPod or Lambda Labs to rent a high-VRAM instance, such as an NVIDIA A100 or H100, for a dollor or two an hour. This enables you to process multiple scans quickly and simultaneously.

LixelStudio Requirements

Component Minimum Recommended Scaling notes
CPU Intel i7 11th gen, 6+ cores i9 12th+ gen, 8+ cores 6–8 cores give roughly 30–40% faster processing.
GPU NVIDIA RTX 3060 12 GB RTX 4090 24 GB RTX 4090 can be 3–4× faster than RTX 3060; 12 GB VRAM supports ~100M points, 24 GB supports 200M+.
RAM 64 GB 128 GB Approx. 2 GB per minute of scan duration; 64 GB caps at ~30 minutes, 128 GB supports ~60 minutes.
Storage 1 TB NVMe SSD 2 TB+ NVMe SSD Processing needs 2–3× the raw data size, and NVMe is 15–25% faster than SATA SSD.
OS Windows 10/11 Windows 11 macOS and Linux are not supported.

LCC Studio Requirements

Component Minimum Recommended Scaling notes
CPU Intel i7 8700K / AMD R7 1700X Latest generation i9 / R9 Mainstream CPUs after 2017 are acceptable at minimum.
GPU RTX 2080Ti (11 GB) / RTX 3060 (12 GB) RTX 4090 (24 GB) CUDA is mandatory; AMD is unsupported. VRAM limits splat count: ~2–4M at 11–12 GB, 8–12M at 24 GB.
RAM 64 GB 128 GB for large scenes Similar ~2 GB/min rule; Low-Memory mode helps if constrained.
Storage 1 TB NVMe SSD 2 TB+ NVMe SSD Requires free space equal to 5× project folder size for processing.

Map Fusion and Aerial-Ground Fusion

  • Map fusion and aerial–ground fusion are more demanding than single-scene processing.
  • CPU: 16 cores minimum.
  • RAM: 96–128 GB.
  • GPU: RTX 4090 recommended.
  • Processing time: Map fusion can take hours; aerial–ground fusion may require 24–48+ hours.

Pre-Field Preparation

XGRIDS preparation requires planned walking routes, loop closures, and fusion points.

Software Installation Checklist

  • LixelStudio: Download from xgrids.com/download (approx. 2.8 GB). Run as administrator; avoid spaces and non-ASCII characters in the install path; activation is via device-locked license (online or offline).
  • LCC Studio: Download from xgrids.com/download (approx. 8.5 GB), ensuring NVIDIA driver 520.0+; first launch compiles CUDA kernels (2–5 minutes, do not interrupt).
  • LixelGO (K1/L2 Pro): Install from App Store or Google Play, grant all permissions (Location, Camera, Bluetooth, Local Network), and connect to the scanner WiFi (Lixel-XXXX).
  • LCC Scan (PortalCam): Install from App Store or Google Play and complete initial activation on first connection.
  • LCC for BIM: Install the Revit plug-in; access via the Revit Add-in module after installation.

Hardware Pre-Scan Checklist

  • Fully charge all batteries; expect roughly 20% reduced runtime in cold weather.
  • Clean all camera lenses; dirty lenses are the most common cause of poor colorization and blurry 3DGS models.
  • Confirm firmware is current using LixelGO or LCC Scan and update if needed.
  • Verify scanner storage space; L2 Pro generates ~60–80 GB of raw data per hour.
  • For RTK: Pre-configure NTRIP credentials in LixelGO, test RTK, and confirm LED and fix status (red = no connection, blue = searching, green = fixed).
  • If using an external camera (L2 Pro): Set Insta360 to time-lapse, 6K, 1-second interval.
  • Bring a USB-C cable and portable SSD for field transfer.

Site Planning Differences from TLS

Planning element Traditional TLS XGRIDS Mobile SLAM
Station layout Plan discrete tripod positions with overlap. Plan walking routes with loop closures.
Route design N/A; point-and-shoot per station. Backbone-first: scan main corridors, then branch into rooms; routes must be serpentine, not straight.
Loop closure Not applicable. Critical: return to prior areas with similar viewing angle; end loops are ideal.
Control points Place at station overlaps. Space every 30–100 m (L2 Pro/K1) and use L-shapes for PortalCam map fusion.
Segment planning One scan per station. Use segments of ≤20 minutes for map fusion and systematic naming (Client_Site_Date_SegmentA).
Battery planning Power outlet/generator. L2 Pro: ~1.5 hr/battery; K1: ~1.5 hr; PortalCam: ~60 min; plan segments around battery life.

Initialization: The Step That Does Not Exist in TLS

Every XGRIDS scan begins with an initialization sequence, a SLAM calibration step with no TLS equivalent. Poor initialization is the most common cause of failed scans for new users.

Initialization Requirements

  • Place the device on a stable, hard surface (no handheld or soft/uneven ground).
  • Point scanner in a direction of rich features within 40 feet.
  • Avoid corners, blank walls, highly reflective surfaces, direct glare, and areas with moving people/vehicles.
  • For non-RTK scans, the initialization point becomes the model origin; for RTK scans, the first valid RTK position sets the origin.
  • For PortalCam, initialize in the main display area, with the front camera facing clean, unobstructed areas and minimal moving objects.

Initialization Procedure

  1. Place the device on a stable surface at the chosen initialization point.
  2. Start the scan in LixelGO or LCC Scan.
  3. Wait for the ~15 second countdown without touching the device.
  4. After the countdown, remain still for an additional 10–15 seconds as a dwell period.
  5. Gently pick up the device and begin walking smoothly.

CRITICAL: Skipping the static initialization period or moving the device abruptly can cause SLAM drift that cannot be corrected in post-processing. PRO TIP: Use an initialization point you can easily return to, such as a GCP; ending at this same start location creates an end loop that substantially improves accuracy.

Scanning Technique: Movement Rules

Mobile SLAM scanning requires continuous, smooth movement because the algorithm reconstructs the environment from data as you walk. Breaking these movement rules causes drift, gaps, or reconstruction failure. However, short pauses at transitions such as doorways capturing both rooms, prevents drift and ghosting.

Speed

Environment Maximum speed Reason
Normal / open areas 2-3 ft/s Standard, moderate walking pace keeps motion blur and occlusion changes manageable.
Indoor / hallways / close targets 1-2 ft/s Camera needs time to resolve nearby textures.
Dark / low-light areas 1-2 ft/s Longer exposure is needed; fast movement causes blur.
Doorways and transitions 1-2 ft/s Sudden scene changes require slower movement.
Turning corners 1-2 ft/s Rapid rotation leads to tracking loss.

CRITICAL: While constant motion is required for mapping, deliberate pauses at transitions (like doorways) and loop closures (returning to previously scanned locations) are vital to prevent drift and "ghosting." To maximize reconstruction quality, prioritize slow, weaving paths over straight lines to ensure the LiDAR captures varied perspectives of every surface.

Device Posture

  • Hold the device vertically at chest height.
  • Keep the device as vertical as possible, within 20°, to maintain optimal sensor geometry and tracking stability.
  • Use smooth, continuous arcs for turns and avoid sharp pivots.
  • Think in terms of a steady camera-dolly style movement.
  • Do not block any camera lenses with hands, cables, or the RTK antenna.

Route Planning Rules

  • Backbone-first approach: Scan main corridors and primary circulation spaces first, then branch into rooms and secondary spaces to give SLAM a strong structural framework.
  • Serpentine routes, not straight lines: Use zigzag routes to provide multiple overlapping perspectives; straight-line paths offer only one viewing angle, which degrades depth estimation and produces thin point clouds.
  • IMPORTANT: In narrow corridors where serpentine walking is physically impossible, use of the included small calibration targets is a must.
  • Loop closure: Loops control drift by returning to previously scanned locations with similar viewing angles. End loops (start and end at the same point) are the strongest constraints and should be used whenever possible. Create small loops inside of the overal scan loop where possible.
  • Stairwell scanning: Move significantly slower, 1 f/s. Scan bottom-to-top and top-to-bottom for full coverage. Create loops at each landing.

Positioning and Georeferencing

Accuracy Expectations

  • Relative vs. Absolute Accuracy: The L2 Pro is capable of aching 1 cm relative precision (measuring an object’s size), but it has no "real-world" location (Absolute Accuracy) without RTK or GCPs. Using these tools ensures that your precision doesn't "stretch" or "bend" over long distances.
  • The Power of RTK: RTK acts as a global anchor. While it primarily provides a 3 cm global position, its biggest benefit is drift suppression. It constantly corrects the scanner’s path, ensuring that a 100 ft hall doesn't stretch an additional inch due to cumulative SLAM calculation errors.
  • The Role of GCPs (Ground Control Points): In satallite denied areas (indoors/underground), GCPs are the only way to achieve absolute accuracy and verify your data.
  • Loop Closure is Mandatory: The SLAM algorithm needs to "close the loop" by returning to a previously scanned point(s) (Especialy the start and end points). This triggers optimization that corrects accumulated errors and is the single most effective way to maintain accuracy.
  • Environmental Geometry: SLAM requires "features" to track. In featureless areas (long blank corridors or open fields), accuracy will degrade regardless of settings. In these environments, you must use GCPs or physical markers to give the scanner "landmarks" to stay on track.

RTK Setup

  • Integrated Control: You don't need a separate GNSS controller. All RTK settings are managed directly within the LixelGO App on your phone once it’s connected to the L2 Pro.
  • CORS Connection: Enter your NTRIP credentials (Host, Port, Mountpoint, Username, and Password) provided by your local CORS network or base station provider. Ensure your phone has a stable cellular data connection to receive these corrections.
  • Quality Safeguards: Set your thresholds to ensure the scanner only records high-quality data:
    • HDOP (Horizontal Dilution of Precision): Keep the default 3.0 (lower is better; higher indicates poor satellite geometry).
    • Minimum Satellites: Keep the default 10 to ensure a robust "Fix."
    • Tilt Angle: Keep the default 20° to maintain vertical sensor accuracy.
  • Coordinate Alignment (Transformation):
    • The "7-Parameter" Rule: If your CORS provider uses a different coordinate system (ellipsoid) than your project requirements, you must input a 7-parameter transformation in the LixelStudio PC software during post-processing.
    • New User Tip: Most users can leave this as default unless a surveyor has provided specific transformation parameters for a local grid.

Ground Control Points

  • L2 Pro: Control point spacing must be under 100 m and evenly distributed.
  • K1: Control point spacing must be under 50 m and evenly distributed.
  • Coordinate files must be CSV in PENZD format (Point Name, Easting, Northing, Height).

Processing Workflows

LixelStudio Processing (Point Clouds)

  1. Data Transfer (Scanner to PC)

    • Enable USB Mode: Power on the L2 Pro, connect to the LixelGO app, and toggle "USB Mode" to ON.
    • Connect: Use a USB-C 3.1 cable to connect the scanner to your PC. (Retoggle USB Mode if needed.)
    • Copy: Transfer the raw scan folder from the scanner to your local SSD. Do not process directly from the scanner.

  2. LixelStudio Import & Setup

    • Project Launch: Open LixelStudio, click New Project, and select the raw scan folder.
    • External Photos (Colorization): For Insta360 datat, set Coloring Settings to External Camera and link the 5.7K/6K Time-lapse file.

  3. Optimization & Cleaning

    • GCP Setup
      • Format your survey spreadsheet into four columns, using the Text to Columns tool. Remove headers and leave only: Point ID, X, Y, and Z. Save as a .csv.
      • Check the GCP box in Project Processing, click +, and upload your file.
      • Select Select 3 points for transformation; uncheck others to use as checkpoints.
      • Click Check to verify, then Confirm.
    • GNSS (RTK/PPK)
      • Enable the GNSS box.In Settings, ensure the indicator is Green.
      • If using post-processed data, import the trajectory .csv/.txt (RINEX not supported).
      • Only enable 7-parameter transformation when changing datums (e.g., WGS84 to local).
    • Dynamic Object Removal: Enable to scrub moving people/vehicles.
    • Loop Closure: Enable if your scan path finished at its starting point.

  4. Quality Review & Export

    • QA Check: Ensure wall thickness is thin and sharp. Double walls indicate SLAM errors.
    • Export (E57/LAS): Select the correct trajectory file to set the coordinate system
      • pose.csv: For Relative/Local data
      • pose_no_offset.csv: For Georeferenced/Global data.

LCC Studio Processing (3D Gaussian Splatting)

System Preparation

  • Disk Space: Ensure free SSD space is 2x the raw project data size.
  • Pathing: Set Settings > General storage to your SSD.
  • Resources: Close other VRAM-heavy apps. Keep LCC Studio open until finished.

Configuration

  • Quality: Choose Fast (preview), Standard (default), or Slow (max quality). Keep the VRAM bar out of the Red.
  • PPR: Select Normal for indoor; or Low for outdoor to prevent "sky bleeding".
  • Splat Limit: Keep within GPU capacity limits (<25M data-preserve-html-node="true" points recommended).
  • Loop Closure: Enable in Debug Options if the trajectory is a closed loop.

Expectations

  • Processing Time: Approximately 20 minutes per minute of scan data at Standard quality.

Advanced Features

  • HD Enhancement: Import 20–500 high-resolution smartphone/DSLR photos before starting to sharpen textures.
  • Low-Memory Mode: Enable if system RAM is <64GB data-preserve-html-node="true" to prevent crashes.

Map Fusion: Combining Multiple Scans

Map fusion joins multiple scan segments into a unified model for large sites.

Map Fusion Rules

  • Maximum of 10 segments per fusion project.
  • Each segment must be 20 minutes or less.
  • Overlapping coverage between segments must be at least 15 m in length.

LCC for BIM (Revit Integration)

LCC for BIM is a Revit plug-in that connects 3D Gaussian Splatting models directly to BIM workflows.

  • One-click .lcc model import into Revit.
  • AI-assisted creation of levels, walls, doors, and windows.
  • 2D Canvas plan-view interface for drawing and editing.

Troubleshooting Quick Reference

Problem Cause Solution
SLAM fails ("Trajectory Drift") Poor technique or speed Enable Robust Mode; if failure persists, the data cannot be recovered.
Insufficient Memory error System RAM exceeded Enable Low-Memory mode, reduce max Gaussian splats.
RTK LED is green but "RTK invalid" Insufficient movement Ensure fixed status, walk at least 10 m, antenna within 20°.
LAS-to-RCP conversion fails Filenames too long Shorten LAS filenames to ≤20 characters.
Colors misaligned Camera sync issues Verify coloring settings; ensure recording starts within 5 seconds of scanner.

Time-Saving Best Practices

  • Field Efficiency: Systematically name segments and clean lenses between each segment.
  • Processing Efficiency: Use NVMe SSDs to gain 15–25% speed; set Windows power to "Never Sleep."
  • Accuracy: Always check control point residuals in processing software before final export.
Ian Jack
Previous

Section 10: Troubleshooting