Point cloud data hierarchy

Abstract

One method embodiment comprises storing data on a storage system that is representative of a point cloud comprising a very large number of associated points; organizing the data into an octree hierarchy of data sectors, each of which is representative of one or more of the points at a given octree mesh resolution; receiving a command from a user of a user interface to present an image based at least in part upon a selected viewing perspective origin and vector; and assembling the image based at least in part upon the selected origin and vector, the image comprising a plurality of data sectors pulled from the octree hierarchy, the plurality of data sectors being assembled such that sectors representative of points closer to the selected viewing origin have a higher octree mesh resolution than that of sectors representative of points farther away from the selected viewing origin.

1 . A method for presenting multi-resolution views of a very large point data set, comprising:
 a. storing data on a storage system that is representative of a point cloud comprising a very large number of associated points;   b. organizing the data into an octree hierarchy of data sectors, each of which is representative of one or more of the points at a given octree mesh resolution;   c. receiving a command from a user of a user interface to present an image based at least in part upon a selected viewing perspective origin and vector; and   d. assembling the image based at least in part upon the selected origin and vector, the image comprising a plurality of data sectors pulled from the octree hierarchy, the plurality of data sectors being assembled such that sectors representative of points closer to the selected viewing origin have a higher octree mesh resolution than that of sectors representative of points farther away from the selected viewing origin.   
     
     
         2 . The method of  claim 1 , wherein storing comprises accessing a storage cluster. 
     
     
         3 . The method of  claim 1 , further comprising using a network to intercouple the storage system, controller, and user interface. 
     
     
         4 . The method of  claim 3 , wherein at least one portion of the network is accessible to the internet. 
     
     
         5 . The method of  claim 1 , further comprising generating the user interface with a computing system that houses the controller. 
     
     
         6 . The method of  claim 1 , further comprising presenting the user interface to the user within a web browser. 
     
     
         7 . The method of  claim 1 , wherein the user interface is configured such that the user may adjust the selected origin and vector using an input device, causing the controller to assemble a new image based at least in part upon the adjusted origin and vector. 
     
     
         8 . The method of  claim 1 , wherein the very large number of associated points is greater than 1 billion points. 
     
     
         9 . The method of  claim 1 , wherein the point cloud has a uniform point pitch. 
     
     
         10 . The method of  claim 1 , wherein the point cloud has a point pitch that is less than about one meter. 
     
     
         11 . The method of  claim 10 , wherein the point cloud has a point pitch that is less than about 1 centimeter. 
     
     
         12 . The method of  claim 1 , wherein the point cloud represents data that has been collected based upon distance measurement scans of objects. 
     
     
         13 . The method of  claim 12 , wherein the point cloud represents at least one LIDAR scan. 
     
     
         14 . The method of  claim 1 , wherein the octree hierarchy of data sectors is configured such that an N level sector represents a centroid of points at the N+1 level below. 
     
     
         15 . The method of  claim 14 , wherein each point is weighted equally in determining the centroid. 
     
     
         16 . The method of  claim 14 , wherein the points comprising the point cloud are not all weighted equally in determining the centroid. 
     
     
         17 . The method of  claim 1 , further comprising using the controller to store data sectors of similar octree mesh resolution in similar accessibility configurations on the storage system. 
     
     
         18 . The method of  claim 17 , wherein the controller is configured to store data sectors of similar octree mesh resolution on a common storage device. 
     
     
         19 . The method of  claim 17 , wherein the controller is configured to store data sectors of similar octree mesh resolution such that they have similar retrieval latencies from the storage system. 
     
     
         20 . The method of  claim 1 , wherein the image comprises a gradient of octree mesh resolution data sectors in a direction outward from the selected viewing origin.