CN110443899A - Method and apparatus for handling data - Google Patents
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- CN110443899A CN110443899A CN201810411397.1A CN201810411397A CN110443899A CN 110443899 A CN110443899 A CN 110443899A CN 201810411397 A CN201810411397 A CN 201810411397A CN 110443899 A CN110443899 A CN 110443899A
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The embodiment of the present application discloses the method and apparatus for handling data.One specific embodiment of this method includes: to obtain point cloud data set to be marked, and the point cloud data to be marked in point cloud data set to be marked is shown with the first display mode；Point cloud data set to be marked is divided at least one subclass；From at least one subclass determine destination subset close, and by destination subset close in point cloud data to be marked show in a second display mode；In response to receiving for closing the markup information being labeled to destination subset, destination subset is closed and markup information associated storage.This embodiment improves the efficiency being labeled to point cloud data, and improve the flexibility being labeled to point cloud data.
Description
Technical field
The invention relates to field of computer technology, and in particular to the method and apparatus for handling data.
Background technique
Currently, the application field of three dimensional point cloud is more and more extensive, for example, can use in automatic Pilot field
Multi-line laser radar obtains three dimensional point cloud.Due to the sparsity for the point cloud data that multi-line laser radar obtains, need to this
Class point cloud data is classified, and technical staff usually combines the algorithm of deep learning to classify at present.Thus, it is desirable to a large amount of
Point cloud data be labeled.In order to guarantee the accuracy of the point cloud data marked, usually realized in the prior art by manually
The process of mark.
Summary of the invention
The embodiment of the present application proposes the method and apparatus for handling data.
In a first aspect, the embodiment of the present application provides a kind of method for handling data, this method comprises: obtaining wait mark
Point cloud data set is infused, and the point cloud data to be marked in point cloud data set to be marked is shown with the first display mode；
Point cloud data set to be marked is divided at least one subclass；Determine that destination subset is closed from least one subclass, with
And by destination subset close in point cloud data to be marked show in a second display mode；In response to receiving for destination subset
The markup information being labeled is closed, destination subset is closed and markup information associated storage.
In some embodiments, point cloud data set to be marked is divided at least one subclass, comprising: based on default
Point cloud segmentation algorithm, point cloud data set to be marked is divided, at least one subclass is obtained.
In some embodiments, the point cloud data to be marked in point cloud data set to be marked is corresponding with preset serial number；
And after point cloud data set to be marked is divided at least one subclass, this method further include: at least one
It is corresponding to be determined as the subclass by the subclass in subclass for each serial number for the point cloud data to be marked that the subclass includes
Serial number set.
In some embodiments, by destination subset close in point cloud data to be marked show in a second display mode, comprising:
From the point cloud data to be marked shown with the first display mode, determine that destination subset closes the serial number pair in corresponding serial number set
The point cloud data to be marked answered；Identified point cloud data to be marked is shown in a second display mode.
In some embodiments, destination subset is closed and markup information associated storage, comprising: generate and closed for destination subset
The first description information；By destination subset conjunction, markup information and the first description information associated storage.
In some embodiments, after by destination subset conjunction and markup information associated storage, this method further include: for
Point cloud data to be marked in point cloud data set to be marked, based on including point to be marked identical with the point cloud data to be marked
The markup information of the subclass of cloud data generates the mark point cloud data for being directed to the point cloud data to be marked, wherein mark point cloud
Data are for characterizing classification belonging to the point cloud data to be marked；Store the set of mark point cloud data generated.
In some embodiments, the set of mark point cloud data generated is stored, comprising: generate and be directed to mark generated
Infuse the second description information of the set of point cloud data；The set and the second description information of associated storage mark point cloud data.
Second aspect, the embodiment of the present application provide it is a kind of for handling the device of data, the device include: obtain it is single
Member, is configured to obtain point cloud data set to be marked, and by the point cloud data to be marked in point cloud data set to be marked
It is shown with the first display mode；Division unit is configured to point cloud data set to be marked being divided at least one subclass；
First determination unit, be configured to from least one subclass determine destination subset close, and by destination subset close in
Mark point cloud data is shown in a second display mode；First storage unit is configured in response to receive for target
Gather the markup information being labeled, destination subset is closed and markup information associated storage.
In some embodiments, division unit is further configured to: preset point cloud segmentation algorithm is based on, to be marked
Point cloud data set is divided, at least one subclass is obtained.
In some embodiments, the point cloud data to be marked in point cloud data set to be marked is corresponding with preset serial number；
And device further include: the second determination unit is configured to for the subclass at least one subclass, by the subclass
The each serial number for the point cloud data to be marked for including is determined as the corresponding serial number set of the subclass.
In some embodiments, the first determination unit comprises determining that module, is configured to show from the first display mode
Point cloud data to be marked in, determine that destination subset closes the corresponding point cloud data to be marked of serial number in corresponding serial number set；
Display module is configured in a second display mode show identified point cloud data to be marked.
In some embodiments, storage unit includes: the first generation module, is configured to generate for destination subset conjunction
First description information；First memory module is configured to close destination subset, markup information and the association of the first description information are deposited
Storage.
In some embodiments, device further include: generation unit is configured in point cloud data set to be marked
Point cloud data to be marked, the mark based on the subclass for including point cloud data to be marked identical with the point cloud data to be marked
Information generates the mark point cloud data for being directed to the point cloud data to be marked, wherein mark point cloud data is to be marked for characterizing this
Classification belonging to point cloud data；Second storage unit is configured to store the set of mark point cloud data generated.
In some embodiments, the second storage unit includes: the second generation module, is configured to generate for generated
Mark the second description information of the set of point cloud data；Second memory module is configured to associated storage mark point cloud data
Set and the second description information.
The third aspect, the embodiment of the present application provide a kind of electronic equipment, which includes: one or more processing
Device；Storage device is stored thereon with one or more programs；When one or more programs are executed by one or more processors,
So that one or more processors realize the method as described in implementation any in first aspect.
Fourth aspect, the embodiment of the present application provide a kind of computer-readable medium, are stored thereon with computer program, should
The method as described in implementation any in first aspect is realized when computer program is executed by processor.
Method and apparatus provided by the embodiments of the present application for handling data, by by point cloud data set to be marked with
First display mode shows, point cloud data set to be marked is then divided at least one subclass, so by subclass with
Second display mode is shown, is finally labeled to the subclass shown in a second display mode, to improve to a cloud number
According to the efficiency being labeled, and improve the flexibility being labeled to point cloud data.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that this application can be applied to exemplary system architecture figures therein；
Fig. 2 is the flow chart according to one embodiment of the method for handling data of the application；
Fig. 3 is the schematic diagram according to an application scenarios of the method for handling data of the application；
Fig. 4 is the flow chart according to another embodiment of the method for handling data of the application；
Fig. 5 is the structural schematic diagram according to one embodiment of the device for handling data of the application；
Fig. 6 is adapted for the structural schematic diagram for the computer system for realizing the electronic equipment of the embodiment of the present application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can the method for handling data using the embodiment of the present application or the device for handling data
Exemplary system architecture 100.
As shown in Figure 1, system architecture 100 may include terminal device 101,102,103, network 104,105 and of server
Point cloud data acquisition device 106 (such as laser radar, stereo camera etc.).Point cloud data acquisition device 106 and terminal device
101,102,103 communication connection is established by the way of wired or wireless, and send terminal for the point cloud data of acquisition and set
In standby 101,102,103.Network 104 between terminal device 101,102,103 and server 105 to provide communication link
Medium.Network 104 may include various connection types, such as wired, wireless communication link or fiber optic cables etc..
User can be used terminal device 101,102,103 and be interacted by network 104 with server 105, to receive or send out
Send message etc..Various telecommunication customer end applications, such as the application of shooting class, figure can be installed on terminal device 101,102,103
As the application of processing class, the application of electronic map class etc..
Terminal device 101,102,103 can be hardware, be also possible to software.When terminal device 101,102,103 is hard
When part, it can be the various electronic equipments for supporting point cloud data to obtain, including but not limited to smart phone, tablet computer, vehicle-mounted
Computer, navigator, pocket computer on knee and desktop computer etc..It, can when terminal device 101,102,103 is software
To be mounted in above-mentioned cited electronic equipment.Multiple softwares or software module may be implemented into (such as providing point in it
The software or software module of cloth service), single software or software module also may be implemented into.It is not specifically limited herein.
Server 105 can be to provide the server of various services, such as to storing on terminal device 101,102,103
Point cloud data provides the back-end data processing server supported.Back-end data processing server can be to obtaining from terminal device
Point cloud data carries out the processing such as analyzing, and processing result (such as markup information to point cloud data) is fed back to terminal device,
Or processing result is stored in back-end data processing server.
It should be noted that the method provided by the embodiment of the present application for handling data can be held by server 105
Row, can also be executed, correspondingly, the device for handling data can be set in server by terminal device 101,102,103
In 105, also it can be set in terminal device 101,102,103.
It should be noted that server can be hardware, it is also possible to software.When server is hardware, may be implemented
At the distributed server cluster that multiple servers form, individual server also may be implemented into.It, can when server is software
To be implemented as multiple softwares or software module (such as providing the software of Distributed Services or software module), also may be implemented
At single software or software module.It is not specifically limited herein.
It should be understood that the number of terminal device, network and server in Fig. 1 is only schematical.According to realization need
It wants, can have any number of terminal device, network and server.It does not need in point cloud data set to be marked from remotely obtaining
In the case where taking, above system framework can not include network, and only need terminal device or server.
With continued reference to Fig. 2, the process of one embodiment of the method for handling data according to the application is shown
200.The method for being used to handle data, comprising the following steps:
Step 201, point cloud data set to be marked is obtained, and by be marked cloud in point cloud data set to be marked
Data are shown with the first display mode.
In the present embodiment, (such as server shown in FIG. 1 or terminal are set the executing subject for handling the method for data
It is standby) it can be first by wired connection mode or radio connection from long-range or from local obtain point cloud data collection to be marked
It closes.Wherein, point cloud data to be marked can be that (such as laser radar, solid are taken the photograph by point cloud data acquisition device as shown in Figure 1
Camera etc.) acquisition point cloud data.For example, laser radar in such a way that harness scans, scans 16 harness, every is swept every time
Retouching includes 2000 points on harness, then total points are 32000, correspondingly, obtains 32000 point cloud datas, then 32000 points
Cloud data can be determined as point cloud data set to be marked.
Then, the point cloud data to be marked in point cloud data set to be marked that above-mentioned executing subject can will acquire is with
One display mode is shown.Wherein, the first display mode can be the display modes such as preset color, shape.As an example, above-mentioned
Executing subject can use various data visualization softwares (such as Rviz), by each of point cloud data set to be marked wait mark
Note point cloud data is shown over the display with the dot of grey.
Step 202, point cloud data set to be marked is divided at least one subclass.
In the present embodiment, the point cloud data set to be marked obtained based on step 201, above-mentioned executing subject can be with each
Point cloud data set to be marked is divided at least one subclass by kind mode.As an example, above-mentioned executing subject can be based on
The collection of the information (such as serial number, coordinate value of point cloud data to be marked etc.) of the characterization point cloud data to be marked of technical staff's setting
It closes, the corresponding point cloud data to be marked of the set is determined as a subset and is closed.Or the manual operation according to technical staff, it will
Point cloud data set to be marked is divided at least one subclass.Such as technical staff manually selects certain point cloud datas to be marked
It is closed as a subset.
In some optional implementations of the present embodiment, executing subject can be based on preset point cloud segmentation algorithm,
Point cloud data set to be marked is divided, at least one subclass is obtained.Wherein, above-mentioned point cloud segmentation algorithm includes but not
It is limited to following at least one: consistent (Random Sample Consensus, the RANSAC) algorithm, minimal cut (min- of random sampling
Cut) algorithm, minimum spanning tree (Minimum Spanning Tree, MST) algorithm etc..It should be noted that above-mentioned execution master
Body is based on preset point cloud segmentation algorithm and is divided after obtaining several subclass to point cloud data set to be marked, can be with base
In the manual operation of technical staff, some of them subclass is merged into new subclass, finally obtains at least one subclass.
As an example, one may will be characterized when point cloud data to be marked is split by above-mentioned executing subject based on point cloud segmentation algorithm
Multiple point cloud datas to be marked of automobile have been divided into two parts, and technical staff can manually merge the two parts
For a subset conjunction.By utilizing above-mentioned point cloud segmentation algorithm, rapidly point cloud data to be marked can be classified, be skill
Art personnel provide the reference being labeled to point cloud data, and the efficiency being labeled to point cloud data can be improved.
Step 203, from least one subclass determine destination subset close, and by destination subset close in point to be marked
Cloud data are shown in a second display mode.
In the present embodiment, based on step 202 divide at least one subclass, above-mentioned executing subject can first to
Few a subset determines that destination subset is closed in closing.As an example, above-mentioned executing subject can be from least one above-mentioned subclass
Select a subset cooperation at random as destination subset conjunction；Alternatively, the subclass that above-mentioned executing subject can select technical staff
It is determined as destination subset conjunction.
Then, above-mentioned executing subject destination subset can be closed in point cloud data to be marked show in a second display mode
Show.Wherein, the second display mode can be the display modes such as preset color, shape, also, the second display mode can be with
The different display mode of above-mentioned first display mode.For example, the first display mode is the dot of grey, then the second display mode can
To be red triangle.It is shown in a second manner by the point cloud data to be marked in closing destination subset, technology can be made
Destination subset can be closed visually and be distinguished from point cloud data set to be marked by personnel, to help to improve technology
The accuracy that personnel are labeled point cloud data.
Point cloud data to be marked in some optional implementations of the present embodiment, in point cloud data set to be marked
It can be corresponding with preset serial number.For example, serial number can for 1,2,3,4 ..., N, wherein N is positive integer.Each serial number pair
Answer a point cloud data to be marked.For the subclass at least one above-mentioned subclass, above-mentioned executing subject can be by the son
The each serial number for the point cloud data to be marked that set includes is determined as the corresponding serial number set of the subclass.As an example it is supposed that
A subset close include point cloud data to be marked serial number 1~100, then above-mentioned executing subject can by serial number set 1,
2,3 ... ..., 100 } it stores, and the subclass and the serial number set is established into corresponding relationship.
In some optional implementations of the present embodiment, it is based on the corresponding serial number set of each subclass, it is above-mentioned to hold
Row main body it is corresponding can to determine that above-mentioned destination subset is closed first from the point cloud data to be marked shown with the first display mode
The corresponding point cloud data to be marked of serial number in serial number set.Then by identified point cloud data to be marked with the second display side
Formula is shown.As an example it is supposed that destination subset, which closes corresponding serial number collection, is combined into { 1,2,3 ... ..., 100 }, then above-mentioned executing subject
Point cloud data to be marked shown over the display with the first display mode, serial number 1~100 can be converted to second
Display mode is shown.
Step 204, in response to receiving for closing the markup information that is labeled to destination subset, by destination subset close with
Markup information associated storage.
In the present embodiment, above-mentioned executing subject can be in response to receiving for closing the mark being labeled to destination subset
Information is infused, destination subset is closed and markup information associated storage.In practice, technical staff can be by order line or pop-up
Interactive window in input or the markup information of selection target subclass (such as " ground ", " pedestrian ", " automobile ", " street lamp "
Deng).Meanwhile technical staff can see in Three-Dimensional Visualization Interface the destination subset that shows in a second manner close in wait mark
Other point cloud datas to be marked that note point cloud data and first method are shown.Technical staff completes to the defeated of markup information
After entering or selecting, destination subset is closed and markup information can be automatically with preset cloud storage file format (such as PCD (Point
Cloud Data, point cloud data) format, PLY (Polygon File Format, polygon archives) format, X3D format etc.) deposit
Storage is in preset storage region (such as hard disk, storage chip etc.).
In some optional implementations of the present embodiment, above-mentioned executing subject can in accordance with the following steps will be by target
Subclass and markup information associated storage: firstly, generating the first description information closed for destination subset.Wherein, the first description
Information may include following at least one: above-mentioned markup information, destination subset close the quantity for the point cloud data for including, to target
The time that set is labeled, (time, which can be, received the time of markup information, the time for determining destination subset conjunction, skill
The time etc. that art personnel are manually entered) etc..Then, by destination subset conjunction, markup information and the first description information associated storage.It is real
In trampling, destination subset is closed, markup information and description information can store the text in the same preset cloud storage file format
In part, it can also be respectively stored in different files.For example, the first description information can store as the file of TXT format, mesh
Subclass and markup information are marked, can store as the file of PCD format.
With continued reference to the signal that Fig. 3, Fig. 3 are according to the application scenarios of the method for handling data of the present embodiment
Figure.In the application scenarios of Fig. 3, computer 301 obtains point cloud data set 302 to be marked first, and by be marked cloud
Point cloud data to be marked in data acquisition system 302 is shown (as shown in 303 in Fig. 3) with the first display mode.Then, computer
301 are based on point cloud segmentation algorithm, and point cloud data set to be marked is divided into two subclass 3031 and 3032.Then, it calculates
Subclass 3031 is determined as destination subset and closed, and shown in a second display mode by machine 301 according to the manual operation of technical staff
Destination subset closes 3031 (as shown in 304 in Fig. 3).Finally, 3031 markup information is closed in technical staff's input to destination subset
305 " automobiles ", computer 301 deposit destination subset conjunction 3031 with markup information 305 in the form of the file of PCD format
Storage.
The method provided by the above embodiment of the application, by showing point cloud data set to be marked with the first display mode
Show, point cloud data set to be marked is then divided at least one subclass, and then subclass is shown in a second display mode
Show, finally the subclass shown in a second display mode is labeled, to improve the effect being labeled to point cloud data
Rate, and improve the flexibility being labeled to point cloud data.
With further reference to Fig. 4, it illustrates the processes 400 of another embodiment of the method for handling data.The use
In the process 400 of the method for processing data, comprising the following steps:
Step 401, point cloud data set to be marked is obtained, and by be marked cloud in point cloud data set to be marked
Data are shown with the first display mode.
In the present embodiment, step 401 and the step 201 in Fig. 2 corresponding embodiment are almost the same, and which is not described herein again.
Step 402, point cloud data set to be marked is divided at least one subclass.
In the present embodiment, step 402 and the step 202 in Fig. 2 corresponding embodiment are almost the same, and which is not described herein again.
Step 403, from least one subclass determine destination subset close, and by destination subset close in point to be marked
Cloud data are shown in a second display mode.
In the present embodiment, step 403 and the step 203 in Fig. 2 corresponding embodiment are almost the same, and which is not described herein again.
Step 404, in response to receiving for closing the markup information that is labeled to destination subset, by destination subset close with
Markup information associated storage.
In the present embodiment, step 404 and the step 204 in Fig. 2 corresponding embodiment are almost the same, and which is not described herein again.
Step 405, for the point cloud data to be marked in point cloud data set to be marked, based on including and the point to be marked
The markup information of the subclass of the identical point cloud data to be marked of cloud data generates the mark point for being directed to the point cloud data to be marked
Cloud data.
In the present embodiment, for the point cloud data to be marked in point cloud data set to be marked, for handling data
The executing subject of method can by include point cloud data to be marked identical with the point cloud data to be marked subclass mark
Information is determined as the markup information of the point cloud data to be marked, and based on the markup information of the point cloud data to be marked, generation is directed to
The mark point cloud data of the point cloud data to be marked.Wherein, mark point cloud data is for characterizing belonging to the point cloud data to be marked
Classification.In practice, usually after being associated storage to each subclass at least one above-mentioned subclass, generation is directed to
The mark point cloud data of each of point cloud data set to be marked point cloud data to be marked.
Optionally, for each of point cloud data set to be marked point cloud data to be marked, above-mentioned executing subject can be with
The markup information of the point cloud data to be marked and the point cloud data to be marked is merged into mark point cloud data.Alternatively, above-mentioned hold
Row main body can establish mark (such as number, text etc.) to each markup information in each markup information, then mark is believed
The mark of breath and the point clouds merging to be marked are mark point cloud data.
Step 406, the set of mark point cloud data generated is stored.
In the present embodiment, above-mentioned executing subject can be further by the set of mark point cloud data generated with default
Format storage.Wherein, preset format can include but is not limited to following at least one: PCD format, PLY format, X3D lattice
Formula etc..
In some optional implementations of the present embodiment, above-mentioned executing subject can be stored in accordance with the following steps and be given birth to
At mark point cloud data set: firstly, generate for it is generated mark point cloud data set the second description information.
Then, the set and the second description information of associated storage mark point cloud data.Wherein, the second description information may include with down toward
Few one kind: the total quantity of point cloud data is marked, the generation time for marking point cloud data, above-mentioned point cloud data set to be marked obtain
Take time etc..In practice, the set and description information for marking point cloud data be can store in the same preset cloud storage text
In the file of part format, it can also be respectively stored in different files.For example, the second description information can be with TXT format
Document form storage, the set for marking point cloud data can be stored with the document form of PCD format.
Figure 4, it is seen that the method for handling data compared with the corresponding embodiment of Fig. 2, in the present embodiment
Process 400 highlight generation mark point cloud data the step of, it is possible thereby to make the process being labeled to point cloud data more
Comprehensively, the flexibility being labeled to point cloud data is improved.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, this application provides one kind for handling number
According to device one embodiment, the Installation practice is corresponding with embodiment of the method shown in Fig. 2, which can specifically answer
For in various electronic equipments.
As shown in figure 5, the present embodiment includes: acquiring unit 501 for handling the device 500 of data, it is configured to obtain
Point cloud data set to be marked is taken, and by the point cloud data to be marked in point cloud data set to be marked with the first display mode
Display；Division unit 502 is configured to point cloud data set to be marked being divided at least one subclass；First determines list
Member 503, be configured to from least one subclass determine destination subset close, and by destination subset close in be marked cloud
Data are shown in a second display mode；First storage unit 504, be configured in response to receive for destination subset close into
The markup information of rower note, destination subset is closed and markup information associated storage.
In the present embodiment, acquiring unit 501 can be first by wired connection mode or radio connection from remote
Journey obtains point cloud data set to be marked from local.Wherein, point cloud data to be marked can be by laser radar, stereo camera shooting
The point cloud data of the equipment such as machine acquisition.Then, in the point cloud data set to be marked that above-mentioned acquiring unit 501 can will acquire
Point cloud data to be marked is shown with the first display mode.Wherein, the first display mode can be the display such as preset color, shape
Mode.
In the present embodiment, point cloud data set to be marked can be divided at least by division unit 502 in various ways
A subset is closed.As an example, above-mentioned division unit 502 can be based on the characterization point cloud data to be marked that technical staff sets
The set of information (such as serial number, coordinate value of point cloud data to be marked etc.), the corresponding point cloud data to be marked of the set is true
It is set to a subset conjunction.Or the manual operation according to technical staff, point cloud data set to be marked is divided at least one
Subclass.Such as technical staff manually selects certain point cloud datas to be marked and closes as a subset.
In the present embodiment, at least one subclass divided based on division unit 502, above-mentioned first determination unit 503
It can determine that destination subset is closed first from least one subclass.As an example, above-mentioned executing subject can from it is above-mentioned at least
A subset selects a subset cooperation at random in closing as destination subset conjunction；Alternatively, above-mentioned executing subject can be by technical staff
Selected subclass is determined as destination subset conjunction.Then, above-mentioned executing subject destination subset can be closed in be marked cloud
Data are shown in a second display mode.Wherein, the second display mode can be the display modes such as preset color, shape, also,
Second display mode can be the display mode different from above-mentioned first display mode.
In the present embodiment, the first storage unit 504 can be in response to receiving for being labeled to destination subset conjunction
Markup information, by destination subset close with markup information associated storage.In practice, technical staff can by order line or
Markup information (such as " ground ", " pedestrian ", " automobile ", " road of input or selection target subclass in the interactive window of pop-up
Lamp " etc.).Meanwhile technical staff can be seen in Three-Dimensional Visualization Interface in the destination subset conjunction shown in a second manner
Other point cloud datas to be marked that point cloud data to be marked and first method are shown.Technical staff completes to markup information
Input or selection after, destination subset is closed and markup information can be automatically with preset cloud storage file format (such as PCD
(Point Cloud Data, point cloud data) format, PLY (Polygon File Format, polygon archives) format, X3D lattice
Formula etc.) it is stored in preset storage region (such as hard disk, storage chip etc.).
In some optional implementations of the present embodiment, division unit 502 can be further configured to: based on pre-
If point cloud segmentation algorithm, point cloud data set to be marked is divided, at least one subclass is obtained.
Point cloud data to be marked in some optional implementations of the present embodiment, in point cloud data set to be marked
It is corresponding with preset serial number；And the device 500 for handling data can also include: that the second determination unit (is not shown in figure
Out), it is configured to each of the point cloud data to be marked for for the subclass at least one subclass, including by the subclass
Serial number is determined as the corresponding serial number set of the subclass.
In some optional implementations of the present embodiment, the first determination unit 503 may include: determining module (figure
In be not shown), be configured to from the point cloud data to be marked shown with the first display mode, determine destination subset close it is corresponding
The corresponding point cloud data to be marked of serial number in serial number set；Display module (not shown), being configured to will be identified
Point cloud data to be marked is shown in a second display mode.
In some optional implementations of the present embodiment, the first storage unit 504 may include: the first generation module
(not shown) is configured to generate the first description information closed for destination subset；First memory module (is not shown in figure
Out), it is configured to destination subset conjunction, markup information and the first description information associated storage.
In some optional implementations of the present embodiment, the device 500 for handling data can also include: to generate
Unit (not shown), is configured to for the point cloud data to be marked in point cloud data set to be marked, based on include with
The markup information of the subclass of the identical point cloud data to be marked of the point cloud data to be marked, generates and is directed to the to be marked cloud number
According to mark point cloud data, wherein mark point cloud data is for characterizing classification belonging to the point cloud data to be marked；Second storage
Unit (not shown) is configured to store the set of mark point cloud data generated.
In some optional implementations of the present embodiment, the second storage unit may include: the second generation module (figure
In be not shown), be configured to generate for it is generated mark point cloud data set the second description information；Second storage mould
Block (not shown) is configured to the set and the second description information of associated storage mark point cloud data.
The device provided by the above embodiment of the application, by showing point cloud data set to be marked with the first display mode
Show, point cloud data set to be marked is then divided at least one subclass, and then subclass is shown in a second display mode
Show, finally the subclass shown in a second display mode is labeled, to improve the effect being labeled to point cloud data
Rate, and improve the flexibility being labeled to point cloud data.
Below with reference to Fig. 6, it is (such as shown in FIG. 1 that it illustrates the electronic equipments for being suitable for being used to realize the embodiment of the present application
Server or terminal device) computer system 600 structural schematic diagram.Electronic equipment shown in Fig. 6 is only an example,
Should not function to the embodiment of the present application and use scope bring any restrictions.
As shown in fig. 6, computer system 600 includes central processing unit (CPU) 601, it can be read-only according to being stored in
Program in memory (ROM) 602 or be loaded into the program in random access storage device (RAM) 603 from storage section 608 and
Execute various movements appropriate and processing.In RAM 603, also it is stored with system 600 and operates required various programs and data.
CPU 601, ROM 602 and RAM 603 are connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to always
Line 604.
I/O interface 605 is connected to lower component: the importation 606 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 607 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 608 including hard disk etc.；
And the communications portion 609 of the network interface card including LAN card, modem etc..Communications portion 609 via such as because
The network of spy's net executes communication process.Driver 610 is also connected to I/O interface 605 as needed.Detachable media 611, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 610, in order to read from thereon
Computer program be mounted into storage section 608 as needed.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable medium
On computer program, which includes the program code for method shown in execution flow chart.In such reality
It applies in example, which can be downloaded and installed from network by communications portion 609, and/or from detachable media
611 are mounted.When the computer program is executed by central processing unit (CPU) 601, limited in execution the present processes
Above-mentioned function.It should be noted that computer-readable medium described herein can be computer-readable signal media or
Computer-readable medium either the two any combination.Computer-readable medium for example can be --- but it is unlimited
In system, device or the device of --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or any above combination.It calculates
The more specific example of machine readable medium can include but is not limited to: electrical connection, portable meter with one or more conducting wires
Calculation machine disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable programmable read only memory
(EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device or
The above-mentioned any appropriate combination of person.In this application, computer-readable medium, which can be, any includes or storage program has
Shape medium, the program can be commanded execution system, device or device use or in connection.And in the application
In, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, wherein
Carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to electric
Magnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable Jie
Any computer-readable medium other than matter, the computer-readable medium can be sent, propagated or transmitted for being held by instruction
Row system, device or device use or program in connection.The program code for including on computer-readable medium
It can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. or above-mentioned any conjunction
Suitable combination.
The calculating of the operation for executing the application can be write with one or more programming languages or combinations thereof
Machine program code, described program design language include object oriented program language-such as Java, Smalltalk, C+
+, it further include conventional procedural programming language-such as " C " language or similar programming language.Program code can
Fully to execute, partly execute on the user computer on the user computer, be executed as an independent software package,
Part executes on the remote computer or executes on a remote computer or server completely on the user computer for part.
In situations involving remote computers, remote computer can pass through the network of any kind --- including local area network (LAN)
Or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize Internet service
Provider is connected by internet).
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor packet
Include acquiring unit, division unit, the first determination unit and the first storage unit.Wherein, the title of these units is in certain situation
Under do not constitute restriction to the unit itself, for example, division unit is also described as " by point cloud data set to be marked
It is divided into the unit of at least one subclass ".
As on the other hand, present invention also provides a kind of computer-readable medium, which be can be
Included in electronic equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying electronic equipment.
Above-mentioned computer-readable medium carries one or more program, when said one or multiple programs are held by the electronic equipment
When row, so that the electronic equipment: obtaining point cloud data set to be marked, and will be to be marked in point cloud data set to be marked
Point cloud data is shown with the first display mode；Point cloud data set to be marked is divided at least one subclass；From at least one
In a subclass determine destination subset close, and by destination subset close in point cloud data to be marked show in a second display mode
Show；In response to receiving for closing the markup information being labeled to destination subset, destination subset is closed and is associated with markup information
Storage.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (16)
1. a kind of method for handling data, comprising:
Point cloud data set to be marked is obtained, and by the point cloud data to be marked in the point cloud data set to be marked with
One display mode is shown；
The point cloud data set to be marked is divided at least one subclass；
From at least one described subclass determine destination subset close, and by the destination subset close in be marked cloud number
According to showing in a second display mode；
In response to receiving for closing the markup information that is labeled to the destination subset, by the destination subset close with it is described
Markup information associated storage.
2. described that the point cloud data set to be marked is divided at least one according to the method described in claim 1, wherein
Subclass, comprising:
Based on preset point cloud segmentation algorithm, the point cloud data set to be marked is divided, at least one subset is obtained
It closes.
3. according to the method described in claim 1, wherein, point cloud data to be marked in the point cloud data set to be marked with
Preset serial number is corresponding；And
It is described the point cloud data set to be marked is divided at least one subclass after, the method also includes:
For the subclass at least one described subclass, each serial number for the point cloud data to be marked for including by the subclass
It is determined as the corresponding serial number set of the subclass.
4. according to the method described in claim 3, wherein, it is described by the destination subset close in point cloud data to be marked with the
Two display modes are shown, comprising:
From the point cloud data to be marked shown with the first display mode, determine that the destination subset is closed in corresponding serial number set
The corresponding point cloud data to be marked of serial number；
Identified point cloud data to be marked is shown in a second display mode.
5. according to the method described in claim 1, wherein, described be associated with destination subset conjunction with the markup information is deposited
Storage, comprising:
Generate the first description information closed for the destination subset；
By destination subset conjunction, the markup information and the first description information associated storage.
6. method described in one of -5 according to claim 1, wherein close the destination subset and the markup information described
After associated storage, the method also includes:
For the point cloud data to be marked in the point cloud data set to be marked, based on including and the point cloud data phase to be marked
The markup information of the subclass of same point cloud data to be marked generates the mark point cloud data for being directed to the point cloud data to be marked,
Wherein, mark point cloud data is for characterizing classification belonging to the point cloud data to be marked；
Store the set of mark point cloud data generated.
7. according to the method described in claim 6, wherein, the set of the storage mark point cloud data generated, comprising:
Generate the second description information of the set for mark point cloud data generated；
The set and second description information of point cloud data are marked described in associated storage.
8. a kind of for handling the device of data, comprising:
Acquiring unit is configured to obtain point cloud data set to be marked, and will be in the point cloud data set to be marked
Point cloud data to be marked is shown with the first display mode；
Division unit is configured to the point cloud data set to be marked being divided at least one subclass；
First determination unit is configured to determine that destination subset is closed from least one described subclass, and by the target
Point cloud data to be marked in subclass is shown in a second display mode；
First storage unit is configured in response to receive for closing the markup information being labeled to the destination subset,
The destination subset is closed and the markup information associated storage.
9. device according to claim 8, wherein the division unit is further configured to:
Based on preset point cloud segmentation algorithm, the point cloud data set to be marked is divided, at least one subset is obtained
It closes.
10. device according to claim 8, wherein the point cloud data to be marked in the point cloud data set to be marked
It is corresponding with preset serial number；And
Described device further include:
Second determination unit, is configured to for the subclass at least one described subclass, by the subclass include to
Each serial number of mark point cloud data is determined as the corresponding serial number set of the subclass.
11. device according to claim 10, wherein first determination unit includes:
Determining module is configured to from the point cloud data to be marked shown with the first display mode, determines the destination subset
Close the corresponding point cloud data to be marked of serial number in corresponding serial number set；
Display module is configured in a second display mode show identified point cloud data to be marked.
12. device according to claim 8, wherein first storage unit includes:
First generation module is configured to generate the first description information closed for the destination subset；
First memory module is configured to close the destination subset, the markup information is associated with first description information
Storage.
13. the device according to one of claim 8-12, wherein described device further include:
Generation unit, is configured to for the point cloud data to be marked in the point cloud data set to be marked, based on include with
The markup information of the subclass of the identical point cloud data to be marked of the point cloud data to be marked, generates and is directed to the to be marked cloud number
According to mark point cloud data, wherein mark point cloud data is for characterizing classification belonging to the point cloud data to be marked；
Second storage unit is configured to store the set of mark point cloud data generated.
14. device according to claim 13, wherein second storage unit includes:
Second generation module is configured to generate the second description information of the set for mark point cloud data generated；
Second memory module is configured to mark the set and second description information of point cloud data described in associated storage.
15. a kind of electronic equipment, comprising:
One or more processors；
Storage device is stored thereon with one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now method as described in any in claim 1-7.
16. a kind of computer-readable medium, is stored thereon with computer program, wherein the realization when program is executed by processor
Method as described in any in claim 1-7.
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| CN201810411397.1A CN110443899A (en) | 2018-05-02 | 2018-05-02 | Method and apparatus for handling data |
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| CN201810411397.1A CN110443899A (en) | 2018-05-02 | 2018-05-02 | Method and apparatus for handling data |
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Application publication date: 20191112 |