CN114485716A - Lane rendering method and device, electronic equipment and storage medium - Google Patents
Lane rendering method and device, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
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Abstract
The disclosure provides a lane rendering method, a lane rendering device, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of computer vision and intelligent traffic. The scheme is as follows: according to a plurality of points of the lane line and the set width of the lane line, a lane line area corresponding to the lane line is established; determining the texture abscissa of the endpoint of the lane line region according to the length of the lane line region and the set virtual-real ratio of the lane line region; determining the texture ordinate of the endpoint of the lane line area according to the color of the lane line area; and rendering the lane line area according to the texture abscissa of the endpoint of the lane line area and the texture ordinate of the corresponding endpoint. Therefore, on the premise of not increasing the number of endpoints of the lane line region, a plurality of lane line regions can be organized into a batch for rendering, the burden and the related resource consumption of the graphics processor are reduced, and the rendering performance is improved.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technologies, and in particular, to the field of computer vision and intelligent traffic technologies, and in particular, to a lane rendering method and apparatus, an electronic device, and a storage medium.
Background
With the development of computer vision, the display modes of maps are more and more diversified. Particularly in the field of vehicle navigation applications, it is necessary to acquire information about a lane area on a lane-level map so that a vehicle can normally travel at a geographical position indicated by the map, and therefore, how to render the lane area on the map is very important.
Disclosure of Invention
The disclosure provides a lane rendering method, a lane rendering device, an electronic device and a storage medium.
According to an aspect of the present disclosure, there is provided a lane rendering method including: according to a plurality of points of a lane line and the set width of the lane line, creating a lane line area corresponding to the lane line; determining the texture abscissa of the end point of the lane line region according to the length of the lane line region and the set virtual-real ratio of the lane line region; determining the texture ordinate of the endpoint of the lane line area according to the color of the lane line area; and rendering the lane line area according to the texture abscissa of the endpoint of the lane line area and the texture ordinate of the corresponding endpoint.
According to another aspect of the present disclosure, there is provided a lane rendering apparatus including: the system comprises a creating module, a judging module and a judging module, wherein the creating module is used for creating a lane line area corresponding to a lane line according to a plurality of points of the lane line and the set width of the lane line; the first determining module is used for determining the texture abscissa of the endpoint of the lane line region according to the length of the lane line region and the set virtual-real ratio of the lane line region; the second determination module is used for determining the texture vertical coordinate of the endpoint of the lane line area according to the color of the lane line area; and the rendering module is used for rendering the lane line area according to the texture abscissa of the endpoint of the lane line area and the texture ordinate of the corresponding endpoint.
According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the lane rendering method of the first aspect of the disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the lane rendering method according to the first aspect of the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the lane rendering method of the first aspect embodiment of the present disclosure.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a schematic diagram of virtual-real lane line intervals provided in the embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a lane rendering method according to a first embodiment of the disclosure;
FIG. 3 is a schematic diagram of an example of the virtual-to-real ratio provided by the embodiments of the present disclosure;
fig. 4 is a flowchart illustrating a lane rendering method according to a second embodiment of the disclosure;
fig. 5 is a schematic diagram illustrating texture matching between the end points of the lane line regions and the color sets according to the embodiment of the present disclosure;
fig. 6 is a schematic flowchart of a lane rendering method according to a third embodiment of the disclosure;
fig. 7 is a schematic flowchart of a lane rendering method according to a fourth embodiment of the disclosure;
fig. 8 is a schematic flowchart of a lane rendering method according to a fifth embodiment of the disclosure;
fig. 9 is a flowchart illustrating a lane rendering method according to an embodiment of the disclosure;
fig. 10 is a schematic structural diagram of a lane rendering apparatus according to a sixth embodiment of the present disclosure;
FIG. 11 illustrates a schematic block diagram of an example electronic device that can be used to implement embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
At present, when rendering a lane-level map, for a dotted line type, as shown in fig. 1, a solid line with the same length and width is created first, and then, breaking is performed according to a virtual-real interval; and for the lane lines with different colors, the lane lines are organized into a plurality of batches according to the colors for rendering. However, breaking the solid line into dotted lines greatly increases the number of endpoints (e.g., the number of vertices is increased from 4 to 16 in fig. 1), and both the increase in the number of endpoints and the multiple rendering by color increase the resource consumption and the burden on the graphics processor, resulting in a decrease in rendering performance.
In order to solve the above problems, the present disclosure provides a lane rendering method, apparatus, electronic device, and storage medium.
The lane rendering method, apparatus, electronic device, and storage medium of the embodiments of the present disclosure are described below with reference to the accompanying drawings.
Fig. 2 is a schematic flowchart of a lane rendering method according to a first embodiment of the disclosure.
The lane rendering method is exemplified by being configured in a lane rendering device, which can be applied to any electronic device, so that the electronic device can perform a lane rendering function.
The electronic device may be any device having a computing capability, for example, a Personal Computer (PC), a mobile terminal, and the like, and the mobile terminal may be a hardware device having various operating systems, touch screens, and/or display screens, such as a mobile phone, a tablet Computer, a Personal digital assistant, and a wearable device.
As shown in fig. 2, the lane rendering method may include the steps of:
in step 201, a lane line area corresponding to a lane line is created based on a plurality of points of the lane line and a set width of the lane line.
In the embodiment of the present disclosure, a plurality of lane line sub-regions corresponding to a lane line may be created according to a plurality of points of the lane line and a set width of the lane line, and a lane line region corresponding to the lane line may be determined according to the plurality of lane line sub-regions.
In the embodiment of the present disclosure, in order to reduce the burden and resource consumption of the graphics processor without increasing the number of end points of the lane line region, texture abscissa may be added to the end points of the lane line region, and the lane line region is rendered in a virtual-real manner according to the texture abscissa corresponding to each point of the lane line region, where the texture abscissa of the end points of the lane line region may be determined according to the length of the lane line region and the set virtual-real ratio of the lane line region, and the set virtual-real ratio of the lane line region may be a ratio of a unit filling sub-region and a unit transparent sub-region in the lane line region, or a ratio of a unit transparent sub-region and a unit filling sub-region in the lane line region. In the present disclosure, the ratio of the unit-filled sub-area and the unit-transparent sub-area in the lane line area may be exemplarily illustrated with a set imaginary ratio. For example, as shown in fig. 3, it is assumed that the length of the unit fill sub-region in the lane line region is 9m, the length of the unit transparent sub-region is 6m, and the imaginary-to-real ratio is 3: 2.
In the embodiment of the present disclosure, according to the color of the lane line region, texture ordinate corresponding to the color is set for the end point of the lane line region correspondingly, for example, the lane line region is white, and the texture ordinate of the end point at both ends of the lane line region is set to 0.2; the lane line area is yellow, and the texture vertical coordinates of the end points at the two ends of the lane line area are both set to be 0.4; the lane line area is orange, and the texture vertical coordinates of the end points at the two ends of the lane line area are both set to be 0.6; the lane line region is gray, the texture ordinate of the end points at both ends of the lane line region is set to 0.8, the lane line region is blue, and the texture ordinate of the end points at both ends of the lane line region is set to 1.
And step 204, rendering the lane line area according to the texture abscissa of the end point of the lane line area and the texture ordinate of the corresponding end point.
Further, virtual rendering is performed on the lane line region according to the texture abscissa of the end point of the lane line region, and color rendering is performed on the lane line region according to the texture ordinate of the end point of the lane line region.
In summary, by adding the texture abscissa and the texture ordinate to the end points of the lane line region and rendering the lane line region according to the texture abscissa and the texture ordinate, a plurality of lane line regions can be organized into a batch for rendering without increasing the number of the end points of the lane line region, thereby reducing the burden and resource consumption of the graphics processor and improving the rendering performance.
In order to organize a plurality of lane line regions into a batch for rendering without increasing the number of endpoints of the lane line region, as shown in fig. 4, fig. 4 is a flowchart illustrating a lane rendering method according to a second embodiment of the present disclosure, where in the embodiment of the present disclosure, a filling type corresponding to texture abscissa of a plurality of points in the lane line region may be determined, and a color corresponding to texture ordinate of a plurality of points in the lane line region may be determined, and then, the lane line region may be rendered according to the filling type corresponding to the texture abscissa of the plurality of points in the lane line region and the color corresponding to the texture ordinate of the corresponding point, the embodiment shown in fig. 4 may include the following steps:
in step 401, a lane line area corresponding to a lane line is created based on a plurality of points of the lane line and a set width of the lane line.
In the disclosed embodiment, from the texture abscissas at both ends of the lane line region, the texture abscissas of a plurality of points located between both ends in the lane line region can be determined. For example, the abscissa of the texture at both ends of the lane line region is 0 and 4, respectively, and the abscissa of the texture at a plurality of points between both ends of the lane line region is between 0 and 4.
In order to accurately determine the filling type of the texture abscissa of the plurality of points in the lane line region, in the embodiment of the present disclosure, a texture imaginary-real reference template may be preset, and the texture imaginary-real reference template is used to indicate the filling type corresponding to each texture abscissa within the set texture abscissa range.
Further, the texture abscissas of the points in the lane line area are matched with the set texture virtual and real reference template, so that the filling type corresponding to the texture abscissas of the points in the lane line area can be determined.
As an example, for a texture abscissa of any point of the plurality of points, the texture abscissa of the any point is sampled in a set texture virtual-real reference template to determine a filling type corresponding to the texture abscissa of the any point. Wherein the filling type is used to indicate that the corresponding point is in a filled sub-area, or a transparent sub-area, in the lane line area.
In other words, the texture abscissa of any point of the plurality of points in the lane line region is sampled in the set texture virtual-real reference template, and the filling type corresponding to the texture abscissa of the any point can be accurately determined according to the sampling result.
It should be noted that the range of the texture abscissa corresponding to the texture virtual-real reference template is [0,1], and the texture abscissa of the lane line region may be repeatedly matched within the range of [0,1], for example, when the texture abscissa of the lane line region is greater than 1, the integer value of the texture abscissa of the lane line region may be removed, and after the integer value of the texture abscissa is removed, the texture abscissa is matched with the texture virtual-real reference template. For example, the abscissa of the texture in the lane line region is 2.5, and 0.5 obtained by removing an integer value from the abscissa of the texture may be matched with the virtual-real reference template of the texture.
In order to improve rendering efficiency, in the embodiment of the present disclosure, a plurality of lane line regions may be organized into a batch for color rendering, and as an example, a color set texture may be preset, where the color set texture includes all colors of lane lines and may be used to indicate a color corresponding to an ordinate of each texture.
In the embodiment of the disclosure, the texture ordinate of the endpoint of the lane line region is matched with the set color set texture, and the color corresponding to the texture ordinate of a plurality of points in the lane line region can be determined according to the matching result.
For example, as shown in fig. 5, different colors in the color set texture correspond to different texture ordinate, and the texture ordinate of the end point of the lane area is matched with the set color set texture, for example, the texture ordinate of the end point of the lane line area is 0.4 or 0.6, and the color corresponding to the texture ordinate may be determined by querying in the color set texture according to the texture ordinate.
It should be noted that, from the texture ordinate at both ends of the lane line region, the texture ordinate at a plurality of points located between both ends of the lane line region can be determined. For example, if the ordinate of the texture at both ends of the lane line region is 1, the abscissa of the texture at a plurality of points between both ends of the lane line region is also 1.
And then, performing virtual rendering and real rendering on the lane line area according to the filling type corresponding to the texture abscissa of the plurality of points in the lane line area, and performing color rendering on the lane line area according to the color corresponding to the texture ordinate of the corresponding point.
It should be noted that the execution process of steps 401 to 403 may refer to the execution process of the foregoing embodiment, which is not described herein again.
In summary, according to the texture abscissa of the endpoint of the lane line region and the set texture virtual-real reference template, the filling type corresponding to the texture abscissa of the plurality of points in the lane line region can be determined, and according to the texture ordinate of the endpoint of the lane line region and the set color set texture, the color corresponding to the texture ordinate of the plurality of points in the lane line region can be determined, and further, according to the filling type corresponding to the texture abscissa of the plurality of points in the lane line region and the color corresponding to the texture ordinate of the corresponding point, the plurality of lane line regions can be organized into one batch for rendering on the premise of not increasing the number of the endpoint of the lane line region, so that the burden of a graphics processor and the consumption of related resources are reduced, and the rendering efficiency is improved.
In order to accurately render the lane line region according to the filling types corresponding to the abscissa of the texture of the plurality of points in the lane line region and the color corresponding to the ordinate of the texture of the corresponding point, as shown in fig. 6, fig. 6 is a schematic flow chart of a lane rendering method provided by a third embodiment of the present disclosure. The embodiment shown in fig. 6 may include the following steps:
And 607, rendering the lane line region according to the filled sub-regions corresponding to the texture abscissa of the plurality of points in the lane line region and the colors corresponding to the texture ordinate of the corresponding point under the condition that the filling type of the texture abscissa of the arbitrary point indicates that the arbitrary point is located in the filled sub-region in the corresponding lane line region.
As an example, in the case that the filling type of the texture abscissa of an arbitrary point indicates that the arbitrary point is in the filling sub-region in the corresponding lane line region, that is, the arbitrary point is in the solid line region in the lane line region, the arbitrary point may be retained and the lane line region may be rendered according to the color corresponding to the texture abscissa of the arbitrary point.
And 608, under the condition that the filling type of the texture abscissa of the arbitrary point indicates that the arbitrary point is in the transparent sub-area in the corresponding lane line area, eliminating the arbitrary point in the lane line area corresponding to the arbitrary point.
As another example, in the case where the filling type of the texture abscissa of an arbitrary point indicates that the arbitrary point is in a transparent sub-area in the corresponding lane line area, that is, the arbitrary point is in a dotted area in the lane line area, the arbitrary point may be culled in the lane line area corresponding to the arbitrary point.
It should be noted that the execution process of steps 601 to 604 may refer to the execution process of the foregoing embodiment, which is not described herein again.
In summary, under the condition that the filling type of the texture abscissa of the arbitrary point indicates that the arbitrary point is in the filling sub-region in the corresponding lane line region, rendering the lane line region according to the filling sub-region corresponding to the texture abscissas of the plurality of points in the lane line region and the color corresponding to the texture ordinate of the corresponding point; and under the condition that the filling type of the texture abscissa of the arbitrary point indicates that the arbitrary point is in the transparent sub-area in the corresponding lane line area, eliminating the arbitrary point in the lane line area corresponding to the arbitrary point. Therefore, the rendering of the lane line area can be accurately realized according to the filling type corresponding to the texture abscissa of the plurality of points in the lane line area and the color corresponding to the texture ordinate of the corresponding point.
In order to accurately determine the texture abscissa of the endpoint of the lane line region, as shown in fig. 7, fig. 7 is a flowchart of a lane rendering method according to a fourth embodiment of the present disclosure, in the embodiment of the present disclosure, according to a set virtual-real ratio of the lane line region, a length of a unit sub-region corresponding to the virtual-real ratio in the lane line region may be determined, and according to the length of the lane line region and the length of the unit sub-region, the texture abscissa of the endpoint of the lane line region may be determined, in which the embodiment shown in fig. 7 may include the following steps:
in step 701, a lane line region corresponding to a lane line is created based on a plurality of points of the lane line and a set width of the lane line.
In the embodiment of the present disclosure, the length of the lane line region may be determined according to coordinates of end points at both ends of the lane line region.
In step 703, the length of the unit sub-region of the lane line region is determined according to the length of the transparent sub-region and the length of the filling sub-region corresponding to the set virtual-real ratio of the lane line region.
For example, the virtual-to-real ratio is set to be 3:2, and assuming that the length of the filler sub-region corresponding to the virtual-to-real ratio is 9 meters and the length of the transparent sub-region is 6 meters, the sum of the length of the filler sub-region corresponding to the virtual-to-real ratio and the length of the transparent sub-region (for example, 9+6 is 15 meters) may be used as the length of the unit sub-region of the lane line region.
In the embodiment of the present disclosure, the texture abscissa of the start end point of the lane line region may be set to 0, and the result of comparing the length of the lane line region with the length of the corresponding unit sub-region may be taken as the texture abscissa of the end point of the lane line region.
It should be noted that the execution processes of step 701 and steps 705 to 706 may refer to the execution processes of the above embodiments, which are not described herein again.
In conclusion, by acquiring the length of the lane line area; determining the length of the unit sub-area of the lane line area according to the length of the transparent sub-area and the length of the filling sub-area corresponding to the set virtual-real ratio of the lane line area; and determining the texture abscissa of the end point of the lane line region according to the length of the lane line region and the length of the corresponding unit subregion. Therefore, the texture abscissa of the endpoint of the lane line region can be accurately determined according to the length of the lane line region, the length of the transparent sub-region corresponding to the set virtual-real ratio and the length of the filling sub-region.
In order to accurately create a lane line region corresponding to a lane line, as shown in fig. 8, fig. 8 is a schematic flow chart of a lane rendering method provided in a fifth embodiment of the present disclosure, in the embodiment of the present disclosure, a plurality of sub-regions of the lane line may be determined according to any two adjacent points of the lane line and a set width of the lane line, and a stitching result of the plurality of sub-regions may be used as the lane line region corresponding to the lane line, and the embodiment shown in fig. 8 may include the following steps:
In the embodiment of the present disclosure, the perpendicular bisector of any two adjacent points of the plurality of points of the lane line may be determined according to the coordinates of the two adjacent points, and then, according to the perpendicular bisector of the any two adjacent points and the set width of the lane line, a plurality of sub-areas of the lane line may be constructed.
And step 802, taking the splicing result of the plurality of sub-areas of the lane line as the lane line area corresponding to the lane line.
Furthermore, the plurality of sub-areas of the lane line are spliced, and the splicing result is used as the lane line area corresponding to the lane line.
In step 803, the texture abscissa of the end point of the lane line region is determined according to the length of the lane line region and the set virtual-real ratio of the lane line region.
And step 804, determining the texture ordinate of the endpoint of the lane line area according to the color of the lane line area.
It should be noted that the execution process of steps 803 to 805 may refer to the execution process of the foregoing embodiment, which is not described herein again.
In summary, a plurality of sub-regions of the lane line are determined according to any two adjacent points of the lane line and the set width of the lane line; the result of stitching the plurality of sub-regions of the lane line is used as the lane line region corresponding to the lane line, whereby the lane line region can be accurately created from the plurality of points of the lane line and the set width of the lane line.
In order to more clearly illustrate the above embodiments, the description will now be made by way of example.
For example, as shown in fig. 9, the length of the lane line region is 60 meters, the virtual-real ratio is set to 3:2, the texture virtual-real reference template is 5 × 1 pixels, the virtual-real ratio is 3:2, the length of the corresponding filling sub-region (e.g., 9 meters) and the length of the corresponding transparent sub-region (e.g., 6 meters) may be set according to the set virtual-real ratio, and the sum of the length of the filling sub-region and the length of the corresponding transparent sub-region (e.g., 9+6 meters to 15 meters) may be used as the length of the unit sub-region of the lane line region. The result of comparing the length of the lane line region with the length of the corresponding unit sub-region (e.g., 60/15-4) is taken as the texture abscissa of the end point of the lane line region (e.g., the texture abscissa range of the end point of the lane line region is [0, 4 ]). And sampling the texture abscissa of any point in the plurality of points in a set texture virtual and real reference template so as to determine a filling type corresponding to the texture abscissa of the any point. Further, under the condition that the filling type of the texture abscissa of any point indicates that any point is in the filling sub-region in the corresponding lane line region, the any point can be reserved, and rendering is performed according to the color corresponding to the texture ordinate of the any point; under the condition that the filling type of the texture abscissa of any point indicates that the any point is in the transparent sub-region in the corresponding lane line region, the any point can be removed in the lane line region corresponding to the any point.
According to the lane rendering method, a lane line area corresponding to a lane line is created according to a plurality of points of the lane line and the set width of the lane line; determining the texture abscissa of the endpoint of the lane line region according to the length of the lane line region and the set virtual-real ratio of the lane line region; determining the texture ordinate of the endpoint of the lane line area according to the color of the lane line area; and rendering the lane line area according to the texture abscissa of the endpoint of the lane line area and the texture ordinate of the corresponding endpoint. According to the method, the texture abscissa and the texture ordinate are added to the endpoint of the lane line region, and the lane line region is rendered according to the texture abscissa and the texture ordinate, so that a plurality of lane line regions can be organized into a batch for rendering on the premise that the number of the endpoint of the lane line region is not increased, the burden and the related resource consumption of a graphic processor are reduced, and the rendering performance is improved.
In order to realize the above embodiment, the present disclosure further provides a lane rendering apparatus.
Fig. 10 is a schematic structural diagram of a lane rendering apparatus according to a sixth embodiment of the present disclosure.
As shown in fig. 10, the lane rendering apparatus 1000 includes: a creation module 1010, a first determination module 1020, a second determination module 1030, and a rendering module 1040.
The creating module 1010 is configured to create a lane line area corresponding to a lane line according to a plurality of points of the lane line and a set width of the lane line; a first determining module 1020, configured to determine a texture abscissa of an end point of the lane line region according to the length of the lane line region and a set virtual-real ratio of the lane line region; a second determining module 1030, configured to determine a texture ordinate of an endpoint of the lane line region according to the color of the lane line region; the rendering module 1040 is configured to render the lane line region according to the texture abscissa of the endpoint of the lane line region and the texture ordinate of the corresponding endpoint.
As a possible implementation manner of the embodiment of the present disclosure, the rendering module 1040 is specifically configured to: determining texture abscissas of a plurality of points in a corresponding lane line area according to the texture abscissas of the end points of the lane line area; matching the texture abscissa of the plurality of points in the lane line area with a set texture virtual-real reference template to determine a filling type corresponding to the texture abscissa of the plurality of points in the lane line area; the texture virtual and real reference template is used for indicating filling types corresponding to all texture horizontal coordinates in a set texture horizontal coordinate range; matching the texture ordinate of the endpoint of the lane line area with the set color set texture to determine the color corresponding to the texture ordinate of a plurality of points in the lane line area; the color set texture is used for indicating the color corresponding to the ordinate of each texture; and rendering the lane line area according to the filling type corresponding to the texture abscissa of the points in the lane line area and the color corresponding to the texture ordinate of the corresponding point.
As a possible implementation manner of the embodiment of the present disclosure, the filling type is used to indicate that the corresponding point is located in a filled sub-area or a transparent sub-area in the lane line area, and the rendering module 1040 is further configured to: and sampling the texture abscissa of any point in the plurality of points in a set texture virtual and real reference template so as to determine a filling type corresponding to the texture abscissa of the any point.
As a possible implementation manner of the embodiment of the present disclosure, the rendering module 1040 is further configured to: rendering the lane line region according to the filling sub-regions corresponding to the texture abscissas of the plurality of points in the lane line region and the colors corresponding to the texture ordinates of the corresponding points under the condition that the filling type of the texture abscissas of the arbitrary points indicates that the arbitrary points are located in the filling sub-regions in the corresponding lane line region; and under the condition that the filling type of the texture abscissa of the arbitrary point indicates that the arbitrary point is in the transparent sub-area in the corresponding lane line area, eliminating the arbitrary point in the lane line area corresponding to the arbitrary point.
As a possible implementation manner of the embodiment of the present disclosure, the first determining module 1020 is specifically configured to: acquiring the length of a lane line area; determining the length of the unit sub-area of the lane line area according to the length of the filling sub-area and the length of the transparent sub-area corresponding to the set virtual-real ratio of the lane line area; and determining the texture abscissa of the end point of the lane line region according to the length of the lane line region and the length of the corresponding unit subregion.
As a possible implementation manner of the embodiment of the present disclosure, the creating module 1010 is specifically configured to: determining a plurality of sub-areas of the lane line according to any two adjacent points of the lane line and the set width of the lane line; and taking the splicing result of the plurality of sub-areas of the lane line as the lane line area corresponding to the lane line.
According to the lane rendering method, a lane line area corresponding to a lane line is created according to a plurality of points of the lane line and the set width of the lane line; determining the texture abscissa of the endpoint of the lane line region according to the length of the lane line region and the set virtual-real ratio of the lane line region; determining the texture ordinate of the endpoint of the lane line area according to the color of the lane line area; and rendering the lane line area according to the texture abscissa of the endpoint of the lane line area and the texture ordinate of the corresponding endpoint. According to the method, the texture abscissa and the texture ordinate are added to the endpoint of the lane line region, and the lane line region is rendered according to the texture abscissa and the texture ordinate, so that a plurality of lane line regions can be organized into a batch for rendering on the premise that the number of the endpoint of the lane line region is not increased, the burden and the related resource consumption of a graphic processor are reduced, and the rendering performance is improved.
In order to implement the above embodiments, the present disclosure also provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the lane rendering method of the above embodiments.
In order to achieve the above embodiments, the present disclosure also proposes a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the lane rendering method described in the above embodiments.
In order to implement the above embodiments, the present disclosure also proposes a computer program product comprising a computer program which, when executed by a processor, implements the lane rendering method described in the above embodiments.
In the technical scheme of the present disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the related user are all performed under the premise of obtaining the consent of the user, and all meet the regulations of the related laws and regulations, and do not violate the good custom of the public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 11 shows a schematic block diagram of an example electronic device 1100 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 11, the device 1100 comprises a computing unit 1101, which may perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)1102 or a computer program loaded from a storage unit 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for the operation of the device 1100 may also be stored. The calculation unit 1101, the ROM 1102, and the RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.
A number of components in device 1100 connect to I/O interface 1105, including: an input unit 1106 such as a keyboard, a mouse, and the like; an output unit 1107 such as various types of displays, speakers, and the like; a storage unit 1108 such as a magnetic disk, optical disk, or the like; and a communication unit 1109 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 1109 allows the device 1100 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 1101 can be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 1101 performs the respective methods and processes described above, such as a lane rendering method. For example, in some embodiments, the lane rendering method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 1108. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 1100 via ROM 1102 and/or communication unit 1109. When the computer program is loaded into RAM 1103 and executed by the computing unit 1101, one or more steps of the lane rendering method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the lane rendering method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), the internet, and blockchain networks.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may also be a server of a distributed system, or a server incorporating a blockchain.
It should be noted that artificial intelligence is a subject for studying a computer to simulate some human thinking processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and includes both hardware and software technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, machine learning/deep learning, a big data processing technology, a knowledge map technology and the like.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (15)
1. A lane rendering method, comprising:
according to a plurality of points of a lane line and the set width of the lane line, creating a lane line area corresponding to the lane line;
determining the texture abscissa of the end point of the lane line region according to the length of the lane line region and the set virtual-real ratio of the lane line region;
determining the texture ordinate of the endpoint of the lane line area according to the color of the lane line area;
and rendering the lane line area according to the texture abscissa of the endpoint of the lane line area and the texture ordinate of the corresponding endpoint.
2. The method of claim 1, wherein the rendering the lane line region according to a texture abscissa of an end point of the lane line region and a texture ordinate of a corresponding end point comprises:
determining texture abscissas of a plurality of points in the corresponding lane line area according to the texture abscissas of the endpoints of the lane line area;
matching the texture abscissa of the plurality of points in the lane line area with a set texture virtual-real reference template to determine a filling type corresponding to the texture abscissa of the plurality of points in the lane line area; the texture virtual and real reference template is used for indicating filling types corresponding to all texture horizontal coordinates in a set texture horizontal coordinate range;
matching the texture ordinate of the endpoint of the lane line area with a set color set texture to determine the color corresponding to the texture ordinate of a plurality of points in the lane line area; the color set texture is used for indicating the color corresponding to the ordinate of each texture;
and rendering the lane line area according to the filling type corresponding to the texture abscissa of the plurality of points in the lane line area and the color corresponding to the texture ordinate of the corresponding point.
3. The method of claim 2, wherein the filling type is used for indicating that the corresponding point is a filling sub-area or a transparent sub-area in a lane line area, and the matching of the texture abscissa of the plurality of points in the lane line area with the set texture imaginary-real reference template to determine the filling type corresponding to the texture abscissa of the plurality of points in the lane line area comprises:
and sampling the texture abscissa of any point in the plurality of points in the set texture virtual and real reference template so as to determine the filling type corresponding to the texture abscissa of the any point.
4. The method of claim 3, wherein the rendering the lane line region according to the filling type corresponding to the texture abscissa of the plurality of points in the lane line region and the color corresponding to the texture ordinate of the corresponding point comprises:
rendering the lane line region according to the filling sub-regions corresponding to the texture abscissas of the plurality of points in the lane line region and the colors corresponding to the texture ordinates of the corresponding points under the condition that the filling type of the texture abscissas of the arbitrary points indicates that the arbitrary points are located in the filling sub-regions in the corresponding lane line region;
and under the condition that the filling type of the texture abscissa of the arbitrary point indicates that the arbitrary point is in a transparent sub-area in the corresponding lane line area, removing the arbitrary point in the lane line area corresponding to the arbitrary point.
5. The method according to any one of claims 1-4, wherein the determining the texture abscissa of the end point of the lane line region according to the length of the lane line region and the set imaginary-real ratio of the lane line region comprises:
acquiring the length of the lane line area;
determining the length of a unit subregion of the lane line region according to the length of the filling subregion and the length of the transparent subregion corresponding to the set virtual-real proportion of the lane line region;
and determining the texture abscissa of the end point of the lane line region according to the length of the lane line region and the length of the corresponding unit subregion.
6. The method according to any one of claims 1-4, wherein the creating a lane line region corresponding to a lane line from a plurality of points of the lane line and a set width of the lane line comprises:
determining a plurality of sub-areas of the lane line according to any two adjacent points of the lane line and the set width of the lane line;
and taking the splicing result of the plurality of sub-regions of the lane line as the lane line region corresponding to the lane line.
7. A lane rendering apparatus comprising:
the system comprises a creating module, a judging module and a judging module, wherein the creating module is used for creating a lane line area corresponding to a lane line according to a plurality of points of the lane line and the set width of the lane line;
the first determining module is used for determining the texture abscissa of the endpoint of the lane line region according to the length of the lane line region and the set virtual-real ratio of the lane line region;
the second determination module is used for determining the texture vertical coordinate of the endpoint of the lane line area according to the color of the lane line area;
and the rendering module is used for rendering the lane line area according to the texture abscissa of the end point of the lane line area and the texture ordinate of the corresponding end point.
8. The apparatus of claim 7, wherein the rendering module is specifically configured to:
determining texture abscissas of a plurality of points in the corresponding lane line area according to the texture abscissas of the endpoints of the lane line area;
matching the texture abscissa of the plurality of points in the lane line area with a set texture virtual-real reference template to determine a filling type corresponding to the texture abscissa of the plurality of points in the lane line area; the texture virtual and real reference template is used for indicating filling types corresponding to all texture horizontal coordinates in a set texture horizontal coordinate range;
matching the texture ordinate of the endpoint of the lane line area with a set color set texture to determine the color corresponding to the texture ordinate of a plurality of points in the lane line area; the color set texture is used for indicating the color corresponding to the ordinate of each texture;
and rendering the lane line area according to the filling type corresponding to the texture abscissa of the plurality of points in the lane line area and the color corresponding to the texture ordinate of the corresponding point.
9. The apparatus of claim 8, wherein the fill type is to indicate that a corresponding point is in a fill sub-region, or a transparent sub-region, in a lane line region, the rendering module to further:
and sampling the texture abscissa of any point in the plurality of points in the set texture virtual and real reference template so as to determine the filling type corresponding to the texture abscissa of the any point.
10. The apparatus of claim 9, wherein the rendering module is further configured to:
rendering the lane line region according to the filling sub-regions corresponding to the texture abscissas of the plurality of points in the lane line region and the colors corresponding to the texture ordinates of the corresponding points under the condition that the filling type of the texture abscissas of the arbitrary points indicates that the arbitrary points are located in the filling sub-regions in the corresponding lane line region;
and under the condition that the filling type of the texture abscissa of the arbitrary point indicates that the arbitrary point is in the transparent sub-region in the corresponding lane line region, removing the arbitrary point in the lane line region corresponding to the arbitrary point.
11. The apparatus according to any one of claims 7-10, wherein the first determining module is specifically configured to:
acquiring the length of the lane line area;
determining the length of a unit subregion of the lane line region according to the length of the filling subregion and the length of the transparent subregion corresponding to the set virtual-real proportion of the lane line region;
and determining the texture abscissa of the end point of the lane line region according to the length of the lane line region and the length of the corresponding unit subregion.
12. The apparatus according to any one of claims 7 to 10, wherein the creating module is specifically configured to:
determining a plurality of sub-areas of the lane line according to any two adjacent points of the lane line and the set width of the lane line;
and taking the splicing result of the plurality of sub-areas of the lane line as the lane line area corresponding to the lane line.
13. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
14. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6.
15. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-6.
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