Visualization method and device for point cloud of three-dimensional laser scanner

Abstract

The invention discloses a visualization method and device for a three-dimensional laser scanner point cloud. The device comprises a three-dimensional laser scanner and a mobile device. The method is applied to the mobile device. Generating an equipment management interface based on triggering of a network distribution success instruction between the mobile equipment and the three-dimensional laser scanner; setting a current working mode for the three-dimensional laser scanner based on triggering of setting options in the equipment management interface; establishing communication connection with the three-dimensional laser scanner based on triggering of a connection option in the equipment management interface, and generating a scanning control interface; and controlling the three-dimensional laser scanner to execute scanning operation on the target area according to the current working mode based on the triggering of the start-stop option in the scanning control interface, and generating a visual real-time point cloud model. Therefore, the scanning process of the three-dimensional laser scanner can be monitored in real time based on the man-machine interaction mode of the mobile equipment, and the scanning operation can be remotely controlled; therefore, the experience of observing the target area by the user is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of image processing, and in particular relates to a visualization method and device for a three-dimensional laser scanner point cloud. Background Art

[0002] 3D laser scanning technology is a new technology that has emerged in recent years and has attracted more and more attention in the research field in China. It uses the principle of laser ranging to record the 3D coordinates, reflectivity and texture information of a large number of dense points on the surface of the measured object, and can quickly reconstruct the 3D model of the measured target and various map data such as lines, surfaces and volumes. With the further innovation of technology and the continuous expansion of application fields, handheld 3D laser scanners are being used more and more widely in fields such as architecture, engineering, medical treatment, cultural heritage protection, aerospace, automotive industry, dynamic obstacle detection, etc.

[0003] With the development of 3D laser scanning technology, the market demand for real-time monitoring and operation of 3D laser scanners is also increasing. Traditional 3D laser scanners often lack convenient monitoring methods, and users need to go to the site to interact directly with the equipment, which limits the working efficiency and operational flexibility of 3D laser scanners.

[0004] In recent years, in 3D laser scanner products, combining mobile human-computer interaction with visual display has become an important development direction. For example, users can more intuitively monitor and operate the scanning process of 3D laser scanners through mobile devices (such as smartphones or tablets). Summary of the invention

[0005] In view of the above problems existing in the prior art, the embodiment of the present invention provides a method and device for visualizing point clouds of a 3D laser scanner. The method can monitor and remotely control the scanning process of the 3D laser scanner in real time, thereby improving the working efficiency of the 3D laser scanner.

[0006] According to a first aspect of an embodiment of the present invention, a visualization method for a point cloud of a three-dimensional laser scanner is provided, comprising a three-dimensional laser scanner and a mobile device; the method is applied to a mobile device; comprising: generating a device management interface based on the triggering of a successful network configuration instruction between the mobile device and the three-dimensional laser scanner; wherein the device management interface comprises setting options and connection options; based on the triggering of the setting options in the device management interface, setting a current working mode corresponding to the setting options for the three-dimensional laser scanner; based on the triggering of the connection options in the device management interface, establishing a communication connection with the three-dimensional laser scanner, and generating a scanning control interface; wherein the scanning control interface comprises a start-stop option; based on the triggering of the start-stop option in the scanning control interface, controlling the three-dimensional laser scanner to perform a scanning operation corresponding to the start-stop option on a target area according to the current working mode, and generating a visualized real-time point cloud model.

[0007] Optionally, based on the triggering of the start / stop options in the scanning control interface, the three-dimensional laser scanner is controlled to perform the scanning operation corresponding to the start / stop options on the target area according to the current working mode, and a visual real-time point cloud model is generated; including: based on the triggering of the start option in the scanning control interface, the three-dimensional laser scanner is controlled to perform the scanning operation corresponding to the start option on the target area according to the current working mode, and real-time point cloud data is generated; color registration processing is performed on the real-time point cloud data, and a 3D coordinate point sequence carrying color information is output; the 3D coordinate point sequence carrying color information is rendered to a preset position of the scanning control interface to generate a real-time point cloud model.

[0008] Optionally, the real-time point cloud data is subjected to color registration processing to output a 3D coordinate point sequence carrying color information; including: performing data structure analysis on the real-time point cloud data to output a 3D coordinate point sequence; for any 3D coordinate point in the 3D coordinate point sequence: normalizing the Z-axis value of the 3D coordinate point to generate a normalized value; based on a color mapping table, determining a color range corresponding to the normalized value, and assigning the determined color to the 3D coordinate point to obtain a 3D coordinate point carrying color information; based on each 3D coordinate point carrying color information in the 3D coordinate point sequence, a 3D coordinate point sequence carrying color information is obtained.

[0009] Optionally, the first buffer area includes a first buffer area front end and a first buffer area back end; before the real-time point cloud data is subjected to color registration processing, it also includes: writing the real-time point cloud data into the first buffer area back end; based on the triggering of the color registration instruction, switching the first buffer area back end for writing the real-time point cloud data to the first buffer area front end, and reading the real-time point cloud data from the first buffer area front end, so as to perform color registration processing on the read real-time point cloud data.

[0010] Optionally, the second cache area includes a second cache area front end and a second cache area back end; before rendering the 3D coordinate point sequence carrying color information to the preset position of the scanning control interface, it also includes: writing the 3D coordinate point sequence carrying color information to the second cache area back end; based on the triggering of the rendering processing request, switching the second cache area back end that writes the 3D coordinate point sequence carrying color information to the second cache area front end, and reading the 3D coordinate point sequence carrying color information from the second cache area front end, so as to render the 3D coordinate point sequence carrying color information to the preset position of the scanning control interface.

[0011] Optionally, the device management interface also includes a USB disk mode option; based on the triggering of the USB disk mode option, the data storage end corresponding to the three-dimensional laser scanner is connected through the USB interface to generate a calibration interface; wherein the calibration interface includes a calibration option; based on the triggering of the calibration option in the calibration interface, the historical scanning data of the three-dimensional laser scanner for the target area is obtained from the data storage end, and the parameters of the current working mode are calibrated based on the historical scanning data, and the calibrated current working mode is output.

[0012] Optionally, the method also includes: based on the user's trigger gesture for the real-time point cloud model, detecting the number of touch points corresponding to the trigger gesture; if the detection result indicates that the number of touch points is single-point touch, performing a translation operation corresponding to the trigger gesture on the real-time point cloud model; if the detection result indicates that the number of touch points is more than one, determining that the trigger action corresponding to the trigger gesture is a rotation action, and performing a rotation operation corresponding to the trigger gesture on the real-time point cloud model around the center of mass of the real-time point cloud model; wherein the center of mass of the real-time point cloud model is obtained by averaging the 3D coordinate point sequence corresponding to the real-time point cloud model.

[0013] Optionally, the scanning control interface also includes a video window, a zoom control and a restore control; based on the triggering of the enable option in the scanning control interface, the three-dimensional laser scanner is controlled to perform a scanning operation corresponding to the enable option on the target area according to the current working mode to generate a real-time image; the real-time image is used as a bitmap of the real-time point cloud model and displayed in the scanning control interface through the video window; based on the triggering of the zoom control in the scanning control interface, the zoom operation corresponding to the zoom control is performed on the real-time point cloud model; based on the triggering of the restore control in the scanning control interface, the real-time point cloud model after the translation operation, and / or rotation operation, and / or zoom operation is restored to the default original state.

[0014] According to the second aspect of an embodiment of the present invention, there is also provided a visualization device for a point cloud of a three-dimensional laser scanner, comprising a three-dimensional laser scanner and a mobile device; the device is applied to a mobile device; comprising: a first generation module, for generating a device management interface based on the triggering of a successful network configuration instruction between the mobile device and the three-dimensional laser scanner; wherein the device management interface includes setting options and connection options; a setting module, for setting a current working mode corresponding to the setting options for the three-dimensional laser scanner based on the triggering of the setting options in the device management interface; a second generation module, for establishing a communication connection with the three-dimensional laser scanner based on the triggering of the connection options in the device management interface, and generating a scanning control interface; wherein the scanning control interface includes a start-stop option; a third generation module, for controlling the three-dimensional laser scanner to perform a scanning operation corresponding to the start-stop option on the target area according to the current working mode based on the triggering of the start-stop option in the scanning control interface, and generating a visualized real-time point cloud model.

[0015] According to a third aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; the processor for reading the executable instructions from the memory and executing the instructions to implement the method described in the first aspect.

[0016] According to a fourth aspect of an embodiment of the present invention, there is further provided a computer-readable medium on which a computer program is stored. When the program is executed by a processor, the method described in the first aspect is implemented.

[0017] The embodiment of the present invention provides a visualization method and device for a point cloud of a three-dimensional laser scanner, including a three-dimensional laser scanner and a mobile device; the method is applied to the mobile device; including: first, based on the triggering of a successful network configuration instruction between the mobile device and the three-dimensional laser scanner, a device management interface is generated; wherein the device management interface includes setting options and connection options; secondly, based on the triggering of the setting options in the device management interface, the three-dimensional laser scanner is set to a current working mode corresponding to the setting options; then, based on the triggering of the connection options in the device management interface, a communication connection with the three-dimensional laser scanner is established to generate a scanning control interface; wherein the scanning control interface includes a start-stop option; finally, based on the triggering of the start-stop option in the scanning control interface, the three-dimensional laser scanner is controlled to perform a scanning operation corresponding to the start-stop option on the target area according to the current working mode, and a visualized real-time point cloud model is generated. This embodiment can monitor the scanning process of the three-dimensional laser scanner in real time based on the human-computer interaction mode of the mobile device, and remotely control the scanning operation; thereby, not only the working efficiency of the three-dimensional laser scanner is improved, but also the flexibility of the operation of the three-dimensional laser scanner is improved. Compared with the traditional static display method, this embodiment can smoothly display real-time point cloud data in a dynamic environment, and also supports users to focus on different target areas, thereby improving the user's observation experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0019] Figure 1 A schematic flow chart of a method for visualizing a point cloud of a three-dimensional laser scanner provided by an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a process for generating a real-time point cloud model in one embodiment of the present invention;

[0021] Figure 3 A schematic diagram of a device management interface in one embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of a scanning control interface in one embodiment of the present invention;

[0023] Figure 5 A schematic structural diagram of a device for visualizing a point cloud of a three-dimensional laser scanner is provided for one embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0025] like Figure 1 FIG. 1 is a flow chart of a visualization method for a 3D laser scanner point cloud provided by an embodiment of the present invention. Figure 3 FIG. 1 is a schematic diagram of a device management interface in an embodiment of the present invention.

[0026] A visualization method for a three-dimensional laser scanner point cloud includes a three-dimensional laser scanner and a mobile device; the method is applied to the mobile device; and at least includes the following steps:

[0027] S101, generating a device management interface based on the triggering of a successful network configuration instruction between the mobile device and the three-dimensional laser scanner; wherein the device management interface includes setting options and connection options;

[0028] S102, based on the triggering of the setting option in the device management interface, setting the current working mode corresponding to the setting option for the 3D laser scanner;

[0029] S103, based on the triggering of the connection option in the device management interface, establishing a communication connection with the three-dimensional laser scanner and generating a scanning control interface; wherein the scanning control interface includes a start and stop option;

[0030] S104, based on the triggering of the start / stop option in the scanning control interface, controlling the three-dimensional laser scanner to perform a scanning operation corresponding to the start / stop option on the target area according to the current working mode, and generating a visual real-time point cloud model.

[0031] In S101, the mobile device is, for example, an APP device, etc.;

[0032] Here, there is no limitation on the network configuration method between the APP device and the 3D laser scanner, for example, the mobile device and the 3D laser scanner are configured based on Bluetooth or hotspot.

[0033] Specifically, when the APP device is used for the first time, a Bluetooth network configuration interface is generated based on the user's triggering of the APP interface; wherein, the Bluetooth network configuration interface includes: open hotspot option, open Bluetooth option, retrieve Bluetooth option, paired Bluetooth list, available Bluetooth list, network name edit box, password edit box, configuration option, completion option, etc.

[0034] The mobile device and the 3D laser scanner are networked based on the hotspot method, as follows: based on the user's trigger for opening the hotspot option, the wireless hotspot of the APP device is turned on, and the system interface is automatically called to jump to the mobile phone hotspot switch interface, and the network configuration between the APP device and the 3D laser scanner is achieved by turning on the mobile phone hotspot switch.

[0035] The mobile device and the 3D laser scanner are networked based on Bluetooth, as follows: based on the user's trigger for turning on the Bluetooth option, the APP device can automatically turn on the system Bluetooth and display the pairing result in the available Bluetooth list; then, based on the trigger for pairing Bluetooth in the available Bluetooth list, the APP device and the 3D laser scanner are paired by Bluetooth; finally, based on the user's trigger for the paired Bluetooth list, the Bluetooth connection between the APP device and the 3D laser scanner is realized.

[0036] Alternatively, based on the user's trigger for retrieving the Bluetooth option, the APP device can automatically search for Bluetooth and display the retrieved results in the available Bluetooth list; then, based on the trigger for pairing Bluetooth in the available Bluetooth list, the APP device and the 3D laser scanner perform Bluetooth pairing; finally, based on the user's trigger for the paired Bluetooth list, the Bluetooth connection between the APP device and the 3D laser scanner is realized.

[0037] When the Bluetooth connection is successful, you can enter the available WIFI network name and password in the APP device, click the configuration option, and transmit the WIFI network name and password to the 3D laser scanner device via Bluetooth. After receiving the WIFI name and password, the 3D laser scanner device automatically connects to the network and returns the network connection result, device IP address and port number, device status and other information to the APP device, generating a successful network configuration instruction. Based on the triggering of the successful network configuration instruction, the APP device establishes a TCP / IP connection, communicates, and generates a device management interface.

[0038] In S102 and S103, the working modes of the 3D laser scanner include an open mode (i.e., an outdoor mode), a closed mode (i.e., an indoor mode), and a semi-closed mode. Based on the user's selection of the setting option, the current working mode of the 3D laser scanner corresponding to the selected setting option is determined; the current working mode is the initial working mode.

[0039] In S104, based on the triggering of the start option in the scanning control interface, the three-dimensional laser scanner is controlled to perform the scanning operation corresponding to the start option on the target area according to the current working mode, and a visual real-time point cloud model and a real-time image are generated; based on the triggering of the stop option in the scanning control interface, the three-dimensional laser scanner is controlled to stop performing the scanning operation on the target area.

[0040] Here, the real-time point cloud model is generated based on the real-time point cloud data collected by the laser radar in the 3D laser scanner for the target area; the real-time image is obtained based on the camera in the 3D laser scanner shooting the target area.

[0041] It should be noted that the three-dimensional laser scanner in this embodiment is not limited to a handheld three-dimensional laser scanner, and other forms of three-dimensional laser scanners can also be supported.

[0042] This embodiment can monitor the scanning process of the 3D laser scanner in real time and remotely control the scanning operation based on the human-computer interaction mode of the mobile device; thereby, not only the working efficiency of the 3D laser scanner is improved, but also the flexibility of the operation of the 3D laser scanner is improved. Compared with the traditional static display mode, this embodiment can smoothly display real-time point cloud data in a dynamic environment, and also supports users to focus on different target areas, thereby improving the user's experience of observing the target area.

[0043] In a preferred implementation manner of this embodiment, the device management interface also includes a U disk mode option; based on the triggering of the U disk mode option, the data storage end corresponding to the three-dimensional laser scanner is connected through the USB interface to generate a calibration interface; wherein the calibration interface includes a calibration option; based on the triggering of the calibration option in the calibration interface, the historical scanning data of the three-dimensional laser scanner for the target area is obtained from the data storage end, and the parameters of the current working mode are calibrated based on the historical scanning data, and the calibrated current working mode is output.

[0044] For example: the mobile device sets the current working mode of the 3D laser scanner based on the user triggering the setting option; if the user then triggers the USB flash drive mode option, the mobile device controls the 3D laser scanner to perform scanning operations corresponding to the start and stop options on the target area according to the calibrated current working mode, and generates a visual real-time point cloud model; if the user does not trigger the USB flash drive mode option, the mobile device controls the 3D laser scanner to perform scanning operations corresponding to the start and stop options on the target area according to the uncalibrated current working mode, and generates a visual real-time point cloud model.

[0045] Therefore, the mobile device of this embodiment can automatically adjust the working parameters of the three-dimensional laser scanner according to historical scanning data based on human-computer interaction, so that the parameters of the current working mode of the three-dimensional laser scanner can be accurately calibrated in combination with the actual scene, thereby improving the accuracy of the three-dimensional laser scanner in scanning the target area.

[0046] In the preferred implementation of this embodiment, the device management interface also includes: the device image, device name, device status, device power, and device capacity of the 3D laser scanner. "Device status" displays the current status of the 3D laser scanner (e.g., normal, abnormal, etc.); "Power" displays the remaining power of the 3D laser scanner; "Capacity" displays the remaining memory capacity of the 3D laser scanner.

[0047] Therefore, the working status of the 3D laser scanner can be clearly understood through the mobile device, thereby avoiding the influence of abnormal working of the 3D laser scanner on the scanning of the target area, thereby improving the working efficiency of the 3D laser scanner.

[0048] like Figure 2 As shown in FIG. 1 , it is a schematic diagram of a process of generating a real-time point cloud model in one embodiment of the present invention. Figure 4 FIG. 1 is a schematic diagram of a scanning control interface in an embodiment of the present invention.

[0049] Generating a visual real-time point cloud model includes at least the following steps:

[0050] S201, based on the triggering of the enable option in the scanning control interface, controlling the 3D laser scanner to perform a scanning operation corresponding to the enable option on the target area according to the current working mode, and generating real-time point cloud data;

[0051] S202, performing color registration processing on the real-time point cloud data, and outputting a 3D coordinate point sequence carrying color information;

[0052] S203, rendering a 3D coordinate point sequence carrying color information to a preset position of a scanning control interface to generate a real-time point cloud model.

[0053] In S201 , the mobile device subscribes to a point cloud data stream from a designated topic through ROS, and receives real-time point cloud data from a sensor (eg, a laser radar, etc.).

[0054] In S202, color registration processing may be performed on the real-time point cloud data based on preset rules or model learning, and a 3D coordinate point sequence carrying color information may be output.

[0055] Exemplarily, the first cache area includes a first cache area front end and a first cache area back end; real-time point cloud data is written into the first cache area back end; based on the triggering of the color registration instruction, the first cache area back end that writes the real-time point cloud data is switched to the first cache area front end, and the real-time point cloud data is read from the first cache area front end; the data structure of the read real-time point cloud data is parsed, and a 3D coordinate point sequence is output; for any 3D coordinate point in the 3D coordinate point sequence: the Z-axis value of the 3D coordinate point is normalized to generate a normalized value; based on a color mapping table, a color interval corresponding to the normalized value is determined, and the determined color is assigned to the 3D coordinate point to obtain a 3D coordinate point carrying color information; based on each 3D coordinate point carrying color information in the 3D coordinate point sequence, a 3D coordinate point sequence carrying color information is obtained.

[0056] According to the Z-axis value in the three-dimensional coordinates of the real-time point cloud data, the point cloud data is normalized and calculated, and then layered and colored; the specific process is as follows:

[0057] For the Z-axis value of any 3D coordinate point, the calculation formula of the normalized value zValueLocal is shown in formula (1):

[0058]

[0059] Color Mapping:

[0060] According to the value of zValueLocal, it can be classified into the following intervals and corresponds to different RGBA color values:

[0061] Range 0-9: Color = (1.0, 0.0, 0.0, 1.0) (red)

[0062] Range 10-19: Color = (1.0, 1.0, 0.0, 1.0) (yellow)

[0063] Range 20-29: Color = (0.0, 1.0, 0.0, 1.0) (green)

[0064] Range 30-39: Color = (0.0, 1.0, 1.0, 1.0) (cyan)

[0065] Range 40-49: Color = (0.0, 0.0, 1.0, 1.0) (blue)

[0066] Interval 50 and above: Color = (0.0, 0.0, 1.0, 1.0) (default blue);

[0067] Combining the above formula and color mapping, by calculating the zValueLocal value of each 3D coordinate point and determining its corresponding color, each 3D coordinate point is then assigned a corresponding color to generate a 3D coordinate point carrying color information.

[0068] Therefore, the mobile device of this embodiment renders different colors according to the zValueLocal value of the 3D coordinate point, realizing the visualization of the point cloud data in the height direction. Since different height intervals are mapped to different RGB values, the final generated real-time point cloud model presents a gradient from cyan to blue. Before the real-time point cloud data is color-matched, the real-time point cloud data is stored and processed based on the double buffer mechanism, which can ensure the smoothness of the real-time point cloud data during color matching.

[0069] In S203, the second cache area includes a second cache area front end and a second cache area back end; the 3D coordinate point sequence carrying color information is written into the second cache area back end; based on the triggering of the rendering processing request, the second cache area back end that writes the 3D coordinate point sequence carrying color information is switched to the second cache area front end, and the 3D coordinate point sequence carrying color information is read from the second cache area front end, and the read 3D coordinate point sequence carrying color information is rendered to a preset position of the scanning control interface to generate a real-time point cloud model.

[0070] This embodiment uses the graphics rendering engine OpenGL ES to render a 3D coordinate point sequence carrying color information in real time on a mobile device, and at the same time marks the height information of the 3D coordinate point sequence with different colors; thereby, not only the display effect of the real-time point cloud model is improved, but also the user can more intuitively understand the spatial structure of the real-time point cloud data, so as to clearly see the scanning accuracy and density of the target area.

[0071] In addition, before rendering the 3D coordinate point sequence, since a double buffer mechanism is used to store and process the 3D coordinate point sequence, whenever new real-time point cloud data is parsed, the front and back position switching of the cache area is triggered based on instructions to ensure the smoothness of the data when rendering the 3D coordinate point sequence, thereby improving the real-time performance of point cloud data rendering.

[0072] The 3D point cloud model generated by this embodiment also supports interactive operations such as rotation, scaling, and translation by users, thereby improving the user's experience in observing the target area. In a preferred implementation of this embodiment, the method further includes: based on the user's trigger gesture for the real-time point cloud model, detecting the number of touch points corresponding to the trigger gesture; if the detection result indicates that the number of touch points is single-point touch, performing a translation operation corresponding to the trigger gesture on the real-time point cloud model; if the detection result indicates that the number of touch points is more than one, determining that the trigger action corresponding to the trigger gesture is a rotation action, then performing a rotation operation corresponding to the trigger gesture on the real-time point cloud model around the center of mass of the real-time point cloud model; wherein the center of mass of the real-time point cloud model is obtained by averaging the 3D coordinate point sequence corresponding to the real-time point cloud model.

[0073] Specifically, in this system, gesture control is a key part of the user's interaction with the real-time point cloud model, and multi-touch support is implemented, making it easy for users to browse, adjust and manipulate the three-dimensional point cloud model through simple gesture operations.

[0074] Single-finger translation gesture: used to adjust the position of the real-time point cloud model in the scanning control interface. Users can drag a single finger to achieve translation. In onTouchEvent, the translateGestureDetector detects the sliding event of a single finger and updates the display position of the real-time point cloud model accordingly, improving the user's control over the partial viewing and movement of the real-time point cloud model.

[0075] Rotation gesture: used to rotate the real-time point cloud model around the center of mass, so that different angles of the real-time point cloud model can be viewed. After the rotateGestureDetector detects the rotation action of two fingers, the system calls the rotation function to update the viewing angle, so that users can flexibly adjust the display angle of the real-time point cloud model for comparison or detailed analysis.

[0076] Specifically, in the PointCloudController class, methods such as translateCameraOnAxes and rotateOnCameraX / Y / Z allow the real-time point cloud model to be adjusted at different angles, thereby enabling users to dynamically control the point cloud viewing angle.

[0077] This embodiment detects the number of touch points based on the trigger gesture to determine whether the current trigger gesture is valid, while also ensuring the independence between translation and rotation, so that different gestures can perform their respective functions and achieve a good user experience.

[0078] It should be noted that users can use various methods of the PointCloudController class to rotate, translate, and set the speed of the real-time point cloud model, making it convenient to observe the distribution of real-time point cloud data from different perspectives.

[0079] In a preferred implementation of this embodiment, the scanning control interface also includes a video window, a zoom control, a restore control, a stop option, and an export option; the method also includes: based on the triggering of the start option in the scanning control interface, controlling the three-dimensional laser scanner to perform a scanning operation corresponding to the start option on the target area according to the current working mode to generate a real-time image; using the real-time image as a bitmap of the real-time point cloud model, and displaying it in the scanning control interface through the video window; based on the triggering of the zoom control in the scanning control interface, performing a zoom operation corresponding to the zoom control on the real-time point cloud model; based on the triggering of the restore control in the scanning control interface, restoring the real-time point cloud model after the translation operation, and / or rotation operation, and / or zoom operation to the default original state. Based on the triggering of the stop option, the mobile device can control the three-dimensional laser scanner to stop scanning. Based on the triggering of the export option, the mobile device can export the scanned data to an SD card.

[0080] This embodiment uses RosImageView to draw the compressed image collected by the 3D laser scanner camera into a bitmap and display it on the scanning control interface.

[0081] This embodiment is based on the zoom control and the restore control, which can meet the user's multi-level viewing needs for the real-time point cloud model and improve the user's observation effect on the real-time point cloud model.

[0082] In summary, this embodiment enables users to naturally manipulate point cloud models on mobile devices based on human-computer interaction, improving the intuitiveness of operation. At the same time, the diversity of gesture control allows users to easily adjust details, change perspectives, and zoom in and out of real-time point cloud models, greatly enhancing the interactivity and ease of use of real-time point cloud data.

[0083] A visualization method for a three-dimensional laser scanner point cloud provided by this embodiment will be described in detail below in conjunction with specific application scenarios.

[0084] A visualization method for a 3D laser scanner point cloud comprises at least the following steps:

[0085] S1, based on the triggering of the network configuration success instruction between the mobile device and the three-dimensional laser scanner, generate a device management interface; wherein the device management interface includes setting options, connection options, and USB disk mode options.

[0086] S2, based on the triggering of the setting options in the device management interface, setting the current working mode corresponding to the setting options for the three-dimensional laser scanner.

[0087] S3, based on the triggering of the U disk mode option, connecting the data storage end corresponding to the three-dimensional laser scanner through the USB interface to generate a calibration interface; wherein the calibration interface includes a calibration option; based on the triggering of the calibration option in the calibration interface, obtaining the historical scanning data of the three-dimensional laser scanner for the target area from the data storage end, and performing parameter calibration on the current working mode based on the historical scanning data, and outputting the calibrated current working mode.

[0088] S4, based on the triggering of the connection option in the device management interface, establish a communication connection with the three-dimensional laser scanner and generate a scanning control interface; wherein the scanning control interface includes a start / stop option, a video window, a zoom control, and a restore control.

[0089] S5, based on the triggering of the enable option in the scanning control interface, controlling the three-dimensional laser scanner to perform a scanning operation corresponding to the enable option on the target area according to the calibrated current working mode, and generating real-time point cloud data and real-time images.

[0090] S6, write the real-time point cloud data to the back end of the first buffer area; based on the triggering of the color registration instruction, switch the back end of the first buffer area where the real-time point cloud data is written to the front end of the first buffer area, and read the real-time point cloud data from the front end of the first buffer area. Perform data structure analysis on the real-time point cloud data and output a 3D coordinate point sequence; for any 3D coordinate point in the 3D coordinate point sequence: normalize the Z-axis value of the 3D coordinate point to generate a normalized value; based on the color mapping table, determine the color interval corresponding to the normalized value, and assign the determined color to the 3D coordinate point to obtain a 3D coordinate point carrying color information; based on each 3D coordinate point carrying color information in the 3D coordinate point sequence, obtain a 3D coordinate point sequence carrying color information.

[0091] S7, write the 3D coordinate point sequence carrying color information into the back end of the second buffer area; based on the triggering of the rendering processing request, switch the back end of the second buffer area where the 3D coordinate point sequence carrying color information is written to the front end of the second buffer area, and read the 3D coordinate point sequence carrying color information from the front end of the second buffer area. Render the 3D coordinate point sequence carrying color information to a preset position of the scanning control interface to generate a real-time point cloud model.

[0092] S8, using the real-time image as a bitmap of the real-time point cloud model, and displaying it in the scanning control interface through the video window.

[0093] S9, based on the triggering of the stop option in the scanning control interface, controlling the three-dimensional laser scanner to perform a scanning operation corresponding to the stop option on the target area.

[0094] S10, based on the triggering of the zoom control in the scanning control interface, performing a zoom operation corresponding to the zoom control on the real-time point cloud model.

[0095] S11, based on the user's trigger gesture for the real-time point cloud model, the number of touch points corresponding to the trigger gesture is detected; if the detection result indicates that the number of touch points is single-point touch, a translation operation corresponding to the trigger gesture is performed on the real-time point cloud model; if the detection result indicates that the number of touch points is more than one, it is determined that the trigger action corresponding to the trigger gesture is a rotation action, and a rotation operation corresponding to the trigger gesture is performed on the real-time point cloud model around the center of mass of the real-time point cloud model; wherein the center of mass of the real-time point cloud model is obtained by averaging the 3D coordinate point sequence corresponding to the real-time point cloud model.

[0096] S12, based on the triggering of the restore control in the scanning control interface, the real-time point cloud model after the translation operation, and / or rotation operation, and / or scaling operation is restored to a default original state.

[0097] The visualization method of this embodiment can also be applied to fields such as unmanned systems, autonomous driving, and robots that require real-time analysis of three-dimensional spatial structures.

[0098] The present invention significantly improves the observation experience of point cloud data by parsing and rendering real-time point cloud data, flexible viewing angle control, multi-touch interaction, and gradient color visualization. Compared with the traditional static display method, the present invention can smoothly display point cloud data in a dynamic environment, support users to view from different areas, and adjust the viewing angle, zoom ratio and color display of the real-time point cloud model in real time according to the scene requirements, thereby improving the user's experience of observing the target area.

[0099] like Figure 5 As shown, it is a schematic diagram of the structure of a visualization device for a three-dimensional laser scanner point cloud according to an embodiment of the present invention.

[0100] A visualization device for a point cloud of a three-dimensional laser scanner, the device 500 comprising: a three-dimensional laser scanner and a mobile device; the device is applied to the mobile device; comprising: a first generation module 501, for generating a device management interface based on the triggering of a successful network configuration instruction between the mobile device and the three-dimensional laser scanner; wherein the device management interface comprises setting options and connection options; a setting module 502, for setting a current working mode corresponding to the setting options for the three-dimensional laser scanner based on the triggering of the setting options in the device management interface; a second generation module 503, for establishing a communication connection with the three-dimensional laser scanner based on the triggering of the connection options in the device management interface, and generating a scanning control interface; wherein the scanning control interface comprises a start-stop option; a third generation module 504, for controlling the three-dimensional laser scanner to perform a scanning operation corresponding to the start-stop option on a target area according to the current working mode based on the triggering of the start-stop option in the scanning control interface, and generating a visualized real-time point cloud model.

[0101] In a preferred implementation of this embodiment, the third generation module includes: a control unit, which is used to control the three-dimensional laser scanner to perform a scanning operation corresponding to the activation option on the target area according to the current working mode based on the triggering of the activation option in the scanning control interface, and generate real-time point cloud data; a color matching unit, which is used to perform color matching processing on the real-time point cloud data and output a 3D coordinate point sequence carrying color information; and a generation unit, which is used to render the 3D coordinate point sequence carrying color information to a preset position of the scanning control interface to generate a real-time point cloud model.

[0102] In a preferred implementation manner of this embodiment, the color registration unit includes: a data structure parsing subunit, which is used to perform data structure parsing on the real-time point cloud data and output a 3D coordinate point sequence; a color registration subunit, which is used to normalize the Z-axis value of the 3D coordinate point to generate a normalized value for any 3D coordinate point in the 3D coordinate point sequence; based on a color mapping table, determine the color interval corresponding to the normalized value, and assign the determined color to the 3D coordinate point to obtain a 3D coordinate point carrying color information; and an obtaining subunit, which is used to obtain a 3D coordinate point sequence carrying color information based on each 3D coordinate point carrying color information in the 3D coordinate point sequence.

[0103] In a preferred implementation manner of this embodiment, the first cache area includes a first cache area front end and a first cache area back end; the third generation module also includes: a first writing subunit, used to write the real-time point cloud data into the first cache area back end; a first reading subunit, used to switch the first cache area back end for writing real-time point cloud data to the first cache area front end based on the triggering of a color registration instruction, and read the real-time point cloud data from the first cache area front end, so as to perform color registration processing on the read real-time point cloud data.

[0104] In a preferred implementation manner of this embodiment, the second cache area includes a second cache area front end and a second cache area back end; the third generation module also includes: a second writing unit, used to write the 3D coordinate point sequence carrying color information into the second cache area back end; a second reading unit, used to switch the second cache area back end that writes the 3D coordinate point sequence carrying color information to the second cache area front end based on the triggering of a rendering processing request, and read the 3D coordinate point sequence carrying color information from the second cache area front end, so as to render the 3D coordinate point sequence carrying color information to a preset position of the scanning control interface.

[0105] In a preferred implementation manner of this embodiment, the device management interface also includes a USB disk mode option; the device also includes: a fourth generation module, which is used to generate a calibration interface by connecting to the data storage end corresponding to the three-dimensional laser scanner through a USB interface based on the triggering of the USB disk mode option; wherein the calibration interface includes a calibration option; a calibration module, which is used to obtain the historical scanning data of the three-dimensional laser scanner for the target area from the data storage end based on the triggering of the calibration option in the calibration interface, and perform parameter calibration on the current working mode based on the historical scanning data, and output the calibrated current working mode.

[0106] In a preferred implementation manner of this embodiment, the device also includes: a detection module, which is used to detect the number of touch points corresponding to the trigger gesture based on the user's trigger gesture for the real-time point cloud model; a first execution module, which is used to perform a translation operation corresponding to the trigger gesture on the real-time point cloud model if the detection result indicates that the number of touch points is single-point touch; and a second execution module, which is used to determine that the trigger action corresponding to the trigger gesture is a rotation action if the detection result indicates that the number of touch points is more than one, and then perform a rotation operation corresponding to the trigger gesture on the real-time point cloud model around the center of mass of the real-time point cloud model; wherein the center of mass of the real-time point cloud model is obtained by averaging the 3D coordinate point sequence corresponding to the real-time point cloud model.

[0107] In a preferred implementation manner of this embodiment, the scanning control interface also includes a video window, a zoom control and a restore control; the device also includes: a fifth generation module, which is used to control the three-dimensional laser scanner to perform a scanning operation corresponding to the enable option on the target area according to the current working mode based on the triggering of the enable option in the scanning control interface, and generate a real-time image; a display module, which is used to use the real-time image as a bitmap of the real-time point cloud model and display it in the scanning control interface through the video window; a third execution module, which is used to perform a zoom operation corresponding to the zoom control on the real-time point cloud model based on the triggering of the zoom control in the scanning control interface; a restore module, which is used to restore the real-time point cloud model after the translation operation, and / or rotation operation, and / or zoom operation to the default original state based on the triggering of the restore control in the scanning control interface.

[0108] The above device can execute a visualization method for a 3D laser scanner point cloud provided by an embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing a visualization method for a 3D laser scanner point cloud. For technical details not fully described in this embodiment, please refer to a visualization method for a 3D laser scanner point cloud provided by an embodiment of the present invention.

[0109] The present invention also provides an electronic device, comprising: a processor; a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement a visualization method for a three-dimensional laser scanner point cloud described in the present invention.

[0110] In addition to the above-mentioned methods and devices, an embodiment of the present application 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 method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0111] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0112] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to the following embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0113] 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.

[0114] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application 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 application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0115] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application 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 diagram. 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", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0116] It should also be noted that in the apparatus, device and method of the present application, 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 application.

[0117] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. 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 application. Therefore, the present application 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.

[0118] 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 application 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.

[0119] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0120] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0121] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A visualization method for a 3D laser scanner point cloud, characterized in that: Including 3D laser scanners and mobile devices; The method is applied to a mobile device; comprising: Based on the triggering of the successful network configuration instruction between the mobile device and the three-dimensional laser scanner, a device management interface is generated; wherein the device management interface includes setting options and connection options; Based on the triggering of the setting options in the device management interface, setting a current working mode corresponding to the setting options for the three-dimensional laser scanner; Based on the triggering of the connection option in the device management interface, a communication connection with the three-dimensional laser scanner is established to generate a scanning control interface; wherein the scanning control interface includes a start and stop option; Based on the triggering of the start / stop option in the scanning control interface, the three-dimensional laser scanner is controlled to perform a scanning operation corresponding to the start / stop option on the target area according to the current working mode, and a visual real-time point cloud model is generated.

2. The method according to claim 1, characterized in that The method of controlling the three-dimensional laser scanner to perform a scanning operation corresponding to the start / stop option on the target area according to the current working mode based on the triggering of the start / stop option in the scanning control interface, and generating a visual real-time point cloud model comprises: Based on the triggering of the enable option in the scanning control interface, the three-dimensional laser scanner is controlled to perform a scanning operation corresponding to the enable option on the target area according to the current working mode to generate real-time point cloud data; Performing color registration processing on the real-time point cloud data, and outputting a 3D coordinate point sequence carrying color information; The 3D coordinate point sequence carrying color information is rendered to a preset position of the scanning control interface to generate a real-time point cloud model.

3. The method according to claim 2, characterized in that The color registration processing is performed on the real-time point cloud data to output a 3D coordinate point sequence carrying color information; comprising: Performing data structure analysis on the real-time point cloud data and outputting a 3D coordinate point sequence; For any 3D coordinate point in the 3D coordinate point sequence: normalize the Z-axis value of the 3D coordinate point to generate a normalized value; determine the color interval corresponding to the normalized value based on a color mapping table, and assign the determined color to the 3D coordinate point to obtain a 3D coordinate point carrying color information; Based on each of the 3D coordinate points carrying color information in the 3D coordinate point sequence, a 3D coordinate point sequence carrying color information is obtained.

4. The method according to claim 2, characterized in that: The first buffer area includes a first buffer area front end and a first buffer area back end; before color registration processing is performed on the real-time point cloud data, it also includes: Writing the real-time point cloud data into the back end of the first buffer area; Based on the triggering of the color registration instruction, the back end of the first buffer area for writing real-time point cloud data is switched to the front end of the first buffer area, and the real-time point cloud data is read from the front end of the first buffer area, so as to perform color registration processing on the read real-time point cloud data.

5. The method according to claim 2, characterized in that: The second buffer area includes a second buffer area front end and a second buffer area back end; before rendering the 3D coordinate point sequence carrying color information to the preset position of the scanning control interface, it also includes: Writing the 3D coordinate point sequence carrying color information into the back end of the second buffer area; Based on the triggering of the rendering processing request, the back end of the second buffer area for writing the 3D coordinate point sequence carrying color information is switched to the front end of the second buffer area, and the 3D coordinate point sequence carrying color information is read from the front end of the second buffer area, so as to render the 3D coordinate point sequence carrying color information to the preset position of the scanning control interface.

6. The method according to claim 1, characterized in that The device management interface also includes a USB disk mode option; Based on the triggering of the U disk mode option, the data storage end corresponding to the three-dimensional laser scanner is connected through the USB interface to generate a calibration interface; wherein the calibration interface includes a calibration option; Based on triggering of the calibration option in the calibration interface, historical scanning data of the three-dimensional laser scanner for the target area is obtained from the data storage end, and parameters of the current working mode are calibrated based on the historical scanning data, and the calibrated current working mode is output.

7. The method according to claim 1, characterized in that Also includes: Based on a trigger gesture of a user on the real-time point cloud model, detecting the number of touch points corresponding to the trigger gesture; If the detection result indicates that the number of touch points is single-point touch, performing a translation operation corresponding to the trigger gesture on the real-time point cloud model; If the detection result indicates that the number of touch points is more than one, it is determined that the trigger action corresponding to the trigger gesture is a rotation action, and a rotation operation corresponding to the trigger gesture is performed on the real-time point cloud model around the center of mass of the real-time point cloud model; wherein the center of mass is obtained by averaging the 3D coordinate point sequence corresponding to the real-time point cloud model.

8. The method according to claim 7, characterized in that The scanning control interface also includes a video window, a zoom control, and a restore control; Based on the triggering of the enable option in the scanning control interface, the three-dimensional laser scanner is controlled to perform a scanning operation corresponding to the enable option on the target area according to the current working mode to generate a real-time image; Using the real-time image as a bitmap of the real-time point cloud model, and displaying it in the scanning control interface through the video window; Based on the triggering of the zoom control in the scanning control interface, performing a zoom operation corresponding to the zoom control on the real-time point cloud model; Based on the triggering of the restore control in the scanning control interface, the real-time point cloud model after the translation operation, and / or rotation operation, and / or scaling operation is restored to a default original state.

9. A visualization device for a three-dimensional laser scanner point cloud, characterized in that: Including 3D laser scanners and mobile devices; The device is applied to a mobile device; comprising: A first generating module, configured to generate a device management interface based on the triggering of a successful network configuration instruction between the mobile device and the three-dimensional laser scanner; wherein the device management interface includes setting options and connection options; A setting module, configured to set a current working mode corresponding to the setting option for the three-dimensional laser scanner based on the triggering of the setting option in the device management interface; A second generating module, configured to establish a communication connection with the three-dimensional laser scanner and generate a scanning control interface based on the triggering of the connection option in the device management interface; wherein the scanning control interface includes a start / stop option; The third generation module is used to control the three-dimensional laser scanner to perform scanning operations corresponding to the start and stop options on the target area according to the current working mode based on the triggering of the start and stop options in the scanning control interface, and generate a visual real-time point cloud model.

10. A computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method according to any one of claims 1 to 8.

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