09 -- Bot Knowledge

0 9 -- Bot Knowledge Base

📑 Table of Contents — click to navigate

01 — Hardware Setup Device specs, firmware, SD cards, batteries, connectivity, accessories
02 — PointCloud Studio Installation, versions, settings, project management, data processing
03 — Scanning Workflows Field scanning strategies, movement, environment, multi-scan projects
04 — 3DGS Workflow Gaussian splat generation, settings, GPU requirements, processing time, quality
05 — Hybrid Workflows Combining LiDAR with external cameras, drones, RealityScan, Postshot pipelines
06 — RTK & GCP RTK setup, GNSS fusion, coordinate systems, control points, accuracy
07 — Troubleshooting Common issues and community-verified solutions
08 — Third-Party Tools CloudCompare, RealityScan, Postshot, LFS, D5 Render, Blender, BricsCAD
09 — Bot Knowledge Official answers, product specs, known limitations from bot and support team

Applies to: C1 and S20
Related: Master Index | 01-Hardware-Setup | 02-PointCloud-Studio

About This Section

This section documents official information from the SHARE3DCAM support bot (@SHARE3DCAM bot#3241), Frank (admin), and Luna (support). Where the bot gave definitive answers, they're recorded here. Where it couldn't answer, that's noted too.

📥 pose2colmap.py -- Latest Version: The pose2colmap.py script (C1/S20 to COLMAP converter) is actively developed. For the most recent version, use the search function in the #share3dcam-bot channel on the SHARE3DCAM Discord. Direct download links (paste.rs, Google Drive, etc.) change frequently -- the bot always has the current release. See also: Hybrid Workflows -- pose2colmap.py usage.

Product Specifications

C1 Scanner -- Full Specs

Parameter	Value
Camera type	Dual fisheye stereo (Left/Right)
Camera sensor	~1-inch CMOS, 5.76mm diagonal
Raw fisheye resolution	19201200 px
Undistorted left resolution	28771798 px
Undistorted right resolution	28511782 px
Focal length	2.06 mm (ultra-wide)
Effective H-FOV (undistorted)	~131.4
Stereo baseline	~79 mm (7.9 cm)
Stereo angular separation	~132 total (60 each side)
Frame rate	30 Hz
Image output	8-bit JPEG only -- RAW NOT available
LiDAR	Livox Mid-360 (implied)
LiDAR range	40m @ 10% reflectivity 70m @ 80%
LiDAR tilt	25 to ground
ROS format	ROS1 (.bag files), NOT ROS2
Fisheye model	Polynomial (k2-k7), NOT equidistant/equisolid
C1 original fisheye intrinsics (left)	fx=636.96, cx=961.49, cy=594.52, 19201200
C1 original fisheye intrinsics (right)	fx=638.13, cx=971.18, cy=594.11

S20 / S100

Parameter	Value
Camera sensors	Dual 1-inch sensors
Shutter	Mechanical/electronic
Aperture	F2.8
Total resolution	32 MP
RTK antenna offset	~34.72cm (vertical, antenna->LiDAR optical center)
Output photo color depth	8-bit (all models)

RTK / GNSS

Parameter	Value
C1 RTK module	External UM980
PCS coordinate system	UTM (Easting/Northing in meters)
PCS X/Y/Z convention	Z-up, right-handed
PCS world camera Y-axis	Points to world +Z (gravity up)
GNSS Fusion height offset	Hardware-specific (C1 S20)
Control points	Timestamps only -- coordinates NOT auto-recorded
EPSG coordinate selection	User-selectable in PCS before processing

Software Specifications

PointCloud Studio

Detail	Value
PCS SAE folder	Contains: colmap.exe, pycolmap v3.13.0, kapture v1.1.10, share_slam2_offline.exe
PCS output format	UTM (Easting/Northing in meters)
OPK convention	R = Rz(Kappa) Ry(Phi) Rx(Omega) -- standard photogrammetry
xyzopk.txt columns	filename X Y Z Omega Phi Kappa (angles in degrees)
Camera coordinate system	Computer Vision (X=right, Y=down, Z=forward)
World coordinate system	Z-up, right-handed
Without RTK	Local Euclidean (arbitrary origin at device start); X/Y horizontal, Z up; meters
C1 photos	NO GPS EXIF tags -- positioning from trajectory files separately

Other Tools

Software	Version	Notes
COLMAP	v4.0.2	GUI used by AVsupport; full stack inside PCS SAE
pycolmap	v3.13.0	Python bindings in SAE
kapture	v1.1.10	COLMAP I/O with coordinate conventions
RealityScan 2	v2.1.1	FULL_OPENCV + COLMAP import/export
Lichtfeld Studio	v0.5.1	COLMAP import with GUT (native fisheye)
3DGUT (NVIDIA)	v1.0.0+	CVPR 2025 Oral; native fisheye 3DGS; RTX required
GLOMAP	Deprecated (standalone)	Merged into COLMAP 4

CUDA / GPU Requirements

Requirement	Value
3DGS processing	CUDA 12.8+
GPU compute capability	7.5 (NVIDIA)
VRAM recommended	12 GB+
RTX 5090	May need CUDA 12.8 experimental build

Official Troubleshooting Answers

PCS Installation Issues

"Failed to create project" after reinstall:
1. Clean residual app data: delete %APPDATA%\PointClouds Studio, %LOCALAPPDATA%\PointClouds Studio, %PROGRAMDATA%\PointClouds Studio
2. Run installer as Administrator
3. Install Visual C++ Redistributables (x64 + x86)
4. Temporarily disable antivirus during install/first launch

PCS Migration to Different Drive

For project data:
1. Copy C:\Users\<you>\SHARE Product\ to target drive
2. Create Windows junction: mklink /J "C:\...\SHARE Product" "D:\SHARE Product"
3. OR: check Settings -> "Project Storage Path"

For application (runtime):
1. Uninstall -> decline "remove personal data" prompt
2. Install Beta ISO -> choose target folder during setup

3DGS Processing

VRAM red indicator: Scene too large for GPU. Below 12GB: works only for small scenes.
Recommended: 12GB+ VRAM
SfM stage (glomap): CPU-bound -- VRAM doesn't affect this stage
Processing time: ~1:4 ratio (30 min scan 2 hours processing)
Single scan session: Up to 30 minutes recommended (IMU drift)

RS2 Import Settings (Verified Working)

Import undistorted left/mask, right, mask
Apply trajectory xyzopt.txt as image X/lon, Y/Lat, Z/Alt, Omega, Phi, Kappa
Euler as XYZ photogrammetric OPK conversion
Coordinate system: Computer Vision
Ignore first line: Yes
Local Euclidean
Use focal length to group camera intrinsics
Accuracy from file and edit missing components
Import colored LiDAR .las cloud: Mobile LiDAR, Exact, Geo=Yes, Local Euclidean, Use camera poses from priors, Single camera

EXIF Issues in RC2/RS2

EXIF orientation tags override trajectory poses -- must strip before importing
Fix: exiftool -overwrite_original -Orientation= -n "path\to\phone\photos\*.jpg"
Symptom: "Orange lines to infinity" or "sphere of cameras" after export

Known Limitations (Officially Stated)

Limitation	Source	Date
C1 cannot export RAW images -- JPEG only, 8-bit	Frank	Apr 13, 2026
C1 output is limited to JPEG; "RAW is something we're continuously evaluating"	Frank	Apr 13, 2026
No native COLMAP export from PCS	FAQ / Bot	Multiple
PCS changelog not maintained	Bot	Apr 9, 2026
Bot cannot relay messages to dev team -- must go through Frank	Bot	Apr 10, 2026
Bot has no access to PointCloud Studio source code	Bot	Apr 10, 2026
Bot's knowledge base does not include Beta 4+ information	Frank	Apr 15, 2026
C1 fisheye projection model type not documented	Bot	Apr 11, 2026
Minimum shutter speed in 3DGS auto-exposure mode not documented	Bot	Apr 11, 2026
C1 sensor model/manufacturer not published	Bot	Apr 11, 2026
C1 battery life specification not provided	Unanswered	Apr 2026
C1 initialization on non-flat surfaces not addressed	Unanswered	Apr 2026
PointCloud Studio does not run on MacBook	Unanswered	Apr 2026
PCS beta and standard cannot co-exist on same PC	Frank	Apr 13, 2026
Metashape Standard blocks point cloud import entirely (Pro-only)	AVsupport	Apr 21, 2026
GLOMAP standalone is deprecated -- PCS may be using outdated library	AVsupport	Apr 10, 2026

C1 .bag File Inspection

Format: ROS1 (NOT ROS2)
Image format: sensor_msgs/msg/CompressedImage -- compressed JPEG, NOT raw
Recommended tool: rosbags Python library

Inspection code (working):

from rosbags.rosbag1 import Reader
bag_path = r"H:\...\all_2026-03-24-11-52-39.bag"
with Reader(bag_path) as reader:
    for conn in reader.connections:
        print(f"  Topic: {conn.topic}")
        print(f"  Type:  {conn.msgtype}")

C1 topics discovered: /livox/imu, /livox/lidar, /camera_agent/img_left/compressed, /camera_agent/img_right/compressed

C1 Output File Structure (Reference)

Output/
 Undistort/
    left/              (undistorted images)
    left_mask/
    right/
    right_mask/
    ImgPose.txt        (camera poses)
    xyzopk.txt         (Omega/Phi/Kappa format)
    TransformedCam.json (44 camera-to-world transforms)
    Left_undistort.opt  (XML: camera params)
    Right_undistort.opt
    left_undistort_intrinsic.txt (33 K matrix)
    right_undistort_intrinsic.txt
 images/                (raw fisheye images)
    left/
    right/
 colorized.las          (dense colored point cloud)
 info/
    calibration.yaml
    trajectory.txt
 FrameOptPose.txt       (optimized frame poses)

PCS SAE Folder Structure (Internals)

SHARE Product\SAE\
 colmap-x64-windows-cuda\bin\colmap.exe
 ColmapPoseOptimizer.exe (SHARE custom)
 Python\Lib\site-packages\
    pycolmap\ (v3.13.0)
    kapture\ (v1.1.10)
        core\PoseTransform.py (w2c convention)
        converter\colmap\export_colmap.py
 share_slam2_offline.exe
 SplatTransform.exe
 CameraCalibrationExport.dll
 plugin\pyz\colmap_data.cp312-win_amd64.pyd

Community Feature Requests (Consolidated by Bot)

Priority	Feature	Requested By
High	3DGS "Add HD Photos"	Iris Digital, Pierro
High	Fringe-range LiDAR filtering (40-70m)	AVsupport
High	Fisheye projection model documentation	AVsupport
Medium	Scan verification tool in app	Luca poinelli
Medium	Phone low-battery warning	MrRed
Medium	Better measurement tool (thickness, color, snapping)	Damien
Medium	ESC key to cancel action in PCS	Damien
Medium	COLMAP format export	AVsupport
Medium	Raw image data access (not just JPEG)	AVsupport
Medium	10-bit HEIF output option	AVsupport
Nice-to-Have	ROSBAG documentation for Windows	Community
Nice-to-Have	PCS changelog	Community
Nice-to-Have	MacBook support	feedresender
Nice-to-Have	Decimal degree output (WGS84) instead of UTM	Tool Guy

Bot Configuration (Admin Reference)

Bot name: @SHARE3DCAM bot#3241
Admin: Frank (frankx42, Discord ID: 1105765240269963364)
Other team members: Luna (lunashare3dcam), Estelle (@Estelle | SHARE3DCAM)
Bot capabilities: Answers from indexed product docs + FAQ; searches Discord channel history; reads pinned posts and attachments
Bot limitations: Cannot send messages to dev team, cannot create support tickets, cannot access internal systems, cannot read source code
Language rule: English only (Frank, May 7, 2026)
Error rule: Don't reply with Chinese "" -- reply in English instead (Frank, Apr 16, 2026)
Knowledge base path: D:\1AI Files\SHARE3DCAM Support AI materials\90_\FAQ.txt
Token capacity: Limited -- channel topic notes "token capacity is limited"

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