CN107578463A - The method and apparatus that rasterizing processing is carried out to radar cloud data - Google Patents
The method and apparatus that rasterizing processing is carried out to radar cloud data Download PDFInfo
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- CN107578463A CN107578463A CN201710894643.9A CN201710894643A CN107578463A CN 107578463 A CN107578463 A CN 107578463A CN 201710894643 A CN201710894643 A CN 201710894643A CN 107578463 A CN107578463 A CN 107578463A
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Abstract
The embodiment of the invention discloses a kind of method and device that rasterizing processing is carried out to radar cloud data, belong to data processing field.This method includes：Obtain radar cloud data, each data are ranked up according to the first change in coordinate axis direction, each data are divided into n the first data groups along the first change in coordinate axis direction, for each first data group in n the first data groups, the first data group is divided into m the second data groups along the second change in coordinate axis direction.Because radar cloud data is first sorted in the first specified reference axis, data point is enabled to divide to obtain n the first data groups according to the direction of the first reference axis, and it can then be divided in each first data group by the second change in coordinate axis direction, so as to obtain the radar cloud data after rasterizing, the efficiency that rasterizing processing is carried out to radar cloud data is improved, accelerates the response speed of the associative operation of radar cloud data using rasterizing.
Description
Technical field
It is more particularly to a kind of that rasterizing is carried out to radar cloud data the present embodiments relate to technical field of data processing
The method and apparatus of processing.
Background technology
With the development of unmanned technology, the automatic Pilot technology of vehicle is increasingly paid attention to by researcher.Its
In, the trailer-mounted radar radar cloud data reflected that can break the barriers knows barrier situation around vehicle.
In correlation technique, the radar cloud data that trailer-mounted radar collects needs to handle by gridding.For example, unmanned vehicle
The data point of demand be abscissa in [4,6], and data point of the ordinate in [5,8], if the number of trailer-mounted radar collection
Strong point sum has 2000, then car-mounted terminal or server need to travel through the abscissa and ordinate of this 2000 data points,
With therefrom extract abscissa and ordinate meet vehicle demand rasterizing data.
However, the enormous amount of the data point due to the collection of usual trailer-mounted radar, to radar cloud data in correlation technique
In the processing method that is traveled through of all data need to consume longer processing time, treatment effeciency is relatively low.
The content of the invention
The embodiments of the invention provide a kind of air navigation aid and device, can solve in correlation technique to radar cloud data
In the processing method that is traveled through of all data need to consume longer processing time, it is the problem for the treatment of effeciency is relatively low, described
Technical scheme is as follows：
First aspect, there is provided a kind of method that rasterizing processing is carried out to radar cloud data, methods described include：
Radar cloud data is obtained, each data in the radar cloud data correspond to respective three dimensions and sat respectively
Mark, the three dimensional space coordinate include horizontal plane abscissa, horizontal plane ordinate and vertical coordinate；
Each data are ranked up according to the first change in coordinate axis direction, first change in coordinate axis direction is horizontal plane horizontal stroke
A direction in direction corresponding to direction corresponding to coordinate and horizontal plane ordinate；
Each data are divided into n the first data groups along first change in coordinate axis direction, n is positive integer；
For each first data group in the n the first data groups, along the second change in coordinate axis direction by described first
Data group is divided into m the second data groups, and m is positive integer；Wherein, second change in coordinate axis direction is that horizontal plane abscissa is corresponding
Direction and horizontal plane ordinate corresponding to another direction in direction, each second data group is the radar points cloud
One group of rasterizing data corresponding to data.
Alternatively, it is described along first change in coordinate axis direction by each data be divided into n the first data groups it
Before, methods described also includes：
Invalid data is deleted, coordinate of the invalid data on first change in coordinate axis direction is not belonging to the first preset areas
Between, and/or, coordinate of the invalid data on second change in coordinate axis direction is not belonging to the second pre-set interval.
Alternatively, the deletion invalid data, including：
Before being ranked up according to the first change in coordinate axis direction to each data, according to second change in coordinate axis direction
The radar cloud data is ranked up；
The data that the coordinate in second reference axis is not belonging to second pre-set interval are deleted, are obtained among first
Data；
It is described that each data are ranked up according to the first change in coordinate axis direction, including：
First intermediate data is ranked up according to first change in coordinate axis direction；
The deletion invalid data, in addition to：
After being ranked up according to first change in coordinate axis direction to first intermediate data, delete among described first
In data, the coordinate in first reference axis is not belonging to the data of first pre-set interval.
Alternatively, described each first data group in the n the first data groups, along the second change in coordinate axis direction
First data group is divided into m the second data groups, including：
The data in first data group are ranked up according to second change in coordinate axis direction；
Along second change in coordinate axis direction, first data group after sequence is divided by the second unit length,
Obtain m the second data groups.
Second aspect, there is provided a kind of device that rasterizing processing is carried out to radar cloud data, methods described include：
Point cloud acquisition module, for obtaining radar cloud data, each data in the radar cloud data are right respectively
Respective three dimensional space coordinate is answered, the three dimensional space coordinate includes horizontal plane abscissa, horizontal plane ordinate and vertical seat
Mark；
First order module, for being ranked up according to the first change in coordinate axis direction to each data, described first sits
Parameter direction is a direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate；
First division module, for each data to be divided into n the first data along first change in coordinate axis direction
Group, n are positive integer；
Second division module, for for each first data group in the n the first data groups, along the second coordinate
First data group is divided into m the second data groups by direction of principal axis, and m is positive integer；Wherein, second change in coordinate axis direction is
Another direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate, each second data
Group is one group of rasterizing data corresponding to the radar cloud data.
Alternatively, the removing module, including：
Sorting sub-module, for before being ranked up according to the first change in coordinate axis direction to each data, according to institute
The second change in coordinate axis direction is stated to be ranked up the radar cloud data；
First deletes submodule, and second pre-set interval is not belonging to for deleting the coordinate in second reference axis
Data, obtain the first intermediate data；
First order module, for being arranged according to first change in coordinate axis direction first intermediate data
Sequence；
The removing module, in addition to：
Second deletes submodule, for being ranked up it to first intermediate data according to first change in coordinate axis direction
Afterwards, delete in first intermediate data, the coordinate in first reference axis is not belonging to the number of first pre-set interval
According to.
Alternatively, second division module, including：
Sorting sub-module, for being arranged according to second change in coordinate axis direction the data in first data group
Sequence；
Submodule is divided, for along second change in coordinate axis direction, by the second unit length to described first after sequence
Data group is divided, and obtains m the second data groups.
The third aspect, there is provided a kind of computer equipment, including memory and processor, be stored with the memory to
Few an instruction, at least one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or
Instruction set is loaded and performed by the processor, and radar cloud data is carried out with any one of realization as described in relation to the first aspect
The method of rasterizing processing.
Fourth aspect, there is provided a kind of computer-readable recording medium, be stored with least one finger in the storage medium
Make, at least one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or instruction set by
The processor is loaded and performed, and radar cloud data is carried out at rasterizing with any one of realization as described in relation to the first aspect
The method of reason.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
By obtaining radar cloud data, each data are ranked up according to the first change in coordinate axis direction, along described
Each data are divided into n the first data groups by the first change in coordinate axis direction, for each in the n the first data groups
Individual first data group, first data group is divided into m the second data groups along the second change in coordinate axis direction, wherein, first sits
Parameter direction is a direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate, the second coordinate
Direction of principal axis is another direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate, each second
Data group is one group of rasterizing data corresponding to radar cloud data.Because radar cloud data is in the first specified reference axis
First being sorted so that data point can be divided to obtain n the first data groups according to the direction of the first reference axis, and with
It can be divided afterwards in each first data group by the second change in coordinate axis direction, so as to obtain the radar points cloud number after rasterizing
According to improving the efficiency that rasterizing processing is carried out to radar cloud data, accelerate the radar cloud data using rasterizing
The response speed of associative operation.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other
Accompanying drawing.
Fig. 1 shows a kind of method that rasterizing processing is carried out to radar cloud data that one embodiment of the invention provides
Flow chart；
Fig. 2 shows another side that rasterizing processing is carried out to radar cloud data that one embodiment of the invention provides
The flow chart of method；
Fig. 3 is the actual schematic diagram realized of a kind of radar points cloud rasterizing shown in the inventive embodiments provided based on Fig. 2；
Fig. 4 is a kind of device that rasterizing processing is carried out to radar cloud data according to an exemplary embodiment
Block diagram；
Fig. 5 is a kind of device that rasterizing processing is carried out to radar cloud data according to an exemplary embodiment
Block diagram；
Fig. 6 shows the block diagram for the server that one embodiment of the invention provides；
Fig. 7 shows the structural representation for the equipment 700 that one embodiment of the invention provides.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
In embodiments of the present invention, the method for rasterizing processing is carried out to radar cloud data can apply at vehicle-mounted end
In the computer equipments such as end, industrial computer or server.Wherein, radar cloud data is the mass data point gathered by radar
The data of composition, radar points cloud can reflect real-world object according to its actual position reconstructed image in computer equipment
Shape and position.
Wherein, the radar for gathering radar cloud data can be the trailer-mounted radar or position being located in vehicle
Radar in big ground fixed position.When the radar is the trailer-mounted radar being located in vehicle, the radar points cloud of radar collection
Data can reflect Current vehicle barrier in the environment distribution situation.Alternatively, trailer-mounted radar can be by pulsed
Laser scanner, satellite location data receiver, Inertial Measurement Unit and rotary platform composition.Pulse type laser scanner is used for
Two-dimensional scan is carried out to three dimensions residing for radar, forms a discrete dotted line described with distance and scanning machine.Satellite fix
Data receiver provides the instantaneous position of vehicle, and Inertial Measurement Unit provides pulse type laser scanner in inertial coodinate system
Transient posture.Rotary platform is loaded with scanner and formed to the covering of the left rotation and right rotation of frontal scene.Alternatively, rotary platform can be consolidated
Due to the roof of vehicle, scanner, satellite location data receiver, Inertial Measurement Unit are fixed on rotary platform jointly, should
Component mounting arrangement can avoid introducing the corner of rotary platform when obtaining radar cloud data.Each portion of above-mentioned trailer-mounted radar
Dividing can be controlled by car-mounted terminal or industrial computer, to complete the collection of radar cloud data, record, resolving and display output.
Alternatively, trailer-mounted radar can also gather the radar points cloud for specifying the object in covering of the fan when not comprising rotary platform
Data.
Alternatively, satellite location data receiver can use the navigation data that navigational satellite system provides, wherein navigating
Satellite system can be GPS system (Global Positioning System, global positioning system), BDS systems (BeiDou
Navigation Satellite System, Beidou satellite navigation system), GLONASS systems (Global Navigation
Satellite System, GPS) or GALILEO systems (Galileo Navigation Satellite
System, galileo satellite navigation system) in one kind.Led it should be noted that the effect of the navigational satellite system is to provide
Boat data, the embodiment of the present invention can equally use the navigation data that other navigational satellite systems provide.
Fig. 1 is refer to, is provided it illustrates one embodiment of the invention a kind of to radar cloud data progress rasterizing
The flow chart of the method for processing.The embodiment of the present invention can be applied in above-mentioned car-mounted terminal, industrial computer or server, this hair
Bright embodiment illustrates by taking car-mounted terminal as an example.It is provided in an embodiment of the present invention that rasterizing processing is carried out to radar cloud data
Method include：
Step 101, radar cloud data is obtained, each data in radar cloud data correspond to respective three-dimensional space respectively
Between coordinate, three dimensional space coordinate includes horizontal plane abscissa, horizontal plane ordinate and vertical coordinate.
In embodiments of the present invention, car-mounted terminal obtains radar cloud data, each data in radar cloud data point
Respective three dimensional space coordinate is not corresponded to.Three dimensional space coordinate includes horizontal abscissa, horizontal plane ordinate and vertical coordinate.
Wherein, three dimensional space coordinate is the coordinate in same reference frame.The reference frame can be that scanner is locally sat
In mark system, the instantaneous horizontal system of coordinates of system, global coordinate system (horizontal system of coordinates) or body-fixed coordinate system in any one coordinate system.
Alternatively, the facility for radar points cloud coordinate in processing, the embodiment of the present invention can be using global coordinate systems as mark thunder
Up to the reference frame of three dimensional space coordinate corresponding to cloud data.
It should be noted that the original radar cloud data that trailer-mounted radar is directly obtained by scanner is with polar coordinates table
Show, the polar coordinates can be converted into the rectangular co-ordinate in scanner local coordinate system.Then, scanner local coordinate system can
Parallel with the instantaneous horizontal system of coordinates of system by rotating, accordingly, the rectangular co-ordinate in above-mentioned scanner local coordinate system can
The rectangular co-ordinate being converted into the instantaneous horizontal system of coordinates of system.Then, the right angle in the instantaneous horizon system of coordinates of said system is sat
Mark can be by rotating, translating, the coordinate transformed into body-fixed coordinate system.It should be noted that when the instantaneous Horizon of system is sat
When mark system is converted into the step in body-fixed coordinate system, car-mounted terminal needs to work as by satellite location data receiver acquisition vehicle
The preceding coordinate in the instantaneous horizontal system of coordinates of system.Then, car-mounted terminal can be further by the coordinate in cabinet coordinate system
The rectangular co-ordinate in global coordinate system is converted into by rotation and translation.
Step 102, each data are ranked up according to the first change in coordinate axis direction, the first change in coordinate axis direction is horizontal plane horizontal stroke
A direction in direction corresponding to direction corresponding to coordinate and horizontal plane ordinate.
In embodiments of the present invention, the number for the radar cloud data that car-mounted terminal obtains is by the precision according to trailer-mounted radar
Or the setting of acquisition parameter and it is different, the data of the radar cloud data of the trailer-mounted radar collection of degree of precision are more.Herein
In the case of, can expeditiously handle a large amount of radar cloud datas becomes required for the embodiment of the present invention the needs of meeting.This
Inventive embodiments will be ranked up on the first change in coordinate axis direction to each data first, wherein the first reference axis both can be water
Direction corresponding to direction corresponding to plane abscissa or horizontal plane ordinate.In sequence, car-mounted terminal can be according to
The order of coordinate on first change in coordinate axis direction is ranked up to each data.
For example, in order to make it easy to understand, it is point A (1,1), point B (1,2), point C (2,3), point D that this, which sentences radar points cloud data,
Exemplified by (2,1), point E (3,2) and point F (4,5), illustrate.
In a kind of possible implementation, if the first change in coordinate axis direction be horizontal plane abscissa corresponding to direction, arrange
Radar cloud data after sequence be successively point A (1,1), point B (1,2), point C (2,3), point D (2,1), point E (3,2) and point F (4,
5).Wherein, the succession between point A and point B can exchange；Order between point C and point D can also exchange.
In alternatively possible implementation, if the first change in coordinate axis direction is direction corresponding to horizontal plane ordinate,
Radar cloud data after sequence be successively point A (1,1), point D (2,1), point B (1,2), point E (3,2) point C (2,3) and point F (4,
5).Wherein, the succession between point A and point D can exchange；Order between point B and point C can also exchange.
Step 103, each data are divided into n the first data groups along the first change in coordinate axis direction, n is positive integer.
In embodiments of the present invention, each data after above-mentioned sequence are divided into by car-mounted terminal along the first change in coordinate axis direction
N the first data groups.Wherein, n is positive integer, it is to be understood that when n is 1, illustrates the embodiment of the present invention in the first coordinate
Without progress data division on direction of principal axis；When n is the positive integer more than 1, the embodiment of the present invention is on the first change in coordinate axis direction
Data division has been carried out, has obtained n the first data groups.
Alternatively, car-mounted terminal can divide each data, first unit length according to default first unit length
The method that can be this carry out rasterizing processing to radar cloud data is previously written at vehicle-mounted end before realization by technical staff
Length value in end, the numerical value of the length value is constant.
Such as based on institute's illustrated example in step 102, when the first reference axis is horizontal plane axis of abscissas, car-mounted terminal
Point A (1,1), point B (1,2), point C (2,3), point D (2,1), point E (3,2) and point F (4,5) will be divided, if the first unit
Length is 1.2, then car-mounted terminal will obtain 4 the first data groups, respectively first the first data group：Point A (1,1) and point B
(1,2)；Second the first data group：Point C (2,3) and point D (2,1)；3rd the first data group：Point E (3,2)；4th
One data group：Point F (4,5).
For another example, based on institute's illustrated example in step 102, when the first reference axis is horizontal plane ordinate, car-mounted terminal
Point A (1,1), point D (2,1), point B (1,2), point E (3,2) point C (2,3) and point F (4,5) will be divided, if the first unit
Length is 1.2, then car-mounted terminal will obtain 4 the first data groups, respectively first the first data group：Point A (1,1) and point D
(2,1)；Second the first data group：Point B (1,2) and point E (3,2)；3rd the first data group：Point C (2,3)；4th
One data group：Point F (4,5).
Step 104, for each first data group in n the first data groups, along the second change in coordinate axis direction by first
Data group is divided into m the second data groups, and m is positive integer；Wherein, the second change in coordinate axis direction is side corresponding to horizontal plane abscissa
To with horizontal plane ordinate corresponding to another direction in direction, each second data group is one corresponding to radar cloud data
Group rasterizing data.
In embodiments of the present invention, after radar cloud data is divided into n the first data groups by car-mounted terminal, radar points cloud number
According to equivalent to completing division on the first change in coordinate axis direction, but obtain the thunder and lightning cloud data of rasterizing, it is also necessary to
Divided on the direction of the vertical level coordinates axle of first reference axis.The embodiment of the present invention passes through the pin in the second reference axis
Each first data group in n the first data groups is divided, obtains m the second data groups, m is positive integer.Need
Illustrate, due to the data in each first data group number and data coordinate situation difference, each
The number that one data group can mark off the second data group come also can be different.M numerical value with the change of the first data group and
Make corresponding change.When each first data group in n the first data groups has all divided on the second change in coordinate axis direction
Bi Shi, each second data group are one group of rasterizing data corresponding to radar cloud data.
Alternatively, when direction corresponding to the first change in coordinate axis direction is horizontal plane abscissa, water during the second change in coordinate axis direction
Direction corresponding to plane ordinate.When direction corresponding to the first change in coordinate axis direction is horizontal plane ordinate, the second reference axis side
To when direction corresponding to horizontal plane abscissa.
In summary, a kind of method that rasterizing processing is carried out to radar cloud data provided in an embodiment of the present invention, leads to
Acquisition radar cloud data is crossed, each data are ranked up according to the first change in coordinate axis direction, along first reference axis
Each data are divided into n the first data groups by direction, for each first data in the n the first data groups
Group, first data group is divided into m the second data groups along the second change in coordinate axis direction, wherein, the first change in coordinate axis direction is
A direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate, the second change in coordinate axis direction is water
Another direction in direction corresponding to direction corresponding to plane abscissa and horizontal plane ordinate, each second data group is thunder
Up to one group of rasterizing data corresponding to cloud data.Because radar cloud data is first arranged in the first specified reference axis
Sequence so that data point can be divided to obtain n the first data groups according to the direction of the first reference axis, and then at each
It can divide by the second change in coordinate axis direction in first data group, so as to obtain the radar cloud data after rasterizing, improve pair
Radar cloud data carries out the efficiency of rasterizing processing, accelerates the sound of the associative operation of radar cloud data using rasterizing
Answer speed.
Fig. 2 is refer to, is provided it illustrates one embodiment of the invention another to radar cloud data progress grid
Change the flow chart of the method for processing.The method that rasterizing processing is carried out to radar cloud data includes：
Step 201, radar cloud data is obtained, each data in radar cloud data correspond to respective three-dimensional space respectively
Between coordinate, three dimensional space coordinate includes horizontal plane abscissa, horizontal plane ordinate and vertical coordinate.
In embodiments of the present invention, the implementation procedure of step 201 and the implementation procedure of step 101 are identical, and details refer to
The implementation process of step 101, here is omitted.
Step 202, radar cloud data is ranked up according to the second change in coordinate axis direction.
In embodiments of the present invention, car-mounted terminal can be right on the second change in coordinate axis direction after radar cloud data is obtained
Radar cloud data is ranked up, and the second change in coordinate axis direction herein is a concept relative to the first change in coordinate axis direction.The
One change in coordinate axis direction and the second change in coordinate axis direction are all the directions in horizontal plane, and the first change in coordinate axis direction is perpendicular to the second coordinate
Direction of principal axis.Wherein, when direction corresponding to the first change in coordinate axis direction is horizontal plane abscissa, the second change in coordinate axis direction is horizontal
Direction corresponding to the ordinate of face.
Step 203, the data that the coordinate in the second reference axis is not belonging to the second pre-set interval are deleted, are obtained among first
Data.
Car-mounted terminal has obtained completing the radar points of sequence on the second change in coordinate axis direction after completion step 202 is performed
Cloud data.Because radar cloud data arranges in sequence on the second change in coordinate axis direction, therefore car-mounted terminal can be located
The radar cloud data after the sequence is managed, filters out the data for meeting the second pre-set interval.Wherein, the second pre-set interval can be
Technical staff is written to the section in car-mounted terminal before the embodiment of the present invention is performed, and the section is that one or so end points is
The section of constant.Car-mounted terminal obtains the first intermediate data after deleting and being not belonging to the data of the second pre-set interval.This first
Intermediate data all belongs to the second pre-set interval on the second change in coordinate axis direction.That is, the second pre-set interval can be used as this right
Valid interval in the method for radar cloud data progress rasterizing processing on the second change in coordinate axis direction.
For example, the second pre-set interval is [2,3], then coordinate of the explanation on the second change in coordinate axis direction fall into the section [2,
3] the radar cloud data in is the valid data of the needs of this rasterizing processing.Relative, on the second change in coordinate axis direction
Coordinate be not belonging to section [2,3] radar cloud data be then this rasterizing processing in unwanted invalid data.In order to
The efficiency of radar points cloud data rasterizing is improved, the coordinate deleted on the second change in coordinate axis direction is not belonging to second by car-mounted terminal
The radar cloud data of pre-set interval.
Step 204, the first intermediate data is ranked up according to the first change in coordinate axis direction.
In embodiments of the present invention, car-mounted terminal enters the first intermediate data obtained to abovementioned steps along the first reference axis
Row sequence.
Step 205, the data that the coordinate in the first reference axis is not belonging to the first pre-set interval are deleted.
In embodiments of the present invention, because the first intermediate data completes sequence on the first change in coordinate axis direction, because
This, car-mounted terminal can be deleted the first intermediate data after being sorted on the first change in coordinate axis direction according to the first pre-set interval
Remove.In this step, car-mounted terminal is only needed in the first intermediate data after being sorted according to the left end point deletion of the first pre-set interval
It is less than the data of the left end point on the first change in coordinate axis direction, and the after being sorted according to the right-hand member point deletion of the first pre-set interval
It is more than the data of the right endpoint in one intermediate data on the first change in coordinate axis direction.Car-mounted terminal obtains second after completing to delete
Intermediate data, each data in the second intermediate data are to meet the first pre-set interval and the second pre-set interval simultaneously
Valid data.
Alternatively, step 203 is identical with the purpose of step 205, is for deleting invalid data.Invalid data is first
Coordinate on change in coordinate axis direction is not belonging to the first pre-set interval, and/or, coordinate of the invalid data in the second change in coordinate axis direction.
Step 206, the second intermediate data is divided into n the first data groups along the first change in coordinate axis direction, n is positive integer.
Further, in order to obtain the radar cloud data of rasterizing from valid data, car-mounted terminal needs car-mounted terminal
First the second intermediate data is divided from the first change in coordinate axis direction, the second intermediate data after division is divided into n the
One data group, n are positive integer.
Alternatively, car-mounted terminal can be divided when dividing the second intermediate data according to the first unit length, and this
The method that one unit length can be this carries out rasterizing processing to radar cloud data is write in advance before realization by technical staff
Enter the length value in car-mounted terminal, the numerical value of the length value is constant.
Step 207, the data in the first data group are ranked up according to the second change in coordinate axis direction.
Further, after car-mounted terminal obtains n the first data groups, will be made every in units of each first data group
Data in one the first data group are ranked up according to the second change in coordinate axis direction.
Alternatively, car-mounted terminal can be in this step to the data in the first current data group according to the second reference axis
Direction is ranked up.
Step 208, the first data group after sequence is divided by the second unit length along the second change in coordinate axis direction, obtained
To m the second data groups.
In embodiments of the present invention, after car-mounted terminal will sort along the second change in coordinate axis direction according to the division of the second unit length
The first current data group, obtain m the second data groups.It should be noted that the data in m numerical value and the first data group
The section that maximum and minimum value in the second reference axis are surrounded is corresponding.
Wherein, second unit length can be that this method that rasterizing processing is carried out to radar cloud data is being realized
Before, the length value in car-mounted terminal is previously written by technical staff, the numerical value of the length value is constant.
Step 209, detect whether the first current data group is completed to divide.
Car-mounted terminal needs to accurately determine whether next first data group in n the first data groups of start to process
Division is completed when detecting the first current data group.
Alternatively, if the first current data group completes division, for next first data group perform step 207 to
Step 209.
In embodiments of the present invention, if car-mounted terminal detects that the first current data group has been completed to divide, it is directed to
Next first data group performs step 207 to step 209.
Alternatively, if the first current data do not complete division, return and perform step 208 and step 209.
In embodiments of the present invention, if car-mounted terminal detects that the first current data group is not yet completed to divide.It is then vehicle-mounted
Terminal, which returns, performs step 208 and step 209, performs after completing step 209, follow-up execution stream is determined according to testing result
Journey.
In embodiments of the present invention, when each first data in n the first data groups are all divided into the second data group
Afterwards, each second data group is one group of rasterizing data corresponding to radar cloud data.It should be noted that each group of grid
Data of formatting can carry out a variety of applications.
Alternatively, the adaptable scene of one of which is that car-mounted terminal is in units of each group of rasterizing data, by one
Group data in vertical coordinate in maximum and minimum value make it is poor, obtain differential vertical.Car-mounted terminal can be vertical according to this
Difference judges whether the size of the object in the grid exceedes pre-set dimension, and pre-set dimension can be that technical staff pre-sets
One constant.Then, grid of the differential vertical more than pre-set dimension can be entered as 1 by car-mounted terminal, and differential vertical is little
0 is entered as in the grid of pre-set dimension, car-mounted terminal can determine the barrier of vehicle periphery according to the grid after the completion of above-mentioned assignment
Hinder principle condition.
Further, in a kind of mode in the cards of the embodiment of the present invention, Fig. 3 is referred to, it is carried based on Fig. 2
The actual schematic diagram realized of a kind of radar points cloud rasterizing shown in the inventive embodiments of confession, it is provided in an embodiment of the present invention to thunder
The method that rasterizing processing is carried out up to cloud data can be realized by following exemplary flow is actual.In figure 3, using trailer-mounted radar as
The executive agent of the method handled radar cloud data is performed, introduces the one of the embodiment of the present invention being related in Fig. 3
Kind practical application scene.First, car-mounted terminal obtains cloud data from trailer-mounted radar, and subsequent trailer-mounted radar is according to radar points cloud
Y values in data are ranked up to radar cloud data on the direction of horizontal plane axis of ordinates.After car-mounted terminal detection sequence
Data, will be not belonging to after sequence specify longitudinal Limit of J-validity radar cloud data delete.Then, car-mounted terminal will be according to
The remaining radar cloud data is arranged on the direction of horizontal plane abscissa according to the x values of remaining radar cloud data
Sequence.Data after car-mounted terminal inspection sequence, it will be not belonging to specify the radar cloud data of horizontal Limit of J-validity after sequence
Delete.Then, lateral length of the car-mounted terminal by remaining radar cloud data according to elementary cell, horizontal partition is carried out, it is horizontal
It is divided into n the first data groups to the radar cloud data after segmentation.Car-mounted terminal can first cut out one first number herein
According to group, then longitudinal sequence will be carried out to the radar cloud data in first data group according to y values, according to the vertical of elementary cell
To length, carry out it is longitudinally split, when car-mounted terminal detect it is current it is longitudinally split after the completion of, car-mounted terminal carries out horizontal partition
Go out next first data group, subsequent car-mounted terminal repeats longitudinal direction sequence, longitudinally split and judge longitudinally split whether complete
The step of, until n the first data groups be fully completed it is longitudinally split.The first data group after each completion is longitudinally split can
To obtain the second data group of corresponding number, the corresponding one group of rasterizing data of each second data group.
In summary, the method provided in an embodiment of the present invention that rasterizing processing is carried out to radar cloud data, by obtaining
Radar cloud data is taken, each data are ranked up according to the first change in coordinate axis direction, along first change in coordinate axis direction
Each data are divided into n the first data groups, for each first data group in the n the first data groups,
First data group is divided into m the second data groups along the second change in coordinate axis direction, wherein, the first change in coordinate axis direction is horizontal
A direction in direction corresponding to direction corresponding to the abscissa of face and horizontal plane ordinate, the second change in coordinate axis direction is horizontal plane
Another direction in direction corresponding to direction corresponding to abscissa and horizontal plane ordinate, each second data group is radar points
One group of rasterizing data corresponding to cloud data.Because radar cloud data is first sorted in the first specified reference axis,
Enable data point to be divided to obtain n the first data groups according to the direction of the first reference axis, and then each the
It can divide by the second change in coordinate axis direction in one data group, so as to obtain the radar cloud data after rasterizing, improve to thunder
The efficiency of rasterizing processing is carried out up to cloud data, accelerates the response of the associative operation of radar cloud data using rasterizing
Speed.
In addition, the embodiment of the present invention is not belonging to the number of the second pre-set interval by deleting the coordinate in the second reference axis
According to, and, the data point of the first pre-set interval is not belonging to by deleting the coordinate in the first reference axis, reduces radar points cloud
The quantity of pending data in data, improve the speed of radar points cloud data rasterizing.
Following is apparatus of the present invention embodiment, can be used for performing the inventive method embodiment.It is real for apparatus of the present invention
The details not disclosed in example is applied, refer to the inventive method embodiment.
Fig. 4 is a kind of device that rasterizing processing is carried out to radar cloud data according to an exemplary embodiment
Block diagram, the guider can turn into some or all of of car-mounted terminal, industrial computer or server.This is to radar points cloud
Data carry out rasterizing processing device can be realized by the combination or pure hardware circuit of software and hardware, so as to realize Fig. 1,
As the step performed by car-mounted terminal in Fig. 2 or Fig. 3.The device includes：Point cloud acquisition module 401, the first order module 402,
First division module 403 and the second division module 404.
Point cloud acquisition module 401, for obtaining radar cloud data, each data difference in the radar cloud data
Corresponding respective three dimensional space coordinate, the three dimensional space coordinate include horizontal plane abscissa, horizontal plane ordinate and vertical
Coordinate；
First order module 402, for being ranked up according to the first change in coordinate axis direction to each data, described first
Change in coordinate axis direction is a direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate；
First division module 403, for each data to be divided into n first number along first change in coordinate axis direction
According to group, n is positive integer；
Second division module 404, for for each first data group in the n the first data groups, along second
First data group is divided into m the second data groups by change in coordinate axis direction, and m is positive integer；Wherein, the second reference axis side
To being another direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate, each described second
Data group is one group of rasterizing data corresponding to the radar cloud data.
In summary, a kind of device that rasterizing processing is carried out to radar cloud data provided in an embodiment of the present invention, leads to
Acquisition radar cloud data is crossed, each data are ranked up according to the first change in coordinate axis direction, along first reference axis
Each data are divided into n the first data groups by direction, for each first data in the n the first data groups
Group, first data group is divided into m the second data groups along the second change in coordinate axis direction, wherein, the first change in coordinate axis direction is
A direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate, the second change in coordinate axis direction is water
Another direction in direction corresponding to direction corresponding to plane abscissa and horizontal plane ordinate, each second data group is thunder
Up to one group of rasterizing data corresponding to cloud data.Because radar cloud data is first arranged in the first specified reference axis
Sequence so that data point can be divided to obtain n the first data groups according to the direction of the first reference axis, and then at each
It can divide by the second change in coordinate axis direction in first data group, so as to obtain the radar cloud data after rasterizing, improve pair
Radar cloud data carries out the efficiency of rasterizing processing, accelerates the sound of the associative operation of radar cloud data using rasterizing
Answer speed.
Fig. 5 is a kind of device that rasterizing processing is carried out to radar cloud data according to an exemplary embodiment
Block diagram, the guider can turn into some or all of of car-mounted terminal, industrial computer or server.This is to radar points cloud
Data carry out rasterizing processing device can be realized by the combination or pure hardware circuit of software and hardware, so as to realize Fig. 1,
As the step performed by car-mounted terminal in Fig. 2 or Fig. 3.The device includes：Point cloud acquisition module 501, the first order module 502,
First division module 503 and the second division module 504.
Point cloud acquisition module 501, for obtaining radar cloud data, each data difference in the radar cloud data
Corresponding respective three dimensional space coordinate, the three dimensional space coordinate include horizontal plane abscissa, horizontal plane ordinate and vertical
Coordinate；
First order module 502, for being ranked up according to the first change in coordinate axis direction to each data, described first
Change in coordinate axis direction is a direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate；
First division module 503, for each data to be divided into n first number along first change in coordinate axis direction
According to group, n is positive integer；
Second division module 504, for for each first data group in the n the first data groups, along second
First data group is divided into m the second data groups by change in coordinate axis direction, and m is positive integer；Wherein, the second reference axis side
To being another direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate, each described second
Data group is one group of rasterizing data corresponding to the radar cloud data.
Alternatively, described device also includes：Removing module 505.
Removing module 505, for deleting invalid data, coordinate of the invalid data on first change in coordinate axis direction
The first pre-set interval is not belonging to, and/or, it is pre- that coordinate of the invalid data on second change in coordinate axis direction is not belonging to second
If section.
Alternatively, the removing module 505：Deleted including sorting sub-module 505a, the first deletion submodule 505b and second
Except submodule 505c, described device includes：
Sorting sub-module 505a, for before being ranked up according to the first change in coordinate axis direction to each data, pressing
The radar cloud data is ranked up according to second change in coordinate axis direction；
First deletes submodule 505b, and it is default to be not belonging to described second for coordinate of the deletion in second reference axis
The data in section, obtain the first intermediate data；
First order module 502, for being ranked up according to first change in coordinate axis direction to first intermediate data；
Second deletes submodule 505c, for being arranged according to first change in coordinate axis direction first intermediate data
After sequence, delete in first intermediate data, the coordinate in first reference axis is not belonging to first pre-set interval
Data.
Alternatively, second division module 504, including：
Sorting sub-module 504a, for being carried out according to second change in coordinate axis direction to the data in first data group
Sequence；
Submodule 504b is divided, for along second change in coordinate axis direction, as the second unit length to described in after sequence
First data group is divided, and obtains m the second data groups.
In summary, the device provided in an embodiment of the present invention that rasterizing processing is carried out to radar cloud data, by obtaining
Radar cloud data is taken, each data are ranked up according to the first change in coordinate axis direction, along first change in coordinate axis direction
Each data are divided into n the first data groups, for each first data group in the n the first data groups,
First data group is divided into m the second data groups along the second change in coordinate axis direction, wherein, the first change in coordinate axis direction is horizontal
A direction in direction corresponding to direction corresponding to the abscissa of face and horizontal plane ordinate, the second change in coordinate axis direction is horizontal plane
Another direction in direction corresponding to direction corresponding to abscissa and horizontal plane ordinate, each second data group is radar points
One group of rasterizing data corresponding to cloud data.Because radar cloud data is first sorted in the first specified reference axis,
Enable data point to be divided to obtain n the first data groups according to the direction of the first reference axis, and then each the
It can divide by the second change in coordinate axis direction in one data group, so as to obtain the radar cloud data after rasterizing, improve to thunder
The efficiency of rasterizing processing is carried out up to cloud data, accelerates the response of the associative operation of radar cloud data using rasterizing
Speed.
In addition, device disclosed in the embodiment of the present invention, the coordinate for spreading colored Miss in the second reference axis by deleting is not belonging to
The data of second pre-set interval, and, the data of the first pre-set interval are not belonging to by deleting coordinate in the first reference axis
Point, reduce the quantity of data pending in radar cloud data, improve the speed of radar points cloud data rasterizing.
Fig. 6 is refer to, the block diagram of the server provided it illustrates one embodiment of the invention.The server can
Be perform the embodiment of the present invention server structure chart.Specifically：
Server 600 includes CPU (CPU) 601 including random access memory (RAM) 602 and read-only deposited
The system storage 604 of reservoir (ROM) 603, and connection system storage 604 and the system bus of CPU 601
605.The server 600 also includes the basic input/output of transmission information between each device in help computer
(I/O systems) 606, and set for the massive store of storage program area 613, application program 614 and other program modules 615
Standby 607.Wherein, above-mentioned CPU (CPU) 601 can be referred to simply as processor.
The basic input/output 606 includes for the display 608 of display information and inputs letter for user
The input equipment 609 of such as mouse, keyboard etc of breath.Wherein described display 608 and input equipment 609 are all by being connected to
The IOC 610 of system bus 605 is connected to CPU 601.The basic input/output 606
Can also include IOC 610 for receive and handle from keyboard, mouse or electronic touch pen etc. it is multiple its
The input of his equipment.Similarly, IOC 610 also provides output to display screen, printer or other kinds of defeated
Go out equipment.
The mass-memory unit 607 is by being connected to the bulk memory controller (not shown) of system bus 605
It is connected to CPU 601.The mass-memory unit 607 and its associated computer-readable medium are server
600 provide non-volatile memories.That is, the mass-memory unit 607 can include such as hard disk or CD-ROM
The computer-readable medium (not shown) of driver etc.In the mass-memory unit 607, at least one finger is stored with
Make, at least one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or the instruction set are in
Central Processing Unit (CPU) 601, which loads, simultaneously to be performed, pair during realizing that the method shown in Fig. 1, Fig. 2 or Fig. 3 is performed by server
The method that radar cloud data carries out rasterizing processing.
Without loss of generality, the computer-readable medium can include computer-readable storage medium and communication media.Computer
Storage medium include for storage such as at least one computer-readable instruction, at least one section of program, code set, instruction set,
Volatibility that any methods or techniques of the information such as data structure, program module or other data is realized and non-volatile, removable
Dynamic and irremovable medium.Computer-readable storage medium includes RAM, ROM, EPROM, EEPROM, flash memory or other solid-state memories
Technology, CD-ROM, DVD or other optical storages, cassette, tape, disk storage or other magnetic storage apparatus.Certainly, originally
It is above-mentioned several that art personnel understand that the computer-readable storage medium is not limited to.Above-mentioned system storage 604 and great Rong
Amount storage device 607 may be collectively referred to as memory.
According to various embodiments of the present invention, the server 600 can also be arrived by network connections such as internets
Remote computer operation on network.Namely server 600 can be by the network interface that is connected on the system bus 605
Unit 611 is connected to network 612, in other words, can also be connected to using NIU 611 other kinds of network or
Remote computer system (not shown).
Fig. 7 is refer to, the structural representation of the equipment 700 provided it illustrates one embodiment of the invention.The equipment 700
Can be car-mounted terminal or industrial computer.Specifically：
Equipment 700 can include RF (Radio Frequency, radio frequency) circuit 710, include one or more meters
The memory 720 of calculation machine readable storage medium storing program for executing, input block 730, display unit 740, sensor 750, voicefrequency circuit 760,
WiFi (wireless fidelity, Wireless Fidelity) module 770, include one or the processing of more than one processing core
The part such as device 780 and power supply 770.It will be understood by those skilled in the art that the device structure shown in Fig. 7 is not formed pair
The restriction of equipment, it can include than illustrating more or less parts, either combine some parts or different part cloth
Put.Wherein：
RF circuits 710 can be used for receive and send messages or communication process in, the reception and transmission of signal, especially, by base station
After downlink information receives, transfer to one or more than one processor 780 is handled；In addition, it is sent to up data are related to
Base station.Generally, RF circuits 710 include but is not limited to antenna, at least one amplifier, tuner, one or more oscillators, use
Family identity module (SIM) card, transceiver, coupler, LNA (Low Noise Amplifier, low-noise amplifier), duplex
Device etc..In addition, RF circuits 710 can also be communicated by radio communication with network and other equipment.Radio communication, which can use, appoints
(Global System of Mobile communication, the whole world are moved for one communication standard or agreement, including but not limited to GSM
Dynamic communication system), GPRS (General Packet Radio Service, general packet radio service), CDMA (Code
Division Multiple Access, CDMA), WCDMA (Wideband Code Division Multiple
Access, WCDMA), LTE (Long Term Evolution, Long Term Evolution), Email, SMS (Short
Messaging Service, Short Message Service) etc..Memory 720 can be used for storage software program and module.Processor 780
The software program and module of memory 720 are stored in by operation, so as to perform various function application and data processing.Deposit
Reservoir 720 can mainly include storing program area and storage data field, wherein, storing program area can storage program area, at least one
Application program (such as sound-playing function, image player function etc.) needed for individual function etc.；Storage data field can store basis
Equipment 700 uses created data (such as voice data, phone directory etc.) etc..In addition, memory 720 can be included at a high speed
Random access memory, can also include nonvolatile memory, a for example, at least disk memory, flush memory device or
Other volatile solid-state parts.Correspondingly, memory 720 can also include Memory Controller, to provide processor 780
With access of the input block 730 to memory 720.
Input block 730 can be used for the numeral or character information for receiving input, and generation is set with user and function
Control relevant keyboard, mouse, action bars, optics or the input of trace ball signal.Specifically, input block 730 may include to touch
Sensitive surfaces 731 and other input equipments 732.Touch sensitive surface 731, also referred to as touch display screen or Trackpad, collect and use
Family on or near it touch operation (such as user using any suitable object or annex such as finger, stylus in touch-sensitive table
Operation on face 731 or near touch sensitive surface 731), and corresponding attachment means are driven according to formula set in advance.It is optional
Ground, touch sensitive surface 731 may include both touch detecting apparatus and touch controller.Wherein, touch detecting apparatus detection is used
The touch orientation at family, and the signal that touch operation is brought is detected, transmit a signal to touch controller；Touch controller is from touch
Touch information is received in detection means, and is converted into contact coordinate, then gives processor 780, and can reception processing device 780
The order sent simultaneously is performed.Furthermore, it is possible to using polytypes such as resistance-type, condenser type, infrared ray and surface acoustic waves
Realize touch sensitive surface 731.Except touch sensitive surface 731, input block 730 can also include other input equipments 732.Specifically,
Other input equipments 732 can include but is not limited to physical keyboard, function key (such as volume control button, switch key etc.),
One or more in trace ball, mouse, action bars etc..
Display unit 740 can be used for display by the information of user's input or be supplied to the information and equipment 700 of user
Various graphical user interface, these graphical user interface can be made up of figure, text, icon, video and its any combination.
Display unit 740 may include display panel 741, optionally, can use LCD (Liquid Crystal Display, liquid crystal
Show device), the form such as OLED (Organic Light-Emitting Diode, Organic Light Emitting Diode) configure display panel
741.Further, touch sensitive surface 731 can be covered on display panel 741, when touch sensitive surface 731 is detected thereon or attached
After near touch operation, processor 780 is sent to determine the type of touch event, is followed by subsequent processing device 780 according to touch event
Type corresponding visual output is provided on display panel 741.Although in the figure 7, touch sensitive surface 731 and display panel 741
It is the part independent as two to realize input and input function, but in some embodiments it is possible to by touch sensitive surface 731
Integrated with display panel 741 and realize input and output function.
Equipment 700 may also include at least one sensor 750, such as optical sensor, motion sensor and other sensings
Device.Specifically, optical sensor may include ambient light sensor and proximity transducer, wherein, ambient light sensor can be according to environment
The light and shade of light adjusts the brightness of display panel 741, and proximity transducer can close display when equipment 700 is moved in one's ear
Panel 741 and/or backlight.As one kind of motion sensor, gravity accelerometer can detect in all directions (generally
Three axles) acceleration size, size and the direction of gravity are can detect that when static, available for identification mobile phone posture application (ratio
Such as horizontal/vertical screen switching, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap)；Extremely
Other sensors such as the gyroscope that can also configure in equipment 700, barometer, hygrometer, thermometer, infrared ray sensor, herein
Repeat no more.
Voicefrequency circuit 760, loudspeaker 721, microphone 722 can provide the COBBAIF between user and equipment 700.Audio
Electric signal after the voice data received conversion can be transferred to loudspeaker 721, sound is converted to by loudspeaker 721 by circuit 760
Sound signal exports；On the other hand, the voice signal of collection is converted to electric signal by microphone 722, after being received by voicefrequency circuit 760
Voice data is converted to, then after voice data output processor 780 is handled, the processing includes speech recognition, through RF circuits 710
To be sent to another equipment, or voice data exported to memory 720 further to handle.Voicefrequency circuit 760 may be used also
Earphone jack can be included, to provide the communication of peripheral hardware earphone and equipment 700.
WiFi belongs to short range wireless transmission technology, and equipment 700 can help user's transceiver electronicses by WiFi module 770
Mail, browse webpage and access streaming video etc., it has provided the user wireless broadband internet and accessed.Although Fig. 7 is shown
WiFi module 770, but it is understood that, it is simultaneously not belonging to must be configured into for equipment 700, can exist as needed completely
Do not change in the essential scope of invention and omit.
Processor 780 is the control centre of equipment 700, utilizes various interfaces and each portion of connection whole equipment
Point, by running or performing the software program and/or module that are stored in memory 720, and call and be stored in memory 720
Interior data, the various functions and processing data of equipment 700 are performed, so as to carry out integral monitoring to equipment.Optionally, processor
780 may include one or more processing cores；Alternatively, processor 780 can integrate application processor and modem processor,
Wherein, application processor mainly handles operating system, user interface and application program etc., and modem processor mainly handles nothing
Line communicates.It is understood that above-mentioned modem processor can not also be integrated into processor 780.
Equipment 700 also includes the power supply 770 (such as battery) to all parts power supply, it is preferred that power supply can pass through electricity
Management system and processor 780 are logically contiguous, so as to realize management charging, electric discharge and power consumption by power-supply management system
The functions such as management.Power supply 770 can also include one or more direct current or AC power, recharging system, power supply event
The random component such as barrier detection circuit, power supply changeover device or inverter, power supply status indicator.
Although being not shown, equipment 700 can also include camera, bluetooth module etc., will not be repeated here.
In equipment 700 in memory 720, at least one section of program, at least one code, code set or instruction are stored with
Collection, wherein at least one section of program, at least one code, code set or instruction set are stored in memory, and are configured to by one
Individual or more than one computing device so that processor 780 can be realized in Fig. 1, Fig. 2 or Fig. 3 by car-mounted terminal or work
The method that rasterizing processing is carried out to radar cloud data that control machine performs.
It should be noted is that the device that above-described embodiment provides is being performed at radar cloud data progress rasterizing
, can be according to being actually needed only with the division progress of above-mentioned each functional module for example, in practical application during the method for reason
And complete above-mentioned function distribution by different functional modules, i.e., the content structure of equipment is divided into different functional modules,
To complete all or part of function described above.
On the device in above-described embodiment, wherein modules perform the concrete mode of operation in relevant this method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
One of ordinary skill in the art will appreciate that hardware can be passed through by realizing all or part of step of above-described embodiment
To complete, can also be completed by the program hardware related to instruction instruction, described program can be stored in a kind of computer
In readable storage medium storing program for executing, at least one instruction, at least one section of program, code set or instruction are stored with the computer-readable storage medium
Collection, at least one instruction, at least one section of program, code set or instruction set loaded and performed by processor, with realize Fig. 1, Fig. 2 or
In Fig. 3 by car-mounted terminal perform to radar cloud data carry out rasterizing processing method, or, with realize Fig. 1, Fig. 2 or
The method that rasterizing processing is carried out to radar cloud data when being performed in Fig. 3 by server.
Without loss of generality, the computer-readable medium can include computer-readable storage medium and communication media.Computer
Storage medium is included for information such as storage computer-readable instruction, data structure, program module or other data
The volatibility and non-volatile, removable and irremovable medium that any method or technique is realized.Computer-readable storage medium includes
RAM, ROM, EPROM, EEPROM, flash memory or other solid-state memory technologies, CD-ROM, DVD or other optical storages, tape
Box, tape, disk storage or other magnetic storage apparatus.Certainly, skilled person will appreciate that the computer-readable storage medium
It is not limited to above-mentioned several citings.
Those skilled in the art will readily occur to the application its after considering specification and putting into practice invention disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the application, these modifications, purposes or
Person's adaptations follow the general principle of the application and including the undocumented common knowledges in the art of the application
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the application and spirit are by appended
Claim is pointed out.
It should be appreciated that the structure that the application is not limited to be described above and is shown in the drawings, and can
To carry out various modifications and changes without departing from the scope.Scope of the present application is only limited by appended claim.
Claims (10)
- A kind of 1. method that rasterizing processing is carried out to radar cloud data, it is characterised in that methods described includes：Radar cloud data is obtained, each data in the radar cloud data correspond to respective three dimensional space coordinate respectively, The three dimensional space coordinate includes horizontal plane abscissa, horizontal plane ordinate and vertical coordinate；Each data are ranked up according to the first change in coordinate axis direction, first change in coordinate axis direction is horizontal plane abscissa A direction in direction corresponding to corresponding direction and horizontal plane ordinate；Each data are divided into n the first data groups along first change in coordinate axis direction, n is positive integer；For each first data group in the n the first data groups, along the second change in coordinate axis direction by first data Group is divided into m the second data groups, and m is positive integer；Wherein, second change in coordinate axis direction is side corresponding to horizontal plane abscissa To with horizontal plane ordinate corresponding to another direction in direction, each second data group is the radar cloud data Corresponding one group of rasterizing data.
- 2. according to the method for claim 1, it is characterised in that it is described will be described each along first change in coordinate axis direction Data are divided into before n the first data groups, and the returning method includes：Invalid data is deleted, coordinate of the invalid data on first change in coordinate axis direction is not belonging to the first pre-set interval, And/or coordinate of the invalid data on second change in coordinate axis direction is not belonging to the second pre-set interval.
- 3. according to the method for claim 2, it is characterised in that the deletion invalid data, including：Before being ranked up according to the first change in coordinate axis direction to each data, according to second change in coordinate axis direction to institute Radar cloud data is stated to be ranked up；The data that the coordinate in second reference axis is not belonging to second pre-set interval are deleted, obtain the first mediant According to；It is described that each data are ranked up according to the first change in coordinate axis direction, including：First intermediate data is ranked up according to first change in coordinate axis direction；The deletion invalid data, in addition to：After being ranked up according to first change in coordinate axis direction to first intermediate data, first intermediate data is deleted In, the coordinate in first reference axis is not belonging to the data of first pre-set interval.
- 4. according to the method for claim 1, it is characterised in that each in the n the first data groups First data group, first data group is divided into m the second data groups along the second change in coordinate axis direction, including：The data in first data group are ranked up according to second change in coordinate axis direction；Along second change in coordinate axis direction, first data group after sequence is divided by the second unit length, obtains m Individual second data group.
- 5. a kind of device that rasterizing processing is carried out to radar cloud data, it is characterised in that described device includes：Point cloud acquisition module, for obtaining radar cloud data, each data in the radar cloud data correspond to each respectively From three dimensional space coordinate, the three dimensional space coordinate includes horizontal plane abscissa, horizontal plane ordinate and vertical coordinate；First order module, for being ranked up according to the first change in coordinate axis direction to each data, first reference axis Direction is a direction in direction corresponding to direction corresponding to horizontal plane abscissa and horizontal plane ordinate；First division module, for each data to be divided into n the first data groups, n along first change in coordinate axis direction For positive integer；Second division module, for for each first data group in the n the first data groups, along the second reference axis side M the second data groups are divided into by first data group, m is positive integer；Wherein, second change in coordinate axis direction is horizontal Another direction in direction corresponding to direction corresponding to the abscissa of face and horizontal plane ordinate, each second data group are One group of rasterizing data corresponding to the radar cloud data.
- 6. device according to claim 5, it is characterised in that described device also includes：Removing module, for deleting invalid data, coordinate of the invalid data on first change in coordinate axis direction is not belonging to First pre-set interval, and/or, coordinate of the invalid data on second change in coordinate axis direction is not belonging to the second preset areas Between.
- 7. device according to claim 6, it is characterised in that the removing module, including：Sorting sub-module, for before being ranked up according to the first change in coordinate axis direction to each data, according to described Two change in coordinate axis direction are ranked up to the radar cloud data；First deletes submodule, and the number of second pre-set interval is not belonging to for deleting the coordinate in second reference axis According to obtaining the first intermediate data；First order module, for being ranked up according to first change in coordinate axis direction to first intermediate data；The removing module, in addition to：Second deletes submodule, after being ranked up according to first change in coordinate axis direction to first intermediate data, Delete in first intermediate data, the coordinate in first reference axis is not belonging to the data of first pre-set interval.
- 8. device according to claim 5, it is characterised in that second division module, including：Sorting sub-module, for being ranked up according to second change in coordinate axis direction to the data in first data group；Submodule is divided, for along second change in coordinate axis direction, by the second unit length to first data after sequence Group is divided, and obtains m the second data groups.
- 9. a kind of computer equipment, it is characterised in that including memory and processor, at least one is stored with the memory Instruction, at least one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or the instruction set Loaded and performed by the processor, rasterizing is carried out to radar cloud data as described in Claims 1-4 is any to realize The method of processing.
- 10. a kind of computer-readable recording medium, it is characterised in that at least one instruction, extremely is stored with the storage medium Few one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or instruction set are by described Processor is loaded and performed, with realize as described in Claims 1-4 is any to the progress rasterizing processing of radar cloud data Method.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109063753A (en) * | 2018-07-18 | 2018-12-21 | 北方民族大学 | A kind of three-dimensional point cloud model classification method based on convolutional neural networks |
| CN110245201A (en) * | 2019-05-30 | 2019-09-17 | 武汉智云集思技术有限公司 | Data rasterizing processing method, equipment and storage medium based on geographical location |
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| CN109063753A (en) * | 2018-07-18 | 2018-12-21 | 北方民族大学 | A kind of three-dimensional point cloud model classification method based on convolutional neural networks |
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| WO2022160891A1 (en) * | 2021-01-29 | 2022-08-04 | 华为技术有限公司 | Point cloud data transmission method and apparatus |
| CN117152164A (en) * | 2023-11-01 | 2023-12-01 | 武汉精一微仪器有限公司 | Point cloud data layering method and device for transparent multilayer material and electronic equipment |
| CN117152164B (en) * | 2023-11-01 | 2024-02-09 | 武汉精一微仪器有限公司 | Point cloud data layering method and device for transparent multilayer material and electronic equipment |
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