Point cloud data transmission method and device and storage medium

Abstract

The invention discloses a point cloud data transmission method and device and a storage medium, relates to the technical field of data processing, and is used for removing invalid point data and improving the validity of the transmitted point cloud data. The method comprises the following steps: a first electronic device obtains point cloud transmission parameters; based on the point cloud transmission parameters, first point cloud data is sent to the second electronic device, and each piece of point data in the first point cloud data meets conditions set based on the point cloud transmission parameters.

Description

A method, device and storage medium for transmitting point cloud data Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device and storage medium for transmitting point cloud data. Background Art

[0002] Point cloud data is a massive collection of points that represents the spatial distribution and surface characteristics of a target within a common spatial reference system. By obtaining the spatial position of each reflection point in the area or on the surface of the object being measured, the resulting collection of points is called a "point cloud." Point cloud data is widely used in autonomous driving, high-precision mapping, and virtual reality.

[0003] Furthermore, since point cloud data often consists of tens of thousands to hundreds of millions of three-dimensional points, the data volume is large and difficult to store, process, or transmit. Therefore, it is possible to perform a thinning process on the raw point cloud data before subsequent transmission, processing, and storage. However, currently, after thinning, the point cloud data still retains a large number of invalid points, resulting in excessive overhead in the subsequent point cloud data processing.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a method, device, and storage medium for transmitting point cloud data, which are used to remove invalid point data and improve the effectiveness of the transmitted point cloud data.

[0006] To achieve the above objectives, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present application provides a method for transmitting point cloud data, which can be applied to a first electronic device. The method includes: obtaining point cloud transmission parameters. Then, based on the point cloud transmission parameters, transmitting first point cloud data to a second electronic device, where each point data in the first point cloud data satisfies a condition set based on the point cloud transmission parameters.

[0008] Based on the point cloud data transmission method provided in the first aspect, point data of redundant points that do not meet the acquired point cloud transmission parameters can be discarded. This means that point data at spatial locations corresponding to low resolution or point data that does not meet the processing equipment requirements can be discarded. This can improve the sparsification effect of the point cloud data, and the resulting sparse point cloud (i.e., the first point cloud data) has higher data validity, which can further reduce the overhead of subsequent point cloud processing, transmission, and storage.

[0009] In one possible design, the above-mentioned sending of the first point cloud data to the second electronic device based on the point cloud transmission parameters specifically includes: obtaining the second point cloud data, and forming the first point cloud data with the point data in the second point cloud data that meets the conditions set based on the point cloud transmission parameters; and sending the first point cloud data to the second electronic device.

[0010] In this design, the point data in the second point cloud data can be further filtered based on the point cloud transmission parameters to discard point data at spatial locations with poor resolution. The second point cloud data can be the original point cloud data or a sparse point cloud obtained by performing preliminary thinning processing on the original point cloud data. Filtering the point data in the sparse point cloud based on the point cloud transmission parameters can further improve the validity of the point cloud data.

[0011] In one possible design, the point cloud transmission parameters include a resolution range parameter and / or a spatial range parameter of the first electronic device.

[0012] In one possible design, the point data satisfies the conditions set based on the point cloud transmission parameters, including at least one of the following: the position of the point corresponding to the point data satisfies the conditions set based on the spatial range parameters; the resolution of the point corresponding to the point data satisfies the conditions set based on the resolution range parameters.

[0013] In one possible design, the resolution range parameter includes at least one of the following: a resolution range parameter expressed in spherical or polar coordinates; a resolution range parameter expressed in rectangular coordinates; or a resolution range parameter expressed in geometric form. This design provides several possible representations of the resolution range parameter, enabling a simpler, more convenient, and more accurate representation of the spatial resolution and the spatial resolution range parameter.

[0014] In one possible design, the resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates includes one or more of the resolution threshold in the distance dimension, the resolution threshold in the azimuth dimension, and the resolution threshold in the pitch dimension. The resolution range parameter expressed in the form of spatial rectangular coordinates includes one or more of the resolution threshold on the horizontal axis, the resolution threshold on the vertical axis, and the resolution threshold on the vertical axis of the spatial rectangular coordinate system. The resolution range parameter expressed in the form of a geometric body includes one or more of the type of geometric body used to characterize the resolution, the volume threshold or area threshold of the geometric body, and the threshold for determining the amplitude of the point spread function of the geometric body. In this design, the resolution threshold in each dimension is provided under each possible representation of the resolution range parameter, and then based on the resolution threshold in each dimension, it can be more simply and conveniently determined whether the point data meets the conditions set based on the resolution range parameter.

[0015] In one possible design, the resolution of the point corresponding to the point data satisfies a condition set based on a resolution range parameter, including at least one of the following: the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates; the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial rectangular coordinates; the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of a geometric body.

[0016] In one possible design, the spatial range parameter includes at least one of the following: a quadtree structure parameter for representing at least one spatial range; or an octree structure parameter for representing at least one spatial range.

[0017] In one possible design, the position of the point corresponding to the point data satisfies the conditions set based on the spatial range parameters, including at least one of the following: the position of the point corresponding to the point data is within at least one spatial range represented by the quadtree structure parameters; the position of the point corresponding to the point data is within at least one spatial range represented by the octree structure parameters. In this design, whether the conditions set based on the spatial range parameters are met can be directly determined based on the position of the point data, and then whether the point data should be discarded can be determined. This judgment process is more intuitive.

[0018] In one possible design, the above-mentioned acquisition of point cloud transmission parameters specifically includes: receiving point cloud transmission parameters from a second electronic device.

[0019] In one possible design, the method further includes: sending resolution information to the second electronic device, where the resolution information is used to indicate the resolution of each position point in the imaging area of ​​the first electronic device.

[0020] In one possible design, the first electronic device is an imaging device.

[0021] In a second aspect, an embodiment of the present application provides another method for transmitting point cloud data, which is applied to a second electronic device. The method includes: sending point cloud transmission parameters to a first electronic device; receiving first point cloud data from the first electronic device, and each point data in the first point cloud data meets the conditions set based on the point cloud transmission parameters.

[0022] In one possible design, the first point cloud data is composed of point data in the second point cloud data that meets conditions set based on point cloud transmission parameters.

[0023] In one possible design, the point cloud transmission parameters include a resolution range parameter and / or a spatial range parameter.

[0024] In one possible design, the point data satisfies the conditions set based on the point cloud transmission parameters, including at least one of the following: the position of the point corresponding to the point data satisfies the conditions set based on the spatial range parameters; the resolution of the point corresponding to the point data satisfies the conditions set based on the resolution range parameters.

[0025] In one possible design, the resolution range parameter includes at least one of the following: a resolution range parameter expressed in the form of spatial polar coordinates or spherical coordinates; a resolution range parameter expressed in the form of spatial rectangular coordinates; a resolution range parameter expressed in the form of a geometric body.

[0026] In one possible design, the resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates includes one or more of the resolution threshold in the distance dimension, the resolution threshold in the azimuth dimension, and the resolution threshold in the pitch dimension; the resolution range parameter expressed in the form of spatial rectangular coordinates includes one or more of the resolution threshold on the horizontal axis, the resolution threshold on the vertical axis, and the resolution threshold on the vertical axis in the spatial rectangular coordinate system; the resolution range parameter expressed in the form of a geometric body includes the type of geometric body used to characterize the resolution, the volume threshold or area threshold of the geometric body, and the threshold for determining the amplitude of the point spread function of the geometric body.

[0027] In one possible design, the resolution of the point corresponding to the point data satisfies a condition set based on a resolution range parameter, including at least one of the following: the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates; the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial rectangular coordinates; the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of a geometric body.

[0028] In one possible design, the spatial range parameter includes at least one of the following: a quadtree structure parameter for representing at least one spatial range; or an octree structure parameter for representing at least one spatial range.

[0029] In one possible design, the position of the point corresponding to the point data satisfies the conditions set based on the spatial range parameters, including at least one of the following: the position of the point corresponding to the point data is within at least one spatial range represented by the quadtree structure parameters; the position of the point corresponding to the point data is within at least one spatial range represented by the octree structure parameters.

[0030] In one possible design, before sending point cloud transmission parameters to the first electronic device, the method also includes: receiving resolution information from a third electronic device, the resolution information being used to indicate the resolution of each position point in the imaging area of ​​the third electronic device; determining the spatial range parameter of the first electronic device based on the resolution information from the third electronic device; wherein, within at least one spatial range indicated by the spatial range parameter of the first electronic device, the resolution of the third electronic device does not meet the requirements.

[0031] In this design, the spatial range parameters of another imaging device (e.g., the second electronic device) can be determined using the resolution information of one imaging device (e.g., the third electronic device). This allows point data at each location that meets the resolution requirements to be obtained, improving the effectiveness of the point cloud data and facilitating point cloud fusion. Furthermore, there is no need to transmit point data from other spatial ranges of the first electronic device, which can avoid transmitting point data at locations that overlap with the third electronic device, reducing the overhead incurred during point cloud data transmission and improving the efficiency of point cloud fusion.

[0032] In one possible design, the second electronic device is a processing device.

[0033] In a third aspect, a point cloud data transmission device is provided for implementing the various methods described above. The point cloud data transmission device can be the first electronic device described in the first aspect, or a device including the first electronic device, or a device included in the first electronic device, such as a chip. The point cloud data transmission device includes modules, units, or means corresponding to the methods described above. The modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the functions described above.

[0034] In some possible designs, the point cloud data transmission device may include a processing module and a transceiver module. The transceiver module, also referred to as a transceiver unit, is configured to implement the transmitting and / or receiving functions described in the first aspect and any possible implementations thereof. The transceiver module may comprise a transceiver circuit, a transceiver, a transceiver, or a communication interface. The processing module may be configured to implement the processing functions described in the first aspect and any possible implementations thereof.

[0035] In some possible designs, the transceiver module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in the above-mentioned first aspect and any possible implementation methods thereof.

[0036] Among them, the point cloud data transmission device provided in the third aspect is used to execute the above-mentioned first aspect or any possible implementation method of the first aspect. The specific details can be found in the above-mentioned first aspect or any possible implementation method of the first aspect, and will not be repeated here.

[0037] In a fourth aspect, a point cloud data transmission device is provided for implementing the various methods described above. The point cloud data transmission device can be the second electronic device described in the second aspect, or a device including the second electronic device, or a device included in the second electronic device, such as a chip; the point cloud data transmission device includes modules, units, or means corresponding to the methods described above. The modules, units, or means can be implemented through hardware, software, or hardware executing corresponding software implementations. The hardware or software includes two or more modules or units corresponding to the functions described above.

[0038] In some possible designs, the point cloud data transmission device may include a processing module and a transceiver module. The transceiver module, also referred to as a transceiver unit, is configured to implement the transmitting and / or receiving functions described in the second aspect and any possible implementations thereof. The transceiver module may comprise a transceiver circuit, a transceiver, a transceiver, or a communication interface. The processing module may be configured to implement the processing functions described in the second aspect and any possible implementations thereof.

[0039] In some possible designs, the transceiver module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in the above-mentioned second aspect and any possible implementation methods thereof.

[0040] Among them, the point cloud data transmission device provided in the fourth aspect is used to execute the above-mentioned second aspect or any possible implementation method of the second aspect. The specific details can be found in the above-mentioned second aspect or any possible implementation method of the second aspect, and will not be repeated here.

[0041] In a fifth aspect, a point cloud data transmission device is provided for implementing the various methods described above. The point cloud data transmission device includes a processor and a memory; the memory is configured to store computer instructions, and when the processor executes the instructions, the point cloud data transmission device performs the method described in the first or second aspect.

[0042] In some possible designs, the point cloud data transmission device may include: a processor and a communication interface; the communication interface is used to communicate with modules outside the point cloud data transmission device; the processor is used to execute computer programs or instructions to enable the point cloud data transmission device to perform the method described in the first or second aspect above.

[0043] In a sixth aspect, the present application provides a computer-readable storage medium storing computer instructions. When the computer instructions are executed on a computer, the computer executes the method for transmitting point cloud data in the first aspect or any possible design of the first aspect, or the computer executes the method for transmitting point cloud data in the second aspect or any possible design of the second aspect.

[0044] In the seventh aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are run on a computer, the computer executes the method for transmitting point cloud data in the first aspect or any possible design of the first aspect, or the computer executes the method for transmitting point cloud data in the second aspect or any possible design of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a schematic diagram of a point spread function provided in an embodiment of the present application;

[0046] FIG2 is a schematic diagram of a resolution distribution provided in an embodiment of the present application;

[0047] FIG3 is a schematic diagram of a radio frequency imaging system provided in an embodiment of the present application;

[0048] FIG4 is a schematic diagram of a dense point cloud provided in an embodiment of the present application;

[0049] FIG5 is a schematic diagram of a sparse point cloud provided in an embodiment of the present application;

[0050] FIG6 is a schematic diagram of a resolution ellipsoid provided in an embodiment of the present application;

[0051] FIG7 is a schematic cross-sectional view of a resolution ellipsoid provided in an embodiment of the present application;

[0052] FIG8 is a schematic diagram of dense point cloud transmission provided by an embodiment of the present application;

[0053] FIG9 is a schematic diagram of sparse point cloud transmission provided by an embodiment of the present application;

[0054] FIG10 is a schematic diagram of point cloud data provided by an embodiment of the present application;

[0055] FIG11 is a schematic diagram of the composition of a point cloud data processing system provided in an embodiment of the present application;

[0056] FIG12 is a schematic diagram of another point cloud data processing system provided in an embodiment of the present application;

[0057] FIG13 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0058] FIG14 is a schematic diagram of a flow chart of a method for transmitting point cloud data according to an embodiment of the present application;

[0059] FIG15 is a schematic diagram of a resolution geometry provided in an embodiment of the present application;

[0060] FIG16 is a flow chart of another method for transmitting point cloud data according to an embodiment of the present application;

[0061] FIG17 is a schematic diagram of a flow chart of another method for transmitting point cloud data provided in an embodiment of the present application;

[0062] FIG18 is a flow chart of another method for transmitting point cloud data according to an embodiment of the present application;

[0063] FIG19 is a flow chart of another method for transmitting point cloud data according to an embodiment of the present application;

[0064] FIG20 is a schematic diagram of a resolution distribution provided in an embodiment of the present application;

[0065] FIG21 is a schematic diagram of point cloud data provided by an embodiment of the present application;

[0066] FIG22 is a schematic diagram of another type of point cloud data provided in an embodiment of the present application;

[0067] FIG23 is a schematic diagram of another type of point cloud data provided in an embodiment of the present application;

[0068] FIG24 is a flow chart of another method for transmitting point cloud data according to an embodiment of the present application;

[0069] FIG25 is a schematic structural diagram of a point cloud data transmission device provided in an embodiment of the present application;

[0070] FIG26 is a schematic structural diagram of another point cloud data transmission device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] Before introducing the embodiments of the present application, some technical terms involved in the embodiments of the present application are explained. It should be noted that the following explanations are intended to make the embodiments of the present application easier to understand and should not be regarded as limiting the scope of protection claimed by the embodiments of the present application.

[0072] For an optical system, the point spread function (PSF) represents the light field distribution of the output image when the input object is a point light source. The PSF can also be understood as the image of a single point target in an imaging system. It can be a three-dimensional, two-dimensional, or one-dimensional function. For example, as shown in Figure 1, different shades of shadow represent different function amplitudes, expressed in dB.

[0073] Resolution refers to the minimum interval between two target points that the system can distinguish, such as the minimum distance between two targets that a ranging system can distinguish, the minimum speed interval between two targets of different speeds that a speed measurement system can distinguish, the minimum angle interval between two targets of different orientations that an angle measurement system can distinguish, and the minimum spatial interval between two targets that an imaging system can distinguish. Resolution can be defined as a one-dimensional, two-dimensional, three-dimensional, or higher-dimensional indicator, depending on the applicable system. For example, the resolution of a speed measurement system is usually a one-dimensional scalar indicator, while the resolution of a three-dimensional imaging system is a vector indicator containing three dimensions, such as the resolution of a three-dimensional imaging system is 1m in the horizontal x-axis, 2m in the vertical y-axis, and 3m in the vertical z-axis of a spatial rectangular coordinate system. In some embodiments, the evaluation of resolution in an imaging system usually adopts a PSF-based method, such as defining the offset of distance, speed, angle, etc. when the amplitude of the PSF function decreases from the peak (0dB) to -3dB (or other possible agreed values).

[0074] Furthermore, resolution can vary with spatial position, a phenomenon known as spatially variable resolution. Figure 2 illustrates spatially variable resolution. Figure 2 shows contour lines in the XZ plane of an image obtained when an imaging system with three-dimensional resolution images multiple point scattering targets. As shown in Figure 2, the z-resolution at points on the left, such as point 21, is lower than the z-resolution at points on the right, such as point 22.

[0075] Quadtree (Quad Tree) can also be called quadtree or Q-tree (Q-Tree), which is a tree-shaped data structure. Each node of the quadtree can have at most four child nodes. Usually, a part of the two-dimensional space can be subdivided into four quadrants or regions, and the relevant information in each region is stored in the quadtree node. The region can be square, rectangular or any shape. For example, each node of the quadtree can represent a rectangular area, and each rectangular area can be divided into four small rectangular areas. These four small rectangular areas are the rectangular areas represented by the four child nodes of a node. Quadtrees are widely used in image processing, spatial data indexing, fast collision detection in 2D, storage of sparse data and other fields. Based on the quadtree, the speed of two-dimensional space retrieval can be improved.

[0076] An octree is a tree-like data structure used to describe three-dimensional space. Each node in an octree represents a volume element of a cube. Each node has eight child nodes, and the volume elements represented by these eight child nodes add up to the volume of the parent node. A central point is generally used as the bifurcation center of a node. An octree can also be understood as a hierarchical data structure capable of partitioning three-dimensional space. By establishing an octree structure, the three-dimensional space to be represented can be partitioned into eight sub-three-dimensional grids of equal size, and then each sub-grid is also partitioned, recursively until the size of the sub-three-dimensional grid is the same as the given size. Octrees are widely used in many fields, such as computer graphics, collision detection, and spatial indexing. Using octree data results can effectively manage objects in three-dimensional space, improving query efficiency and space utilization.

[0077] A radio frequency imaging system is a system that images the environment or target based on the transmission and reception of radio frequency signals. According to the different location distributions of the transceivers, as shown in Figure 3, radio frequency imaging systems can be divided into single-base systems, dual-base systems, and multi-base systems. The imaging result of a radio frequency imaging system is generally a point cloud, which can be a 2D point cloud or a 3D point cloud. In a radio frequency imaging system, the unprocessed imaging result is generally a dense point cloud. For example, Figure 4 shows a schematic diagram of a dense point cloud. Among them, the large amount of dense cloud point data is not conducive to subsequent processing. The dense point cloud can be sparsely processed to become a sparse point cloud, thereby greatly reducing the amount of point cloud data, which facilitates the transmission, processing and storage of the point cloud. For example, Figure 5 shows a schematic diagram of a sparse point cloud.

[0078] The resolution of an RF imaging system is a key attribute of the system, specifically its ability to distinguish two scattering points in space. Specifically, when the distance between two scattering points in space is less than a certain value, the RF imaging system cannot distinguish between the two points. This value is the resolution of the RF imaging system. In some embodiments, the resolution of the RF imaging system varies at different locations in space, meaning that the RF imaging system exhibits space-variant resolution. Furthermore, this space-variant resolution can be determined based on the system architecture and related metrics of the RF imaging system.

[0079] In some embodiments, the resolution of the radio frequency imaging system can be expressed by decomposing it into multiple dimensions of resolution. For example, the resolution of the radio frequency imaging system can be expressed in spherical coordinates or polar coordinates, in rectangular coordinates, or in geometric form.

[0080] In one example, the resolution of the radio frequency imaging system can be expressed in the form of spatial spherical coordinates or polar coordinates. Among them, the spatial spherical coordinate system is also called the spherical polar coordinate system. The (spatial) polar coordinate system is a three-dimensional coordinate system, which is extended from the two-dimensional polar coordinate system to determine the position of points, lines, surfaces and bodies in three-dimensional space. The spatial spherical coordinate system uses the coordinate origin as the reference point and is composed of azimuth angle, elevation angle and range. That is, the resolution can be expressed from the azimuth dimension, elevation dimension and range dimension. In other words, the resolution of the radio frequency imaging system can be decomposed into the resolution of the three dimensions of distance, azimuth and elevation, which can also be called the resolution of the three directions of r / a / e. For example, the r resolution is 1m, the a resolution is 1°, and the e resolution is 2°.

[0081] In another example, the resolution of the RF imaging system can be expressed in spatial rectangular coordinates. That is, the resolution of the RF imaging system can be decomposed into the resolution along the horizontal axis, the resolution along the vertical axis, and the resolution along the vertical axis of the spatial rectangular coordinate system, also referred to as the resolution in the x / y / z directions. For example, the x resolution is 1m, the y resolution is 2m, and the z resolution is 3m.

[0082] In another example, the resolution of the radio frequency imaging system can be represented in the form of a geometric body. The resolution geometry refers to the geometry formed by the corresponding position when the PSF amplitude of the scattering point at a certain position in space drops from the maximum value to -3dB. For a radio frequency imaging system with two-dimensional resolution capability, its resolution geometry is a closed curve on a two-dimensional plane. For a radio frequency imaging system with three-dimensional resolution capability, its resolution geometry is a closed surface in three-dimensional space. In most cases, the shape of the resolution geometry is similar to an ellipse (two-dimensional case) or an ellipsoid (three-dimensional case), so the resolution geometry can also be called a resolution ellipse or a resolution ellipsoid. For example, Figure 6 shows a resolution ellipsoid of a radio frequency imaging system with three-dimensional resolution capability at a spatial position, and Figure 7 shows a cross-section of a resolution ellipsoid in multiple directions. In addition, the resolution ellipsoid is defined based on a 3dB / 10dB drop in the PSF peak amplitude. It should be noted that the resolution ellipse or ellipsoid here is not an ellipse or ellipsoid in the strict sense, but is just a figurative reference. Furthermore, in the definition of the resolution geometry, the value to which the PSF amplitude is reduced from the maximum value can be adjusted based on actual needs. For example, the value can be a commonly used -3dB, or other possible values ​​such as -10dB.

[0083] In some embodiments, the resolution of a radio frequency imaging system can be decomposed and represented in multiple ways based on the system architecture characteristics.

[0084] In addition, the resolution of the RF imaging system will affect the validity of the point cloud data.

[0085] It should be noted that the images output by RF imaging systems are generally in the form of point clouds. Practical applications involve processing, transmission, and storage of point cloud data. During point cloud processing, the validity of point cloud data affects computational processing overhead, transmission communication overhead, and storage overhead. Dense point clouds are less efficient. For example, after an RF imaging system generates a point cloud, it needs to be transferred from the RF imaging system or imaging device to a processing device for further processing. As shown in Figure 8, imaging device 81 transmits a dense point cloud to processing device 82. Before transmission, the imaging device can perform source compression on the dense point cloud to reduce the data volume. After transmission, the processing device can perform source decompression on the received data to recover the dense point cloud for subsequent processing. Due to the large amount of dense point cloud data, for example, if the imaging area has a length, width, and height of 100m, 50m, and 50m, respectively, and the imaging grid has a step size of 0.5m in each direction, the corresponding dense point cloud will have 2 million points. Furthermore, the compression ratio provided by source compression is limited. Therefore, the subsequent processing, transmission, and storage overhead of the dense point cloud with a large amount of data received by the processing device 81 is large.

[0086] Therefore, in order to reduce the computational, communication, and storage overhead of point cloud data, it is necessary to convert the point cloud from the original dense point cloud into a sparse point cloud, and then perform subsequent transmission, processing, and storage to improve the effectiveness of the point cloud data. For example, as shown in FIG9 , the imaging device 91 can transmit a sparse point cloud to the processing device 92. Among them, the point cloud thinning method includes spatial filtering and threshold filtering. Spatial filtering is to process the original dense point cloud through a spatial filter (or convolution kernel) to retain some points. Threshold filtering is to retain some points by judging whether the value of the point cloud is greater than, less than, or meets the combined threshold conditions. In practical applications, spatial filtering and threshold filtering can also be combined to achieve better point cloud thinning effects.

[0087] However, when the resolution of the RF imaging system is low, the point cloud data retained after point cloud thinning is less effective, that is, invalid points will be retained. As shown in Figure 10, in the spatial region with low resolution, the points retained after point cloud thinning include many invalid points.

[0088] That is, the poor resolution of the RF imaging system will result in poor validity of the point cloud data.

[0089] Currently, the resolution of RF imaging systems is generally space-variant, meaning the system can provide different resolutions at different spatial locations. Therefore, in areas where the RF imaging system's resolution is poor, the effectiveness of the retained points during point cloud thinning is low, meaning many redundant points cannot be effectively removed, increasing the overhead of subsequent point cloud data processing.

[0090] In view of this, an embodiment of the present application provides a method for transmitting point cloud data, which is applied to a first electronic device and specifically includes obtaining point cloud transmission parameters. Based on the point cloud transmission parameters, first point cloud data is transmitted to a second electronic device, where each point data in the first point cloud data satisfies a condition set based on the point cloud transmission parameters. In this way, redundant point data that does not meet the obtained point cloud transmission parameters can be discarded, resulting in a sparse point cloud with higher data validity.

[0091] The following is a detailed description of the point cloud data transmission method provided in the embodiments of the present application in conjunction with the drawings in the specification. It can be understood that the embodiments described below are only part of the embodiments of the present application, rather than all the embodiments.

[0092] FIG11 is a schematic diagram of a possible application scenario for the point cloud data transmission method provided in an embodiment of the present application. As shown in FIG11 , an embodiment of the present application provides a schematic diagram of a point cloud data processing system. Point cloud data processing system 1100 includes an imaging device 111 and a processing device 112. Imaging device 111 and processing device 112 are communicatively connected, enabling data transmission and the exchange of required parameter information via signaling. This parameter information is used to assist in the transmission of point cloud data.

[0093] It should be understood that the connection between the imaging device 111 and the processing device 112 can be a wireless connection, such as a Bluetooth connection, a Wi-Fi connection, etc.; or, the connection can be a wired connection, such as an optical fiber connection, etc., without limitation.

[0094] Exemplarily, the imaging device 111 is an electronic device with an imaging function. Exemplarily, the electronic device may include a radio frequency imaging system to realize the imaging function. The imaging device 111 may include one or more sensors such as radar (such as lidar, ultrasonic radar, millimeter wave radar, etc.), image sensor (such as high-definition camera, binocular or multi-eye camera, TOF camera, thermal imaging camera, etc.), distance sensor, etc. In one example, the imaging device 111 may include multiple different types of sensors, and different types of sensors can respectively collect environmental data and then fuse them to obtain point cloud data. In addition, the imaging device 111 can be used to output imaging results, which are point clouds. After acquiring the point cloud data, the imaging device 111 can send the point cloud data to the processing device 112 for the next step of processing the point cloud data.

[0095] The imaging device 111 may be a terminal device, such as a mobile phone, tablet computer, desktop computer, laptop computer, handheld computer, notebook computer, ultra-mobile personal computer (UMPC), netbook computer, cellular phone, personal digital assistant (PDA), augmented reality (AR) / virtual reality (VR) device, smart remote control, etc. It may interact with the user through one or more methods such as a keyboard, touchpad, touch screen, remote control, voice interaction, or handwriting device. In addition, in an embodiment of the present application, the terminal device may have an interface for communicating with a cellular network and / or a wireless local area network (WLAN).

[0096] The processing device 112 can be a node with strong computing power or a node or device for data convergence. For example, the processing device 112 can be a server, which can be a single server, or a server cluster composed of multiple servers. For another example, the electronic device can be a terminal device. For another example, the electronic device can also be a BS, a wireless access point (AP), a STA site and other devices, which can be used to receive the point cloud data sent by the imaging device 111 to perform further processing on the received point cloud data. This application does not impose any special restrictions on the specific form of the electronic device.

[0097] In some embodiments, the number of imaging devices in the point cloud data processing system provided by the embodiments of the present application can be multiple, and / or the number of processing devices can also be multiple. For example, as shown in FIG12 , the point cloud data processing system 1200 includes an imaging device 121, an imaging device 122, and a processing device 123. The imaging device 121 and the imaging device 122 can be respectively connected to the processing device 123 for communication. The processing device 123 can respectively receive the point cloud data sent by the imaging device 121 and the imaging device 122.

[0098] In some embodiments, the present application also provides an electronic device that can be used in the point cloud data transmission method provided in the present application. Exemplarily, the electronic device can be the aforementioned imaging device or processing device. For example, in the same point cloud data processing system, the first electronic device can be an imaging device of the point cloud data processing system, and the second electronic device can be a processing device of the point cloud data processing system.

[0099] As shown in FIG13 , it is a schematic structural diagram of an electronic device 1300 provided in an embodiment of the present application.

[0100] As shown in FIG. 13 , the electronic device 1300 includes a processor 1310 , a communication circuit 1320 , and a communication interface 1330 .

[0101] Optionally, the electronic device 1300 may further include a memory 1340 , wherein the processor 1310 , the memory 1340 and the communication interface 1330 may be connected via a communication line 1320 .

[0102] The processor 1310 may be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 1310 may also be any other device with processing capabilities, such as a circuit, a device, or a software module, without limitation.

[0103] In one example, the processor 1310 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 13 .

[0104] As an optional implementation, the electronic device 1300 includes multiple processors. For example, in addition to the processor 1310, it may also include a processor 1370. The communication line 1320 is used to transmit information between the various components included in the electronic device 1300.

[0105] Communication interface 1330 is used to communicate with other devices or other communication networks. Such other communication networks may be Ethernet, radio access networks (RAN), wireless local area networks (WLAN), etc. Communication interface 1330 may be a module, circuit, transceiver, or any other device capable of communication.

[0106] The memory 1340 is used to store instructions, where the instructions may be computer programs.

[0107] Among them, the memory 1340 can be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0108] It should be noted that the memory 1340 can exist independently of the processor 1310 or can be integrated with the processor 1310. The memory 1340 can be used to store instructions, program codes, or some data. The memory 1340 can be located inside the electronic device 1300 or outside the electronic device 1300, without limitation.

[0109] Processor 1310 is configured to execute instructions stored in memory 1340 to implement the communication method provided in the following embodiments of this application. For example, when electronic device 1300 is a terminal or a chip or system-on-chip in a terminal, processor 1310 may execute instructions stored in memory 1340 to implement the point cloud data transmission method provided in this application.

[0110] As an optional implementation, the electronic device 1300 further includes an output device 1350 and an input device 1360. The output device 1350 may be a device such as a display screen or a speaker that can output data from the electronic device 1300 to a user. The input device 1360 may be a device such as a keyboard, a mouse, a microphone, or a joystick that can input data to the electronic device 1300.

[0111] It is understood that the structure shown in FIG13 does not constitute a specific limitation on the electronic device. For example, in other embodiments of the present application, the electronic device may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0112] It is understood that in the embodiments of the present application, the electronic device performs some or all of the steps in the embodiments of the present application. These steps or operations are merely examples, and the embodiments of the present application may also perform other operations or variations of various operations. In addition, the various steps may be performed in a different order than those presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application need to be performed.

[0113] The point cloud data transmission method provided by this application is described in detail below in conjunction with specific embodiments.

[0114] As shown in FIG14 , an embodiment of the present application provides a method for transmitting point cloud data, which includes the following steps:

[0115] S101. A first electronic device obtains point cloud transmission parameters.

[0116] In some embodiments, the first electronic device may be an imaging device.

[0117] The point cloud transmission parameters may be relevant parameters for processing the point cloud data when the first electronic device transmits the point cloud data.

[0118] In some embodiments, the above-mentioned point cloud transmission parameters may include resolution range parameters and / or spatial range parameters of the first electronic device.

[0119] It should be noted that the resolution of the first electronic device can be space-variable, that is, the resolution of the first electronic device is different at different positions in space, and thus the point cloud imaging effect is also different. Therefore, the resolution threshold can be a resolution value determined based on the imaging effect of the point cloud. When the resolution does not meet the resolution range indicated by the resolution range parameter, it can be determined that the point cloud imaging effect at the spatial position of the resolution is poor, that is, the validity of the point cloud data is poor.

[0120] In some embodiments, the resolution range parameter includes at least one of the following: a resolution range parameter expressed in a spatial spherical coordinate or polar coordinate form, a resolution range parameter expressed in a spatial rectangular coordinate form, and a resolution range parameter expressed in a geometric form.

[0121] In some embodiments, the resolution range parameter expressed in spatial spherical coordinates or polar coordinates may include one or more of a resolution threshold in the range dimension, a resolution threshold in the azimuth dimension, and a resolution threshold in the elevation dimension. The resolution in the range dimension is expressed in meters or other distance units, or the number of points in a certain dimension in the point cloud, and the resolution in the azimuth dimension and the resolution in the elevation dimension are expressed in degrees or radians.

[0122] For example, a resolution threshold of the first electronic device can be first determined based on the resolution of each point in space of the first electronic device. The resolution threshold is expressed in the form of spatial spherical coordinates or polar coordinates in the azimuth dimension, the pitch dimension, and the distance dimension. That is, the resolution threshold in the azimuth dimension, the resolution threshold in the pitch dimension, and the resolution threshold in the distance dimension are determined based on the resolution threshold. Alternatively, the resolution threshold can be determined directly based on the resolution of each point in space in the azimuth dimension, the resolution threshold can be determined from the resolution of each point in space in the pitch dimension, and the resolution threshold can be determined from the resolution of each point in space in the distance dimension.

[0123] In some embodiments, the resolution range parameter expressed in the form of spatial rectangular coordinates includes one or more of a resolution threshold on the horizontal axis, a resolution threshold on the vertical axis, and a resolution threshold on the vertical axis of the spatial rectangular coordinate system.

[0124] For example, a resolution threshold of the first electronic device can be determined based on the resolution of each point in space of the first electronic device, and the resolution threshold can be expressed in the form of spatial rectangular coordinates. That is, the resolution threshold on the horizontal axis, the resolution threshold on the vertical axis, and the resolution threshold on the vertical axis of the spatial rectangular coordinate system can be determined based on the resolution threshold. Alternatively, the resolution threshold can be determined directly based on the resolution of each point in space on the horizontal axis of the spatial rectangular coordinate system, the resolution threshold can be determined from the resolution of each point in space on the vertical axis of the spatial rectangular coordinate system, and the resolution threshold can be determined from the resolution of each point in space on the numerical axis of the spatial rectangular coordinate system.

[0125] In some embodiments, the resolution range parameter expressed in the form of a geometric body includes one or more of the type of geometric body used to characterize the resolution, a volume threshold or an area threshold of the geometric body, and a threshold for determining the amplitude of the point spread function of the geometric body. The type of geometric body may include an ellipsoid, a sphere, a cuboid, a cube, an ellipse, a circle, a rectangle, a square, etc. For example, if the type of geometric body is a three-dimensional geometric body such as an ellipsoid, a sphere, a cuboid, or a cube, the volume threshold of the geometric body may also be included. Alternatively, if the type of geometric body is a two-dimensional geometric body such as an ellipse, a circle, a rectangle, or a square, the area threshold of the geometric body may also be included.

[0126] For example, as shown in FIG15 , the resolution threshold may be an ellipsoidal geometry, and the volume threshold of the geometry is 1 m 3 , or the point spread function amplitude threshold of the geometric body is 3dB. In addition, as shown in FIG15 , the volume of the resolution geometric body corresponding to point P in the imaging area is greater than the above volume threshold, and the volume of the resolution geometric body corresponding to point Q is less than the above volume threshold.

[0127] In some embodiments, the spatial range parameter includes at least one of the following: a quadtree structure parameter for representing at least one spatial range, and an octree structure parameter for representing at least one spatial range.

[0128] Among them, the quadtree structure parameters can be used to indicate a two-dimensional space range, and the octree structure parameters can be used to indicate a three-dimensional space range.

[0129] In one possible implementation, as shown in FIG16 , step S101 can be specifically implemented as S1011, the second electronic device sends point cloud transmission data to the first electronic device. Accordingly, the first electronic device can obtain point cloud transmission parameters from the second electronic device. The second electronic device can be a processing device. Exemplarily, the second electronic device can pre-store or determine the point cloud transmission parameters of the first electronic device based on the parameters of the first electronic device. When point cloud data transmission is required, the second electronic device can send the point cloud transmission data to the first electronic device to obtain point cloud data that meets the conditions. Accordingly, the first electronic device can receive the point cloud transmission data. Furthermore, the first electronic device can transmit point cloud data to the second electronic device based on the point cloud transmission parameters.

[0130] In another possible implementation, the point cloud transmission data may be pre-stored in the first electronic device, or the first electronic device may determine the point cloud transmission parameters based on relevant parameters to transmit the point cloud data to the second electronic device based on the point cloud transmission parameters.

[0131] S102: The first electronic device sends first point cloud data to the second electronic device based on the point cloud transmission parameters, wherein each point data in the first point cloud data satisfies a condition set based on the point cloud transmission parameters.

[0132] Correspondingly, the second electronic device receives the first point cloud data sent by the first electronic device.

[0133] In some embodiments, the first electronic device may acquire the second point cloud data, and use the point data in the second point cloud data that meets the conditions set based on the point cloud transmission parameters to form the first point cloud data.

[0134] The second point cloud data may be a dense point cloud, for example, raw point cloud data generated by the first electronic device. The first point cloud data may be a sparse point cloud obtained by thinning the second point cloud data. Furthermore, the first electronic device may transmit the first point cloud data, i.e., the sparse point cloud, to the second electronic device to reduce the overhead of data transmission and subsequent data processing.

[0135] Exemplarily, the second point cloud data can be acquired by a sensor configured in the first electronic device. For example, a person skilled in the art of laser radar can determine this based on actual needs, and this is not a limitation here. For example, a laser radar detects a target scene, such as an object surface in an urban environment, which forms three-dimensional geometric points. These three-dimensional geometric points form a point cloud, and each point in the point cloud can include point cloud information such as location information and the strength of the echo signal.

[0136] In some embodiments, the second point cloud data may be an initial sparse point cloud obtained by performing preliminary thinning processing on the original point cloud data, i.e., a dense point cloud, and the initial sparse point cloud is further processed based on the point cloud transmission parameters to obtain the first point cloud data. The preliminary thinning processing may include spatial filtering, threshold filtering, or a combination of spatial filtering and threshold filtering.

[0137] In some embodiments, the above-mentioned point data meets the conditions set based on the point cloud transmission parameters, including at least one of the following: the position of the point corresponding to the point data meets the conditions set based on the spatial range parameters, and the resolution of the point corresponding to the point data meets the conditions set based on the resolution range parameters.

[0138] Exemplarily, the resolution of the point corresponding to the point data satisfies a condition set based on a resolution range parameter, including at least one of the following: the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates, the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial rectangular coordinates, and the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of a geometric body.

[0139] In one possible design, the first electronic device may determine the first point cloud data based on a resolution range parameter. Exemplarily, the process of the first electronic device determining the first point cloud data based on the resolution range parameter may include at least the following possible implementations:

[0140] Implementation method 1: The first electronic device determines first point cloud data based on a resolution range indicated by a resolution range parameter expressed in a spatial spherical coordinate or polar coordinate form.

[0141] As shown in FIG17 , the above step S101 can be specifically implemented as follows:

[0142] Step S101a: The second electronic device sends point cloud transmission parameters to the first electronic device. The point cloud transmission parameters include resolution range parameters expressed in the form of spatial spherical coordinates or polar coordinates.

[0143] The resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates includes one or more of a resolution threshold in a distance dimension, a resolution threshold in an azimuth dimension, and a resolution threshold in an elevation dimension.

[0144] Furthermore, as shown in FIG17 , step S102 may be specifically implemented as the following steps S1021a-S1022a:

[0145] S1021a. The first electronic device constructs first point cloud data using point data in the second point cloud data that meets conditions set based on a resolution threshold in the distance dimension, a resolution threshold in the azimuth dimension, and a resolution threshold in the pitch dimension.

[0146] Exemplarily, the first electronic device can judge each point data in the second point cloud data in turn based on the point cloud transmission parameters, and retain the point data that meets the conditions set based on the resolution threshold in the distance dimension, the resolution threshold in the azimuth dimension, and the resolution threshold in the pitch dimension; otherwise, the point data that does not meet the conditions will be discarded to obtain the above-mentioned first point cloud data.

[0147] In some embodiments, the conditions set based on the resolution threshold in the distance dimension, the resolution threshold in the azimuth dimension, and the resolution threshold in the pitch dimension may include: the resolution of the point data in the distance dimension is less than the resolution threshold in the distance dimension, the resolution of the point data in the azimuth dimension is less than the resolution threshold in the azimuth dimension, and the resolution of the point data in the pitch dimension is less than the resolution threshold in the pitch dimension. One or more of the following.

[0148] It should be noted that, generally, the smaller the resolution, the clearer the image, and conversely, the larger the resolution, the blurrier the image. Therefore, a reasonable resolution threshold can be set based on the actual imaging conditions of the first electronic device. If the resolution of point data exceeds the resolution threshold, it indicates that the resolution at the location of the point data is poor, resulting in blurry imaging. The point data is invalid data, also known as a redundant point, and can be removed.

[0149] In one example, the first electronic device may directly judge each point data in the second point cloud data based on the conditions set by the resolution threshold in the distance dimension, the resolution threshold in the azimuth dimension, and the resolution threshold in the pitch dimension.

[0150] For example, point data with a range resolution less than a range resolution threshold, an azimuth resolution less than a azimuth resolution threshold, and an elevation resolution less than a elevation resolution threshold are retained. Otherwise, they are discarded. The first point cloud data is then obtained by performing a judgment on each point in the second point cloud data.

[0151] In another example, the first electronic device can convert the resolution threshold in the distance dimension, the resolution threshold in the azimuth dimension, and the resolution threshold in the pitch dimension to obtain a first resolution threshold, and then judge each point data in the second point cloud data based on the first resolution threshold.

[0152] For example, the conversion process may be to convert the elevation resolution threshold into a vertical axis (z-axis) resolution threshold in a spatial rectangular coordinate system at a certain distance, i.e., the first resolution threshold. Alternatively, the product of the azimuth resolution threshold and the elevation resolution threshold is used as the first resolution threshold.

[0153] It should be noted that the conversion processing method provided here is only a possible example. The resolution threshold in the distance dimension, the resolution threshold in the azimuth dimension, and the resolution threshold in the pitch dimension can also be processed based on other possible conversion methods. This application does not limit this.

[0154] S1022a: The first electronic device sends first point cloud data to the second electronic device.

[0155] Correspondingly, the second electronic device can receive the first point cloud data.

[0156] Implementation method 2: The first electronic device determines the first point cloud data based on a resolution range indicated by a resolution range parameter expressed in a spatial rectangular coordinate form.

[0157] As shown in FIG18 , the above step S101 can be specifically implemented as follows:

[0158] Step S101b: The second electronic device sends point cloud transmission parameters to the first electronic device, where the point cloud transmission parameters include resolution range parameters expressed in the form of spatial rectangular coordinates.

[0159] The resolution range parameter expressed in the form of spatial rectangular coordinates includes one or more of a resolution threshold on the horizontal axis, a resolution threshold on the vertical axis, and a resolution threshold on the vertical axis in the spatial rectangular coordinate system.

[0160] Furthermore, as shown in FIG18 , step S102 may be specifically implemented as the following steps S1021b-S1022b:

[0161] S1021b. The first electronic device constructs first point cloud data using point data in the second point cloud data that meets conditions set based on a resolution threshold on the horizontal axis, a resolution threshold on the vertical axis, and a resolution threshold on the vertical axis in a spatial rectangular coordinate system.

[0162] Exemplarily, the first electronic device can judge each point data in the second point cloud data in turn based on the point cloud transmission parameters, and retain the point data that meets the conditions set based on the resolution threshold on the horizontal axis, the resolution threshold on the vertical axis, and the resolution threshold on the vertical axis in the spatial rectangular coordinate system; otherwise, the point data that does not meet the conditions will be discarded to obtain the above-mentioned first point cloud data.

[0163] In some embodiments, the conditions set based on the resolution threshold on the horizontal axis, the resolution threshold on the vertical axis, and the resolution threshold on the vertical axis in the spatial rectangular coordinate system may include: the resolution of the point data on the horizontal axis in the spatial rectangular coordinate system is less than the resolution threshold on the horizontal axis in the spatial rectangular coordinate system, the resolution of the point data on the vertical axis in the spatial rectangular coordinate system is less than the resolution threshold on the vertical axis in the spatial rectangular coordinate system, and one or more of the following: the resolution of the point data on the vertical axis in the spatial rectangular coordinate system is less than the resolution threshold on the vertical axis in the spatial rectangular coordinate system.

[0164] In one example, the first electronic device may directly judge each point data in the second point cloud data based on the conditions set by the resolution threshold on the horizontal axis, the resolution threshold on the vertical axis, and the resolution threshold on the vertical axis in the spatial rectangular coordinate system.

[0165] For example, point data whose resolution on the horizontal axis of the spatial rectangular coordinate system is less than the resolution threshold of the horizontal axis of the spatial rectangular coordinate system, whose resolution on the vertical axis of the spatial rectangular coordinate system is less than the resolution threshold of the vertical axis of the spatial rectangular coordinate system, and whose resolution on the vertical axis of the spatial rectangular coordinate system is less than the resolution threshold of the vertical axis of the spatial rectangular coordinate system are retained. Otherwise, point data are discarded. Then, each point data in the second point cloud data is judged to obtain the first point cloud data.

[0166] In another example, the first electronic device can transform the resolution threshold on the horizontal axis, the resolution threshold on the vertical axis, and the resolution threshold on the vertical axis in the spatial rectangular coordinate system to obtain a second resolution threshold, and then judge each point data in the second point cloud data based on the second resolution threshold.

[0167] Exemplarily, the above-mentioned conversion processing can be to determine the bottom surface (xy) resolution threshold based on the product of the resolution threshold on the horizontal axis and the resolution threshold on the vertical axis in the spatial rectangular coordinate system, and use the bottom surface resolution threshold and the resolution threshold for the elevation (z) as the second resolution threshold. Alternatively, the vertical plane (xz) resolution threshold is determined based on the product of the resolution threshold on the horizontal axis and the resolution threshold on the vertical axis in the spatial rectangular coordinate system, and use the vertical plane (xz) resolution threshold and the resolution threshold in the vertical axis (y) direction as the second resolution threshold. Alternatively, the vertical plane (yz) resolution threshold is determined based on the product of the resolution threshold on the vertical axis and the resolution threshold on the vertical axis in the spatial rectangular coordinate system, and use the vertical plane (yz) resolution threshold and the resolution threshold in the horizontal axis (x) direction as the second resolution threshold.

[0168] It should be noted that the conversion processing method provided here is only a possible example. The resolution threshold on the horizontal axis, the resolution threshold on the vertical axis, and the resolution threshold on the vertical axis in the spatial rectangular coordinate system can also be processed based on other possible conversion methods. This application does not limit this.

[0169] S1022b: The first electronic device sends the first point cloud data to the second electronic device.

[0170] Correspondingly, the second electronic device can receive the first point cloud data.

[0171] Implementation method 3: The first electronic device determines the first point cloud data based on a resolution range indicated by a resolution range parameter expressed in a geometric form.

[0172] As shown in FIG19 , the above step S101 can be specifically implemented as follows:

[0173] Step S101c: The second electronic device sends point cloud transmission parameters to the first electronic device, where the point cloud transmission parameters include resolution range parameters expressed in a geometric form.

[0174] The resolution range parameter expressed in the form of a geometric body includes one or more items of the type of the geometric body, a volume threshold or an area threshold of the geometric body, and a threshold for determining the amplitude of a point spread function of the geometric body.

[0175] Furthermore, as shown in FIG19 , step S102 may be specifically implemented as the following steps S1021c-S1022c:

[0176] S1021c: The first electronic device constructs first point cloud data using point data in the second point cloud data that meets conditions set based on the type of the geometric body, the volume threshold or the area threshold of the geometric body, and the threshold for determining the amplitude of the point spread function of the geometric body.

[0177] Exemplarily, the first electronic device can judge each point data in the second point cloud data in turn based on the point cloud transmission parameters, and retain the point data that meets the conditions set based on the type of geometric body, the volume threshold or area threshold of the geometric body, and the threshold value for determining the amplitude of the point spread function of the geometric body; otherwise, discard the point data that does not meet the conditions to obtain the above-mentioned first point cloud data.

[0178] In some embodiments, conditions based on the type of geometry, the volume threshold or area threshold of the geometry, and the threshold setting for determining the amplitude of the point spread function of the geometry may include: the area of ​​the resolution geometry at the spatial position of the point data is smaller than the area threshold corresponding to the geometry type of the geometry; exemplarily, the type of the geometry may be a two-dimensional geometry such as an ellipse, circle, rectangle, square, etc., the volume of the resolution geometry at the spatial position of the point data is smaller than the volume threshold corresponding to the geometry type of the geometry; exemplarily, the type of the geometry may be a three-dimensional geometry such as an ellipsoid, sphere, cuboid, cube, etc., the amplitude of the point spread function corresponding to the resolution geometry at the spatial position of the point data is greater than one or more of the thresholds for determining the amplitude of the point spread function of the geometry.

[0179] For example, taking the imaging area shown in FIG15 as an example, the type of the geometric body is an ellipsoid, and the volume of the resolution geometric body corresponding to the position of point P in the imaging area is greater than the volume threshold of the geometric body, and the volume of the resolution geometric body corresponding to the position of point Q is less than the volume threshold of the geometric body, so that the point data of point P can be discarded and the point data of point Q can be retained.

[0180] S1022c: The first electronic device sends the first point cloud data to the second electronic device.

[0181] Correspondingly, the second electronic device can receive the first point cloud data.

[0182] It should be noted that, as shown in FIG20, there is shown a schematic diagram of the spatial distribution of the resolution of the imaging area of ​​an imaging device provided in an embodiment of the present application, wherein the resolution of the imaging device is space-variable. As shown in FIG21, the sparse point cloud that is not determined based on the above-mentioned point cloud transmission parameters has a large number of redundant points in the spatial position area corresponding to the low resolution, and the amount of point cloud data is large, for example, 4750 points. As shown in FIG22, based on the transmission method of point cloud data provided in an embodiment of the present application, the resolution threshold in the z-axis direction is set to 4m, and then the point data that meets the resolution threshold is retained. Among them, since the point data in the spatial position area corresponding to the low resolution is discarded, the amount of point cloud data is significantly reduced, for example, to 2913 points, a reduction of about 39%. In addition, as shown in FIG23, two imaging devices use the point cloud data transmission method provided in the embodiment of the present application to obtain a sparse point cloud. Then, as shown in FIG23, the sparse point cloud of imaging device 1 and the sparse point cloud of imaging device 2 can be fused. Since only the point data of the area where the resolution meets the conditions is retained, the redundancy of the point cloud is controlled. For example, the point cloud data volume is 2952 points. While being able to fully represent the target points of the entire area, the data volume of the point cloud data is reduced by about 38%. In this way, based on the acquired point cloud transmission parameters, the point data of redundant points that do not meet the point cloud transmission parameters can be discarded, and the data validity of the obtained sparse point cloud is higher.

[0183] In another possible design, the first electronic device may also determine the first point cloud data based on a spatial range parameter.

[0184] The spatial range parameter includes at least one of the following: a quadtree structure parameter for representing at least one spatial range, and an octree structure parameter for representing at least one spatial range.

[0185] Thus, the position of the point corresponding to the point data satisfies the conditions set based on the spatial range parameters, including at least one of the following: the position of the point corresponding to the point data is within at least one spatial range represented by the quadtree structure parameters, and the position of the point corresponding to the point data is within at least one spatial range represented by the octree structure parameters.

[0186] Exemplarily, the first electronic device may retain the point data that is located within at least one spatial range represented by the quadtree structure parameters or at least one spatial range represented by the octree structure parameters based on the spatial position information of each point data in the second point cloud data, and conversely, discard the point data that is not within at least one spatial range represented by the quadtree structure parameters or at least one spatial range represented by the octree structure parameters, thereby obtaining the first point cloud data.

[0187] In another possible design, the first electronic device may also determine the first point cloud data by combining the spatial range parameter and the resolution range parameter.

[0188] That is, the first electronic device can retain the point data in the second point cloud data whose position meets the conditions set based on the spatial range parameters and whose resolution meets the conditions set based on the resolution range parameters; otherwise, the point data in the second point cloud data whose position does not meet the conditions set based on the spatial range parameters or whose resolution does not meet the conditions set based on the resolution range parameters will be discarded to determine the first point cloud data.

[0189] The point cloud data transmission method provided in the embodiments of the present application can discard redundant point data that does not meet the acquired point cloud transmission parameters, i.e., discard point data at spatial locations corresponding to low resolution or point data that does not meet the processing equipment requirements. This can improve the sparsification effect of the point cloud data, and the resulting sparse point cloud (i.e., the first point cloud data) has higher data validity, thereby further reducing the overhead of subsequent point cloud processing, transmission, and storage.

[0190] In some embodiments, as shown in FIG24 , the present application also provides another method for transmitting point cloud data, which includes the following steps:

[0191] S201: The third electronic device sends resolution information to the second electronic device. Correspondingly, the second electronic device receives the resolution information sent by the third electronic device.

[0192] The resolution information is used to indicate the resolution of each position point in the imaging area of ​​the third electronic device.

[0193] Exemplarily, the resolution information may be location information of a transceiver or transceiver antenna in the third electronic device, so that the second electronic device can further determine the resolution of each location point in the imaging area of ​​the third electronic device. Alternatively, the resolution information may also be a spatial range parameter, i.e., a spatial distribution parameter of the resolution of the third electronic device, such as a quadtree structure parameter or an octree structure parameter. In some embodiments, the resolution information may also be a contour line parameter to represent the distribution of resolution in a two-dimensional space, or a contour surface parameter to represent the distribution of resolution in a three-dimensional space.

[0194] In some embodiments, the third electronic device and the first electronic device may be imaging devices, and the second electronic device may be a processing device.

[0195] Exemplarily, the second electronic device may receive the point cloud data transmitted by the first electronic device and the third electronic device, respectively. In one example, the second electronic device may fuse the point cloud data received from the first electronic device and the point cloud data transmitted by the third electronic device to obtain a more complete imaging effect.

[0196] S202: The second electronic device determines a spatial range parameter of the first electronic device according to resolution information from the third electronic device.

[0197] Wherein, within at least one spatial range indicated by the spatial range parameter of the first electronic device, the resolution of the third electronic device does not meet the requirement. Exemplarily, the requirement may be the resolution requirement required for imaging by the third electronic device, or the resolution requirement corresponding to the point cloud data received by the second electronic device.

[0198] It should be noted that the second electronic device can fuse the point cloud data received from the first electronic device and the point cloud data transmitted by the second electronic device, so that, based on the resolution information sent by the third electronic device, it can determine at least one spatial range in which the resolution of the third electronic device does not meet the requirements. It should be understood that the points corresponding to the point data of the third electronic device in the at least one spatial range are invalid redundant points. Therefore, the spatial range parameters of the first electronic device can be determined based on the at least one spatial range to obtain the point cloud data of the first electronic device in the at least one spatial range. Furthermore, point data that meets the resolution requirements at each position can be obtained, thereby improving the validity of the point cloud data and facilitating point cloud fusion. In addition, there is no need to transmit point data in other spatial ranges of the first electronic device, which can avoid transmitting point data at the same position as the third electronic device, thereby reducing the overhead generated during the point cloud data transmission process.

[0199] In some embodiments, the second electronic device may also receive resolution information of the first electronic device to determine the spatial range parameter of the third electronic device.

[0200] In some embodiments, the second electronic device may also receive resolution information of the first electronic device and resolution information of the third electronic device, and then determine spatial range parameters of other imaging devices based on the resolution information of the first electronic device and the resolution information of the third electronic device.

[0201] S203: The second electronic device sends the spatial range parameter of the first electronic device to the first electronic device. Correspondingly, the first electronic device receives the spatial range parameter.

[0202] S204: The first electronic device sends the third point cloud data to the second electronic device. Correspondingly, the second electronic device receives the third point cloud data.

[0203] The third point cloud data is determined based on a spatial range parameter of the first electronic device.

[0204] In some embodiments, the first electronic device may acquire the second point cloud data, and construct the third point cloud data with point data in the second point cloud data that meets the conditions set based on the spatial range parameters.

[0205] Based on the above embodiment, the spatial range parameters of another imaging device (e.g., the second electronic device) can be determined using the resolution information of one imaging device (e.g., the third electronic device), thereby obtaining point data that meets the resolution requirements at each location, thereby improving the effectiveness of the point cloud data and facilitating point cloud fusion. Furthermore, there is no need to transmit point data from other spatial ranges of the first electronic device, which can avoid transmitting point data at locations that overlap with the third electronic device, reducing the overhead incurred during point cloud data transmission and improving the efficiency of point cloud fusion.

[0206] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. It should be easy to realize that the technical goals in this field are combined with the units and algorithm steps of each example described in the embodiments disclosed herein, and the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technical goals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0207] In the embodiment of the present application, electronic devices such as imaging devices or processing devices can be grouped into functional modules according to the above-mentioned method examples. For example, each functional module can be grouped according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the grouping of modules in the embodiment of the present application is schematic and is only a logical functional grouping. In actual implementation, there may be other grouping methods.

[0208] Figure 25 illustrates a structural diagram of a point cloud data transmission device. This point cloud data transmission device can be a first electronic device, a chip within the first electronic device, or a system on a chip within the first electronic device. This point cloud data transmission device 2500 can be used to perform the functions of the first electronic device described in the above embodiments. As one possible implementation, as shown in Figure 25 , the point cloud data transmission device 2500 includes a receiving unit 2501 and a sending unit 2502. Optionally, the point cloud data transmission device 2500 may also include a processing unit 2503.

[0209] The receiving unit 2501 is used to obtain point cloud transmission parameters.

[0210] The sending unit 2502 is used to send the first point cloud data to the second electronic device based on the point cloud transmission parameters, where each point data in the first point cloud data meets the conditions set based on the point cloud transmission parameters.

[0211] As a possible implementation, receiving unit 2501 may also be configured to obtain second point cloud data. Processing unit 2503 may construct first point cloud data using point data in the second point cloud data that meets conditions set based on point cloud transmission parameters. Transmitting unit 2502 may be configured to transmit the first point cloud data to a second electronic device.

[0212] The point cloud transmission parameters include resolution range parameters and / or spatial range parameters of the first electronic device.

[0213] In some embodiments, the point data satisfies the conditions set based on the point cloud transmission parameters, including at least one of the following: the position of the point corresponding to the point data satisfies the conditions set based on the spatial range parameters, and the resolution of the point corresponding to the point data satisfies the conditions set based on the resolution range parameters.

[0214] The resolution range parameter includes at least one of the following: a resolution range parameter expressed in spherical coordinates or polar coordinates, a resolution range parameter expressed in rectangular coordinates, and a resolution range parameter expressed in geometric form. The resolution range parameter expressed in spherical coordinates or polar coordinates includes one or more of a resolution threshold in a range dimension, a resolution threshold in an azimuth dimension, and a resolution threshold in an elevation dimension.

[0215] Furthermore, the resolution range parameter expressed in the form of spatial rectangular coordinates includes one or more of a resolution threshold on the horizontal axis, a resolution threshold on the vertical axis, and a resolution threshold on the vertical axis of the spatial rectangular coordinate system. The resolution range parameter expressed in the form of a geometric body includes one or more of a type of geometric body used to characterize the resolution, a volume threshold or an area threshold of the geometric body, and a threshold for determining the amplitude of the point spread function of the geometric body.

[0216] Thus, the resolution of the point corresponding to the point data satisfies the conditions set based on the resolution range parameter, including at least one of the following: the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates, the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial rectangular coordinates, and the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of a geometric body.

[0217] In addition, the spatial range parameter includes at least one of the following: a quadtree structure parameter for representing at least one spatial range, and an octree structure parameter for representing at least one spatial range.

[0218] Thus, the position of the point corresponding to the point data satisfies the conditions set based on the spatial range parameters, including at least one of the following: the position of the point corresponding to the point data is within at least one spatial range represented by the quadtree structure parameters, and the position of the point corresponding to the point data is within at least one spatial range represented by the octree structure parameters.

[0219] As a possible implementation manner, the receiving unit 2501 is specifically configured to receive point cloud transmission parameters from a second electronic device.

[0220] As another possible implementation, the sending unit 2502 is further configured to send resolution information to the second electronic device, where the resolution information is used to indicate the resolution of each position point in the imaging area of ​​the first electronic device.

[0221] In some embodiments, the first electronic device is an imaging device.

[0222] Figure 26 illustrates a structural diagram of a point cloud data transmission device. This point cloud data transmission device can be a second electronic device, a chip within the second electronic device, or a system on a chip within the second electronic device. This point cloud data transmission device 2600 can be used to perform the functions of the second electronic device described in the above embodiments. As one possible implementation, as shown in Figure 26, the point cloud data transmission device 2600 includes a transmitting unit 2601 and a receiving unit 2602. Optionally, the point cloud data transmission device 2600 may also include a processing unit 2603.

[0223] The sending unit 2601 is used to send point cloud transmission parameters to the first electronic device.

[0224] The receiving unit 2602 is configured to receive first point cloud data from a first electronic device, where each point data in the first point cloud data satisfies a condition set based on point cloud transmission parameters.

[0225] In some embodiments, the first point cloud data is composed of point data in the second point cloud data that meets conditions set based on point cloud transmission parameters.

[0226] The point cloud transmission parameters include resolution range parameters and / or spatial range parameters.

[0227] The point data satisfies the conditions set based on the point cloud transmission parameters, including at least one of the following: the position of the point corresponding to the point data satisfies the conditions set based on the spatial range parameters, and the resolution of the point corresponding to the point data satisfies the conditions set based on the resolution range parameters.

[0228] Among them, the resolution range parameter includes at least one of the following: a resolution range parameter expressed in the form of spatial polar coordinates or spherical coordinates, a resolution range parameter expressed in the form of spatial rectangular coordinates, and a resolution range parameter expressed in the form of a geometric body. The resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates includes one or more of the resolution threshold in the distance dimension, the resolution threshold in the azimuth dimension, and the resolution threshold in the pitch dimension. The resolution range parameter expressed in the form of spatial rectangular coordinates includes one or more of the resolution threshold on the horizontal axis, the resolution threshold on the vertical axis, and the resolution threshold on the vertical axis in the spatial rectangular coordinate system. The resolution range parameter expressed in the form of a geometric body includes the type of geometric body used to characterize the resolution, the volume threshold or area threshold of the geometric body, and the threshold for determining the amplitude of the point spread function of the geometric body.

[0229] In some embodiments, the resolution of the point corresponding to the point data satisfies a condition set based on a resolution range parameter, including at least one of the following: the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates, the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial rectangular coordinates, and the resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of a geometric body.

[0230] The spatial range parameter includes at least one of the following: a quadtree structure parameter for representing at least one spatial range, and an octree structure parameter for representing at least one spatial range.

[0231] In some embodiments, the position of the point corresponding to the point data satisfies the conditions set based on the spatial range parameters, including at least one of the following: the position of the point corresponding to the point data is within at least one spatial range represented by the quadtree structure parameters, and the position of the point corresponding to the point data is within at least one spatial range represented by the octree structure parameters.

[0232] As a possible implementation, receiving unit 2602 is further configured to receive resolution information from a third electronic device, where the resolution information indicates the resolution of each location within an imaging area of ​​the third electronic device. Processing unit 2603 is configured to determine a spatial range parameter of the first electronic device based on the resolution information from the third electronic device; wherein the resolution of the third electronic device does not meet the required resolution within at least one spatial range indicated by the spatial range parameter of the first electronic device.

[0233] As a possible implementation manner, the second electronic device is a processing device.

[0234] Specifically, all relevant contents of each step involved in the embodiments shown in Figures 25 and 26 above can be referred to the functional description of the corresponding functional modules or devices and will not be repeated here.

[0235] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information in the technical solutions of this application comply with relevant laws and regulations and do not violate public order and good morals. For example, the processing of user personal information in the technical solutions of this application is performed with the user's authorization, which is explained here and will not be repeated here.

[0236] It should be noted that the terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products, or devices.

[0237] It should be understood that in the present application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0238] It should be understood that in the embodiments of the present application, "B corresponding to A" means that B is associated with A. For example, B can be determined based on A. It should also be understood that determining B based on A does not mean determining B based solely on A; B can also be determined based on A and / or other information. In addition, the "connection" in the embodiments of the present application refers to various connection methods, such as direct connection and indirect connection, to achieve communication between devices, and the embodiments of the present application do not impose any limitations on this.

[0239] Unless otherwise specified, the "transmission" (transmit / transmission) appearing in the embodiments of the present application refers to bidirectional transmission, including the actions of sending and / or receiving. Specifically, the "transmission" in the embodiments of the present application includes the sending of data, the receiving of data, or the sending of data and the receiving of data. In other words, the data transmission here includes uplink and / or downlink data transmission. Data may include channels and / or signals, uplink data transmission is uplink channel and / or uplink signal transmission, and downlink data transmission is downlink channel and / or downlink signal transmission. The "network" and "system" appearing in the embodiments of the present application express the same concept, and the communication system is the communication network.

[0240] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the grouping of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be grouped into different functional modules to complete all or part of the functions described above.

[0241] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the grouping of the modules or units is merely a logical function grouping. In actual implementation, there may be other grouping methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0242] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0243] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0244] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device, such as a single-chip microcomputer, a chip, etc., or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media for storing program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0245] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for transmitting point cloud data, characterized in that: Applied to a first electronic device, the method includes: Get point cloud transmission parameters; Based on the point cloud transmission parameters, first point cloud data are sent to a second electronic device, wherein each point data in the first point cloud data satisfies a condition set based on the point cloud transmission parameters.

2. The method according to claim 1, characterized in that The step of sending the first point cloud data to the second electronic device based on the point cloud transmission parameter includes: Acquire second point cloud data, and use point data in the second point cloud data that meets a condition set based on the point cloud transmission parameter to form the first point cloud data; The first point cloud data is sent to a second electronic device.

3. The method according to claim 1 or 2, characterized in that: The point cloud transmission parameters include resolution range parameters and / or spatial range parameters of the first electronic device.

4. The method according to claim 3, characterized in that The point data satisfies a condition set based on the point cloud transmission parameter, including at least one of the following: The position of the point corresponding to the point data satisfies the condition set based on the spatial range parameter; The resolution of the point corresponding to the point data satisfies a condition set based on the resolution range parameter.

5. The method according to claim 3 or 4, characterized in that: The resolution range parameter includes at least one of the following: Resolution range parameter expressed in spherical or polar coordinates; Resolution range parameter expressed in spatial rectangular coordinates; Resolution range parameter expressed in geometry.

6. The method according to claim 5, characterized in that The resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates includes one or more of a resolution threshold in a distance dimension, a resolution threshold in an azimuth dimension, and a resolution threshold in an elevation dimension; The resolution range parameter expressed in the form of spatial rectangular coordinates includes one or more of a resolution threshold on the horizontal axis, a resolution threshold on the vertical axis, and a resolution threshold on the vertical axis in the spatial rectangular coordinate system; The resolution range parameter expressed in the form of a geometry includes one or more of the type of geometry used to characterize the resolution, a volume threshold or an area threshold of the geometry, and a threshold used to determine the amplitude of the point spread function of the geometry.

7. The method according to claim 5, characterized in that The resolution of the point corresponding to the point data satisfies a condition set based on the resolution range parameter, including at least one of the following: The resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates; The resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial rectangular coordinates; The resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter represented in the geometric form.

8. The method according to claim 3 or 4, characterized in that: The spatial range parameter includes at least one of the following: A quadtree structure parameter for representing at least one spatial range; Parameters of an octree structure representing at least one spatial extent.

9. The method according to claim 8, characterized in that The position of the point corresponding to the point data satisfies a condition set based on the spatial range parameter, including at least one of the following: The position of the point corresponding to the point data is within at least one spatial range represented by the quadtree structure parameter; The position of the point corresponding to the point data is within at least one spatial range represented by the octree structure parameters.

10. The method according to any one of claims 1 to 9, characterized in that: The step of obtaining the point cloud transmission parameters includes: The point cloud transmission parameters are received from the second electronic device.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: Resolution information is sent to the second electronic device, where the resolution information is used to indicate the resolution of each position point in the imaging area of ​​the first electronic device.

12. The method according to any one of claims 1 to 11, characterized in that: The first electronic device is an imaging device.

13. A method for transmitting point cloud data, characterized in that: Applicable to a second electronic device, comprising: Sending point cloud transmission parameters to the first electronic device; First point cloud data is received from the first electronic device, wherein each point data in the first point cloud data satisfies a condition set based on the point cloud transmission parameter.

14. The method according to claim 13, characterized in that The first point cloud data is composed of point data in the second point cloud data that meets a condition set based on the point cloud transmission parameters.

15. The method according to claim 14, characterized in that The point cloud transmission parameters include resolution range parameters and / or space range parameters.

16. The method according to claim 15, characterized in that The point data satisfies a condition set based on the point cloud transmission parameter, including at least one of the following: The position of the point corresponding to the point data satisfies the condition set based on the spatial range parameter; The resolution of the point corresponding to the point data satisfies a condition set based on the resolution range parameter.

17. The method according to claim 15 or 16, characterized in that The resolution range parameter includes at least one of the following: Resolution range parameter expressed in spatial polar or spherical coordinates; Resolution range parameter expressed in spatial rectangular coordinates; Resolution range parameter expressed in geometry.

18. The method according to claim 17, characterized in that The resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates includes one or more of a resolution threshold in a distance dimension, a resolution threshold in an azimuth dimension, and a resolution threshold in an elevation dimension; The resolution range parameter expressed in the form of spatial rectangular coordinates includes one or more of a resolution threshold on the horizontal axis, a resolution threshold on the vertical axis, and a resolution threshold on the vertical axis in the spatial rectangular coordinate system; The resolution range parameter expressed in the form of a geometric body includes the type of the geometric body used to characterize the resolution, a volume threshold or an area threshold of the geometric body, and a threshold used to determine the amplitude of the point spread function of the geometric body.

19. The method according to claim 17, characterized in that The resolution of the point corresponding to the point data satisfies a condition set based on the resolution range parameter, including at least one of the following: The resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial spherical coordinates or polar coordinates; The resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter expressed in the form of spatial rectangular coordinates; The resolution of the point corresponding to the point data is within the resolution range indicated by the resolution range parameter represented in the geometric form.

20. The method according to claim 15 or 16, characterized in that The spatial range parameter includes at least one of the following: A quadtree structure parameter for representing at least one spatial range; Parameters of an octree structure representing at least one spatial extent.

21. The method according to claim 20, characterized in that The position of the point corresponding to the point data satisfies a condition set based on the spatial range parameter, including at least one of the following: The position of the point corresponding to the point data is within at least one spatial range represented by the quadtree structure parameter; The position of the point corresponding to the point data is within at least one spatial range represented by the octree structure parameters.

22. The method according to any one of claims 13 to 21, characterized in that Before sending the point cloud transmission parameter to the first electronic device, the method further includes: Receiving resolution information from a third electronic device, where the resolution information is used to indicate the resolution of each position point in an imaging area of ​​the third electronic device; The spatial range parameter of the first electronic device is determined according to the resolution information from the third electronic device; wherein, within at least one spatial range indicated by the spatial range parameter of the first electronic device, the resolution of the third electronic device does not meet the requirement.

23. The method according to any one of claims 13 to 22, characterized in that The second electronic device is a processing device.

24. A point cloud data transmission device, characterized in that: The point cloud data transmission device includes a processor and a communication interface, and the processor and the communication interface are used to support the point cloud data transmission device to execute the method described in any one of claims 1-12, or the method described in any one of claims 13-23.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes the method according to any one of claims 1 to 12, or the method according to any one of claims 13 to 23.

26. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 12, or the method according to any one of claims 13 to 23.

Images