CN119902815A - A data frame processing method, device, electronic device and readable storage medium - Google Patents
A data frame processing method, device, electronic device and readable storage medium Download PDFInfo
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- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
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Abstract
本发明实施例提供了一种数据帧处理方法、装置、电子设备及可读存储介质，涉及数据处理领域，包括：响应于第一页面开启操作，获取待加载的第一数据帧集合中各个第一数据帧对应的第一数据地址；基于第一数据地址确定第一数据帧集合中的第一数据帧对应的存储位置信息；存储位置信息包括本地存储和异地存储；在第一数据帧对应的存储位置信息为异地存储的情况下，基于第一数据地址，从位于存储服务器的第一存储器加载第一数据帧，将第一数据帧存储至位于本地的第二存储器；在第一数据帧对应的存储位置信息为本地存储的情况下，从第二存储器加载第一数据帧；展示基于第一数据帧生成的渲染图像。
Embodiments of the present invention provide a data frame processing method, device, electronic device and readable storage medium, which relate to the field of data processing, including: in response to a first page opening operation, obtaining a first data address corresponding to each first data frame in a first data frame set to be loaded; determining storage location information corresponding to a first data frame in the first data frame set based on the first data address; the storage location information includes local storage and remote storage; when the storage location information corresponding to the first data frame is remote storage, based on the first data address, loading the first data frame from a first memory located on a storage server, and storing the first data frame in a second memory located locally; when the storage location information corresponding to the first data frame is local storage, loading the first data frame from the second memory; and displaying a rendered image generated based on the first data frame.
Description
Technical Field
The present invention relates to the field of data processing, and in particular, to a data frame processing method, apparatus, electronic device, and readable storage medium.
Background
Based on the long-term technical accumulation and the breakthrough of the recent artificial intelligence field, and the increasingly mature policy, unmanned driving is going to people. The fact that large Internet companies and automobiles invest resources to develop unmanned technologies in large quantities shows that unmanned has gradually become a trend in the information industry and the automobile industry.
In the process of developing the unmanned functions and the system, the automatic driving AI is imperfect, so that data generated by the automatic driving AI when the road is driven is required to be checked, marked, corrected and the like, and further training and error analysis can be carried out on the automatic driving AI through the data so as to improve the working effect of the unmanned driving AI. In general, a worker stores mass data generated by a vehicle end in a server, and needs to load vehicle end data required by the page from the server when viewing the data in the page, and process (e.g., annotate, correct, etc.) the autopilot data, so that the collected autopilot data can be used in a training and analysis process of the autopilot AI.
However, since the types of automatic driving data generated by the vehicle are large and the data amount is large, in the related art, the efficiency of loading the data frame formed by the automatic driving data from the server to the terminal used by the technician is low.
Disclosure of Invention
In view of the above, the present invention aims to provide a data frame processing method, apparatus, electronic device and readable storage medium, so as to solve the problem in the prior art that the efficiency of loading the data frame formed by the autopilot data from the server to the terminal is low.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
In a first aspect, the present invention provides a data frame processing method, the method comprising:
responding to a first page opening operation, and acquiring a first data address corresponding to each first data frame in a first data frame set to be loaded;
determining storage position information corresponding to a first data frame in the first data frame set based on the first data address, wherein the storage position information comprises local storage and remote storage;
Loading the first data frame from a first memory located in a storage server based on the first data address and storing the first data frame into a second memory located locally when the storage position information corresponding to the first data frame is stored in the different place;
Loading the first data frame from the second memory under the condition that the storage position information corresponding to the first data frame is the local storage;
A rendered image generated based on the first data frame is shown.
Optionally, the loading the first data frame from the first memory located at the storage server based on the first data address includes:
under the condition that the first data frame is the first frame in the first data frame set, the address number of the data addresses to be loaded in the loading queue is obtained;
Caching the data address to be loaded under the condition that the number of the addresses is larger than or equal to a preset threshold value;
Adding a first data address corresponding to a first data frame of the first data frame set into the loading queue;
And loading the first data frame corresponding to the first data address from a first memory positioned at the storage server based on the loading queue.
Optionally, the method further comprises:
responding to a second page opening operation, and acquiring a second data address corresponding to each second data frame in a second data frame set to be loaded;
Storing target frame position information of a first data frame currently being loaded in the first data frame set;
Loading the second data frame based on the second data address;
And under the condition that the loading of all the second data frames in the second data frame set is completed, continuing to load the first data frames which are not completed in the first data frame set from the target frame position information.
Optionally, the determining, based on the first data address, storage location information corresponding to a first data frame in the first data frame set includes:
Acquiring reading terminal information of the first data frame from the first data address;
under the condition that the read terminal information is matched with the local terminal information, determining the storage position information corresponding to the first data address as the local storage;
And under the condition that the read terminal information is not matched with the local terminal information, determining the storage position information corresponding to the first data address as the remote storage.
Optionally, the first data frame includes first point cloud data, and loading the first data frame from a first memory located in a storage server based on the first data address includes:
Transmitting a point cloud data acquisition instruction containing the first data address to the storage server, so that the storage server responds to the point cloud data acquisition instruction, determining the relative distance and the relative direction between the point cloud coordinates and the vehicle in the original point cloud data stored by the first data address, and generating the first point cloud data based on the relative distance and the relative direction;
and acquiring a first data frame containing the first point cloud data from the storage server.
Optionally, the method further comprises:
Acquiring data type information contained in the first data frame, and determining a decompression algorithm based on the data type information;
Decompressing the first data frame through the decompression algorithm to obtain binary streams respectively corresponding to the data types;
And analyzing the binary stream to obtain data to be rendered corresponding to the data type, and generating the rendering image based on a plurality of data to be rendered.
In a second aspect, the present invention provides a data frame processing apparatus, the apparatus comprising:
The first response module is used for responding to a first page opening operation and acquiring a first data address corresponding to each first data frame in a first data frame set to be loaded;
the storage position module is used for determining storage position information corresponding to a first data frame in the first data frame set based on the first data address, wherein the storage position information comprises local storage and remote storage;
The storage module is used for loading the first data frame from a first memory positioned at a storage server based on the first data address and storing the first data frame to a second memory positioned locally when the storage position information corresponding to the first data frame is stored in the different place;
The first data frame module is used for loading the first data frame from the second memory under the condition that the storage position information corresponding to the first data frame is the local storage;
and the display module is used for displaying the rendering image generated based on the first data frame.
Optionally, the storage module includes:
The address number sub-module is used for acquiring the address number of the data address to be loaded in the loading queue under the condition that the first data frame is the first frame in the first data frame set;
The data address sub-module to be loaded is used for caching the data address to be loaded under the condition that the number of the addresses is larger than or equal to a preset threshold value;
a loading queue sub-module, configured to add a first data address corresponding to a first data frame of the first data frame set to the loading queue;
and the first data frame loading sub-module is used for loading the first data frame corresponding to the first data address from the first memory positioned at the storage server based on the loading queue.
Optionally, the apparatus further comprises:
The second corresponding module is used for responding to a second page opening operation and acquiring a second data address corresponding to each second data frame in the second data frame set to be loaded;
the target frame position information module is used for storing target frame position information of a first data frame currently being loaded in the first data frame set;
a second data frame module for loading the second data frame based on the second data address;
And the continuous loading module is used for continuously loading the first data frames which are not loaded in the first data frame set from the target frame position information under the condition that the loading of all the second data frames in the second data frame set is completed.
Optionally, the storage location module includes:
a reading terminal information sub-module, configured to obtain reading terminal information of the first data frame from the first data address;
The first storage position information determining submodule is used for determining that the storage position information corresponding to the first data address is the local storage under the condition that the read terminal information is matched with the local end information;
and the second storage position information determining sub-module is used for determining that the storage position information corresponding to the first data address is stored in different places under the condition that the reading terminal information is not matched with the local terminal information.
Optionally, the first data frame includes first point cloud data, and the storage module includes:
the instruction sending submodule is used for sending a point cloud data acquisition instruction containing the first data address to the storage server, so that the storage server responds to the point cloud data acquisition instruction, the relative distance and the relative direction between the point cloud coordinates and the vehicle in the original point cloud data stored by the first data address are determined, and the first point cloud data is generated based on the relative distance and the relative direction;
and the point cloud data acquisition sub-module is used for acquiring a first data frame containing the first point cloud data from the storage server.
Optionally, the apparatus further comprises:
The decompression algorithm acquisition module is used for acquiring data type information contained in the first data frame and determining a decompression algorithm based on the data type information;
The binary stream module is used for decompressing the first data frame through the decompression algorithm to obtain binary streams corresponding to the data types respectively;
And the rendering image generation module is used for analyzing the binary stream to obtain data to be rendered corresponding to the data type, and generating the rendering image based on a plurality of data to be rendered.
In a third aspect, the present invention provides a readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform the above-described data frame processing method.
In a fourth aspect, embodiments of the present invention provide an electronic device comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the method as in the first aspect.
Compared with the prior art, the data frame processing method, the device, the electronic equipment and the readable storage medium have the following advantages:
In summary, the embodiment of the invention provides a data frame processing method, which comprises the steps of responding to a first page opening operation, obtaining first data addresses corresponding to first data frames in a first data frame set to be loaded, determining storage position information corresponding to the first data frames in the first data frame set based on the first data addresses, wherein the storage position information comprises local storage and remote storage, loading the first data frames from a first memory located in a storage server based on the first data addresses under the condition that the storage position information corresponding to the first data frames is the remote storage, storing the first data frames to a second memory located in the local storage, loading the first data frames from the second memory under the condition that the storage position information corresponding to the first data frames is the local storage, and displaying a rendering image generated based on the first data frames. The first data frame can be loaded in different modes according to the storage position of the first data frame, and the first data frame is loaded from the server and buffered at the same time under the condition that the first data frame is not buffered locally, so that the first data frame is directly loaded from the local subsequently, the network bandwidth and the server resource consumption which are consumed by a user for calling the data frame are reduced, and the loading speed of the first data frame is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
Fig. 1 is a flowchart of a data frame processing method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps of another method for processing a data frame according to an embodiment of the present invention;
FIG. 3 is a loading flow chart provided in an embodiment of the present invention;
fig. 4 is a block diagram of a data frame processing apparatus according to an embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1, a flowchart of steps of a data frame processing method according to an embodiment of the present invention is shown.
Step 101, responding to a first page opening operation, and acquiring a first data address corresponding to each first data frame in a first data frame set to be loaded.
In the embodiment of the present invention, the first page opening operation may include an operation of checking the automatic driving data of the vehicle end in a certain period of time, an operation of playing the automatic driving data of the vehicle end in a certain period of time, and the like, which require the data frame to be fetched. The vehicle-end automatic driving data refers to data collected by an automatic driving vehicle in the driving process, and specifically can include, but is not limited to, sensor data, vehicle state data, GPS and map data, control command data, system state data and the like. The sensor data may include, but is not limited to, point cloud data acquired by a laser radar (LiDAR), image data acquired by an in-vehicle camera, ultrasonic data acquired by an in-vehicle radar, ultrasonic data acquired by an ultrasonic sensor, and the like. The vehicle state data may include, but is not limited to, speed, direction, steering angle, brake state, throttle state, etc. of the vehicle. The GPS and map data may include, but is not limited to, location data of automobiles, road data, traffic sign data, traffic light data, and the like. The control command data may include instructions issued by the autopilot system for instructing the vehicle how to operate, such as acceleration instructions, deceleration instructions, steering instructions, etc. The system status data may include the operational status of various sensors and components, battery level, computing power usage, and the like.
The automatic driving system can continuously receive and process a large amount of vehicle-end automatic driving data when in operation. These vehicle-side autopilot data are typically organized into "data frames," each representing a snapshot of the data at a particular point in time. The content of the data frame may include, but is not limited to, a time stamp of a time, image data, point cloud data, radar data, ultrasonic data, GPS data, and the like, as well as combinations of one or more of the foregoing vehicle end autopilot data. In addition, the data frame may further include labeling data generated after the vehicle processes the image data and the point cloud data, where the labeling data may include, but is not limited to, a target detection result, an object recognition result, and the like, and the embodiment of the present invention is not limited specifically.
In the embodiment of the present invention, the first page opening operation may be used not only for opening the first page, but also for indicating the first data frame set required to be displayed by the first page, for example, the first page opening operation may include information such as a target vehicle, a target time period, a target frame rate, etc., and through the information, it may be determined which data frames need to be loaded for displaying the first page.
After receiving the first page opening operation, the first data address of the first data frame set required by the first page can be acquired, so that the corresponding first data frame is further acquired based on the first data address in the subsequent process. For example, the user may first select a target vehicle to be played back or viewed, then select a target time period, then click a confirmation button to send out a first page opening operation, and obtain the target vehicle and the target time period selected by the user at the same time, and query, through the target vehicle and the target time period, first data addresses corresponding to each first data frame in a first data frame set formed by automatic driving data obtained by the target vehicle in the target time period.
Step 102, determining storage position information corresponding to a first data frame in the first data frame set based on the first data address, wherein the storage position information comprises local storage and remote storage.
In the embodiment of the invention, the terminal can store the data frame and the storage position information corresponding to the data frame at the same time when the data frame is loaded, so that the storage position information corresponding to the first data frame in the first data frame set can be determined according to the first data address, the first data address corresponding to the first data frame can be queried in the local storage of the terminal, if the first data address exists in the terminal, the first data frame corresponding to the first data address is loaded in the terminal in history, the storage position information of the first data frame can be determined to be the local storage, and if the first data address does not exist in the terminal, the first data frame corresponding to the first data address is not loaded in history, and the storage position information of the first data frame can be determined to be the remote storage.
In addition, in another case, the data address may include not only the source file address of the storage server of the data frame, but also the copy address of the copy of the data frame, that is, the data address may include multiple storage addresses of the data frame, so after the first data address corresponding to the first data frame is obtained, if the first data address does not include the copy address, it may be determined that the first data frame is not read, it may be determined that the storage location information corresponding to the first data address is stored in a different place, if the first data address includes the copy address, it may be matched with the address of the terminal, if the matching is successful, it may be determined that the storage location information corresponding to the first data address is stored locally, and if the matching is unsuccessful, it may be determined that the storage location information corresponding to the first data address is stored in a different place. The duplicate address may be composed of a terminal address indicating which terminal is located and a path address indicating a specific file address located in the terminal. In addition, the technician may determine the storage location information corresponding to the first data frame in the first data frame set in other manners, and the embodiment of the invention is not limited in particular.
Step 103, when the storage location information corresponding to the first data frame is the offsite storage, loading the first data frame from a first memory located in a storage server based on the first data address, and storing the first data frame in a second memory located locally.
In the embodiment of the invention, the first data frame can be loaded in different loading modes according to the storage position information of the first data frame, so that the efficiency of loading the first data frame is improved. Specifically, if the storage location information corresponding to the first data frame is stored in a different location, the first data frame may be loaded from the first memory located in the storage server based on the first data address, and the first data frame may be stored in the second memory located locally. The storage server may include, but is not limited to, a Distributed file system (Distributed FILE SYSTEM, DFS), a time-series database (such as InfluxDB, openTSDB or TimescaleDB), etc., and the embodiment of the present invention is not limited to, and the first storage may include a physical hard disk, a virtual hard disk, a memory, etc. of the storage server.
The corresponding first data frames can be loaded from the storage server one by one according to the sequence of the first data frames in the first data frame set based on the storage position information corresponding to the first data frames from beginning to end, or a plurality of first data frames in the first data frame set can be loaded in parallel at a time.
After the first data frame is obtained by loading, the first data frame can be stored in a second local memory so as to finish the localized preloading of the first data frame, so that the first data frame can be directly loaded from the local when the first data frame is needed to be used again later, the burden of a server and the network bandwidth consumption are saved, and meanwhile, the loading speed and the response speed of the first page opening operation of a user can be greatly improved.
Step 104, loading the first data frame from the second memory when the storage location information corresponding to the first data frame is the local storage.
In the embodiment of the invention, if the storage position information corresponding to the first data frame is locally stored, the first data frame can be directly loaded from the second memory located locally, so that the access to the storage server is avoided, the performance resources and the bandwidth of the storage server are saved, and the speed of acquiring the first data frame is improved. The second memory may include a physical hard disk, a virtual hard disk, a memory, and the like of the local terminal, or may include an external hard disk mounted on the local terminal, which is not limited in the embodiment of the present invention.
It should be noted that, loading the first data frame may refer to reading the complete data of the first data frame into the running memory of the local end, so as to facilitate subsequent processing of the first data frame. The local end can be a data viewing platform, a data expression platform, a data circulation platform and the like of the automatic driving data of the vehicle, and the embodiment of the invention is not particularly limited.
Step 105, a rendered image generated based on the first data frame is shown.
After the first data frame in the first data frame set is obtained, rendering can be performed based on the first data frame to obtain a corresponding rendered image, and then the rendered image is displayed so that a user can play back, view and the like the automatic driving data of the vehicle, and can label, edit and the like the automatic driving data generated at the vehicle end, so that the automatic driving data is more accurate, and the training effect of subsequent automatic driving model training based on the automatic driving data is improved.
For example, the first data frame may include 4 paths of visual images collected by the 4 vehicle-mounted cameras of the vehicle a, point cloud images collected by the laser radar of the vehicle a, and target detection results (for example, target detection frames, target type information, etc.) generated by the target detection modules of the vehicle a based on the visual images and the point cloud images, after the first data frame is obtained, the target detection results and each path of visual images may be respectively overlapped and rendered to obtain visual rendering images respectively corresponding to each path of visual images, and the point cloud images and the target detection results are overlapped and rendered to obtain point cloud rendering images corresponding to the point cloud images.
The visually rendered image and the point cloud rendered image may be presented in parallel for viewing by a user. It should be noted that, by continuously reading and rendering the first data frames in the first data frame set and displaying the rendered image obtained by rendering each first data frame, the first data frames in the first data frame set can be dynamically played. In the process of playing the first data frame, the user can also adjust the target detection result displayed in a superimposed manner, for example, the position of the target detection frame, the size of the target detection frame, the target type and the like can be adjusted.
In summary, the embodiment of the invention provides a data frame processing method, which comprises the steps of responding to a first page opening operation, obtaining first data addresses corresponding to first data frames in a first data frame set to be loaded, determining storage position information corresponding to the first data frames in the first data frame set based on the first data addresses, wherein the storage position information comprises local storage and remote storage, loading the first data frames from a first memory located in a storage server based on the first data addresses under the condition that the storage position information corresponding to the first data frames is the remote storage, storing the first data frames to a second memory located in the local storage, loading the first data frames from the second memory under the condition that the storage position information corresponding to the first data frames is the local storage, and displaying a rendering image generated based on the first data frames. The first data frame can be loaded in different modes according to the storage position of the first data frame, and the first data frame is loaded from the server and buffered at the same time under the condition that the first data frame is not buffered locally, so that the first data frame is directly loaded from the local subsequently, the network bandwidth and the server resource consumption which are consumed by a user for calling the data frame are reduced, and the loading speed of the first data frame is improved.
Referring to fig. 2, fig. 2 is a flowchart illustrating steps of another data frame processing method according to an embodiment of the present invention.
Step 201, in response to a first page opening operation, acquiring a first data address corresponding to each first data frame in a first data frame set to be loaded.
In this step, reference is made to step 101, which is not repeated in the embodiment of the present invention.
Step 202, acquiring the reading terminal information of the first data frame from the first data address.
In the embodiment of the invention, after the first data address is determined, the reading terminal information of the first data frame can be obtained from the first data address, wherein the reading terminal information can include all the terminal information of the first data frame corresponding to the first data address read from the first data address.
For example, the storage server may store a certain data frame, and at the same time, establish a correspondence between the data frame and a corresponding data address in the address database, the terminal may obtain the data address of the data frame from the address database, read the corresponding data frame from the storage server according to the data address, the storage server stores the terminal information of the terminal as the read terminal information corresponding to the data frame, and before attempting to read the data frame, the subsequent terminal may first obtain the read terminal information from the storage server, and determine whether the data frame has been read by the local terminal according to the read terminal information.
Step 203, determining that the storage location information corresponding to the first data address is the local storage when the read terminal information is matched with the local terminal information.
After the reading terminal information is obtained, the reading terminal information and the local terminal information can be matched, so that whether the reading terminal information contains the local terminal or not is determined, if so, the first data frame stored by the first data address is read by the local terminal from the storage server, and the storage position information corresponding to the first data address can be determined to be stored locally.
Step 204, determining that the storage location information corresponding to the first data address is the remote storage when the read terminal information is not matched with the local terminal information.
After the reading terminal information is obtained, the reading terminal information and the local terminal information can be matched, so that whether the reading terminal information contains the local terminal or not is determined, if the reading terminal information does not contain the local terminal, the fact that the local terminal has not read the first data frame corresponding to the first data address from the storage server is indicated, and if the storage location information corresponding to the first data address is stored in a different place can be determined.
In addition, the matching process may be completed by the storage server, for example, the local end may send the first storage address and the local end information to the storage server, and the storage server directly matches the read terminal information corresponding to the first storage address with the local end information to determine whether the read terminal information includes the local end information, if so, the storage server may return the storage location information corresponding to the first data address to the local end as a determination result of local storage, if not, it is determined that the storage server has not read the first data frame corresponding to the first data address from the storage server, and if so, the storage server may return the storage location information corresponding to the first data address to the local end as a determination result of local storage.
In the embodiment of the invention, the storage position information corresponding to the first data addresses can be determined through the steps 201 to 204, and the storage position information corresponding to each first data address can be directly determined by acquiring the recorded reading terminal information, so that the mass data frames stored in the local storage or the server side are not required to be searched, and the efficiency of determining the storage position information is improved.
Step 205, when the storage location information corresponding to the first data frame is the offsite storage, loading the first data frame from a first memory located in a storage server based on the first data address, and storing the first data frame in a second memory located locally.
In this step, reference may be made to step 103, which is not repeated in the embodiments of the present invention.
Optionally, step 205 may further include:
Sub-step 2051, obtaining the number of addresses of the data addresses to be loaded in the load queue, in case the first data frame is the first frame in the first set of data frames.
In the embodiment of the invention, a user may frequently switch among a plurality of pages, or change a vehicle, a time period and the like corresponding to a played animation, so that when the user opens a first page, a data frame of a previous page may not be loaded, therefore, the address number of a data address to be loaded in a loading queue can be obtained when the first frame in a first data frame set is loaded, and the time for starting to load the first data frame set is further judged according to the data address, thereby avoiding the waiting time process of loading the first data frame set and improving the loading response speed.
Specifically, when one data frame set is loaded each time, all data addresses corresponding to the data frame set are put into a loading queue to form data addresses to be loaded in the loading queue. When a user opens a first page to determine a corresponding first data frame set and starts to load the first data frame in the set, the number of addresses of data addresses to be loaded in a loading queue can be obtained. It should be noted that, the addresses that have been loaded in the load queue may be removed, so as to ensure that the number of addresses of the obtained data addresses to be loaded is the addresses that have not been loaded yet.
Sub-step 2052, caching the address of the data to be loaded, if the number of addresses is greater than or equal to a preset threshold.
In the embodiment of the present invention, in order to ensure the integrity of task execution of each loading of the data set as much as possible, a preset threshold (e.g. 10) may be set, and in the case where the number of addresses in the loading queue is greater than or equal to the preset threshold, that is, in the case where the time for which the remaining addresses in the loading queue are loaded is longer, the data addresses to be loaded in the loading queue may be cached, so as to switch to the loading process of the first data frame, and resume loading of the data frame corresponding to the data address to be loaded after the loading of the first data frame is completed.
Sub-step 2053 adds a first data address corresponding to a first data frame of the first set of data frames to the load queue.
In the embodiment of the invention, after the loading queue is emptied, the first data addresses corresponding to the first data frames in the first data frame set are sequentially added into the loading queue. Further, in order to increase the rebuilding speed of the load queue, the first data address may also be directly overwritten into the load queue. The order of distribution of the first data addresses in the load queue may be the same as the order of the corresponding first data frames in the first data set.
In step 2054, the first data frame corresponding to the first data address is loaded from the first memory located in the storage server based on the load queue.
In the embodiment of the present invention, since the distribution order of the first data addresses in the load queue is the same as the order of the corresponding first data frames in the first data set, the first data frames corresponding to the first data addresses may be sequentially loaded from the first memory located in the storage server based on the order of the first data addresses in the load queue.
Referring to fig. 3, fig. 3 shows a loading flow chart provided by the embodiment of the present invention, as shown in fig. 3, after a user opens a first page, a full first data address corresponding to a first data frame set required by the first page may be extracted, then storage location information of the first frame in the first data frame set is determined, that is, whether the first frame is already stored in a local second memory is determined, if the first frame is already stored in the second memory, the first frame is directly acquired from the local and is subsequently rendered, if the first frame is not already stored in the second memory, further determination is made whether the first frame is being loaded, if the first frame is not already loaded, then other incomplete tasks are illustrated in a loading queue, at this time, processing of the data address to be loaded in the loading queue may be suspended, the first loading address is rewritten in the loading queue, the first data frame corresponding to the first loading address is preferentially acquired from a storage server, after the first data frame is completely stored in the local second memory, if the first frame is already loaded, and then the first frame is completely loaded from the second memory after the first frame is completely loaded.
Through the above sub-steps 2051 to 2054, when the first page needs to be displayed, the first data frame can be loaded timely, the integrity of the execution of the historical task is considered to a certain extent, frequent suspension of the historical task is avoided, the frequency of task reconstruction in the loading queue is reduced, and thus the overall loading efficiency is improved.
Optionally, in order to save transmission bandwidth and reduce consumed network resources, the storage server may recode the point cloud data recorded by the first data address and then send the recoded point cloud data to the local end, and in particular, see the following steps A1 to A2:
And step A1, transmitting a point cloud data acquisition instruction containing the first data address to the storage server, so that the storage server responds to the point cloud data acquisition instruction, determining the relative distance and the relative direction between the point cloud coordinates and the vehicle in the original point cloud data stored by the first data address, and generating the first point cloud data based on the relative distance and the relative direction.
In an embodiment of the present invention, the first data frame may include first point cloud data. The first point cloud data may be obtained by recoding the original point cloud data by the storage server. Specifically, the home terminal may send a point cloud data acquisition instruction including the first data address to the storage server, so that the storage server determines a relative distance and a relative direction between the point cloud coordinates and the vehicle in the original point cloud data stored in the first data address in response to the point cloud data acquisition instruction, and generates first point cloud data based on the relative distance and the relative direction. The three parameters are needed to represent one point cloud point, and each point in the recoded first point cloud data is represented by two parameters, namely the distance and the opposite direction of the vehicle, of the point cloud point, so that the required data volume can be greatly saved, and the efficiency of transmitting the first data frame is improved.
And step A2, acquiring a first data frame containing the first point cloud data from the storage server.
Through the steps A1 to A2, the storage server can process the original point cloud data, so that a first data frame with smaller data volume is generated, and then the first data frame is transmitted to the local end, thereby being beneficial to improving the efficiency of transmitting the first data frame and reducing the network consumption.
Step 206, loading the first data frame from the second memory when the storage location information corresponding to the first data frame is the local storage.
In this step, reference is made to step 104, and the description of the embodiment of the present invention is omitted.
Step 207 shows a rendered image generated based on the first data frame.
In this step, reference is made to step 105, and the description of the embodiment of the present invention is omitted.
Alternatively, the above-described rendering image to be displayed may be generated in the manner shown in the following steps B1 to B3.
And B1, acquiring data type information contained in the first data frame, and determining a decompression algorithm based on the data type information.
In the embodiment of the present invention, since the first data frame may include various types of information, such as time stamp, image data, point cloud data, radar data, ultrasonic data, GPS data, etc., and the number of the first data frames may be large, for example, if the user needs to view the autopilot data of a certain vehicle within 10 minutes through the first page, in the case of a frame rate of 30 frames, the corresponding first data frames are 18000. Therefore, in order to improve the acquisition efficiency and save the transmission bandwidth, the storage server may compress the original data to obtain the first data frame, so that the first data frame obtained by the local end needs to be decompressed and then execute the subsequent operation.
Specifically, the data type information included in the first data frame may be acquired, and compressed data corresponding to a plurality of data types indicated by the data type information may be extracted from the first data frame based on the data type information. The data type information contained in the first data frame may include image data, point cloud data, and may further include one or more of vehicle-end automatic driving data such as radar data, ultrasonic data, and GPS data.
In the embodiment of the invention, the data types in the data frames are different, and the storage server can compress the data frames in different compression modes, for example, the server can independently compress the original data of each data type by selecting a proper compression algorithm, and then, all the compressed data are assembled in one data packet to form the first data frame. Or the server may use the original data corresponding to the multiple data types as a whole, and use a suitable compression algorithm to compress all the data simultaneously. It should be noted that, for the overall compression mode, because the same compression algorithm has a better compression effect on the combination of different data types, the compression algorithm with a better effect corresponding to each data type combination can be determined through testing, then the corresponding relation between the data type combination and the compression algorithm is set, and for the original data of the combination of different data types, the compression algorithm of different types is adopted for compression, so as to obtain the first data frame. The compression algorithm may include a general compression algorithm, such as a lossless data compression algorithm (DEFLATE), LZMA, etc., or may include a self-developed compression algorithm, which is not limited by the embodiment of the present invention.
Therefore, after obtaining the data type information contained in the first data frame, the home terminal can select a corresponding decompression algorithm according to the corresponding relation between the data type combination and the compression algorithm.
And B2, decompressing the first data frame through the decompression algorithm to obtain binary streams respectively corresponding to the data types.
In the embodiment of the invention, the first data frame can be decompressed through the determined decompression algorithm, so that binary streams corresponding to a plurality of data types respectively are obtained. Among them, binary Stream (Binary Stream) is a data representation format, which is a continuous sequence of Binary bits (0 or 1) arranged in a specific order. In the embodiment of the invention, the storage server can firstly convert the original data of a plurality of data types into the corresponding binary stream, then compress the binary stream to obtain the first data frame with smaller volume, and improve the transmission efficiency of the first data frame, so that the storage server can firstly decompress the first data frame after receiving the first data frame to obtain the binary stream corresponding to each data type.
It should be noted that, the first point cloud data related to the step A1 may be further converted into a corresponding binary stream by the storage server and compressed, so as to further improve the efficiency of transmitting the point cloud data from the storage server to the local terminal.
And B3, analyzing the binary stream to obtain data to be rendered corresponding to the data type, and generating the rendering image based on a plurality of data to be rendered.
In the embodiment of the invention, each binary stream can be analyzed based on the data type corresponding to the binary stream, so as to obtain corresponding original data, for example, for the binary stream obtained by encoding a common image, an original image corresponding to the image data type can be adopted. The data to be rendered represents original data obtained after the binary stream is analyzed, the original data represents data adopted when the storage server converts the binary stream, for example, the storage server can convert the first point cloud data related in the step A1 into the binary stream, and the data to be rendered obtained after the local end analyzes the binary stream is the first point cloud data.
Through the steps B1 to B3, the storage server can generate the first data frame with smaller volume through binary stream conversion and data compression, so that the speed of acquiring the second data frame by the local terminal can be improved, the bandwidth requirement between the local terminal and the server can be reduced, and the deployment cost of the whole system is reduced.
Alternatively, if the user switches to the second page when loading the first data frame corresponding to the first page, the following steps C1 to C4 may be adopted to switch the loaded data frame.
And C1, responding to a second page opening operation, and acquiring a second data address corresponding to each second data frame in a second data frame set to be loaded.
In the embodiment of the invention, the user may also frequently switch the page to be checked, namely, switch the vehicle to be checked, the time period and the like, and after the user switches the page, the user needs to reload the required data frame to ensure that the switched page is normally displayed, so that the second data address corresponding to each second data frame in the second data frame set to be loaded can be obtained in response to the second page opening operation.
And step C2, storing target frame position information of the first data frame currently being loaded in the first data frame set.
In the embodiment of the invention, in order to respond to the operation of opening the second page by the user as soon as possible, the second data frame needs to be loaded as soon as possible, so that the target frame position information of the first data frame currently being loaded in the first data frame set can be stored, and the first data frame currently being loaded can be positioned from the first data frame set through the target frame position information.
And step C3, loading the second data frame based on the second data address.
After recording the target frame location information, a second data frame may be loaded based on the second data address. The manner of loading the second data frame may be similar to the manner of loading the first data frame, and specifically, refer to steps 202 to 206, which are not repeated in the embodiments of the present invention.
And step C4, under the condition that the loading of all the second data frames in the second data frame set is completed, continuing to load the first data frames which are not completed in the first data frame set from the target frame position information.
In the embodiment of the invention, after all the second data frames in the second data frame set are loaded, the first data frames which are not loaded in the first data frame set are continuously loaded according to the recorded target frame position information, so that the time for loading the first data frames can be saved when a user switches back to the first page.
Through the steps C1 to C4, the second data frame corresponding to the second page can be responded and loaded in time after the user switches to the second page, so that the rendering image required by the second page can be generated rapidly according to the second data frame, and the speed and fluency of switching the page by the user are improved.
In summary, the embodiment of the invention provides another data frame processing method, which comprises the steps of responding to a first page opening operation, obtaining first data addresses corresponding to first data frames in a first data frame set to be loaded, determining storage position information corresponding to the first data frames in the first data frame set based on the first data addresses, wherein the storage position information comprises local storage and remote storage, loading the first data frames from a first memory located in a storage server based on the first data addresses when the storage position information corresponding to the first data frames is the remote storage, storing the first data frames to a second memory located in the local storage, loading the first data frames from the second memory when the storage position information corresponding to the first data frames is the local storage, and displaying a rendering image generated based on the first data frames. The first data frame can be loaded in different modes according to the storage position of the first data frame, and the first data frame is loaded from the server and buffered at the same time under the condition that the first data frame is not buffered locally, so that the first data frame is directly loaded from the local subsequently, the network bandwidth and the server resource consumption which are consumed by a user for calling the data frame are reduced, and the loading speed of the first data frame is improved.
On the basis of the embodiment, the embodiment of the invention also provides a data frame processing device.
Referring to fig. 4, fig. 4 shows a block diagram of a data frame processing apparatus according to an embodiment of the present invention:
a first response module 401, configured to obtain, in response to a first page opening operation, a first data address corresponding to each first data frame in a first data frame set to be loaded;
A storage location module 402, configured to determine storage location information corresponding to a first data frame in the first data frame set based on the first data address;
A storage module 403, configured to load the first data frame from a first memory located in a storage server based on the first data address and store the first data frame to a second memory located locally when the storage location information corresponding to the first data frame is stored in the different place;
a first data frame module 404, configured to load the first data frame from the second memory when the storage location information corresponding to the first data frame is the local storage;
and a display module 405, configured to display a rendered image generated based on the first data frame.
Optionally, the storage module includes:
The address number sub-module is used for acquiring the address number of the data address to be loaded in the loading queue under the condition that the first data frame is the first frame in the first data frame set;
The data address sub-module to be loaded is used for caching the data address to be loaded under the condition that the number of the addresses is larger than or equal to a preset threshold value;
a loading queue sub-module, configured to add a first data address corresponding to a first data frame of the first data frame set to the loading queue;
and the first data frame loading sub-module is used for loading the first data frame corresponding to the first data address from the first memory positioned at the storage server based on the loading queue.
Optionally, the apparatus further comprises:
The second corresponding module is used for responding to a second page opening operation and acquiring a second data address corresponding to each second data frame in the second data frame set to be loaded;
the target frame position information module is used for storing target frame position information of a first data frame currently being loaded in the first data frame set;
a second data frame module for loading the second data frame based on the second data address;
And the continuous loading module is used for continuously loading the first data frames which are not loaded in the first data frame set from the target frame position information under the condition that the loading of all the second data frames in the second data frame set is completed.
Optionally, the storage location module includes:
a reading terminal information sub-module, configured to obtain reading terminal information of the first data frame from the first data address;
The first storage position information determining submodule is used for determining that the storage position information corresponding to the first data address is the local storage under the condition that the read terminal information is matched with the local end information;
and the second storage position information determining sub-module is used for determining that the storage position information corresponding to the first data address is stored in different places under the condition that the reading terminal information is not matched with the local terminal information.
Optionally, the first data frame includes first point cloud data, and the storage module includes:
the instruction sending submodule is used for sending a point cloud data acquisition instruction containing the first data address to the storage server, so that the storage server responds to the point cloud data acquisition instruction, the relative distance and the relative direction between the point cloud coordinates and the vehicle in the original point cloud data stored by the first data address are determined, and the first point cloud data is generated based on the relative distance and the relative direction;
and the point cloud data acquisition sub-module is used for acquiring a first data frame containing the first point cloud data from the storage server.
Optionally, the apparatus further comprises:
The decompression algorithm acquisition module is used for acquiring data type information contained in the first data frame and determining a decompression algorithm based on the data type information;
The binary stream module is used for decompressing the first data frame through the decompression algorithm to obtain binary streams corresponding to the data types respectively;
And the rendering image generation module is used for analyzing the binary stream to obtain data to be rendered corresponding to the data type, and generating the rendering image based on a plurality of data to be rendered.
In summary, the embodiment of the invention provides a data frame processing device, which comprises a first response module, a storage position module and a display module, wherein the first response module is used for responding to a first page opening operation to acquire a first data address corresponding to each first data frame in a first data frame set to be loaded, the storage position module is used for determining storage position information corresponding to the first data frame in the first data frame set based on the first data address, the storage position information comprises local storage and remote storage, the storage module is used for loading the first data frame from a first storage located at a storage server based on the first data address under the condition that the storage position information corresponding to the first data frame is the remote storage, and storing the first data frame into a second storage located at the local storage, the first data frame module is used for loading the first data frame from the second storage under the condition that the storage position information corresponding to the first data frame is the local storage, and the display module is used for displaying an image generated based on the first data frame. The first data frame can be loaded in different modes according to the storage position of the first data frame, and the first data frame is loaded from the server and buffered at the same time under the condition that the first data frame is not buffered locally, so that the first data frame is directly loaded from the local subsequently, the network bandwidth and the server resource consumption which are consumed by a user for calling the data frame are reduced, and the loading speed of the first data frame is improved.
The embodiment of the invention also provides a readable storage medium, which enables the electronic device to execute the data frame processing method when the instructions in the readable storage medium are executed by the processor of the electronic device.
The embodiment of the invention also provides electronic equipment, which comprises a processor and a memory, wherein the memory stores a program or an instruction running on the processor, and the program or the instruction realizes the data frame processing method when being executed by the processor.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing apparatus embodiments, and are not repeated herein.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. A method of processing a data frame, the method comprising:
responding to a first page opening operation, and acquiring a first data address corresponding to each first data frame in a first data frame set to be loaded;
determining storage position information corresponding to a first data frame in the first data frame set based on the first data address, wherein the storage position information comprises local storage and remote storage;
Loading the first data frame from a first memory located in a storage server based on the first data address and storing the first data frame into a second memory located locally when the storage position information corresponding to the first data frame is stored in the different place;
Loading the first data frame from the second memory under the condition that the storage position information corresponding to the first data frame is the local storage;
A rendered image generated based on the first data frame is shown.
2. The method of claim 1, wherein loading the first data frame from a first memory located at a storage server based on the first data address comprises:
under the condition that the first data frame is the first frame in the first data frame set, the address number of the data addresses to be loaded in the loading queue is obtained;
Caching the data address to be loaded under the condition that the number of the addresses is larger than or equal to a preset threshold value;
Adding a first data address corresponding to a first data frame of the first data frame set into the loading queue;
And loading the first data frame corresponding to the first data address from a first memory positioned at the storage server based on the loading queue.
3. The method according to claim 1, wherein the method further comprises:
responding to a second page opening operation, and acquiring a second data address corresponding to each second data frame in a second data frame set to be loaded;
Storing target frame position information of a first data frame currently being loaded in the first data frame set;
Loading the second data frame based on the second data address;
And under the condition that the loading of all the second data frames in the second data frame set is completed, continuing to load the first data frames which are not completed in the first data frame set from the target frame position information.
4. The method of claim 1, wherein the determining storage location information corresponding to a first data frame in the first set of data frames based on the first data address comprises:
Acquiring reading terminal information of the first data frame from the first data address;
under the condition that the read terminal information is matched with the local terminal information, determining the storage position information corresponding to the first data address as the local storage;
And under the condition that the read terminal information is not matched with the local terminal information, determining the storage position information corresponding to the first data address as the remote storage.
5. The method of claim 1, wherein the first data frame comprises first point cloud data, wherein the loading the first data frame from a first memory located at a storage server based on the first data address comprises:
Transmitting a point cloud data acquisition instruction containing the first data address to the storage server, so that the storage server responds to the point cloud data acquisition instruction, determining the relative distance and the relative direction between the point cloud coordinates and the vehicle in the original point cloud data stored by the first data address, and generating the first point cloud data based on the relative distance and the relative direction;
and acquiring a first data frame containing the first point cloud data from the storage server.
6. The method according to claim 1, wherein the method further comprises:
Acquiring data type information contained in the first data frame, and determining a decompression algorithm based on the data type information;
Decompressing the first data frame through the decompression algorithm to obtain binary streams respectively corresponding to the data types;
And analyzing the binary stream to obtain data to be rendered corresponding to the data type, and generating the rendering image based on a plurality of data to be rendered.
7. A data frame processing apparatus, the apparatus comprising:
The first response module is used for responding to a first page opening operation and acquiring a first data address corresponding to each first data frame in a first data frame set to be loaded;
the storage position module is used for determining storage position information corresponding to a first data frame in the first data frame set based on the first data address, wherein the storage position information comprises local storage and remote storage;
The storage module is used for loading the first data frame from a first memory positioned at a storage server based on the first data address and storing the first data frame to a second memory positioned locally when the storage position information corresponding to the first data frame is stored in the different place;
The first data frame module is used for loading the first data frame from the second memory under the condition that the storage position information corresponding to the first data frame is the local storage;
and the display module is used for displaying the rendering image generated based on the first data frame.
8. The apparatus of claim 7, wherein the storage module comprises:
The address number sub-module is used for acquiring the address number of the data address to be loaded in the loading queue under the condition that the first data frame is the first frame in the first data frame set;
The data address sub-module to be loaded is used for caching the data address to be loaded under the condition that the number of the addresses is larger than or equal to a preset threshold value;
a loading queue sub-module, configured to add a first data address corresponding to a first data frame of the first data frame set to the loading queue;
and the first data frame loading sub-module is used for loading the first data frame corresponding to the first data address from the first memory positioned at the storage server based on the loading queue.
9. An electronic device comprising a processor and a memory storing a program or instructions that, when executed by the processor, implement the data frame processing method of any one of claims 1 to 6.
10. A readable storage medium, characterized in that instructions in the readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the data frame processing method of any one of claims 1 to 6.
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