Summary of the invention
Based on this, it is necessary to after seeking a little for above-mentioned use nonlinear data structure in a cloud space, carry out a wash with watercolours to cloudAdditional memory space is needed to store nonlinear data structure when dye, the technology for causing resource overhead bigger is askedTopic, provides a kind of cloud space and seeks point methods, device, computer equipment and storage medium.
In a first aspect, the embodiment of the present invention, which provides a kind of cloud space, seeks point methods, which comprises
Point cloud sector domain is determined according to the coordinate of all the points in described cloud；
All the points in the domain of described cloud sector are converted to linear data structure to be stored in linear memory space；
According to three-dimensional rectangle frame, the target point in described cloud is determined in the linear memory space.
The coordinate according to all the points in described cloud determines point cloud sector domain in one of the embodiments, comprising:
The maximum in described cloud in the maximum value and minimum value and Y-coordinate axle of the X-coordinate axle of all the points is obtained respectivelyValue and minimum value；
According in the maximum value of the X-coordinate axle and minimum value and the Y-coordinate axle maximum value and minimum value determine instituteState a cloud sector domain.
It is described in one of the embodiments, all the points in the domain of described cloud sector are converted into linear data structure to be stored inIn linear memory space, comprising:
Described cloud sector domain is divided according to preset length and predetermined width, obtains multiple subregions；
Point in each subregion point is converted to linear data structure to be stored in the linear memory space.
The point by each subregion point is converted to linear data structure and is stored in one of the embodiments,In the linear memory space, comprising:
Determine that each subregion is right in the linear memory space according to the number of each subregion midpoint cloud pointThe regional scope answered；
According to preset order, the point in each subregion is converted into linear data structure and is stored in corresponding region modelIn enclosing.
It is described according to three-dimensional rectangle frame in one of the embodiments, the point is determined in the linear memory spaceTarget point in cloud, comprising:
Obtain the rectangular area that the three-dimensional rectangle frame is mapped on X/Y plane；The X/Y plane characterization X-coordinate axle and Y are satThe plane that parameter is constituted；
The determining subregion overlapped with the rectangular area, obtains overlapping ranges；
According to the three-dimensional rectangle frame, the target point in described cloud is determined in the overlapping ranges.
It is described according to the three-dimensional rectangle frame in one of the embodiments, the point is determined in the overlapping rangesTarget point in cloud, comprising:
Obtain the coordinate section that the three-dimensional rectangle frame is mapped on Z coordinate axis；
Z coordinate in the overlapping ranges is belonged to the point in the coordinate section, the target point being determined as in described cloud.
In one of the embodiments, in the point that Z coordinate in the overlapping ranges is belonged to the coordinate section, reallyIt is set to before the target point in described cloud, the method also includes:
Point in the overlapping ranges is ranked up according to the sequence of Z coordinate from small to large.
Second aspect, the embodiment of the present invention provide a kind of cloud space and seek a device, and described device includes:
First determining module determines point cloud sector domain for the coordinate according to all the points in described cloud；
Memory module is stored in linear memory sky for all the points in the domain of described cloud sector to be converted to linear data structureBetween in；
Second determining module, for determining described cloud in the linear memory space according to the three-dimensional rectangle frameIn target point.
The third aspect, the embodiment of the present invention provide a kind of computer equipment, including memory and processor, the memoryIt is stored with computer program, the processor is realized shown in above-mentioned first aspect any embodiment when executing the computer programPoint cloud space seek point methods.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,The computer program realizes that point methods are sought in point cloud space shown in above-mentioned first aspect any embodiment when being executed by processor.
The embodiment of the present application provides a kind of cloud space and seeks point methods, device, computer equipment and storage medium, computerEquipment determines point cloud sector domain according to the coordinate of all the points in cloud, and all the points in cloud sector domain are converted to linear data structureIt is stored in linear memory space, then according to three-dimensional rectangle frame, the target point in point cloud is determined in linear memory space.ByIn this method, all the points in cloud are first stored as linear data structure by computer equipment, then are found in linear memory spaceTarget point, so that the target point sought out is a linear data structure, in this way, computer equipment is with linear data structure in pointAfter cloud space is sought a little, when rendering to a cloud, linear data structure can be stored directly in third party library, without additionalMemory space linear data structure is stored, greatly reduce the expense of extra memory, save resource.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understoodThe application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, notFor limiting the application.
Point methods are sought in a kind of cloud space provided by the present application, can be applied in application environment as shown in Figure 1, the meterCalculating machine equipment can be server, which includes processor, the memory, network interface connected by system busAnd database.Wherein, the processor is for providing calculating and control ability.The memory includes non-volatile memory medium, interiorMemory.The non-volatile memory medium is stored with operating system, computer program and database.The built-in storage is non-volatileProperty storage medium in operating system and computer program operation provide environment.The database is sought a little for storing point cloud spaceThe data of method.The network interface is used to communicate with external other equipment by network connection.The computer program is processedTo realize that point methods are sought in a kind of cloud space when device executes.
Embodiments herein provides a kind of cloud space and seeks point methods, device, computer equipment and storage medium, it is intended toIt solves after being sought a little in a cloud space using nonlinear data structure, additional memory space is needed to come pair when rendering to cloudNonlinear data structure is stored, and the technical problem that resource overhead is bigger is caused.Embodiment will be passed through below and combined attachedFigure specifically carries out specifically to how the technical solution of the technical solution of the application and the application solves above-mentioned technical problemIt is bright.These specific embodiments can be combined with each other below, may be in certain realities for the same or similar concept or processIt applies in example and repeats no more.It should be noted that point methods, executing subject are sought in a kind of cloud space provided in an embodiment of the present inventionFor computer equipment, wherein the executing subject can also be that a device is sought in a cloud space, wherein the device can by software,The mode of hardware or software and hardware combining realizes that some or all of of a determining device is sought in a cloud space.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present inventionIn attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment isA part of the embodiment of the present invention, instead of all the embodiments.
In one embodiment, Fig. 2 is that point methods are sought in a kind of cloud space provided by the embodiments of the present application, and the present embodiment relates toAnd be that computer equipment according to the point in cloud is stored as linear memory structure, and according to three-dimensional rectangle frame, in linear memoryThe detailed process of the target point in point cloud is determined in space, as shown in Fig. 2, this method comprises:
S101 determines point cloud sector domain according to the coordinate of all the points in described cloud.
In the present embodiment, point cloud representation is a cloud frame having stored in computer equipment, wherein computerWhat is stored when equipment storage point cloud is the coordinate of all the points in a cloud, and when executing this step, computer equipment is directly acquired i.e.It can.Wherein, point cloud sector domain representation point cloud is mapped in the region in the plane of X-coordinate axle and Y-coordinate axle composition.In practical applicationIn, the coordinate that computer equipment obtains all the points in point cloud determines point cloud sector domain, and illustratively, acquisition modes can be computerEquipment first determines the coordinate of most marginal position point in point cloud, then determines point cloud sector according to the coordinate of these most marginal position pointsDomain, can also be other modes certainly, and the present embodiment does not limit this.
All the points in the domain of described cloud sector are converted to linear data structure and are stored in linear memory space by S102.
Wherein, computer equipment when linear memory space is arranged, implemented by the big small capital in space specific for linear memoryExample and without limitation, can according to the actual situation depending on, as long as the linear memory space can be by the storage of cloud all the points.In realityIn the application of border, based on the point cloud sector domain that computer equipment in above-mentioned S101 step determines, computer equipment will be in the domain of this cloud sectorAll the points are converted to linear data structure and are stored in linear memory space, and illustratively, storage mode can be, and computer is setIt is standby successively to store all the points in the domain of this cloud sector in the linear memory space according to the customized sequence of user, it can also be withBe computer equipment line determines a range according to cloud sector domain in linear memory space, then deposits the point in a cloud sector domainIt stores up in the range of the determination；Its storage mode can also be other modes, and the present embodiment does not limit this.It is understood thatBeing computer equipment is stored in linear memory space for all the points in cloud, and the data constituted are linear data structure.
S103 determines the target point in described cloud according to three-dimensional rectangle frame in the linear memory space.
In this step, three-dimensional rectangle frame can also be referred to as cuboid, and expression is that provided by the present application cloud space is soughtThe target area of point, the point in the three-dimensional rectangle frame are that the application needs target point in target-seeking cloud.In practical applications,Based in above-mentioned S102 step, all the points in cloud are stored in formation linear data knot in linear memory space by computer equipmentStructure, computer equipment is according to the three-dimensional rectangle frame, from the target point determined in linear memory space in described cloud, illustratively,Computer equipment determines that the mode of target point can be, and directly first determines and is located in the three-dimensional rectangle frame in the three-dimensional rectangle framePoint, these point be it needs to be determined that target point；It can also be that computer equipment first determines that the cloud is vertical in solid spaceThen body region determines that three-dimensional rectangle frame and the point cloud part that solid region is overlapped in space, the point in intersection areIt needs to be determined that target point；Certainly other modes be can also be, the present embodiment does not limit this.
Point methods are sought in a kind of cloud space provided in this embodiment, and computer equipment is true according to the coordinate of all the points in cloudCloud sector domain is pinpointed, and all the points in cloud sector domain are converted into linear data structure and are stored in linear memory space, then rootAccording to three-dimensional rectangle frame, the target point in point cloud is determined in linear memory space.Since in this method, computer equipment is first by pointAll the points are stored as linear data structure in cloud, then find target point in linear memory space, so that the target point sought out isOne linear data structure, in this way, carrying out wash with watercolours to cloud after computer equipment is sought a little with linear data structure in a cloud spaceWhen dye, linear data structure is stored without additional memory space, the expense of extra memory is greatly reduced, savesResource.
For the determination in cloud sector domain, the embodiment of the present application provides a kind of cloud space and seeks point methods, and the embodiment is specificWhat is involved is computer equipments according to the detailed process in the determining point cloud sector domain of coordinate of all the points in cloud, as shown in figure 3, above-mentionedA kind of achievable mode of S101 step includes:
S201 is obtained in described cloud respectively in the maximum value and minimum value and Y-coordinate axle of the X-coordinate axle of all the pointsMaximum value and minimum value.
In the present embodiment, computer equipment obtains the maximum value and minimum value of the X-coordinate axle of all the points in some clouds respectively, withAnd maximum value and minimum value in Y-coordinate axle, be described some cloud sectors domain representation in above-described embodiment is that a cloud is mapped in XYRegion in plane, therefore, this cloud sector domain can be to put in the maximum value and minimum value and Y-coordinate axle of X-coordinate axleMaximum value and minimum value determine.
S202, according to the maximum value of the X-coordinate axle and minimum value in the Y-coordinate axle maximum value and minimum value it is trueFixed described cloud sector domain.
In this step, the point in cloud is put in the maximum value and minimum value of X-coordinate axle based on what is obtained in above-mentioned S201 stepWith the maximum value and minimum value in the Y-coordinate axle, computer equipment determines point cloud sector domain.Its method of determination illustratively, can be withIt is set point cloud midpoint the maximum value of X-coordinate axle is maxX, the minimum value in X-coordinate axle is minX, in Y-coordinate axleMaximum value is maxY, the minimum value in Y-coordinate axle is minY, then computer can be with y1=maxX, y2=minX, x1=MaxY, x2=minY are boundary, and a long L=maxX-minX is partitioned on X/Y plane, and width is the area of W=maxY-minYDomain, the region are point cloud sector domain.
Point methods are sought in a kind of cloud space provided in this embodiment, and computer equipment is by the point in cloud in X-coordinate axleMaximum value and minimum value and Y-coordinate axle on maximum value and minimum value determine a point cloud sector domain, delimited with maximum value and minimum valueBoundary, can effectively guarantee will point cloud in all click and sweep into cloud sector domain.
Based on the above embodiment, the embodiment of the present application provides a kind of cloud space and seeks point methods, which is specifically related toTo be computer equipment be divided into multiple subregions for a cloud sector domain, and by the point storage in all subregion to linear memory spaceIn detailed process, as shown in figure 4, above-mentioned S102 includes:
S301 divides described cloud sector domain according to preset length and predetermined width, obtains multiple subregions.
Wherein, the data depending on preset length and predetermined width may each be according to the actual situation, it is assumed for example that the cloudA length of L, the width W in region can be then set to sqrt (L) with the preset length of all subregion, and predetermined width is set to sqrt (W), thisEmbodiment does not limit this.It in practical applications, is sqrt (L) with preset length, predetermined width is meter for sqrt (W)It calculates machine equipment and a cloud sector domain is divided by multiple subregions according to preset length and preset width, obtained all subregionLength is sqrt (L), and width is sqrt (W).It should be noted that computer equipment is drawn with preset length and predetermined widthWhen the domain of branch cloud sector, if be divided into finally, remaining length or short of width can be toward area outside polishing, to protectThe size for demonstrate,proving all subregions is identical.
Point in each subregion point is converted to linear data structure and is stored in the linear memory space by S302In.
In this step, based on multiple subregions obtained in above-mentioned S301 step, computer equipment will be in all subregion pointPoint be converted to linear data structure and be stored in linear memory space, storage mode can be computer equipment for each sub-districtDomain midpoint successively stores in the linear memory space, is also possible to other modes, and the present embodiment does not limit this.
Optionally, as shown in figure 5, a kind of achievable mode of the S302 step includes:
S401 determines each subregion in the linear memory space according to the number of each subregion midpoint cloud pointIn corresponding regional scope.
In the present embodiment, computer equipment first determines the number of all subregion midpoint cloud point, according to all subregion midpoint cloudThe number of point determines all subregion corresponding regional scope in linear memory space.Illustratively, setup algorithm machine equipment dividesSubregion out is 4, and the number at each subregion midpoint is successively 8,5,3,16, then all subregion is linearly being depositedCorresponding regional scope is 1-8,9-13,14-16,17-32 in storage.The wherein number of the subregion and all subregion midpointNumber be for example, the present embodiment does not limit this.
S402, according to preset order, by the point in each subregion be converted to linear data structure be stored in it is correspondingIn regional scope.
Wherein, the sequence depending on preset order indicates user according to the actual situation, for example, being the number according to all subregionSize is ranked up, or is sequentially ranked up with other, and the present embodiment does not limit this.In this step, computer is setIt is standby that the point in all subregion is converted into linear data structure and is stored in corresponding regional scope according to preset order, continueBy all subregion midpoint in above-mentioned S401 step in linear memory for corresponding regional scope, then its storage mode can be withIt is that the point in all subregion is successively stored in and linearly deposits according to the sequence of above-mentioned determining corresponding region range by computer equipmentIt stores up in space.
Point methods are sought in a kind of cloud space provided in this embodiment, and computer equipment is drawn according to preset length and predetermined widthBranch cloud sector domain is multiple subregions, and the point in each region point is converted to linear data structure and is stored in linear memory spaceIn, it when due to storage is stored in linear memory space with the number at all subregion midpoint and according to preset order, in this way, makingIt is linear data structure after all points store in the domain of invocation point cloud sector, to ensure that the subsequent point sought also is linear dataStructure.
Several embodiments are provided below to computer equipment according to three-dimensional rectangle frame, point cloud is determined in linear memory spaceIn the detailed process of target point be illustrated.
In one embodiment, the embodiment of the present application provides a kind of cloud space and seeks point methods, and the present embodiment is specifically related toBe that computer equipment first determines that three-dimensional rectangle is mapped in the rectangular area on X/Y plane and above-described embodiment all subregion and hands overFolded range determines the detailed process of the target point in point cloud further according to the overlapping ranges and three-dimensional rectangle frame, as shown in fig. 6, onStating S103 step includes:
S501 obtains the rectangular area that the three-dimensional rectangle frame is mapped on X/Y plane；The X/Y plane characterizes X-coordinate axleThe plane constituted with Y-coordinate axle.
In the present embodiment, computer equipment obtains three-dimensional rectangle frame and is mapped in the rectangular area on X/Y plane, wherein the XYPlane characterizes the plane that X-coordinate axle and Y-coordinate axle are constituted, it is to be understood that three-dimensional rectangle frame is a three-dimensional cuboid, thenIt is a two-dimensional surface region that it, which is mapped in the rectangular area on X/Y plane,.
S502, the determining subregion overlapped with the rectangular area, obtains overlapping ranges.
It is a two-dimensional surface on X/Y plane based on the rectangular area that in above-mentioned S501 step, computer equipment is determinedRegion, and above-mentioned all subregion is also the two-dimensional surface region on X/Y plane, then computer equipment determines and the rectangular areaOverlapping subregion obtains an overlapping ranges, the point in subregion that wherein overlapping ranges characterization is overlapped with rectangular areaRange in linear memory space, then computer equipment can be according to the mode that overlapping subregion obtains overlapping ranges,Computer equipment is that the range of the overlapping subregion in linear memory space is determined as the overlapping ranges.
S503 determines the target point in described cloud according to the three-dimensional rectangle frame in the overlapping ranges.
In this step, computer equipment determines the side of the target point in point cloud according to three-dimensional rectangle frame in overlapping rangesFormula illustratively can be and first pass through overlapping ranges and obtain point in the overlapping ranges in the region of solid space, then obtaining shouldThe part that overlapping ranges midpoint is intersected in the region of solid space with three-dimensional rectangle frame, it can determine the part midpoint of the intersectionCloud point is target point.Certain method of determination can also be other modes, and the present embodiment does not limit this.
Point methods are sought in a kind of cloud space provided in this embodiment, and it is flat that computer equipment acquisition three-dimensional rectangle frame is mapped in XYRectangular area on face obtains overlapping ranges according to the subregion overlapped with the rectangular area.According to three-dimensional rectangle frame, handing overThe target point in point cloud is determined in folded range, what is indicated due to the overlapping ranges is range in linear memory space, according to threeThe target point that is further determined that out in overlapping ranges of dimension rectangle frame be also stored in linear memory space to get the mesh arrivedPunctuate is a linear data structure, after computer equipment is sought a little with linear data structure in a cloud space, to point Yun JinhangWhen rendering, linear data structure is stored without additional memory space, greatly reduces the expense of extra memory, is savedResource.
In one embodiment, the embodiment of the present application provides the target point in the determining point cloud of another computer equipmentMode, as shown in fig. 7, what is involved is computer equipments to be mapped in coordinate on Z coordinate axis according to three-dimensional rectangle frame for the embodimentSection determines the detailed process of target point from overlapping ranges, then a kind of achievable mode of S503 step includes:
S601 obtains the coordinate section that the three-dimensional rectangle frame is mapped on Z coordinate axis.
In the present embodiment, computer equipment obtains three-dimensional rectangle frame and is mapped in the coordinate section on Z coordinate axis, wherein the seatMark section of the height for the three-dimensional rectangle frame that section obtains on Z coordinate axis.
Z coordinate in the overlapping ranges is belonged to the point in the coordinate section, the target being determined as in described cloud by S602Point.
The three-dimensional rectangle frame determined based on above-mentioned S601 step is mapped in the coordinate section on Z coordinate axis, computer equipmentFrom in overlapping ranges determine point cloud in target point when, can be computer equipment first obtain overlapping ranges midpoint all Z sitMark, from the point belonged in the coordinate section that above-mentioned three-dimensional rectangle frame is mapped on Z coordinate axis is determined in the Z coordinate, then by thisThe target point that a little points are determined as in a cloud.
Optionally, the method also includes: by the point in the overlapping ranges according to Z coordinate from small to large sequence progressSequence.In the point that Z coordinate in overlapping ranges is belonged to coordinate section, it is determined as before the target point in a cloud, computer equipmentZ coordinate in overlapping ranges can be ranked up, obtained from overlapping ranges Z coordinate belong to the point in coordinate section directly according toSequence obtains, and substantially increases computer equipment and obtains the speed that Z coordinate in overlapping ranges belongs to the point in coordinate section, to mentionHigh computer equipment determines the efficiency of the target point in point cloud.
Point methods are sought in a kind of cloud space provided in this embodiment, and computer equipment obtains three-dimensional rectangle frame and is mapped in Z seatZ coordinate in overlapping ranges, is belonged to the point in coordinate section by the coordinate section on parameter, the target point being determined as in a cloud, due toWhat the overlapping ranges indicated is the range in linear memory space, and the coordinate area on Z coordinate axis is mapped according to three-dimensional rectangle frameBetween, it is one to get the target point arrived that the target point determined in overlapping ranges, which is also stored in linear memory space,Linear data structure, thus after computer equipment is sought a little with linear data structure in a cloud space, when being rendered to a cloud,Linear data structure is stored without additional memory space, the expense of extra memory is greatly reduced, saves resource.
It should be understood that although each step in the flow chart of Fig. 2-7 is successively shown according to the instruction of arrow,These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these stepsExecution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 2-7Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-stepsCompletion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successivelyIt carries out, but can be at least part of the sub-step or stage of other steps or other steps in turn or alternatelyIt executes.
In one embodiment, as shown in figure 8, providing a kind of cloud space seeks a device, described device includes: firstDetermining module 10, memory module 11 and the second determining module 12, in which:
First determining module 10 determines point cloud sector domain for the coordinate according to all the points in described cloud；
Memory module 11 is stored in linear memory for all the points in the domain of described cloud sector to be converted to linear data structureIn space；
Second determining module 12, for being determined in described cloud in the linear memory space according to three-dimensional rectangle frameTarget point.
A device is sought in a kind of cloud space provided by the above embodiment, and implementing principle and technical effect and the above method are realIt is similar to apply example, details are not described herein.
In one embodiment, as shown in figure 9, providing a kind of cloud space seeks a device, above-mentioned first determining module10 include: first acquisition unit 101 and the first determination unit 102, in which:
First acquisition unit 101, for obtaining the maximum value and minimum of the X-coordinate axle of all the points in described cloud respectivelyValue and maximum value and minimum value in Y-coordinate axle；
First determination unit 102, in the maximum value and minimum value and the Y-coordinate axle according to the X-coordinate axleMaximum value and minimum value determine described cloud sector domain.
A device is sought in a kind of cloud space provided by the above embodiment, and implementing principle and technical effect and the above method are realIt is similar to apply example, details are not described herein.
In one embodiment, as shown in Figure 10, it provides a kind of cloud space and seeks a device, above-mentioned memory module 11 is wrappedIt includes: division unit 111 and storage unit 112, in which:
Division unit 111 obtains multiple sub-districts for dividing described cloud sector domain according to preset length and predetermined widthDomain；
Storage unit 112 is stored in the line for the point in each subregion point to be converted to linear data structureIn property memory space.
A device is sought in a kind of cloud space provided by the above embodiment, and implementing principle and technical effect and the above method are realIt is similar to apply example, details are not described herein.
In one embodiment, as shown in figure 11, it provides a kind of cloud space and seeks a device, said memory cells 112Comprise determining that subelement 1121 and storing sub-units 1122, in which:
Subelement 1121 is determined, for determining each subregion in institute according to the number of each subregion midpoint cloud pointState corresponding regional scope in linear memory space；
Storing sub-units 1122, for according to preset order, the point in each subregion to be converted to linear data knotStructure is stored in corresponding regional scope.
A device is sought in a kind of cloud space provided by the above embodiment, and implementing principle and technical effect and the above method are realIt is similar to apply example, details are not described herein.
In one embodiment, as shown in figure 12, it provides a kind of cloud space and seeks a device, above-mentioned second determining module12 include: second acquisition unit 121, the second determination unit 122, third determination unit 123, wherein
Second acquisition unit 121, the rectangular area being mapped on X/Y plane for obtaining the three-dimensional rectangle frame；The XYPlane characterizes the plane that X-coordinate axle and Y-coordinate axle are constituted；
Second determination unit 122 obtains overlapping ranges for the determining subregion overlapped with the rectangular area；
Third determination unit 123, for being determined in described cloud in the overlapping ranges according to the three-dimensional rectangle frameTarget point.
A device is sought in a kind of cloud space provided by the above embodiment, and implementing principle and technical effect and the above method are realIt is similar to apply example, details are not described herein.
In one embodiment, as shown in figure 13, it provides a kind of cloud space and seeks a device, above-mentioned third determination unit123 include: to obtain subelement 1231 and determining subelement 1232, wherein
Obtain subelement 1231, the coordinate section being mapped on Z coordinate axis for obtaining the three-dimensional rectangle frame；
It determines subelement 1232, for Z coordinate in the overlapping ranges to be belonged to the point in the coordinate section, is determined as instituteState the target point in a cloud.
A device is sought in a kind of cloud space provided by the above embodiment, and implementing principle and technical effect and the above method are realIt is similar to apply example, details are not described herein.
In one embodiment, it provides a kind of cloud space and seeks a device, further include sorting module, be used for the friendshipPoint in folded range is ranked up according to the sequence of Z coordinate from small to large.
A device is sought in a kind of cloud space provided by the above embodiment, and implementing principle and technical effect and the above method are realIt is similar to apply example, details are not described herein.
The specific restriction for seeking a device about cloud space may refer to the limit that point methods are sought above for cloud spaceFixed, details are not described herein.Above-mentioned cloud space seek the modules in a device can fully or partially through software, hardware and itsCombination is to realize.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also be withIt is stored in the memory in computer equipment in a software form, in order to which processor calls the above modules of execution correspondingOperation.
In one embodiment, a kind of computer equipment is provided, which can be terminal, internal structureFigure can be as shown in Figure 1 above.The computer equipment include by system bus connect processor, memory, network interface,Display screen and input unit.Wherein, the processor of the computer equipment is for providing calculating and control ability.The computer equipmentMemory include non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system and calculatingMachine program.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.It shouldThe network interface of computer equipment is used to communicate with external terminal by network connection.The computer program is executed by processorWhen to realize that point methods are sought in a kind of cloud space.The display screen of the computer equipment can be liquid crystal display or electric inkDisplay screen, the input unit of the computer equipment can be the touch layer covered on display screen, be also possible to outside computer equipmentKey, trace ball or the Trackpad being arranged on shell can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in above-mentioned Fig. 1, only portion relevant to application schemeThe block diagram of separation structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computerEquipment may include perhaps combining certain components or with different component cloth than more or fewer components as shown in the figureIt sets.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memoryComputer program, the processor perform the steps of when executing computer program
Point cloud sector domain is determined according to the coordinate of all the points in described cloud；
All the points in the domain of described cloud sector are converted to linear data structure to be stored in linear memory space；
According to three-dimensional rectangle frame, the target point in described cloud is determined in the linear memory space.
A kind of computer equipment provided by the above embodiment, implementing principle and technical effect and above method embodiment classSeemingly, details are not described herein.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculatedMachine program performs the steps of when being executed by processor
Point cloud sector domain is determined according to the coordinate of all the points in described cloud；
All the points in the domain of described cloud sector are converted to linear data structure to be stored in linear memory space；
According to three-dimensional rectangle frame, the target point in described cloud is determined in the linear memory space.
A kind of computer readable storage medium provided by the above embodiment is standby, implementing principle and technical effect and above-mentioned sideMethod embodiment is similar, and details are not described herein.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be withRelevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computerIn read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,To any reference of memory, storage, database or other media used in each embodiment provided herein,Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may includeRandom access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancingType SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodimentIn each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lanceShield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneouslyIt cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the artIt says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the applicationRange.Therefore, the scope of protection shall be subject to the appended claims for the application patent.