Point cloud data processing method and device, equipment and storage medium

Abstract

The invention discloses a point cloud data processing method and device, equipment and a storage medium, and the method comprises the steps: obtaining a to-be-reconstructed two-dimensional image set, and determining a plurality of feature matching pairs in the two-dimensional image set based on two-dimensional feature points in each two-dimensional image; wherein each group of feature matching pairs corresponds to one three-dimensional space point, and each feature matching pair comprises a plurality of matched two-dimensional feature points; performing grid division on the two-dimensional image according to a preset number of feature points, determining two-dimensional feature points in each grid, and determining three-dimensional space points corresponding to the grids according to the three-dimensional space points corresponding to the two-dimensional feature points; and selecting a target three-dimensional space point of the grid from the three-dimensional space points corresponding to the grid as point cloud data for constructing the three-dimensional scene according to the observation times of the three-dimensional space points and a preset interior point condition, the observation times being equal to the number of the two-dimensional feature points corresponding to the three-dimensional space points. By means of the technical means, the problems that an existing three-dimensional reconstruction method is low in construction efficiency and poor in construction quality are solved.

Description

technical field [0001] The present application relates to the technical field of space digitization, and in particular to a point cloud data processing method, device, equipment and storage medium. Background technique [0002] Space digitization technology is based on the image information collected by the camera to construct a real three-dimensional scene from the two-dimensional image. The quality and efficiency of 3D scene construction are closely related to the spatial distribution and quantity of point cloud data, and the uniform distribution and appropriate quantity of point cloud data will improve the construction performance. [0003] The current 3D reconstruction method is to determine the matching feature points between the images, determine the real position of the corresponding space point through the matching feature points, and construct a 3D scene based on the space points. However, a large number of spatial points will be determined based on the feature poi...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a point cloud data processing method, device, device, and storage medium, which solves the problem of low construction efficiency and poor construction quality caused by the construction of a three-dimensional scene based on a large number of unevenly distributed spatial points in the 3D reconstruction method in the prior art. problems, improve the construction efficiency and construction quality of 3D scenes

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