A method of fast point cloud drawing in unity3d

Abstract

The invention relates to a method for fast point cloud drawing in Unity3d, comprising the following steps: each data point in the point cloud data C generates four vertex coordinates and four UV data corresponding to the four vertex coordinates one by one, and obtains the current The position Pc of the camera; transmit the generated data to the GPU, assign the coordinates of the four vertices in the quadrilateral Q corresponding to each data point to different GPU threads for calculation, and calculate the camera position Pc when calculating a certain data point If the distance from the coordinate P of the data point is greater than the set threshold, the four vertices are expanded to form a square and then passed to the rasterization pipeline of the GPU, otherwise the data point is deleted. The present invention utilizes the method for realizing point cloud drawing under the programmable framework of GPU hardware, and can realize the purpose of drawing point cloud data more quickly.

Description

technical field [0001] The invention relates to a method for fast point cloud drawing in Unity3d, belonging to the technical field of automatic driving. Background technique [0002] A point cloud is a data set of some data points in a certain coordinate system. The data points contain a wealth of information, including three-dimensional coordinates (X, Y, Z), color, classification value, intensity value, time, and so on. Point clouds are often used to describe three-dimensional scenes, and there are various ways to generate them. Lidar point clouds, which are generated by laser radar scanning post-processing, play an important role in the field of automatic driving and remote control telemetry, and can be used to generate automatic High-precision maps for driving, etc., so it is particularly important to render point cloud data quickly, efficiently and correctly. [0003] In the field of automatic driving, remote control telemetry, agricultural archaeology and many other f...

AI Technical Summary

Problems solved by technology

[0003] In the field of automatic driving, remote control telemetry, agricultural archaeology and many other fields, Unity3d has been used more and more as an all-round development tool. Although Unity3d has provided several methods and methods for drawing point clouds, due to These methods require a lot of computing work in the CPU, resulting in idle GPU resources, waste of cloud computing power, and low rendering efficiency in computers equipped with mainstream GPU hardware.

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