Default scene: Autoware Leo Drive ISUZU
bag1 + bag2 + bag3 + bag4 + bag5 + bag6
fused in a shared ENU frame (--mcd-reference-bag).
18 cameras × 6120 registered frames total (1500 + 1200 + 780 + 720 + 1080 + 840),
GNSS + /tf_static pose-import with image-projected RGB init,
gsplat 30k iter with the full training stack (LiDAR depth
supervision + per-image appearance embedding + joint 6-DOF
pose refinement from iter 1500), 1.48M gaussians filtered
to 80k (opacity ≥ 0.3, scale ≤ 2 m). Positions centered and
rescaled so the default camera fits. Pick a scene below or pass
?url=<splat-path> for a custom splat.
Viewer: antimatter15/splat (MIT) by Kevin Kwok.
← back to Three.js point viewer.
Use mouse or arrow keys to navigate.
movement (arrow keys)
- left/right arrow keys to strafe side to side
- up/down arrow keys to move forward/back
- space to jump
camera angle (wasd)
- a/d to turn camera left/right
- w/s to tilt camera up/down
- q/e to roll camera counterclockwise/clockwise
- i/k and j/l to orbit
trackpad
- scroll up/down/left/right to orbit
- pinch to move forward/back
- ctrl key + scroll to move forward/back
- shift + scroll to move up/down or strafe
mouse
- click and drag to orbit
- right click (or ctrl/cmd key) and drag up/down to move
touch (mobile)
- one finger to orbit
- two finger pinch to move forward/back
- two finger rotate to rotate camera clockwise/counterclockwise
- two finger pan to move side-to-side and up-down
gamepad
- if you have a game controller connected it should work
other
- press 0-9 to switch to one of the pre-loaded camera views
- press '-' or '+'key to cycle loaded cameras
- press p to resume default animation
- drag and drop .ply file to convert to .splat
- drag and drop cameras.json to load cameras