LiDAR Reconstruction

LiDAR reconstruction uses the same invocation method as basic reconstruction, but requires specific data inputs. In addition to the parameters required for basic reconstruction, set or override the following parameters for LiDAR:

Required Parameters

Field	Type	Required	Description
pipeline_mode	int	Yes	Must be set to 1 for pure LiDAR point cloud reconstruction
coordinate_systems	Array	Yes	Coordinate system definitions
camera_meta_data	JSON	Yes	Camera parameters
image_meta_data	JSON	Yes	Image collection
lidar_data	JSON	Yes	LiDAR data

For detailed parameter descriptions, see LiDAR Data Specification.

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_systems": [
    {
      "id": 1,
      "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",
      "crs_id": 1,
      "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",
      "crs_id": 1,
      "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": {
    "laser_meta_data": [
      {
        "id": 1,
        "crs_id": 1,
        "path": "C:/path/to/file.las"
      }
    ]
  }
}