Method and apparatus for compressing three-dimensional point cloud data
A method and apparatus for compressing three-dimensional point cloud data is disclosed. In one aspect, a method for compressing three dimensional point cloud includes steps of retrieving three-dimensional point cloud data; providing one or more grids to the three-dimensional point cloud data; assigning one binary digit to each three-dimensional grid voxel containing said point cloud data and assigning the other binary digit to each three-dimensional grid voxel that does not have said point cloud data; converting the three-dimensional grid into two-dimensional tiles; and storing information of a plurality of binary strings in said two-dimensional tiles. In one embodiment, the step of storing information of a plurality of binary strings in said two-dimensional tiles includes a step of storing the number of repeating times of each binary digit in the binary strings. The method can significantly reduce memory space, as well as preserving small details of the point cloud.
1. A method for compressing three-dimensional point cloud data comprising steps of:
retrieving three-dimensional point cloud data;
providing one or more three-dimensional grid voxels to enclose the three-dimensional point cloud data;
dividing said three-dimensional grid voxels that contain point cloud data into a predetermined number of subvoxels;
forming a binary data set by assigning one binary digit to each subvoxel containing said point cloud data and assigning the other binary digit to each subvoxel that does not contain said point cloud data;
assigning one binary digit to said three-dimensional grid voxels that do not contain point cloud data;
reshaping the three-dimensional grid voxels into a one-dimensional array; and
storing information contained in said one-dimensional array,
wherein the step of assigning one binary digit to said three-dimensional grid voxels that do not contain point cloud data includes a step of assigning value “0” to said three-dimensional grid voxels that do not have said point cloud data,
wherein the step of storing information contained in said one-dimensional array includes steps of storing said value “0” according to number of times said value “0” consecutively, and assigning a negative sign to the number of times said value “0” appears consecutively.
2. The method for compressing three-dimensional point cloud data of claim 1 , wherein the step of retrieving three-dimensional point cloud data includes a step of computing a close outer contour of the distance function to the point cloud.
3. The method for compressing three-dimensional point cloud data of claim 1 , wherein the step of forming a binary data set includes a step of assigning value “1” to the subvoxel containing said point cloud data and assigning value “0” to the subvoxel that does not have said point cloud data.
4. The method for compressing three-dimensional point cloud data of claim 1 , wherein the step of reshaping the three-dimensional grid voxels into a one-dimensional array includes a step of converting the binary data set to an integer value.
5. The method for compressing three-dimensional point cloud data of claim 1 , said three-dimensional grid voxel is divided into twenty-seven (27) subvoxels.
6. A system for compressing three-dimensional point cloud data comprising:
a processor
a memory storing a computer program that when executed causes the processor to act as:
a data processing device for receiving the three-dimensional point cloud data and enclosing said three-dimensional point cloud data in one or more three-dimensional grid voxels;
a compression device for compressing the point cloud data, comprising:
a voxel dividing device for dividing said three-dimensional grid voxels that contain point cloud data into a predetermined number of subvoxels;
a first binary data generating device for forming a binary data set by assigning one binary digit to each subvoxel containing said point cloud data and assigning the other binary digit to each subvoxel that does not contain said point cloud data;
a second binary data generating device for assigning one binary digit to said three-dimensional grid voxels that do not contain point cloud data; and
a grid reconfiguration device for reshaping the three-dimensional grid voxels into a one-dimensional array; and
a second memory device for storing information contained in said one-dimensional array,
wherein the second binary data generating device for assigning one binary digit to said three-dimensional id voxels that do not contain pint cloud data includes a digit assigning processor for assigning value “0” to said three-dimensional grid voxels that do not have said point cloud data,
wherein the second memory device for storing information contained in said ,one-dimensional array includes an information storing device for storing said value “0” according to number of times said value “0” appears consecutively, and a digit processing device for assigning a negative sign to the number of times said value “0” appears consecutively.
7. The system for compressing three-dimensional point cloud data of claim 6 , wherein the first binary data generating device for forming a binary data set includes a first subvoxel data processing device for assigning value “1” to the subvoxel containing said point cloud data and a second subvoxel data processing device for assigning value “0” to the subvoxel that does not have said point cloud data.
8. The system for compressing three-dimensional point cloud data of claim 6 , wherein said grid reconfiguration device for reshaping the three-dimensional grid voxels into a one-dimensional array includes a data converting device for converting the binary data set to an integer value.
9. The system for compressing three-dimensional point cloud data of claim 6 , said three-dimensional grid voxel is divided into twenty-seven (27) subvoxels.