Changelog

Remote app (iPhone / Android 1.2.0) and Raven agent 0.6.17: the agent updates directly from the app (button in the “agent needs updating” banner), no computer needed; when a new device asks to connect, the Raven shows “Allow / Refuse / Always refuse” on its screen — no second device or restart required; the remote screen connects on the first try; Android: network permissions (the app could not connect), camera thumbnail and map cut aligned with iOS; top view = everything under the cut by default. Viewer: in the walk replay, a “Photo” (texture) button dresses the points with the current photo (off by default). Hidden files (“._file” from external drives) are no longer listed. Setup: x11vnc is no longer overwritten while running.

“Replay the walk” in the 3D viewer: the camera follows the operator's path at eye level, like the live view of the Remote app — play, pause, scrub, ×1 to ×8 speed, drag the mouse to look around, stabilized motion (no more hand-held wobble), the scanner camera photo at the current moment (both cameras on a Raven Max) and a mini-map. Measuring: a 10 × 10 m top view around the picked point appears while you measure — you see at once whether the point landed on the wall, the ground or 3 m behind. Preset views are disabled in walk mode and during replay (they broke the camera). The “Replay the scan” buttons of the Source card are removed, replaced by the walk replay. Folder without a recognised scan: “device not recognised” message instead of an empty screen.

Raven setup: updating the agent from the app was impossible in 0.9.24 (“Installation failed”) — fixed, and the agent moves to 0.6.13. Remote app (iPhone / Android, 1.2.0): it flags an outdated agent and explains what to do; on a Raven Max, the live coloured map and the Camera tab use the left and right cameras; on a motorised panoramic head, the phone vibrates and beeps at the end of each station turn (and warns if a turn stopped early), with the turn progress on screen; “Eye level” becomes the default live view; the Raven remote screen displays again. Hand-held scans over several floors: floors no longer collapse into each other (two protections designed for the tripod were wrongly applied while walking — a 5-level building now comes out with its continuous staircase). Gaussian splat: training starts directly from the scan poses and the coloured cloud, without a COLMAP step. Virtual tour: every scan with photos produces a standalone tour (double-click index.html) with measurement inside the photo — foreground snapping, ×4 magnifier with the scan points coloured by distance, “Virtual tour” button in the app.

Colouring: cloud colours now match the photos — readable road markings (pedestrian crossings), green vegetation, natural tones, no more washed-out look, especially on outdoor scans coloured by the scanner camera. The “operator trail” filter no longer carves narrow corridors: only what travels with the scanner disappears, walls close to the path remain. 360 camera: the operator and the pole no longer show up in the colours, colour bleeding under roofs is fixed, white balance adjusts frame by frame, and an already calibrated mount is recognised automatically — no need to recalibrate on every scan; the 8K panorama assembly now shows its progress. Replay the scan: for any extracted scan, relive the capture as if live, on this computer or on the phone, with the extraction colours. Viewer: “Point size” slider, and ceiling-free property views (Overhead, Plan, Eye level). Cloud: choose the density, Dense (5 mm) or Normal (1 cm). Station mode: the floors of a building join in more cases instead of staying at estimated positions. Home: search in the project list, and a renamed project shows its name next to the folder name.

Fixed an extraction that stopped around 81 %: on handheld scans, the step which rebuilds altitude across staircases could process the same movement twice and stop the engine. The defect, introduced in 0.9.22, affected every extraction of some scans; it is fixed and verified on two users' scans. PPK georeferencing: the result of a previous extraction is no longer reused, only centimetre-fixed RTK epochs are used for the fit, and a PPK solution that never fixed its ambiguities is discarded in favour of the real-time solution, with the reason shown in the app and the log. The viewer and the 2D plan sometimes showed the stations and trajectory of an earlier extraction instead of those of the cloud you opened: companion files now replace their outdated namesake.

Windows: on tripod scans the application kept only one station (the stations file was read as a single line) — fixed and verified on a user's scan, which now gets its 5 stations back. Colouring from the 360 camera (Insta360 X4 mounted on the scanner) is available to everyone on scans made while walking: 360 camera tab, then "Colour taken from: 360 camera" — the how-to is in the tutorial on the site. Station mode: 1 cm cloud like walking scans, joining of station groups and floors, station summary at the end of the extraction, turns accepted from 8 s. Raven STATION button (agent update 0.6.7 offered at connection): the press is acknowledged at once with a 7 s countdown, and the stop-button lock no longer comes back after "YES, stop" until a new scan is started. Scans sent to the cloud through Cloudflare (much faster, resumes after a cut). LAS export: units declared in the file (US feet or metres), for GIS. Engine log: the verdict of every station turn is listed. Cloud options on one line with a "?" button. macOS: now requires macOS 12 or later. macOS 11 (Big Sur): a dedicated build of this version is available on the download page (the app opens it directly).

Station mode: the application detects on its own that you are scanning from a tripod — there is no box to tick. Loop closure now works outdoors: on a test scan a roof that came out doubled by 20 cm is now doubled by 8 cm, and a scan validated the day before improves too (doubled areas divided by 2.6, surfaces 15 % sharper). Coming back to your starting point at the end of the walk is now enough to absorb the drift of the whole loop. A step-by-step tutorial is online. The 360 camera is temporarily disabled: its colouring lacks sharpness and measurements in the virtual tour are not accurate — station mode does not need it. Tested on the standard Raven scanner; if you use another device, write to us from the contact page so we can confirm it.

2D plan: wall detection reworked — short partitions found, thick walls merged with their measured thickness, corners closed, fewer false walls along hedges. SketchUp-style 3D model: slabs between levels, walls as volumes, lighting and shadow, level-by-level display, textured OBJ export; slabs are also in the 3D export (DAE/OBJ). Cloud results: create a project on the fly and choose which files to download. Notifications now have a close button. Fixes: empty COLMAP dataset on Windows when the folder path contains accents or non-Latin characters; the 0.9.19 installer on the website was actually 0.9.18.

No more “double slope” clouds or doubled walls: the engine now closes trajectory loops explicitly — long outdoor scans without GNSS and revisited buildings come out as one consistent piece. Colorization: choose which cameras to use (front-only is ~4× faster) and the image interval; progress now updates image by image, camera by camera — no more apparent freeze at 93%. Eagle: georeferencing now works (GNSS file read, clock offset corrected automatically, UTM zones added) → LAS export in real coordinates. Viewer: persistent slice layers (true colors, eye toggle on the main cloud), direct export into the project folder, LAS export, height realignment of a trajectory range.

🇮🇹 The app, the website and the customer area speak Italian — hello to our Italian users, more numerous every month. Benvenuti! Main new feature: ground control points (GCP). You can now fit a cloud onto points of known coordinates and, above all, get the error left on each one — in a CSV or PDF report to hand over with your delivery. Check points, held out of the computation, measure quality independently: a point that produced the fit cannot judge it. And if your Eagle or Raven marked the stations in the field — tip on the mark, button pressed — the app reads those marks: their position comes from the scan trajectory, all that is left is entering the surveyed coordinates. Light splat: any coloured cloud becomes a Gaussian Splat file in seconds, with no training and no GPU, with a choice of quality. Sharing: a link that opens your cloud in a browser, with or without a password, and can be emailed straight from the app; the recipient needs no account and can measure lengths and areas (links last 8 days, 30 for donors). Fixes: local training failed on every multi-camera device — Eagle, Eagle Max, Hawk — with nothing to explain why; it is repaired, and datasets you already extracted work as they are. When measuring, the point sometimes snapped to a background surface: the measurement looked right head-on and turned out wrong as soon as you rotated. The counter read “1,500,000 points” without saying that this is a display cap — measurements, export and every processing step have always used the whole cloud; it now reads “1.5 M shown of 24.8 M”. Extractions launched in the cloud finally come back into your project on their own, with a message when they are ready. A reminder from the previous release, which went rather unnoticed: the ground shaded relief exports with its .pgw world file, so it drops straight into your GIS.

PPK post-processing is finally available on Windows: it simply was not shipped there, and ticking “cm (PPK)” did nothing at all, without a word. A scan whose GPS was blind under trees now recovers its true coordinates, elevation included. Cropping a 3D splat has been reworked from the ground up: on some files the box landed opposite to where you aimed; it now stays visible while the panel is open, an “Export” button finally writes the result, and closing without saving warns you. The “Replay the scan path” button now also appears for splats computed in the cloud. New “Ground shaded relief” export: a greyscale image, placed for your GIS, that brings out ruts, hollow ways and micro-relief under vegetation. The app, the website and the customer area now speak Italian, and the customer area was still partly in French: fixed.

The cloud can now extract your scans: drop the scanner folder on your web account (1 free extraction per day, then 1 token — the same tokens as for splats) and get the colorized cloud as PLY/LAS with an online viewer, length and area measurements included. Better still: with Raven Link, the scanner uploads its scans by itself whenever it has Internet — no computer needed, with automatic resume and integrity checks, live progress and speed on the “My Raven” page. Colorization gets noticeably sharper: images were projected with a slight timestamp lag, so colors “bled” on edges and text (measured sharpness +17 to +50 % depending on the scan). Outdoor scans with several passes no longer double the ground: loops now close properly (vertical gap between passes: 11 cm instead of 71). The app now opens RayStudio PLY files. And the COLMAP dataset can include the split 360° views with their true metric-scale poses, plus a window to compare scanner and 360 camera images before choosing.

Denser point clouds — no more striped ground. An over-strict noise filter was discarding almost a quarter of the measured points, mostly on surfaces seen at a shallow angle: floors, car parks and paths came out streaky, with empty bands between passes. The setting has been revised and checked on a 1,100 metre outdoor scan: 92 % of the measured points are now kept instead of 76 %, three million points more, without letting isolated stray points back in. Clouds are heavier, but complete.

Fixed clouds truncated on screen, new « Realign a part » tool to put a drifted room back by hand, automatic drift re-stitching in beta, colorization tuned per scanner model, and your scanner model shown next to the folder name.

Scan trajectory export in TUM format, built-in Gaussian Splat viewer with path replay and fly-through videos, and a measuring tool with snap magnifier and horizontal distance.

Higher-quality Gaussian Splat: training now runs 50,000 iterations instead of 15,000 and the gaussian budget is doubled (up to 3 million). The result is sharper splats — façades, textures and ground are better defined with less blur. Processing takes a bit longer in exchange. (Settings aligned with best practices observed on reference tools.)

Important fix for scans in vegetated outdoor areas (gardens, parks) on Windows: the GLIM engine could abort on these scenes and the app silently fell back to the legacy engine, which gets lost there — resulting in shapeless clouds. The engine is fixed, and the app now clearly warns you whenever a fallback occurred or the scene is too poor in flat surfaces for a good result. New: an anti-mirror/glass filter for indoor scans (enabled automatically room by room) — reflections no longer create doubled ghost walls in small rooms. Also fixed: the map icon disappearing on renamed exports (the georeferencing was actually present in the file all along), and the Gaussian Splat view that could start scrolling on its own when opened.

Colorization deeply fixed: the factory calibration between the Raven's camera and LiDAR turned out to be wrong — colors were sampled from the wrong part of the image all along (sky-tinted grounds and walls on sunny scenes, approximate tones elsewhere). The calibration has been re-estimated and colors now land where they belong. Additionally: the sky no longer bleeds onto rooflines, chimneys and wall tops, and the camera's field edge (color fringe) is neutralized. Gaussian Splat: the LichtFeld format (posed COLMAP) is now available for Insta360 videos — image poses are computed right on your machine, no external tool needed; the Cloud/LAS cards stay accessible after selecting Gaussian Splat and the scanner source is always available.

Major fix: point clouds no longer come in tilted. A leveling step was re-applying a correction the SLAM engine had already made — scans came out tilted by your pole angle (15–30° per user reports), and every splat dataset started off skewed. Fixed and verified on real scans (24.5° → 3.4°). Faithful outdoor colors: white balance used to flatten vegetation-dominated scenes (lawns and foliage came out gray); it now relies on neutral surfaces only, and brightening preserves saturation. Exposure harmonization across images (bright/dark seams fade away). Readable X-ray mode: reflectivity contrast stretched (measured ×5). Official SHARE S20 support: automatic import (YAML calibration, in-bag images, RTK), with automatic clock realignment. Per-point normals exported to PLY (optional). GPU viewer: fine points even up close. Splat downloads: no longer restart when switching tabs, land in their originating project, and a dialog offers to open that project. New coordinate systems: RDN2008 / UTM 32-33-34N for Italy (EPSG:6707/6708/6709 — customer request), ETRS89 UTM 32-33N and WGS84 UTM 31-34N. More robust cloud job tracking (silent retries instead of an error). PPK: use your own base station — raw u-blox .ubx files accepted directly (SparkFun, Emlid…), RINEX or RTCM, with precise base position entry (e.g. OPUS solution); choice remembered per project.

Scan trajectory export: every extraction now writes a timestamped trajectory file (TUM format) in the same frame as the point cloud — align your control points or run your own processing. New Gaussian Splat viewer: the SuperSplat editor is built in (smooth navigation, cropping, view presets), with scan-path replay on a slider and fly-through video creation (cameras placed automatically along the walk, MP4 export) — on Mac and Windows. Cloud-trained splats get their trajectory automatically too. Measuring tool: a magnifier shows exactly which point will be snapped before you click (no more measuring the wrong wall), with the point's altitude and the horizontal distance shown next to the 3D distance — the one you compare against floor plans. Plus project file tidying fixes.

Import Raven scans over a USB cable (Windows): plug in the scanner and the app detects it automatically and lists your scans to download — no Wi-Fi, no SD card, nothing to install on the scanner, with download progress and speed shown. On Mac, USB is not supported yet (a limitation of macOS with this scanner's USB electronics, not the app): use Wi-Fi on Mac — Wi-Fi import works but is still slow for now (a fast version is coming). Also: new X-ray display mode (high legibility for measuring), measurement point snapping (the point sticks to surfaces), drag several scan folders to make a single project, and completed translations.

New selectable SLAM engine: GLIM (sharper, ideal for interiors and buildings), toggleable in extraction. Support for the Hawk scanner (3DMakerpro, model JMK5): point cloud, 2D floor plans, sections, colorization and georeferencing, just like the Raven. More reliable cloud uploads for large scans (end-to-end integrity check + automatic recovery of transfer credentials). Colorization of very large scans without memory crashes. Clearer message when the camera calibration is missing (load the complete scan folder). Interface fixes (LAS format selection).

Pro-level 2D floor plans: new step-by-step flow (check the cloud slice, clean it with the eraser, then run wall detection), furniture and fixtures library, parametric stairs (straight, quarter-turn, spiral), resize and rotation handles, walls stretchable by their ends, automatic dimension chains, to-scale floor orthophoto and exportable vertical section views. Viewer: slice planes rotatable by their corners and one-click presentation videos. More reliable indoor extraction (SLAM engine IMU fix).

Important fix for the new engine: point clouds could come out tilted (by the scanner's angle at start) when automatic leveling was enabled. The new engine already aligns the vertical by construction — auto-leveling now only applies to the legacy engine. Update recommended for everyone.

The new 3D extraction engine lands on Windows! Same crisp, faithful point clouds as on Mac (thin walls, stable outdoor scans, globally re-optimized trajectory) — and the engine was further refined on both platforms: sharper indoor scans, perfectly reproducible results. Also: every Cloud process now delivers a 3D mesh (mesh.glb, metric glTF) ready for ArcGIS/GIS and CAD; a “Forgot password?” link in the Cloud panel; fixed local training on folders with accented characters.

Major release! New 3D extraction engine: much sharper, truer point clouds (thin walls, stable outdoors), with a global trajectory re-optimization after the scan — on Apple Silicon Macs today, Windows next. The “operator trail” filter now also removes the carrier's silhouette with the new engine. 3D Splat viewer: real-time cleanup (size, anisotropy, opacity) and a “Sky” background button. Simplified cloud export: one format choice (PLY by default, XYZ, LAS, E57). Cloud processing is faster and more reliable.

Insta360 fix (Windows): on some PCs (disconnected network drive), the “choose a .insv file” button could disappear and video scanning could freeze the 360 Camera tab — the button is now always available and scanning no longer blocks the interface.

Major Windows fix: extraction crashed at ~70% on long scans (memory) • Photo preview before cloud upload: overexposed images are detected and framed, tap one to exclude it, optional “dehaze” correction • Any scan length: progressive token cost shown BEFORE sending (balance + confirmation), full-density Higher-Quality extraction • RayStudio datasets (global optimization) processed directly, no SfM • Much more faithful point-cloud colorization: occlusion handling, multi-view fusion, harmonized exposure • Truly effective “operator trail” filter (no holes in the ground) • Reliable uploads and downloads with percentage, job number shown, errors explained simply and auto-reported to support

SuperSplat editor built into the Splat 3D viewer: selection, splat deletion, cropping, undo/redo, PLY/SPZ export — offline, “Editor” button • 3D viewer: fixed camera drifting on its own, Esc = stop, double-click = orbit pivot on the aimed point • Cloud: detailed progress (preparation, reconstruction, training), running jobs visible even after restarting the app, reliable “Higher quality” on small scans • Shared splat links now open an online 3D viewer

RayStudio project processing (Raven & Raven MAX): RayStudio's COLMAP folder is detected and processed directly — no SfM step, 2× faster • “Higher quality” extraction (800 images / 2048 px) for noticeably sharper 3D results • Professional image processing of photos on the cloud side • Refresh button in the dataset picker • Step-by-step tutorial on the website

Fix: opening very large splats (> 700 MB) in the 3D viewer

Reliable cloud upload (large datasets, integrity check) • Multiple cloud jobs in parallel • Results named _SPLAT • Viewer: big files auto-lightened, ground grid and view roll • Empty datasets hidden • Auto-level now optional • New photorealistic Gaussian Splat engine on the cloud

Reliable upload of large datasets to Cloud process (resumable transfer, 8× smaller files). Improved 3D Splat viewer: reworked navigation (smooth orbit, recenter, free-fly keyboard mode), new Cleanup panel (size, anisotropy, opacity, radius, floaters) with cleaned splat export. “NEW” badge on downloaded cloud results. Better Eagle Max (4-camera) scanner support.

Fix: before sending a dataset to Cloud process, the app now checks it actually contains photos — a Gaussian Splat needs camera images. If the dataset is incomplete, a clear message is shown and no token is charged. Minor stability improvements.

New — Cloud process is here! Turn your scans into 3D Gaussian Splats right from the app: create an account, get tokens (free for donors), submit your scan and get the splat back in your project — no powerful GPU needed. Secure in-app sign-up with profile (name, city, country), built-in token purchase. Improved viewer: real-time cropping and free movement inside the scene. On-device training (NVIDIA or Apple GPU) for local processing. Many stability fixes.

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New — Gaussian Splat preview: the "Splat 3D" button shows a real render of your splats right in the app. New "Datasets" tab: find your export datasets, share them as a ZIP, open the folder, or delete them. Gravity-based leveling is now applied automatically at extraction (a tilted scan is straightened on its own). In testing — "Cloud process": send your Gaussian Splat dataset to a GPU machine in the cloud to train it remotely, without tying up your computer, and get the splat back straight into your project. More comfort: confirmation before closing the app or removing a project, "Refresh" buttons and automatic refresh of file lists.

New — Gaussian Splatting export: generate datasets ready for 3DGS training (Polycam, Brush, LichtFeld…) right from the app, via a single "Gaussian Splat" tool. Pick the source — the Raven camera or an Insta360 X4/X5 360° video — and the output format. Raven camera images are now undistorted (perspective) and sharpness-selected (no more blurry or blown-out frames); on the 360° video, the operator is automatically excluded. Fix: the app now follows your system language on first launch.

2D plan — improved "Rotate" tool: it's now the point cloud that rotates under the plan, instead of the plan rotating. The plan stays fixed, aligned to the X/Y axes — so the exported PDF/DXF always comes out straight, ready to measure. Just drag to bring the scan into line under your plan.

Important fix: some scans — especially long outdoor ones — could come out as a single line instead of the full scene. This is now fixed: the engine detects this and automatically rebuilds the complete scene. Also new: the "Level" tool straightens a tilted scan in one click — automatically from the gravity measured by the scanner, or by picking a horizontal surface. Real slopes are preserved.

Improved eraser: new clean-by-height-range (floor and ceiling stay protected even if the brush passes over them), hold Ctrl to rotate the scan while erasing, an "Apply" button, and a much faster eraser on large clouds. .insv files (360 camera) placed in the project folder are now detected automatically. The right column is reorganized into tabs (Clouds, Documents, 360 camera, Phone) with a "Delete" button per file.

Support the project ❤️ — Lidar Extractor is developed independently. You can now donate: a "Donate" button (PayPal) is on the website (top) and in the app (About, and at the bottom of the window). As a thank-you, donors get a "Contributor" badge: in the app, open "About" → "I've donated" → enter the email you used for your donation, and the badge appears (in the header and at the bottom). Heartfelt thanks to everyone supporting the project!

2D plan — new tools to fit the plan onto your scan: "Rotate" freely rotates the plan over the point cloud (which stays fixed), and "Move" now has a "Plan" mode to move the whole plan at once (or "Doors/windows" to move openings one by one). Section tool: you can type the exact thickness in millimetres (handy when exporting a section to other software). "Operator trail" filter with adjustable distance: removes the over-sampled ground trail along the walking path on open/outdoor scans. File list: shows date and time (easier to tell long filenames apart) + a "Documents" tab listing generated PDF/DXF/DAE next to the clouds.

Important fix (mainly macOS): some scans of large open or outdoor areas came out as a thin line or with broken, huge coordinates (an "exploded" cloud, with the trajectory shooting off kilometers away). The hardware and the scans were actually fine: the previous build accidentally shipped an out-of-date version of the processing engine. The engine is now up to date again. Update, then re-run the extraction on the affected scan — it will come out correctly.

Raven Max: "Start scan" and live preview finally work — the app was wrongly looking for a "front" camera while the Raven Max has two cameras (left/right); it now adapts and no longer blocks the scan. (Agent update required from the desktop app.) Colorization and COLMAP export are also fixed when calib.json comes from a calibration tool (extrinsics as a transform_matrix).

Raven Max fix: "Start scan" from the mobile app failed on two-camera scanners (Raven Max) — the app now adapts automatically to the scanner's number of cameras. Requires updating the agent on the Raven (from the desktop app, "Update agent" button).

COLMAP / Gaussian Splatting export: fisheye images are now correctly oriented with consistent camera parameters, for sharp training in Gaussian Splatting tools (LichtFeld Studio, etc. — use the fisheye/GUT mode).

Remote mode (Raven) fix: on the Windows version, installing the agent on the scanner could fail (install-script line endings) — now fixed. The "Send this profile to support" button now attaches the installation log to the diagnostic, so you no longer need to send a screenshot when something goes wrong.

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Greatly improved extraction quality. Rooms are now properly aligned on Raven scanners (no more doubled walls) and walls come out straight, at right angles, on Eagle scanners (no more "banana"-bent point cloud). The engine automatically detects your scanner and picks the right setting — nothing to configure.

New Remote mode (Raven) in the desktop app: connect to the scanner, install the agent in one click (additive and reversible), download scans with the transfer time, and a remote screen to view/control the Raven from afar. The 2D plan now also works on an already-flattened slice. Remote-mode interface in four languages (FR/EN/ES/DE).

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New coordinate system: Greek Grid (EPSG:2100, GGRS87) added to the projection list for .las export — correct georeferencing in Greece.

Fix: extraction that got stuck "at 100%" with heavy memory use on large scans. The pose-graph is now bounded.

Czech/Slovak S-JTSK (Krovák): EPSG:5514 (cadastral) and EPSG:5516 (exact S-JTSK/05). Projection and datum validated to the millimetre against PROJ.

Camera calibration: color and COLMAP fixed for any camera name (Raven mono-camera, Eagle RTK…).

Multi-level plans, roof windows (Velux), Carrez and headroom areas, pedestrian mode, 3D model, and 360 tools on Windows.

2D plan: recognition of 45° corner cuts (Haussmann angles) and curved walls (rotundas, bay windows) — arcs exported as ARC entities in DXF.

Automatic 2D floor plan from the cloud, with a full editor (walls, doors, windows, rooms) and PDF/SVG/DXF exports. Improved SLAM (IMU fusion + loop closure), saved slices.

Worldwide centimeter georeferencing (PPK post-processing via EUREF stations), Livox (Eagle) scanner support, .las viewer over a map background, and German interface.