CN112489105A - Method and device for acquiring structural parameter representation - Google Patents
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Abstract
A method and a device for acquiring structural parameter representation are disclosed, which comprises the following steps: acquiring preset model parameters of a target object corresponding to point cloud to be processed; calculating a first outer envelope point of the target; fitting the target object in the point cloud to be processed according to the preset model parameters of the target object to obtain a first structural parameter representation of the target object; adjusting the first structural parameter representation according to the first outer envelope point to obtain a second structural parameter representation of the target object, wherein the matching degree between the second structural parameter representation and the first outer envelope point meets a preset condition; the method and the device realize accurate and efficient structural parameter representation acquisition and obtain the structural parameter representation of the target object with accuracy meeting the requirement, thereby replacing manual marking, avoiding manual intervention and avoiding the influence of the conditions of point cloud noise, key point loss and the like on structural parameter representation.
Description
Technical Field
The disclosure relates to the field of image processing, in particular to a method and a device for acquiring structural parameter representation.
Background
When a high-precision point cloud map is manufactured, parameterization processing is usually required to be performed on a point cloud of a target object, so that a structural parameter representation of the target object is obtained.
At present, an enclosing contour of an object is marked in a point cloud of the object mainly by a manual marking mode, and then geometric parameters of the marked enclosing contour are determined as structural parameter representations of the object.
Disclosure of Invention
When the enclosing contour of the target object is marked in the point cloud of the target object in a manual marking mode, the manual intervention degree is extremely high, phenomena of overlarge noise, missing key points and the like can exist in the point cloud of the target object, and anchor points (corresponding to outer enclosing control points of the target object) of the enclosing contour are not easy to accurately mark, so that the accuracy of geometric parameters of the subsequently obtained point cloud is low.
The present disclosure is proposed to solve the above technical problems. The embodiment of the disclosure provides a method and a device for acquiring structural parameter representation, and the acquired structural parameter representation is more accurate.
According to a first aspect of the present disclosure, there is provided a structured parametric representation obtaining method, including:
acquiring preset model parameters of a target object corresponding to point cloud to be processed;
calculating a first outer envelope point of the target;
fitting the target object in the point cloud to be processed according to the preset model parameters of the target object to obtain a first structural parameter representation of the target object;
and adjusting the first structural parameter representation according to the first outer envelope point to obtain a second structural parameter representation of the target object, wherein the matching degree between the second structural parameter representation and the first outer envelope point meets a preset condition.
According to a second aspect of the present disclosure, there is provided a structured parameter representation acquiring apparatus, comprising:
the standard value acquisition module is used for acquiring preset model parameters of a target object corresponding to the point cloud to be processed;
a calculation module for calculating a first outer envelope point of the target;
the model construction module is used for fitting the target object in the point cloud to be processed according to preset model parameters of the target object to obtain a first structural parameter representation of the target object;
and the optimization processing module is used for adjusting the first structural parameter representation according to the first outer envelope point to obtain a second structural parameter representation of the target object, wherein the matching degree between the second structural parameter representation and the first outer envelope point meets a preset condition.
According to a third aspect of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the structured parametric representation acquisition method described in the first aspect above.
According to a fourth aspect of the present disclosure, there is provided an electronic apparatus comprising: a processor; a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method for obtaining a structured parametric representation according to the first aspect.
Compared with the prior art, the method and the device for acquiring the structural parameter representation provided by the disclosure are adopted, the first structural parameter representation is determined through the preset model parameter with universality for the specific target object, and then the first structural parameter representation is adjusted according to the first outer wrapping points to obtain the second structural parameter representation which accurately reflects the real form of the target object; the method and the device realize accurate and efficient structural parameter representation acquisition and obtain the structural parameter representation of the target object with accuracy meeting the requirement, thereby replacing manual marking, avoiding manual intervention and avoiding the influence of the conditions of point cloud noise, key point loss and the like on structural parameter representation.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments of the present disclosure with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings, like reference numbers generally represent like parts or steps.
FIG. 1 is a schematic structural diagram of a structured parametric representation acquisition system according to an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram illustrating a method for obtaining a structured parametric representation according to an exemplary embodiment of the present disclosure;
FIG. 3 is a schematic flow chart diagram illustrating a method for obtaining a structured parametric representation according to an exemplary embodiment of the present disclosure;
FIG. 4 is a schematic flow chart diagram illustrating a method for obtaining a structured parametric representation according to an exemplary embodiment of the present disclosure;
FIG. 5-1 is a schematic view of a scene in a structured parametric representation acquisition method according to an exemplary embodiment of the present disclosure;
fig. 5-2 is a scene schematic diagram in a structured parametric representation obtaining method according to an exemplary embodiment of the present disclosure;
5-3 are schematic diagrams of a scene in a structured parametric representation acquisition method provided by an exemplary embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of a structured parameter representation acquiring apparatus according to an exemplary embodiment of the present disclosure;
FIG. 7 is a schematic structural diagram of a structured parametric representation acquisition device according to an exemplary embodiment of the present disclosure;
fig. 8 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure.
Detailed Description
Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the embodiments of the present disclosure and not all embodiments of the present disclosure, with the understanding that the present disclosure is not limited to the example embodiments described herein.
Summary of the application
As is known from the foregoing, in the process of making a high-precision point cloud map, a point cloud of a target object is usually parameterized to obtain a structural parametric representation of the target object. Generally, the target object may be an element in a road environment, such as various traffic signs, street lamps, signal lamps, and various road signs, zebra crossings, etc. on a road surface.
In the prior art, an enclosing contour of an object is marked in a point cloud of the object usually by means of manual marking, and then geometric parameters of the marked enclosing contour are determined as a structural parametric representation of the object. However, the method has extremely high manual intervention degree, and the point cloud of the target object may have phenomena of overlarge noise, key point loss and the like, so that the outer envelope control point of the target object is not easy to be accurately marked, and the accuracy of the subsequent structural parameter representation is low.
Therefore, the method and the device for obtaining the structural parameter representation fit and further adjust through the preset model parameters of the target object and the first outer envelope point of the target object to obtain the corresponding structural parameter representation, so that manual intervention is avoided, and the accuracy of structural parameter representation is improved.
Exemplary System
As shown in fig. 1, a schematic structural diagram of a structured parameter representation acquisition system is provided for the present disclosure. Through the operation flow of the system, the overall idea of the structural parameter representation acquisition of the system can be reflected. In the system, the corresponding target object can be determined by performing semantic segmentation on the point cloud to be processed. Through the target object, on one hand, the preset model parameters corresponding to the target object can be determined, and on the other hand, the first outer envelope point of the target object can be determined. Then, fitting according to preset model parameters to obtain a first structural parameter representation; and adjusting the first structural parameter representation according to the first outer envelope point to obtain a second structural parameter representation which accurately accords with the form of the target object in the point cloud.
Exemplary method
Fig. 2 is a flowchart illustrating a method for acquiring a structured parameter representation according to an exemplary embodiment of the disclosure. The embodiment can be applied to an electronic device, as shown in fig. 2, and includes the following steps:
After the point cloud to be processed is obtained, semantic segmentation can be carried out on the point cloud to be processed, and a target object included in the point cloud to be processed is determined. The object is the object for which the structured parametric representation is subsequently determined. The target object may be various elements expressing road information in a road environment, such as various traffic signs, street lamps, signal lamps, various road signs and zebra crossings on a road surface.
Since the object is generally various elements expressing the road information, there are often corresponding national standards for the shape structure of the object. That is, a fixed system is generally adopted for a specific kind of object. Therefore, the corresponding preset model parameters can be determined in advance for various types of objects according to the description of the object row structure in the national standard.
When the target object is a single shape (e.g., a common traffic sign is usually rectangular, circular or polygonal), the preset model parameters of the target object indicate the geometry of the target object. When the object is a composite shape including a plurality of components (for example, a common sidewalk mark "zebra crossing" is a composite shape including a plurality of rectangles, each of which can be regarded as a component), the preset model parameters of the object indicate the position relationship between the components of the object and the geometric structure of each component.
After a specific target object is determined according to the point cloud to be processed, the preset model parameters corresponding to the target object can be correspondingly determined.
After a specific target object is determined according to the point cloud to be processed, a first outer envelope point of the target object can be calculated according to the actual point cloud distribution of the point cloud to be processed. The first outer envelope point is a series of points determined by calculation in the point cloud to be processed. The series of points represent the contour of the target object in the point cloud to be processed, and it is also considered in this embodiment that this contour, i.e. the true contour of the target object, can be used as a basis for subsequently establishing the structural parameter representation. Taking a rectangular signboard as an example, the first outer envelope point may be four corner points of the signboard.
The specific way of calculating and determining the first outer envelope point is not limited in this embodiment. All calculation ways that can achieve the same or similar effects can be combined in the overall technical solution of the present embodiment.
And 203, fitting the target object in the point cloud to be processed according to the preset model parameters of the target object to obtain a first structural parameter representation of the target object.
The preset model parameters indicate the geometric structure and the position relation of the target object or each component in the target object, and also include standard values of each parameter (such as size, pose and the like) in the target object. If a structured parametric representation is to be created in this way, the missing information comprises the position of the object. In the step, a target object is fitted in the point cloud to be processed to obtain a first structural parameter representation of the target object, that is, a preset model parameter is positioned according to the position of the target object reflected in the point cloud to be processed, so that an initial structural parameter representation aiming at the target object, that is, the first structural parameter representation, is obtained.
And 204, adjusting the first structural parameter representation according to the first outer envelope point to obtain a second structural parameter representation of the target object.
It will be appreciated that the various parameters in the first structured parametric representation are merely specified standard values and may generally deviate from the actual values of the object. And the determination of the first structuring parameter representation position may also be less accurate during the fitting in the point cloud to be processed. It is therefore clear that often the accuracy of the representation of the first structuring parameter is not sufficient.
It is known that the outline represented by the first outer envelope point is considered to be the true outline of the object. The first structured parametric representation will be adjusted in this step according to the first outer envelope point so that the structured parametric representation more closely conforms to the first outer envelope point. Specifically, the pose, size and other parameters expressed by the first structural parameter may be adjusted to obtain the second structural parameter expression of the target object. Wherein the degree of matching between the second structured parametric representation and the first outer envelope point needs to satisfy a preset condition. That is, the adjusted second structural parameter represents the outline of the embodied target object, and should sufficiently fit the first outer envelope point, the adjustment is considered successful. The second structuring parameter representation is then an accurate structuring parameter representation of the object.
According to the technical scheme, the beneficial effects of the embodiment are as follows: determining a first structural parameter representation through a preset model parameter with universality for a specific target object, and adjusting the first structural parameter representation according to a first outer envelope point to obtain a second structural parameter representation which accurately reflects the real form of the target object; the method and the device realize accurate and efficient structural parameter representation acquisition and obtain the structural parameter representation of the target object with accuracy meeting the requirement, thereby replacing manual marking, avoiding manual intervention and avoiding the influence of the conditions of point cloud noise, key point loss and the like on structural parameter representation.
Fig. 2 shows only a basic embodiment of the method of the present disclosure, and based on this, certain optimization and expansion can be performed, and other preferred embodiments of the method can also be obtained.
Fig. 3 is a schematic flow chart of a structured parameter representation obtaining method according to another exemplary embodiment of the present disclosure. The embodiment can be applied to electronic equipment. In this embodiment, the adjustment process of the first structural parameter representation will be specifically described for different types of objects. As shown in fig. 3, the present embodiment includes the following steps:
301, acquiring preset model parameters of a target object corresponding to the point cloud to be processed.
The above steps are consistent with the corresponding steps in the embodiment shown in fig. 2, and are not described herein again.
It should be noted that, when the target object is a single shape (for example, a common traffic sign is generally a rectangle, a circle or a polygon), the preset model parameters of the target object indicate the geometric structure of the target object. The method in this embodiment proceeds to step 304.
When the object is a composite shape including a plurality of components (for example, a common sidewalk mark "zebra crossing" is a composite shape including a plurality of rectangles, each of which can be regarded as a component), the preset model parameters of the object indicate the position relationship between the components of the object and the geometric structure of each component. The method in this embodiment proceeds to step 305.
And 304, adjusting the pose and/or size of the first structural parameter representation according to the first outer envelope point to obtain a second structural parameter representation of the target object.
In the case of a single shape of the object, the object can be considered as a whole and directly adjusted so that the structured parametric representation more closely conforms to the first outer envelope point. Specifically, the pose, size and other parameters expressed by the first structural parameter may be adjusted to obtain the second structural parameter expression of the target object.
And 305, according to the first outer envelope point and the position relation among the components of the target object indicated by the preset model parameters of the target object, adjusting the relative position among the component models corresponding to the components in the first structural parameter representation of the target object, and adjusting the pose and/or size of each component model to obtain a second structural parameter representation of the target object.
When the target object is in a composite shape, the pose, the size and other parameters of each component of the target object can be independently adjusted, and the position relation among the components can be adjusted simultaneously, so that the structural parameter representation is more consistent with the first outer envelope point. And then a second structural parameter representation of the target object is obtained.
In steps 304 to 305, the degree of matching between the adjusted second structural parameter representation and the first outer envelope point satisfies a preset condition. The description of the preset condition may refer to the embodiment shown in fig. 2, and the description is not repeated here.
In addition, the adjustment of the first structured parameter representation in steps 304 to 305 includes the adjustment of the pose and/or size. Wherein, the adjustment pose can be regarded as the direction of the adjustment target object or the component of the target object; resizing may be considered to resize the object or a component of the object. Of course, in an actual situation, other related parameters may be further adjusted according to needs, which is not limited in this embodiment, and any similar adjustment manner may be combined in the overall scheme of this embodiment.
According to the above technical solutions, on the basis of the embodiment shown in fig. 2, the present embodiment further has the following beneficial effects: the way of adjustment of the first structuring parameter representation is disclosed in detail in connection with different types of objects.
Fig. 4 is a schematic flowchart of a structured parameter representation obtaining method according to another exemplary embodiment of the present disclosure. The embodiment can be applied to electronic equipment. In this embodiment, the adjustment process of the first structured parameter representation will be specifically described with reference to a specific scenario. As shown in fig. 4, the present embodiment includes the following steps:
In this embodiment, a target object will be specifically described as an example of a "zebra crossing". Since the zebra crossing belongs to a composite shape, a plurality of rectangles are included, and one rectangle is regarded as one component. The preset model parameters of the object indicate the positional relationship between the respective rectangular components of the object and the geometry of each component. Specifically, the position relationship between the rectangular components is the vertical distance between two adjacent rectangles; the geometry of the assembly is the value of the length and width of the rectangle.
As shown in fig. 5-1, a distribution diagram of the first outer envelope points is calculated through the point cloud to be processed of the "zebra stripes", and the solid dots in the diagram represent the first outer envelope points. The two solid line rectangular boxes in FIG. 5-1 represent two rectangular components in the "zebra stripes" in the point cloud to be processed.
And 403, fitting the target object in the point cloud to be processed according to the preset model parameters of the target object to obtain a first structural parameter representation of the target object.
As shown in fig. 5-2, i.e., the morphology of the object embodied in the first structuring parameter representation. The two dashed rectangular boxes in fig. 5-2 represent the two rectangular components in the "zebra crossing" in the first structured parametric representation. It can be seen that the solid line rectangular components are compared with the dashed line rectangular components in the present case, and the values of the vertical distance and the width are different. That is, the first structuring parameter indicates that the morphology of the target object cannot be accurately expressed.
In this embodiment, the parameters of the first structural parameter representation are adjusted for the first outer envelope point to obtain a third structural parameter representation. The embodiment shown in fig. 3 can be referred to for a specific way of adjusting the parameters of the first structured-parameter representation.
In this embodiment, the adjusted parameter specifically includes a vertical distance between two adjacent rectangles in the first structural parameter representation; and the values of the length and width of the rectangle.
And step 405, determining second outer envelope points which correspond to the first outer envelope points one by one from the third structural parameter representation.
After the adjusted third structured parametric representation is determined, second outer envelope points corresponding one-to-one to the first outer envelope points may be determined from the third structured parametric representation. The second outer envelope point represents the contour of the object represented by the third structured parametric representation. As shown in fig. 5-3, i.e., a schematic distribution of the first outer envelope point and the second outer envelope point. In fig. 5-3, the solid dots represent the first outer envelope points and the hollow dots represent the second outer envelope points.
And 406, calculating the matching degree of the third structural parameter representation according to the distance between the first outer envelope point and the corresponding second outer envelope point.
If the first and second outer envelope points are more closely located, this means that the third structured parametric representation is more consistent with the first outer envelope point, i.e. the third structured parametric representation is more accurate. The degree of matching of the third structured parametric representation can be calculated from the distance between the first outer envelope point and its corresponding second outer envelope point.
Specifically, the sum of the distances between each corresponding first outer envelope point and second outer envelope point may be calculated, and the sum of the distances is used as an index for measuring the matching degree.
In this embodiment, the matching degree meeting the preset condition may be determined in advance, that is, a numerical threshold is determined for the sum of the distances. And when the sum of the distances between the first outer envelope point and the second outer envelope point is smaller than the sum of the distances, the third structural parameter is considered to meet the preset condition. And then determining the third structural parameter representation corresponding to the determined matching degree meeting the preset condition as a second structural parameter representation. Otherwise, if the third structured parametric representation does not satisfy the preset condition, the step 404 may be returned to readjust the first structured parametric representation.
According to the above technical solutions, on the basis of the embodiment shown in fig. 2, the present embodiment further has the following beneficial effects: the method for adjusting the first structural parameter representation is disclosed in detail in connection with a specific application scenario.
Exemplary devices
Fig. 6 is a schematic structural diagram of a structural parameter representation acquiring apparatus according to an exemplary embodiment of the present disclosure. The apparatus of this embodiment is a physical apparatus for executing the methods of fig. 2 to 4. The technical solution is essentially the same as that in the above embodiment, and the corresponding description in the above embodiment is also applicable to this embodiment. The device in the embodiment comprises:
the standard value obtaining module 601 is configured to obtain preset model parameters of a target object corresponding to the point cloud to be processed.
A calculation module 602 for calculating a first outer envelope point of the target object.
The model building module 603 is configured to fit the target object in the point cloud to be processed according to a preset model parameter of the target object, so as to obtain a first structural parameter representation of the target object.
And an optimization processing module 604, configured to adjust the first structured parametric representation according to the first outer envelope point to obtain a second structured parametric representation of the target object, where a matching degree between the second structured parametric representation and the first outer envelope point meets a preset condition.
Fig. 7 is a schematic structural diagram of an optimization processing module 604 in a structured parameter representation acquiring apparatus according to another exemplary embodiment of the present disclosure. As shown in FIG. 7, in an exemplary embodiment, the optimization module 604 includes:
an adjusting processing unit 711, configured to adjust the first structured parametric representation according to the first outer envelope point, to obtain a second structured parametric representation of the target object.
A control point determining unit 712 for determining second outer envelope points from the second structured parametric representation, which are in one-to-one correspondence with the first outer envelope control points.
A calculating unit 713, configured to calculate a matching degree of the third structured parametric representation according to a distance between the first outer envelope point and its corresponding second outer envelope point.
The parameter determining unit 714 determines the matching degree satisfying the preset condition, and determines the third structural parametric representation corresponding to the determined matching degree satisfying the preset condition as the second structural parametric representation.
In addition, when the preset model parameters of the target object indicate the geometric structure of the target object; the optimization processing module 604 is in particular adapted to adjust the pose and/or size of the first structured parametric representation in dependence of the first outer envelope point.
Or, when the preset model parameters of the target object indicate the position relation among the components of the target object and the geometric structure of each component; the optimization processing module 604 is specifically configured to adjust the relative positions between the component models respectively corresponding to the components in the first structured parametric representation of the object and adjust the pose and/or size of each component model according to the first outer envelope point and the position relationship between the components of the object indicated by the preset model parameters of the object.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present disclosure is described with reference to fig. 8. The electronic device may be either or both of the first device 100 and the second device 200, or a stand-alone device separate from them that may communicate with the first device and the second device to receive the collected input signals therefrom.
FIG. 8 illustrates a block diagram of an electronic device in accordance with an embodiment of the disclosure.
As shown in fig. 8, the electronic device 10 includes one or more processors 11 and memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by processor 11 to implement the structured parametric representation acquisition methods of the various embodiments of the present disclosure described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
For example, when the electronic device is the first device 100 or the second device 200, the input device 13 may be a microphone or a microphone array as described above for capturing an input signal of a sound source. When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device 100 and the second device 200.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 10 relevant to the present disclosure are shown in fig. 8, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present disclosure may also be a computer program product comprising computer program instructions, the described methods and apparatusComputer programThe instructions, when executed by the processor, cause the processor to perform steps in a structured parametric representation acquisition method according to various embodiments of the present disclosure described in the "exemplary methods" section above in this specification.
The computer program product may write program code for carrying out operations for embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform steps in a structured parametric representation acquisition method according to various embodiments of the present disclosure described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present disclosure in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present disclosure are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.
The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It is also noted that in the devices, apparatuses, and methods of the present disclosure, each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A structured parametric representation acquisition method, comprising:
acquiring preset model parameters of a target object corresponding to point cloud to be processed;
calculating a first outer envelope point of the target;
fitting the target object in the point cloud to be processed according to the preset model parameters of the target object to obtain a first structural parameter representation of the target object;
and adjusting the first structural parameter representation according to the first outer envelope point to obtain a second structural parameter representation of the target object, wherein the matching degree between the second structural parameter representation and the first outer envelope point meets a preset condition.
2. The method of claim 1, wherein,
the preset model parameters of the target object indicate the geometric structure of the target object;
said adjusting said first structured parametric representation in accordance with said first outer envelope point comprises:
adjusting the pose and/or size of the first structured parametric representation in accordance with the first outer envelope point.
3. The method of claim 1, wherein,
the preset model parameters of the target object indicate the position relation among the components of the target object and the geometric structure of each component;
said adjusting said first structured parametric representation in accordance with said first outer envelope point comprises:
according to the first outer envelope point and the position relation among the components of the target object indicated by the preset model parameters of the target object, adjusting the relative position among the component models respectively corresponding to the components in the first structural parameter representation of the target object, and adjusting the pose and/or size of each component model.
4. The method of any one of claims 1 to 3,
said adjusting said first structured parametric representation in accordance with said first outer envelope point resulting in a second structured parametric representation of said target comprising:
adjusting the first structured parametric representation in accordance with the first outer envelope point to obtain a third structured parametric representation;
determining second outer envelope points corresponding to the first outer envelope points one by one from the third structured parametric representation;
calculating the matching degree of the third structural parameter representation according to the distance between the first outer envelope point and the second outer envelope point corresponding to the first outer envelope point;
and determining the matching degree meeting the preset condition, and determining the third structural parameter representation corresponding to the determined matching degree meeting the preset condition as a second structural parameter representation.
5. A structured parametric representation acquisition apparatus comprising:
the standard value acquisition module is used for acquiring preset model parameters of a target object corresponding to the point cloud to be processed;
a calculation module for calculating a first outer envelope point of the target;
the model construction module is used for fitting the target object in the point cloud to be processed according to preset model parameters of the target object to obtain a first structural parameter representation of the target object;
and the optimization processing module is used for adjusting the first structural parameter representation according to the first outer envelope point to obtain a second structural parameter representation of the target object, wherein the matching degree between the second structural parameter representation and the first outer envelope point meets a preset condition.
6. The apparatus of claim 5, wherein,
the preset model parameters of the target object indicate the geometric structure of the target object;
the optimization processing module is used for adjusting the pose and/or size of the first structural parameter representation according to the first outer envelope point.
7. The apparatus of claim 5, wherein,
the preset model parameters of the target object indicate the position relation among the components of the target object and the geometric structure of each component;
and the optimization processing module is used for adjusting the relative positions of the component models respectively corresponding to the components in the first structural parameter representation of the target object and adjusting the pose and/or size of each component model according to the first outer envelope points and the position relation among the components of the target object indicated by the preset model parameters of the target object.
8. The apparatus of any one of claims 5 to 7,
the optimization processing module comprises:
an adjustment processing unit for adjusting the first structured parametric representation according to the first outer envelope point to obtain a second structured parametric representation of the target;
a control point determining unit, configured to determine, from the second structured parametric representation, second outer envelope points that correspond one-to-one to the first outer envelope control points;
a calculating unit, configured to calculate a matching degree of the third structured parametric representation according to a distance between the first outer envelope point and the second outer envelope point corresponding thereto;
and the parameter determining unit is used for determining the matching degree meeting the preset condition and determining the third structural parameter representation corresponding to the determined matching degree meeting the preset condition as a second structural parameter representation.
9. A computer-readable storage medium, storing a computer program for executing the structured parametric representation acquisition method of any of the preceding claims 1 to 4.
10. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the structured parametric representation obtaining method of any of the preceding claims 1 to 4.
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