CN113906481A

CN113906481A - Imaging display method, remote control terminal, device, system and storage medium

Info

Publication number: CN113906481A
Application number: CN202080040039.XA
Authority: CN
Inventors: 汪成; 周振
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-10-13
Filing date: 2020-10-13
Publication date: 2022-01-07
Also published as: WO2022077238A1

Abstract

An imaging display method, a remote control terminal (30), a device, a system and a storage medium are applied to the remote control terminal (30), the remote control terminal (30) is used for being in communication connection with a movable platform, and the movable platform is provided with an imaging device (21) and a point cloud acquisition device (22); the acquisition ranges of the imaging device (21) and the point cloud acquisition device (22) at least partially overlap; the method comprises the following steps: acquiring a two-dimensional image acquired by an imaging device (21) and a three-dimensional point cloud (S101) acquired by a point cloud acquisition device (22) in real time; the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal 30 to instruct the point cloud collecting device (22) to scan the scanning result of the target object (S102). The imaging display method can intuitively know the integrity of the three-dimensional point cloud collection under the reference of the two-dimensional image.

Description

Imaging display method, remote control terminal, device, system and storage medium

Technical Field

The present application relates to the field of computer software technologies, and in particular, to an imaging display method, a remote control terminal, an apparatus, a system, and a storage medium.

Background

Three-dimensional reconstruction refers to the establishment of a mathematical model suitable for computer representation and processing of a three-dimensional object, is the basis for processing, operating and analyzing the properties of the three-dimensional object in a computer environment, and is also a key technology for establishing virtual reality expressing an objective world in a computer.

In an implementation manner in the related art, a measuring instrument may scan an appearance surface of a three-dimensional object to acquire point cloud data, and three-dimensional reconstruction may be performed according to the point cloud data to obtain a three-dimensional model of the three-dimensional object. However, in the related art, the scanning of the three-dimensional object is usually performed by judging the target object with naked eyes, and there may be cases of missing acquisition (for example, a certain area of the three-dimensional object may not be scanned) or erroneous acquisition (for example, the acquired point cloud data does not belong to the three-dimensional object), so that the acquired point cloud data is incomplete or erroneous, and further, an erroneous modeling is caused, and further, the entire closed loop for re-acquiring the point cloud data is time-consuming and labor-consuming from the point cloud data acquisition to the discovery of an error of the generated three-dimensional model.

Disclosure of Invention

In view of the above, it is an object of the present application to provide an imaging display method, a remote control terminal, an apparatus, a system, and a storage medium.

In a first aspect, an embodiment of the present application provides an imaging display method, which is applied to a remote control terminal, where the remote control terminal is used for being in communication connection with a movable platform, and the movable platform is provided with an imaging device and a point cloud acquisition device; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped; the method comprises the following steps:

acquiring a two-dimensional image acquired by the imaging device and a three-dimensional point cloud acquired by the point cloud acquisition device in real time;

and simultaneously displaying the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud on an interactive interface of the remote control terminal so as to indicate the point cloud acquisition device to scan the scanning result of the target object.

In a second aspect, an embodiment of the present application provides a remote control terminal, including a processor, a memory for storing processor-executable instructions, and a wireless communicator;

the wireless communicator is used for being in communication connection with the movable platform and acquiring a two-dimensional image acquired by an imaging device carried on the movable platform and a three-dimensional point cloud acquired by a point cloud acquisition device carried on the movable platform in real time; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped;

the processor, when executing the executable instructions, is configured to: and simultaneously displaying the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud on an interactive interface of the remote control terminal so as to indicate the point cloud acquisition device to scan the scanning result of the target object.

In a third aspect, an embodiment of the present application provides an imaging display device, which is applied to a remote control terminal, where the remote control terminal is used for being in communication connection with a movable platform, and the movable platform is provided with an imaging device and a point cloud acquisition device; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped;

the apparatus includes one or more processors, working individually or collectively, to perform the following operations:

In a fourth aspect, an embodiment of the present application provides an imaging display system, including a remote control terminal and a movable platform, where the remote control terminal is used for communicating with the movable platform, and the movable platform is equipped with an imaging device and a point cloud acquisition device; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped;

the movable platform is used for acquiring a two-dimensional image acquired by the imaging device and a three-dimensional point cloud acquired by the point cloud acquisition device in real time and transmitting the two-dimensional image and the three-dimensional point cloud to the remote control terminal;

the remote control terminal is used for acquiring the two-dimensional image and the three-dimensional point cloud transmitted by the movable platform in real time, and displaying the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud on an interactive interface of the remote control terminal simultaneously so as to indicate the point cloud acquisition device to scan a scanning result of a target object.

In a fifth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method according to the first aspect.

The imaging display method, the remote control terminal, the device, the system and the storage medium are applied to the remote control terminal, the remote control terminal is used for being in communication connection with a movable platform, and the movable platform is provided with an imaging device and a point cloud acquisition device; the imaging device and the point cloud acquisition device are at least partially overlapped in acquisition range, so that the two-dimensional image acquired by the imaging device can be used for referencing the scanning result of the point cloud acquisition device, a user can deepen the understanding of the acquisition environment through the two-dimensional image, and the accurate acquisition of the three-dimensional point cloud is further ensured.

In the process of acquiring the three-dimensional point cloud by the point cloud acquisition device, the remote control terminal can acquire a two-dimensional image acquired by the imaging device and the three-dimensional point cloud acquired by the point cloud acquisition device in real time, and simultaneously display the two-dimensional image and a three-dimensional image indicated by the three-dimensional point cloud on an interactive interface of the remote control terminal to indicate a scanning result of the point cloud acquisition device for scanning a target object, a user can simultaneously see the two-dimensional image and the three-dimensional image, and the user can clearly know a real-time scanning result of the point cloud acquisition device by comparing the two-dimensional image and the three-dimensional image which are simultaneously displayed under the auxiliary reference of the two-dimensional image, in other words, the user can intuitively know the integrity of the three-dimensional point cloud acquisition under the reference of the two-dimensional image, and can make a judgment more directly and timely, thereby ensuring the accurate scanning and the complete scanning of the target object, meanwhile, the subsequent supplement acquisition process can be avoided, and the supplement acquisition cost is saved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIGS. 1, 4-16 are various schematic diagrams of an interactive interface provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a scenario provided by an embodiment of the present application;

fig. 3 is a schematic flowchart of an imaging display method according to an embodiment of the present application;

fig. 17 is a schematic structural diagram of a remote control terminal according to an embodiment of the present application;

fig. 18 is a schematic diagram of an imaging display system according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to solve the problems in the related art, the embodiment of the application provides an imaging display method, which is applied to a remote control terminal, wherein the remote control terminal is used for being in communication connection with a movable platform, and the movable platform is provided with an imaging device and a point cloud acquisition device; the imaging device and the point cloud acquisition device are at least partially overlapped in acquisition range, so that the two-dimensional image acquired by the imaging device can be used for referencing the scanning result of the point cloud acquisition device, a user can deepen the understanding of the acquisition environment through the two-dimensional image, and the accurate acquisition of the three-dimensional point cloud is further ensured.

In the process of acquiring the three-dimensional point cloud by the point cloud acquisition device, the remote control terminal can acquire the two-dimensional image acquired by the imaging device and the three-dimensional point cloud acquired by the point cloud acquisition device in real time, and simultaneously display the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud on an interactive interface of the remote control terminal to indicate the scanning result of the point cloud acquisition device for scanning a target object, for example, referring to fig. 1, a user can see the two-dimensional image and the three-dimensional image simultaneously, and under the auxiliary reference of the two-dimensional image, the user can clearly know the real-time scanning result of the point cloud acquisition device by comparing the two-dimensional image and the three-dimensional image which are simultaneously displayed, in other words, the user can intuitively know the integrity of the three-dimensional point cloud acquisition under the reference of the two-dimensional image, and can make a judgment more directly and timely, therefore, accurate scanning and complete scanning of the target object are guaranteed, meanwhile, the subsequent supplement acquisition process can be avoided, and the supplement acquisition cost is saved.

The remote control terminal comprises a remote controller, a smart phone, a computer or a tablet and other equipment with an interactive interface, and can be in communication connection with the movable platform based on a short-distance wireless communication protocol or a mobile communication protocol; the short-distance wireless communication protocol comprises but is not limited to an infrared protocol, a WiFi protocol, a Bluetooth protocol, a UWB protocol or a ZigBee protocol; the mobile communication protocol includes but is not limited to a 3G communication protocol, a 4G communication protocol, a GSM communication protocol, or a GPRS communication protocol.

The movable platform includes, but is not limited to, an unmanned aerial vehicle, an unmanned ship, a mobile robot, or the like. The movable platform is provided with an imaging device and a point cloud acquisition device, the imaging device is used for acquiring two-dimensional images, and the point cloud acquisition device is used for scanning a target object to acquire three-dimensional point cloud. The two-dimensional image acquired by the imaging device can be used for referencing the scanning condition of the point cloud acquisition device, so that a user can deepen the understanding of the acquisition environment through the two-dimensional image, and the accurate acquisition of the three-dimensional point cloud is further ensured.

The point cloud acquisition devices include, but are not limited to: laser radar, binocular vision sensor and structured light depth camera.

The laser radar is used for transmitting a laser pulse sequence to a target object, receiving the laser pulse sequence reflected from the target object and generating a three-dimensional point cloud according to the reflected laser pulse sequence. In one example, the lidar may determine a time of receipt of the sequence of laser pulses reflected back, for example by detecting a rising edge time and/or a falling edge time of an electrical signal pulse. In this way, the lidar may calculate TOF (Time of flight) using the Time of receipt and Time of transmission of the laser pulse sequence, thereby determining the distance of the target object to the lidar. The laser radar belongs to an autonomous light-emitting sensor, does not depend on light source illumination, is less interfered by ambient light, can normally work even in a lightless closed environment, and has wide applicability.

The binocular vision sensor acquires two images of a target object from different positions based on a parallax principle, and three-dimensional geometric information is acquired by calculating the position deviation between corresponding points of the two images so as to generate three-dimensional point cloud. The binocular vision sensor has low requirement on hardware, correspondingly can reduce the cost, only needs a common CMOS (Complementary Metal Oxide Semiconductor) camera, and can be used in indoor environment and outdoor environment as long as the light is proper, so that the binocular vision sensor also has certain applicability.

The structured light depth camera projects light rays with certain structural characteristics to a target object for collection, and the light rays with certain structures can collect different image phase information due to different depth areas of a shot object and then convert the image phase information into depth information so as to obtain three-dimensional point cloud. The structured light depth camera also belongs to an autonomous light emitting sensor, does not depend on light source illumination, is less interfered by ambient light, can normally work even in a lightless closed environment, and has wide applicability.

The two-dimensional images that the imaging device can collect include color images, grayscale images, infrared images, and the like. The imaging device includes at least one or more of: visible light cameras, grayscale cameras, and infrared cameras.

The imaging device may capture a sequence of images at a specified frame rate. In some embodiments, the image sequences may be captured at a standard frame rate, such as about 24p, 25p, 30p, 48p, 50p, 60p, 72p, 90p, 100p, 120p, 300p, 50i, or 60 i. In some embodiments, the sequence of images may be taken at a frame rate of less than or equal to about one image per 0.0001, 0.0002, 0.0005, 0.001, 0.002, 0.005, 0.01, 0.02, 0.05, 0.1, 0.2, 0.5, 1, 2, 5, or 10 seconds.

The imaging device may have adjustable shooting parameters. The imaging device may take different images under different shooting parameters, despite being subjected to exactly the same external conditions (e.g., position, illumination). The shooting parameters may include exposure (e.g., exposure time, shutter speed, aperture, film speed), gain, gamma, region of interest, binning/sub-sampling, pixel clock, offset, trigger, ISO, etc. The exposure-related parameter may control the amount of light reaching an image sensor in the imaging device. For example, the shutter speed may control the amount of time light reaches the image sensor and the aperture may control the amount of light reaching the image sensor in a given time. The gain-related parameter may control the amplification of the signal from the optical sensor. The ISO may control the level of sensitivity of the camera to the available light.

In an exemplary embodiment, a lidar and a visible light camera are mounted on the movable platform. In one example, the lidar and the visible light camera may operate at the same frame rate. In another example, the lidar and the visible light camera may also operate at different frame rates.

In an embodiment, the imaging device and the point cloud collecting device are directly mounted on the movable platform, and may be mounted in a fixed manner or a detachable manner. The imaging device and the point cloud collecting device can be driven to collect in different directions during the movement (such as moving, rotating or turning) of the movable platform, so as to realize the complete scanning of the target object.

In another embodiment, the imaging device and the point cloud collection device may be mounted on the movable platform through a pan-tilt, and may be mounted in a fixed manner or a detachable manner, which is not limited in this embodiment. During the moving process (such as moving, rotating or turning) of the movable platform and/or during the rotation process of the holder, the imaging device and the point cloud collecting device can be driven to collect in different directions, so as to realize the complete scanning of the target object. Wherein and/or represent both or either of them.

In an exemplary application scenario, referring to fig. 2, taking the movable platform as an unmanned aerial vehicle as an example, the imaging device 21 and the point cloud collecting device 22 are installed on the unmanned aerial vehicle 10 through a cradle head 20, the unmanned aerial vehicle 10 is in communication connection with a remote control terminal 30, a user can control the unmanned aerial vehicle 10 through the remote control terminal 30, for example, the user can control the imaging device 21 to collect a two-dimensional image and control the point cloud collecting device 22 to collect a three-dimensional point cloud through the remote control terminal 30, and in this process, the remote control terminal 30 obtains the two-dimensional image collected by the imaging device 21 and the three-dimensional point cloud collected by the point cloud collecting device 22 in real time and simultaneously displays the two-dimensional image and a three-dimensional image indicated by the three-dimensional point cloud on an interactive interface of the remote control terminal 30, for example, referring to fig. 1, a user can see a two-dimensional image and a three-dimensional image at the same time, and under the auxiliary reference of the two-dimensional image, the user can clearly know the real-time scanning result of the point cloud acquisition device through the comparison between the two-dimensional image and the three-dimensional image displayed at the same time.

Please refer to fig. 3, which is a schematic flowchart of an imaging display method according to an embodiment of the present disclosure, and the method is applied to a remote control terminal, where the remote control terminal is configured to be in communication connection with a movable platform, and the movable platform is provided with an imaging device and a point cloud collection device; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped; the method comprises the following steps:

in step S101, a two-dimensional image acquired by the imaging device and a three-dimensional point cloud acquired by the point cloud acquisition device are acquired in real time.

In step S102, the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal to indicate the point cloud acquisition device to scan the scanning result of the target object.

In one embodiment, the imaging device can be controlled by the remote control terminal to acquire a two-dimensional image and the point cloud acquisition device can be controlled to acquire a three-dimensional point cloud. Specifically, at least one point cloud recording control is further displayed on the interactive interface of the remote control terminal, the point cloud recording control is used for indicating the acquisition state of the imaging device and/or the point cloud acquisition device, and before step S101, the remote control terminal responds to the operation of a user on the point cloud recording control on the interactive interface, controls the imaging device to start acquiring a two-dimensional image and controls the point cloud acquisition device to start scanning the target object to acquire a three-dimensional point cloud. In an example, please refer to fig. 4, which illustrates an example in which a point cloud recording control is displayed on an interactive interface, a user may operate the point cloud recording control by clicking, double clicking, long pressing, and the like, the remote control terminal generates a control instruction sent to the movable platform in response to the operation of the point cloud recording control on the interactive interface by the user, and then the movable platform controls the imaging device to start to acquire a two-dimensional image and controls the point cloud acquisition device to start to scan the target object to acquire a three-dimensional point cloud according to the control instruction.

Before the user operates the point cloud recording control to control the imaging device to start acquiring two-dimensional images and control the point cloud acquisition device to start scanning the target object to acquire three-dimensional point cloud through the remote control terminal, the user can set acquisition parameters of the point cloud acquisition device on the remote control terminal based on own requirements to ensure that the three-dimensional point cloud acquired by the point cloud acquisition device based on the set acquisition parameters meets the use requirements of the user. Specifically, a setting control is also displayed on the interactive interface; the setting control is used for indicating the setting of the acquisition parameters of the point cloud acquisition device; the remote control terminal can respond to the operation of the user on the setting control, and a setting page is displayed on the interactive interface and displays the setting information of the acquisition parameters of the point cloud acquisition device; acquiring the set acquisition parameters of the point cloud acquisition device in response to the setting operation of the user on the setting page aiming at the setting information; after the user setting is finished, the user can operate the point cloud recording space, then the remote control terminal responds to the operation of the user on the point cloud recording control, and controls the point cloud acquisition device to start scanning the target object according to the acquisition parameters set by the point cloud acquisition device so as to acquire the three-dimensional point cloud; in this embodiment, before controlling the point cloud collection device to collect the point cloud, the user may set collection parameters of the point cloud collection device, so as to meet personalized requirements of the user.

In an example, referring to fig. 5, a setting control is further displayed on the interactive interface, and a user may operate the setting control by clicking, double clicking, long pressing, and the like, so as to display a setting page on the interactive interface, where the setting page displays setting information of acquisition parameters of the point cloud acquisition device, where the acquisition parameters include, but are not limited to, a sampling frequency, a scanning mode, an echo number, an echo mode, whether to have visible light pixels, a rain and fog enhancement, and a strong denoising mode; for example, the acquisition frequency can be selected from 80, 160 or 240; the scanning mode can select a coverage mode or a sweep mode; the number of the echoes can be selected from 1, 2 or 3; when the echo data is selected to be 1, displaying the column of the echo mode, wherein the echo mode can select the nearest echo or the strongest echo; whether visible light pixels are provided or not, a rain and fog enhancement mode and a strong denoising mode can be selected through the switch control; for example, referring to fig. 5, when the user operates the column of the scan mode by clicking, double clicking, long pressing, etc., a scan mode interface is displayed so that the user can select the overlay mode or the sweep mode, and other columns such as the sampling frequency, the number of echoes, the echo mode operate similarly to the column of the scan mode. After the user sets the acquisition parameters of the point cloud acquisition device, the user can operate the point cloud recording control so as to control the imaging device to start acquiring two-dimensional images and control the point cloud acquisition device to start scanning the target object according to the set acquisition parameters to acquire three-dimensional point cloud, thereby acquiring the three-dimensional point cloud meeting the user requirements.

In order to further ensure the accuracy of three-dimensional point cloud acquisition and the accuracy of subsequent three-dimensional reconstruction, after a user operates the point cloud recording control, the interactive interface can display a recording preparation page, and meanwhile, the remote control terminal controls the movable platform to check whether each device of the movable platform normally operates or not, and then receives a recording check result returned by the movable platform; if the recording inspection result indicates normal, the remote control terminal controls the imaging device to start to acquire a two-dimensional image and controls the point cloud acquisition device to start to scan the target object so as to acquire a three-dimensional point cloud; and if the recording check result indicates abnormity, displaying abnormal information on the recording preparation page to remind a user.

In an example, referring to fig. 6, after the user operates the point cloud recording control, the interactive interface may display a recording preparation page, on which each device to be inspected and the acquisition parameters of the point cloud acquisition apparatus mounted on the movable platform are displayed, and the device to be inspected may include, for example, an Inertial Measurement Unit (IMU), a GPS locator, an RTK locator, and other devices for assisting the subsequent three-dimensional reconstruction. Meanwhile, the remote control terminal sends a recording check instruction to the movable platform, wherein the recording check instruction can comprise acquisition parameters of a point cloud acquisition device set by a user; the movable platform can check whether each device of the movable platform normally operates based on the recording check instruction, set the point cloud acquisition device based on acquisition parameters included in the recording check instruction, and then return a recording check result to the remote control terminal; if the recording inspection result indicates normal, displaying normal information on the recording preparation page to inform a user, and controlling the imaging device to start to acquire a two-dimensional image and controlling the point cloud acquisition device to start to scan the target object to acquire a three-dimensional point cloud by the remote control terminal; and if the recording check result indicates abnormity, displaying abnormal information on the recording preparation page to remind a user, and not controlling the imaging device and the point cloud acquisition device to acquire.

Then, in the process of acquiring the two-dimensional image by the imaging device and acquiring the three-dimensional point cloud by the point cloud acquisition device, a user can control the imaging device and the point cloud acquisition device to suspend acquisition, continue acquisition or finish acquisition according to the actual needs of the user through a remote control terminal, namely the remote control terminal can respond to the operation of the point cloud recording control by the user to control the imaging device and the point cloud acquisition device to suspend acquisition, continue acquisition or finish acquisition, thereby meeting the personalized needs of the user.

It can be understood that the control of the imaging device and the point cloud acquisition device to start acquisition, suspend acquisition, continue acquisition, or end acquisition may be controlled by one or more point cloud recording controls, and the embodiment does not limit the number of the specific point cloud recording controls. In one example, this is illustrated with a 2-point cloud recording control: referring to fig. 7, before starting the acquisition, a point cloud recording control (referred to as a first point cloud recording control herein for convenience of distinction) is displayed on the interactive interface, and after the user operates the first point cloud recording control, the remote control terminal controls the imaging device to start acquiring a two-dimensional image and controls the point cloud acquisition device to start scanning the target object to acquire a three-dimensional point cloud; another point cloud recording control (for convenience of distinguishing, referred to as a second point cloud recording control) is added on the interactive interface, the added second point cloud recording control is displayed as a pause button, and a user can operate the pause button to control the imaging device and the point cloud acquisition device to pause acquisition; after operating the pause button, the second point cloud recording control is changed into a continue button, and a user can operate the continue button to control the imaging device and the point cloud acquisition device to continue acquisition; in the process of acquiring the two-dimensional image by the imaging device and acquiring the three-dimensional point cloud by the point cloud acquisition device, a user can operate the first point cloud recording control to control the imaging device and the point cloud acquisition device to finish acquisition through the remote control terminal, so that the personalized requirements of the user are met.

In the process of acquiring a two-dimensional image by the imaging device and acquiring a three-dimensional point cloud by the point cloud acquisition device, the remote control terminal can acquire the two-dimensional image acquired by the imaging device and the three-dimensional point cloud acquired by the point cloud acquisition device in real time and simultaneously display the two-dimensional image and a three-dimensional image indicated by the three-dimensional point cloud on an interactive interface of the remote control terminal to indicate a scanning result of the point cloud acquisition device for scanning a target object, for example, please refer to fig. 1, a user can simultaneously see the two-dimensional image and the three-dimensional image, and the user can clearly know a real-time scanning result of the point cloud acquisition device by comparing the two-dimensional image and the three-dimensional image which are simultaneously displayed under the auxiliary reference of the two-dimensional image, in other words, the user can visually know the integrity of the three-dimensional point cloud acquisition under the reference of the two-dimensional image, the method can make judgment more directly and timely, thereby ensuring accurate scanning and complete scanning of the target object, avoiding the subsequent supplement acquisition process and being beneficial to saving supplement acquisition cost. It can be understood that, in the embodiment of the present application, no limitation is imposed on a specific manner of simultaneously displaying the two-dimensional image and the three-dimensional image, and the specific configuration may be performed according to an actual application scenario.

In an embodiment, referring to fig. 1, when the two-dimensional image and the three-dimensional image are displayed simultaneously, the two-dimensional image and the three-dimensional image may be displayed in parallel on the interactive interface, so that a user can intuitively know a three-dimensional point cloud acquisition range and an acquisition integrity under reference of the two-dimensional image, and a target object scanned at this time can be conveniently viewed from the two-dimensional image.

In another embodiment, when the two-dimensional image and the three-dimensional image are displayed simultaneously, the two-dimensional image and the three-dimensional image can be displayed on the interactive interface in an overlapping manner; as one implementation manner, the two-dimensional image and the three-dimensional image may be displayed on different layers, and the layers are displayed in an overlapping manner on the interactive interface, for example, the layer where the three-dimensional image is located is covered on the layer where the two-dimensional image is located. In the embodiment, the corresponding relation between the two-dimensional image and the three-dimensional image can be clearly displayed in a superposition display mode, and the point cloud acquisition device has a more visual reference effect on the scanning result of the point cloud acquisition device for scanning the target object, so that a user can more clearly know the three-dimensional point cloud acquisition range and the acquisition integrity.

In one implementation manner, under the reference of the two-dimensional image, a user can know the scanning result of the point cloud acquisition device, when the scanning result indicates that a target object is not scanned or the scanned target object is incomplete, the user can make a judgment more directly and timely, and the point cloud acquisition device can be controlled to scan the target object according to the operation of the user on the remote control terminal, so that the accurate scanning and the complete scanning of the target object are ensured, and the integrity and the accuracy of the acquired three-dimensional point cloud are further ensured.

Illustratively, an unmanned machine is equipped with a camera and a point cloud acquisition device. The camera is used for acquiring a two-dimensional image, the point cloud acquisition device is used for scanning an object and generating a point cloud, and the point cloud is used for constructing a three-dimensional image. In the two-dimensional image, objects of a preset category, such as buildings, roads, bridges, etc., in the two-dimensional image can be identified. And comparing the two-dimensional image with the three-dimensional image, and determining the object which is not scanned. And when the object which is not scanned belongs to the preset category, displaying a bounding box at the periphery of the object which is not scanned. The user can click the boundary box, and unmanned aerial vehicle responds to this operation of clicking, and the position appearance of automatic adjustment point cloud collection system to scan this object that does not scan. In another embodiment, the drone plans, in response to the clicking operation, an air route according to the positions of the plurality of unscanned objects, such that the drone flies according to the air route and the scanning operation.

The operation of the user on the remote control terminal includes but is not limited to the operation of the user on a two-dimensional image and/or a three-dimensional image displayed on an interactive interface or the operation of the user on a designated control. For example, the user can conveniently control the point cloud acquisition device to scan the target object by double-clicking, long-pressing or sliding the two-dimensional image and/or the three-dimensional image, so that the operation steps of the user are simplified, and the use experience of the user is improved.

If the imaging device and the point cloud acquisition device are directly arranged on the movable platform, the remote control terminal can adjust the pose of the movable platform according to the operation of a user on the remote control terminal when controlling the point cloud acquisition device to scan the target object, so that the point cloud acquisition device scans towards the target object, and the accurate scanning and the complete scanning of the target object are ensured. In one example, a user can conveniently adjust the pose of the movable platform by operating the two-dimensional image and/or the three-dimensional image, for example, the two-dimensional image and/or the three-dimensional image can be slid, and the remote control terminal adjusts the pose of the movable platform according to the sliding direction of the user, so as to adjust the scanning direction of the point cloud acquisition device on the target object.

In one example, when the point cloud collection device is not facing the target object, the movable platform may be controlled to move, rotate, turn or the like according to the operation of the user on the remote control terminal, so that the point cloud collection device may scan towards the target object, thereby ensuring accurate scanning of the target object. In another example, after the point cloud collection device scans one of the regions of the target object, the movable platform may be controlled to move, rotate, turn or the like according to the operation of the remote control terminal by the user, so that the point cloud collection device may scan toward the other region of the target object, thereby ensuring complete scanning of the target object.

If the imaging device and the point cloud acquisition device are installed on the movable platform through the cloud deck; when the remote control terminal controls the point cloud acquisition device to scan the target object, the pose of the movable platform and/or the holder can be adjusted according to the operation of the user on the remote control terminal, so that the point cloud acquisition device scans towards the target object, and the accurate scanning and the complete scanning of the target object are ensured. In one example, a user can conveniently adjust the pose of the movable platform and/or the pan/tilt head by operating the two-dimensional image and/or the three-dimensional image, for example, the two-dimensional image and/or the three-dimensional image can be slid, the remote control terminal adjusts the pose of the movable platform and/or the pan/tilt head according to the sliding direction of the user, so as to adjust the scanning direction of the point cloud acquisition device on the target object, and the point cloud acquisition device can scan the target object based on the adjusted scanning direction.

In one example, when the point cloud collection device is not facing the target object, the movable platform may be controlled to move, rotate, or turn over according to the operation of the user on the remote control terminal, and/or the pan-tilt may be controlled to rotate, so that the point cloud collection device may scan towards the target object, thereby ensuring accurate scanning of the target object.

In another implementation manner, in order to further simplify the operation steps of the user, the remote control terminal may compare the two-dimensional image with the three-dimensional image, so as to obtain a scanning result of the point cloud acquisition device scanning the target object, and when the scanning result indicates that the target object is not scanned or the scanned target object is incomplete, the remote control terminal controls the point cloud acquisition device to scan the target object according to the scanning result. According to the embodiment, a user does not need to participate, the remote control terminal directly obtains the scanning result and automatically controls the point cloud acquisition device based on the scanning result, the operation steps of the user are simplified, and meanwhile, the scanning efficiency is improved.

If the imaging device and the point cloud acquisition device are directly installed on the movable platform, the remote control terminal can compare the two-dimensional image and the three-dimensional image to obtain a scanning result of the point cloud acquisition device for scanning a target object, and then adjust the pose of the movable platform according to the scanning result, so that the point cloud acquisition device scans towards the target object, and accurate scanning and complete scanning of the target object are guaranteed.

If the imaging device and the point cloud acquisition device are installed on the movable platform through the cloud deck, the remote control terminal can compare the two-position image and the three-dimensional image to obtain a scanning result of the point cloud acquisition device for scanning a target object, and then the position and posture of the movable platform and/or the cloud deck are adjusted according to the scanning result, so that the point cloud acquisition device scans towards the target object, and accurate scanning and complete scanning of the target object are guaranteed.

In an embodiment, in order to further meet different requirements of a user, a single-screen and double-screen switching control is further displayed on the interactive interface, and the single-screen and double-screen switching control is used for instructing the interactive interface to display only the three-dimensional image, or to display the two-dimensional image and the three-dimensional image simultaneously; referring to fig. 8, when the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal, the remote control terminal may respond to the operation of the user on the single-screen and double-screen switching control, and only the three-dimensional image is displayed on the interactive interface, so as to meet the personalized requirements of the user.

In an embodiment, a two-dimensional image display control is further displayed on the interactive interface, and the two-dimensional image display control is used for indicating that the two-dimensional image is displayed on the interactive interface and displaying the acquisition range of the three-dimensional point cloud on the two-dimensional image; referring to fig. 9, when the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal, the remote control terminal may display the two-dimensional image on the interactive interface and display the acquisition range of the three-dimensional point cloud on the two-dimensional image in response to the operation of the two-dimensional image display control by the user. The embodiment can visually display the acquisition range of the three-dimensional point cloud in the two-dimensional image, and accurately position the acquisition range of the three-dimensional point cloud under the reference of the two-dimensional image, so that a user can have clearer cognition on the acquisition environment and the acquisition range of the three-dimensional point cloud, and complete acquisition and accurate acquisition of the three-dimensional point cloud are ensured.

And considering that the acquisition ranges of the imaging device and the point cloud acquisition device are not completely overlapped, the position of the acquisition range of the three-dimensional point cloud in the two-dimensional image is determined according to the external reference conversion relation of the imaging device and the point cloud acquisition device, so that the accuracy of the position of the acquisition range of the three-dimensional point cloud in the two-dimensional image is ensured. It can be understood that the obtaining of the external reference transformation relation may be specifically set according to an actual application scenario, for example, the external reference transformation relation may be obtained by calibrating the imaging device and the point cloud collecting device.

Wherein the size of the acquisition range of the three-dimensional point cloud in the two-dimensional image is determined according to the focal length of the imaging device. When the imaging device is used for zooming and shooting, the size of the acquisition range of the three-dimensional point cloud in the two-dimensional image can be enlarged or reduced according to the zoom factor of the imaging device, so that the acquisition range of the three-dimensional point cloud displayed in the two-dimensional image can be adapted to the two-dimensional image, and the accuracy of the displayed acquisition range of the three-dimensional point cloud is ensured.

In one embodiment, the movable platform may be equipped with at least two holders, wherein one holder is equipped with at least an imaging device and a point cloud acquisition device, and the other holders are equipped with at least an imaging device; in an implementation manner, referring to fig. 10, the two-dimensional image acquired by the imaging device of one of the holders and the two-dimensional image acquired by the point cloud acquisition device are simultaneously displayed on the interactive interface, that is, the two-dimensional image displayed on the interactive interface is the two-dimensional image acquired by the imaging device of one of the holders, and a first thumbnail of the two-dimensional images acquired by the imaging devices of the other holders may also be displayed on the interactive interface (for example, as shown in a lower right corner of fig. 10). After the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal, the remote control terminal can respond to the operation of the user on the first thumbnail, and switch the two-dimensional image acquired by the imaging device of one of the holders displayed on the interactive interface into the two-dimensional image indicated by the first thumbnail. The user can watch the two-dimensional images acquired by the imaging devices of different holders in the embodiment, multi-dimensional observation is realized under the reference of the two-dimensional images of different angles, the difference between the two-dimensional images of different imaging devices can be compared, so that the user can more intuitively know the integrity and accuracy of three-dimensional point cloud acquisition, the judgment can be more directly and timely made, accurate scanning and complete scanning of a target object are ensured, meanwhile, the subsequent supplement acquisition process can also be avoided, and the supplement acquisition cost is saved.

In an example, a user may implement quick switching of images through operation modes such as dragging and the like, for convenience of distinction, for example, a two-dimensional image currently displayed on an interactive interface is named as a first image, a two-dimensional image indicated by a first thumbnail at this time is named as a second image, the user drags the first thumbnail to a position where the first image is located, the remote control terminal switches the first image to the second image indicated by the first thumbnail according to the dragging operation, and accordingly, the first thumbnail at this time indicates the first image.

In one embodiment, the remote control terminal may adjust the poses of the at least two holders in response to a user's manipulation of the first thumbnail, the two-dimensional image, and/or the three-dimensional image, so that the imaging devices mounted on the at least two holders may acquire two-dimensional images at different orientations and the point cloud acquisition device may scan toward a target object; the embodiment realizes that the orientation of each cradle head can be quickly and conveniently controlled aiming at the first thumbnail, the two-dimensional image and/or the convenient operation of the three-dimensional image, so that the two-dimensional images collected from different angles are obtained, multi-dimensional observation is realized under the reference of the two-dimensional images at different angles, and the completeness and the correctness of target object scanning are ensured. Wherein, the sum and/or represents three or any combination of the three. The operation of the user on the first thumbnail, the two-dimensional image and/or the three-dimensional image includes but is not limited to a sliding operation, a double-click operation or a long-press operation.

In one example, for example, the two-dimensional image and/or the first thumbnail may be slid, and the remote control terminal adjusts the pose of the corresponding cradle head according to the sliding direction of the user, so as to adjust the shooting angle of the imaging device on the cradle head, obtain two-dimensional images acquired from different angles, and implement multi-dimensional observation under the reference of the two-dimensional images at different angles.

In an example, when the scanning result indicates that no target object is scanned or the scanned target object is incomplete, the remote control terminal may adjust the pose of the corresponding cradle head according to the operation of sliding the three-dimensional image by the user, so as to adjust the scanning direction of the point cloud acquisition device on the cradle head on the target object.

In an embodiment, referring to fig. 11, a second thumbnail of a map of a position where the cradle head is located may also be displayed on the interactive interface; after the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are displayed on the interactive interface of the remote control terminal, the remote control terminal may simultaneously display the map and the three-dimensional image on the interactive interface in response to the operation of the second thumbnail by the user. According to the embodiment, the map and the three-dimensional map are displayed simultaneously, under the reference of the map, the position of the target object can be visually known by a user, and the accuracy and the integrity of three-dimensional point cloud collection are further ensured.

It can be understood that, in the embodiment of the present application, no limitation is imposed on a specific manner of simultaneously displaying the map and the three-dimensional image, and the specific manner may be specifically set according to an actual application scenario.

In one embodiment, when the map and the three-dimensional image are displayed simultaneously, the map and the three-dimensional image can be displayed in parallel on the interactive interface, so that a user can intuitively know the geographic position of the three-dimensional point cloud collection under the reference of the map.

In another embodiment, when the map and the three-dimensional image are displayed simultaneously, the map and the three-dimensional image can be displayed on the interactive interface in an overlapping manner; as one implementation manner, the map and the three-dimensional image may be displayed on different layers, and the layers are displayed in an overlapping manner on the interactive interface, for example, the layer where the three-dimensional image is located is covered on the layer where the map is located. In the embodiment, the map and the three-dimensional image can be displayed in a superposition manner, so that the corresponding relationship between the map and the three-dimensional image can be clearly displayed, and a user can more clearly know the geographic position of the three-dimensional point cloud collection.

In one embodiment, a rendering control is further displayed on the interactive interface; the rendering control is used for indicating color rendering of the three-dimensional image; before or during the three-dimensional image is displayed, the remote control terminal can respond to the operation of a user on the rendering control to display a rendering page on the interactive interface, wherein the rendering page displays at least one rendering mode, and the rendering mode is used for indicating the color presentation mode of the three-dimensional image; and then performing color rendering on the three-dimensional image based on a rendering mode selected by a user on the rendering page. The embodiment realizes color rendering of the three-dimensional image, and is beneficial to improving the visual experience of a user.

Wherein the rendering mode includes at least one of: a reflectivity rendering mode, a height rendering mode and a two-dimensional image rendering mode; the reflectivity rendering mode is used for indicating painting according to the reflectivity of each three-dimensional point in the three-dimensional point cloud; the height rendering mode is used for indicating painting according to the height information of each three-dimensional point in the three-dimensional point cloud; the two-dimensional image rendering mode is used for indicating that painting information of the three-dimensional point cloud is generated according to pixel values of pixels in the two-dimensional image. Under each rendering mode, the color matching function is included, and a user can set different color combinations based on the requirement of the user, so that the use experience of the user is met.

And displaying a closed rendering control on the rendering page, wherein the closed rendering control indicates that the three-dimensional image subjected to color rendering is restored, for example, the three-dimensional image is restored to a gray style. In one embodiment, a measurement control is further displayed on the interactive interface; the measurement control is used for indicating the spatial measurement of the three-dimensional image; the user can perform a measurement function according to the self requirement, the remote control terminal can respond to the operation of the user on the measurement control and display a measurement page on an interactive interface, and the three-dimensional image is displayed on the measurement page; and then responding to the operation of the user on the three-dimensional image, acquiring at least one measuring point, and acquiring distance information and/or angle information according to the at least one measuring point.

In one example, when the measurement point is obtained, the remote control terminal may display the measurement point on the measurement page of the interactive interface, and considering that a user's finger is too large, if the user directly places the finger at the position of the measurement point for operation, the finger may cover the measurement point, which may affect the accuracy of the measurement result because the specific position of the measurement point cannot be seen, so the remote control terminal may display a moving mark near the measurement point in response to the user's operation on the measurement point; and responding to the operation of the user on the mobile mark, and determining the distance of the position of the mobile mark relative to the measuring point. The embodiment will make the operation for the measuring point equivalent to the operation for the moving mark, and ensure the accuracy of the measuring result while the user can clearly see the specific position of the measuring point.

In an example, please refer to fig. 12, on the measurement page, when it is detected that the user clicks the three-dimensional image, the remote control terminal obtains a measurement point according to the click position of the user and displays the measurement point; considering that the finger of the user is too large, if the user directly puts the finger at the position of the measuring point for operation, the finger may cover the measuring point, and the specific position of the measuring point cannot be seen, so that the operation error may be caused, and the accuracy of the measuring result may be affected. Therefore, in response to the user touching the position of the measurement point, the remote control terminal may display a moving mark near the measurement point, for example, in the form of a "moving bubble", and the user may move the moving mark, for example, placing a mobile phone on the "moving bubble" may drag the "moving bubble", and then the position where the moving mark stays is the moved position, and the remote control terminal may determine the distance between the position where the current moving mark is located and the measurement point.

In one example, referring to fig. 13, the remote control terminal acquires two measurement points and displays the two measurement points on the measurement page in response to the user clicking different positions of the three-dimensional image twice, and then acquires and displays distance information between the two measurement points on the measurement page.

In one example, referring to fig. 14, the remote control terminal acquires and displays three measurement points on the measurement page in response to a user clicking three times on different positions of the three-dimensional image, and then acquires and displays distance information, area information, and/or angle information between the three measurement points on the measurement page.

In one embodiment, a playback control is further displayed on the interactive interface; the playback control is used for at least indicating a three-dimensional point cloud and/or a two-dimensional image which are acquired in advance; referring to fig. 15, the remote control terminal may display a playback list in response to a user operating the playback control, where the playback list at least displays a three-dimensional point cloud and/or a two-dimensional image collected in advance, and then display a three-dimensional image and/or a two-dimensional image indicated by the three-dimensional point cloud on the interactive interface in response to the user operating the three-dimensional point cloud and/or the two-dimensional image. In this embodiment, the user may select to play back the three-dimensional point cloud and/or the two-dimensional image collected in advance according to actual needs.

Referring to fig. 16, when a three-dimensional image indicated by the pre-collected three-dimensional point cloud is displayed, an additional recording control is also displayed on the interactive interface, the additional recording control is used for indicating additional collection of the three-dimensional point cloud, and a user can perform omission-finding and defect-filling on the three-dimensional point cloud according to the need of the user; the remote control terminal can respond to the operation of the user on the supplement control and control the point cloud acquisition device to supplement and acquire the three-dimensional point cloud.

In one implementation manner, the remote control terminal can control the point cloud acquisition device to perform supplementary scanning on a target object according to the density of the three-dimensional point cloud so as to additionally acquire the three-dimensional point cloud; for example, a density threshold is set, and when the density of the three-dimensional point cloud in a certain area is smaller than the density threshold, the point cloud acquisition device is controlled to perform supplementary scanning on the area of the target object.

In another implementation manner, in consideration of the fact that an imaging device is used to acquire a two-dimensional image while a point cloud acquisition device is used to acquire the three-dimensional point cloud, and the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped, so that the two-dimensional image can play a reference role, the remote control terminal can acquire a pre-acquired two-dimensional image corresponding to the pre-acquired three-dimensional point cloud, and control the point cloud acquisition device to perform supplementary scanning on a target object according to a comparison result between the pre-acquired three-dimensional image indicated by the pre-acquired three-dimensional point cloud and the pre-acquired two-dimensional image, so as to additionally acquire the three-dimensional point cloud. For example, the missing acquisition area can be determined by comparing the two-dimensional image with the point cloud acquisition device, and the point cloud acquisition device is controlled to perform supplementary scanning on the missing acquisition area of the target object according to the missing acquisition area.

Correspondingly, referring to fig. 17, the embodiment of the present application further provides a remote control terminal 30, which includes a processor 31, a memory 32 for storing executable instructions of the processor 31, and a wireless communicator 33;

the wireless communicator 33 is used for being in communication connection with a movable platform and acquiring a two-dimensional image acquired by an imaging device carried on the movable platform and a three-dimensional point cloud acquired by a point cloud acquisition device carried on the movable platform in real time; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped;

the processor 31, when executing the executable instructions, is configured to: and simultaneously displaying the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud on an interactive interface of the remote control terminal so as to indicate the point cloud acquisition device to scan the scanning result of the target object.

The Processor 31 executes executable instructions included in the memory 32, and the Processor 31 may be a Central Processing Unit (CPU), or other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 32 stores executable instructions of the image display method, and the memory 32 may include at least one type of storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. Also, the remote control terminal may cooperate with a network storage device that performs a storage function of the memory by being connected through a network. The storage 32 may be an internal storage unit of the remote control terminal 30, such as a hard disk or a memory of the remote control terminal 30. The memory 32 may also be an external memory of the remote control terminal 30, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc., provided on the remote control terminal 30. Further, the memory 32 may also include both an internal storage unit of the remote control terminal 30 and an external storage remote control terminal. The memory 32 is used for storing computer programs 33 and other programs and data required for the remote control terminal. The memory 32 may also be used to temporarily store data that has been output or is to be output.

In an embodiment, the processor 31 is further configured to: and when the scanning result indicates that the target object is not scanned or the scanned target object is incomplete, controlling the point cloud acquisition device to scan the target object according to the operation of the user on the remote control terminal.

In an embodiment, when the point cloud collecting device is controlled to scan the target object, the processor 31 is specifically configured to: adjusting a pose of the movable platform to cause the point cloud acquisition device to scan toward the target object.

In one embodiment, the imaging device and the point cloud collection device are mounted on the movable platform through a cloud deck;

when controlling the point cloud collecting device to scan the target object, the processor 31 is specifically configured to: adjusting the pose of the movable platform and/or the pan-tilt so that the point cloud acquisition device scans towards the target object.

In one embodiment, the operation of the remote control terminal by the user at least comprises: and the user operates the two-dimensional image and/or the three-dimensional image.

In one embodiment, the two-dimensional image and the three-dimensional image are displayed in parallel or in an overlapping manner on the interactive interface.

In an embodiment, the two-dimensional image and the three-dimensional image are displayed on different layers, and the layers are displayed on the interactive interface in an overlapping manner.

In an embodiment, at least one point cloud recording control is further displayed on the interactive interface, and the point cloud recording control is used for indicating the acquisition states of the imaging device and the point cloud acquisition device.

Before the real-time acquiring the two-dimensional image acquired by the imaging device and the three-dimensional point cloud acquired by the point cloud acquiring device, the processor 31 is further configured to: and responding to the operation of a user on a point cloud recording control on the interactive interface, controlling the imaging device to start acquiring a two-dimensional image and controlling the point cloud acquisition device to start scanning the target object to acquire a three-dimensional point cloud.

In an embodiment, after the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal, the processor 31 is further configured to: and responding to the operation of the user on the point cloud recording control, and controlling the imaging device and the point cloud acquisition device to suspend acquisition, continue acquisition or finish acquisition.

In one embodiment, a setting control is further displayed on the interactive interface; the setting control is used for indicating the setting of the acquisition parameters of the point cloud acquisition device.

Before the controlling the imaging device to start acquiring the two-dimensional image and the point cloud acquiring device to start scanning the target object to acquire the three-dimensional point cloud, the processor 31 is further configured to:

responding to the operation of a user on the setting control, displaying a setting page on the interactive interface, wherein the setting page displays the setting information of the acquisition parameters of the point cloud acquisition device; and the number of the first and second groups,

acquiring the set acquisition parameters of the point cloud acquisition device in response to the setting operation of the user on the setting page aiming at the setting information;

and controlling the point cloud acquisition device to start scanning the target object according to the set acquisition parameters of the point cloud acquisition device so as to acquire the three-dimensional point cloud.

In an embodiment, the acquisition parameters include at least one of: sampling frequency, scanning mode, echo number, echo mode, whether visible light pixels are provided, rain and fog enhancement and strong denoising mode.

In an embodiment, a single-screen and double-screen switching control is further displayed on the interactive interface, and the single-screen and double-screen switching control is used for instructing the interactive interface to display only the three-dimensional image, or to display the two-dimensional image and the three-dimensional image simultaneously.

When the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal, the processor 31 is further configured to: and responding to the operation of the user on the single-screen and double-screen switching control, and only displaying the three-dimensional image on the interactive interface.

In an embodiment, a two-dimensional image display control is further displayed on the interactive interface, and the two-dimensional image display control is used for indicating that the two-dimensional image is displayed on the interactive interface, and displaying the acquisition range of the three-dimensional point cloud on the two-dimensional image.

When the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are displayed on the interactive interface of the remote control terminal, the processor 31 is further configured to: and responding to the operation of a user on the two-dimensional image display control, displaying the two-dimensional image on the interactive interface, and displaying the acquisition range of the three-dimensional point cloud on the two-dimensional image.

In one embodiment, the position of the acquisition range of the three-dimensional point cloud in the two-dimensional image is determined according to the external reference conversion relationship of the imaging device and the point cloud acquisition device.

In one embodiment, the size of the acquisition range of the three-dimensional point cloud in the two-dimensional image is determined according to the focal length of the imaging device.

In an embodiment, the imaging device comprises at least one of: a visible light camera, a grayscale camera, or an infrared camera; the point cloud acquisition device comprises at least one of the following items: laser radar, binocular vision sensor and structured light depth camera.

In one embodiment, the movable platform is provided with at least two holders, wherein one holder is provided with at least an imaging device and a point cloud acquisition device, and the other holders are provided with at least an imaging device.

The two-dimensional image displayed on the interactive interface is the two-dimensional image acquired by the imaging device of one of the cloud platforms, and the first thumbnail of the two-dimensional image acquired by the imaging devices of the other cloud platforms is also displayed on the interactive interface.

After the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal, the processor 31 is further configured to: and responding to the operation of the user on the first thumbnail, and switching the two-dimensional image acquired by the imaging device of one of the holders displayed on the interactive interface into the two-dimensional image indicated by the first thumbnail.

In an embodiment, the processor 31 is further configured to: adjusting the poses of the at least two holders in response to user manipulation of the first thumbnail, the two-dimensional image, and/or the three-dimensional image.

In an embodiment, a second thumbnail of a map of a position where the cradle head is located is also displayed on the interactive interface.

After the displaying the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud on the interactive interface of the remote control terminal, the processor 31 is further configured to: and responding to the operation of the user on the second thumbnail, and simultaneously displaying the map and the three-dimensional image on the interactive interface.

In one embodiment, the map and the three-dimensional image are displayed superimposed on the interactive interface.

In one embodiment, a rendering control is further displayed on the interactive interface; the rendering control is used for indicating color rendering of the three-dimensional image.

The processor 31 is further configured to: responding to the operation of a user on the rendering control, displaying a rendering page on the interactive interface, wherein the rendering page displays at least one rendering mode, and the rendering mode is used for indicating the color presentation mode of the three-dimensional image; and performing color rendering on the three-dimensional image based on a rendering mode selected by a user on the rendering page.

In an embodiment, the rendering mode includes at least one of: a reflectivity rendering mode, a height rendering mode and a two-dimensional image rendering mode; wherein the reflectivity rendering mode is used for indicating painting according to the reflectivity of each three-dimensional point in the three-dimensional point cloud; the height rendering mode is used for indicating painting according to the height information of each three-dimensional point in the three-dimensional point cloud; the two-dimensional image rendering mode is used for indicating that painting information of the three-dimensional point cloud is generated according to pixel values of pixels in the two-dimensional image.

In one embodiment, a measurement control is further displayed on the interactive interface; the measurement control is used for indicating the spatial measurement of the three-dimensional image.

The processor 31 is further configured to: responding to the operation of a user on the measurement control, and displaying a measurement page on an interactive interface, wherein the three-dimensional image is displayed on the measurement page; and responding to the operation of the user on the three-dimensional image, acquiring at least one measuring point, and acquiring distance information and/or angle information according to the at least one measuring point.

In an embodiment, when the acquiring at least one measurement point, the processor 31 is further configured to: displaying the at least one measurement point on the interactive interface; displaying a moving mark in the vicinity of the measuring point in response to an operation of the measuring point by a user; and responding to the operation of the user on the mobile mark, and determining the distance of the position of the mobile mark relative to the measuring point.

In one embodiment, a playback control is further displayed on the interactive interface; the playback control is used for at least indicating a three-dimensional point cloud and/or a two-dimensional image which are acquired in advance.

The processor 31 is further configured to: responding to the operation of a user on the playback control, and displaying a playback list, wherein the playback list at least displays a pre-collected three-dimensional point cloud and/or a pre-collected two-dimensional image; and responding to the operation of a user on the three-dimensional point cloud and/or the two-dimensional image, and displaying the three-dimensional image and/or the two-dimensional image indicated by the three-dimensional point cloud on the interactive interface.

In an embodiment, when the three-dimensional image indicated by the pre-acquired three-dimensional point cloud is displayed, a supplementary recording control is further displayed on the interactive interface, and the supplementary recording control is used for indicating supplementary acquisition of the three-dimensional point cloud.

The processor 31 is further configured to: and responding to the operation of the user on the supplement control, and controlling the point cloud acquisition device to supplement and acquire the three-dimensional point cloud.

In an embodiment, when controlling the point cloud collecting device to additionally collect the three-dimensional point cloud, the processor 31 is specifically configured to: controlling the point cloud acquisition device to perform supplementary scanning on a target object according to the density of the three-dimensional point cloud so as to additionally acquire the three-dimensional point cloud; or acquiring a pre-acquired two-dimensional image corresponding to the pre-acquired three-dimensional point cloud, and controlling the point cloud acquisition device to perform supplementary scanning on the target object according to a comparison result between the three-dimensional image indicated by the pre-acquired three-dimensional point cloud and the pre-acquired two-dimensional image so as to additionally acquire the three-dimensional point cloud.

The various embodiments described herein may be implemented using a computer-readable medium such as computer software, hardware, or any combination thereof. For a hardware implementation, the embodiments described herein may be implemented using at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein. For a software implementation, the implementation such as a process or a function may be implemented with a separate software module that allows performing at least one function or operation. The software codes may be implemented by software applications (or programs) written in any suitable programming language, which may be stored in memory and executed by the controller.

The implementation process of the functions and actions of each unit in the terminal is specifically described in the implementation process of the corresponding step in the method, and is not described herein again.

The embodiment of the application also provides an imaging display device, which is applied to a remote control terminal, wherein the remote control terminal is used for being in communication connection with a movable platform, and the movable platform is provided with the imaging device and a point cloud acquisition device; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped;

Referring to fig. 18, an embodiment of the present application further provides an imaging display system, including a remote control terminal and a movable platform, where the remote control terminal is used for communicating with the movable platform, and the movable platform is provided with an imaging device and a point cloud acquisition device; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped;

In an embodiment, the movable platform includes at least an unmanned aerial vehicle, an unmanned ship, and a mobile robot.

In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as a memory comprising instructions, executable by a processor of an apparatus to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

A non-transitory computer readable storage medium, instructions in the storage medium, when executed by a processor of a terminal, enable the terminal to perform the above-described method.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The method and apparatus provided by the embodiments of the present application are described in detail above, and the principle and the embodiments of the present application are explained herein by applying specific examples, and the description of the embodiments above is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. The imaging display method is characterized by being applied to a remote control terminal, wherein the remote control terminal is used for being in communication connection with a movable platform, and the movable platform is provided with an imaging device and a point cloud acquisition device; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped; the method comprises the following steps:

2. The method of claim 1, further comprising:

and when the scanning result indicates that the target object is not scanned or the scanned target object is incomplete, controlling the point cloud acquisition device to scan the target object according to the operation of the user on the remote control terminal.

3. The method of claim 2, wherein the controlling the point cloud acquisition device to scan the target object comprises:

adjusting a pose of the movable platform to cause the point cloud acquisition device to scan toward the target object.

4. The method of claim 2, wherein the imaging device and point cloud acquisition device are mounted on the movable platform by a pan-tilt;

the controlling the point cloud collecting device to scan the target object comprises:

adjusting the pose of the movable platform and/or the pan-tilt so that the point cloud acquisition device scans towards the target object.

5. The method of claim 2, wherein the user's operation of the remote control terminal comprises at least: and the user operates the two-dimensional image and/or the three-dimensional image.

6. The method of claim 1, wherein the two-dimensional image and the three-dimensional image are displayed side-by-side or superimposed on the interactive interface.

7. The method of claim 1, wherein the two-dimensional image and the three-dimensional image are displayed on different layers, and the layers are displayed on the interactive interface in an overlapping manner.

8. The method of claim 1, wherein at least one point cloud recording control is further displayed on the interactive interface, and the point cloud recording control is used for indicating the acquisition states of the imaging device and the point cloud acquisition device;

before the real-time acquisition of the two-dimensional image acquired by the imaging device and the three-dimensional point cloud acquired by the point cloud acquisition device, the method further comprises the following steps:

and responding to the operation of a user on a point cloud recording control on the interactive interface, controlling the imaging device to start acquiring a two-dimensional image and controlling the point cloud acquisition device to start scanning the target object to acquire a three-dimensional point cloud.

9. The method of claim 8, further comprising, after said displaying simultaneously on an interactive interface of the remote control terminal the two-dimensional image and a three-dimensional image indicated by the three-dimensional point cloud:

and responding to the operation of the user on the point cloud recording control, and controlling the imaging device and the point cloud acquisition device to suspend acquisition, continue acquisition or finish acquisition.

10. The method of claim 8, wherein a setting control is further displayed on the interactive interface; the setting control is used for indicating the setting of the acquisition parameters of the point cloud acquisition device;

before the controlling the imaging device to start acquiring a two-dimensional image and the point cloud acquiring device to start scanning the target object to acquire a three-dimensional point cloud, the method further comprises:

the controlling the point cloud collecting device to start scanning the target object to collect the three-dimensional point cloud includes:

11. The method of claim 10, wherein the acquisition parameters comprise at least one of: sampling frequency, scanning mode, echo number, echo mode, whether visible light pixels are provided, rain and fog enhancement and strong denoising mode.

12. The method according to claim 1, wherein the interactive interface further displays a single-screen and double-screen switching control for instructing the interactive interface to display only the three-dimensional image or to display the two-dimensional image and the three-dimensional image simultaneously;

when the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal, the method further comprises the following steps:

and responding to the operation of the user on the single-screen and double-screen switching control, and only displaying the three-dimensional image on the interactive interface.

13. The method of claim 1, wherein a two-dimensional image display control is further displayed on the interactive interface, the two-dimensional image display control is used for indicating that the two-dimensional image is displayed on the interactive interface and the acquisition range of the three-dimensional point cloud is displayed on the two-dimensional image;

when the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are displayed on the interactive interface of the remote control terminal, the method further comprises the following steps:

and responding to the operation of a user on the two-dimensional image display control, displaying the two-dimensional image on the interactive interface, and displaying the acquisition range of the three-dimensional point cloud on the two-dimensional image.

14. The method of claim 13, wherein the position of the three-dimensional point cloud in the two-dimensional image is determined according to the external reference transformation relationship between the imaging device and the point cloud acquisition device.

15. The method of claim 13, wherein the size of the acquisition range of the three-dimensional point cloud in the two-dimensional image is determined according to the focal length of the imaging device.

16. The method of claim 1, wherein the imaging device comprises at least one of: a visible light camera, a grayscale camera, or an infrared camera;

the point cloud acquisition device comprises at least one of the following items: laser radar, binocular vision sensor and structured light depth camera.

17. The method according to claim 1, characterized in that the movable platform is equipped with at least two heads, one of which is equipped with at least an imaging device and a point cloud acquisition device, the other of which is equipped with at least an imaging device;

the two-dimensional image displayed on the interactive interface is the two-dimensional image acquired by the imaging device of one of the cloud deck, and a first thumbnail of the two-dimensional image acquired by the imaging devices of the other cloud decks is also displayed on the interactive interface;

after the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal, the method further comprises the following steps:

and responding to the operation of the user on the first thumbnail, and switching the two-dimensional image acquired by the imaging device of one of the holders displayed on the interactive interface into the two-dimensional image indicated by the first thumbnail.

18. The method of claim 17, further comprising:

adjusting the poses of the at least two holders in response to user manipulation of the first thumbnail, the two-dimensional image, and/or the three-dimensional image.

19. The method according to claim 1, wherein a second thumbnail of a map of the position of the pan-tilt is also displayed on the interactive interface;

after the displaying the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud on the interactive interface of the remote control terminal, the method further comprises:

and responding to the operation of the user on the second thumbnail, and simultaneously displaying the map and the three-dimensional image on the interactive interface.

20. The method of claim 19, wherein the map and the three-dimensional image are displayed superimposed on the interactive interface.

21. The method of claim 1, wherein a rendering control is further displayed on the interactive interface; the rendering control is used for indicating color rendering of the three-dimensional image;

the method further comprises the following steps:

responding to the operation of a user on the rendering control, displaying a rendering page on the interactive interface, wherein the rendering page displays at least one rendering mode, and the rendering mode is used for indicating the color presentation mode of the three-dimensional image;

and performing color rendering on the three-dimensional image based on a rendering mode selected by a user on the rendering page.

22. The method of claim 21, wherein the rendering mode comprises at least one of: a reflectivity rendering mode, a height rendering mode and a two-dimensional image rendering mode;

wherein the reflectivity rendering mode is used for indicating painting according to the reflectivity of each three-dimensional point in the three-dimensional point cloud;

the height rendering mode is used for indicating painting according to the height information of each three-dimensional point in the three-dimensional point cloud;

the two-dimensional image rendering mode is used for indicating that painting information of the three-dimensional point cloud is generated according to pixel values of pixels in the two-dimensional image.

23. The method of claim 1, wherein a measurement control is further displayed on the interactive interface; the measurement control is used for indicating the spatial measurement of the three-dimensional image;

the method further comprises the following steps:

responding to the operation of a user on the measurement control, and displaying a measurement page on an interactive interface, wherein the three-dimensional image is displayed on the measurement page;

and responding to the operation of the user on the three-dimensional image, acquiring at least one measuring point, and acquiring distance information and/or angle information according to the at least one measuring point.

24. The method of claim 23, wherein in said obtaining at least one measurement point, further comprising:

displaying the at least one measurement point on the interactive interface;

displaying a moving mark in the vicinity of the measuring point in response to an operation of the measuring point by a user; and the number of the first and second groups,

and determining the distance of the position of the mobile mark relative to the measuring point in response to the operation of the mobile mark by the user.

25. The method of claim 1, wherein a playback control is further displayed on the interactive interface; the playback control is used for at least indicating a three-dimensional point cloud and/or a two-dimensional image which are acquired in advance;

the method further comprises the following steps:

responding to the operation of a user on the playback control, and displaying a playback list, wherein the playback list at least displays a pre-collected three-dimensional point cloud and/or a pre-collected two-dimensional image;

and responding to the operation of a user on the three-dimensional point cloud and/or the two-dimensional image, and displaying the three-dimensional image and/or the two-dimensional image indicated by the three-dimensional point cloud on the interactive interface.

26. The method of claim 25, wherein when displaying the three-dimensional image indicated by the pre-acquired three-dimensional point cloud, an additional control is further displayed on the interactive interface, wherein the additional control is used for indicating additional acquisition of the three-dimensional point cloud;

the method further comprises the following steps:

and responding to the operation of the user on the supplement control, and controlling the point cloud acquisition device to supplement and acquire the three-dimensional point cloud.

27. The method of claim 26, wherein the controlling the point cloud acquisition device to additionally acquire a three-dimensional point cloud comprises:

controlling the point cloud acquisition device to perform supplementary scanning on a target object according to the density of the three-dimensional point cloud so as to additionally acquire the three-dimensional point cloud; alternatively, the first and second electrodes may be,

and acquiring a pre-acquired two-dimensional image corresponding to the pre-acquired three-dimensional point cloud, and controlling the point cloud acquisition device to perform supplementary scanning on a target object according to a comparison result between a three-dimensional image indicated by the pre-acquired three-dimensional point cloud and the pre-acquired two-dimensional image so as to additionally acquire the three-dimensional point cloud.

28. The method of claim 1, wherein the movable platform comprises at least an unmanned aerial vehicle, an unmanned ship, and a mobile robot.

29. A remote control terminal comprising a processor, a memory for storing processor-executable instructions, and a wireless communicator;

30. The remote control terminal of claim 29, wherein the processor is further configured to: and when the scanning result indicates that the target object is not scanned or the scanned target object is incomplete, controlling the point cloud acquisition device to scan the target object according to the operation of the user on the remote control terminal.

31. The remote control terminal of claim 30, wherein when controlling the point cloud collection device to scan the target object, the processor is specifically configured to: adjusting a pose of the movable platform to cause the point cloud acquisition device to scan toward the target object.

32. The remote control terminal according to claim 30, wherein the imaging device and the point cloud collection device are mounted on the movable platform through a pan-tilt;

when the point cloud collection device is controlled to scan the target object, the processor is specifically configured to: adjusting the pose of the movable platform and/or the pan-tilt so that the point cloud acquisition device scans towards the target object.

33. The remote control terminal of claim 30, wherein the user's manipulation of the remote control terminal comprises at least: and the user operates the two-dimensional image and/or the three-dimensional image.

34. The remote control terminal of claim 29, wherein the two-dimensional image and the three-dimensional image are displayed side-by-side or superimposed on the interactive interface.

35. The remote control terminal of claim 29, wherein the two-dimensional image and the three-dimensional image are displayed on different layers, and the layers are displayed in an overlaid manner on the interactive interface.

36. The remote control terminal of claim 29, wherein at least one point cloud recording control is further displayed on the interactive interface, and the point cloud recording control is used for indicating the acquisition states of the imaging device and the point cloud acquisition device;

before the acquiring, in real time, the two-dimensional image acquired by the imaging device and the three-dimensional point cloud acquired by the point cloud acquisition device, the processor is further configured to: and responding to the operation of a user on a point cloud recording control on the interactive interface, controlling the imaging device to start acquiring a two-dimensional image and controlling the point cloud acquisition device to start scanning the target object to acquire a three-dimensional point cloud.

37. The remote control terminal of claim 36, wherein after the simultaneous display of the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud on the interactive interface of the remote control terminal, the processor is further configured to: and responding to the operation of the user on the point cloud recording control, and controlling the imaging device and the point cloud acquisition device to suspend acquisition, continue acquisition or finish acquisition.

38. The remote control terminal of claim 36, wherein a setup control is further displayed on the interactive interface; the setting control is used for indicating the setting of the acquisition parameters of the point cloud acquisition device;

before the controlling the imaging device to begin acquiring a two-dimensional image and the point cloud acquisition device to begin scanning the target object to acquire a three-dimensional point cloud, the processor is further configured to:

39. The remote control terminal of claim 38, wherein the acquisition parameters include at least one of: sampling frequency, scanning mode, echo number, echo mode, whether visible light pixels are provided, rain and fog enhancement and strong denoising mode.

40. The remote control terminal of claim 29, wherein the interactive interface further displays a single-screen and dual-screen switching control, and the single-screen and dual-screen switching control is used for instructing the interactive interface to display only the three-dimensional image or to display the two-dimensional image and the three-dimensional image simultaneously;

when the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal, the processor is further configured to: and responding to the operation of the user on the single-screen and double-screen switching control, and only displaying the three-dimensional image on the interactive interface.

41. The remote control terminal of claim 29, wherein a two-dimensional image display control is further displayed on the interactive interface, the two-dimensional image display control being configured to instruct to display the two-dimensional image on the interactive interface and to display an acquisition range of the three-dimensional point cloud on the two-dimensional image;

when the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are displayed on the interactive interface of the remote control terminal, the processor is further configured to: and responding to the operation of a user on the two-dimensional image display control, displaying the two-dimensional image on the interactive interface, and displaying the acquisition range of the three-dimensional point cloud on the two-dimensional image.

42. The remote control terminal according to claim 41, wherein the position of the three-dimensional point cloud in the two-dimensional image is determined according to the external reference transformation relationship between the imaging device and the point cloud acquisition device.

43. The remote control terminal as recited in claim 41, wherein a size of an acquisition range of the three-dimensional point cloud in the two-dimensional image is determined according to a focal length of the imaging device.

44. The remote control terminal according to claim 29, wherein the imaging means comprises at least one of: a visible light camera, a grayscale camera, or an infrared camera;

45. The remote control terminal according to claim 29, wherein the movable platform is equipped with at least two holders, wherein one holder is equipped with at least an imaging device and a point cloud acquisition device, and the other holders are equipped with at least an imaging device;

after the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud are simultaneously displayed on the interactive interface of the remote control terminal, the processor is further configured to:

46. The remote control terminal of claim 45, wherein the processor is further configured to: adjusting the poses of the at least two holders in response to user manipulation of the first thumbnail, the two-dimensional image, and/or the three-dimensional image.

47. The remote control terminal of claim 29, wherein a second thumbnail of a map of a location of the cradle head is also displayed on the interactive interface;

after the displaying the two-dimensional image and the three-dimensional image indicated by the three-dimensional point cloud on the interactive interface of the remote control terminal, the processor is further configured to:

48. The remote control terminal of claim 47, wherein the map and the three-dimensional image are displayed superimposed on the interactive interface.

49. The remote control terminal of claim 29, wherein a rendering control is further displayed on the interactive interface; the rendering control is used for indicating color rendering of the three-dimensional image;

the processor is further configured to:

50. The remote control terminal of claim 49, wherein the rendering mode comprises at least one of: a reflectivity rendering mode, a height rendering mode and a two-dimensional image rendering mode;

51. The remote control terminal of claim 29, wherein a measurement control is further displayed on the interactive interface; the measurement control is used for indicating the spatial measurement of the three-dimensional image;

the processor is further configured to:

52. The remote control terminal of claim 51, wherein in said obtaining at least one measurement point, said processor is further configured to:

displaying the at least one measurement point on the interactive interface;

53. The remote control terminal of claim 29, wherein a playback control is further displayed on the interactive interface; the playback control is used for at least indicating a three-dimensional point cloud and/or a two-dimensional image which are acquired in advance;

the processor is further configured to:

54. The remote control terminal of claim 53, wherein when displaying the three-dimensional image indicated by the pre-collected three-dimensional point cloud, a supplementary control is further displayed on the interactive interface, and the supplementary control is used for indicating supplementary collection of the three-dimensional point cloud;

the processor is further configured to: and responding to the operation of the user on the supplement control, and controlling the point cloud acquisition device to supplement and acquire the three-dimensional point cloud.

55. The remote control terminal of claim 54, wherein when controlling the point cloud collection device to additionally collect a three-dimensional point cloud, the processor is specifically configured to:

56. The imaging display device is characterized by being applied to a remote control terminal, wherein the remote control terminal is used for being in communication connection with a movable platform, and the movable platform is provided with an imaging device and a point cloud acquisition device; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped;

57. An imaging display system is characterized by comprising a remote control terminal and a movable platform, wherein the remote control terminal is used for being in communication connection with the movable platform, and the movable platform is provided with an imaging device and a point cloud acquisition device; the acquisition ranges of the imaging device and the point cloud acquisition device are at least partially overlapped;

58. The system of claim 57, wherein the movable platform comprises at least an unmanned aerial vehicle, an unmanned ship, and a mobile robot.

59. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1 to 28.