Service: Geometry
This API is officially released and maintained. |
Service offering on-demand geometric processing tasks.
Method | Request | Response |
---|---|---|
ComputeGroundAlignment
Computes the transformation aligning the lidar point cloud to the ground plane/gravity.
Request
Request for estimating alignment to ground/gravity based on imu-data and optional point cloud frame.
Field | Type | Default | Unit |
---|---|---|---|
accelerometer_data |
- |
- |
|
accelerometer data is assumed to be expressed in the lidar coordinate frame |
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lidar_frame |
optional core_processing.data.Frame |
- |
- |
if a lidar frame is provided, it is used to estimate the z-coordinate of the translation as well. |
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strategy |
optional Strategy |
- |
- |
Ground plane alignment estimation strategy. |
Strategy
Ground plane alignment strategy options.
Name | Value | Description |
---|---|---|
STRATEGY_UNSPECIFIED |
0 |
Unspecified. Ground plane estimation will use STRATEGY_AUTO. |
STRATEGY_AUTO |
1 |
Automatic mode. Ground plane alignment will use a combination of plane segmentation & accelerometer. |
STRATEGY_PLANE_SEGMENTATION |
2 |
Point cloud only. Use the orientation and translation computed from the plane segmentation. |
STRATEGY_ACCELEROMETER |
3 |
Accelerometer only. Use the orientation from the accelerometer. |
Response
The estimated alignment to the ground/gravity.
Field | Type | Default | Unit |
---|---|---|---|
alignment |
- |
- |
|
Estimated alignment of the sensor to the ground-plane/gravity. If no lidar frame is provided only roll, pitch of the rotation are estimated. Otherwise the z-component of the translation is additionally aligned with a flat ground. The transformation transforms the lidar point clouds such that the points are aligned with the ground. |
ComputeRegistrationRefinement
Refines the point cloud registration based on provided initial transformations. If the method succeeds, the refined transformation is returned. Otherwise an exception will be thrown.
Request Stream
The request for transformation refinement based on 3d point clouds and an initial point cloud transformations.
Field | Type | Default | Unit |
---|---|---|---|
frame |
- |
- |
|
lidar frame used for aligning the 3d point clouds |
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transform |
- |
- |
|
Transform: the transformation transforming a point in from the local lidar coordinate system into a 'combined' reference system the 'combined' reference system can also be a lidar. |
Response
The refined lidar transformations.
Field | Type | Default | Unit |
---|---|---|---|
transformations |
repeated base.geometry.Transform |
- |
- |
Refined transformations. The array sequence is equal to the sequence in which the requests were received. The first element in the array corresponds to the lidar frame received in the first client stream message. |