Downstream Pipelines

Downstream Pipelines

A splatpack is reconstruction-ready input. This guide outlines how to take one into a radiance field reconstruction. The right path depends on which mode you captured in.

Pick your path

Choose the mode you captured in to see the recommended route.

LiDAR → Gaussian splatting (fastest path)

LiDAR captures include an on-device COLMAP model (COLMAP_Text_Model/) — camera poses, images, and a sparse point cloud — so you can skip structure-from-motion entirely.

Because the poses come straight from ARKit, this path is fast and deterministic — no feature matching, no SfM solve.

Photo or Video → COLMAP → Gaussian splatting

Photo and video captures don’t carry camera poses, so you reconstruct them the standard way: recover poses with COLMAP, then train. For video, extract frames from wide.mov and ultra.mov first (using both lenses gives broader coverage); for photo, use the wide_* and ultra_* images directly.

COLMAP’s Automatic Reconstruction (GUI) or colmap automatic_reconstructor (CLI) runs steps 1–3 in one pass.

LiDAR point cloud → CloudCompare

To inspect or use the fused LiDAR point cloud directly, open lidar_pointcloud_world_xyz.ply in CloudCompare. See the CloudCompare guide for details.

Notes