Method and device of labeling laser point cloud

Abstract

The present application discloses a method and device of labeling laser point cloud. The method comprises: receiving data of a laser point cloud; constructing a 3 D scene and establishing a 3D coordinate system corresponding to the 3 D scene; converting a coordinate of each laser point in the laser point cloud into a 3 D coordinate in the 3 D coordinate system; mapping laser points included in the laser point cloud into the 3 D scene respectively according to the 3 D coordinate of the laser points; labeling the laser points in the 3 D scene.

What is claimed is: 
     
         1 . A method of labeling a laser point cloud, comprising:
 receiving, by a device for labeling laser point clouds, data of the laser point cloud;   constructing a 3D scene and establishing a 3D coordinate system corresponding to the 3D scene;   converting a coordinate of each laser point in the laser point cloud into a 3D coordinate in the 3D coordinate system;   mapping laser points in the laser point cloud into the 3D scene respectively according to the 3D coordinates of the laser points;   labeling the laser points in the 3D scene, in which labeling the laser points in the 3D scene comprises:   determining types to which the laser points in the 3D scene belong according to a first mode comprising:
 when receiving a labeling instruction including a target type, taking laser points currently falling within a 3D selecting box as target laser points and taking the target type in the labeling instruction as a type to which the target laser points belong; and 
   labeling the laser points by using labeling manners corresponding to the types to which the laser points belong, wherein different types correspond to different labeling manners.   
     
     
         2 . The method according to  claim 1 , wherein determining the types to which the laser points in the 3D scene belong is according to a second mode, comprising:
 generating a ray between a start point and an end point;   taking laser points meeting the following conditions as target laser points: a distance of a laser point from the start point is between a first distance threshold and a second distance threshold, and a distance of the laser point from the ray is less than or equal to a third distance threshold; and   when receiving a labeling instruction including a target type, taking the target type in the labeling instruction as a type to which the target laser points belong.   
     
     
         3 . The method according to  claim 1 , wherein the first mode further comprises:
 generating a 3D selecting box according to a first size information; and   moving a position of the 3D selecting box in the 3D scene in response to a first moving instruction.   
     
     
         4 . The method according to  claim 1 , further comprising:
 constructing at least one camera in the 3D scene, to adjust an angle and a range of viewing the laser point cloud in the 3D scene by adjusting a position and a direction of the at least one camera in the 3D scene, during the process of labeling the laser points in the 3D scene.   
     
     
         5 . The method according to  claim 1 , wherein the labeling instruction includes a labeling box pattern corresponding to the target type, and labeling the laser points by using the labeling manner corresponding to the type to which the laser points belong comprises:
 generating a 3D labeling box according to the labeling box pattern; and labeling each target laser point respectively by using the 3D labeling box, wherein different target types correspond to different labeling box patterns.   
     
     
         6 . The method according to  claim 1 , wherein the labeling instruction includes a labeling color corresponding to the target type, and labeling the laser points according to the labeling manners corresponding to the type to which the laser points belong comprises:
 setting a color of the target laser points to be the labeling color in the labeling instruction, wherein different target types correspond to different labeling colors.   
     
     
         7 . The method according to  claim 6 , wherein setting the color of the target laser points to be the labeling color in the labeling instruction comprises:
 generating a 3D coloring box according to second size information; and   moving the 3D coloring box according to a second moving instruction to paint the color of the target laser points falling within the 3D coloring box during the moving process into the labeling color in the labeling instruction.   
     
     
         8 . The method according to  claim 7 , further comprising:
 setting the 3D coloring box with an eraser attribute according to an erasure instruction; and   moving the 3D coloring box according to a third moving instruction to erase the color of the laser points falling within the 3D coloring box during the moving process.   
     
     
         9 . The method according to  claim 4 , wherein labeling the laser point according to the labeling manner corresponding to the type to which the laser points belong comprises:
 determining a labeling color corresponding to the type to which the laser points belong according to a preset correspondence between types and labeling colors, and setting a color of the laser points to be the labeling color corresponding to the type to which the laser points belong; or   determining a labeling box pattern corresponding to the type to which the laser points belong according to a preset correspondence between types and labeling box patterns, generating a 3D labeling box according to the labeling box pattern corresponding to the type to which the laser points belong, and labeling the laser points by using the 3D labeling box.   
     
     
         10 . A device for labeling a laser point cloud, configured to:
 receive data of the laser point cloud;   construct a 3D scene and establish a 3D coordinate system corresponding to the 3D scene;   convert a coordinate of each laser point in the laser point cloud into a 3D coordinate in the 3D coordinate system;   map laser points included in the laser point cloud into the 3D scene using the 3D coordinates of the laser points;
 determine types to which the laser points in the 3D scene belong according to a first mode comprising: 
 when receiving a labeling instruction including a target type, take laser points currently falling within a 3D selecting box as target laser points and take the target type in the labeling instruction as a type to which the target laser points belong; and 
 label the laser points by using labeling manners corresponding to the types to which the laser points belong, wherein different types correspond to different labeling manners. 
   
     
     
         11 . The device according to  claim 10 , wherein to determine the types to which the laser points in the 3D scene belong is according to a second mode, the device is configured to:
 generate a ray between a start point and an end point;   take laser points meeting the following conditions as target laser points: a distance of a laser point from the start point is between a first distance threshold and a second distance threshold, and a distance of the laser point from the ray is less than or equal to a third distance threshold; and   when receiving a labeling instruction including a target type, take the target type in the labeling instruction as a type to which the target laser points belong.   
     
     
         12 . The device according to  claim 10 , wherein in the first mode the device is configured to:
 generate the 3D selecting box according to a first size information; and   move a position of the 3D selecting box in the 3D scene in response to a first moving instruction.   
     
     
         13 . The device according to  claim 10 , configured to:
 construct at least one camera in the 3D scene, to adjust an angle and a range of viewing the laser point cloud in the 3D scene by adjusting a position and a direction of the at least one camera in the 3D scene, during the process of labeling the laser points in the 3D scene.   
     
     
         14 . The device according to  claim 10 , wherein the labeling instruction includes a labeling box pattern corresponding to the target type, the device is configured to:
 generate a 3D labeling box according to the labeling box pattern; and   label each target laser point respectively by using the 3D labeling box, wherein different target types correspond to different labeling box patterns.   
     
     
         15 . The device according to  claim 10 , wherein the labeling instruction includes a labeling color corresponding to the target type, the device is configured to:
 set a color of the target laser points to be the labeling color in the labeling instruction, wherein different target types correspond to different labeling colors.   
     
     
         16 . The device according to  claim 15 , wherein setting the color of the target laser points to be the labeling color in the labeling instruction, the device is configured to:
 generate a 3D coloring box according to a second size information; and   move the 3D coloring box according to a second moving instruction to paint the color of the target laser points falling within the 3D coloring box during the moving process into the labeling color in the labeling instruction.   
     
     
         17 . The device according to  claim 16 , further configured to:
 set the 3D coloring box with an eraser attribute according to an erasure instruction; and   move the 3D coloring box according to a third moving instruction, to erase the color of the laser points falling within the 3D coloring box during the moving process.   
     
     
         18 . The device according to  claim 13 , further configured to:
 determine a labeling color corresponding to the type to which the laser points belong according to a preset correspondence between types and labeling colors, and set a color of the laser points to be the labeling color corresponding to the type to which the laser points belong; or   determine a labeling box pattern corresponding to the type to which the laser points belong according to a preset correspondence between types and labeling box patterns, generating a 3D labeling box according to the labeling box pattern corresponding to the type to which the laser points belong, and labeling the laser points by using the 3D labeling box.   
     
     
         19 . A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
 receive data of a laser point cloud;   construct a 3D scene and establish a 3D coordinate system corresponding to the 3D scene;   convert a coordinate of each laser point in the laser point cloud into a 3D coordinate in the 3D coordinate system;   map laser points in the laser point cloud into the 3D scene respectively according to the 3D coordinates of the laser points;   determine types to which the laser points in the 3D scene belong;   receive a labeling instruction including a target type;   take laser points currently falling within a 3D selecting box as target laser points;   take the target type in the labeling instruction as a type to which the target laser points belong; and   label the laser points according to labeling manners corresponding to the types to which the laser points belong, wherein different types correspond to different labeling manners.   
     
     
         20 . The non-transitory machine-useable storage medium according to  claim 19 , causing the machine to:
 generate a 3D selecting box according to a first size information; and   move a position of the 3D selecting box in the 3D scene in response to a first moving instruction.