A data transmission method, apparatus and electronic device

Abstract

The present application provides a data transmission method, apparatus and electronic device, relating to the technical field of data transmission. The key points of the technical solution are as follows: including setting reference data, and obtaining the relative relationship between the data to be transmitted and the reference data according to the reference data; and performing data transmission according to the capacity occupied by transmitting each of the relative relationships and the capacity occupied by transmitting the corresponding data to be transmitted. The data transmission method, apparatus and electronic device provided by the present application have the advantages of reducing the data transmission capacity and improving the data transmission efficiency.

Description

Technical Field

[0001] This application relates to the technical field of data transmission, and more specifically, to a data transmission method, apparatus, and electronic device. Background Art

[0002] Currently, terrestrial three-dimensional laser scanners have extensive applications in geological disaster monitoring and emergency rescue.

[0003] However, when a terrestrial three-dimensional laser scanner is working, it can form hundreds of thousands, or even millions of point cloud data per second. The formation of a point cloud requires main wave data and echo data information. Taking single echo data as an example, the formation of a point cloud requires 20 bytes. Under the high-speed scanning of millions of point clouds per second, the transmission per second is as high as tens of millions of bytes, which undoubtedly causes huge pressure on the transmission link, resulting in low data transmission efficiency, easy occurrence of data congestion, and problems such as data loss.

[0004] In view of the above problems, the applicant has proposed a new solution. Summary of the Invention

[0005] The purpose of this application is to provide a data transmission method, apparatus, and electronic device, which have the advantages of reducing the data transmission capacity and improving the data transmission efficiency.

[0006] In a first aspect, this application provides a data transmission method, and the technical solution is as follows:

[0007] It includes:

[0008] Set reference data, and obtain the relative relationship between the data to be transmitted and the reference data according to the reference data;

[0009] Perform data transmission according to the capacity occupied by transmitting each relative relationship and the capacity occupied by transmitting the corresponding data to be transmitted.

[0010] By setting reference data and then obtaining the relative relationship between the data to be transmitted and the reference data, that is, all the data to be transmitted can be restored through the reference data and the relative relationship between the data to be transmitted and the reference data. Therefore, it is possible to compare the capacity required to transmit the relative relationship between the data to be transmitted and the reference data and the capacity required to transmit each data, and select the method with a smaller capacity for data transmission. Therefore, the data transmission volume can be effectively reduced, and the beneficial effect of improving the data transmission efficiency is achieved.

[0011] Further, in this application, the step of performing data transmission according to the capacity occupied by transmitting each relative relationship and the capacity occupied by transmitting the corresponding data to be transmitted includes:

[0012] When the capacity occupied by transmitting each of the relative relationships is less than the capacity occupied by transmitting the corresponding data to be transmitted, data transmission is performed through the relative relationships.

[0013] By selecting the method with a smaller capacity for data transmission, the data transmission volume can be effectively reduced, thereby improving the data transmission efficiency.

[0014] Further, in this application, the data to be transmitted is point cloud data, and the steps of setting the reference data and obtaining the relative relationship between the data to be transmitted and the reference data according to the reference data include:

[0015] Obtain the three-dimensional coordinates of each point and the scanning angle of each point in the point cloud data, and select a reference point;

[0016] Calculate the Euclidean distance between each point and the reference point according to the three-dimensional coordinates of each point in the point cloud data.

[0017] Further, in this application, the step of performing data transmission according to the capacity occupied by transmitting each of the relative relationships and the capacity occupied by transmitting the corresponding data to be transmitted includes:

[0018] Perform data transmission by using the Euclidean distance between each point and the reference point in the point cloud data and the corresponding scanning angle to replace the three-dimensional coordinates of each point in the point cloud data.

[0019] Using the Euclidean distance between all points in the point cloud data and the reference point and the scanning angle to replace the original three-dimensional coordinates for data transmission. Since the three-dimensional coordinates need to transmit three parameters x, y, and z, when the Euclidean distance and the scanning angle are used for replacement, the scanning angle of each point and the Euclidean distance from the reference point are two parameters. If each parameter is represented by 20-bit binary, in the conventional data transmission method, 7.5 bytes are required to represent the data information of one point, while adopting the scheme of this application, only 5 bytes are needed to represent the data information of one point. Therefore, the data transmission capacity can be effectively reduced, and it has the beneficial effect of improving the data transmission efficiency.

[0020] Further, in this application, the scanning angle includes a horizontal scanning angle and a vertical scanning angle.

[0021] Further, in this application, the step of performing data transmission by using the Euclidean distance between each point and the reference point in the point cloud data and the corresponding scanning angle to replace the three-dimensional coordinates of each point in the point cloud data includes:

[0022] Data transmission is performed by using the Euclidean distance between each point in the point cloud data and the reference point and the corresponding lateral scan angle, or by using the Euclidean distance between each point in the point cloud data and the reference point and the corresponding longitudinal scan angle to replace the three-dimensional coordinates of each point.

[0023] Further, in the present application, the step of selecting the reference point includes:

[0024] Selecting one reference point from each row or each column of data in the point cloud data.

[0025] Further, in the present application, the step of calculating the Euclidean distance between each point in the point cloud data and the reference point based on the three-dimensional coordinates of each point in the point cloud data includes:

[0026] Calculating the Euclidean distance between each point in each column of data in the point cloud data and the corresponding reference point in each column of data, or calculating the Euclidean distance between each point in each row of data in the point cloud data and the corresponding reference point in each row of data.

[0027] In a second aspect, the present application further provides a data transmission device, including:

[0028] An acquisition module, configured to set reference data and obtain the relative relationship between the data to be transmitted and the reference data according to the reference data;

[0029] A processing module, configured to perform data transmission according to the capacity occupied by transmitting each relative relationship and the capacity occupied by transmitting the corresponding data to be transmitted.

[0030] In a third aspect, the present application further provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the above method are run.

[0031] As can be seen from the above, a data transmission method, device, and electronic device provided by the present application set reference data, and then obtain the relative relationship between the data to be transmitted and the reference data. That is, all the data to be transmitted can be restored through the reference data and the relative relationship between the data to be transmitted and the reference data. Therefore, the capacity required to transmit the relative relationship between the data to be transmitted and the reference data and the capacity required to transmit each data can be compared, and the method with a smaller capacity occupation can be selected for data transmission. Therefore, the data transmission capacity can be effectively reduced, and the beneficial effect of improving the data transmission efficiency is achieved.

[0032] Other features and advantages of the present application will be described in the subsequent specification, and, in part, will be obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained by the structures specifically pointed out in the written specification, claims, and drawings. Description of the Drawings

[0033] Figure 1 It is a flowchart of a data transmission method provided for the present application.

[0034] Figure 2 It is a schematic structural diagram of a data transmission device provided for the present application.

[0035] Figure 3 It is a schematic diagram of an electronic device provided for the present application.

[0036] Figure 4 It is a schematic diagram of the operation of a laser scanner.

[0037] Figure 5 It is a schematic diagram of the point cloud data generated during the operation of the laser scanner.

[0038] Figure 6 It is a schematic diagram of the relationship between points in the point cloud data.

[0039] In the figure: 210, acquisition module; 220, processing module; 300, electronic device; 310, processor; 320, memory. Detailed Embodiments

[0040] Next, the technical solutions in the present application will be clearly and completely described in conjunction with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the present application usually described and illustrated in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application claimed, but only represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0041] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0042] In the first aspect, referring to Figure 1, this application provides a data transmission method, and the technical solution specifically includes:

[0043] S110. Set reference data, and obtain the relative relationship between the data to be transmitted and the reference data according to the reference data;

[0044] S120. Perform data transmission according to the capacity occupied by transmitting each relative relationship and the capacity occupied by transmitting the corresponding data to be transmitted.

[0045] Among them, the relative relationship between the data to be transmitted and the reference data here can be a time relationship, a function relationship, a spatial relationship, or other relative relationships. The basic principle is that the original data to be transmitted can be deduced and restored through the reference data and the relative relationship.

[0046] Through the above technical solution, by setting reference data and then obtaining the relative relationship between the data to be transmitted and the reference data, that is, all the data to be transmitted can be restored through the reference data and the relative relationship between the data to be transmitted and the reference data. Therefore, it is possible to compare the capacity required to transmit the relative relationship between the data to be transmitted and the reference data and the capacity occupied by directly transmitting each data, and select the method with a smaller capacity for data transmission. Therefore, the data transmission volume can be effectively reduced, and the beneficial effect of improving the data transmission efficiency is achieved.

[0047] In some specific embodiments, when the capacity occupied by transmitting each relative relationship is less than the capacity occupied by transmitting the corresponding data to be transmitted, data transmission is performed through the relative relationship.

[0048] Through the above technical solution, by selecting the method with a smaller capacity for data transmission, the data transmission volume can be effectively reduced, thereby improving the data transmission efficiency.

[0049] Specifically, for example, a group of array data needs to be transmitted, namely {1, 2, 3, 4, 5}, {1, 2, 3, 4, 6}, {1, 2, 3, 4, 7}, {1, 2, 3, 4, 8}. In traditional data transmission, the 4 groups of data are directly transmitted completely. Each array contains 5 parameters. Assuming that each parameter occupies one capacity unit, a total of 4 groups of data need to be transmitted, which requires a total of 20 capacity units. Through the scheme of the present application, benchmark data is set to obtain the relative relationship between the data to be transmitted and the benchmark data. For example, the first group of data {1, 2, 3, 4, 5} is set as the benchmark data to obtain the relative relationship between the remaining data and the benchmark data. In the above data, it can be concluded that the first 4 digits of the remaining data are the same, and the 5th digit is different. Therefore, the remaining data can be expressed as {5, x}, where 5 represents the 5th digit, and x represents the actual data of the 5th digit, that is, the remaining data is {5, 6}, {5, 7}, {5, 8}. Therefore, during data transmission, the data actually transmitted is {1, 2, 3, 4, 5}, {5, 6}, {5, 7}, {5, 8}. A total of only 11 parameters need to be transmitted, that is, only 11 capacity units need to be transmitted. Compared with traditional existing methods, the scheme provided by the present application greatly compresses the data transmission volume and effectively improves the data transmission efficiency.

[0050] It is worth noting that the reference data may be included in the data to be transmitted, or separate reference data may be additionally set.

[0051] Laser scanners are often used for scanning in the fields of surveying and mapping, geological disaster monitoring, bridge and tunnel construction monitoring, and assisted driving. When working, laser scanners can generate millions of point cloud data per second. At such a high scanning rate, the data transmitted per second is as high as tens of millions of bytes, which puts tremendous pressure on the transmission link, affecting not only the data transmission efficiency, but also the data transmission stability, and is prone to data loss.

[0052] Therefore, further, in some embodiments, the data to be transmitted is point cloud data, and the steps of setting the reference data and obtaining the relative relationship between the data to be transmitted and the reference data according to the reference data include:

[0053] Obtain the three-dimensional coordinates of each point in the point cloud data and the scanning angle of each point, and select the reference point;

[0054] The Euclidean distance between each point and the reference point is calculated based on the three-dimensional coordinates of each point in the point cloud data.

[0055] Among them, the reference point is the reference data, the three-dimensional coordinates of each point in the point cloud data are the data to be transmitted, and the Euclidean distance between each point and the reference point and the corresponding scanning angle are the relative relationship between the data to be transmitted and the reference data.

[0056] With the above technical solution, when the laser scanner is working, the distance between each scanned point and the laser scanner can be obtained by calculating the propagation time of the pulsed laser. Combining with the scanning angle, the three-dimensional coordinates of each point can be obtained. A reference point can be selected from them. Combining the three-dimensional coordinates and the scanning angle, the relative relationship between each point and the reference point can be obtained. Specifically, the Euclidean distance between each point and the reference point can be calculated through the three-dimensional coordinates. Based on the Euclidean distance and the scanning angle, the spatial position relationship between each point and the reference point can be determined.

[0057] Further, in some embodiments, the step of data transmission according to the capacity occupied by transmitting each relative relationship and the capacity occupied by transmitting the corresponding data to be transmitted includes:

[0058] Transmit data by using the Euclidean distance between each point in the point cloud data and the reference point and the corresponding scanning angle to replace the three-dimensional coordinates of each point in the point cloud data.

[0059] With the above technical solution, the Euclidean distance between each point in the point cloud data and the reference point and the scanning angle are used to replace the original three-dimensional coordinates for data transmission. Since the three-dimensional coordinates need to transmit three parameters of x, y, and z, when the Euclidean distance and the scanning angle are used for replacement, the scanning angle of each point and the Euclidean distance from the reference point are two parameters. If each parameter is represented by 20-bit binary, in the conventional data transmission method, 7.5 bytes are required to represent the data information of one point, while adopting the solution of the present application, only 5 bytes are needed to represent the data information of one point. Therefore, the data transmission capacity can be effectively reduced, and the beneficial effect of improving the data transmission efficiency is achieved.

[0060] Further, in some embodiments, the scanning angle includes a horizontal scanning angle and a vertical scanning angle.

[0061] As Figure 4 shown, when the laser scanner is performing scanning work, it usually does not only scan a line in a single direction, but scans the surface of the object. Therefore, the laser scanner scans horizontally and vertically respectively. So, the scanning angle usually includes a horizontal scanning angle and a vertical scanning angle.

[0062] Further, in some embodiments, the step of data transmission by using the Euclidean distance between each point in the point cloud data and the reference point and the corresponding scanning angle to replace the three-dimensional coordinates of each point in the point cloud data includes:

[0063] Transmit data by using the Euclidean distance between each point in the point cloud data and the reference point and the corresponding horizontal scanning angle, or by using the Euclidean distance between each point in the point cloud data and the reference point and the corresponding vertical scanning angle to replace the three-dimensional coordinates of each point.

[0064] The steps of selecting a reference point include:

[0065] Select one reference point from each row or each column of the point cloud data.

[0066] The steps of calculating the Euclidean distance between each point and the reference point based on the three-dimensional coordinates of each point in the point cloud data include:

[0067] Calculate the Euclidean distance between each point in each column of the point cloud data and the corresponding reference point in each column, or calculate the Euclidean distance between each point in each row of the point cloud data and the corresponding reference point in each row.

[0068] Through the above technical solution, since the scanning angle includes the horizontal scanning angle and the vertical scanning angle, when scanning the surface of an object, when describing the relative relationship between all points in the point cloud data and the reference point, the Euclidean distance, the horizontal scanning angle, and the vertical scanning angle are required. Actually, three parameters are used, which is the same as the capacity occupied by the three parameters of the x, y, and z coordinates used when transmitting each point's data separately. Therefore, one reference point is set in each row or each column of the point cloud data. Then, calculate the Euclidean distance between all points in each column or each row of the point cloud data and the corresponding reference point in each column or each row, and then combine the scanning angle of each point. The Euclidean distance and the horizontal scanning angle or the vertical scanning angle can be used to replace the original three-dimensional coordinates for data transmission.

[0069] Usually, when a laser scanner is working normally, the internal vertical rotation mechanism is driven by the horizontal rotation mechanism of its fuselage for mechanical movement. During this process, the update speed of the vertical scanning angle will be much greater than the update speed of the horizontal scanning angle, that is, the rotation rate of the internal vertical rotation mechanism will be higher than that of the horizontal rotation mechanism. Therefore, when using a conventional laser scanner for scanning, usually one reference point is selected from each column of the point cloud data, and the three-dimensional coordinates of this reference point are transmitted to determine its position. The remaining points in this column of data are transmitted by replacing their three-dimensional coordinates with the Euclidean distance and the vertical scanning angle to determine the positions of the remaining points.

[0070] Taking the scanning of a certain target object as an example, the point cloud data is as Figure 5 shown, where Pnn is the number of any point. Figure 5 The points in each column represent the points generated when the horizontal scanning angle is a fixed value and the vertical scanning angle completes a 360-degree rotation during a certain time period. The three-dimensional coordinates of each point can be obtained by calculating the time for the pulsed laser to propagate to calculate the distance from the laser scanner to the scanning point. At the same time, the internal precision clock controls the encoder to measure the horizontal scanning angle and the vertical scanning angle of each laser pulse. The specific formula can be expressed as

[0071]

[0072] Among them, x, y, and z represent the three-dimensional coordinates of a point, S represents the distance from the laser scanner to the point, θ represents the longitudinal scanning angle, and α represents the transverse scanning angle.

[0073] Figure 5 The effect shown can only show that the target object is a two-dimensional plane. However, the actual target is a three-dimensional object. Taking a certain column of point cloud data after scanning as an example, as Figure 6 shown, Figure 6 In it, Pn1, Pn2, Pn3... Pnn represent the points on a certain column. The positional relationship between the Pn1 point and the Pn2 point indicates that the target object has a concave-convex surface. O represents the coordinate zero point of the laser scanner, and it is also the relative coordinate zero point of all the point cloud data after scanning. s1 is the distance from the P n1 point to the coordinate zero point O of the laser scanner, s2 is the distance from the Pn2 point to the coordinate zero point O of the laser scanner, and the Euclidean distance between the Pn1 and Pn points is ΔS. Figure 6 The triangular relationship in it can be expressed as:

[0074]

[0075]

[0076]

[0077] Among them, a represents the horizontal distance between the Pn1 point and the Pn2 point, b represents the vertical distance between the Pn1 point and the Pn2 point, a2 represents the horizontal distance between the Pn1 point and the coordinate zero point O of the laser scanner, d represents the horizontal distance between the Pn2 point and the coordinate zero point O of the laser scanner, b1 represents the vertical distance between the Pn2 point and the coordinate zero point O of the laser scanner, and b2 represents the vertical distance between the Pn1 point and the coordinate zero point O of the laser scanner. 1 represents the longitudinal scanning angle of the point. 2 represents the longitudinal scanning angle of the point.

[0078] From the above relational expressions, it can be seen that if the Pn2 point is used as the reference point, to determine the position of the Pn1 point, only the two parameters of the Euclidean distance ΔS and the longitudinal scanning angle θ need to be provided. In this way, only one reference point needs to be selected for each column, and the three-dimensional coordinates of this reference point are used as the reference data, and all other points can be represented and transmitted by the Euclidean distance and the longitudinal scanning angle θ.

[0079] In a second aspect, referring to Figure 2 , the present application further provides a data transmission device, including:

[0080] An acquisition module 210, configured to set reference data and obtain the relative relationship between the data to be transmitted and the reference data according to the reference data;

[0081] A processing module 220, configured to perform data transmission according to the capacity occupied by transmitting each relative relationship and the capacity occupied by transmitting the corresponding data to be transmitted.

[0082] Through the above technical solution, the acquisition module 210 sets the reference data and then obtains the relative relationship between the data to be transmitted and the reference data. That is, all the data to be transmitted can be restored through the reference data and the relative relationship between the data to be transmitted and the reference data. Therefore, the processing module 220 can compare the capacity required to transmit the relative relationship between the data to be transmitted and the reference data and the capacity occupied by directly transmitting each data, and select the method with less capacity occupation for data transmission. Therefore, the data transmission volume can be effectively reduced, and the beneficial effect of improving the data transmission efficiency is achieved.

[0083] In some other embodiments, the above data transmission method is executed by using this data transmission device.

[0084] In a third aspect, referring to Figure 3 , the present application further provides an electronic device 300, including a processor 310 and a memory 320. The memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the above method are run.

[0085] Through the above technical solution, the processor 310 and the memory 320 are interconnected and communicate with each other through a communication bus and / or other forms of connection mechanisms (not shown). The memory 320 stores a computer program executable by the processor 310. When the computing device runs, the processor executes the computer program to execute the method in any optional implementation manner of the above embodiments to implement the following functions: setting reference data and obtaining the relative relationship between the data to be transmitted and the reference data according to the reference data; performing data transmission according to the capacity occupied by transmitting each relative relationship and the capacity occupied by transmitting the corresponding data to be transmitted.

[0086] In a fourth aspect, the present application further provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method are run.

[0087] Through the above technical solution, when the computer program is executed by a processor, the method in any optional implementation manner of the above embodiments is executed to implement the following functions: setting reference data and obtaining the relative relationship between the data to be transmitted and the reference data according to the reference data; performing data transmission according to the capacity occupied by transmitting each relative relationship and the capacity occupied by transmitting the corresponding data to be transmitted.

[0088] Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM for short), electrically erasable programmable read-only memory (EEPROM for short), erasable programmable read-only memory (EPROM for short), programmable read-only memory (PROM for short), read-only memory (ROM for short), magnetic memory, flash memory, magnetic disk or optical disk.

[0089] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be in electrical, mechanical or other forms.

[0090] In addition, the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0091] Furthermore, in each embodiment of the present application, the functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0092] The above are only the embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A data transmission method, characterized in that, Including: Setting reference data and obtaining the relative relationship between the data to be transmitted and the reference data according to the reference data; Performing data transmission according to the capacity occupied by transmitting each of the relative relationships and the capacity occupied by transmitting the corresponding data to be transmitted; The data to be transmitted is point cloud data, and the steps of setting reference data and obtaining the relative relationship between the data to be transmitted and the reference data according to the reference data include: Obtaining the three-dimensional coordinates of each point and the scanning angle of each point in the point cloud data, and selecting a reference point; Calculating the Euclidean distance between each point and the reference point according to the three-dimensional coordinates of each point in the point cloud data; The steps of performing data transmission according to the capacity occupied by transmitting each of the relative relationships and the capacity occupied by transmitting the corresponding data to be transmitted include: Performing data transmission by using the Euclidean distance between each point and the reference point in the point cloud data and the corresponding scanning angle to replace the three-dimensional coordinates of each point in the point cloud data.

2. The data transmission method according to claim 1, characterized in that, The steps of performing data transmission according to the capacity occupied by transmitting each of the relative relationships and the capacity occupied by transmitting the corresponding data to be transmitted include: When the capacity occupied by transmitting each of the relative relationships is less than the capacity occupied by transmitting the corresponding data to be transmitted, performing data transmission through the relative relationship.

3. A data transmission method according to claim 1, characterized in that, The scanning angle includes a horizontal scanning angle and a vertical scanning angle.

4. A data transmission method according to claim 3, characterized in that, The steps of performing data transmission by using the Euclidean distance between each point and the reference point in the point cloud data and the corresponding scanning angle to replace the three-dimensional coordinates of each point in the point cloud data include: Performing data transmission by using the Euclidean distance between each point and the reference point in the point cloud data and the corresponding horizontal scanning angle, or by using the Euclidean distance between each point and the reference point in the point cloud data and the corresponding vertical scanning angle to replace the three-dimensional coordinates of each point.

5. A data transmission method according to claim 4, characterized in that The steps of selecting the reference point include: Selecting one reference point from each row of data or each column of data in the point cloud data.

6. A data transmission method according to claim 5, characterized in that, The steps of calculating the Euclidean distance between each point and the reference point according to the three-dimensional coordinates of each point in the point cloud data include: Calculating the Euclidean distance between each point in each column of data in the point cloud data and the corresponding reference point in each column of data, or calculating the Euclidean distance between each point in each row of data in the point cloud data and the corresponding reference point in each row of data.

7. A data transmission device, characterized in that, Including: An acquisition module for setting reference data and obtaining the relative relationship between the data to be transmitted and the reference data according to the reference data; A processing module for performing data transmission according to the capacity occupied by transmitting each of the relative relationships and the capacity occupied by transmitting the corresponding data to be transmitted; The data to be transmitted is point cloud data, and the steps of setting reference data and obtaining the relative relationship between the data to be transmitted and the reference data according to the reference data include: Obtaining the three-dimensional coordinates of each point and the scanning angle of each point in the point cloud data, and selecting a reference point; Calculating the Euclidean distance between each point and the reference point according to the three-dimensional coordinates of each point in the point cloud data; The step of performing data transmission according to the capacity occupied by transmitting each of the relative relationships and the capacity occupied by transmitting the corresponding data to be transmitted includes: Performing data transmission by using the Euclidean distance between each point in the point cloud data and the reference point and the corresponding scanning angle to replace the three-dimensional coordinates of each point in the point cloud data.

8. An electronic device, characterized in that, It includes a processor and a memory, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the method according to any one of claims 1-6 are run.

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