Point cloud coloring method, point cloud coloring device and computer readable storage medium

The invention provides a point cloud coloring method, a point cloud coloring device and a computer readable storage medium. The point cloud coloring method comprises the following steps: acquiring panoramic data and point cloud data of the same scene; acquiring a rotation matrix registered by the panoramic data and the point cloud data; obtaining panoramic coordinates and target point cloud coordinates of the same correction point in the panoramic data and the point cloud data; converting the panoramic coordinates into corrected point cloud coordinates under a point cloud coordinate system by using the rotation matrix; based on the target point cloud coordinate and the corrected point cloud coordinate, re-registering the panoramic data and the point cloud data; and coloring the point cloud data by using the re-registered panoramic data. By means of the mode, the point cloud coloring device can achieve correction of the point cloud coloring deviation through the pair of matched correction points, operation is