CN112825618A - Point cloud display method, point cloud display equipment, movable platform and storage medium - Google Patents
Point cloud display method, point cloud display equipment, movable platform and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a point cloud display method, a point cloud display device, a movable platform and a storage medium, wherein the method comprises the following steps: acquiring point cloud data acquired by a laser radar; and displaying the point cloud data through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is greater than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of the point cloud frames. In this way, the efficiency and effectiveness of point cloud display can be improved.
Description
The embodiment of the invention relates to the technical field of control, in particular to a point cloud display method, point cloud display equipment, a movable platform and a storage medium.
The point cloud of the lidar is a non-repetitive scan, meaning that as the scan time for the same area increases, the scanned pattern will become clearer. At present, the traditional point cloud display mode is a single-frame point cloud frame-advancing display mode. However, as the time length of the point cloud frame increases, the frequency of updating the point cloud data is lower, and the display effect of the point cloud data is poorer. Therefore, how to display the point cloud data more effectively has very important significance.
Disclosure of Invention
The embodiment of the invention provides a point cloud display method, a point cloud display device, a movable platform and a storage medium, which can improve the efficiency and effectiveness of point cloud display.
In a first aspect, an embodiment of the present invention provides a point cloud display method, including:
acquiring point cloud data acquired by a laser radar;
and displaying the point cloud data through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is greater than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of the point cloud frames.
In a second aspect, an embodiment of the present invention provides a point cloud display device, including a memory and a processor;
the memory is used for storing programs;
the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:
acquiring point cloud data acquired by a laser radar;
and displaying the point cloud data through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is greater than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of the point cloud frames.
In a third aspect, an embodiment of the present invention provides a movable platform, including:
the power system is used for providing moving power for the movable platform;
and a point cloud display apparatus as described in the second aspect above.
In a fourth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method according to the first aspect.
In the embodiment of the invention, the point cloud display equipment displays the point cloud data through acquiring the point cloud data acquired by the laser radar and through the point cloud frame sequence, wherein in at least part of point cloud frames, the integral duration of the point cloud data of one frame of point cloud frame is longer than the time interval between the point cloud frame and the previous frame of point cloud frame, so that the efficiency and effectiveness of point cloud display are improved.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1a is a time diagram of a conventional point cloud display;
FIG. 1b is a schematic time diagram of another conventional point cloud display;
FIG. 2a is a schematic time diagram of a point cloud display method according to an embodiment of the present invention;
FIG. 2b is a schematic time diagram of another point cloud display method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of point cloud data refreshing in a window according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a point cloud display method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an interface for displaying laser radar information according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a point cloud display device according to an embodiment of the present invention.
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The point cloud display method provided by the embodiment of the invention can be executed by a point cloud display device. In some embodiments, the point cloud display device may be mounted on a movable platform; in some embodiments, the point cloud display device may be spatially independent of the movable platform; in some embodiments, the point cloud display device may be a component of a movable platform, i.e., the movable platform includes the point cloud display device. In other embodiments, the point cloud display method may also be applied to other mobile devices, such as mobile phones, robots capable of autonomous movement, unmanned vehicles, unmanned ships, and other devices. In some embodiments, one or more lidar may be included on the movable platform.
In some embodiments, the lidar is a perceptual sensor that may obtain three-dimensional information of a scene. The basic principle is that a laser pulse signal is actively emitted to a detected object, a pulse signal reflected by the detected object is obtained, and the depth information of a distance detector of the detected object is calculated according to the time difference between the emitted signal and the received signal; based on the known transmitting direction of the laser radar, obtaining the angle information of the measured object relative to the laser radar; and combining the depth information and the angle information to obtain massive detection points (called point clouds), and reconstructing the spatial three-dimensional information of the detected object relative to the laser radar based on the point clouds.
The point cloud display equipment can acquire point cloud data acquired by the laser radar. In certain embodiments, the point cloud display device may receive point cloud data from a plurality of lidar acquisitions. In certain embodiments, the lidar has a field of view of less than 180 degrees, and in one example, the lidar has a field of view of less than 100 degrees.
In a traditional point cloud display mode, point cloud data is divided into a plurality of point cloud frames according to the integral duration of the point cloud data of a current point cloud frame along with the time, and the point cloud frames are sequentially displayed. Specifically, fig. 1a and fig. 1b are taken as examples, where fig. 1a is a time schematic diagram of a conventional point cloud display mode, and fig. 1b is a time schematic diagram of another conventional point cloud display mode. As shown in fig. 1a, a time diagram of a frame of point cloud frame with a duration of 100ms is shown, which includes 7 frames of point cloud frames in total, and they are respectively: under the condition that each Frame of point cloud Frame is 100ms, point cloud data in a window can be updated only at the frequency of 10Hz, and each Frame of point cloud Frame is displayed in sequence. As shown in fig. 1b, a time diagram of one frame of point cloud frame with a duration of 200ms is shown, and under the duration of 200ms of each frame of point cloud frame, point cloud data in a window can only be updated at a frequency of 5Hz, and each frame of point cloud frame is sequentially displayed. Therefore, in the conventional point cloud display mode, as the duration of the point cloud frame increases, the lower the update frequency of the point cloud data in the window is, the poorer the image display effect is.
The embodiment of the invention provides a method for displaying point cloud data through a point cloud frame sequence, aiming at the problems of the traditional point cloud display mode, and can realize that under the condition that the integral time of the point cloud data of a point cloud frame is longer, the point cloud data in a window is refreshed at intervals of fixed time, and the refreshed point cloud data in the window are sequentially displayed in the point cloud frame sequence, so that the display effect is improved.
Specifically, fig. 2a and fig. 2b are taken as examples for explanation, fig. 2a is a time schematic diagram of a point cloud display mode provided in an embodiment of the present invention, and fig. 2b is a time schematic diagram of another point cloud display mode provided in an embodiment of the present invention. As shown in fig. 2a and 2b, respectively showing an operation principle of a window-based point cloud refreshing mode under the condition of integral duration of point cloud data of one frame of point cloud frame of 100ms and 200ms, refreshing the point cloud data in the window at a refreshing frequency of 20Hz in a sliding window mode, determining that the fixed duration of the point cloud data in the window is 50ms according to the refreshing frequency of 20Hz, advancing one point cloud data of the window every 50ms during each refreshing, namely cutting one point cloud data from the point cloud data every 50ms, discarding one point cloud data at the head of the window every 50ms, and adding one cut point cloud data to the end of the window.
For example, assuming that a Frame1, i.e., a first Frame point cloud Frame, is currently displayed in the window, one part of point cloud data 5 is cut out from the point cloud data every 50ms, one part of point cloud data 1 at the head of the window is discarded every 50ms, and the cut part of point cloud data 5 is added to the end of the window, so that a Frame2, i.e., a second Frame point cloud Frame, is obtained. Similarly, when the Frame2 is currently displayed in the window, one part of point cloud data 6 is cut out of the point cloud data every 50ms, one part of point cloud data 2 at the head of the window is discarded every 50ms, and the cut part of point cloud data 6 is added to the end of the window to obtain a Frame3, namely a third Frame of point cloud Frame. Similarly, when the Frame3 is currently displayed in the window, one part of point cloud data 7 is cut out of the point cloud data every 50ms, one part of point cloud data 3 at the head of the window is discarded every 50ms, and the cut part of point cloud data 7 is added to the end of the window to obtain a Frame4, namely a fourth Frame of point cloud Frame. By the implementation method, the point cloud data in the window can be refreshed every fixed time length under the condition that the integration time length of the point cloud data of the point cloud frame is long, the refreshed point cloud data in the window are sequentially displayed in the point cloud frame sequence, and the display effect is improved.
In one embodiment, in order to reduce memory consumption and performance loss caused by the movement of the window, the point cloud data of the window is divided according to the above-mentioned manner in fig. 2a or 2b, and each window with a length of N has N pieces of point cloud data, and the point cloud data is sequentially written into the three-dimensional control according to a refresh frequency, such as 20 Hz. When the form moves, the control discards a part of point cloud data at the head of the form and adds the cut part of point cloud data to the tail of the form, so that the movement is formed. Specifically, fig. 3 is an example, and fig. 3 is a schematic diagram of point cloud data refreshing in a window according to an embodiment of the present invention. As shown in fig. 3, the point cloud data of one frame of point cloud frame in the window includes 1, 2, 3, and 4 parts of point cloud data, assuming that the refresh frequency is 20Hz, the 1, 2, 3, and 4 parts of point cloud data are sequentially written into the three-dimensional control according to the refresh frequency of 20Hz, the fixed duration of the point cloud data of one frame of point cloud frame is determined to be 50ms according to the refresh frequency of 20Hz, one part of point cloud data 5 is cut out from the point cloud data every 50ms, one part of point cloud data 1 at the head of the window is discarded, and the cut part of point cloud data 5 is added to the end of the window, so as to obtain the point cloud data of one frame of point cloud frame composed of 2, 3, 4, and 5 parts of point cloud data.
The point cloud display method provided by the embodiment of the invention is schematically described below with reference to the accompanying drawings.
Referring to fig. 4, fig. 4 is a schematic flow chart of a point cloud display method according to an embodiment of the present invention, which can be executed by a point cloud display device, where the specific explanation of the point cloud display device is as described above. Specifically, the method of the embodiment of the present invention includes the following steps.
S401: and acquiring point cloud data acquired by the laser radar.
In the embodiment of the invention, the point cloud display equipment can acquire the point cloud data acquired by the laser radar. In some embodiments, the range of view of the lidar is less than 180 degrees, and the lidar is explained as above, which is not described herein.
In one embodiment, the point cloud display device may receive point cloud data from a plurality of lidar acquisitions.
In one embodiment, the point cloud display device may display the identifiers of the plurality of laser radars and the parameter information corresponding to each identifier to an interactive interface, and receive laser radar combination indication information through the interactive interface, where the laser radar combination indication information carries the identifiers of the plurality of laser radars, so as to determine the plurality of laser radars having a combination relationship according to the identifiers of the plurality of laser radars carried by the laser radar combination indication information.
In one embodiment, the interactive interface may include a lidar display area, and the lidar display area includes a lidar identification display area, a combination selection area, and a parameter display area. In an embodiment, the point cloud display device may output the identifiers of the plurality of laser radars of the acquired point cloud data to the laser radar identifier display area for display, and output the parameter information corresponding to each laser radar identifier to the parameter display area for display.
In an implementation manner, a user may select, in a combination selection area of an interactive interface, identifiers of a plurality of laser radars having a combination relationship, so that a point cloud display device may receive laser radar combination indication information through the interactive interface, where the laser radar combination indication information carries the identifiers of the plurality of laser radars, and determine the plurality of laser radars having the combination relationship according to the identifiers of the plurality of laser radars carried by the laser radar combination indication information.
In one embodiment, the point cloud display device may receive an adjustment of a parameter of one of the lidar combinations by a user through the interactive interface, perform a corresponding adjustment of parameters of the remaining lidar combinations according to the adjustment, and display the adjusted parameter. In some embodiments, the parameters include attitude parameters and/or position parameters of the lidar.
In one embodiment, a user may input parameter information of each lidar in a parameter display area; or, the user can adjust the parameter information of each laser radar in the parameter display area, so that the point cloud display device can receive the adjustment of the user on the parameter of one laser radar in the laser radar combination through the interactive interface, correspondingly adjust the parameters of the rest laser radars in the laser radar combination according to the adjustment, and display the adjusted parameters.
In some embodiments, the identification of the lidar includes, but is not limited to, any one or more characters of numbers, letters, words, and the like. In some embodiments, the parameter information of the lidar includes attitude parameters and/or position parameters; in some embodiments, the attitude parameters include Roll attitude Roll, Pitch attitude Pitch, Yaw attitude Yaw; in some embodiments, the position parameters may be position coordinates acquired from a positioning system, which may include, but is not limited to, GPS, beidou positioning system, or Real-time kinematic (RTK) carrier-phase differential positioning system, which may be represented by (X, Y, Z) in one example.
Through the implementation mode, the problem that the user cannot independently combine the pain points of the laser radar during calibration is solved, and the calibration efficiency of the user is improved.
Specifically, fig. 5 is an example, and fig. 5 is an interface schematic diagram for displaying lidar information according to an embodiment of the present invention, and fig. 5 includes: a laser radar identification display area 51, a combination selection area 52 and a parameter display area 53. The lidar identification display area 51 displays 4 identifications corresponding to 4 radars for acquiring the point cloud data by the point cloud display device, and a user can select the lidar corresponding to the identifications of the 4 radars as the lidar with a combination relation in the combination selection area 52 of the interactive interface. The parameter display area 53 displays parameter information corresponding to each laser radar, and a user can input the parameter information of each laser radar in the parameter display area 53 and can adjust the parameter information of each laser radar in the parameter display area 53. When a user adjusts parameter information of one laser radar in each laser radar with a combination relation, the point cloud display device can determine the variation of the parameter of the one laser radar and automatically adjust the parameters of the other laser radars in the laser radar combination according to the variation, wherein the adjusted parameters of the other laser radars and the adjusted parameter of the one laser radar have the same variation. By setting the combination relation of the laser radars, the requirements of users on automation and intellectualization of adjusting laser radar parameters can be met.
In some embodiments, the combined selection area 52 includes a combined icon such as Group, and the parameter display area 53 includes parameter icons such as Roll, Pitch, Yaw, X, Y, and Z. In some embodiments, when the reset button 54 is clicked, the user may re-select the identification of the lidar and the reset parameter information and complete the reset by clicking the update button 54.
In one embodiment, when the point cloud display device adjusts parameters of the other laser radars in the laser radar combination according to the adjustment, the point cloud display device may determine a variation of the parameter of the laser radar, and adjust the parameters of the other laser radars in the laser radar combination according to the variation. In some embodiments, the adjusted parameters of the remaining lidar and the one lidar have the same amount of change.
In one embodiment, when a user adjusts the parameter information of one of the plurality of laser radars having a combination relationship in the parameter display area of the interactive interface, the point cloud display device may automatically adjust the parameters of the other laser radars having a combination relationship corresponding to the adjusted parameter of the one laser radar according to the correspondence relationship of the parameter information between the plurality of laser radars having a combination relationship. By the implementation mode, the efficiency of adjusting the laser radar parameters can be improved, so that the calibration efficiency of a user is improved.
For example, in one application scenario, a user has multiple lidar arranged on a mobile platform with FOV less than 180 degrees, where the multiple lidar may have the same or different FOV. After the position parameters and/or attitude parameters of the plurality of laser radars are calibrated (the positions of the plurality of laser radars can be fixed to each other), when the positions of the plurality of laser radars need to be moved uniformly, only the position parameter and/or attitude parameter of one of the laser radars can be modified through a combination function on an interactive interface, and the position parameters and/or attitude parameters of other laser radars can be correspondingly and automatically modified through the combination function.
Specifically, as an example in fig. 5, it is assumed that 4 lidar displayed in the lidar display area 51 in fig. 5 are lidar having a combination relationship and selected by the user in the combination selection area 52, where the position parameters X of 4 lidar 1HDDG6U00100201, 1LVDG3U99100451, 1LVDG3U99100452, and 1LVDG3U99100453 are respectively: 0. 3, and 3, when the user adjusts the position parameter X of the lidar identified as 1HDDG6U00100201 from 0 to 2 in the parameter display area 53 of the interactive interface, the point cloud display device may determine that the variation of the position parameter X of the lidar 1HDDG6U00100201 is 2, and since the adjusted position parameters X of the remaining lidars and the adjusted position parameters X of the lidar 1HDDG6U00100201 have the same variation, the variation of the position parameters X of the remaining 3 lidars 1LVDG3U99100451, 1LVDG3U99100452, and 1LVDG3U99100453 is also 2. Therefore, the point cloud display device may adjust the position parameters X of the remaining 3 lidar in the lidar combination according to the variation 2, and the position parameters X of the adjusted lidar 1LVDG3U99100451, 1LVDG3U99100452, and 1LVDG3U99100453 are: 5. 5 and 5.
S402: and displaying the point cloud data through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is greater than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of the point cloud frames.
In the embodiment of the invention, the point cloud display equipment can display the point cloud data through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is longer than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of the point cloud frames.
In one example, the integration time of the point cloud data of one frame of point cloud frame is 100ms, and the time interval between the point cloud frame and the previous frame of point cloud frame is 50 ms.
In an embodiment, when the point cloud display device displays the point cloud data through a point cloud frame sequence, the point cloud data in a window may be refreshed at intervals of a fixed duration, the duration corresponding to the point cloud data in the window is the integration duration, and the refreshed point cloud data in the window is sequentially displayed in the point cloud frame sequence. In some embodiments, the time duration corresponding to the point cloud data in the window is fixed; or the time length corresponding to the point cloud data in the window is adjustable; or the fixed time length is adjustable.
In one embodiment, the point cloud display device may receive integral duration indication information through an interactive interface, and determine a duration corresponding to the point cloud data in the window according to the integral duration indication information.
In an implementation manner, a user may input an integration duration through an interactive interface, the interactive interface generates integration duration indication information according to the integration duration input by the user, and the point cloud display device may obtain the integration duration indication information and determine a duration corresponding to the point cloud data in the window according to the integration duration indication information. For example, a user may set an integration duration on the interactive interface for 200ms, and the point cloud display device may receive integration duration indication information transmitted by the interactive interface, and determine that a duration corresponding to the point cloud data in the window is 200ms according to the integration duration indication information. Through the implementation mode, a user can set the integral duration of the point cloud data through the interactive interface, the refreshing frequency of the point cloud data is prevented from being reduced along with the increase of the frame duration, the flexible adjustment of the integral duration is realized, and the effect of point cloud display is improved.
In one embodiment, the point cloud display device may receive the refresh frequency indication information through an interactive interface, and determine the fixed duration according to the refresh frequency indication information.
In one implementation, a user may input a refresh frequency on an interactive interface, the interactive interface generates refresh frequency indication information according to the refresh frequency input by the user, and determines a fixed duration according to the refresh frequency indication information. For example, a user may input a refresh frequency of 20Hz on the interactive interface, the interactive interface generates refresh frequency indication information according to the refresh frequency of 20Hz input by the user, and determines that the fixed duration is 100ms according to the refresh frequency indication information. By the implementation mode, the point cloud data can be refreshed according to the fixed time length, and the point cloud display effect is improved.
In one embodiment, when the point cloud display device refreshes point cloud data in a window at intervals of a fixed time, one part of point cloud data can be cut out from the point cloud data at intervals of the fixed time in the background, the point cloud data in the window comprises a plurality of parts of point cloud data which are sequentially added at different moments, one part of point cloud data at the head of the window is discarded at intervals of the fixed time, and the cut part of point cloud data is added at the tail of the window. By this embodiment, the effect of point cloud display can be improved.
Specifically, as shown in fig. 3 as an example, assuming that the point cloud data in the window includes 1, 2, 3, and 4 parts of point cloud data sequentially added at different times, the fixed time length is 50ms, the point cloud display device may cut out one part of point cloud data 5 from the point cloud data every 50ms, discard one part of point cloud data 1 at the head of the window every 50ms, add the cut-out one part of point cloud data 5 to the end of the window, obtain 2, 3, 4, and 5 parts of point cloud data in the window, so as to refresh the point cloud data in the window, and sequentially display the 2, 3, 4, and 5 parts of point cloud data in the window after refreshing in the point cloud frame sequence.
In one embodiment, the time length corresponding to the cut out point cloud data is the same as the time length corresponding to the discarded point cloud data in the window; or the data volume of the cut point cloud data is the same as that of the discarded point cloud data in the window. By the implementation mode, the duration of the point cloud data after being refreshed in the window is the same as the duration of the point cloud data before being refreshed, and the reduction of memory consumption and performance loss caused by window refreshing is facilitated.
Specifically, as shown in fig. 3, the time length corresponding to the cut point cloud data 5 is the same as the time length corresponding to the discarded point cloud data 1 in the window, and is 50 ms. For another example, the data amount of the cut-out piece of point cloud data 5 is the same as the data amount of the discarded piece of point cloud data 1 in the window, and each piece of point cloud data includes 20 point clouds.
In the embodiment of the invention, the point cloud display equipment displays the point cloud data through acquiring the point cloud data acquired by the laser radar and through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is longer than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of point cloud frames. By the implementation mode, the efficiency and effectiveness of point cloud display are improved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a point cloud display device according to an embodiment of the present invention. Specifically, the point cloud display device includes: memory 601, processor 602.
In one embodiment, the point cloud display device further comprises a data interface 603, and the data interface 603 is used for transferring data information between the point cloud display device and other devices.
The memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (non-volatile memory); the memory 601 may also comprise a combination of memories of the kind described above. The processor 602 may be a Central Processing Unit (CPU). The processor 602 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
The memory 601 is used for storing programs, and the processor 602 can call the programs stored in the memory 601 for executing the following steps:
acquiring point cloud data acquired by a laser radar;
and displaying the point cloud data through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is greater than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of the point cloud frames.
Further, when the processor 602 displays the point cloud data through the point cloud frame sequence, the processor is specifically configured to:
refreshing the point cloud data in the window at intervals of fixed time, wherein the time length corresponding to the point cloud data in the window is the integral time length;
and sequentially displaying the refreshed point cloud data in the window in the point cloud frame sequence.
Further, the time length corresponding to the point cloud data in the window is fixed; alternatively, the first and second electrodes may be,
the time length corresponding to the point cloud data in the window is adjustable; alternatively, the first and second electrodes may be,
the fixed duration value is adjustable.
Further, the processor 602 is further configured to:
receiving integral duration indication information through an interactive interface;
and determining the time length corresponding to the point cloud data in the window according to the integral time length indication information.
Further, the processor 602 is further configured to:
receiving refreshing frequency indication information through an interactive interface;
and determining the fixed time length according to the refreshing frequency indication information.
Further, the method comprises the following steps of; when the processor 602 refreshes the point cloud data in the window every fixed time, the processor is specifically configured to:
cutting out a part of point cloud data from the point cloud data at intervals of the fixed duration in the background;
and the point cloud data in the window comprises a plurality of pieces of point cloud data which are sequentially added at different moments, one piece of point cloud data at the head of the window is discarded every fixed time, and the cut piece of point cloud data is added to the tail of the window.
Further, the time length corresponding to the cut point cloud data is the same as the time length corresponding to the discarded point cloud data in the window; alternatively, the first and second electrodes may be,
and the data volume of the cut point cloud data is the same as that of the discarded point cloud data in the window.
Further, when the processor 602 acquires the point cloud data acquired by the laser radar, the method is specifically configured to:
point cloud data from a plurality of lidar acquisitions is received.
Further, the field of view of the lidar is less than 180 degrees.
Further, the processor 602 is further configured to:
displaying the identifiers of the plurality of laser radars and the parameter information corresponding to each identifier to an interaction interface;
receiving laser radar combination indication information through the interactive interface, wherein the laser radar combination indication information carries the identifications of a plurality of laser radars;
and determining a plurality of laser radars with a combination relation according to the identifications of the plurality of laser radars carried by the laser radar combination indication information.
Further, the processor 602 is further configured to:
receiving an adjustment of a parameter of one of the lidar combinations by a user through the interactive interface;
correspondingly adjusting the parameters of the rest laser radars in the laser radar combination according to the adjustment;
and displaying the adjusted parameters.
Further, when the processor 602 correspondingly adjusts the parameters of the remaining lidar in the lidar assembly according to the adjustment, the processor is specifically configured to:
determining a change in a parameter of the one lidar;
and adjusting the parameters of the rest of laser radars in the laser radar combination according to the variable quantity.
Further, the adjusted parameters of the remaining lidar and the adjusted parameter of the one lidar have the same variation.
Further, the parameters include attitude parameters and/or position parameters of the lidar.
In the embodiment of the invention, the point cloud display equipment displays the point cloud data through acquiring the point cloud data acquired by the laser radar and through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is longer than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of point cloud frames. By the implementation mode, the efficiency and effectiveness of point cloud display are improved.
An embodiment of the present invention further provides a movable platform, where the movable platform includes: the power system is used for providing moving power for the movable platform; and the point cloud display device.
In the embodiment of the invention, the movable platform acquires point cloud data acquired by a laser radar and displays the point cloud data through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is longer than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of point cloud frames. By the implementation mode, the efficiency and effectiveness of point cloud display are improved.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method described in the embodiment corresponding to fig. 4 of the present invention is implemented, and the apparatus according to the embodiment corresponding to the present invention described in fig. 6 may also be implemented, which is not described herein again.
The computer readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.
Claims (30)
- A point cloud display method, comprising:acquiring point cloud data acquired by a laser radar;and displaying the point cloud data through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is greater than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of the point cloud frames.
- The method of claim 1, wherein displaying the point cloud data through a sequence of point cloud frames comprises:refreshing the point cloud data in the window at intervals of fixed time, wherein the time length corresponding to the point cloud data in the window is the integral time length;and sequentially displaying the refreshed point cloud data in the window in the point cloud frame sequence.
- The method of claim 2,the time length corresponding to the point cloud data in the window is fixed; alternatively, the first and second electrodes may be,the time length corresponding to the point cloud data in the window is adjustable; alternatively, the first and second electrodes may be,the fixed duration value is adjustable.
- The method of claim 3, further comprising:receiving integral duration indication information through an interactive interface;and determining the time length corresponding to the point cloud data in the window according to the integral time length indication information.
- The method of claim 3, further comprising:receiving refreshing frequency indication information through an interactive interface;and determining the fixed time length according to the refreshing frequency indication information.
- The method of claim 2, wherein refreshing the point cloud data within the window every fixed time period comprises:cutting out a part of point cloud data from the point cloud data at intervals of the fixed duration in the background;and the point cloud data in the window comprises a plurality of pieces of point cloud data which are sequentially added at different moments, one piece of point cloud data at the head of the window is discarded every fixed time, and the cut piece of point cloud data is added to the tail of the window.
- The method of claim 6,the time length corresponding to the cut point cloud data is the same as the time length corresponding to the discarded point cloud data in the window; alternatively, the first and second electrodes may be,and the data volume of the cut point cloud data is the same as that of the discarded point cloud data in the window.
- The method of any one of claims 1 to 7, wherein the acquiring point cloud data collected by a lidar comprises:point cloud data from a plurality of lidar acquisitions is received.
- The method of claim 8, wherein the lidar has a field of view less than 180 degrees.
- The method of claim 8, further comprising:displaying the identifiers of the plurality of laser radars and the parameter information corresponding to each identifier to an interaction interface;receiving laser radar combination indication information through the interactive interface, wherein the laser radar combination indication information carries the identifications of a plurality of laser radars;and determining a plurality of laser radars with a combination relation according to the identifications of the plurality of laser radars carried by the laser radar combination indication information.
- The method of claim 10, further comprising:receiving an adjustment of a parameter of one of the lidar combinations by a user through the interactive interface;correspondingly adjusting the parameters of the rest laser radars in the laser radar combination according to the adjustment;and displaying the adjusted parameters.
- The method of claim 11, wherein said adjusting parameters of remaining lidar combinations in accordance with the adjustment comprises:determining a change in a parameter of the one lidar;and adjusting the parameters of the rest of laser radars in the laser radar combination according to the variable quantity.
- The method of claim 12, wherein the adjusted parameters of the remaining lidar and the one lidar have the same amount of change.
- The method of claim 11, wherein the parameters comprise attitude parameters and/or position parameters of the lidar.
- A point cloud display device comprising a memory and a processor;the memory is used for storing programs;the processor, configured to invoke the program, when the program is executed, is configured to perform the following operations:acquiring point cloud data acquired by a laser radar;and displaying the point cloud data through a point cloud frame sequence, wherein the integral duration of the point cloud data of one frame of point cloud frame is greater than the time interval between the point cloud frame and the previous frame of point cloud frame in at least part of the point cloud frames.
- The apparatus of claim 15, wherein the processor, when displaying the point cloud data over a sequence of point cloud frames, is configured to:refreshing the point cloud data in the window at intervals of fixed time, wherein the time length corresponding to the point cloud data in the window is the integral time length;and sequentially displaying the refreshed point cloud data in the window in the point cloud frame sequence.
- The apparatus of claim 16,the time length corresponding to the point cloud data in the window is fixed; alternatively, the first and second electrodes may be,the time length corresponding to the point cloud data in the window is adjustable; alternatively, the first and second electrodes may be,the fixed duration value is adjustable.
- The device of claim 17, wherein the processor is further configured to:receiving integral duration indication information through an interactive interface;and determining the time length corresponding to the point cloud data in the window according to the integral time length indication information.
- The device of claim 17, wherein the processor is further configured to:receiving refreshing frequency indication information through an interactive interface;and determining the fixed time length according to the refreshing frequency indication information.
- The apparatus of claim 16, wherein the processor, when refreshing the point cloud data in the window at regular intervals, is specifically configured to:cutting out a part of point cloud data from the point cloud data at intervals of the fixed duration in the background;and the point cloud data in the window comprises a plurality of pieces of point cloud data which are sequentially added at different moments, one piece of point cloud data at the head of the window is discarded every fixed time, and the cut piece of point cloud data is added to the tail of the window.
- The apparatus of claim 20,the time length corresponding to the cut point cloud data is the same as the time length corresponding to the discarded point cloud data in the window; alternatively, the first and second electrodes may be,and the data volume of the cut point cloud data is the same as that of the discarded point cloud data in the window.
- The apparatus according to any one of claims 15 to 21, wherein the processor, when acquiring point cloud data acquired by the lidar, is configured to:point cloud data from a plurality of lidar acquisitions is received.
- The apparatus of claim 22, wherein the lidar has a field of view less than 180 degrees.
- The device of claim 22, wherein the processor is further configured to:displaying the identifiers of the plurality of laser radars and the parameter information corresponding to each identifier to an interaction interface;receiving laser radar combination indication information through the interactive interface, wherein the laser radar combination indication information carries a plurality of laser radar identifications;and determining a plurality of laser radars with a combination relation according to the identifications of the plurality of laser radars carried by the laser radar combination indication information.
- The device of claim 24, wherein the processor is further configured to:receiving an adjustment of a parameter of one of the lidar combinations by a user through the interactive interface;correspondingly adjusting the parameters of the rest laser radars in the laser radar combination according to the adjustment;and displaying the adjusted parameters.
- The apparatus of claim 25, wherein the processor, when performing corresponding adjustments to the parameters of the remaining lidar components in the lidar assembly based on the adjustments, is specifically configured to:determining a change in a parameter of the one lidar;and adjusting the parameters of the rest of laser radars in the laser radar combination according to the variable quantity.
- The apparatus of claim 26, wherein the adjusted parameters of the remaining lidar and the one lidar adjusted parameter have the same amount of change.
- The apparatus of claim 25, wherein the parameters comprise attitude parameters and/or position parameters of the lidar.
- A movable platform, comprising:the power system is used for providing moving power for the movable platform;and a point cloud display device as claimed in any one of claims 15 to 28.
- A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 14.
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| PCT/CN2019/107090 WO2021051407A1 (en) | 2019-09-20 | 2019-09-20 | Point cloud display method and device, and mobile platform and storage medium |
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| CN108700653A (en) * | 2017-05-31 | 2018-10-23 | 深圳市大疆创新科技有限公司 | A kind of scan control method of laser radar, device and equipment |
| CN109870706A (en) * | 2019-01-31 | 2019-06-11 | 深兰科技（上海）有限公司 | A kind of detection method of road surface identification, device, equipment and medium |
| CN110019570A (en) * | 2017-07-21 | 2019-07-16 | 百度在线网络技术（北京）有限公司 | For constructing the method, apparatus and terminal device of map |
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| US10769840B2 (en) * | 2018-02-27 | 2020-09-08 | Nvidia Corporation | Analysis of point cloud data using polar depth maps and planarization techniques |
| CN109509226B (en) * | 2018-11-27 | 2023-03-28 | 广东工业大学 | Three-dimensional point cloud data registration method, device and equipment and readable storage medium |
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| CN108700653A (en) * | 2017-05-31 | 2018-10-23 | 深圳市大疆创新科技有限公司 | A kind of scan control method of laser radar, device and equipment |
| CN110019570A (en) * | 2017-07-21 | 2019-07-16 | 百度在线网络技术（北京）有限公司 | For constructing the method, apparatus and terminal device of map |
| CN109870706A (en) * | 2019-01-31 | 2019-06-11 | 深兰科技（上海）有限公司 | A kind of detection method of road surface identification, device, equipment and medium |
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