CN113420004A - Tunnel point cloud data storage method and device, computer equipment and storage medium - Google Patents
Tunnel point cloud data storage method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a storage method and device of tunnel point cloud data, computer equipment and a storage medium. The method comprises the following steps: acquiring point cloud data in a tunnel; taking a normal plane on a tunnel central line in an original design line according to a first preset distance interval; extracting a target normal plane from the normal planes according to a second preset distance interval; and respectively storing the point cloud data between every two adjacent target normal planes into the same slice file. According to the technical scheme provided by the embodiment of the invention, the point cloud data of the tunnel is stored in a slicing and blocking manner according to the extracted target plane, so that when the point cloud data of a certain mileage is needed, the corresponding slice file can be directly used without executing the process of extracting the point cloud data again in the whole point cloud file every time, thereby saving a large amount of time for extracting the point cloud data and greatly improving the efficiency of tunnel optimization.
Description
Technical Field
The embodiment of the invention relates to the technical field of data storage, in particular to a method and a device for storing tunnel point cloud data, computer equipment and a storage medium.
Background
The method combines the point cloud data of the actual tunnel and the parameters of the flat section and the longitudinal section of the track, applies the three-dimensional reconstruction and big data analysis technology of the point cloud to the traditional subway design construction process, can realize the automation and the intellectualization of the subway tunnel contact network design, and solves the problems in the traditional contact network design construction process.
However, original tunnel point cloud data are disordered, and in order to completely display the outline of an actual tunnel, usually certain requirements are imposed on the density of the point cloud data, so that the scale of a point cloud data file is very large, when point cloud data of a certain mileage needs to be extracted from all the point cloud data, a large amount of time is needed for calculation, and point cloud data of a specific mileage needs to be extracted from the point cloud data repeatedly in the process of line and slope adjustment. The time taken to extract the point cloud data directly affects the entire tunnel optimization process.
Disclosure of Invention
The embodiment of the invention provides a tunnel point cloud data storage method and device, computer equipment and a storage medium, which are used for saving the time spent on extracting point cloud data of a certain mileage.
In a first aspect, an embodiment of the present invention provides a method for storing tunnel point cloud data, where the method includes:
acquiring point cloud data in a tunnel;
taking a normal plane on a tunnel central line in an original design line according to a first preset distance interval;
extracting a target normal plane from the normal planes according to a second preset distance interval;
and respectively storing the point cloud data between every two adjacent target normal planes into the same slice file.
Optionally, the taking a normal plane from the tunnel center line in the originally designed line according to the first preset distance interval includes:
(x，y，z)＝f(s)
wherein f(s) represents an equation of a point (x, y, z) on the tunnel centerline with respect to mileage s, (a ', B', C ') represents a direction vector where mileage is s', and τ represents a preset interval parameter;
mileage of s0OfThe normal plane equation is:
A0x+B0y+C0z-(A0x0+B0y0+C0z0)＝0
wherein (x)0，y0，z0) The mileage on the central line of the tunnel is expressed as s0Point of (A)0，B0，C0) Indicating a mileage of s0The direction vector of (a).
Optionally, the preset interval parameter is 0.0005-0.005 m.
Optionally, the second preset distance interval is 0.1-1 meter.
Optionally, after the point cloud data between every two adjacent target normal planes are respectively stored in the same slice file, the method further includes:
and reordering the point cloud data according to the slice file and the train advancing direction.
Optionally, the point cloud data is generated by a three-dimensional scanning device, and the three-dimensional scanning device includes one or more of a laser radar, a stereo camera, and a transit time camera.
In a second aspect, an embodiment of the present invention further provides a storage apparatus for tunnel point cloud data, where the apparatus includes:
the point cloud data acquisition module is used for acquiring point cloud data in the tunnel;
the normal plane determining module is used for taking a normal plane on a tunnel central line in the original design line according to a first preset distance interval;
the target normal plane extraction module is used for extracting a target normal plane from the normal planes according to a second preset distance interval;
and the point cloud data storage module is used for respectively storing the point cloud data between every two adjacent target normal planes into the same slice file.
In a third aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method for storing tunnel point cloud data provided by any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the storage method for tunnel point cloud data provided in any embodiment of the present invention.
The embodiment of the invention provides a storage method of tunnel point cloud data, which comprises the steps of firstly obtaining point cloud data in a tunnel, taking a normal plane on a tunnel center line in an original design line according to a first preset distance interval, then extracting a target normal plane from the obtained normal plane according to a second preset distance interval, and then respectively storing the point cloud data between every two adjacent target sending planes into the same slice file. According to the tunnel point cloud data storage method provided by the embodiment of the invention, the point cloud data of the tunnel is stored in a slicing and blocking manner according to the extracted target method plane, so that when the point cloud data of a certain mileage is needed, a corresponding slice file can be directly used without executing the point cloud data extraction process in the whole point cloud file again every time, thereby saving a large amount of time for extracting the point cloud data and greatly improving the tunnel optimization efficiency.
Drawings
Fig. 1 is a flowchart of a storage method of tunnel point cloud data according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a storage device for tunnel point cloud data according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a computer device according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a method for storing tunnel point cloud data according to an embodiment of the present invention. The embodiment is applicable to the case of storing the point cloud data of the tunnel, and the method can be executed by the storage device of the tunnel point cloud data provided by the embodiment of the invention, and the device can be realized by hardware and/or software, and can be generally integrated in a computer device. As shown in fig. 1, the method specifically comprises the following steps:
and S11, acquiring point cloud data in the tunnel.
Optionally, the point cloud data is generated by a three-dimensional scanning device, and the three-dimensional scanning device includes one or more of a laser radar, a stereo camera, and a transit time camera. The three-dimensional scanning equipment has the advantages of high measuring speed, high precision, high point cloud density and the like, and is widely applied to the field of subway tunnels. In order to detect the deviation between the actual subway tunnel and the originally designed line, after the subway shield construction is completed, the whole tunnel is usually required to be scanned three-dimensionally to obtain point cloud data in the tunnel, so as to optimize the tunnel.
And S12, taking a normal plane on the center line of the tunnel in the original design line according to the first preset distance interval.
Specifically, in the design stage, the actual tunnel model may be constructed by taking a normal plane on the tunnel centerline in the original design route. The subway tunnel can be regarded as a curved cylinder in space, any normal plane of the curved cylinder is a circle, countless circles are stacked to form the curved cylinder in space, and the connecting line of the circle centers is the central axis of the curved cylinder, namely the central line of the tunnel, so that the central axis can be used for representing the curved cylinder in space. Wherein the first predetermined distance interval is relatively small, such as 0.0005-0.005 m, so as to form a more fluid tunnel model.
Optionally, the taking a normal plane from the tunnel center line in the originally designed line according to the first preset distance interval includes:
(x，y，z)＝f(s)
wherein f(s) represents an equation of a point (x, y, z) on the tunnel centerline with respect to mileage s, (a ', B', C ') represents a direction vector where mileage is s', and τ represents a preset interval parameter;
mileage of s0The normal plane equation is:
A0x+B0y+C0z-(A0x0+B0y0+C0z0)＝0
wherein (x)0，y0，z0) The mileage on the central line of the tunnel is expressed as s0Point of (A)0，B0，C0) Indicating a mileage of s0The direction vector of (a).
The normal plane of each mileage position can be determined through the formula, and then the normal plane of the needed mileage position can be determined according to the first preset distance interval so as to construct the tunnel. Wherein, further optionally, the preset interval parameter is 0.0005-0.005 m, and particularly, the preset interval parameter may be 0.001 m.
And S13, extracting the target normal plane from the normal planes according to a second preset distance interval.
Specifically, the second preset distance interval may be determined according to actual requirements, so that a subsequent calculation process may be completed by extracting a single or a small number of slice files each time, the larger the second preset distance interval is, the larger the amount of point cloud data in each subsequently formed slice file is, and the subsequent point cloud data in the slice file may need to be extracted again, thereby increasing the time for acquiring the required point cloud data, while the smaller the second preset distance interval is, the smaller the amount of point cloud data in each subsequently formed slice file is, the more the number of formed slice files is, and more slice files may be needed to complete calculation subsequently. Optionally, the second predetermined distance interval may be greater than or even much greater than the first predetermined distance interval, and may specifically be 0.1 to 1 meter, and in particular, the second predetermined distance interval is 0.5 meter. After the second preset distance interval is determined, the target normal plane can be extracted from the obtained normal planes according to the second preset distance interval, so that the point cloud data can be sliced according to the target normal plane.
And S14, respectively storing the point cloud data between every two adjacent target normal planes into the same slice file.
Specifically, after the target normal planes are obtained, the point cloud data between every two adjacent target normal planes can be stored in the same slice file, so that all the originally disordered point cloud data are sliced, and when necessary, the corresponding slice file can be selected according to the position of the normal planes, so that the stored point cloud data can be utilized, and the required data does not need to be extracted from all the point cloud data with large scale.
Optionally, after the point cloud data between every two adjacent target normal planes are respectively stored in the same slice file, the method further includes: and reordering the point cloud data according to the slice file and the train advancing direction. Specifically, after the point cloud data is stored in a slice, the slice files can be sorted according to the train advancing direction, so that the originally disordered point cloud data is reordered, the required point cloud data can be conveniently searched subsequently, and a foundation is laid for denoising the point cloud data. Specifically, the ordering may be performed by the position of the target normal plane in each slice file.
According to the technical scheme provided by the embodiment of the invention, point cloud data in a tunnel are firstly obtained, a normal plane is taken on a tunnel center line in an original design line according to a first preset distance interval, then a target normal plane is extracted from the obtained normal plane according to a second preset distance interval, and then the point cloud data between every two adjacent target sending planes are respectively stored into the same slice file. The point cloud data of the tunnel is sliced and stored in blocks according to the extracted target method plane, so that when the point cloud data of a certain mileage is needed, the corresponding slice file can be directly used without executing the process of extracting the point cloud data again in the whole point cloud file every time, the time for extracting the point cloud data in a large amount is saved, and the efficiency of tunnel optimization is greatly improved.
Example two
Fig. 2 is a schematic structural diagram of a storage apparatus for tunnel point cloud data according to a second embodiment of the present invention, which may be implemented by hardware and/or software, and may be generally integrated in a computer device, and is configured to execute the storage method for tunnel point cloud data according to any embodiment of the present invention. As shown in fig. 2, the apparatus includes:
a point cloud data acquisition module 21, configured to acquire point cloud data in a tunnel;
a normal plane determining module 22, configured to take a normal plane on a tunnel center line in the originally designed line at intervals of a first preset distance;
a target normal plane extraction module 23, configured to extract a target normal plane from the normal planes at intervals of a second preset distance;
and the point cloud data storage module 24 is configured to store the point cloud data between every two adjacent target normal planes into the same slice file.
According to the technical scheme provided by the embodiment of the invention, point cloud data in a tunnel are firstly obtained, a normal plane is taken on a tunnel center line in an original design line according to a first preset distance interval, then a target normal plane is extracted from the obtained normal plane according to a second preset distance interval, and then the point cloud data between every two adjacent target sending planes are respectively stored into the same slice file. The point cloud data of the tunnel is sliced and stored in blocks according to the extracted target method plane, so that when the point cloud data of a certain mileage is needed, the corresponding slice file can be directly used without executing the process of extracting the point cloud data again in the whole point cloud file every time, the time for extracting the point cloud data in a large amount is saved, and the efficiency of tunnel optimization is greatly improved.
On the basis of the above technical solution, optionally, the normal plane determining module 22 is specifically configured to:
(x，y，z)＝f(s)
wherein f(s) represents an equation of a point (x, y, z) on the tunnel centerline with respect to mileage s, (a ', B', C ') represents a direction vector where mileage is s', and τ represents a preset interval parameter;
mileage of s0The normal plane equation is:
A0x+B0y+C0z-(A0x0+B0y0+C0z0)＝0
wherein (x)0，y0，z0) The mileage on the central line of the tunnel is expressed as s0Point of (A)0，B0，C0) Indicating a mileage of s0The direction vector of (a).
On the basis of the above technical solution, optionally, the preset interval parameter is 0.0005-0.005 m.
On the basis of the above technical scheme, optionally, the second preset distance interval is 0.1-1 meter.
On the basis of the above technical solution, optionally, the storage device for tunnel point cloud data further includes:
and the point cloud data reordering module is used for reordering the point cloud data according to the train advancing direction according to the slice file after the point cloud data between every two adjacent target normal planes are respectively stored into the same slice file.
On the basis of the above technical solution, optionally, the point cloud data is generated by a three-dimensional scanning device, and the three-dimensional scanning device includes one or more of a laser radar, a stereo camera, and a transit time camera.
The storage device for tunnel point cloud data provided by the embodiment of the invention can execute the storage method for tunnel point cloud data provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the storage device for tunnel point cloud data, the included units and modules are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a computer device provided in the third embodiment of the present invention, and shows a block diagram of an exemplary computer device suitable for implementing the embodiment of the present invention. The computer device shown in fig. 3 is only an example, and should not bring any limitation to the function and the scope of use of the embodiments of the present invention. As shown in fig. 3, the computer apparatus includes a processor 31, a memory 32, an input device 33, and an output device 34; the number of the processors 31 in the computer device may be one or more, one processor 31 is taken as an example in fig. 3, the processor 31, the memory 32, the input device 33 and the output device 34 in the computer device may be connected by a bus or in other ways, and the connection by the bus is taken as an example in fig. 3.
The memory 32 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the storage method of tunnel point cloud data in the embodiment of the present invention (for example, the point cloud data obtaining module 21, the normal plane determining module 22, the target normal plane extracting module 23, and the point cloud data storage module 24 in the storage device of tunnel point cloud data). The processor 31 executes various functional applications and data processing of the computer device by running software programs, instructions and modules stored in the memory 32, that is, implements the above-described storage method of tunnel point cloud data.
The memory 32 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 32 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 32 may further include memory located remotely from the processor 31, which may be connected to a computer device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 33 may be used to acquire point cloud data within a tunnel through a three-dimensional scanning apparatus, and to generate key signal inputs and the like related to user settings and function control of a computer apparatus. The output device 34 includes a display screen or the like, and is used to present various model data to the user.
Example four
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, is configured to perform a method for storing tunnel point cloud data, where the method includes:
acquiring point cloud data in a tunnel;
taking a normal plane on a tunnel central line in an original design line according to a first preset distance interval;
extracting a target normal plane from the normal planes according to a second preset distance interval;
and respectively storing the point cloud data between every two adjacent target normal planes into the same slice file.
The storage medium may be any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lambda (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide the program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the storage method of tunnel point cloud data provided by any embodiment of the present invention.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A storage method of tunnel point cloud data is characterized by comprising the following steps:
acquiring point cloud data in a tunnel;
taking a normal plane on a tunnel central line in an original design line according to a first preset distance interval;
extracting a target normal plane from the normal planes according to a second preset distance interval;
and respectively storing the point cloud data between every two adjacent target normal planes into the same slice file.
2. The method for storing tunnel point cloud data according to claim 1, wherein the taking a normal plane on a tunnel center line in an original design route at a first preset distance interval comprises:
(x，y，z)＝f(s)
wherein f(s) represents an equation of a point (x, y, z) on the tunnel centerline with respect to mileage s, (a ', B', C ') represents a direction vector where mileage is s', and τ represents a preset interval parameter;
mileage of s0The normal plane equation is:
A0x+B0y+C0z-(A0x0+B0y0+C0z0)＝0
wherein (x)0，y0，z0) The mileage on the central line of the tunnel is expressed as s0Point of (A)0，B0，C0) Indicating a mileage of s0The direction vector of (a).
3. The method for storing tunnel point cloud data according to claim 2, wherein the preset interval parameter is 0.0005-0.005 m.
4. The method for storing tunnel point cloud data according to claim 1, wherein the second preset distance interval is 0.1-1 m.
5. The method for storing tunnel point cloud data according to claim 1, further comprising, after storing the point cloud data between each two adjacent target normal planes into the same slice file, respectively:
and reordering the point cloud data according to the slice file and the train advancing direction.
6. The method of claim 1, wherein the point cloud data is generated by a three-dimensional scanning device comprising one or more of a lidar, a stereo camera, and a transit time camera.
7. A storage device of tunnel point cloud data is characterized by comprising:
the point cloud data acquisition module is used for acquiring point cloud data in the tunnel;
the normal plane determining module is used for taking a normal plane on a tunnel central line in the original design line according to a first preset distance interval;
the target normal plane extraction module is used for extracting a target normal plane from the normal planes according to a second preset distance interval;
and the point cloud data storage module is used for respectively storing the point cloud data between every two adjacent target normal planes into the same slice file.
8. The storage device of tunnel point cloud data according to claim 7, wherein the normal plane determination module is specifically configured to:
(x，y，z)＝f(s)
wherein f(s) represents an equation of a point (x, y, z) on the tunnel centerline with respect to mileage s, (a ', B', C ') represents a direction vector where mileage is s', and τ represents a preset interval parameter;
mileage of s0The normal plane equation is:
A0x+B0y+C0z-(A0x0+B0y0+C0z0)＝0
wherein (x)0，y0，z0) The mileage on the central line of the tunnel is expressed as s0Point of (A)0，B0，C0) Indicating a mileage of s0The direction vector of (a).
9. A computer device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of storing tunnel point cloud data of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method of storing tunnel point cloud data according to any one of claims 1 to 6.
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| CN116051565A (en) * | 2023-04-03 | 2023-05-02 | 广州水木星尘信息科技有限公司 | Contact net defect target detection method and device based on structured light 3D point cloud |
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