CN103175484A - Crown measuring method based on three-dimensional laser scanning system - Google Patents
Crown measuring method based on three-dimensional laser scanning system Download PDFInfo
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Abstract
An embodiment of the invention discloses a crown measuring method based on a three-dimensional laser scanning system. The method includes: acquiring spatial point cloud data, acquired by the three-dimensional laser scanning system, of a target tree; cutting the spatial point cloud data from crown top to crown bottom along a vertical direction into multiple distinguishing sections with equal length; building polygons according to the spatial point cloud data in the distinguishing sections; and building a crown three-dimensional model according to the polygons. By introducing a rectangular plane coordinate system and using a quadrant polygon building method, the spatial point cloud data in the distinguishing sections are screened, and crown surface points are extracted precisely to build the crown three-dimensional model.
Description
Technical field
The present invention relates to a kind of tree crown measuring method, relate in particular to a kind of tree crown measuring method based on three-dimensional laser scanning system.
Background technology
Tree crown is the overall of the whole branches of trees and leaf, and it is the architecture basics of arboreal growth growth and other function.The shape of tree crown depends on hereditary capacity and the environmental factor of trees, and the tree crown that comes in every shape brings difficulty for relevant research work.
The method of measuring at present tree crown is mainly that Feng Zhongke and student thereof study.the document of delivering have Feng Zhongke's " precision forestry [M] " and " based on the crown biomass of 3 D laser scanning imaging system research [J] ", Xiong Nina " a kind of research of measuring the Tree Crown Volume method based on three-dimensional laser scanning system---as an example of Chinese pine example [J] ", " application [J] of three-dimensional laser scanning system in the determination of volume of tree " of Deng Xiangrui, the PhD dissertation of the PhD dissertation of Luo Xu " based on the measurement science of forest research [D] of 3 D laser scanning mapping system " and Tang Xuehai " the three-dimensional green amount estimation in 6th district, city, Beijing and analysis and research [D] ".The technology path of above several method is basically identical, is all to regard tree crown as a conicle and a plurality of round platform, with the cumulative Tree Crown Volume that obtains of the volume of round platform circular cone.Wherein, the method that the irregular base area that proposes use with Tang Xuehai serves as the round platform base area is comparatively accurate.
Tang Xuehai utilizes three-dimensional laser scanning system to obtain single wooden cloud data, form complete single ebon comb point cloud data, then a standing tree vertically is divided into some contour differentiation sections, the whole tree crown of Dan Mu is regarded as the solid that a conicle and a following n round platform by the top form, and Tree Crown Volume is this circular cone and n round platform volume sum (referring to Fig. 1).Wherein, the base area of circular cone and round platform is measured acquisition by the point to tree crown part, and this part data projection of intercepting on XY coordinate system plane, is become irregular cycle by these data construct, irregular cycle is carried out area calculate.With being parallel to the vertical curve of Y-axis perpendicular to X-axis, irregular cycle is divided into n wide segment.Regard end to end the area of irregular cycle as two triangles and n-2 trapezoidal sum come reference area (referring to Fig. 2).
Its cubature formula is:
Wherein, V is Tree Crown Volume, and n is the quantity of round platform and circular cone, and h is frustum cone height, and S is area of section.
Its surface area formula is:
Wherein, S is Crown surface area, S
iBe the tree crown area of section, and S
0=S
n=0.
But, tree crown is a transparent spatial entities of non-sealing, utilize three-dimensional laser scanner to scan, perpendicular to the vertical curve of X-axis, irregular cycle is divided into n wide segment and comes the Calculation Section area with being parallel to Y-axis, do not consider the impact of internal point, the floorage of calculating like this gained can be less than actual value.Therefore, present method exist precision not high, can't calculate Crown surface area, can't form the problems such as tree crown digital surface model.
This shows how to introduce new data processing method, obtain the surface point of tree crown, structure tree crown digital surface model, and at a high speed, accurately ask based on this and calculate Tree Crown Volume and surface area, be the key issue that tree crown is measured.
Summary of the invention
Embodiment of the present invention technical matters to be solved is, a kind of tree crown measuring method based on three-dimensional laser scanning system is provided, by introducing plane right-angle coordinate and adopting minute polygonal method of quadrant structure, the spatial point cloud data of distinguishing in section are carried out Screening Treatment, accurately extract the tree crown surface point to build the tree crown three-dimensional model.
In order to solve the problems of the technologies described above, the embodiment of the present invention provides a kind of tree crown measuring method based on three-dimensional laser scanning system, comprising: the spatial point cloud data of obtaining the target trees of three-dimensional laser scanning system collection; Described spatial point cloud data vertically are divided into a plurality of contour differentiation sections by tree crown top to tree crown bottom; According to the described spatial point cloud data configuration polygon of distinguishing in section; According to described polygonal structure tree crown three-dimensional model.
As the improvement of such scheme, the described polygonal step of spatial point cloud data configuration according to distinguishing in section comprises: distinguish spatial point cloud data projection in section in same plane with described; According to described spatial point cloud data construct the first plane right-angle coordinate, described spatial point cloud data are distributed in first quartile; At described spatial point cloud extracting data impact point, described impact point comprises nearest nearest point, the distance Y axle point farthest of point, distance X axle point, distance Y axle farthest of X-axis of described the first plane right-angle coordinate of distance; Calculate the intermediate value of X-axis coordinate and the Y-axis coordinate of described impact point; Take described intermediate value as initial point, build the second plane right-angle coordinate according to described impact point; According to the distribution situation structure polygon of described impact point at the second plane right-angle coordinate.
As the improvement of such scheme, described step at spatial point cloud extracting data impact point comprises: set up the first dot matrix on the X-axis of described the first plane right-angle coordinate and Y-axis; Divide wide interval along X-axis, make the point of the first dot matrix on described X-axis corresponding one by one with the wide interval of described X-axis; In the wide interval of described X-axis, extract the described X-axis of distance corresponding the first dot matrix in wide interval point recently, spatial point cloud data farthest are first reconnaissance; Divide wide interval along Y-axis, make the point of the first dot matrix on described Y-axis corresponding one by one with the wide interval of described Y-axis; In the wide interval of described Y-axis, extract the described Y-axis of distance corresponding the first dot matrix in wide interval point recently, first reconnaissance farthest is impact point.
improvement as such scheme, describedly comprise in the polygonal step of the distribution situation of the second plane right-angle coordinate structure according to impact point: extract surface point according to the distribution situation of described impact point each quadrant in described the second plane right-angle coordinate, when containing impact point in four or two quadrants are arranged, the X-axis impact point farthest that extracts described the second plane right-angle coordinate of distance in containing the quadrant of impact point is surface point, when containing impact point in three quadrants are arranged, the X-axis of extracting described the second plane right-angle coordinate of distance on the quadrant adjacent with the quadrant that does not contain impact point along Y direction is nearest, impact point farthest is surface point, the X-axis impact point farthest that extracts described the second plane right-angle coordinate of distance on all the other quadrants is surface point, connect clockwise or counterclockwise described surface point with the structure polygon.
Improvement as such scheme, the described millet cake of connection table clockwise or counterclockwise also comprises after constructing polygonal step: clockwise or counterclockwise, extract four continuous surface points, described four surface points are followed successively by starting point, the first reference point, the second reference point, the 3rd reference point; Compare the distance between described starting point and described the first reference point, the second reference point, the 3rd reference point, described the first reference point, the second reference point, the nearest surface point of the 3rd described starting point of reference point middle distance are connected with described starting point, the structure polygon; Take the nearest surface point of described first surface point, second surface point, the 3rd described starting point of surface point middle distance as new starting point, again extract the first reference point, the second reference point, the 3rd reference point, until all surface points are all completed comparison.
As the improvement of such scheme, described tree crown measuring method based on three-dimensional laser scanning system also comprises: utilize mathematical model
Calculate the described area of a polygon of distinguishing in section, wherein, S is area of a polygon, and m is the polygon vertex number, and x is the X coordinate of polygon vertex, and y is the Y coordinate of polygon vertex.
As the improvement of such scheme, described tree crown measuring method based on three-dimensional laser scanning system also comprises: utilize mathematical model
Calculate Tree Crown Volume, wherein V is Tree Crown Volume, and n is the polygon number in the tree crown three-dimensional model, and H is for distinguishing the height of section.
As the improvement of such scheme, described tree crown measuring method based on three-dimensional laser scanning system also comprises: utilize mathematical model
Calculate the Crown surface area of target trees, wherein, S
TableBe Crown surface area, C
kBe every layer of polygonal girth.
Implement the embodiment of the present invention, has following beneficial effect: introduce plane right-angle coordinate, the spatial point cloud data of distinguishing in section are carried out Screening Treatment, adopt minute polygonal method of quadrant structure, rejected the internal point of tree crown, and successfully extracted the surface point of tree crown, solved the three-dimensional modeling problem of the penetrable object of non-sealing.
In addition, the height of setting district segmentation to set up high-precision tree crown three-dimensional model, shows the true form of tree crown better according to the actual requirements, reflects the detail characteristic of tree crown, provides the foundation for calculating Tree Crown Volume and surface area.
Description of drawings
Fig. 1 is that Tang Xuehai vertically is divided into some contour schematic diagram of distinguishing section to tree crown;
Fig. 2 is that Tang Xuehai is divided into irregular cycle the schematic diagram of a plurality of wide segments with being parallel to the vertical curve of Y-axis perpendicular to X-axis;
Fig. 3 is the first embodiment process flow diagram of a kind of tree crown measuring method based on three-dimensional laser scanning system of the present invention;
Fig. 4 vertically is divided into the schematic diagram of a plurality of contour differentiation sections with the spatial point cloud data in Fig. 3 by tree crown top to tree crown bottom;
Fig. 5 is the second embodiment process flow diagram of a kind of tree crown measuring method based on three-dimensional laser scanning system of the present invention;
Fig. 6 is according to the first constructed plane right-angle coordinate schematic diagram of spatial point cloud data of distinguishing in section;
Fig. 7 extracts the first plane right-angle coordinate schematic diagram after impact point to Fig. 6;
Fig. 8 is the second plane right-angle coordinate schematic diagram constructed according to impact point;
Fig. 9 is the polygon schematic diagram of constructing after the impact point after screening is connected;
Figure 10 is at the process flow diagram of spatial point cloud extracting data impact point in Fig. 5;
Figure 11 is the first plane right-angle coordinate schematic diagram that arranges after the first dot matrix;
Figure 12 is the first plane right-angle coordinate schematic diagram of dividing behind wide interval;
Figure 13 is according to the distribution situation structure polygonal process flow diagram of impact point at the second plane right-angle coordinate in Fig. 5;
Figure 14 is the surface point schematic diagram that extracts when containing impact point in four quadrants are arranged;
Figure 15 is the surface point schematic diagram that extracts when containing impact point in two quadrants are arranged;
Figure 16 is the surface point schematic diagram that extracts when containing impact point in three quadrants are arranged;
Figure 17 is according to impact point polygonal another process flow diagram of distribution situation structure at the second plane right-angle coordinate in Fig. 5;
Figure 18 extracts four continuous schematic diagram that surface point is compared;
Figure 19 is after in Figure 18, all surface point is all completed comparison, formed polygonal schematic diagram;
Figure 20 is in the wide interval of X-axis, extracts the schematic diagram of impact point;
Figure 21 is the polygonal schematic diagram that embodiment 1 and reference example 1 are constructed.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing.
Fig. 3 is the first embodiment process flow diagram of a kind of tree crown measuring method based on three-dimensional laser scanning system of the present invention, comprising:
S100 obtains the spatial point cloud data of the target trees that three-dimensional laser scanning system gathers.
Need to prove, before utilizing three-dimensional laser scanning system to gather the spatial point cloud data of target trees, need to be according to the height of trees, tree crown form and scanner specification arrange the position of running parameter and the scanning website of scanner.Every strain target trees need to arrange three ground based scanning websites at least, tall and big trees can erecting scaffold scanning tree crown top.Correspondingly, can according to the running parameter of scanner, calculate scanner apart from the ultimate range D of tree crown
max,
In following formula, i is the interval of point adjacent in the three dimensions point of required collection, and n is the angle synchronizing frequency of scanner.The operator arranges the scanning website according to the ultimate range that calculates, and scanner is located on the scanning website.
When using Faro Focus3D scanner to gather, it is 0.036 ° that n is set, and i is 0.01m, calculates D
max=15.91m is so the ultimate range of scanning website and tree crown must be less than 15.91m.
When using Riegl VZ-1000 scanner to gather, it is 0.0024 ° that n is set, and i is 0.01m, calculates D
max=238.73m, the ultimate range of scanning movement and tree crown must be less than 238.73m.
In addition, if the spatial point cloud data that scanner need to be gathered are unified to earth coordinates, need to lay around trees and control target, guarantee that each scanning website observes three targets at least.Perhaps, can directly utilize public target ball to carry out the data splicing, use coordinate system.
During work, utilize scanner that tree crown is scanned, after collecting the spatial point cloud data of target trees, three-dimensional laser scanning system passes through coordinate matching, with the spatial point cloud data unification of different scanning website under the same coordinate system, and the spatial point cloud data around deletion individual plant target trees, under the plan view angle, the first branch alive is located to the spatial point cloud data deletion of trees bottom again, then derive operation through the outer acnode of selective body, minimizing noise and data, obtain the spatial point cloud data of goal tree ebon hat.
S101 vertically is divided into a plurality of contour differentiation sections by tree crown top to tree crown bottom with described spatial point cloud data.
As shown in Figure 4, with the elevation interval of spatial point cloud data according to 1cm, vertically by the tree crown top to tree crown bottom minute dividing regions segmentation, correspondingly, namely the tree crown of target trees also is divided into a plurality of differentiation section according to the elevation interval of 1cm.
S102 is according to the described spatial point cloud data configuration polygon of distinguishing in section.
Need to prove, each spatial point cloud data of distinguishing in section all comprises tree crown surface point and internal point, therefore need to again process the spatial point cloud data, rejects internal point, extract tree crown surface point structure polygon, the polygon that makes structure is more near the actual form of target trees.Wherein, distinguish section corresponding one by one with polygon, spatial point cloud data of distinguishing in section can construct a polygon.
S103 is according to described polygonal structure tree crown three-dimensional model.
The corresponding polygon of differentiation section that is connected is connected in twos, can consist of the whole tree crown three-dimensional model of target trees, owing to the spatial point cloud data being processed again in step S102, the polygon that makes structure is more near the actual form of target trees, correspondingly, constructed the tree crown three-dimensional model more near the actual form of target trees by described polygon, degree of accuracy is higher.
Fig. 5 is the second embodiment process flow diagram of a kind of tree crown measuring method based on three-dimensional laser scanning system of the present invention, comprising:
S200 obtains the spatial point cloud data of the target trees that three-dimensional laser scanning system gathers.
Need to prove, before utilizing three-dimensional laser scanning system to gather the spatial point cloud data of target trees, need to be according to the height of trees, tree crown form and scanner specification arrange the position of running parameter and the scanning website of scanner.Every strain target trees need to arrange three ground based scanning websites at least, tall and big trees can erecting scaffold scanning tree crown top.Correspondingly, can according to the running parameter of scanner, calculate scanner apart from the ultimate range D of tree crown
max,
In following formula, i is the interval of point adjacent in the three dimensions point of required collection, and n is the angle synchronizing frequency of scanner.The operator arranges the scanning website according to the ultimate range that calculates, and scanner is located on the scanning website.In addition, if the spatial point cloud data that scanner need to be gathered are unified to earth coordinates, need to lay around trees and control target, guarantee that each scanning website observes three targets at least.Perhaps, can directly utilize public target ball to carry out the data splicing, use coordinate system.
During work, utilize scanner that tree crown is scanned, after collecting the spatial point cloud data of target trees, three-dimensional laser scanning system passes through coordinate matching, with the spatial point cloud data unification of different scanning website under the same coordinate system, and the spatial point cloud data around deletion individual plant target trees, under the plan view angle, the first branch alive is located to the spatial point cloud data deletion of trees bottom again, then derive operation through the outer acnode of selective body, minimizing noise and data, obtain the spatial point cloud data of goal tree ebon hat.
S201 vertically is divided into a plurality of contour differentiation sections by tree crown top to tree crown bottom with described spatial point cloud data.
As shown in Figure 4, with the elevation interval of spatial point cloud data according to 1cm, vertically by the tree crown top to tree crown bottom minute dividing regions segmentation, correspondingly, namely the tree crown of target trees also is divided into a plurality of differentiation section according to the elevation interval of 1cm.
S202, the spatial point cloud data projection that described differentiation section is interior is in same plane.
S203 according to described spatial point cloud data construct the first plane right-angle coordinate, is distributed in first quartile described spatial point cloud data.
Need to prove, each spatial point cloud data of distinguishing in section all comprises tree crown surface point and internal point, therefore need to again process the spatial point cloud data, rejects internal point, extract the tree crown surface point with the structure polygon, the polygon that makes structure is more near the actual form of target trees.Wherein, distinguish section corresponding one by one with polygon, spatial point cloud data of distinguishing in section can construct a polygon.
As shown in Figure 6, during the structure polygon, need to according to described spatial point cloud data construct the first plane right-angle coordinate of distinguishing in section, described spatial point cloud data be distributed in first quartile.
S204 is at described spatial point cloud extracting data impact point.
Need to prove, comprise at the impact point of described spatial point cloud extracting data: the nearest point of the Y-axis of farthest point of the X-axis of the nearest point of the X-axis of described the first plane right-angle coordinate of distance, described the first plane right-angle coordinate of distance, described the first plane right-angle coordinate of distance, the Y-axis point farthest of described the first plane right-angle coordinate of distance.
As shown in Figure 7, after described spatial point cloud data are extracted, can effectively reject internal point.
S205 calculates the X-axis coordinate of described impact point and the intermediate value of Y-axis coordinate.
S206 take described intermediate value as initial point, builds the second plane right-angle coordinate (referring to Fig. 8) according to described impact point.
For example, impact point A (1,2) is arranged, B (2,2), C (4,3) and D (7,3) calculate as can be known that the intermediate value of the X-axis coordinate of impact point is 4, and the intermediate value of Y-axis coordinate is 2.5.At this moment, should be initial point with (4,2.5), build the second plane right-angle coordinate that contains impact point A, B, C, D.
S207 is according to the distribution situation structure polygon of described impact point at the second plane right-angle coordinate.
As shown in Figure 9, after impact point is placed in the second plane right-angle coordinate, centered by true origin, according to the distribution situation of impact point at the second plane right-angle coordinate, impact point is screened again, reject internal point, and the impact point after screening connects, the structure polygon.
S208 is according to described polygonal structure tree crown three-dimensional model.
The corresponding polygon of differentiation section that is connected is connected in twos, can consist of the whole tree crown three-dimensional model of target trees, owing to the spatial point cloud data being carried out Screening Treatment again in step S202 ~ S207, the polygon that makes structure is more near the actual form of target trees, correspondingly, constructed the tree crown three-dimensional model more near the actual form of target trees by described polygon, degree of accuracy is higher.
Figure 10 be in Fig. 5 at the process flow diagram of spatial point cloud extracting data impact point, comprising:
S300 sets up the first dot matrix on the X-axis of described the first plane right-angle coordinate and Y-axis.
As shown in figure 11, the first dot matrix is arranged on X-axis and Y-axis, and the dot spacing of the first dot matrix on X-axis is equal, and the dot spacing of the first dot matrix on Y-axis equates.Preferably, the spacing of the point on the first dot matrix is 1cm.
More preferably, can be worth most according to the X-axis coordinate of space cloud data on the first plane right-angle coordinate and the Y-axis coordinate is worth the first dot matrix is set most, make the first dot matrix on described X-axis in the value scope of described X-axis coordinate, correspondingly, make the first dot matrix on described Y-axis in the value scope of described Y-axis coordinate.
S301 divides wide interval along X-axis, and the point that makes the first dot matrix on described X-axis and the wide interval of described X-axis be corresponding (referring to Figure 12) one by one.
S301, in the wide interval of described X-axis, extract the described X-axis of distance corresponding the first dot matrix in wide interval point recently, spatial point cloud data farthest are first reconnaissance.
Need to prove, in the wide interval of each X-axis, the nearest spatial point cloud data of point that can contain corresponding first dot matrix in wide interval of a described X-axis of distance, and the some spatial point cloud data farthest of corresponding first dot matrix in wide interval of the described X-axis of distance.Otherwise, when only having a point in the wide interval of X-axis or not putting, skip this wide interval.
As shown in figure 20, some A is the point in the first dot matrix, and in the wide interval at some A place, the nearest point of range points A is a some A1, and range points A point farthest is a some A2.
S302 divides wide interval along Y-axis, and the point that makes the first dot matrix on described Y-axis and the wide interval of described Y-axis be corresponding (referring to Figure 12) one by one.
S303, in the wide interval of described Y-axis, extract the described Y-axis of distance corresponding the first dot matrix in wide interval point recently, first reconnaissance farthest is impact point.
In the wide interval of each Y-axis, can contain the nearest first reconnaissance of point of corresponding first dot matrix in wide interval of a described Y-axis of distance, and the point first reconnaissance farthest of corresponding first dot matrix in wide interval of the described Y-axis of distance.Otherwise, when only having a point in the wide interval of Y-axis or not putting, skip this wide interval.
Figure 13 constructs polygonal process flow diagram according to impact point in the distribution situation of the second plane right-angle coordinate in Fig. 5, comprising:
S400 extracts surface point according to the distribution situation of described impact point each quadrant in described the second plane right-angle coordinate.
When containing impact point in four or two quadrants are arranged, the X-axis impact point farthest that extracts described the second plane right-angle coordinate of distance in containing the quadrant of impact point is surface point.
As shown in figure 14, all contain impact point in first quartile, the second quadrant, third quadrant, fourth quadrant, the X-axis impact point farthest that should extract in first quartile, the second quadrant, third quadrant, fourth quadrant apart from described the second plane right-angle coordinate at this moment, is surface point.
As shown in figure 15, only have in the second quadrant fourth quadrant and all contain impact point, at this moment, the X-axis impact point farthest that should extract described the second plane right-angle coordinate of distance in the second quadrant, fourth quadrant is surface point.
When containing impact point in three quadrants are arranged, along the X-axis of extracting described the second plane right-angle coordinate of distance on the Y direction quadrant adjacent with not containing the quadrant of impact point recently, farthest impact point is surface point, the X-axis impact point farthest that extracts described the second plane right-angle coordinate of distance on all the other quadrants is surface point.
As shown in figure 16, all contain impact point in first quartile, the second quadrant, fourth quadrant, and third quadrant does not contain impact point.Correspondingly, be the second quadrant along the Y direction quadrant adjacent with third quadrant, therefore, should extract on the second quadrant distance the second dot matrix recently, impact point farthest is surface point, simultaneously, extracting described the second dot matrix of distance impact point farthest on first quartile and fourth quadrant is surface point.
Need to prove, when extracting surface point, can set up the second dot matrix on the X-axis of described the second plane right-angle coordinate, the dot spacing of the second dot matrix is equated.Divide wide interval along X-axis, make the point of the second dot matrix on described X-axis corresponding one by one with the wide interval of described X-axis.Then, according to actual demand, in the wide interval of described X-axis, extract the described X-axis of distance corresponding the second dot matrix in wide interval point recently or spatial point cloud data farthest.
Preferably, the spacing of the point on the second dot matrix is 1cm.
More preferably, can be worth most according to the X-axis coordinate of impact point on the second plane right-angle coordinate the second dot matrix is set, make the second dot matrix in the value scope of described X-axis coordinate.
S402 connects described surface point clockwise or counterclockwise with the structure polygon.
Figure 17 constructs polygonal another process flow diagram according to impact point in the distribution situation of the second plane right-angle coordinate in Fig. 5, comprising:
S500 extracts surface point according to the distribution situation of described impact point each quadrant in described the second plane right-angle coordinate.
When containing impact point in four or two quadrants are arranged, the X-axis impact point farthest that extracts described the second plane right-angle coordinate of distance in containing the quadrant of impact point is surface point.
When containing impact point in three quadrants are arranged, along the X-axis of extracting described the second plane right-angle coordinate of distance on the Y direction quadrant adjacent with not containing the quadrant of impact point recently, farthest impact point is surface point, the X-axis impact point farthest that extracts described the second plane right-angle coordinate of distance on all the other quadrants is surface point.
Need to prove, when extracting surface point, can set up the second dot matrix on the X-axis of described the second plane right-angle coordinate, the dot spacing of the second dot matrix is equated.Divide wide interval along X-axis, make the point of the second dot matrix on described X-axis corresponding one by one with the wide interval of described X-axis.Then, according to actual demand, in the wide interval of described X-axis, extract the described X-axis of distance corresponding the second dot matrix in wide interval point recently or spatial point cloud data farthest.
Preferably, the spacing of the point on the second dot matrix is 1cm.
More preferably, can be worth most according to the X-axis coordinate of impact point on the second plane right-angle coordinate the second dot matrix is set, make the second dot matrix in the value scope of described X-axis coordinate.
S501 connects described surface point clockwise or counterclockwise with the structure polygon.
S502 clockwise or counterclockwise, extracts four continuous surface points, and described four surface points are followed successively by starting point, the first reference point, the second reference point, the 3rd reference point.
As shown in figure 18, P0, P1, P2, P3 are four continuous surface points in the counterclockwise direction, and correspondingly, P0 is that starting point, P1 are that the first reference point, P2 are that the second reference point, P3 are the 3rd reference point.
S503 compares the distance between described starting point and described the first reference point, the second reference point, the 3rd reference point, described the first reference point, the second reference point, the nearest surface point of the 3rd described starting point of reference point middle distance is connected with described starting point, and the structure polygon.
As shown in figure 18, because P3 distance P 0 is nearest, therefore link P3 and P0.
S504 take the nearest surface point of described first surface point, second surface point, the 3rd described starting point of surface point middle distance as new starting point, extracts the first reference point, the second reference point, the 3rd reference point, again until all surface points are all completed comparison.
As shown in figure 18, after linking P3 and P0, take P3 as starting point, again extracting P4 is that the first reference point, P5 are that the second reference point, P6 are the 3rd reference point, until all surface points are all completed comparison.
As shown in figure 19, after all surface point is all completed comparison, can form comparatively level and smooth polygon, more near the crown attitude of goal tree ebon.
The present invention is described in further detail below in conjunction with specific embodiment.
Embodiment 1
Adopt method of the present invention, use Faro Focus3D scanner to gather the spatial point cloud data, the spatial point cloud data vertically are divided into a plurality of contour differentiation sections; According to distinguishing spatial point cloud data construct the first plane right-angle coordinate in section and extracting impact point; Then, build the second plane right-angle coordinate, according to the distribution situation structure polygon of impact point; At last, according to the spacing between impact point, extract surface point, the structure polygon.
Correspondingly, the method according to this invention is constructed respectively 5 polygons of distinguishing in section.
Reference example 1
Use Faro Focus3D scanner, the method that the irregular base area that adopts Tang Xuehai to propose use serves as the round platform base area is constructed respectively 5 polygons of distinguishing in section.
Referring to Figure 21, in figure, A classifies the polygon that embodiment 1 constructs as, and B classifies the polygon that reference example 1 is constructed as.As seen from the figure, adopt the method for reference example 1, the spatial point cloud data of distinguishing in section are not carried out Screening Treatment, directly construct polygon, can't get rid of the impact of passing through a little, differ very large with actual cross-section.Correspondingly, adopt the method for embodiment 1, extracted more accurately the surface point of tree crown, got rid of internal point, more near the actual form of tree crown.
More preferably, utilize mathematical model
Can calculate the described area of a polygon of distinguishing in section, wherein, S is area of a polygon, and m is the polygon vertex number, and x is the X coordinate of polygon vertex, and y is the Y coordinate of polygon vertex.
More preferably, utilize mathematical model
Can calculate Tree Crown Volume, wherein V is Tree Crown Volume, and n is the polygon number in the tree crown three-dimensional model, and H is for distinguishing the height of section.
The present invention is described in further detail below in conjunction with specific embodiment.
Embodiment 2
Adopt method of the present invention, use Faro Focus3D scanner to gather the spatial point cloud data, the spatial point cloud data vertically are divided into a plurality of contour differentiation sections, the height H of distinguishing section is 1cm; According to distinguishing spatial point cloud data construct the first plane right-angle coordinate in section and extracting impact point; Then, build the second plane right-angle coordinate, according to the distribution situation structure polygon of impact point; At last, according to the spacing between impact point, extract surface point, the structure polygon.
Correspondingly, the method according to this invention is calculated the Tree Crown Volume of eight sample trees respectively.
Reference example 2
Use Faro Focus3D scanner, the method that the irregular base area that adopts Tang Xuehai to propose use serves as the round platform base area, making the height H of distinguishing section is 1cm, respectively the Tree Crown Volume of eight sample trees is calculated.
Table one is the result of calculation contrast of above-described embodiment and reference example:
As shown in Table 1, adopt method of the present invention, extracted more accurately the surface point of tree crown, got rid of internal point, the Tree Crown Volume that makes the Tree Crown Volume that calculates obviously calculate greater than reference example 2 is more near the actual form of tree crown.
More preferably, utilize mathematical model
Calculate the Crown surface area of target trees, wherein, S
TableBe Crown surface area, C
kBe every layer of polygonal girth.
The present invention is described in further detail below in conjunction with specific embodiment.
Embodiment 3
Adopt method of the present invention, use Faro Focus3D scanner to gather the spatial point cloud data, the spatial point cloud data vertically are divided into a plurality of contour differentiation sections, the height H of distinguishing section is 1cm; According to distinguishing spatial point cloud data construct the first plane right-angle coordinate in section and extracting impact point; Then, build the second plane right-angle coordinate, according to the distribution situation structure polygon of impact point; At last, according to the spacing between impact point, extract surface point, the structure polygon.
Correspondingly, the method according to this invention is calculated the Crown surface area of eight sample trees respectively.
Reference example 3
Use Faro Focus3D scanner, the method that the irregular base area that adopts Tang Xuehai to propose use serves as the round platform base area, making the height H of distinguishing section is 1cm, respectively the Crown surface area of eight sample trees is calculated.
Table two is the result of calculation contrast of above-described embodiment 3 and reference example 3:
As shown in Table 2, adopt method of the present invention, extracted more accurately the surface point of tree crown, got rid of internal point, make the Tree Crown Volume that calculates be significantly less than the Crown surface area that reference example 3 calculates, more near the actual form of tree crown.
As from the foregoing, adopt the present invention, the spatial point cloud data obtained vertically are divided into a plurality of contour differentiation sections by tree crown top to tree crown bottom, according to distinguishing spatial point cloud data construct the first plane right-angle coordinate in section and extracting impact point, simultaneously, build the second plane right-angle coordinate according to impact point, and according to the distribution situation structure polygon of described impact point at the second plane right-angle coordinate.The contrast prior art, after only the spatial point cloud data obtained vertically being divided into a plurality of contour differentiation sections by tree crown top to tree crown bottom, the spatial point cloud data of distinguishing in section are not carried out Screening Treatment, directly construct polygon, can't get rid of the impact of passing through a little, differ very large with actual cross-section.And the present invention can effectively reject the internal point of tree crown, accurately extracts the surface point of tree crown, and according to surface point structure polygon, solution is sealed by no means the three-dimensional modeling problem of penetrable object.In addition, also the height of setting district segmentation to set up high-precision tree crown three-dimensional model, shows the true form of tree crown better according to the actual requirements, reflects the detail characteristic of tree crown, provides the foundation for calculating Tree Crown Volume and surface area.
Correspondingly, after structure tree crown three-dimensional model, can utilize mathematical model
Calculate each and distinguish the interior area of a polygon of section.Utilize mathematical model
Calculate Tree Crown Volume.Utilize mathematical model
Calculate the Crown surface area of target trees.
The above is the preferred embodiment of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also are considered as protection scope of the present invention.
Claims (8)
1. the tree crown measuring method based on three-dimensional laser scanning system, is characterized in that, comprising:
Obtain the spatial point cloud data of the target trees of three-dimensional laser scanning system collection;
Described spatial point cloud data vertically are divided into a plurality of contour differentiation sections by tree crown top to tree crown bottom;
According to the described spatial point cloud data configuration polygon of distinguishing in section;
According to described polygonal structure tree crown three-dimensional model.
2. the tree crown measuring method based on three-dimensional laser scanning system as claimed in claim 1, is characterized in that, the described polygonal step of spatial point cloud data configuration according to distinguishing in section comprises:
The spatial point cloud data projection that described differentiation section is interior is in same plane;
According to described spatial point cloud data construct the first plane right-angle coordinate, described spatial point cloud data are distributed in first quartile;
At described spatial point cloud extracting data impact point, described impact point comprises nearest nearest point, the distance Y axle point farthest of point, distance X axle point, distance Y axle farthest of X-axis of described the first plane right-angle coordinate of distance;
Calculate the intermediate value of X-axis coordinate and the Y-axis coordinate of described impact point;
Take described intermediate value as initial point, build the second plane right-angle coordinate according to described impact point;
According to the distribution situation structure polygon of described impact point at the second plane right-angle coordinate.
3. the tree crown measuring method based on three-dimensional laser scanning system as claimed in claim 2, is characterized in that, described step at spatial point cloud extracting data impact point comprises:
Set up the first dot matrix on the X-axis of described the first plane right-angle coordinate and Y-axis;
Divide wide interval along X-axis, make the point of the first dot matrix on described X-axis corresponding one by one with the wide interval of described X-axis;
In the wide interval of described X-axis, extract the described X-axis of distance corresponding the first dot matrix in wide interval point recently, spatial point cloud data farthest are first reconnaissance;
Divide wide interval along Y-axis, make the point of the first dot matrix on described Y-axis corresponding one by one with the wide interval of described Y-axis;
In the wide interval of described Y-axis, extract the described Y-axis of distance corresponding the first dot matrix in wide interval point recently, first reconnaissance farthest is impact point.
4. the tree crown measuring method based on three-dimensional laser scanning system as claimed in claim 2, is characterized in that, describedly comprises in the polygonal step of the distribution situation of the second plane right-angle coordinate structure according to impact point:
Extract surface point according to the distribution situation of described impact point each quadrant in described the second plane right-angle coordinate,
When containing impact point in four or two quadrants are arranged, the X-axis impact point farthest that extracts described the second plane right-angle coordinate of distance in containing the quadrant of impact point is surface point,
When containing impact point in three quadrants are arranged, along the X-axis of extracting described the second plane right-angle coordinate of distance on the Y direction quadrant adjacent with not containing the quadrant of impact point recently, farthest impact point is surface point, the X-axis impact point farthest that extracts described the second plane right-angle coordinate of distance on all the other quadrants is surface point;
Connect clockwise or counterclockwise described surface point with the structure polygon.
5. the tree crown measuring method based on three-dimensional laser scanning system as claimed in claim 4, is characterized in that, the described millet cake of connection table clockwise or counterclockwise also comprises after constructing polygonal step:
Clockwise or counterclockwise, extract four continuous surface points, described four surface points are followed successively by starting point, the first reference point, the second reference point, the 3rd reference point;
Compare the distance between described starting point and described the first reference point, the second reference point, the 3rd reference point, described the first reference point, the second reference point, the nearest surface point of the 3rd described starting point of reference point middle distance are connected with described starting point, the structure polygon;
Take the nearest surface point of described first surface point, second surface point, the 3rd described starting point of surface point middle distance as new starting point, again extract the first reference point, the second reference point, the 3rd reference point, until all surface points are all completed comparison.
6. the tree crown measuring method based on three-dimensional laser scanning system as claimed in claim 5, is characterized in that, also comprises:
Utilize mathematical model
Calculate the described area of a polygon of distinguishing in section, wherein, S is area of a polygon, and m is the polygon vertex number, and x is the X coordinate of polygon vertex, and y is the Y coordinate of polygon vertex.
7. the tree crown measuring method based on three-dimensional laser scanning system as claimed in claim 6, is characterized in that, also comprises:
Utilize mathematical model
Calculate Tree Crown Volume, wherein V is Tree Crown Volume, and n is the polygon number in the tree crown three-dimensional model, and H is for distinguishing the height of section.
8. the tree crown measuring method based on three-dimensional laser scanning system as claimed in claim 7, is characterized in that, also comprises:
Utilize mathematical model
Calculate the Crown surface area of target trees, wherein, S
TableBe Crown surface area, C
kBe every layer of polygonal girth.
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