Point cloud scene rendering method, device and equipment

A scene and point cloud technology, applied in the field of point cloud scene rendering, to achieve the effect of reducing the amount of data processing, smooth rendering, and improving the efficiency of data reading
CN111179394APending Publication Date: 2020-05-19SUZHOU ZHIJIA SCI & TECH CO LTD
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Patent Information

Authority / Receiving Office
CN Β· China
Current Assignee / Owner
SUZHOU ZHIJIA SCI & TECH CO LTD
Publication Date
2020-05-19

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Abstract

The invention provides a point cloud scene rendering method, device and equipment, and the method comprises the steps: obtaining a first viewpoint, a first visual angle and origin coordinates of all voxels in a target point cloud scene; determining voxels in a visual area according to the first viewpoint, the first visual angle and the origin coordinates of all the voxels in the target point cloudscene; storing the point cloud data corresponding to the voxel in the visual area into a cache; respectively adding the point cloud data corresponding to the voxels in the visual area stored in the cache to a plurality of levels of detail levels; and rendering the target point cloud scene according to the point cloud data in each level of the detail level. In the embodiment of the invention, thepoint cloud data corresponding to the voxel in the visual area in the target point cloud scene can be loaded in blocks by taking the voxel as a unit, and the data reading efficiency is effectively improved, so that the point cloud scene can be efficiently and smoothly rendered.
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Description

technical field

[0001] The present application relates to the technical field of data processing, in particular to a point cloud scene rendering method, device and equipment. Background technique

[0002] In technologies such as autonomous driving and surveying and mapping, the 3D scene data captured by devices such as lidar is often expressed in the form of point cloud data. A point cloud is a data set composed of a large number of points in three-dimensional space. There is no topological connection between any two points in the point cloud data, which makes it difficult to understand the semantics of the point cloud scene, and also gives the point cloud scene Rendering poses some challenges. Point cloud is often used in sensor calibration, obstacle recognition and tracking, semantic target recognition, map positioning and other modules in autonomous driving technology, involving multiple technical directions such as calibration, perception, and navigation. Therefore, im...

Claims

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