Lidar Reconstruction

Lidar reconstruction requires specific data input. For details, see Lidar Data Requirements

In addition, the following required parameters are needed for reconstruction:

Required Parameters

Parameter Name	Type	Description
working_dir	string	Working directory, saves intermediate files and final results
gdal_folder	string	GDAL Data directory, the data or gdal_data directory under the SDK directory
pipeline_mode	int	Must be set to 1, indicating pure lidar point cloud reconstruction

Output Format Control [Must specify one of the following]

Parameter Name	Type	Default Value	Description
generate_osgb	bool	false	Generate OSGB format 3D model
generate_3d_tiles	bool	false	Generate 3D Tiles (b3dm) format
generate_las	bool	false	Generate LAS format point cloud
generate_pc_ply	bool	false	Generate PLY format point cloud
generate_pc_osgb	bool	false	Generate OSGB format point cloud LOD
generate_pc_pnts	bool	false	Generate pnts format point cloud LOD
generate_gs_ply	bool	false	Generate ply format Gaussian Splatting results
generate_obj	bool	false	Generate OBJ format textured mesh
generate_ply	bool	false	Generate PLY format textured mesh

Command Line Invocation

reconstruct_full_engine(.exe) -reconstruct_type 0 -task_json config_task.json

Error Handling

The interface returns an integer error code:

• 0: Success
• Non-zero: Various error conditions

For details, see Error Codes.

JSON Example:

{
  "working_dir": "C:/Projects/AT_Task",
  "gdal_folder": "C:/MipMap/SDK/data",
  "pipeline_mode": 1,
  "generate_osgb": true,
  "generate_gs_ply": true,
  "coordinate_system": {
    "type": 2,
    "epsg_code": 4326
  },  
  "camera_meta_data": [
  {
    "id": 1,
    "meta_data": {
      "camera_name": "Left",
      "projection_model": 1,
      "width": 3600,
      "height": 3600,
      "parameters": [
        982.7593599212141,
        982.7593599212141,
        1747.6373897301492,
        1806.4116030074354,
        0.03702410479839055,
        -0.016007338300982825,
        -1.0884582901480562e-05,
        -9.773097281093723e-05
      ]
    }
  },
  {
    "id": 2,
    "meta_data": {
      "camera_name": "Right",
      "projection_model": 1,
      "width": 3600,
      "height": 3600,
      "parameters": [
        982.7593599212141,
        982.7593599212141,
        1747.6373897301492,
        1806.4116030074354,
        0.03702410479839055,
        -0.016007338300982825,
        -1.0884582901480562e-05,
        -9.773097281093723e-05
      ]
    }
  }
  ],
  "image_meta_data":[
    {
        "id": 1,
        "path": "\\left\\2390-195042-472_00395-L.JPG",
        "meta_data": {
        "width": 3600,
        "height": 3600,
        "camera_id": 1,
        "pos": [
            -2272303.077314121,
            5011055.355739306,
            3215292.943560472
        ],
        "pos_sigma": [0.03,0.03,0.06],
        "orientation": [
            0.8929275412022056,
            0.43070972182403255,
            0.13103259781004117,
            -0.4500241512548592,
            0.8457917052937085,
            0.2865565468519331,
            0.012596406230632032,
            -0.31484206641207435,
            0.9490604847782084
        ]
        }
    },
    {
        "id": 2,
        "path": "\\right\\2390-195042-472_00395-R.JPG",
        "meta_data": {
        "width": 3600,
        "height": 3600,
        "camera_id": 2,
        "pos": [
            -2272303.117693735,
            5011055.368901664,
            3215292.967908075
        ],
        "pos_sigma": [0.03,0.03,0.06],
        "orientation": [
            0.8918935649712837,
            0.435497387453275,
            0.12193397510204676,
            -0.4504120798442928,
            0.8311302214603127,
            0.3261157973874772,
            0.040679566039387514,
            -0.34578111645476495,
            0.9374329802231962
        ]
        }
    }
  ],
  "lidar_data": {
    "coordinate_system": {
      "type": 3,
      "epsg_code": 32632
    },
    "laser_meta_data": [            // Lidar point cloud file list
      {
        "id": 1,                    // File ID
        "path": "C:/path/to/file.las", // Point cloud file path
        "trajectory_id": 1          // Corresponding trajectory ID
      }
    ],
    "trajectory_meta_data": [       // Lidar trajectory data
      {
        "id": 1,                    // Trajectory ID
        "trajectory_points": [      // Trajectory point list
          {
            "pos": [                // Position coordinates [X, Y, Z]
              -2272285.667,
              5011024.157,
              3215249.921
            ],
            "time": 284833.06453    // Timestamp
          },
          ....
        ]
      }
    ]
  }
}