Point cloud preview method and point cloud generation system

Abstract

The invention provides a point cloud preview method and a point cloud generation system, a laser scanning device and a point cloud preview device perform block storage on point cloud data according to the same data storage architecture, and the point cloud data of different point cloud blocks are stored in different point cloud files. After the point cloud preview device and the laser scanning device are disconnected and reconnected, a part of files with missing data can be confirmed by comparing the first index file and the second index file, namely the target point cloud file which is not updated synchronously due to disconnection of the device. Compared with the prior art, the point cloud synchronous updating and previewing can be realized by independently pulling the target point cloud file and the subsequently updated point cloud file, and compared with a mode of pulling the global point cloud file again, the data transmission quantity is reduced, the data transmission delay is reduced, and the efficiency and the real-time performance of the point cloud previewing after the equipment is reconnected can be improved.

Description

Technical Field

[0001] The present invention relates to three-dimensional reconstruction technology and point cloud processing technology, and in particular to a point cloud preview method and a point cloud generation system. Background Art

[0002] The Simultaneous Localization And Mapping (SLAM) scanning device is a device that can measure the distance to an object, locate itself, and build a three-dimensional map. The device uses a laser radar to scan the surrounding environment and generate a point cloud in real time. When the user uses a SLAM scanning device to scan the environment, they can usually use a mobile phone, tablet, computer or other user terminal to connect to the SLAM scanning device, and use an application or web page to view the point cloud in real time to check the integrity and stability of the environment scan.

[0003] At present, after generating a point cloud, SLAM scanning devices usually package the point cloud data in the form of network messages and send them to the user terminal in real time. At the same time, the point cloud data is saved in a point cloud file by appending the end inside the SLAM scanning device, so that the user can pull the point cloud file and preview the point cloud at any time through the user terminal.

[0004] However, when the scanning project is large, the point cloud file generated by the SLAM scanning device is also large. It takes a long time for a newly added user terminal to pull the point cloud file. In addition, if the user terminal is disconnected from the SLAM scanning device and then reconnected, the user terminal cannot obtain the data lost in the middle. It is necessary to re-pull the point cloud file to preview the real-time point cloud, resulting in low efficiency of point cloud transmission and preview. Summary of the invention

[0005] The embodiments of the present disclosure provide a point cloud preview method and a point cloud generation system, which can improve the efficiency and real-time performance of point cloud preview.

[0006] In one aspect of an embodiment of the present disclosure, a point cloud preview method is provided, which is applied to a point cloud preview device in a point cloud generation system, wherein the point cloud generation system includes a laser scanning device and the point cloud preview device, wherein the laser scanning device is used to generate point cloud data for a target scene, and the point cloud preview device is used to pull the point cloud data and display a point cloud preview effect, wherein the laser scanning device and the point cloud preview device store the point cloud data in blocks according to the same data storage architecture, wherein point cloud data of different point cloud blocks are stored in different point cloud files; the method includes:

[0007] In response to receiving the device connection operation, establishing a communication connection with the laser scanning device through a preset connection mode;

[0008] Acquire a first index file and a second index file sent by the laser scanning device, wherein the first index file is used to record file information of the point cloud files stored in the point cloud preview device, and the second index file is used to record file information of the point cloud files stored in the laser scanning device, wherein the file information includes the data volume of each stored point cloud file;

[0009] Determine a target point cloud file by comparing the first index file with the second index file, and send a supplementary point cloud acquisition request to the laser scanning device based on the target point cloud file, wherein the target point cloud file is a point cloud file that has not been stored in the point cloud preview device;

[0010] Receive the point cloud supplementary file sent by the laser scanning device, and render the stored point cloud file and the point cloud corresponding to the point cloud supplementary file through a point cloud preview interface, wherein the point cloud supplementary file includes the target point cloud file and a point cloud file generated after the target point cloud file.

[0011] Optionally, the laser scanning device is used to send the point cloud data to be stored to the point cloud preview device at a preset frequency, and the point cloud data to be stored includes coordinate data of corresponding points; the method further includes:

[0012] Receiving the point cloud data to be stored sent by the laser scanning device;

[0013] Determine, based on the coordinate data, a point cloud layer and a point cloud block to which each to-be-stored point corresponding to the to-be-stored point cloud data belongs, wherein the point cloud corresponding to the target scene includes at least two point cloud layers, different point cloud layers correspond to the same spatial range and different point cloud densities, the point cloud layer with the largest density includes all points corresponding to the target scene, each point cloud layer includes at least two point cloud blocks, and different point cloud blocks correspond to different spatial ranges;

[0014] The point cloud data is written into a corresponding point cloud file based on the point cloud layer and point cloud block to which each point belongs.

[0015] Optionally, the determining, based on the coordinate data, a point cloud layer and a point cloud block to which each point to be stored corresponding to the point cloud data to be stored belongs, includes:

[0016] Based on the coordinate data corresponding to the point to be stored and the coordinate range of each point cloud block in each point cloud layer, determining the candidate point cloud block corresponding to the point to be stored in each point cloud layer;

[0017] Determine the distance between the point to be stored and a neighboring point of the point to be stored in the candidate point cloud block, and a distance threshold corresponding to the point cloud layer to which the candidate point cloud block belongs;

[0018] In response to the distance between the point to be stored and the neighboring point being greater than or equal to the distance threshold, the candidate point cloud block is determined as the point cloud block to which the point to be stored belongs, and the point cloud layer to which the candidate point cloud block belongs is determined as the point cloud layer to which the point to be stored belongs.

[0019] Optionally, determining a target point cloud file by comparing the first index file with the second index file, and sending a supplementary point cloud acquisition request to the laser scanning device based on the target point cloud file includes:

[0020] In response to the existence of the first index file, determining the target point cloud file by comparing the first index file with the second index file, and sending the supplementary point cloud acquisition request to the laser scanning device based on the target point cloud file;

[0021] The method further comprises:

[0022] In response to the absence of the first index file, sending an initial preview request to the laser scanning device, the laser scanning device being used to send a first point cloud file of a point cloud block corresponding to a first point cloud layer to the point cloud preview device based on the initial preview request, wherein the first point cloud layer is a point cloud layer with the smallest point cloud density;

[0023] The first point cloud file is received, and a point cloud corresponding to the first point cloud file is rendered through the point cloud preview interface.

[0024] Optionally, the method further includes:

[0025] Continue to receive and store point cloud files corresponding to other point cloud layers sent by the laser scanning device;

[0026] or,

[0027] In response to receiving a point cloud zoom-in operation, a zoom-in preview request is sent to the laser scanning device based on the zoom-in ratio indicated by the point cloud zoom-in operation, and the laser scanning device is used to determine a second point cloud layer based on the zoom-in ratio and send a second point cloud file corresponding to the second point cloud layer to the point cloud preview device; receive and store the second point cloud file, and render the point cloud corresponding to the second point cloud file through the point cloud preview interface.

[0028] Another aspect of the embodiments of the present disclosure provides a point cloud preview method, which is applied to a laser scanning device in a point cloud generation system, wherein the point cloud generation system includes the laser scanning device and a point cloud preview device, wherein the laser scanning device is used to generate point cloud data for a target scene, and the point cloud preview device is used to pull the point cloud data and display a point cloud preview effect, wherein the laser scanning device and the point cloud preview device store the point cloud data in blocks according to the same data storage architecture, wherein point cloud data of different point cloud blocks are stored in different point cloud files; the method includes:

[0029] In response to establishing a communication connection with the point cloud preview device through a preset connection mode, sending a second index file to the point cloud preview device, so that the point cloud preview device determines a target point cloud file through the first index file and the second index file, wherein the first index file is used to record file information of point cloud files stored in the point cloud preview device, and the second index file is used to record file information of point cloud files stored in the laser scanning device, wherein the file information includes the data volume of each stored point cloud file, and the target point cloud file is a point cloud file that has not been completely stored by the point cloud preview device;

[0030] In response to receiving a supplementary point cloud acquisition request sent by the point cloud preview device, sending a point cloud supplementary file to the point cloud preview device, wherein the supplementary point cloud acquisition request is used to request to obtain the target point cloud file that has not been stored and the point cloud file that has not been received, and the point cloud supplementary file includes the target point cloud file and a point cloud file generated after the target point cloud file, and the point cloud preview device is used to render the stored point cloud file and the point cloud corresponding to the point cloud supplementary file through a point cloud preview interface;

[0031] The point cloud data to be stored is generated by laser scanning the target scene, and the point cloud data to be stored is sent to the point cloud preview device at a preset frequency so that the point cloud preview device renders the point cloud corresponding to the point cloud data to be stored through the point cloud preview interface.

[0032] Optionally, the point cloud data to be stored includes coordinate data of corresponding points, and the method further includes:

[0033] Determine, based on the coordinate data, a point cloud layer and a point cloud block to which each to-be-stored point corresponding to the to-be-stored point cloud data belongs, wherein the point cloud corresponding to the target scene includes at least two point cloud layers, different point cloud layers correspond to the same spatial range and different point cloud densities, the point cloud layer with the largest density includes all points corresponding to the target scene, each point cloud layer includes at least two point cloud blocks, and different point cloud blocks correspond to different spatial ranges;

[0034] The point cloud data is written into a corresponding point cloud file based on the point cloud layer and point cloud block to which each point to be stored belongs.

[0035] Optionally, the determining, based on the coordinate data, a point cloud layer and a point cloud block to which each point to be stored corresponding to the point cloud data to be stored belongs, includes:

[0036] Based on the coordinate data corresponding to the point to be stored and the coordinate range of each point cloud block in each point cloud layer, determining the candidate point cloud block corresponding to the point to be stored in each point cloud layer;

[0037] Determine the distance between the point to be stored and a neighboring point of the point to be stored in the candidate point cloud block, and a distance threshold corresponding to the point cloud layer to which the candidate point cloud block belongs;

[0038] In response to the distance between the point to be stored and the neighboring point being greater than or equal to the distance threshold, the candidate point cloud block is determined as the point cloud block to which the point to be stored belongs, and the point cloud layer to which the candidate point cloud block belongs is determined as the point cloud layer to which the point to be stored belongs.

[0039] Optionally, the method further includes:

[0040] In response to receiving an initial preview request sent by the point cloud preview device, the point cloud preview device sends a first point cloud file of a point cloud block corresponding to a first point cloud layer, so that the point cloud preview device renders the point cloud corresponding to the first point cloud file through the point cloud preview interface, and the first point cloud layer is the point cloud layer with the smallest point cloud density.

[0041] Optionally, the method further includes:

[0042] In response to the completion of the transmission of the first point cloud file, continuing to send point cloud files corresponding to other point cloud layers to the point cloud preview device;

[0043] or,

[0044] In response to receiving a zoomed preview request sent by the point cloud preview device, a second point cloud layer is determined based on the zoom ratio indicated by the zoomed preview request and a second point cloud file corresponding to the second point cloud layer is sent to the point cloud preview device, so that the point cloud preview device renders the point cloud corresponding to the second point cloud file through the point cloud preview interface.

[0045] Another aspect of the embodiments of the present disclosure provides a point cloud preview device, which is applied to a point cloud preview device in a point cloud generation system, wherein the point cloud generation system includes a laser scanning device and the point cloud preview device, wherein the laser scanning device is used to generate point cloud data for a target scene, and the point cloud preview device is used to pull the point cloud data and display a point cloud preview effect, wherein the laser scanning device and the point cloud preview device store the point cloud data in blocks according to the same data storage architecture, wherein point cloud data of different point cloud blocks are stored in different point cloud files; the device includes:

[0046] A first connection module, configured to establish a communication connection with the laser scanning device in a preset connection mode in response to receiving a device connection operation;

[0047] an acquisition module, used to acquire a first index file and a second index file sent by the laser scanning device, wherein the first index file is used to record file information of the point cloud files stored in the point cloud preview device, and the second index file is used to record file information of the point cloud files stored in the laser scanning device, wherein the file information includes the data volume of each stored point cloud file;

[0048] A first sending module, configured to determine a target point cloud file by comparing the first index file with the second index file, and send a supplementary point cloud acquisition request to the laser scanning device based on the target point cloud file, wherein the target point cloud file is a point cloud file that has not been stored in the point cloud preview device;

[0049] The first receiving module is used to receive the point cloud supplementary file sent by the laser scanning device, and render the stored point cloud file and the point cloud corresponding to the point cloud supplementary file through a point cloud preview interface. The point cloud supplementary file includes the target point cloud file and the point cloud file generated after the target point cloud file.

[0050] Another aspect of the embodiments of the present disclosure provides a point cloud preview device, which is applied to a laser scanning device in a point cloud generation system, wherein the point cloud generation system includes the laser scanning device and a point cloud preview device, wherein the laser scanning device is used to generate point cloud data for a target scene, and the point cloud preview device is used to pull the point cloud data and display a point cloud preview effect, wherein the laser scanning device and the point cloud preview device store the point cloud data in blocks according to the same data storage architecture, wherein point cloud data of different point cloud blocks are stored in different point cloud files; the device includes:

[0051] A second connection module is used for sending a second index file to the point cloud preview device in response to establishing a communication connection with the point cloud preview device through a preset connection mode, so that the point cloud preview device determines a target point cloud file through the first index file and the second index file, wherein the first index file is used to record file information of the point cloud files stored in the point cloud preview device, and the second index file is used to record file information of the point cloud files stored in the laser scanning device, wherein the file information includes the data volume of each stored point cloud file, and the target point cloud file is a point cloud file that has not been stored by the point cloud preview device;

[0052] A second sending module is used to send a point cloud supplementary file to the point cloud preview device in response to receiving a supplementary point cloud acquisition request sent by the point cloud preview device, wherein the supplementary point cloud acquisition request is used to request to obtain the target point cloud file that has not been stored and the point cloud file that has not been received, and the point cloud supplementary file includes the target point cloud file and a point cloud file generated after the target point cloud file, so that the point cloud preview device can render the stored point cloud file and the point cloud corresponding to the point cloud supplementary file through the point cloud preview interface;

[0053] The third sending module is used to generate point cloud data to be stored by laser scanning the target scene, and send the point cloud data to be stored to the point cloud preview device at a preset frequency, so that the point cloud preview device renders the point cloud corresponding to the point cloud data to be stored through the point cloud preview interface.

[0054] Another aspect of an embodiment of the present disclosure provides a point cloud generation system, comprising: a laser scanning device and a point cloud preview device, wherein the point cloud preview device is used to execute the steps in the point cloud preview method described in the first aspect above, and the laser scanning device is used to execute the steps in the point cloud preview method described in the second aspect above.

[0055] Another aspect of the present disclosure provides an electronic device, including:

[0056] Memory for storing computer programs;

[0057] The processor is used to execute the computer program stored in the memory, and when the computer program is executed, the method described in the above aspects is implemented.

[0058] Another aspect of the embodiments of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method described in the above aspects is implemented.

[0059] Another aspect of the embodiments of the present disclosure provides a computer program, including computer program instructions, which implement the methods described in the above aspects when executed by a processor.

[0060] Based on the embodiments of the present disclosure, the laser scanning device and the point cloud preview device store the point cloud data in blocks according to the same data storage architecture. The point cloud data of different point cloud blocks are stored in different point cloud files. The point cloud preview device records the file information of the point cloud files it has stored through the first index file, and the laser scanning device records the file information of the point cloud files it has stored through the second index file. After the point cloud preview device is disconnected from the laser scanning device and the connection is re-established, some files with missing data can be confirmed by comparing the first index file and the second index file, that is, the target point cloud files that have not been synchronously updated due to device disconnection. By separately pulling the target point cloud file and the subsequently updated point cloud files, the point cloud synchronous update and preview can be achieved. Compared with the method of re-pulling the global point cloud file, the data transmission amount is reduced, the data transmission delay is reduced, and the efficiency and real-time performance of the point cloud preview after the device is reconnected can be improved.

[0061] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0063] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0064] Figure 1 A flowchart of an embodiment of the point cloud preview method disclosed in the present invention;

[0065] Figure 2 A flowchart of another embodiment of the point cloud preview method disclosed herein;

[0066] Figure 3 A flowchart of another embodiment of the point cloud preview method disclosed herein;

[0067] Figure 4 It is a structural schematic diagram of an embodiment of the point cloud preview device disclosed in the present invention;

[0068] Figure 5 It is a structural schematic diagram of another embodiment of the point cloud preview device disclosed in the present invention;

[0069] Figure 6 The figure is a schematic diagram of the structure of an application embodiment of the electronic device disclosed in the present invention. DETAILED DESCRIPTION

[0070] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0071] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0072] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0073] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0074] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0075] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0076] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0077] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0078] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0079] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0080] Figure 1A flowchart of a point cloud preview method provided for an exemplary embodiment of the present disclosure. The point cloud preview method of the embodiment of the present disclosure can be implemented by a point cloud preview device in a point cloud generation system. The point cloud generation system includes a laser scanning device and a point cloud preview device. Among them, the laser scanning device is used to generate point cloud data for a target scene. The laser scanning device may include, but is not limited to, a SLAM device, a visual SLAM (Visual SLAM, VSLAM), a three-dimensional scanner, etc., and the present disclosure is described by taking a SLAM device as an example. The point cloud preview device is used to pull point cloud data from the laser scanning device in real time and display a point cloud preview effect based on the point cloud data. The point cloud preview device may include, but is not limited to, a computer device with rendering capabilities such as a smart phone, a tablet computer, a laptop computer, and a desktop computer. A point cloud is a data set of points in a three-dimensional space, which can characterize the shape of an object in the three-dimensional space. The laser scanning device uses a laser radar to emit a large number of laser signals to the target scene. The laser signal is reflected by the surface of the object in the target scene to generate a reflection signal received by the laser radar. The laser radar can calculate the coordinate data, color information, signal reflection intensity information, and other point cloud data corresponding to each point on the surface of the object in the target scene based on the reflection signal.

[0081] like Figure 1 As shown, the method comprises the following steps:

[0082] Step 101, in response to receiving a device connection operation, establishing a communication connection with a laser scanning device through a preset connection method.

[0083] In one possible implementation, a device connection operation can be received through point cloud preview software or a point cloud preview web page. The device connection operation can be a selection operation of a target device control in a laser scanning device list, and a connection establishment request is sent to a laser scanning device corresponding to the target device control through a preset connection method to establish a communication connection.

[0084] Optionally, the preset connection mode may include, for example, but is not limited to, Bluetooth connection, Universal Serial Bus (USB) connection, mobile hotspot connection, and the like.

[0085] Step 102, obtaining a first index file and a second index file sent by a laser scanning device.

[0086] Among them, the first index file is used to record the file information of the point cloud files stored in the point cloud preview device, and the second index file is used to record the file information of the point cloud files stored in the laser scanning device. The file information includes the data volume and file identification of each stored point cloud file. The point cloud file corresponding to the same point cloud block in the laser scanning device and the point cloud file in the point cloud preview device have the same file identification. The data volume of the point cloud file may, for example, include but is not limited to the number of points in the corresponding point cloud block and the memory size occupied by the point cloud file.

[0087] In a possible implementation, the point cloud preview device and the laser scanning device use the same data storage structure to store the point cloud data in blocks, that is, the point cloud is divided into at least two point cloud blocks according to the same point cloud division method (for example, the point cloud is divided into point cloud blocks of 3m*3m*3m in size), and the point cloud data corresponding to each point cloud block is stored separately in a point cloud file. When the point cloud preview device receives the point cloud data sent by the laser scanning device and updates the point cloud file, it will also update the first index file in real time. After the point cloud preview device establishes a communication connection with the laser scanning device, it can first confirm whether there is a point cloud file and a first index file corresponding to the point cloud data generated by the laser scanning device. If not, it means that during the process of the laser scanning device scanning the target scene, the point cloud preview device is connected to the laser scanning device for the first time, and it is necessary to obtain the point cloud data of the complete target scene for point cloud preview; if it exists, it means that the point cloud preview device has established a communication connection with the laser scanning device and disconnected during the process of the laser scanning device scanning the target scene. This connection is a reconnection after the disconnection, and it is only necessary to supplement the point cloud data missing during the device disconnection.

[0088] Step 103: Determine the target point cloud file by comparing the first index file with the second index file, and send a supplementary point cloud acquisition request to the laser scanning device based on the target point cloud file.

[0089] The target point cloud file is a point cloud file that has not been stored in the point cloud preview device.

[0090] In a possible implementation, since the point cloud preview device and the laser scanning device use the same data storage structure to store point cloud data, the target point cloud file can be found by comparing the difference in data volume in each point cloud file recorded in the first index file and the second index file.

[0091] Optionally, the first index file records the number of points written in each point cloud file stored in the point cloud preview device, and the second index file records the number of points written in each point cloud file stored in the laser scanning device. If the number of points written in one or several point cloud files in the point cloud preview device is less than the number of points written in the corresponding point cloud files in the laser scanning device, it means that there is missing data in this one or several point cloud files, and it is necessary to re-pull this one or several point cloud files and the point cloud files subsequently generated by the laser scanning device.

[0092] Schematically, each point cloud file corresponds to a unique file identifier, such as a file handle, and the supplementary point cloud acquisition request includes the file identifier corresponding to the target point cloud file.

[0093] Step 104, receiving the point cloud supplementary file sent by the laser scanning device, and rendering the point cloud corresponding to the stored point cloud file and the point cloud supplementary file through the point cloud preview interface.

[0094] The point cloud supplementary files include the target point cloud file and the point cloud files generated after the target point cloud file.

[0095] After receiving the supplementary point cloud acquisition request, the laser scanning device determines the point cloud supplementary file based on the target point cloud file indicated by the supplementary point cloud acquisition request, and sends the point cloud supplementary file to the point cloud preview device.

[0096] After receiving the point cloud supplementary file sent by the laser scanning device, the point cloud preview device combines its own stored point cloud file and the point cloud supplementary file to render and display the point cloud. During the above device reconnection process, based on the point cloud data storage solution of synchronization and block storage of the two devices, the point cloud preview device only needs to pull the part of the point cloud file whose data is missing due to the device disconnection, without having to re-pull the global point cloud data.

[0097] Based on the embodiments of the present disclosure, the laser scanning device and the point cloud preview device store the point cloud data in blocks according to the same data storage architecture. The point cloud data of different point cloud blocks are stored in different point cloud files. The point cloud preview device records the file information of the point cloud files it has stored through the first index file, and the laser scanning device records the file information of the point cloud files it has stored through the second index file. After the point cloud preview device is disconnected from the laser scanning device and the connection is re-established, some files with missing data can be confirmed by comparing the first index file and the second index file, that is, the target point cloud files that have not been synchronously updated due to device disconnection. By separately pulling the target point cloud file and the subsequently updated point cloud files, the point cloud synchronous update and preview can be achieved. Compared with the method of re-pulling the global point cloud file, the data transmission amount is reduced, the data transmission delay is reduced, and the efficiency and real-time performance of the point cloud preview after the device is reconnected can be improved.

[0098] In a possible implementation, after the point cloud preview device establishes a communication connection with the laser scanning device, the laser scanning device needs to send the point cloud data to be stored to the point cloud preview device at a preset frequency. The point cloud data to be stored includes the coordinate data of the corresponding points, and may also include the color information, reflection intensity information, etc. of the corresponding points. The point cloud data to be stored refers to the point cloud data to be written into the point cloud file, which is generated in real time by the laser scanning device based on the information scanned by the laser radar. After the point cloud data to be stored is generated, the laser scanning device and the point cloud preview device store the point cloud data in layers and blocks according to the same data storage architecture. Regarding the data storage process, such as Figure 2 As shown, the point cloud preview method provided by the embodiment of the present disclosure also includes the following steps:

[0099] Step 201, receiving point cloud data to be stored sent by a laser scanning device.

[0100] The laser radar in the laser scanning device performs laser scanning at a preset scanning frequency to collect information to obtain the point cloud data to be stored, and the laser scanning device sends the point cloud data to be stored to the point cloud preview device at a preset sending frequency. Optionally, the preset scanning frequency and the preset sending frequency can be consistent, for example, both are 1Hz; or the preset sending frequency can be lower than the preset scanning frequency, and the accumulated point cloud data to be stored within a period of time is sent to the point cloud preview device together.

[0101] Step 202: Determine the point cloud layer and point cloud block to which each point to be stored corresponding to the point cloud data to be stored belongs based on the coordinate data.

[0102] Among them, the point cloud corresponding to the target scene includes at least two point cloud layers, different point cloud layers correspond to the same spatial range and different point cloud densities, the point cloud layer with the largest density includes all points corresponding to the target scene, each point cloud layer includes at least two point cloud blocks, and different point cloud blocks correspond to different spatial ranges.

[0103] The laser scanning device and the point cloud preview device store the point cloud data in layers and blocks. Layering refers to dividing the point cloud within the same range into point cloud layers with different densities, and blocking refers to dividing the same point cloud layer into multiple point cloud blocks of different small ranges. The bottom point cloud layer includes all points corresponding to the target scene. The point cloud density of the upper layer is less than that of the lower layer, and the density of the top point cloud layer is the smallest. For example, the number of point cloud layers is preset to 3, the first layer is the bottom layer, the distance between adjacent points is not less than 0.1 meters, the distance between adjacent points in the second layer is not less than 0.2 meters, and the distance between adjacent points in the third layer is not less than 0.4 meters. Within the same spatial range, each point cloud layer can be divided into the same number of point cloud blocks (for example, each layer is divided into 8 blocks), or it can be divided into different numbers of point cloud blocks (for example, the denser the point cloud layer, the more point cloud blocks it is divided into to prevent the amount of data in a point cloud file from being too large).

[0104] Optionally, for target scenes with a smaller spatial range, such as bedrooms, living rooms and other indoor scenes, a fixed layered and blocked method can be used to store point cloud data. For example, the point cloud is fixedly divided into 3 layers, and each layer is fixedly divided into 8 point cloud blocks. For target scenes with a larger spatial range, such as streets, parks and other outdoor scenes, a dynamic layered and blocked method can be used to store point clouds. For example, in the initial stage, the point cloud is divided into 3 layers, and each layer is divided into 8 point cloud blocks within the initial spatial range. As the scanning range continues to increase and the amount of stored point cloud data continues to increase, the current topmost point cloud layer can continue to be extracted to obtain a point cloud layer with a smaller density, and point cloud blocks corresponding to the newly added spatial range can be added to each layer.

[0105] In a possible implementation, step 202 may specifically include the following steps:

[0106] Step 202a, based on the coordinate data corresponding to the point to be stored and the coordinate range of each point cloud block in each point cloud layer, determine the candidate point cloud block corresponding to the point to be stored in each point cloud layer.

[0107] Step 202b, determining the distance between the point to be stored and its neighboring points in the candidate point cloud block, and the distance threshold corresponding to the point cloud layer to which the candidate point cloud block belongs.

[0108] Step 202c, in response to the distance between the point to be stored and the adjacent point being greater than or equal to the distance threshold, the candidate point cloud block is determined as the point cloud block to which the point to be stored belongs, and the point cloud layer to which the candidate point cloud block belongs is determined as the point cloud layer to which the point to be stored belongs.

[0109] Optionally, since the bottom point cloud layer contains all points, the candidate point cloud data may first be directly written into a point cloud file corresponding to the point cloud block in the bottom point cloud layer.

[0110] For other point cloud layers, first determine the candidate point cloud blocks corresponding to the points to be stored in each point cloud layer (the coordinates of the points to be stored fall within the coordinate range corresponding to the candidate point cloud blocks), and then determine whether the distance between the points to be stored and the neighboring points in the point cloud block meets the point cloud density corresponding to the layer, that is, whether the distance between the points to be stored and the neighboring points is greater than or equal to the distance threshold of the layer (for example, the distance threshold of the first layer is 0.1 meters, the distance threshold of the second layer is 0.2 meters, and the distance threshold of the third layer is 0.4 meters). If so, the point cloud data of the point to be stored is written into the point cloud file corresponding to the candidate point cloud block. If not, it is determined that the point to be stored does not belong to the point cloud layer corresponding to the candidate point cloud block.

[0111] Schematically, each point cloud file can store point cloud data through a tree data structure to facilitate proximity detection and data storage. For example, a tree structure such as an octree or a kd tree (k-dimensional tree) can be used. The point cloud preview device can store a first index file, which records information such as the number of point cloud layers, the point cloud density corresponding to each point cloud layer, the point cloud file identifier corresponding to each point cloud block in each point cloud layer, the point cloud coordinate range, and the number of written point clouds.

[0112] Step 203: writing the point cloud data into the corresponding point cloud file based on the point cloud layer and point cloud block to which each point to be stored belongs.

[0113] Optionally, if the candidate point cloud block exists and the point to be stored belongs to the candidate point cloud block, the point cloud data corresponding to the point to be stored is written into the point cloud file of the candidate point cloud block; if the candidate point cloud block does not exist, that is, the coordinates of the point to be stored are outside the coordinate range of each point cloud block, then a new point cloud block including the coordinates of the point to be stored is added, and a point cloud file corresponding to the new point cloud block is created to determine whether the point to be stored belongs to the new point cloud block.

[0114] Based on the embodiments of the present disclosure, point cloud data is stored in a hierarchical and block-based storage manner, and a first index file is used to record file information such as the point cloud file identifier, point cloud coordinate range, and number of written point clouds corresponding to each point cloud block in each point cloud layer. The point cloud preview device and the laser scanning device use the same data storage structure, so that the point cloud preview device can determine the point cloud file where the missing data is located by comparing the file information after the device is disconnected and reconnected to the laser scanning device, so that the point cloud preview device only needs to pull the point cloud file with missing data to perform point cloud preview.

[0115] Figure 1 The figure shows the process of pulling supplementary point cloud data and performing point cloud rendering and previewing after the point cloud preview device is disconnected from the laser scanning device and the communication connection is re-established. In a possible implementation, based on the above-mentioned layered and block data storage architecture, when the point cloud preview device is connected to the laser scanning device for the first time during the target scene scanning process, the point cloud file corresponding to the point cloud layer with the smallest density can be pulled first for global preview to improve the efficiency and real-time performance of the point cloud preview.

[0116] The above step 103 may specifically include the following steps:

[0117] Step 103a, in response to the existence of the first index file, determining the target point cloud file through the first index file and the second index file, and sending a supplementary point cloud acquisition request to the laser scanning device based on the target point cloud file.

[0118] The first index file is a file created by the point cloud preview device for the point cloud file corresponding to the target scene currently being scanned, and is used to store information related to the point cloud block (such as the number of points, the coordinate range of the point cloud block, etc.). If the first index file exists in the point cloud preview device, it means that during the scanning of the target scene, the point cloud preview device has established a communication connection with the laser scanning device and received some point cloud data. Therefore, it is only necessary to determine the target point cloud file with missing data, and re-pull the part of the point cloud file and the subsequently generated point cloud file.

[0119] The method provided in the embodiment of the present disclosure may also include the following steps:

[0120] Step one, in response to the absence of the first index file, sending an initial preview request to the laser scanning device, the laser scanning device is used to send the first point cloud file of the point cloud block corresponding to the first point cloud layer to the point cloud preview device based on the initial preview request, the first point cloud layer is the point cloud layer with the smallest point cloud density.

[0121] Step 2: receiving the first point cloud file, and rendering the point cloud corresponding to the first point cloud file through the point cloud preview interface.

[0122] If the first index file does not exist in the point cloud preview device, it means that during the scanning process of the target scene, the point cloud preview device is connected to the laser scanning device for the first time and needs to pull the global point cloud data for point cloud preview.

[0123] In a possible implementation, when the first index file does not exist, an initial preview request can be sent to the laser scanning device to pull the first point cloud file of the point cloud block corresponding to the first point cloud layer. When the user previews the point cloud of the target scene for the first time, the point cloud preview device first pulls the first point cloud file corresponding to the point cloud layer with the highest density, and displays the global point cloud of the target scene, which can meet the global preview requirements, reduce the time required to pull the point cloud, and thus reduce the delay in the initial preview of the point cloud. Since the user usually only needs to view the overall situation of the target scene when previewing the point cloud for the first time, without viewing the details, the point cloud preview device first pulls the first point cloud file with the smallest point cloud density and the least point cloud data and renders it for display, which can shorten the time required to transfer the point cloud file.

[0124] For point cloud files corresponding to other point cloud layers, the point cloud preview device can continue to pull after successfully receiving the first point cloud file, or pull and render when the user needs to zoom in on the point cloud to view details. Optionally, the method provided in the embodiment of the present disclosure may also include the following step three or step four:

[0125] Step 3: Continue to receive and store point cloud files corresponding to other point cloud layers sent by the laser scanning device.

[0126] In one possible implementation, after the point cloud preview device successfully receives the first point cloud file, while rendering and displaying the point cloud corresponding to the first point cloud file through the point cloud preview interface, it can continue to receive and store point cloud files corresponding to other point cloud layers, thereby completing the storage of all point cloud data.

[0127] Step four, in response to receiving a point cloud zoom-in operation, sending a zoom preview request to the laser scanning device based on the zoom ratio indicated by the point cloud zoom-in operation, the laser scanning device is used to determine the second point cloud layer based on the zoom ratio and send the second point cloud file corresponding to the second point cloud layer to the point cloud preview device; receive and store the second point cloud file, and render the point cloud corresponding to the second point cloud file through the point cloud preview interface.

[0128] In another possible implementation, after successfully receiving the first point cloud file, the point cloud preview device may temporarily not receive files of other point cloud layers, and only receive the latest point cloud data generated in real time by the laser scanning device after the device is connected. When a point cloud zoom operation is received, it means that the user needs to zoom in to view the point cloud details, so a more detailed point cloud needs to be provided.

[0129] Optionally, there is a preset correspondence between the magnification ratio and the point cloud layer. The laser scanning device is used to determine the second point cloud layer based on the magnification ratio and send a second point cloud file corresponding to the second point cloud layer to the point cloud preview device. The point cloud preview device renders the point cloud corresponding to the second point cloud file through the point cloud preview interface.

[0130] Based on the embodiment of the present disclosure, after the point cloud preview device is connected to the laser scanning device for the first time, it first pulls the point cloud file of the low-density point cloud layer for rendering and display. After the low-density point cloud layer is pulled or when the point cloud zoom operation is received, the point cloud file corresponding to the high-density point cloud layer is pulled. The point cloud is transmitted in layers according to the point cloud preview requirements, which can reduce transmission delay and improve point cloud preview efficiency.

[0131] Optionally, for a point cloud preview device that is reconnected to a laser scanning device after being disconnected, after determining the target point cloud file, the point cloud file corresponding to the point cloud layer with the lowest density generated after the target point cloud file is updated can be first pulled, thereby rendering the point cloud layer with the lowest density first, and then supplementing and pulling the point cloud files of other point cloud layers.

[0132] Figure 3 A flowchart of a point cloud preview method provided for another exemplary embodiment of the present disclosure. The point cloud preview method of the embodiment of the present disclosure can be implemented by a laser scanning device in a point cloud generation system. The point cloud generation system includes a laser scanning device and a point cloud preview device. The point cloud preview device is used to pull point cloud data from the laser scanning device in real time and display a point cloud preview effect based on the point cloud data. Figure 3 As shown, the method comprises the following steps:

[0133] Step 301, in response to establishing a communication connection with a point cloud preview device through a preset connection mode, sending a second index file to the point cloud preview device so that the point cloud preview device determines a target point cloud file through the first index file and the second index file.

[0134] Among them, the point cloud preview device is used to determine the target point cloud file through the first index file and the second index file, the first index file is used to record the file information of the point cloud files stored in the point cloud preview device, and the second index file is used to record the file information of the point cloud files stored in the laser scanning device, the file information includes the data amount of each stored point cloud file, and the target point cloud file is the point cloud file that has not been stored by the point cloud preview device.

[0135] In a possible implementation, the point cloud preview device and the laser scanning device use the same data storage structure to store the point cloud data in blocks, that is, the point cloud is divided into at least two point cloud blocks according to the same coordinate range, and the point cloud data corresponding to each point cloud block is stored separately in a point cloud file. When the laser scanning device receives the point cloud data sent by the laser scanning device and updates the point cloud file, it also updates the first index file in real time.

[0136] Optionally, the laser scanning device can directly send the second index file to the point cloud preview device after establishing a communication connection with the point cloud preview device, or can send the second index file to the point cloud preview device after receiving a second index file acquisition request sent by the point cloud preview device.

[0137] Step 302: In response to receiving a supplementary point cloud acquisition request sent by the point cloud preview device, a point cloud supplementary file is sent to the point cloud preview device.

[0138] The supplementary point cloud acquisition request is used to request the acquisition of target point cloud files that have not been stored and point cloud files that have not been received. In a possible implementation, since the point cloud preview device and the laser scanning device use the same data storage structure to store point cloud data, the target point cloud file can be found by comparing the difference in the amount of data in each point cloud file recorded in the first index file and the second index file.

[0139] The point cloud supplementary file includes the target point cloud file and the point cloud file generated after the target point cloud file and not received, so that the point cloud preview device can render the point cloud corresponding to the stored point cloud file and the point cloud supplementary file through the point cloud preview interface. After receiving the supplementary point cloud acquisition request, the laser scanning device determines the point cloud supplementary file based on the target point cloud file indicated by the supplementary point cloud acquisition request, and sends the point cloud supplementary file to the point cloud preview device.

[0140] Step 303, generating point cloud data to be stored by laser scanning the target scene, and sending the point cloud data to be stored to the point cloud preview device at a preset frequency, so that the point cloud preview device renders the point cloud corresponding to the point cloud data to be stored through the point cloud preview interface.

[0141] The point cloud data to be stored includes the coordinate data of the corresponding points, and may also include the color information, reflection intensity information, etc. of the corresponding points. The point cloud data to be stored refers to the point cloud data to be written into the point cloud file, which is generated in real time by the laser scanning device based on the information scanned by the laser radar.

[0142] The laser radar in the laser scanning device performs laser scanning at a preset scanning frequency to collect information to obtain the point cloud data to be stored, and the laser scanning device sends the point cloud data to be stored to the point cloud preview device at a preset sending frequency. Optionally, the preset scanning frequency and the preset sending frequency can be consistent, for example, both are 1Hz; or the preset sending frequency can be lower than the preset scanning frequency, and the accumulated point cloud data to be stored within a period of time is sent to the point cloud preview device together.

[0143] After the laser scanning device establishes a communication connection with the point cloud preview device, the point cloud data to be stored generated in real time is sent to the point cloud preview device for data storage and point cloud update. There is no strict execution order between step 303 and step 202.

[0144] Based on the embodiments of the present disclosure, the laser scanning device and the point cloud preview device store the point cloud data in blocks according to the same data storage architecture. The point cloud data of different point cloud blocks are stored in different point cloud files. The point cloud preview device records the file information of the point cloud files it has stored through the first index file, and the laser scanning device records the file information of the point cloud files it has stored through the second index file. After the point cloud preview device is disconnected from the laser scanning device and the connection is re-established, some files with missing data can be confirmed by comparing the first index file and the second index file, that is, the target point cloud files that have not been synchronously updated due to device disconnection. By separately pulling the target point cloud file and the subsequently updated point cloud files, the point cloud synchronous update and preview can be achieved. Compared with the method of re-pulling the global point cloud file, the data transmission amount is reduced, the data transmission delay is reduced, and the efficiency and real-time performance of the point cloud preview after the device is reconnected can be improved.

[0145] In a possible implementation, the laser scanning device and the point cloud preview device perform layered and block storage of point cloud data according to the same data storage architecture. The point cloud preview method provided in the embodiment of the present disclosure also includes the following steps:

[0146] Step a: determining the point cloud layer and point cloud block to which each point to be stored corresponding to the point cloud data to be stored belongs based on the coordinate data.

[0147] Step b: writing the point cloud data into the corresponding point cloud file based on the point cloud layer and point cloud block to which each point belongs.

[0148] Among them, the point cloud corresponding to the target scene includes at least two point cloud layers, different point cloud layers correspond to the same spatial range and different point cloud densities, the point cloud layer with the largest density includes all points corresponding to the target scene, each point cloud layer includes at least two point cloud blocks, and different point cloud blocks correspond to different spatial ranges.

[0149] Layering refers to dividing the point cloud within the same range into point cloud layers with different densities, and blocking refers to dividing the same point cloud layer into multiple point cloud blocks of different small ranges. The bottom point cloud layer includes all points corresponding to the target scene, the point cloud density of the previous layer is less than that of the next layer, and the top point cloud layer has the smallest density.

[0150] Optionally, for target scenes with a smaller spatial range, such as bedrooms, living rooms and other indoor scenes, a fixed layered and blocked method can be used to store point cloud data. For example, the point cloud is fixedly divided into 3 layers, and each layer is fixedly divided into 8 point cloud blocks. For target scenes with a larger spatial range, such as streets, parks and other outdoor scenes, a dynamic layered and blocked method can be used to store point clouds. For example, in the initial stage, the point cloud is divided into 3 layers, and each layer is divided into 8 point cloud blocks within the initial spatial range. As the scanning range continues to increase and the amount of stored point cloud data continues to increase, the current topmost point cloud layer can continue to be extracted to obtain a point cloud layer with a smaller density, and point cloud blocks corresponding to the newly added spatial range can be added to each layer.

[0151] In a possible implementation, step a may specifically include the following steps:

[0152] Based on the coordinate data corresponding to the point to be stored and the coordinate range of each point cloud block in each point cloud layer, determine the candidate point cloud block corresponding to the point to be stored in each point cloud layer;

[0153] Determine the distance between the point to be stored and its neighboring points in the candidate point cloud block, and the distance threshold corresponding to the point cloud layer to which the candidate point cloud block belongs;

[0154] In response to the distance between the point to be stored and the neighboring point being greater than or equal to a distance threshold, the candidate point cloud block is determined as the point cloud block to which the point to be stored belongs, and the point cloud layer to which the candidate point cloud block belongs is determined as the point cloud layer to which the point to be stored belongs.

[0155] Optionally, since the bottom point cloud layer contains all points, the candidate point cloud data may first be directly written into a point cloud file corresponding to the point cloud block in the bottom point cloud layer.

[0156] For other point cloud layers, first determine the candidate point cloud blocks corresponding to the points to be stored in each point cloud layer (the coordinates of the points to be stored fall within the coordinate range corresponding to the candidate point cloud blocks), and then determine whether the distance between the points to be stored and the neighboring points in the point cloud block meets the point cloud density corresponding to the layer, that is, whether the distance between the points to be stored and the neighboring points is greater than or equal to the distance threshold of the layer (for example, the distance threshold of the first layer is 0.1 meters, the distance threshold of the second layer is 0.2 meters, and the distance threshold of the third layer is 0.4 meters). If so, the point cloud data of the point to be stored is written into the point cloud file corresponding to the candidate point cloud block. If not, it is determined that the point to be stored does not belong to the point cloud layer corresponding to the candidate point cloud block.

[0157] Schematically, each point cloud file can store point cloud data through a tree data structure to facilitate proximity detection and data storage. For example, a tree structure such as an octree or a kd tree (k-dimensional tree) can be used. A second index file can be stored in the laser scanning device, and the second index file records information such as the number of point cloud layers, the point cloud density corresponding to each point cloud layer, the point cloud file identifier corresponding to each point cloud block in each point cloud layer, the point cloud coordinate range, and the number of written point clouds.

[0158] Based on the embodiments of the present disclosure, point cloud data is stored in a layered and block-based storage manner, and a second index file is used to record file information such as the number of point cloud layers, the point cloud density corresponding to each point cloud layer, the point cloud file identifier corresponding to each point cloud block in each point cloud layer, the point cloud coordinate range, and the number of point clouds written. The point cloud preview device and the laser scanning device use the same data storage structure, so that the point cloud preview device can determine the point cloud file where the missing data is located by comparing the file information after the device is disconnected and reconnected to the laser scanning device, so that the point cloud preview device only needs to pull the point cloud file with missing data to perform point cloud preview.

[0159] In a possible implementation, based on the above-mentioned hierarchical and block-based data storage architecture, for a point cloud preview device that is connected to a laser scanning device for the first time during the target scene scanning process, the laser scanning device may first send the point cloud file corresponding to the point cloud layer with the smallest density to improve the efficiency and real-time performance of the point cloud preview, and then send the point cloud files of other point cloud layers. The method provided by the embodiment of the present disclosure also includes the following steps:

[0160] In response to receiving an initial preview request sent by the point cloud preview device, a first point cloud file of a point cloud block corresponding to a first point cloud layer is sent to the point cloud preview device so that the point cloud preview device renders the point cloud corresponding to the first point cloud file through a point cloud preview interface, and the first point cloud layer is the point cloud layer with the smallest point cloud density.

[0161] When the point cloud preview device is connected to the laser scanning device for the first time, it can send an initial preview request to the laser scanning device to pull the first point cloud file of the point cloud block corresponding to the first point cloud layer. When the user previews the point cloud of the target scene for the first time, the point cloud preview device first pulls the first point cloud file corresponding to the point cloud layer with the highest density and displays the global point cloud of the target scene, which can meet the global preview requirements, reduce the time required to pull the point cloud, and thus reduce the delay of the initial preview of the point cloud.

[0162] For point cloud files corresponding to other point cloud layers, the laser scanning device can continue to send after successfully sending the first point cloud file, or send after receiving a zoom preview request from the point cloud preview device. Optionally, the method provided in the embodiment of the present disclosure may also include the following steps:

[0163] In response to the completion of the transmission of the first point cloud file, point cloud files corresponding to other point cloud layers continue to be sent to the point cloud preview device.

[0164] or,

[0165] In response to receiving a zoomed preview request sent by the point cloud preview device, a second point cloud layer is determined based on the zoom ratio indicated by the zoomed preview request and a second point cloud file corresponding to the second point cloud layer is sent to the point cloud preview device, so that the point cloud preview device renders the point cloud corresponding to the second point cloud file through the point cloud preview interface.

[0166] In a possible implementation, after the laser scanning device successfully sends the first point cloud file, it can continue to automatically send point cloud files corresponding to other point cloud layers, thereby completing the transmission of all point cloud data.

[0167] In another possible implementation, after successfully sending the first point cloud file, the laser scanning device may not send files of other point cloud layers for the time being, and only send the latest point cloud data generated in real time. When receiving a zoom preview request sent by the point cloud preview device, it means that the user needs to zoom in to view the point cloud details, so a more detailed point cloud needs to be provided. Optionally, there is a preset correspondence between the magnification ratio and the point cloud layer. The laser scanning device is used to determine the second point cloud layer based on the magnification ratio and send the second point cloud file corresponding to the second point cloud layer to the point cloud preview device. The point cloud preview device renders the point cloud corresponding to the second point cloud file through the point cloud preview interface.

[0168] Based on the embodiment of the present disclosure, after the point cloud preview device is connected to the laser scanning device for the first time, it first pulls the point cloud file of the low-density point cloud layer for rendering and display. After the low-density point cloud layer is pulled or when the point cloud zoom operation is received, the point cloud file corresponding to the high-density point cloud layer is pulled. The point cloud is transmitted in layers according to the point cloud preview requirements, which can reduce transmission delay and improve point cloud preview efficiency.

[0169] Figure 4The structural block diagram of a point cloud preview device provided by an exemplary embodiment of the present disclosure is shown. The point cloud preview device is applied to a point cloud preview device in a point cloud generation system. The point cloud generation system includes a laser scanning device and a point cloud preview device. The laser scanning device is used to generate point cloud data for a target scene. The point cloud preview device is used to pull point cloud data and display a point cloud preview effect. The laser scanning device and the point cloud preview device store point cloud data in blocks according to the same data storage architecture, wherein point cloud data of different point cloud blocks are stored in different point cloud files. The point cloud preview device includes:

[0170] The first connection module 401 is used to establish a communication connection with the laser scanning device through a preset connection mode in response to receiving a device connection operation;

[0171] An acquisition module 402 is used to acquire a first index file and a second index file sent by the laser scanning device, wherein the first index file is used to record file information of the point cloud files stored in the point cloud preview device, and the second index file is used to record file information of the point cloud files stored in the laser scanning device, and the file information includes the data volume of each stored point cloud file;

[0172] The first sending module 403 is used to determine the target point cloud file by comparing the first index file and the second index file obtained by the obtaining module 402, and send a supplementary point cloud obtaining request to the laser scanning device based on the target point cloud file, wherein the target point cloud file is a point cloud file that has not been stored in the point cloud preview device;

[0173] The first receiving module 404 is used to receive the point cloud supplementary file sent by the laser scanning device, and render the point cloud corresponding to the stored point cloud file and the point cloud supplementary file through the point cloud preview interface. The point cloud supplementary file includes the target point cloud file and the point cloud file generated after the target point cloud file.

[0174] Optionally, in a possible implementation manner, the laser scanning device is used to send point cloud data to be stored to the point cloud preview device at a preset frequency, wherein the point cloud data to be stored includes coordinate data of corresponding points; the point cloud preview device further includes:

[0175] A second receiving module is used to receive the point cloud data to be stored sent by the laser scanning device;

[0176] A first determination module is used to determine, based on the coordinate data, a point cloud layer and a point cloud block to which each to-be-stored point corresponding to the to-be-stored point cloud data received by the second receiving module belongs, wherein the point cloud corresponding to the target scene includes at least two point cloud layers, and different point cloud layers correspond to the same spatial range and different point cloud densities, and the point cloud layer with the largest density includes all points corresponding to the target scene, and each point cloud layer includes at least two point cloud blocks, and different point cloud blocks correspond to different spatial ranges;

[0177] The first writing module is used to write the point cloud data into the corresponding point cloud file based on the point cloud layer and point cloud block to which each to-be-stored point belongs determined by the determination module.

[0178] Optionally, in a possible implementation manner, the first determining module may also be used to:

[0179] Based on the coordinate data corresponding to the point to be stored and the coordinate range of each point cloud block in each point cloud layer, determine the candidate point cloud block corresponding to the point to be stored in each point cloud layer;

[0180] Determine the distance between the point to be stored and its neighboring points in the candidate point cloud block, and the distance threshold corresponding to the point cloud layer to which the candidate point cloud block belongs;

[0181] In response to the distance between the point to be stored and the neighboring point being greater than or equal to a distance threshold, the candidate point cloud block is determined as the point cloud block to which the point to be stored belongs, and the point cloud layer to which the candidate point cloud block belongs is determined as the point cloud layer to which the point to be stored belongs.

[0182] Optionally, in a possible implementation manner, the first sending module 403 may also be used to:

[0183] In response to the existence of the first index file, determining a target point cloud file by comparing the first index file with the second index file, and sending a supplementary point cloud acquisition request to the laser scanning device based on the target point cloud file;

[0184] The point cloud preview device also includes:

[0185] a fourth sending module, configured to send an initial preview request to the laser scanning device in response to the absence of the first index file, wherein the laser scanning device is configured to send a first point cloud file of a point cloud block corresponding to a first point cloud layer to the point cloud preview device based on the initial preview request, wherein the first point cloud layer is a point cloud layer with the smallest point cloud density;

[0186] The third receiving module is used to receive the first point cloud file and render the point cloud corresponding to the first point cloud file through the point cloud preview interface.

[0187] Optionally, in a possible implementation manner, the point cloud preview device further includes a fourth receiving module, configured to:

[0188] Continue to receive and store point cloud files corresponding to other point cloud layers sent by the laser scanning device;

[0189] or,

[0190] In response to receiving a point cloud zoom-in operation, a zoom-in preview request is sent to the laser scanning device based on the zoom-in ratio indicated by the point cloud zoom-in operation. The laser scanning device is used to determine a second point cloud layer based on the zoom-in ratio and send a second point cloud file corresponding to the second point cloud layer to the point cloud preview device; receive and store the second point cloud file, and render the point cloud corresponding to the second point cloud file through the point cloud preview interface.

[0191] Figure 5 A structural block diagram of a point cloud preview device provided by another exemplary embodiment of the present disclosure is shown. The point cloud preview device is applied to a laser scanning device in a point cloud generation system. The point cloud generation system includes a laser scanning device and a point cloud preview device. The laser scanning device is used to generate point cloud data for a target scene. The point cloud preview device is used to pull point cloud data and display a point cloud preview effect. The laser scanning device and the point cloud preview device store point cloud data in blocks according to the same data storage architecture, wherein point cloud data of different point cloud blocks are stored in different point cloud files. The point cloud preview device includes:

[0192] The second connection module 501 is used for sending a second index file to the point cloud preview device in response to establishing a communication connection with the point cloud preview device through a preset connection mode, so that the point cloud preview device determines a target point cloud file through the first index file and the second index file, the first index file is used to record the file information of the point cloud files stored in the point cloud preview device, the second index file is used to record the file information of the point cloud files stored in the laser scanning device, the file information includes the data volume of each stored point cloud file, and the target point cloud file is a point cloud file that has not been stored by the point cloud preview device;

[0193] The second sending module 502 is used to send a point cloud supplementary file to the point cloud preview device in response to receiving a supplementary point cloud acquisition request sent by the point cloud preview device, wherein the supplementary point cloud acquisition request is used to request to obtain an unstored target point cloud file and an unreceived point cloud file, and the point cloud supplementary file includes the target point cloud file and a point cloud file generated after the target point cloud file, so that the point cloud preview device can render the point cloud corresponding to the stored point cloud file and the point cloud supplementary file through the point cloud preview interface;

[0194] The third sending module 503 is used to generate point cloud data to be stored by laser scanning the target scene, and send the point cloud data to be stored to the point cloud preview device at a preset frequency, so that the point cloud preview device renders the point cloud corresponding to the point cloud data to be stored through the point cloud preview interface.

[0195] Optionally, in a possible implementation manner, the point cloud preview device further includes:

[0196] A second determination module is used to determine, based on the coordinate data, the point cloud layer and the point cloud block to which each to-be-stored point corresponding to the to-be-stored point cloud data belongs, wherein the point cloud corresponding to the target scene includes at least two point cloud layers, different point cloud layers correspond to the same spatial range and different point cloud densities, the point cloud layer with the largest density includes all points corresponding to the target scene, each point cloud layer includes at least two point cloud blocks, and different point cloud blocks correspond to different spatial ranges;

[0197] The second writing module is used to write the point cloud data into the corresponding point cloud file based on the point cloud layer and point cloud block to which each point belongs.

[0198] Optionally, in a possible implementation manner, the second determining module may also be used to:

[0199] Based on the coordinate data corresponding to the point to be stored and the coordinate range of each point cloud block in each point cloud layer, determine the candidate point cloud block corresponding to the point to be stored in each point cloud layer;

[0200] Determine the distance between the point to be stored and the neighboring points of the point to be stored in the candidate point cloud block, and the distance threshold corresponding to the point cloud layer to which the candidate point cloud block belongs;

[0201] In response to the distance between the point to be stored and the neighboring point being greater than or equal to a distance threshold, the candidate point cloud block is determined as the point cloud block to which the point to be stored belongs, and the point cloud layer to which the candidate point cloud block belongs is determined as the point cloud layer to which the point to be stored belongs.

[0202] Optionally, in a possible implementation manner, the point cloud preview device further includes:

[0203] The fifth sending module is used to send the first point cloud file of the point cloud block corresponding to the first point cloud layer to the point cloud preview device in response to receiving the initial preview request sent by the point cloud preview device, so that the point cloud preview device renders the point cloud corresponding to the first point cloud file through the point cloud preview interface, and the first point cloud layer is the point cloud layer with the smallest point cloud density.

[0204] Optionally, in a possible implementation manner, the point cloud preview device further includes a sixth sending module, configured to:

[0205] In response to the completion of the transmission of the first point cloud file, continue to send point cloud files corresponding to other point cloud layers to the point cloud preview device;

[0206] or,

[0207] In response to receiving a zoomed preview request sent by the point cloud preview device, a second point cloud layer is determined based on the zoom ratio indicated by the zoomed preview request and a second point cloud file corresponding to the second point cloud layer is sent to the point cloud preview device, so that the point cloud preview device renders the point cloud corresponding to the second point cloud file through the point cloud preview interface.

[0208] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The parts of the same, similar or corresponding contents between the various embodiments can be referred to each other. Since the method, device, system, and equipment embodiments are basically corresponding, the relevant parts can be referred to the description of the corresponding parts. The methods, devices, systems, and equipment of the embodiments of the present disclosure also correspond to each other in specific implementation methods and beneficial technical effects. The relevant contents can be referred to each other and will not be repeated.

[0209] In addition, an embodiment of the present disclosure further provides an electronic device, including:

[0210] Memory for storing computer programs;

[0211] The processor is used to execute the computer program stored in the memory, and when the computer program is executed, the point cloud preview method described in any of the above embodiments of the present disclosure is implemented.

[0212] Figure 6 This is a schematic diagram of the structure of an application embodiment of the electronic device disclosed in the present invention. Figure 6 The electronic device according to the embodiment of the present disclosure is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signals from them.

[0213] like Figure 6 As shown, the electronic device includes one or more processors and memory.

[0214] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0215] The memory may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor may execute the program instructions to implement the point cloud preview method of each embodiment of the present disclosure described above and / or other desired functions.

[0216] In one example, the electronic device may further include: an input device and an output device, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0217] In addition, the input device may also include, for example, a keyboard, a mouse, and the like.

[0218] The output device can output various information to the outside, including the determined distance information, direction information, etc. The output device can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0219] Of course, to simplify, Figure 6 Only some of the components related to the present disclosure in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device may further include any other appropriate components.

[0220] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the point cloud preview method according to various embodiments of the present disclosure described in the above part of this specification.

[0221] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0222] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps of the point cloud preview method according to various embodiments of the present disclosure described in the above part of this specification.

[0223] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0224] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0225] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0226] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0227] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0228] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0229] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0230] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0231] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A point cloud preview method, characterized in that: A point cloud preview device is applied to a point cloud generation system, the point cloud generation system comprises a laser scanning device and the point cloud preview device, the laser scanning device is used to generate point cloud data for a target scene, the point cloud preview device is used to pull the point cloud data and display a point cloud preview effect, the laser scanning device and the point cloud preview device store the point cloud data in blocks according to the same data storage architecture, wherein point cloud data of different point cloud blocks are stored in different point cloud files; the method comprises: In response to receiving the device connection operation, establishing a communication connection with the laser scanning device through a preset connection mode; Acquire a first index file and a second index file sent by the laser scanning device, wherein the first index file is used to record file information of the point cloud files stored in the point cloud preview device, and the second index file is used to record file information of the point cloud files stored in the laser scanning device, wherein the file information includes the data volume of each stored point cloud file; Determine a target point cloud file by comparing the first index file with the second index file, and send a supplementary point cloud acquisition request to the laser scanning device based on the target point cloud file, wherein the target point cloud file is a point cloud file that has not been stored in the point cloud preview device; Receive the point cloud supplementary file sent by the laser scanning device, and render the stored point cloud file and the point cloud corresponding to the point cloud supplementary file through a point cloud preview interface, wherein the point cloud supplementary file includes the target point cloud file and a point cloud file generated after the target point cloud file.

2. The method according to claim 1, characterized in that: The laser scanning device is used to send the point cloud data to be stored to the point cloud preview device at a preset frequency, and the point cloud data to be stored includes coordinate data of corresponding points; the method also includes: Receiving the point cloud data to be stored sent by the laser scanning device; Determine, based on the coordinate data, a point cloud layer and a point cloud block to which each to-be-stored point corresponding to the to-be-stored point cloud data belongs, wherein the point cloud corresponding to the target scene includes at least two point cloud layers, different point cloud layers correspond to the same spatial range and different point cloud densities, the point cloud layer with the largest density includes all points corresponding to the target scene, each point cloud layer includes at least two point cloud blocks, and different point cloud blocks correspond to different spatial ranges; The point cloud data is written into a corresponding point cloud file based on the point cloud layer and point cloud block to which each point to be stored belongs.

3. The method according to claim 2, characterized in that The step of determining, based on the coordinate data, a point cloud layer and a point cloud block to which each point to be stored corresponding to the point cloud data to be stored belongs, comprises: Based on the coordinate data corresponding to the point to be stored and the coordinate range of each point cloud block in each point cloud layer, determining the candidate point cloud block corresponding to the point to be stored in each point cloud layer; Determine the distance between the point to be stored and a neighboring point of the point to be stored in the candidate point cloud block, and a distance threshold corresponding to the point cloud layer to which the candidate point cloud block belongs; In response to the distance between the point to be stored and the neighboring point being greater than or equal to the distance threshold, the candidate point cloud block is determined as the point cloud block to which the point to be stored belongs, and the point cloud layer to which the candidate point cloud block belongs is determined as the point cloud layer to which the point to be stored belongs.

4. The method according to claim 2, characterized in that: The step of determining a target point cloud file by comparing the first index file with the second index file, and sending a supplementary point cloud acquisition request to the laser scanning device based on the target point cloud file, comprises: In response to the existence of the first index file, determining the target point cloud file by comparing the first index file with the second index file, and sending the supplementary point cloud acquisition request to the laser scanning device based on the target point cloud file; The method further comprises: In response to the absence of the first index file, sending an initial preview request to the laser scanning device, the laser scanning device being used to send a first point cloud file of a point cloud block corresponding to a first point cloud layer to the point cloud preview device based on the initial preview request, wherein the first point cloud layer is a point cloud layer with the smallest point cloud density; The first point cloud file is received, and a point cloud corresponding to the first point cloud file is rendered through the point cloud preview interface.

5. The method according to claim 4, characterized in that The method further comprises: Continue to receive and store point cloud files corresponding to other point cloud layers sent by the laser scanning device; or, In response to receiving a point cloud zoom-in operation, a zoom-in preview request is sent to the laser scanning device based on the zoom-in ratio indicated by the point cloud zoom-in operation, and the laser scanning device is used to determine a second point cloud layer based on the zoom-in ratio and send a second point cloud file corresponding to the second point cloud layer to the point cloud preview device; receive and store the second point cloud file, and render the point cloud corresponding to the second point cloud file through the point cloud preview interface.

6. A point cloud preview method, characterized in that: A laser scanning device applied to a point cloud generation system, the point cloud generation system comprising the laser scanning device and a point cloud preview device, the laser scanning device is used to generate point cloud data for a target scene, the point cloud preview device is used to pull the point cloud data and display a point cloud preview effect, the laser scanning device and the point cloud preview device store the point cloud data in blocks according to the same data storage architecture, wherein point cloud data of different point cloud blocks are stored in different point cloud files; the method comprising: In response to establishing a communication connection with the point cloud preview device through a preset connection mode, sending a second index file to the point cloud preview device, so that the point cloud preview device determines a target point cloud file through the first index file and the second index file, wherein the first index file is used to record file information of point cloud files stored in the point cloud preview device, and the second index file is used to record file information of point cloud files stored in the laser scanning device, wherein the file information includes the data volume of each stored point cloud file, and the target point cloud file is a point cloud file that has not been completely stored by the point cloud preview device; In response to receiving a supplementary point cloud acquisition request sent by the point cloud preview device, sending a point cloud supplementary file to the point cloud preview device, wherein the supplementary point cloud acquisition request is used to request to obtain the target point cloud file that has not been stored and the point cloud file that has not been received, and the point cloud supplementary file includes the target point cloud file and a point cloud file generated after the target point cloud file, so that the point cloud preview device can render the stored point cloud file and the point cloud corresponding to the point cloud supplementary file through a point cloud preview interface; The point cloud data to be stored is generated by laser scanning the target scene, and the point cloud data to be stored is sent to the point cloud preview device at a preset frequency, so that the point cloud preview device renders the point cloud corresponding to the point cloud data to be stored through the point cloud preview interface.

7. The method according to claim 6, characterized in that The point cloud data to be stored includes coordinate data of corresponding points, and the method further includes: Determine, based on the coordinate data, a point cloud layer and a point cloud block to which each to-be-stored point corresponding to the to-be-stored point cloud data belongs, wherein the point cloud corresponding to the target scene includes at least two point cloud layers, different point cloud layers correspond to the same spatial range and different point cloud densities, the point cloud layer with the largest density includes all points corresponding to the target scene, each point cloud layer includes at least two point cloud blocks, and different point cloud blocks correspond to different spatial ranges; The point cloud data is written into a corresponding point cloud file based on the point cloud layer and point cloud block to which each point belongs.

8. The method according to claim 7, characterized in that The step of determining, based on the coordinate data, a point cloud layer and a point cloud block to which each point to be stored corresponding to the point cloud data to be stored belongs, comprises: Based on the coordinate data corresponding to the point to be stored and the coordinate range of each point cloud block in each point cloud layer, determining the candidate point cloud block corresponding to the point to be stored in each point cloud layer; Determine the distance between the point to be stored and a neighboring point of the point to be stored in the candidate point cloud block, and a distance threshold corresponding to the point cloud layer to which the candidate point cloud block belongs; In response to the distance between the point to be stored and the neighboring point being greater than or equal to the distance threshold, the candidate point cloud block is determined as the point cloud block to which the point to be stored belongs, and the point cloud layer to which the candidate point cloud block belongs is determined as the point cloud layer to which the point to be stored belongs.

9. The method according to claim 7, characterized in that: The method further comprises: In response to receiving an initial preview request sent by the point cloud preview device, a first point cloud file of a point cloud block corresponding to a first point cloud layer is sent to the point cloud preview device, so that the point cloud preview device renders the point cloud corresponding to the first point cloud file through the point cloud preview interface, and the first point cloud layer is the point cloud layer with the smallest point cloud density.

10. The method according to claim 9, characterized in that The method further comprises: In response to the completion of the transmission of the first point cloud file, continuing to send point cloud files corresponding to other point cloud layers to the point cloud preview device; or, In response to receiving a zoomed preview request sent by the point cloud preview device, a second point cloud layer is determined based on the zoom ratio indicated by the zoomed preview request and a second point cloud file corresponding to the second point cloud layer is sent to the point cloud preview device, so that the point cloud preview device renders the point cloud corresponding to the second point cloud file through the point cloud preview interface.

11. A point cloud generation system, characterized in that: include: A laser scanning device and a point cloud preview device, wherein the point cloud preview device is used to execute the steps in the point cloud preview method described in any one of claims 1 to 5, and the laser scanning device is used to execute the steps in the point cloud preview method described in any one of claims 6 to 10.

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