激光雷达重建

激光雷达重建调用方法与基础重建一样，只是需要特定的数据输入，除了基础重建所需的参数以外，激光雷达需要设置或覆盖以下几个参数：

必需参数

字段名	类型	是否必需	说明
pipeline_mode	int	是	必须设置为1，表示纯激光雷达点云重建
coordinate_systems	Array	是	坐标系组
camera_meta_data	JSON	是	相机参数
image_meta_data	JSON	是	图像集合
lidar_data	JSON	是	激光雷达数据

详细参数介绍参考激光雷达数据说明

JSON示例

{
  "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"
      }
    ]
  }
}