CN112966065A - Navigation map data management method, navigation map data management device, and storage medium - Google Patents
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Abstract
The invention discloses a navigation map data management method, which comprises the steps of establishing a git folder by adopting git as an organization form of a bottom data relation, and taking the established git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in a byte stream list form to be a commit link; the whole commit link, the structure contained in the whole commit link and the corresponding content are inserted into the git warehouse, and the navigation map data are stored and managed based on the git warehouse, so that the defect that a general map storage database is used for storing a navigation map is overcome, and the convenience of data storage and the efficiency of data reading are improved.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a navigation map data management method, a navigation map data management device, and a storage medium.
Background
In the prior art, the management of map information is a management method purely based on a database, a user can only insert specified data in a K-V record form when needing to insert the specified data, in a navigation map, one data is often used for calculating another data and then the data is inserted into the database, if the effect of a grid map which is input by the same laser radar point cloud and calculated by different algorithms needs to be compared, the whole database must be traversed to determine the grid map of which the parent is the key of the laser radar point cloud, the efficiency is too low, the list structure cannot reflect the dependency relationship among the data, and the whole stored tree structure is inconvenient to view. Another method is to edit the son attribute of the parent class, which represents the key of the grid map calculated by the laser radar, but still cannot reflect the dependency relationship between the data, each time the grid map insertion is calculated. In addition, for the convenience of application, the same name needs to be maintained for the data of the whole chain, such as the other type of data calculated for the laser radar point cloud and the raster map, when the name of the chain data needs to be changed, the processing of the database is very complicated, and many additional attributes are often added to the records, and many data corresponding to the attributes are not used when being stored in the database, which causes memory waste.
Disclosure of Invention
Aiming at the defect that a general map storage database is not suitable for the use of a navigation map, the invention provides a git-based navigation map data management method, equipment and a storage medium specially aiming at the navigation map.
In a first aspect, the present invention provides a navigation map data management method.
The navigation map data management method includes: adopting git as an organization form of a bottom data relation, creating a git folder, and taking the created git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in a byte stream list form to be a commit link; and inserting the whole commit link and the structure and the corresponding content contained in the whole commit link into the git warehouse, and storing and managing the navigation map data based on the git warehouse.
In a second aspect, the present invention provides a navigation map data management apparatus.
The navigation map data management device includes: the database creating module is used for creating a git folder by adopting git as an organization form of a bottom data relation, and taking the created git folder as a git warehouse for storing navigation map data; the data insertion module is used for importing the navigation map data to be inserted into the git warehouse in a byte stream list form to form a commit link; inserting the whole commit link and the structure and the corresponding content contained in the whole commit link into the git warehouse; and the data management module is used for storing and managing the navigation map data based on the git warehouse.
In a third aspect, the present invention provides an electronic device.
The electronic device comprises a memory and a processor, wherein the memory is stored with a data management program which can run on the processor, and the data management program is used for executing the navigation map data management method when being run by the processor.
In a fourth aspect, the invention provides a computer-readable storage medium.
The computer readable storage medium has stored thereon a data management program, which is executed by one or more processors to implement the steps of the navigation map data management method.
The navigation map data management method, the navigation map data management equipment and the navigation map data management storage medium provided by the invention establish a git folder by adopting git as an organization form of a bottom data relation, and use the established git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in a byte stream list form to be a commit link; the whole commit link, the structure contained in the whole commit link and the corresponding content are inserted into the git warehouse, the navigation map data are stored and managed based on the git warehouse, the defect that a general map storage database is used for storing a navigation map is overcome, the dependency relationship among the navigation map data is reflected visually, the whole tree-shaped structure corresponding to the navigation map can be displayed conveniently and quickly, the performance verification of different algorithms in different links can be performed conveniently, meanwhile, the appointed data required by a user can be positioned quickly through the preset branch link name, and the convenience of data storage and the efficiency of data reading are improved; furthermore, because git is used as the organization form of the bottom data relation, the requirement of the distributed database is realized, and the efficiency of data storage is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings: FIG. 1 is a flow chart illustrating a navigation map data management method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a link structure of an embodiment of a commit single link in the navigation map data management method of the present invention.
FIG. 3 is a schematic diagram of a tree structure of one embodiment of a tree structure git-tree composed of commit links in the navigation map data management method of the present invention.
FIG. 4 is a functional block diagram of an embodiment of a navigation map data management apparatus according to the present invention.
Fig. 5 is a schematic internal structure diagram of an embodiment of the electronic device of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention provides a navigation map data management method, equipment and a storage medium, which solve the problem that a general map storage database is not suitable for a navigation map; for example, when a general map storage database is used for storing a navigation map, the dependency relationship between navigation map data cannot be visually reflected, the data reading efficiency is low, the verification of different algorithm performances on the original data is inconvenient to be rapidly performed, the same name maintenance cannot be performed on the whole link, and the like.
As shown in fig. 1, fig. 1 is a schematic flow chart of an embodiment of a navigation map data management method according to the present invention; in the embodiment illustrated in FIG. 1, the navigation map data management method of the present invention may be implemented as steps S10-S30 described below.
And step S10, adopting git as the organization form of the bottom data relation, creating git folder, and using the created git folder as git warehouse for storing the navigation map data.
In the embodiment of the invention, for the storage of navigation map data, git is adopted as an organization form of a bottom data relation; git is an open-source distributed version control system, and can rapidly and efficiently process any large or small item, so that the data access efficiency can be improved when the storage and reading of navigation map data are processed. In use, a git folder is created first and serves as a git repository for storing navigation map data. An important basis is provided for any subsequent instruction that employs git to operate the entire git repository in a non-code form.
Step S20, importing the navigation map data to be inserted into the git repository in a byte stream list form to be a commit link.
And step S30, inserting the whole commit link and the structure and the corresponding content contained in the whole commit link into the git warehouse, and storing and managing the navigation map data based on the git warehouse.
When the navigation map data is imported into the created git warehouse, the navigation map data is imported in a byte stream list mode, when specified data is read subsequently, the obtained data is also a byte stream list, and when the specified data is read, data analysis is carried out according to a data storage mode. In one embodiment, the minimum unit git-commit may be used as a unit for data insertion, where the inserted content is the navigation map data to be accessed, and a corresponding commit link is obtained after insertion. And storing the whole commit link, the structure contained in the whole commit link and the corresponding content into the created git warehouse, so that the stored navigation map data is stored and managed based on the git warehouse after the navigation map data is stored.
In one embodiment, the step S20 of the embodiment of fig. 1, importing the navigation map data to be inserted into the git repository in the form of a byte stream list to become a commit link, may be implemented as follows.
According to a preset insertion unit (such as a minimum unit git-commit) and a commit msg corresponding to the insertion data, importing the navigation map data into a byte stream list according to a commit content structure of a corresponding fixed item and an attribute content structure of a non-fixed item to form a corresponding commit link; wherein the commitmmsg comprises: at least one attribute of an attribute content structure constituting the non-fixed item, and a description file, raw data, feature information, pose and map information and a semantic map of a commit content structure constituting the fixed item.
For example, in a specific application scenario, a git-commit link is organized according to the order that commitMsg respectively describes files Manifests, original Data Raw Data, Feature information Feature, Pose And Map information Pose And Map, Semantic Map, Attribute Attribute _1, Attribute Attribute _2 … … Attribute Attribute _ n; the description files Manifests, the original Data Raw Data, the Feature information Feature, the Pose And Map information Pose And Map, And the Semantic Map are fixed items, And the subsequent attributes Attribute _1 And Attribute _2 … Attribute _ n are all non-fixed items. The link structure of a single link is shown in the figure, and fig. 2 is a schematic link structure diagram of an embodiment of a commit single link in the navigation map data management method of the present invention.
In the embodiment of the present invention, the description file names may be understood as: the commit describing the link has a content of a file describing the condition of the subsequent link in xml, And needs to describe a content structure corresponding to subsequent fixed commit (describing files manifiests, Raw Data, Feature information Feature, Pose And Map information position And Map, Semantic Map) And a content structure corresponding to subsequent non-fixed items (such as attributes Attribute _1, Attribute _2 … Attribute _ n). In practical applications, in order to ensure the stability of data storage, corresponding description files may be configured before a corresponding link is determined temporarily; and typically the description file manifiets is not allowed to change for a preset period of time, such as 1-2 years. The Raw Data can be understood as Data corresponding to laser radar point cloud, or Raw Data acquired by other methods. In addition, the Semantic Map can be represented in the form of an indoor GML in a specific application scene; of course, the corresponding semantic map may be described in other forms according to specific requirements.
In one embodiment, the step S20 of the embodiment of fig. 1, importing the navigation map data to be inserted into the git repository in the form of a byte stream list to become a commit link, may be implemented according to the following technical means.
And importing the navigation map data to be inserted into the git warehouse in a byte stream list form to form a plurality of blobs, corresponding the plurality of blobs to a tree structure according to a corresponding data storage relation, and generating corresponding commit links according to the tree structure.
Further, in one embodiment, according to the storage relationship of the navigation map data, a corresponding branch link may be generated on any commit link.
Further, in an embodiment, the generation of the corresponding branch link on any commit link according to the storage relationship of the navigation map data may be implemented as follows.
Generating a corresponding branch link on any commit single link according to the storage relation of the navigation map data, and configuring that the last git-refs of all the branch links point to the last node of the branch link, and the name of the last node is the branch name corresponding to the branch link; and forming a git-tree corresponding to a tree structure by the complete structures corresponding to all commit links under the same root directory.
For example, in a specific application scenario, a branch may be generated on any commit link, which means that the commit after the commit is calculated by the commit, and in the last git-refs of all the links, i.e. the last elastic File system, the last node pointed to by the last git-refs will be pointed to by the last node of the link, and the name of the last node pointed to by the last git-refs is the branch name branch _ name corresponding to the branch link. The above-mentioned complete link structures under the same root directory form a git tree structure, i.e. git-tree, as shown in fig. 3, fig. 3 is a schematic diagram of a tree structure git-tree of a tree structure composed of commit links in the navigation map data management method of the present invention. In the embodiment illustrated in fig. 3, the root in the embodiment of the present invention does not store any navigation map data since the root is the root of all data.
In one embodiment, the step S30 of the embodiment of fig. 1, storing and managing the navigation map data based on the git warehouse, can be implemented as follows.
Receiving a git instruction which adopts the git instruction to operate the whole git warehouse in a non-code mode, obtaining an operation task corresponding to the git instruction, executing the operation task and outputting a task execution result.
In the embodiment of the invention, based on the created git warehouse, the whole git warehouse can be operated in a non-code form by adopting any instruction of git. For example, in a specific application scenario, the "git k-all" instruction may be used to print the tree structure of the entire git warehouse; when the system receives a 'git k-all' instruction, the operation task corresponding to the instruction is obtained, namely the tree structure of the whole git warehouse is printed, the corresponding printing operation is executed, and the corresponding task execution result is output. Further, the task execution result may also be fed back to the corresponding terminal, or the execution records of all operation tasks may be retained for viewing.
In one embodiment, the step S30 of the embodiment of fig. 1, storing and managing the navigation map data based on the git warehouse, can be further implemented as the following technical means.
Receiving an operation instruction for searching specified branch link data, acquiring a branch name corresponding to the branch link according to the operation instruction, and positioning to the last node of the corresponding branch link; and according to the positioned last node, finding the branch link data specified by the operation instruction according to the corresponding commitMsg, and returning to a byte stream list corresponding to the branch link data.
In a specific application scenario, for example, when data corresponding to a specified branch link branch needs to be searched, the end of the specified branch link branch, that is, the last node of the specified branch link branch, can be quickly located by using git; and then, according to the commitmmsg corresponding to the last node, corresponding designated data can be quickly found. In the embodiment of the present invention, since the navigation map data is stored in the git repository in the form of the byte stream list, when the specified navigation map data is read from the git repository, the data represented in the form of the byte stream list is also read, and in this case, the navigation map data may be analyzed in the form of the navigation map data stored in the git repository.
The navigation map data management method of the invention establishes a git folder by adopting git as an organization form of a bottom data relation, and takes the established git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in a byte stream list form to be a commit link; the whole commit link, the structure contained in the whole commit link and the corresponding content are inserted into the git warehouse, the navigation map data are stored and managed based on the git warehouse, the defect that a general map storage database is used for storing a navigation map is overcome, the dependency relationship among the navigation map data is reflected visually, the whole tree-shaped structure corresponding to the navigation map can be displayed conveniently and quickly, the performance verification of different algorithms in different links can be performed conveniently, meanwhile, the appointed data required by a user can be positioned quickly through the preset branch link name, and the convenience of data storage and the efficiency of data reading are improved; furthermore, because git is used as the organization form of the bottom data relation, the requirement of the distributed database is realized, and the efficiency of data storage is improved.
Corresponding to the navigation map data management method provided by the embodiment, the embodiment of the invention also provides a navigation map data management device. As shown in fig. 4, in the embodiment of fig. 4, the navigation map data management apparatus includes a database creation module 101, a data insertion module 102, and a data management module 103.
Wherein the database creation model 101 is configured to: and establishing a git folder by adopting git as an organization form of the underlying data relation, and taking the established git folder as a git warehouse for storing the navigation map data.
The data insertion module 102 is configured to: importing the navigation map data to be inserted into the git warehouse in a byte stream list form to be a commit link; inserting the entire commit link and the structure and corresponding content contained by the entire commit link into the git repository.
The data management module 103 is configured to: and storing and managing the navigation map data based on the git warehouse.
It should be noted that the embodiments corresponding to the apparatus items and the method embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments, and technical features in the method embodiments are applicable in the apparatus item embodiments, which are not described herein again.
The navigation map data management device of the invention creates a git folder by adopting git as an organization form of a bottom data relation, and takes the created git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in a byte stream list form to be a commit link; the whole commit link, the structure contained in the whole commit link and the corresponding content are inserted into the git warehouse, the navigation map data are stored and managed based on the git warehouse, the defect that a general map storage database is used for storing a navigation map is overcome, the dependency relationship among the navigation map data is reflected visually, the whole tree-shaped structure corresponding to the navigation map can be displayed conveniently and quickly, the performance verification of different algorithms in different links can be performed conveniently, meanwhile, the appointed data required by a user can be positioned quickly through the preset branch link name, and the convenience of data storage and the efficiency of data reading are improved; furthermore, because git is used as the organization form of the bottom data relation, the requirement of the distributed database is realized, and the efficiency of data storage is improved.
The present invention also provides an electronic device that can store and manage corresponding navigation map data according to the navigation map information management method described in fig. 1. Fig. 5 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention, as shown in fig. 5.
In the present embodiment, the electronic device 1 may be a PC (Personal Computer), or may be a terminal device such as a smartphone, a tablet Computer, or a mobile Computer. The electronic device 1 comprises at least a memory 11, a processor 12, a communication bus 13, and a network interface 14.
The memory 11 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, for example a hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in hard disk provided on the electronic device 1, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used not only to store application software installed in the electronic device 1 and various types of data, such as a code of the data management program 01, but also to temporarily store data that has been output or is to be output.
The processor 12 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor or other data Processing chip in some embodiments, and is used for executing program codes stored in the memory 11 or Processing data, such as executing the data management program 01.
The communication bus 13 is used to realize connection communication between these components.
The network interface 14 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and is typically used to establish a communication link between the electronic device 1 and other electronic devices.
Optionally, the electronic device 1 may further comprise a user interface, the user interface may comprise a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface may further comprise a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the electronic device 1 and for displaying a visualized user interface, among other things.
Fig. 5 shows only the electronic device 1 with components 11-14 and the data management program 01, and it will be understood by those skilled in the art that the structure shown in fig. 5 does not constitute a limitation of the electronic device 1, and may comprise fewer or more components than shown, or a combination of certain components, or a different arrangement of components.
Based on the description of the above embodiments, in the embodiment of the electronic device 1 shown in fig. 5, the memory 11 stores therein the data management program 01; the data management program 01 stored in the memory 11 can run on the processor 12, and when the data management program 01 is run by the processor 12, the following steps are implemented: adopting git as an organization form of a bottom data relation, creating a git folder, and taking the created git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in a byte stream list form to be a commit link; and inserting the whole commit link and the structure and the corresponding content contained in the whole commit link into the git warehouse, and storing and managing the navigation map data based on the git warehouse.
It should be noted that the device embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the device embodiment, which is not described herein again.
The electronic equipment establishes a git folder by adopting git as an organization form of a bottom data relation, and takes the established git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in a byte stream list form to be a commit link; the whole commit link, the structure contained in the whole commit link and the corresponding content are inserted into the git warehouse, the navigation map data are stored and managed based on the git warehouse, the defect that a general map storage database is used for storing a navigation map is overcome, the dependency relationship among the navigation map data is reflected visually, the whole tree-shaped structure corresponding to the navigation map can be displayed conveniently and quickly, the performance verification of different algorithms in different links can be performed conveniently, meanwhile, the appointed data required by a user can be positioned quickly through the preset branch link name, and the convenience of data storage and the efficiency of data reading are improved; furthermore, because git is used as the organization form of the bottom data relation, the requirement of the distributed database is realized, and the efficiency of data storage is improved.
In addition, the embodiment of the invention also provides a computer readable storage medium.
The computer-readable storage medium has stored thereon a data management program that is executable by one or more processors to perform operations comprising: adopting git as an organization form of a bottom data relation, creating a git folder, and taking the created git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in a byte stream list form to be a commit link; and inserting the whole commit link and the structure and the corresponding content contained in the whole commit link into the git warehouse, and storing and managing the navigation map data based on the git warehouse.
It should be noted that the embodiment of the computer-readable storage medium and the embodiment of the method of the present invention belong to the same concept, and specific implementation processes thereof are detailed in the embodiment of the method, and technical features in the embodiment of the method are correspondingly applicable in the embodiment of the medium, which is not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A navigation map data management method, characterized by comprising:
adopting git as an organization form of a bottom data relation, creating a git folder, and taking the created git folder as a git warehouse for storing navigation map data;
importing the navigation map data to be inserted into the git warehouse in a byte stream list form to be a commit link;
and inserting the whole commit link and the structure and the corresponding content contained in the whole commit link into the git warehouse, and storing and managing the navigation map data based on the git warehouse.
2. The navigation map data management method according to claim 1, wherein the navigation map data to be inserted into the git repository is imported in a byte stream list as a commit link, comprising:
according to a preset insertion unit and a commit msg corresponding to the insertion data, importing the navigation map data in a byte stream list mode according to a commit content structure of a corresponding fixed item and an attribute content structure of a non-fixed item to form a corresponding commit link;
wherein the commitmmsg comprises: at least one attribute of an attribute content structure constituting the non-fixed item, and a description file, raw data, feature information, pose and map information and a semantic map of a commit content structure constituting the fixed item.
3. The navigation map data management method according to claim 1, wherein the navigation map data to be inserted into the git repository is imported in a byte stream list as a commit link, comprising:
and importing the navigation map data to be inserted into the git warehouse in a byte stream list form to form a plurality of blobs, corresponding the plurality of blobs to a tree structure according to a corresponding data storage relation, and generating corresponding commit links according to the tree structure.
4. The navigation map data management method of claim 3, further comprising:
and generating a corresponding branch link on any commit link according to the storage relation of the navigation map data.
5. The navigation map data management method of claim 4, wherein said generating a corresponding branch link on an arbitrary commit link according to a storage relationship of the navigation map data comprises:
generating a corresponding branch link on any commit single link according to the storage relation of the navigation map data, and configuring that the last git-refs of all the branch links point to the last node of the branch link, and the name of the last node is the branch name corresponding to the branch link;
and forming a git-tree corresponding to a tree structure by the complete structures corresponding to all commit links under the same root directory.
6. The navigation map data management method according to any one of claims 1 to 5, wherein the storing and managing the navigation map data based on the git repository includes:
receiving a git instruction which adopts the git instruction to operate the whole git warehouse in a non-code mode, obtaining an operation task corresponding to the git instruction, executing the operation task and outputting a task execution result.
7. The navigation map data management method according to any one of claims 1 to 5, wherein the storing and managing the navigation map data based on the git repository includes:
receiving an operation instruction for searching specified branch link data, acquiring a branch name corresponding to the branch link according to the operation instruction, and positioning to the last node of the corresponding branch link;
and according to the positioned last node, finding the branch link data specified by the operation instruction according to the corresponding commitMsg, and returning to a byte stream list corresponding to the branch link data.
8. A navigation map data management apparatus, characterized by comprising:
the database creating module is used for creating a git folder by adopting git as an organization form of a bottom data relation, and taking the created git folder as a git warehouse for storing navigation map data;
the data insertion module is used for importing the navigation map data to be inserted into the git warehouse in a byte stream list form to form a commit link; inserting the whole commit link and the structure and the corresponding content contained in the whole commit link into the git warehouse;
and the data management module is used for storing and managing the navigation map data based on the git warehouse.
9. An electronic device, comprising a memory and a processor, wherein the memory stores thereon a data management program executable on the processor, and the data management program, when executed by the processor, performs the navigation map data management method according to any one of claims 1 to 7.
10. A computer-readable storage medium, having stored thereon a data management program for execution by one or more processors to perform the steps of the navigation map data management method of any one of claims 1 to 7.
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