CN113240745A - Point cloud data calibration method and device, computer equipment and storage medium - Google Patents
Point cloud data calibration method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a point cloud data calibration method, a point cloud data calibration device, computer equipment and a storage medium. The method comprises the following steps: responding to data calibration triggering operation, and displaying a point cloud data pre-calibration result in a calibration result area; the point cloud data pre-calibration result is obtained by calibrating point cloud data to be calibrated based on a calibration algorithm; displaying a calibration adjustment operation item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area; and responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation. By adopting the method, the processing efficiency of point cloud data calibration can be improved.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for calibrating point cloud data, a computer device, and a storage medium.
Background
With the development of computer technology, an intelligent driving era comes, the intelligent driving is an important hand for the combination of industrial revolution and informatization, the rapid development changes the flowing mode of people, resource elements and products, and the life of human beings is changed subversively. The intelligent driving, even unmanned driving, has very high precision requirements on the results of each sensor, and needs to obtain high-precision sensor data to detect the environment so as to make corresponding decisions, especially a laser radar which is used as one of the main sensors and is used for detecting the surrounding environment and outputting point cloud data.
The laser radar is different from other sensors in the intelligent driving system in distribution position, and the point cloud data can be effectively integrated with various sensor data to make driving decision by determining the relative position between the sensors through calibration. At present, point cloud data is often calibrated in a manual measurement mode or an algorithm iteration mode, so that the efficiency of point cloud data calibration is low.
Disclosure of Invention
In view of the above, it is necessary to provide a point cloud data calibration method, device, computer device and storage medium capable of improving the efficiency of point cloud data calibration processing.
A point cloud data calibration method, the method comprising:
responding to data calibration triggering operation, and displaying a point cloud data pre-calibration result in a calibration result area; the point cloud data pre-calibration result is obtained by calibrating point cloud data to be calibrated based on a calibration algorithm;
displaying a calibration adjustment operation item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area;
and responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation.
In one embodiment, in response to a data calibration triggering operation, displaying a point cloud data pre-calibration result in a calibration result area, including:
responding to the point cloud data import triggering operation, and displaying a point cloud data import operation item;
responding to data import operation triggered by the point cloud data import operation item, and displaying a data import result of importing point cloud data to be calibrated;
and responding to a data calibration triggering operation triggered by the data import result, and displaying a point cloud data pre-calibration result in a calibration result area.
In one embodiment, displaying the point cloud data pre-calibration result in the calibration result area includes:
and displaying data distribution information corresponding to the point cloud data to be calibrated in the calibration result area in different display modes.
In one embodiment, the point cloud data pre-calibration result is obtained by the step of point cloud data calibration processing, and the step of point cloud data calibration processing includes:
acquiring point cloud data to be calibrated;
and calibrating the point cloud data to be calibrated based on a preset calibration algorithm to obtain a point cloud data pre-calibration result corresponding to the point cloud data to be calibrated.
In one embodiment, the calibration adjustment operation items at least comprise a rotation operation item and a translation operation item; responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted by the calibration adjustment operation, wherein the method comprises the following steps:
responding to the rotation operation triggered by the rotation operation item, and displaying a rotation adjustment result obtained after the point cloud data pre-calibration result is subjected to rotation processing in a calibration result area;
and responding to the translation operation triggered by the translation operation item, and displaying a point cloud data calibration result obtained after the translation processing is carried out on the rotation adjustment result in a calibration result area.
In one embodiment, the point cloud data calibration method further includes:
determining a rotation adjustment parameter corresponding to the rotation operation and a translation adjustment parameter corresponding to the translation operation;
rotating the point cloud data pre-calibration result according to the rotation adjustment parameters to obtain a rotation adjustment result;
and carrying out translation processing on the rotation adjustment result according to the translation adjustment parameters to obtain a point cloud data calibration result.
In one embodiment, the point cloud data calibration method further includes:
displaying default adjusting parameters in the calibration adjusting operation items; the default adjustment parameters are obtained by adjusting and analyzing the point cloud data pre-calibration result;
responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted by the calibration adjustment operation, wherein the method comprises the following steps:
and responding to the adjustment confirmation operation of the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through default adjustment parameters.
A point cloud data calibration apparatus, the apparatus comprising:
the data calibration module is used for responding to data calibration triggering operation and displaying a point cloud data pre-calibration result in a calibration result area; the point cloud data pre-calibration result is obtained by calibrating point cloud data to be calibrated based on a calibration algorithm;
the calibration adjustment item display module is used for displaying a calibration adjustment item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area;
and the calibration adjusting module is used for responding to the calibration adjusting operation triggered by the calibration adjusting operation item and displaying the point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjusting operation.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
responding to data calibration triggering operation, and displaying a point cloud data pre-calibration result in a calibration result area; the point cloud data pre-calibration result is obtained by calibrating point cloud data to be calibrated based on a calibration algorithm;
displaying a calibration adjustment operation item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area;
and responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
responding to data calibration triggering operation, and displaying a point cloud data pre-calibration result in a calibration result area; the point cloud data pre-calibration result is obtained by calibrating point cloud data to be calibrated based on a calibration algorithm;
displaying a calibration adjustment operation item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area;
and responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation.
The point cloud data calibration method, the point cloud data calibration device, the computer equipment and the storage medium respond to data calibration triggering operation, display a point cloud data pre-calibration result obtained by calibrating point cloud data to be calibrated based on a calibration algorithm in a calibration result area, respond to calibration adjustment operation triggered by a calibration adjustment operation item in a calibration adjustment area associated with the calibration result area, and display a point cloud data calibration result obtained by adjusting the point cloud data pre-calibration result through the calibration adjustment operation, so that the point cloud data is calibrated. In the point cloud data calibration process, a point cloud data pre-calibration result obtained by calibrating point cloud data to be calibrated based on a calibration algorithm is displayed in a calibration result area in real time, the point cloud data pre-calibration result is adjusted in response to calibration adjustment operation, the point cloud data calibration result is displayed, the calibration result in the point cloud data calibration process can be fed back in real time, the calibration result can be adjusted, and the point cloud data calibration processing efficiency is improved.
Drawings
FIG. 1 is a diagram of an exemplary environment in which a point cloud data calibration method may be implemented;
FIG. 2 is a schematic flow chart of a point cloud data calibration method according to an embodiment;
FIG. 3 is a schematic diagram of an interface of a pre-calibration result of point cloud data in one embodiment;
FIG. 4 is a schematic flow chart illustrating the pre-calibration result of the point cloud data in one embodiment;
FIG. 5 is a schematic diagram of an interface of the pre-calibration result of the point cloud data in another embodiment;
FIG. 6 is a schematic interface diagram of a point cloud data calibration result in the embodiment shown in FIG. 6;
FIG. 7 is a block diagram of a point cloud data calibration apparatus according to an embodiment;
FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The point cloud data calibration method provided by the application can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The terminal 102 responds to a data calibration triggering operation triggered by a user on a point cloud data calibration interface of the terminal 102, the terminal 102 sends point cloud data to be calibrated to the server 104, the server 104 calibrates the point cloud data to be calibrated through a calibration algorithm and returns an obtained point cloud data pre-calibration result to the terminal 102, the terminal 102 displays the point cloud data pre-calibration result in a calibration result area and responds to a calibration adjustment operation triggered by a calibration adjustment operation item in a calibration adjustment area associated with the calibration result area by the user, and the terminal 102 displays a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation, so that the calibration processing of the point cloud data is realized. In addition, the point cloud data calibration method can also directly perform calibration processing on the point cloud data to be calibrated through the calibration algorithm by the terminal 102, and does not send the point cloud data to be calibrated to the server 104, that is, the point cloud data to be calibrated is directly calibrated by the terminal 102, and the point cloud data pre-calibration result is displayed.
The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and the server 104 may be implemented by an independent server or a server cluster formed by a plurality of servers.
In an embodiment, as shown in fig. 2, a method for calibrating point cloud data is provided, which is described by taking the method as an example for being applied to the terminal in fig. 1, and includes the following steps:
step 202, responding to data calibration triggering operation, and displaying a point cloud data pre-calibration result in a calibration result area; and the point cloud data pre-calibration result is obtained by calibrating the point cloud data to be calibrated based on a calibration algorithm.
The point cloud data refers to a set of vectors in a three-dimensional coordinate system, and besides a geometric position, some point cloud data also have color information or intensity information. The color information is usually obtained by a camera to obtain a color image, and then the color information of the pixel at the corresponding position is given to the corresponding point in the point cloud; the intensity information is obtained by the echo intensity collected by the receiving device of the laser scanner, and the intensity information is related to the surface material, roughness and incident angle direction of the target, and the emission energy and laser wavelength of the instrument.
The point cloud data can be acquired by a laser radar, the laser radar is a radar system which emits laser beams to detect characteristic quantities such as the position, the speed and the like of a target, the laser radar is a high-precision detection sensor, and can be applied to various high-precision detection demand scenes, such as the field of unmanned driving, the surrounding environment can be detected in real time, and a 3D point cloud picture formed by the point cloud data is output. The working principle of the laser radar is to transmit a detection signal (laser beam) to a target, compare a received signal (target echo) reflected from the target with the transmitted signal, and after appropriate processing, obtain relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters, thereby detecting, tracking and identifying various targets. The laser radar is composed of a laser transmitter, an optical receiver, a rotary table, an information processing system and the like, wherein the laser device converts electric pulses into optical pulses to be transmitted out, and the optical receiver restores the optical pulses reflected from a target into electric pulses to be transmitted to a display.
The data calibration triggering operation is an operation of triggering the calibration processing of the point cloud data to be calibrated, and the point cloud data to be calibrated is point cloud data to be calibrated. The data calibration triggering operation can be triggered by a user or triggered when a condition is met, for example, a calibration triggering control of a point cloud data calibration interface can be clicked by the user to trigger the data calibration triggering operation, so that the point cloud data to be calibrated is calibrated, and for example, when the terminal detects that the point cloud data to be calibrated is imported and new data is not imported within a certain time, the data calibration triggering operation is triggered. The calibration result area is an area for displaying the calibration result of the point cloud data. The point cloud data pre-calibration result is a calibration result obtained by calibrating the point cloud data to be calibrated based on a calibration algorithm. The calibration algorithm is an algorithm for performing calibration processing on Point cloud data, specifically, such as a least square method, an ICP (Iterative Closest Point) Point cloud matching algorithm, and the like, and the calibration algorithm can be flexibly selected according to actual needs.
Specifically, a user can import point cloud data to be calibrated, which needs to be calibrated, into a terminal, trigger data calibration triggering operation at the terminal, and the terminal responds to the data calibration triggering operation and displays a point cloud data pre-calibration result in a calibration result area. During specific implementation, after a user triggers data calibration triggering operation, the terminal can send the obtained point cloud data to be calibrated to the server, so that the server calibrates the point cloud data to be calibrated based on a calibration algorithm to obtain a point cloud data pre-calibration result and returns the point cloud data pre-calibration result to the terminal, and the terminal displays the received point cloud data pre-calibration result in a calibration result area. In a specific application, as shown in fig. 3, after the point cloud data to be calibrated in the point cloud data pre-calibration result is calibrated by the calibration algorithm, the point cloud data to be calibrated cannot be completely overlapped, and the calibration accuracy of the point cloud data is limited.
And 204, displaying calibration adjustment operation items for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area.
The calibration adjustment area is associated with the calibration result area, and is used for displaying operation information for adjusting the point cloud data pre-calibration result in the calibration result area, and the operation information may specifically include a calibration adjustment operation item. The calibration adjustment operation items may include various types of operation items, such as rotation, translation, and the like, for manually adjusting the point cloud data pre-calibration result.
Specifically, the terminal displays a calibration adjustment operation item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area, and a user can operate the calibration adjustment operation item to adjust the point cloud data pre-calibration result, so that further calibration processing of the point cloud data is realized.
And step 206, responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation.
The calibration adjustment operation acts on the calibration adjustment operation items, and each operation item of the calibration adjustment operation items is operated through the calibration adjustment operation, so that manual adjustment of the point cloud data pre-calibration result is achieved. The point cloud data pre-calibration result is a calibration result of the point cloud data obtained after the user adjusts the point cloud data based on the point cloud data pre-calibration result. Specifically, a user can operate a calibration adjustment operation item displayed by the terminal to trigger a calibration adjustment operation, the terminal responds to the calibration adjustment operation, adjusts the point cloud data pre-calibration result, and displays a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted by the calibration adjustment operation in a calibration result area. During specific implementation, a user can adjust the point cloud data pre-calibration result for multiple times, the terminal displays the point cloud data calibration result obtained after the point cloud data calibration result is adjusted by the user in real time, the user can finely adjust the calibration result conveniently by feeding back the adjustment result of the user in real time, calibration operation of the point cloud data can be simplified, and processing efficiency of point cloud data calibration is improved.
In the point cloud data calibration method, in response to the data calibration triggering operation, a point cloud data pre-calibration result obtained by calibrating the point cloud data to be calibrated based on the calibration algorithm is displayed in the calibration result area, and in response to the calibration adjustment operation triggered by the calibration adjustment operation item in the calibration adjustment area associated with the calibration result area, the point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation is displayed, so that the point cloud data calibration is realized. In the point cloud data calibration process, a point cloud data pre-calibration result obtained by calibrating point cloud data to be calibrated based on a calibration algorithm is displayed in a calibration result area in real time, the point cloud data pre-calibration result is adjusted in response to calibration adjustment operation, the point cloud data calibration result is displayed, the calibration result in the point cloud data calibration process can be fed back in real time, the calibration result can be adjusted, and the point cloud data calibration processing efficiency is improved.
In one embodiment, as shown in fig. 4, the displaying of the point cloud data pre-calibration result processing, that is, in response to the data calibration triggering operation, displaying the point cloud data pre-calibration result in the calibration result area includes:
and 402, responding to the point cloud data import triggering operation, and displaying a point cloud data import operation item.
The point cloud data import triggering operation is used for triggering the import of the point cloud data, and specifically can be an operation triggered by a user on an import control in a point cloud data calibration interface of a terminal. The point cloud data import operation item can be an operation item for importing point cloud data, and the terminal can determine the point cloud data which is selected by a user and needs to be calibrated by operating the point cloud data import operation item so as to calibrate the point cloud data to be calibrated. Specifically, a user can trigger point cloud data import triggering operation in a point cloud data calibration interface of the terminal, and the terminal responds to the point cloud data import triggering operation and displays a point cloud data import operation item.
And step 404, responding to data import operation triggered by the point cloud data import operation item, and displaying a data import result of importing point cloud data to be calibrated.
The data import operation acts on the point cloud data import operation item, and can be triggered by a user to select point cloud data to be calibrated, which needs to be calibrated. The data import result is an import result of the point cloud data to be calibrated, which needs to be calibrated, such as successful data import, failed data import, and the like. Specifically, a user operates a point cloud data import operation item to trigger data import operation, if the user selects a corresponding path to import point cloud data to be calibrated, and a terminal displays a data import result corresponding to the point cloud data to be calibrated.
And 406, displaying a point cloud data pre-calibration result in a calibration result area in response to a data calibration triggering operation triggered by the data import result.
The data calibration triggering operation is a calibration processing operation triggered by a user and aiming at point cloud data to be calibrated successfully imported in a data import result. Specifically, after a data import result of importing the point cloud data to be calibrated is displayed, a user further triggers a data calibration triggering operation to trigger calibration processing of the point cloud data to be calibrated which is imported successfully, and a point cloud data pre-calibration result of the point cloud data to be calibrated which is calibrated through a calibration algorithm is displayed in a calibration result area.
In the embodiment, a point cloud data import operation item is displayed according to a point cloud data import triggering operation triggered by a user, data of point cloud data to be calibrated, which is selected by the user and needs to be calibrated, is imported according to the data import operation of the user for the point cloud data import operation item, a data import result is displayed, the terminal responds to the data calibration triggering operation triggered by the user, calibration processing is performed on the point cloud data to be calibrated, and a point cloud data pre-calibration result is displayed in a calibration result area, so that a result in the point cloud data calibration processing process is fed back in real time, the user can conveniently perform targeted processing, the calibration processing flow of the point cloud data is simplified, and the calibration processing efficiency of the point cloud data is improved.
In one embodiment, displaying the point cloud data pre-calibration result in the calibration result area includes: and displaying data distribution information corresponding to the point cloud data to be calibrated in the calibration result area in different display modes.
The display mode can be flexibly set according to actual needs, such as different colors, different shapes, different marks and the like. The data distribution information is position distribution information of each point cloud data in the point cloud data to be calibrated, and when the position distribution of each point cloud data in the point cloud data to be calibrated can correspond to each other one by one, accurate calibration of the point cloud data is achieved.
Specifically, when the point cloud data pre-calibration result is displayed, the terminal displays data distribution information corresponding to the point cloud data to be calibrated in different display modes in the calibration result area. For example, the point cloud data to be calibrated includes first point cloud data to be calibrated and second point cloud data to be calibrated, the point cloud data at each position in the first point cloud data to be calibrated and the second point cloud data to be calibrated need to be in one-to-one correspondence during calibration, and when the point cloud data reaches accurate one-to-one correspondence, accurate calibration of the point cloud data is achieved. In the calibration result area, the first point cloud data to be calibrated and the second point cloud data to be calibrated can be displayed according to different colors, so that the data distribution information of each point cloud data in the first point cloud data to be calibrated and the second point cloud data to be calibrated can be displayed in the calibration result area through different colors, the point cloud data pre-calibration result of the point cloud data to be calibrated can be displayed visually, a user can conveniently determine the accuracy of the point cloud data pre-calibration result, corresponding adjustment is carried out, and the calibration processing efficiency of the point cloud data is improved.
In one embodiment, the point cloud data pre-calibration result is obtained by the step of point cloud data calibration processing, and the step of point cloud data calibration processing includes: acquiring point cloud data to be calibrated; and calibrating the point cloud data to be calibrated based on a preset calibration algorithm to obtain a point cloud data pre-calibration result corresponding to the point cloud data to be calibrated.
Specifically, the point cloud data pre-calibration result displayed by the terminal in the calibration result area is obtained through the step of point cloud data calibration processing, and the step of point cloud data calibration processing can be realized by the terminal or the server. When the step of point cloud data calibration processing is realized by the terminal, after the terminal determines point cloud data to be calibrated, the terminal directly calibrates the point cloud data to be calibrated, and displays the obtained point cloud data pre-calibration result. When the step of point cloud data calibration processing is realized by the server, the terminal can send the point cloud data to be calibrated to the server after the point cloud data to be calibrated is obtained, so that the server performs calibration processing on the point cloud data to be calibrated and returns the obtained point cloud data pre-calibration result to the terminal, and the terminal displays the received point cloud data pre-calibration result in the calibration result area.
Specifically, when the step of point cloud data calibration processing is executed, the terminal acquires point cloud data to be calibrated, for example, the point cloud data to be calibrated can be acquired according to a path of the point cloud data to be calibrated, and calibration processing is performed on the point cloud data to be calibrated based on a preset calibration algorithm, so as to obtain a point cloud data pre-calibration result corresponding to the point cloud data to be calibrated, and the calibration algorithm can be preset according to actual needs.
In this embodiment, the point cloud data to be calibrated is calibrated through the point cloud data calibration processing step, and the point cloud data to be calibrated can be pre-calibrated by using a calibration algorithm, so as to avoid manual measurement and improve the processing efficiency of point cloud data calibration.
In one embodiment, the calibration adjustment operation items at least comprise a rotation operation item and a translation operation item; responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted by the calibration adjustment operation, wherein the method comprises the following steps: responding to the rotation operation triggered by the rotation operation item, and displaying a rotation adjustment result obtained after the point cloud data pre-calibration result is subjected to rotation processing in a calibration result area; and responding to the translation operation triggered by the translation operation item, and displaying a point cloud data calibration result obtained after the translation processing is carried out on the rotation adjustment result in a calibration result area.
The calibration adjustment operation items at least comprise a rotation operation item and a translation operation item. The rotation operation item is an operation item for selecting and processing the point cloud data pre-calibration result, and the translation operation item is an operation item for translating the point cloud data pre-calibration result.
Specifically, a user triggers a rotation operation on a rotation operation item in the calibration adjustment operation item, such as setting a rotation angle, a rotation direction, and the like, the terminal performs rotation processing on the point cloud data pre-calibration result in response to the rotation operation, and displays the obtained rotation adjustment result in the calibration result area. Further, the user triggers a translation operation on a translation operation item in the calibration adjustment operation item, such as setting a translation direction, a translation angle, and the like, the terminal responds to the translation operation, performs translation processing on the rotation adjustment result, and displays the obtained point cloud data calibration result in the calibration result area. During specific implementation, no precedence relationship exists between the rotation operation and the translation operation, that is, a user can also perform translation operation triggered by the translation operation item first, and then perform rotation processing on the translation adjustment result after the translation processing according to the rotation operation to obtain a point cloud data calibration result.
In this embodiment, a user may adjust the point cloud data pre-calibration result through a rotation operation triggered by the rotation operation item and a translation operation triggered by the translation operation item, so as to perform fine adjustment on the pre-calibration result obtained based on the calibration algorithm according to the user requirement, avoid iteration through the algorithm, improve the calibration processing efficiency, and also improve the calibration accuracy.
In one embodiment, the point cloud data calibration method further includes: determining a rotation adjustment parameter corresponding to the rotation operation and a translation adjustment parameter corresponding to the translation operation; rotating the point cloud data pre-calibration result according to the rotation adjustment parameters to obtain a rotation adjustment result; and carrying out translation processing on the rotation adjustment result according to the translation adjustment parameters to obtain a point cloud data calibration result.
Wherein, the rotation adjustment parameters are parameters obtained according to the rotation operation, such as the rotation direction, the rotation angle and the like; the translation adjustment parameters are parameters obtained according to the translation operation, such as a translation direction, a translation angle and the like. The specific values of the rotation adjustment parameter and the translation adjustment parameter may be directly set by the user, or may be determined according to the trajectory of the rotation operation and the translation operation triggered by the user in the interface, for example, the translation adjustment parameter is determined according to the translation trajectory of the user in the interface. Specifically, after a user triggers a rotation operation and a translation operation, the terminal determines a rotation adjustment parameter corresponding to the rotation operation and a translation adjustment parameter corresponding to the translation operation, performs rotation processing on a point cloud data pre-calibration result according to the rotation adjustment parameter to obtain a rotation adjustment result, and displays the rotation adjustment result on the terminal. And further, carrying out translation processing on the rotation adjustment result according to the translation adjustment parameters to obtain a point cloud data calibration result, and displaying the point cloud data calibration result at the terminal.
In the embodiment, the point cloud data pre-calibration result is adjusted according to the rotation adjustment parameter corresponding to the rotation operation and the translation adjustment parameter corresponding to the translation operation, so that the pre-calibration result obtained based on the calibration algorithm is finely adjusted according to the user requirement, iteration through the algorithm is avoided, the calibration processing efficiency is improved, and the calibration accuracy is also improved.
In one embodiment, the point cloud data calibration method further includes: displaying default adjusting parameters in the calibration adjusting operation items; and the default adjusting parameters are obtained by adjusting and analyzing the point cloud data pre-calibration result.
The default adjustment parameter is an adjustment parameter obtained by adjusting and analyzing a point cloud data pre-calibration result, and specifically may include a rotation default adjustment parameter and a translation default adjustment parameter. The default adjustment parameter is obtained by adjusting and analyzing the point cloud data pre-calibration result, and specifically, the default adjustment parameter can be generated by analyzing data distribution information of each point cloud data in the point cloud data pre-calibration result by a terminal or a server so as to facilitate manual adjustment by a user.
Further, in response to the calibration adjustment operation triggered by the calibration adjustment operation item, displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted by the calibration adjustment operation, including: and responding to the adjustment confirmation operation of the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through default adjustment parameters.
The calibration adjustment operation item is used for adjusting and confirming default adjustment parameters, and after a user triggers the calibration adjustment operation item, the terminal adjusts the point cloud data pre-calibration result according to the default adjustment parameters to obtain the point cloud data calibration result, so that the point cloud data pre-calibration result is adjusted. Specifically, in the calibration adjustment operation item of the terminal, a default adjustment parameter obtained by adjusting and analyzing the point cloud data pre-calibration result is displayed. The user triggers an adjustment confirmation operation aiming at the calibration adjustment operation item, the terminal responds to the adjustment confirmation operation and displays an obtained point cloud data calibration result, and the point cloud data calibration result is obtained after the point cloud data pre-calibration result is adjusted through default adjustment parameters.
In this embodiment, the point cloud data pre-calibration result is adjusted and analyzed to obtain a default adjustment parameter, and after the user triggers an adjustment confirmation operation, the point cloud data calibration result obtained by adjusting the point cloud data pre-calibration result by the default adjustment parameter is displayed, so that the manual participation of the user can be further reduced, the processing flow of point cloud data calibration is simplified, and the processing efficiency of point cloud data calibration is improved.
In one embodiment, the point cloud data calibration method provided by the application is applied to a point cloud data and inertial navigation module of a laser radar in the field of unmanned driving. The laser radar is a high-precision detection sensor, is commonly used in the field of unmanned driving, is used for detecting the surrounding environment in real time and outputting a 3D (three-dimensional) point cloud picture. The inertial navigation module is a high-precision positioning sensor, is commonly used in the field of unmanned driving, and outputs real-time position and attitude information. Calibration in the field of unmanned or robotic driving refers to the process of obtaining the relative position between sensors through a series of methods or calculations. The accuracy of the results from the sensors is very demanding for the drone system, especially for the lidar, which is one of the primary sensors, and the results (point cloud data) output by the lidar are themselves the origin. Since the unmanned system is a complex multi-sensor system, the results of all sensors need to be accurately transformed into a unified coordinate system, usually the coordinate system of an inertial navigation module, that is, the point cloud data of the laser radar is calibrated.
At present, for the calibration of the point cloud data of the laser radar and the inertial navigation module, a manual measurement mode is generally adopted to determine the calibration relation between the laser radar and the inertial navigation module, but the precision of the manual measurement is limited, the efficiency is low, and the precision requirement of the unmanned system cannot be met. In addition, a calibration result can be directly obtained by collecting data of a specific route and using a related calibration algorithm, but the implementation cost is high, the result is unstable, the data of the specific route needs to be collected, the time cost is high, and if signal fluctuation occurs in the inertial navigation equipment in the process, the final result is also influenced, so that the calibration processing efficiency is low. The point cloud data calibration method provided by the application is completed by manual adjustment and automatic algorithm optimization together, the final calibration result can be displayed in real time, and the calibration efficiency is improved.
Specifically, in the calibration processing of the point cloud data of the laser radar and the inertial navigation module, the point cloud data to be calibrated are the point cloud data of the laser radar and the point cloud data in the coordinate system of the inertial navigation module, and when the data distribution information of the point cloud data of the laser radar and the point cloud data of the inertial navigation module completely coincide, the calibration is completed. The terminal runs the ROS (Robot Operating System), which provides a series of libraries and tools to help software developers create Robot application software. It provides a number of functions including hardware abstraction, device drivers, library functions, visualization, message passing, and software package management. ROS obeys BSD (Berkeley Software Distribution, Berkeley Software suite) open source licensing agreement. The RVIZ platform in the ROS can be operated specifically, the RVIZ is a three-dimensional visual platform in the ROS, and graphical display of external information can be achieved. Further, the terminal responds to data calibration triggering operation triggered by a user in the RVIZ platform and displays a point cloud data pre-calibration result in a calibration result area; and the point cloud data pre-calibration result is obtained by calibrating the point cloud data to be calibrated based on a calibration algorithm. As shown in fig. 5, the point cloud data pre-calibration result displayed in the calibration result area in a specific application shows that the point cloud data at each corresponding position in the point cloud data pre-calibration result are not completely overlapped, and calibration has an error, and further adjustment is required.
The terminal displays a calibration adjustment operation item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area; and responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation. As shown in fig. 6, the lower left corner is a calibration adjustment area associated with the calibration result area, the calibration adjustment area includes various calibration adjustment operation items for adjusting the point cloud data pre-calibration result, a user can trigger the calibration adjustment operation on the calibration adjustment operation items, and the terminal displays the point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted by the calibration adjustment operation in the calibration result area. Therefore, the point cloud data of each corresponding position in the point cloud data pre-calibration result are completely overlapped, and high-precision calibration is realized.
According to the traditional method, whether the accurate black box calibration mode is calibrated can be checked only after the final calibration result is output by the calibration algorithm after data is input, if the precision does not meet the requirement, the calibration algorithm can be operated again by adjusting parameters or data is collected again, and the efficiency is low. In the embodiment, calibration processing of the laser radar and the inertial navigation module is performed based on the ROS-RVIZ visual interface, and manual adjustment and automatic algorithm optimization are jointly completed. The calibration result is fed back in real time through the ROS-RVIZ visual interface, two modes of automatic calibration and manual fine adjustment are introduced, the result is corrected in time through manual intervention when the algorithm fails, troubles caused by a black box model are eliminated, and the calibration efficiency is improved.
Compared with the traditional calibration mode, the method does not need to acquire data of a specific route, only needs to stop in situ to acquire a positive group of data and a negative group of data, and has strong practicability; and moreover, the manual intervention and the algorithm are combined, when the algorithm cannot obtain a correct result or the result has deviation, the manual intervention can be carried out for adjustment, the calibration process does not need to be carried out again, and the calibration efficiency is greatly improved. In addition, the final calibration result is fed back to the RVIZ visualization interface in real time in a point cloud form, and the user only needs to ensure that the two groups of point clouds coincide to be successful in calibration, so that the complicated calibration process is simplified into a simple jigsaw process, and the calibration processing efficiency of the point cloud data is improved.
It should be understood that although the steps in the flowcharts of fig. 2 and 4 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 and 4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.
In one embodiment, as shown in fig. 7, there is provided a point cloud data calibration apparatus, including: a data calibration module 702, an adjustment operation item display module 704, and a calibration adjustment module 706, wherein:
a data calibration module 702, configured to respond to a data calibration trigger operation and display a point cloud data pre-calibration result in a calibration result area; the point cloud data pre-calibration result is obtained by calibrating point cloud data to be calibrated based on a calibration algorithm;
an adjustment item display module 704, configured to display a calibration adjustment item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area;
and a calibration adjustment module 706, configured to respond to a calibration adjustment operation triggered by the calibration adjustment operation item, and display a point cloud data calibration result obtained after adjusting the point cloud data pre-calibration result through the calibration adjustment operation.
In one embodiment, the data calibration module 702 includes an import trigger module, an import result module, and a calibration trigger module; wherein: the import triggering module is used for responding to the point cloud data import triggering operation and displaying a point cloud data import operation item; the import result module is used for responding to data import operation triggered by the point cloud data import operation item and displaying a data import result of importing point cloud data to be calibrated; and the calibration triggering module is used for responding to data calibration triggering operation triggered by the data import result and displaying the point cloud data pre-calibration result in the calibration result area.
In an embodiment, the data calibration module 702 is further configured to display data distribution information corresponding to the point cloud data to be calibrated in different display manners in the calibration result area.
In one embodiment, the system further comprises a calibration processing module, which is used for acquiring point cloud data to be calibrated; and calibrating the point cloud data to be calibrated based on a preset calibration algorithm to obtain a point cloud data pre-calibration result corresponding to the point cloud data to be calibrated.
In one embodiment, the calibration adjustment operation items at least comprise a rotation operation item and a translation operation item; the calibration adjustment module 706 comprises a rotation adjustment module and a translation adjustment module; wherein: the rotation adjusting module is used for responding to rotation operation triggered by the rotation operation item and displaying a rotation adjusting result obtained after the point cloud data pre-calibration result is subjected to rotation processing in the calibration result area; and the translation adjusting module is used for responding to the translation operation triggered by the translation operation item and displaying a point cloud data calibration result obtained after the translation processing is carried out on the rotation adjusting result in the calibration result area.
In one embodiment, the device further comprises an adjustment parameter determining module, a rotation processing module and a translation processing module; wherein: the adjustment parameter determining module is used for determining a rotation adjustment parameter corresponding to the rotation operation and a translation adjustment parameter corresponding to the translation operation; the rotation processing module is used for performing rotation processing on the point cloud data pre-calibration result according to the rotation adjustment parameters to obtain a rotation adjustment result; and the translation processing module is used for carrying out translation processing on the rotation adjustment result according to the translation adjustment parameters to obtain a point cloud data calibration result.
In one embodiment, the system further comprises a default parameter display module, configured to display a default adjustment parameter in the calibration adjustment operation item; the default adjustment parameters are obtained by adjusting and analyzing the point cloud data pre-calibration result; the calibration adjustment module 706 is further configured to respond to an adjustment confirmation operation on the calibration adjustment operation item, and display a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted by the default adjustment parameter.
For specific limitations of the point cloud data calibration device, reference may be made to the above limitations of the point cloud data calibration method, which is not described herein again. All or part of the modules in the point cloud data calibration device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a point cloud data calibration method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
responding to data calibration triggering operation, and displaying a point cloud data pre-calibration result in a calibration result area; the point cloud data pre-calibration result is obtained by calibrating point cloud data to be calibrated based on a calibration algorithm;
displaying a calibration adjustment operation item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area;
and responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation.
In one embodiment, the processor, when executing the computer program, further performs the steps of: responding to the point cloud data import triggering operation, and displaying a point cloud data import operation item; responding to data import operation triggered by the point cloud data import operation item, and displaying a data import result of importing point cloud data to be calibrated; and responding to a data calibration triggering operation triggered by the data import result, and displaying a point cloud data pre-calibration result in a calibration result area.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and displaying data distribution information corresponding to the point cloud data to be calibrated in the calibration result area in different display modes.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring point cloud data to be calibrated; and calibrating the point cloud data to be calibrated based on a preset calibration algorithm to obtain a point cloud data pre-calibration result corresponding to the point cloud data to be calibrated.
In one embodiment, the calibration adjustment operation items at least comprise a rotation operation item and a translation operation item; the processor, when executing the computer program, further performs the steps of: responding to the rotation operation triggered by the rotation operation item, and displaying a rotation adjustment result obtained after the point cloud data pre-calibration result is subjected to rotation processing in a calibration result area; and responding to the translation operation triggered by the translation operation item, and displaying a point cloud data calibration result obtained after the translation processing is carried out on the rotation adjustment result in a calibration result area.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a rotation adjustment parameter corresponding to the rotation operation and a translation adjustment parameter corresponding to the translation operation; rotating the point cloud data pre-calibration result according to the rotation adjustment parameters to obtain a rotation adjustment result; and carrying out translation processing on the rotation adjustment result according to the translation adjustment parameters to obtain a point cloud data calibration result.
In one embodiment, the processor, when executing the computer program, further performs the steps of: displaying default adjusting parameters in the calibration adjusting operation items; the default adjustment parameters are obtained by adjusting and analyzing the point cloud data pre-calibration result; and responding to the adjustment confirmation operation of the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through default adjustment parameters.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
responding to data calibration triggering operation, and displaying a point cloud data pre-calibration result in a calibration result area; the point cloud data pre-calibration result is obtained by calibrating point cloud data to be calibrated based on a calibration algorithm;
displaying a calibration adjustment operation item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area;
and responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation.
In one embodiment, the computer program when executed by the processor further performs the steps of: responding to the point cloud data import triggering operation, and displaying a point cloud data import operation item; responding to data import operation triggered by the point cloud data import operation item, and displaying a data import result of importing point cloud data to be calibrated; and responding to a data calibration triggering operation triggered by the data import result, and displaying a point cloud data pre-calibration result in a calibration result area.
In one embodiment, the computer program when executed by the processor further performs the steps of: and displaying data distribution information corresponding to the point cloud data to be calibrated in the calibration result area in different display modes.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring point cloud data to be calibrated; and calibrating the point cloud data to be calibrated based on a preset calibration algorithm to obtain a point cloud data pre-calibration result corresponding to the point cloud data to be calibrated.
In one embodiment, the calibration adjustment operation items at least comprise a rotation operation item and a translation operation item; the computer program when executed by the processor further realizes the steps of: responding to the rotation operation triggered by the rotation operation item, and displaying a rotation adjustment result obtained after the point cloud data pre-calibration result is subjected to rotation processing in a calibration result area; and responding to the translation operation triggered by the translation operation item, and displaying a point cloud data calibration result obtained after the translation processing is carried out on the rotation adjustment result in a calibration result area.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining a rotation adjustment parameter corresponding to the rotation operation and a translation adjustment parameter corresponding to the translation operation; rotating the point cloud data pre-calibration result according to the rotation adjustment parameters to obtain a rotation adjustment result; and carrying out translation processing on the rotation adjustment result according to the translation adjustment parameters to obtain a point cloud data calibration result.
In one embodiment, the computer program when executed by the processor further performs the steps of: displaying default adjusting parameters in the calibration adjusting operation items; the default adjustment parameters are obtained by adjusting and analyzing the point cloud data pre-calibration result; and responding to the adjustment confirmation operation of the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through default adjustment parameters.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A point cloud data calibration method is characterized by comprising the following steps:
responding to data calibration triggering operation, and displaying a point cloud data pre-calibration result in a calibration result area; the point cloud data pre-calibration result is obtained by calibrating point cloud data to be calibrated based on a calibration algorithm;
displaying a calibration adjustment operation item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area;
and responding to the calibration adjustment operation triggered by the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the calibration adjustment operation.
2. The method of claim 1, wherein the displaying the point cloud data pre-calibration result in the calibration result area in response to the data calibration triggering operation comprises:
responding to the point cloud data import triggering operation, and displaying a point cloud data import operation item;
responding to data import operation triggered by the point cloud data import operation item, and displaying a data import result of importing point cloud data to be calibrated;
and responding to a data calibration triggering operation triggered by the data import result, and displaying a point cloud data pre-calibration result in a calibration result area.
3. The method as claimed in claim 2, wherein the displaying the point cloud data pre-calibration result in the calibration result area comprises:
and displaying data distribution information corresponding to the point cloud data to be calibrated in the calibration result area in different display modes.
4. The method of claim 1, wherein the point cloud data pre-calibration result is obtained by a step of point cloud data calibration processing, the step of point cloud data calibration processing comprising:
acquiring point cloud data to be calibrated;
and calibrating the point cloud data to be calibrated based on a preset calibration algorithm to obtain a point cloud data pre-calibration result corresponding to the point cloud data to be calibrated.
5. The method of claim 1, wherein the calibration adjustment operation terms include at least a rotation operation term and a translation operation term; the displaying of the point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted by the calibration adjustment operation in response to the calibration adjustment operation triggered by the calibration adjustment operation item includes:
in response to the rotation operation triggered by the rotation operation item, displaying a rotation adjustment result obtained after the point cloud data pre-calibration result is subjected to rotation processing in the calibration result area;
and responding to the translation operation triggered by the translation operation item, and displaying a point cloud data calibration result obtained after the translation processing is carried out on the rotation adjustment result in the calibration result area.
6. The method of claim 5, further comprising:
determining a rotation adjustment parameter corresponding to the rotation operation and a translation adjustment parameter corresponding to the translation operation;
rotating the point cloud data pre-calibration result according to the rotation adjustment parameters to obtain a rotation adjustment result;
and carrying out translation processing on the rotation adjustment result according to the translation adjustment parameters to obtain a point cloud data calibration result.
7. The method of any one of claims 1 to 6, further comprising:
displaying default adjusting parameters in the calibration adjusting operation items; the default adjustment parameters are obtained by adjusting and analyzing the point cloud data pre-calibration result;
the displaying of the point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted by the calibration adjustment operation in response to the calibration adjustment operation triggered by the calibration adjustment operation item includes:
and responding to the adjustment confirmation operation of the calibration adjustment operation item, and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted through the default adjustment parameters.
8. A point cloud data calibration device, characterized in that the device comprises:
the data calibration module is used for responding to data calibration triggering operation and displaying a point cloud data pre-calibration result in a calibration result area; the point cloud data pre-calibration result is obtained by calibrating point cloud data to be calibrated based on a calibration algorithm;
an adjustment operation item display module, configured to display a calibration adjustment operation item for adjusting the point cloud data pre-calibration result in a calibration adjustment area associated with the calibration result area;
and the calibration adjustment module is used for responding to the calibration adjustment operation triggered by the calibration adjustment operation item and displaying a point cloud data calibration result obtained after the point cloud data pre-calibration result is adjusted by the calibration adjustment operation.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| CN115097976A (en) * | 2022-07-13 | 2022-09-23 | 北京有竹居网络技术有限公司 | Method, apparatus, device and storage medium for image processing |
| CN115097977A (en) * | 2022-07-13 | 2022-09-23 | 北京有竹居网络技术有限公司 | Method, apparatus, device and storage medium for point cloud processing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115097976A (en) * | 2022-07-13 | 2022-09-23 | 北京有竹居网络技术有限公司 | Method, apparatus, device and storage medium for image processing |
| CN115097977A (en) * | 2022-07-13 | 2022-09-23 | 北京有竹居网络技术有限公司 | Method, apparatus, device and storage medium for point cloud processing |
| CN115097976B (en) * | 2022-07-13 | 2024-03-29 | 北京有竹居网络技术有限公司 | Method, apparatus, device and storage medium for image processing |
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