CN112489177A - Point cloud data rendering and displaying method and system - Google Patents
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Abstract
The invention discloses a point cloud data rendering and displaying method and a point cloud data rendering and displaying system, wherein the method comprises the following steps: acquiring a target rarefaction level; performing thinning on the point cloud data according to the target thinning level to obtain point cloud data to be rendered; dividing point cloud data to be detected according to an octree structure principle to form a plurality of point cloud files; and starting a main thread and a plurality of sub-threads to render and display the point cloud files. According to the embodiment of the invention, the point cloud of the point cloud data is greatly reduced by rarefying the point cloud data, so that the calculation amount in the later rendering is effectively reduced. The point cloud data to be detected after extraction is divided according to the octree structure, so that more reasonable structure and space relation can be obtained, and the rendering speed can be further improved conveniently. In addition, the rendering efficiency can be further improved by adopting a multi-thread simultaneous rendering mode. The embodiment of the invention effectively solves the problem of low rendering speed of the traditional web.
Description
Technical Field
The invention belongs to the field of point cloud data visualization processing, and particularly relates to a point cloud data rendering and displaying method and system.
Background
The laser scanning system can directly acquire the three-dimensional space coordinates of the surface of a measured target, has the characteristics of high sampling density, dense point cloud distribution and the like, is gradually becoming one of main means for quickly acquiring three-dimensional space information, and is widely applied to the fields of cultural relic protection, three-dimensional reconstruction, digital ground model production, urban planning and the like. However, as the precision of the laser scanning system is improved, the point cloud data obtained by the scanning system is also increased in a geometric manner, and the size of a single file of the point cloud data is generally in the GB level.
At present, some point cloud data processing methods exist, and can realize visualization of point cloud data, but due to the fact that the computation amount of the point cloud data is too large, the problem that the point cloud data cannot be completely displayed in a memory or can be rendered slowly can exist. In addition, the existing rendering mode does not adopt different precisions for rendering according to different use requirements, if the rendering with high precision is provided in a low-demand state, the great waste of operation space can be caused, and the synchronous rendering of more threads is difficult to realize.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a method and a system for displaying point cloud data in a rendering manner, which can effectively improve the rendering speed, wherein the method includes:
step S1, acquiring a target rarefaction level;
step S2, rarefying the point cloud data according to the target rarefying level to obtain point cloud data to be rendered;
step S3, dividing the point cloud data to be detected according to an octree structure principle to form a plurality of point cloud files;
and step S4, starting a main thread and a plurality of sub-threads to render and display the point cloud files.
Further, the step S1 includes:
step S11, establishing a rarefaction grade table, wherein the rarefaction grade table comprises a plurality of authority grades and a plurality of rarefaction grades, and the plurality of authority grades and the plurality of rarefaction grades are arranged in a one-to-one correspondence manner;
step S12, constructing an access authority database, where the access authority database includes a plurality of authority keys, and each authority key corresponds to one authority level;
step S13, obtaining an access key, and scanning whether there is the same authority key as the access key, if yes, finding the authority level corresponding to the authority key, and marking the rarefaction level corresponding to the authority level as a target rarefaction level.
Further, the step S4 includes:
step S41, determining the number of threads capable of being started based on the processor performance, wherein one thread is used as the main thread and the other threads are used as the sub-threads;
and step S42, rendering the point cloud files from big to small by using the sub threads.
Further, the step S42 includes:
step S421, when the number of the sub threads is larger than the number of the point cloud files, rendering each point cloud file by adopting one sub thread;
and S422, when the number of the sub threads is less than that of the point cloud files, rendering the point cloud files from big to small.
Further, the step S42 further includes: and determining a visual center of the point cloud data to be detected, and preferentially rendering the point cloud file in the current visual field area with the visual center as a midpoint and the radius as a preset visual field length.
Further, the step S42 further includes: and determining the visual direction of the point cloud data to be detected, and rendering the point cloud file on the surface layer extending along the visual direction preferentially.
A point cloud data rendering display system, comprising:
a target rarefaction level obtaining unit for obtaining a target rarefaction level;
the point cloud data rarefying unit is used for rarefying the point cloud data according to the target rarefying level so as to obtain point cloud data to be rendered;
the point cloud data dividing unit is used for dividing the point cloud data to be detected according to an octree structure principle to form a plurality of point cloud files;
and the point cloud file rendering unit is used for starting a main thread and a plurality of sub-threads to render and display the point cloud files.
Further, the target rarefaction level acquiring unit includes:
the rarefaction grade table subunit is used for establishing a rarefaction grade table, wherein the rarefaction grade table comprises a plurality of authority grades and a plurality of rarefaction grades, and the plurality of authority grades and the plurality of rarefaction grades are arranged in a one-to-one correspondence manner;
the access authority database subunit is used for constructing an access authority database, the access authority database comprises a plurality of authority keys, and each authority key corresponds to one authority level;
and the target rarefaction level marking subunit is used for acquiring the access key, scanning whether the authority key which is the same as the access key exists, if so, finding the authority level corresponding to the authority key, and marking the rarefaction level corresponding to the authority level as a target rarefaction level.
Further, the point cloud file rendering unit includes:
a thread starting subunit, configured to determine the number of threads that can be started based on processor performance, where one thread is used as the main thread and the other threads are used as the sub-threads;
and the rendering subunit is used for rendering the point cloud files from big to small by using the sub threads.
Further, the rendering subunit is specifically configured to: when the number of the sub threads is larger than that of the point cloud files, each point cloud file is rendered by adopting one sub thread; and when the number of the sub threads is less than that of the point cloud files, rendering the point cloud files from big to small.
The embodiment of the invention has the following beneficial effects: the point cloud data is rarefied according to the target rarefied level, so that the point cloud of the point cloud data is greatly reduced, the calculation amount during later-stage rendering is effectively reduced, the condition of efficient rendering is effectively avoided when low demand is met, and the waste of calculation resources is avoided. The point cloud data to be detected after extraction is divided according to the octree structure, so that more reasonable structure and space relation can be obtained, and the rendering speed can be further improved conveniently. In addition, the rendering efficiency can be further improved by adopting a multi-thread simultaneous rendering mode. The embodiment of the invention effectively solves the problem of low rendering speed of the traditional web.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a point cloud data rendering and displaying method according to a first embodiment of the present invention.
Detailed Description
The following description of the embodiments refers to the accompanying drawings, which are included to illustrate specific embodiments in which the invention may be practiced.
Referring to fig. 1, an embodiment of the invention provides a method for rendering and displaying point cloud data, including steps S1-S4.
In step S1, a target rarefaction level is obtained.
In particular, in practical applications, for the same model to be rendered, the rarefaction requirement may be greatly different due to the inconsistency of users or the inconsistency of use environments. For the distinction between users, a salesperson or a general user on the spot usually only needs to view a model with less detail, so that high-precision rendering is not needed, and a research and development engineer needs to know the whole model with high precision so as to perform some more complicated data processing, and at this time, the identity information of the user can be used as an access key. For distinguishing the use environments, a research center or a design center needs to adopt high-precision rendering to reserve details to the maximum extent, and for a business department, the use requirements can be met only by low-precision rendering. It is sufficient to use the IP address directly as an access key at this time. In practical applications, the rarefaction level may have a plurality of levels due to excessive demands, and at this time, one rarefaction level is selected as the target rarefaction level.
In one embodiment, the obtaining of the target rarefaction level includes steps S11-S13.
Step S11, establishing a rarefaction grade table, wherein the rarefaction grade table comprises a plurality of authority grades and a plurality of rarefaction grades, and the plurality of authority grades and the plurality of rarefaction grades are set in a one-to-one correspondence manner;
step S12, constructing an access authority database, wherein the access authority database comprises a plurality of authority keys, and each authority key corresponds to one authority level;
step S13, obtain the access key, scan whether there is an authority key that is the same as the access key, if yes, find the authority level corresponding to the authority key, and mark the rarefaction level corresponding to the authority level as the target rarefaction level.
The establishment of the rarefaction grade table can facilitate the management of rarefaction grades and the subsequent acquisition of target rarefaction and the like. The rarefaction level table includes a plurality of permission levels and a plurality of corresponding rarefaction levels having corresponding relationships, and here, a simple example is given: the authority level can be set as a common user, a high-level user and an engineering designer, and the corresponding rarefaction level can be set as maximum rarefaction, medium rarefaction and no rarefaction. The method includes the steps that corresponding rarefying grades need to be obtained through an authority secret key, an access authority database is built to manage the authority secret key, the authority secret key can be understood as a use account established in a server, the account can have a corresponding rarefying grade due to the fact that the corresponding authority grade can be a common user, a senior user or an engineering designer, when a user needs to conduct point cloud data rendering on a WEB end, the access secret key needs to be input firstly, if the access secret key can be matched with the corresponding authority secret key, the corresponding authority grade and the rarefying grade can be obtained, the rarefying grade can serve as a target rarefying grade, and then corresponding degree rarefying is conducted on the point cloud data.
And step S2, performing rarefaction on the point cloud data according to the target rarefaction level to obtain point cloud data to be rendered.
Specifically, the original point cloud data is thinned, so that the size of the point cloud data can be greatly reduced. The most simple way is to directly divide the whole point cloud data into a plurality of unit volumes and directly extract the point cloud data in each unit volume in proportion. It should be noted that the maximum value of thinning cannot affect the overall effect of the final rendering.
And step S3, dividing the point cloud data to be detected according to the octree structure principle to form a plurality of point cloud files.
The octree structure is a tree structure for describing three-dimensional space, each node of the octree structure represents a cubic volume element, each node has eight child nodes, and the volume elements represented by the eight child nodes are added together to be equal to the volume of a parent node. According to the embodiment of the invention, the point cloud data is divided according to the octree structure, so that a plurality of point cloud files can be obtained, and the subsequent multi-thread rendering can be conveniently started.
And step S4, starting a main thread and a plurality of sub-threads to render and display a plurality of point cloud files.
In order to complete the rendering of point cloud data, a main thread and a plurality of sub-threads are arranged, the main thread guides the whole rendering process, the plurality of sub-threads are all used for rendering a single point cloud file, and the rendering efficiency can be greatly improved by the parallel processing mode.
In one embodiment, the step of rendering includes steps S41-S42.
Step S41, determining the number of threads capable of being started based on the processor performance, wherein one thread is used as a main thread and the other threads are used as sub-threads;
and step S42, rendering the point cloud files from big to small by using a plurality of sub threads.
The number of the opening threads is not freely settable, and needs to be set based on the performance of the processor, for example, a six-core twelve-thread processor is taken as an example, a maximum of twelve threads are opened, and in actual use, all threads cannot be completely used for point cloud data rendering because other programs need to be run. In some embodiments, the point cloud data is rendered from large to small, and certainly, other spatial index relationships set by human can be used for rendering sequentially.
Further, step S42 includes steps S421 to S422.
Step S421, when the number of sub threads is larger than the number of point cloud files, each point cloud file is rendered by adopting one sub thread;
in step S422, when the number of sub-threads is less than the number of point cloud files, the point cloud files are rendered from large to small.
When the number of the point cloud files is less than the number of the openable sub-threads, the processor completely has enough computing capacity and can simultaneously render all the point cloud files, so that the point cloud files can be directly rendered one by directly utilizing a plurality of sub-threads. When the number of the point cloud files is larger than that of the sub-threads, the plurality of point cloud data can only be respectively rendered, in some embodiments, rendering is performed according to a principle from large to small, and rendering can also be performed by using other artificially established principles.
Further, step S42 may be followed by: and determining a visual center of the point cloud data to be detected, and preferentially rendering the point cloud file in the current visual field area with the visual center as a midpoint and the radius as the preset visual field length.
When the web is displayed, the model corresponding to the whole point cloud data cannot be directly displayed generally, so that the rendering time is long on one hand, and the whole rendering effect can be viewed only after the rendering of the whole model is finished. The problem is effectively avoided by setting a visual center and a visual field length, when rendering is started, a visual field area with the visual center as a center and the visual field length as a radius is rendered first, which is an area which can be seen by a user firstly when the user looks over in a web, so that the user can be ensured to have good initial experience only by rendering the part of point cloud data, and the point cloud data of other areas can be rendered while the user looks over the rendering result. When the user changes the position of the visual center, the rendering is restarted centering on the new visual center. And marking the rendered point cloud file to prevent repeated rendering.
Further, step S42 may be followed by: and determining the visual direction of the point cloud data to be detected, and rendering the point cloud file on the surface layer along the visual direction preferentially.
When the web is displayed, only one visual center is used as the initial rendering, and if the two-dimensional image has no spatial hierarchy, layering does not need to be considered, and rendered point cloud data can be directly viewed, but for the three-dimensional image, the space corresponding to the point cloud file rendered first may not be located at the uppermost layer, and the rendering and displaying are poor. Therefore, a measure of the visual direction is provided, the point cloud files in the three-dimensional space image are assumed to be overlapped layer by layer, and the point cloud files are rendered layer by layer along the visual direction. Here, an example is illustrated: when a house needs to be rendered, if the overlooking visual direction is selected, the point cloud file is preferentially rendered from the roof.
According to the description, the point cloud data is rarefied according to the target rarefied level, so that the point cloud of the point cloud data is greatly reduced, the calculation amount during later-stage rendering is effectively reduced, the condition of efficient rendering is effectively avoided when the low demand is met, and the waste of calculation resources is avoided. The point cloud data to be detected after extraction is divided according to the octree structure, so that more reasonable structure and space relation can be obtained, and the rendering speed can be further improved conveniently. In addition, the rendering efficiency can be further improved by adopting a multi-thread simultaneous rendering mode. The embodiment of the invention effectively solves the problem of low rendering speed of the traditional web.
Corresponding to the point cloud data rendering and displaying method provided by the first embodiment of the invention, the second embodiment of the invention also provides a point cloud data rendering and displaying system, which comprises the following steps:
a target rarefaction level obtaining unit for obtaining a target rarefaction level;
the point cloud data rarefying unit is used for rarefying the point cloud data according to the target rarefying level so as to obtain point cloud data to be rendered;
the point cloud data dividing unit is used for dividing the point cloud data to be detected according to an octree structure principle to form a plurality of point cloud files;
and the point cloud file rendering unit is used for starting a main thread and a plurality of sub-threads to render and display the point cloud files.
Further, the target rarefaction level acquiring unit includes:
the rarefaction grade table subunit is used for establishing a rarefaction grade table, wherein the rarefaction grade table comprises a plurality of authority grades and a plurality of rarefaction grades, and the plurality of authority grades and the plurality of rarefaction grades are arranged in a one-to-one correspondence manner;
the access authority database subunit is used for constructing an access authority database, the access authority database comprises a plurality of authority keys, and each authority key corresponds to one authority level;
and the target rarefaction level marking subunit is used for acquiring the access key, scanning whether the authority key which is the same as the access key exists, if so, finding the authority level corresponding to the authority key, and marking the rarefaction level corresponding to the authority level as a target rarefaction level.
Further, the point cloud file rendering unit includes:
a thread starting subunit, configured to determine the number of threads that can be started based on processor performance, where one thread is used as the main thread and the other threads are used as the sub-threads;
and the rendering subunit is used for rendering the point cloud files from big to small by using the sub threads.
Further, the rendering subunit is specifically configured to: when the number of the sub threads is larger than that of the point cloud files, each point cloud file is rendered by adopting one sub thread; and when the number of the sub threads is less than that of the point cloud files, rendering the point cloud files from big to small.
For the working principle and the advantageous effects thereof, please refer to the description of the first embodiment of the present invention, which will not be described herein again.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (10)
1. A point cloud data rendering and displaying method is characterized by comprising the following steps:
step S1, acquiring a target rarefaction level;
step S2, rarefying the point cloud data according to the target rarefying level to obtain point cloud data to be rendered;
step S3, dividing the point cloud data to be detected according to an octree structure principle to form a plurality of point cloud files;
and step S4, starting a main thread and a plurality of sub-threads to render and display the point cloud files.
2. The method for rendering and displaying point cloud data according to claim 1, wherein the step S1 includes:
step S11, establishing a rarefaction grade table, wherein the rarefaction grade table comprises a plurality of authority grades and a plurality of rarefaction grades, and the plurality of authority grades and the plurality of rarefaction grades are arranged in a one-to-one correspondence manner;
step S12, constructing an access authority database, where the access authority database includes a plurality of authority keys, and each authority key corresponds to one authority level;
step S13, obtaining an access key, and scanning whether there is the same authority key as the access key, if yes, finding the authority level corresponding to the authority key, and marking the rarefaction level corresponding to the authority level as a target rarefaction level.
3. The method for rendering and displaying point cloud data according to claim 1, wherein the step S4 includes:
step S41, determining the number of threads capable of being started based on the processor performance, wherein one thread is used as the main thread and the other threads are used as the sub-threads;
and step S42, rendering the point cloud files from big to small by using the sub threads.
4. The point cloud data rendering presentation method of claim 3, wherein the step S42 comprises:
step S421, when the number of the sub threads is larger than the number of the point cloud files, rendering each point cloud file by adopting one sub thread;
and S422, when the number of the sub threads is less than that of the point cloud files, rendering the point cloud files from big to small.
5. The point cloud data rendering and displaying method according to claim 4, wherein the step S42 further comprises: and determining a visual center of the point cloud data to be detected, and preferentially rendering the point cloud file in the current visual field area with the visual center as a midpoint and the radius as a preset visual field length.
6. The method for rendering and displaying point cloud data according to claim 5, wherein the step S42 further comprises: and determining the visual direction of the point cloud data to be detected, and rendering the point cloud file on the surface layer extending along the visual direction preferentially.
7. A point cloud data rendering display system, comprising:
a target rarefaction level obtaining unit for obtaining a target rarefaction level;
the point cloud data rarefying unit is used for rarefying the point cloud data according to the target rarefying level so as to obtain point cloud data to be rendered;
the point cloud data dividing unit is used for dividing the point cloud data to be detected according to an octree structure principle to form a plurality of point cloud files;
and the point cloud file rendering unit is used for starting a main thread and a plurality of sub-threads to render and display the point cloud files.
8. The point cloud data rendering presentation system of claim 7, wherein the target rarefaction level obtaining unit comprises:
the rarefaction grade table subunit is used for establishing a rarefaction grade table, wherein the rarefaction grade table comprises a plurality of authority grades and a plurality of rarefaction grades, and the plurality of authority grades and the plurality of rarefaction grades are arranged in a one-to-one correspondence manner;
the access authority database subunit is used for constructing an access authority database, the access authority database comprises a plurality of authority keys, and each authority key corresponds to one authority level;
and the target rarefaction level marking subunit is used for acquiring the access key, scanning whether the authority key which is the same as the access key exists, if so, finding the authority level corresponding to the authority key, and marking the rarefaction level corresponding to the authority level as a target rarefaction level.
9. The point cloud data rendering presentation system of claim 7, wherein the point cloud file rendering unit comprises:
a thread starting subunit, configured to determine the number of threads that can be started based on processor performance, where one thread is used as the main thread and the other threads are used as the sub-threads;
and the rendering subunit is used for rendering the point cloud files from big to small by using the sub threads.
10. The point cloud data rendering presentation system of claim 9, wherein the rendering subunit is specifically configured to: when the number of the sub threads is larger than that of the point cloud files, each point cloud file is rendered by adopting one sub thread; and when the number of the sub threads is less than that of the point cloud files, rendering the point cloud files from big to small.
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| CN111552555A (en) * | 2020-05-19 | 2020-08-18 | 北京数字绿土科技有限公司 | Point cloud visualization method and device |
| CN111862292A (en) * | 2020-07-29 | 2020-10-30 | 中国南方电网有限责任公司 | Data rendering method and device for power transmission line corridor and computer equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113487691A (en) * | 2021-09-08 | 2021-10-08 | 北京医百科技有限公司 | Point cloud coding method, system and storage medium |
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