CN104408055A - Storage method and device for laser radar point cloud data - Google Patents
Storage method and device for laser radar point cloud data Download PDFInfo
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- CN104408055A CN104408055A CN201410592173.7A CN201410592173A CN104408055A CN 104408055 A CN104408055 A CN 104408055A CN 201410592173 A CN201410592173 A CN 201410592173A CN 104408055 A CN104408055 A CN 104408055A
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Abstract
The invention discloses a storage method and device for laser radar point cloud data. The storage method comprises the following steps that the coordinate transformation is carried out on each laser point in the original laser point cloud data; each laser point after the coordinate transformation is detected, whether the currently detected laser point is a starting point of a new scanning line is judged by using the change of a laser point coordinate value; when the condition that the currently scanned laser is the starting point of the newly scanned line is judged, the laser point cloud data on a former scanning line is stored into a buffer region, and the coordinate reverse transformation is carried out on each laser point of the former scanning line in the buffer region; a space index is built for the affiliated scanning line of the laser point subjected to the coordinate reverse transformation, and is stored; the next scanning line is processed, and the steps are repeated until the laser point cloud data on all scanning lines is completely stored. The device mainly comprises a coordinate transformation unit, a detection judgment unit, a cache unit and a storage unit. Through the technical scheme, the subsequent data processing efficiency can be improved.
Description
Technical field
The application relates to laser radar data process field, particularly relates to a kind of storage means and device of laser radar point cloud data.
Background technology
Three-dimensional laser scanning technique (Light Detection And Ranging, LiDAR) be the full-automatic high precision stereoscanning technology of a kind of advanced person, this technique functions comes from the research and development of Nasa in 1970, the eighties in 20th century is developed rapidly, 20 end of the centurys, survey field has also started the research boom of three-dimensional laser scanning technique, and sweep object gets more and more, and application is more and more wider.Divide according to carrying platform according to three-dimensional laser scanning system, airborne three-dimensional laser scanning system, vehicle-mounted three-dimensional laser scanning system and Three Dimensional Ground laser scanning system can be divided into.Wherein, Three Dimensional Ground laser scanning system is mainly towards three-dimensional modeling and the reconstruct of high precision reverse-engineering, it can gather a large amount of three-dimensional coordinate points of ground object efficiently, various large-scale, complicated, irregular outdoor scene three-dimensional data is intactly collected in computer, thus quick reconfiguration goes out the three-dimensional point cloud model of target.The three dimensional point cloud gathered can be widely used in the fields such as mapping, metering, analysis, emulation, simulation shows monitoring, virtual reality.
At present, the mode image data of Three Dimensional Ground laser scanning system many employings line sweep, adopt scan mode image data line by line or by column, the three-dimensional laser point cloud data collected has certain structural relation, but at present only to massive point cloud, pyramid piecemeal is carried out to great majority in the storage means of collected three-dimensional laser point cloud data, this simple process is conducive to the display of massive point cloud, but because the some cloud in each data tile is disorderly and unsystematic, lack any topological relation between points, therefore this method is unfavorable for follow-up data processing.
Summary of the invention
In order to overcome above defect of the prior art, this application provides a kind of storage means and the device that can improve the laser radar point cloud data of follow-up data treatment effeciency.
In order to realize above technical purpose, the application is achieved through the following technical solutions:
This application provides a kind of storage means of laser radar point cloud data, this storage means comprises:
S1, according to gathered original laser cloud data, carries out coordinate transform to the laser spots on each sweep trace in original laser point cloud, the coordinate figure of all laser spots after obtaining coordinate transform;
S2, detects the coordinate figure carrying out the laser spots after coordinate transform, the coordinate figure of current detected laser spots and the coordinate figure of formerly detected laser spots is carried out contrasting judging that whether current detected laser spots is the starting point of new sweep trace;
S3, when judging that current detected laser spots is not the starting point of new sweep trace, then using the coordinate data of the coordinate figure of the present laser point after described coordinate transform as the laser spots on current scan line;
When judging that current detected laser spots is the starting point of new sweep trace, then using the coordinate data of the coordinate figure of the present laser point after described coordinate transform as starting point on new sweep trace, and by the cloud data of all laser spots on current scan line stored in buffer zone, each laser spots on current scan line in described buffer zone is carried out the inverse transformation of described coordinate transform and preserved, and using described new sweep trace as current scan line;
S4, continues to perform step S2 to S3 as present laser point using the next laser spots of laser spots current detected on current scan line, until all original laser cloud datas are preserved complete.
Preferably, describedly coordinate transform carried out to the laser spots on each sweep trace in original laser point cloud comprise:
By the three-dimensional rectangular coordinate (x of each laser spots in original laser point cloud, y, z) spherical co-ordinate (r centered by three-dimensional laser scanner is converted to, θ, φ), wherein r is the distance that laser spots arrives scanner, and θ is the angle of laser rays and surface level, φ be scanner work time horizontally rotate angle.
Preferably, the described coordinate figure by the coordinate figure of current detected laser spots and formerly detected laser spots carries out contrasting and judges that whether current detected laser spots is that the starting point of new sweep trace comprises:
The coordinate figure of current detected laser spots is carried out contrasting with the coordinate figure of formerly detected laser spots and judges whether current detected laser spots can as the pre-reconnaissance of the starting point of new sweep trace;
Judge current detected laser spots can as the pre-reconnaissance of the starting point of new sweep trace after, judge that further whether current detected laser spots is the starting point of new sweep trace.
Preferably, the described coordinate figure using the coordinate figure of current detected laser spots and formerly detected laser spots carries out contrasting and judges that current detected laser spots is comprise as the starting point of new sweep trace:
By regarding the laser point cloud data of same sweep trace as stable ergodic time series, judge whether current detected laser spots can as the pre-reconnaissance of the starting point of new sweep trace by the operator template magnitude relationship detected between the θ value of current detected laser spots and the θ value of a upper laser spots;
Judge current detected laser spots can as the pre-reconnaissance of the starting point of new sweep trace after, judge that further whether current detected laser spots is the starting point of new sweep trace.
Preferably, describedly judge that whether current detected laser spots is that the starting point of new sweep trace comprises further:
Current detected laser spots is judged by the magnitude relationship between the θ value that detects follow-up N number of laser spots of current detected laser spots, and/or, judge that by being compared by the mean value of the φ value of all laser spots on the φ value of current detected laser spots and current scan line whether current detected laser spots is the starting point of new sweep trace, wherein N is positive integer.
Preferably, described by the cloud data of all laser spots on current scan line stored in buffer zone, to each laser spots on current scan line in described buffer zone carry out described coordinate transform inverse transformation and preserve comprise:
By the coordinate data in the laser point cloud data on current scan line and attribute data respectively stored in buffer zone, then the coordinate data of each laser spots on current scan line in described buffer zone is carried out to the inverse transformation of described coordinate transform;
After the inverse transformation of described coordinate transform is carried out to the coordinate data of each laser spots on current scan line, set up spatial index table for current scan line and preserve.
Preferably, after the described coordinate data to each laser spots on current scan line carries out the inverse transformation of described coordinate transform, set up spatial index table for current scan line and carry out preservation and comprise:
Coordinate data after the inverse transformation carrying out described coordinate transform in buffer zone and attribute data are compressed;
After coordinate data in buffer zone and attribute data are compressed, encode to current scan line, the numbering that current scan line is corresponding unique;
For the current scan line after being numbered sets up spatial index table, the key word of described spatial index table is the numbering of current scan line, and index entry value corresponding with key word in described spatial index table is the memory address of laser point cloud data on current scan line;
After spatial index table is set up to current scan line, the coordinate data of the buffer zone after current scan line compresses and attribute data are carried out writing back and preserved by the memory address in the spatial index table corresponding to current scan line.
Present invention also provides a kind of memory storage of laser radar point cloud data, this memory storage comprises,
Coordinate transformation unit, for according to gathered original laser cloud data, carries out coordinate transform by the laser spots on each sweep trace in original laser point cloud, the coordinate figure of all laser spots after obtaining coordinate transform;
Detect judging unit, for detecting the coordinate figure of the laser spots after carrying out coordinate transform, utilize the difference between current detected laser point coordinates value and formerly detected laser point coordinates value to judge that whether current detected laser spots is the starting point of new sweep trace;
Buffer unit, for carrying out the inverse transformation of described coordinate transform by the laser point cloud data on sweep trace stored in buffer zone to each laser spots on sweep trace in buffer zone;
Storage unit, preserves the laser point cloud data on sweep trace after the inverse transformation carrying out described coordinate transform.
Preferably, described coordinate transformation unit comprises coordinate transform subelement, described coordinate transform subelement is used for the three-dimensional rectangular coordinate (x of each laser spots in original laser cloud data, y, z) be converted to spherical co-ordinate (r, θ centered by three-dimensional laser scanner, φ), wherein r is the distance that laser spots arrives scanner, and θ is the angle of laser rays and surface level, φ be scanner work time horizontally rotate angle.
Preferably, described detection judging unit comprises the first subelement and the second subelement, the change of θ value of follow-up N number of laser spots that described first subelement is used for by detecting current detected laser spots judges that whether current detected laser spots is the starting point of new sweep trace, and wherein N is positive integer; Described second subelement is for judging that by being compared by the mean value of the φ value of all laser spots on the φ value of current detected laser spots and current scan line whether current detected laser spots is the starting point of new sweep trace.
Preferably, described buffer unit comprises:
Coordinate data buffer unit, the coordinate data of all laser spots on cache sweep line;
Attribute data buffer unit, the attribute data of all laser spots on cache sweep line;
Coordinate inversion unit, for carrying out coordinate inversion by the coordinate of laser spots all in coordinate data buffer unit.
Preferably, described storage unit comprises:
Compression unit, for compressing stored in the coordinate data of buffer zone and attribute data;
Coding unit, after compressing the coordinate data of buffer zone and attribute data, encodes to each sweep trace, the numbering that each sweep trace is corresponding unique;
Indexing units, for setting up spatial index table for each sweep trace after being numbered, the key word of described spatial index table is the numbering of sweep trace, and index entry numerical value corresponding with key word in described spatial index table is the memory address of laser point cloud data on each sweep trace;
Write back unit, after spatial index table is set up to each sweep trace, the coordinate data of the buffer zone after each sweep trace compresses and attribute data are carried out writing back and preserved by the memory address in the spatial index table corresponding to each sweep trace.
Compared with prior art, the application has following beneficial effect:
Be that elementary cell stores by original laser cloud data by sweep trace, which increase the efficiency of follow-up data process.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of the storage means of laser radar point cloud data in the embodiment of the present application.
Fig. 2 is the schematic flow sheet of the storage means of laser radar point cloud data in the embodiment of the present application one.
Fig. 3 is the graph of a relation of three-dimensional rectangular coordinate and spherical co-ordinate.
Fig. 4 is the θ Distribution value figure of laser spots on different scanning line.
Fig. 5 A-5B is respectively two kinds of operator template schematic diagram of definition.
Fig. 6 is the φ Distribution value figure of laser spots on different scanning line.
Fig. 7 is the structural representation of the memory storage of laser radar point cloud data in the embodiment of the present application two.
Embodiment
Technical scheme in the application is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only some embodiments of the present application, instead of whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all should belong to the scope of the application's protection.
The technical scheme that the application adopts sweep trace to detect, is that elementary cell stores by original laser cloud data by sweep trace, as shown in Figure 1, comprises the steps:
S1, according to gathered original laser cloud data, carries out coordinate transform to the laser spots on each sweep trace in original laser point cloud, the coordinate figure of all laser spots after obtaining coordinate transform;
S2, detects the coordinate figure carrying out the laser spots after coordinate transform, the coordinate figure of current detected laser spots and the coordinate figure of formerly detected laser spots is carried out contrasting judging that whether current detected laser spots is the starting point on new sweep trace;
S3, when judging that current detected laser spots is not the starting point on new sweep trace, then using the coordinate data of the coordinate figure of the present laser point after described coordinate transform as the laser spots on current scan line;
When judging that current detected laser spots is the laser spots of new sweep trace, then using the coordinate data of the coordinate figure of the present laser point after described coordinate transform as starting point on new sweep trace, and by the cloud data of all laser spots on current scan line stored in buffer zone, each laser spots on current scan line in described buffer zone is carried out the inverse transformation of described coordinate transform and preserved, and using described new sweep trace as current scan line;
S4, continues to perform step S2 to S3 as present laser point using the next laser spots of current institute detection laser point on current scan line, until all original laser cloud datas are preserved complete.
Compared with the cloud data storage means of routine, press the sequential storage cloud data of sweep trace in the application, maintain the spatial structural form of a cloud, be also convenient to follow-up data processing.
The specific implementation of the embodiment of the present application is described below in detail with concrete example.
Embodiment one
Fig. 2 is the schematic flow sheet of the storage means of laser radar point cloud data in the present embodiment, this storage means for be that Three Dimensional Ground laser scanning system adopts scan mode line by line or by column to gather the three-dimensional coordinate point of ground object, these three-dimensional coordinate points carry out steric with the form of line sweep point cloud, and this storage means comprises the following steps:
Step S101, according to collected original laser cloud data, carries out coordinate transform to the laser spots on each sweep trace in original laser point cloud, obtains the coordinate figure of each laser spots after carrying out coordinate transform.
In the present embodiment, because the coordinate of the laser spots on each sweep trace in collected original laser point cloud is three-dimensional rectangular coordinate (x, y, z), so preferred by the three-dimensional rectangular coordinate (x of each laser spots, y, z) spherical co-ordinate (r centered by three-dimensional laser scanner is converted to, θ, φ), wherein r is the distance that laser spots arrives scanner, and θ is the angle of laser rays and surface level, φ be scanner work time horizontally rotate angle, as shown in Figure 3.The spherical co-ordinate (r, θ, φ) of laser spots is as follows with the transformational relation between three-dimensional rectangular coordinate (x, y, z):
Above-mentioned coordinate transform is not limited to the conversion between three-dimensional rectangular coordinate and spherical co-ordinate, here the three-dimensional rectangular coordinate of laser spots is transformed to spherical co-ordinate be due in spherical co-ordinate the end point of current scan line and the starting point of next sweep trace θ value between have very big-difference, utilize the sudden change of θ value to be easy to judge which bar sweep trace is current detected laser spots belong to.Obviously, do not limit in the present embodiment and the coordinate of laser spots is transformed to spherical co-ordinate, such as, as long as can be easy to judge which bar sweep trace, cylindrical coordinates is current detected laser spots belong to.
Step S102, detect the coordinate figure carrying out the laser spots after coordinate transform, the coordinate figure of current detected laser spots is tentatively judged that whether current detected laser spots is the pre-reconnaissance of the starting point of new sweep trace with carrying out contrasting at the coordinate figure of first laser spots.
When a new sweep trace starts, on it, the coordinate figure of laser spots can difference to some extent relative to the coordinate figure of laser spots on a upper sweep trace, the coordinate figure in one of them direction can produce a very large sudden change, therefore this feature can be utilized, the coordinate figure of the coordinate figure of current detected laser spots and a upper laser spots is contrasted, thus tentatively judges that whether current detected laser spots is the pre-reconnaissance of the starting point on new sweep trace.Here starting point refers to first laser spots on this sweep trace.
Coordinate for laser spots is this situation of spherical co-ordinate, when a new sweep trace starts, on it, the θ value of laser spots can produce sudden change relative to the θ value of laser spots on a upper sweep trace, utilize this feature, the θ value of the θ value of current detected laser spots and a upper laser spots is contrasted, thus tentatively judges that whether current detected laser spots is the pre-reconnaissance of the starting point of new sweep trace.For article sweep trace of the 1st shown in Fig. 4 and the 2nd article of sweep trace, as can be seen from Figure 4, article 2, the θ value of the starting point of sweep trace creates sudden change relative to the θ value of end point on the 1st article of sweep trace, by the θ value of current detected laser spots compared with the θ value of a upper laser spots detected, just tentatively can judge that whether current detected laser spots is the pre-reconnaissance of the starting point of the 2nd article of sweep trace.
The θ value change of detection laser point has a variety of method, in the present embodiment, regard three-dimensional laser scanner as an ergodic stable time series in the data that running hours produces, by the problem that the problem arises finding sweep trace starting point is the catastrophe point of hunting time sequence, a kind of method of sliding operator template is adopted to carry out the θ value change of detection laser point, the definition of operator template is see Fig. 5 A, and the operator template utilizing Fig. 5 A to define slips over the θ value of laser point cloud sequence continuously.
Definition θ (A), θ (B), θ (C) are respectively the θ value of A, B, C tri-positions in operator template.As can be seen from Figure 3 the linear decline trend of θ value of laser spots on same sweep trace, and the θ value of starting point can much larger than the θ value of end point on current scan line on next sweep trace, starting point here and end point to refer on next sweep trace last laser spots on first laser spots and current scan line respectively.Therefore, if A, B, C 3 is on same sweep trace, and these 3 are arranged in order from front to back, so when operator template is slided in this sweep trace, θ (B)-θ (A) should be negative value, and θ (C)-θ (B) also should be negative value.And if A, B 2 is on same sweep trace, the position of A point is before B point, and C point is on next sweep trace, so θ (B)-θ (A) is negative value, and θ (C)-θ (B) be on the occasion of, and | θ (C)-θ (B) | >>| θ (B)-θ (A) |, wherein, symbol " >> " expression " is far longer than ".That is, when operator template is slided along sweep trace, then principium identification operator template can slide into the end of current scan line as met following formula (2), the position corresponding to C point is the pre-reconnaissance of the starting point of new sweep trace.
Wherein, k is constant, represents the saltus step degree of θ value.
If in this step when judging that current detected laser spots is not the pre-reconnaissance of the starting point of new sweep trace, then using the coordinate data of the coordinate figure of present laser point as the laser spots on current scan line, then continue to detect next laser spots, until can judge that institute's detection laser point as the pre-reconnaissance of the starting point on new sweep trace, then can perform step S103 below.
Step S103, after tentatively judging that current detected laser spots is the pre-reconnaissance of the starting point of new sweep trace, determines whether this laser spots can as the starting point of new sweep trace further.
Owing to not only having laser spots in collected original laser cloud data, also have the noise spot because the reasons such as hardware cause, so only also can not determine that whether current detected laser spots is the starting point of new sweep trace completely by above-mentioned detection, therefore, after detecting that sudden change appears in the θ value of present laser point, also need to determine whether current detected laser spots is noise spot, if noise spot further, so reject this noise spot, continue to detect next laser spots; If not noise spot, so just can determine that current detected laser spots is the starting point of new sweep trace, this can be realized by following two kinds of methods:
(1) detect follow-up N number of laser spots of present laser point, N is positive integer, in order to ensure follow-up N number of laser spots all on same sweep trace, so the value of N can not be too large.If present laser point is the starting point of next sweep trace, instead of noise spot, the θ value of so follow-up N number of laser spots should be " almost " monotone decreasing.In the present embodiment, the operator template defined with Fig. 5 B detects follow-up N number of laser spots (N is 5), calculate the θ difference between two adjacent laser points, under this operator template, the θ difference between 10 pairs of laser spots can be calculated, in the ideal case, the θ difference of these 10 pairs of laser spots all should be negative, but due to the existence of noise spot, as long as the θ difference of major part " put to " is for negative, defined formula (3) is as follows:
In 5 points that this is adjacent, one has 10 to the point arranged by ascending order to (N
i, N
j| j>i), calculate this 10 to point with formula (3).Preferably, if f is (N
i, N
j) be 1 number of times be more than or equal to 7, just can think and follow-up 5 point " almost " monotone decreasings at this moment can judge that present laser point is not noise spot, thus using the starting point of this point as new sweep trace, if f (N
i, N
j) be 1 number of times be less than 7, so can think that the laser spots of current detection is noise spot, reject this noise spot.Here with f (N
i, N
j) be 1 number of times and 7 between pass be measurement index, just consider for experience, in the application, be not limited to this value.Declare at this, present laser point all refers to current detected laser spots in this application.
(2) the φ value of present laser point is detected, and the mean value of the φ value of all laser spots in the φ value of present laser point and a upper sweep trace is compared, if the sweep trace detected is the 1st article of sweep trace, so just the mean value of the φ value of the φ value of present laser point and previous detected all laser spots is compared, thus determine whether current detected laser spots can as the starting point of new sweep trace.In the ideal case, in same sweep trace, the angle φ that horizontally rotates of three-dimensional laser scanner should be consistent, but often due to hardware reason, also non-critical is completely the same for φ value, but can suppose that the φ value of laser spots on same sweep trace is for meeting the random series of normal distribution, as shown in Figure 6.If present laser point is the starting point of new sweep trace, so the φ value of this current laser spots should be
near, wherein φ
oldfor the mean value of the φ value of a upper sweep trace,
for the mean value of the horizontal sextant angle of adjacent two sweep traces.When the φ value of present laser point meets the condition of following formula (4), then judge the starting point of present laser point as next sweep trace, otherwise as noise points deleting.
In above formula, ε is the stochastic variable meeting normal distribution, i.e. ε ~ N (0, σ
2).
In order to ensure can real cancelling noise point, need above-mentioned two kinds of methods combining to use, but also can according to actual conditions, only select wherein a kind of method to determine that current detected laser spots is the starting point of new sweep trace.
As can be seen from step S103, the application also eliminates noise spot while detection laser point, namely achieves filter function, like this at follow-up Data processing, carries out filtering process again, thus improve the efficiency of follow-up data process with regard to not needing.
If by finding after this step that current detected laser spots is not the starting point of new sweep trace, so just using the coordinate data of the coordinate figure of current detected laser spots current laser spots on current scan line, and continue to detect next laser spots until can determine that detected laser spots is the starting point of new sweep trace, then perform step S104 below.
S104, when determining that current detected laser spots is the starting point of new sweep trace, then using the coordinate data of the coordinate figure of present laser point as starting point on new sweep trace, and by the cloud data of all laser spots on current scan line stored in buffer zone, each laser spots on current scan line in buffer zone is carried out to the inverse transformation of coordinate transform.
After determining that current detected laser spots is the starting point of new sweep trace, by the cloud data of all laser spots on current scan line stored in buffer zone, in the present embodiment, cloud data mainly refers to coordinate data and attribute data, coordinate data is the coordinate figure of laser spots, and attribute data comprises laser intensity, color value, number of echoes etc.; Then utilize the inverse transformation of coordinate transform described in step S101, the spherical coordinate transformation of laser spots all on current scan line is returned three-dimensional rectangular coordinate.
S105, after each laser spots in buffer zone on current scan line carries out the inverse transformation of coordinate transform, compresses the cloud data of laser spots on current scan line in buffer zone, then sets up spatial index table for current scan line and write back preservation.
After the coordinate conversion of laser spots is returned three-dimensional rectangular coordinate, the cloud data of laser spots on current scan line in buffer zone is compressed.In the present embodiment, utilize zlib to compress cloud data, zlib is a kind of software library providing compression function of increasing income, it provides interface very easily, export after the cloud data compression in buffer zone as new buffer data, also return the data length after compression and data address simultaneously.Zlib is utilized to carry out compression detailed process to cloud data in this example as follows: first, the coordinate data of laser spots on current scan line in buffer zone is separated with attribute data, in the buffer zone that existence two is independent respectively, then the function calling zlib storehouse is compressed coordinate data and attribute data, export new coordinate data and attribute data, return data length and the data address of the coordinate data after compression and attribute data simultaneously.
After the cloud data of laser spots compresses on current scan line in buffer zone, set up spatial index table for current scan line and write back preservation.The process of establishing of this spatial index table is as follows: first, encodes to current scan line, the numbering that this sweep trace correspondence is unique; Then set up concordance list, the key word of this concordance list is the numbering of current scan line, and index entry numerical value corresponding with key word in concordance list is the memory address of the cloud data of laser spots on current scan line.
After setting up spatial index table for current scan line, the cloud data of laser spots on the current scan line after compression is carried out writing back and preserves by the memory address in the spatial index table corresponding to each sweep trace.In the present embodiment, mainly the coordinate data of laser spots on current scan line and attribute data are carried out writing back preservation respectively.
By setting up spatial index table for sweep trace, in follow-up data process, only need to carry out triangular on adjacent two sweep traces build, thus avoid and set up in the process of irregular triangular mesh (TIN) with Delaunay algorithm the problem of searching most point of proximity in dispersion point cloud faced, and then improve the efficiency of follow-up data process.
S106, processes next sweep trace, repeats above step S102 to S105, until all sweep traces are disposed in original laser point cloud.
Specifically, as current scan line using new sweep trace, using the next laser spots of starting point on new sweep trace as present laser point, then continue to perform step S102 to S105, namely detect present laser point and judge that whether present laser point is the starting point of new sweep trace, after the starting point determining new sweep trace, again the cloud data of laser spots all on current scan line is carried out the inverse transformation of coordinate transform stored in buffer zone, then the cloud data in buffer zone is compressed, for current scan line sets up spatial index table, finally preservation is write back to the cloud data after compression.Repeat above step S102 to S105 until all original laser cloud datas are preserved complete.
In this example, detected on current scan line to preserve the cloud data on this sweep trace after all laser spots, and then detect next sweep trace, also on preservation current scan line, next sweep trace can be detected while cloud data if needed.
Utilize the storage means of laser radar point cloud data in the present embodiment, can precision easily specified by the digital product of space, carry out interlacing extraction or carry out vacuate every M is capable, M be greater than 1 positive integer, thus improve the efficiency of follow-up data process.In addition, by adding spatial structural form to discrete laser point cloud, thus improve the efficiency of follow-up three-dimensional modeling.
Embodiment two
The embodiment of the present application additionally provides a kind of memory storage of laser radar point cloud data, and as shown in Figure 7, this memory storage comprises: coordinate transformation unit 201, detects judging unit 202, buffer unit 203 and storage unit 204.Wherein, coordinate transformation unit 201, for according to gathered original laser cloud data, carries out coordinate transform by the laser spots on each sweep trace in original laser point cloud, the coordinate figure of all laser spots after obtaining coordinate transform.This coordinate transformation unit 201 also comprises coordinate transform subelement 2011, this coordinate transform subelement 2011 is for the three-dimensional rectangular coordinate (x by each laser spots in original laser cloud data, y, z) spherical co-ordinate (r centered by three-dimensional laser scanner is converted to, θ, φ), wherein r is the distance that laser spots arrives scanner, θ is the angle of laser rays and surface level, φ be scanner work time horizontally rotate angle.
Detecting judging unit 202 for detecting the coordinate figure of the laser spots after carrying out coordinate transform, utilizing the difference between current detected laser point coordinates value and formerly detected laser point coordinates value to judge that whether current detected laser spots is the laser spots on new sweep trace.This detection judging unit 202 comprises the first subelement 2021, for the change of the θ value of the follow-up N number of laser spots by detecting current detected laser spots, this first subelement 2021 judges whether current detected laser spots can be the starting point of new sweep trace, and wherein N is positive integer.Detect judging unit 202 and also can also comprise the second subelement 2022, this second subelement 2022 is for judging by being compared by the mean value of the φ value of all laser spots in the φ value of current detected laser spots and a upper sweep trace whether current detected laser spots can be the starting point of new sweep trace.
Buffer unit 203 is for carrying out the inverse transformation of coordinate transform in coordinate transformation unit 201 by the laser point cloud data on sweep trace stored in buffer zone to each laser spots on sweep trace in buffer zone.This buffer unit 203 comprises following three subelements: coordinate data buffer unit 2031, attribute data buffer unit 2032 and coordinate inversion unit 2033, and these three subelements are respectively used to the attribute data of all laser spots on the coordinate data of all laser spots on cache sweep line, cache sweep line and the coordinate of laser spots all in coordinate data buffer unit is carried out coordinate inversion.
Storage unit 204, preserves the laser point cloud data on sweep trace after the inverse transformation carrying out coordinate transform.This storage unit 204 comprises following four subelements:
Compression unit 2041, for compressing stored in the coordinate data of buffer zone and attribute data;
Coding unit 2042, after compressing the coordinate data of buffer zone and attribute data, encodes to each sweep trace, the numbering that each sweep trace is corresponding unique;
Indexing units 2043, for setting up spatial index table for each sweep trace after being numbered, the key word of this spatial index table is the numbering of sweep trace, and index entry numerical value corresponding with key word in this spatial index table is the memory address of laser point cloud data on each sweep trace;
Write back unit 2044, after spatial index table is set up to each sweep trace, the coordinate data of the buffer zone after each sweep trace compresses and attribute data are carried out writing back and preserved by the memory address in the spatial index table corresponding to each sweep trace.
Although depict the application by embodiment, those of ordinary skill in the art know, the application has many distortion and change and do not depart from the spirit of the application, and the claim appended by wishing comprises these distortion and change and do not depart from the spirit of the application.
Claims (12)
1. a storage means for laser radar point cloud data, is characterized in that, comprising:
S1, according to gathered original laser cloud data, carries out coordinate transform to the laser spots on each sweep trace in original laser point cloud, the coordinate figure of all laser spots after obtaining coordinate transform;
S2, detects the coordinate figure carrying out the laser spots after coordinate transform, the coordinate figure of current detected laser spots and the coordinate figure of formerly detected laser spots is carried out contrasting judging that whether current detected laser spots is the starting point of new sweep trace;
S3, when judging that current detected laser spots is not the starting point of new sweep trace, then using the coordinate data of the coordinate figure of the present laser point after described coordinate transform as the laser spots on current scan line;
When judging that current detected laser spots is the starting point of new sweep trace, then using the coordinate data of the coordinate figure of the present laser point after described coordinate transform as starting point on new sweep trace, and by the cloud data of all laser spots on current scan line stored in buffer zone, each laser spots on current scan line in described buffer zone is carried out the inverse transformation of described coordinate transform and preserved, and using described new sweep trace as current scan line;
S4, continues to perform step S2 to S3 as present laser point using the next laser spots of laser spots current detected on current scan line, until all original laser cloud datas are preserved complete.
2. the storage means of laser radar point cloud data according to claim 1, is characterized in that, describedly carries out coordinate transform to the laser spots on each sweep trace in original laser point cloud and comprises:
By the three-dimensional rectangular coordinate (x of each laser spots in original laser point cloud, y, z) spherical co-ordinate (r centered by three-dimensional laser scanner is converted to, θ, φ), wherein r is the distance that laser spots arrives scanner, and θ is the angle of laser rays and surface level, φ be scanner work time horizontally rotate angle.
3. the storage means of laser radar point cloud data according to claim 2, it is characterized in that, the described coordinate figure by the coordinate figure of current detected laser spots and formerly detected laser spots carries out contrasting and judges that whether current detected laser spots is that the starting point of new sweep trace comprises:
The coordinate figure of current detected laser spots is carried out contrasting with the coordinate figure of formerly detected laser spots and judges whether current detected laser spots can as the pre-reconnaissance of the starting point of new sweep trace;
Judge current detected laser spots can as the pre-reconnaissance of the starting point of new sweep trace after, judge that further whether current detected laser spots is the starting point of new sweep trace.
4. the storage means of laser radar point cloud data according to claim 3, it is characterized in that, the described coordinate figure using the coordinate figure of current detected laser spots and formerly detected laser spots carries out contrasting and judges that current detected laser spots is comprise as the starting point of new sweep trace:
By regarding the laser point cloud data of same sweep trace as stable ergodic time series, judge that whether current detected laser spots is the pre-reconnaissance of the starting point of new sweep trace by the operator template magnitude relationship detected between the θ value of current detected laser spots and the θ value of a upper laser spots;
After judging that current detected laser spots is the pre-reconnaissance of the starting point of new sweep trace, judge that further whether current detected laser spots is the starting point of new sweep trace.
5. the storage means of the laser radar point cloud data according to claim 3 or 4, is characterized in that, describedly judges that whether current detected laser spots is that the starting point of new sweep trace comprises further:
Current detected laser spots is judged by the magnitude relationship between the θ value that detects follow-up N number of laser spots of current detected laser spots, and/or, judge that by being compared by the mean value of the φ value of all laser spots on the φ value of current detected laser spots and current scan line whether current detected laser spots is the starting point of new sweep trace, wherein N is positive integer.
6. the storage means of laser radar point cloud data according to claim 1 and 2, it is characterized in that, described by the cloud data of all laser spots on current scan line stored in buffer zone, to each laser spots on current scan line in described buffer zone carry out described coordinate transform inverse transformation and preserve comprise:
By the coordinate data in the laser point cloud data on current scan line and attribute data respectively stored in buffer zone, then the coordinate data of each laser spots on current scan line in described buffer zone is carried out to the inverse transformation of described coordinate transform;
After the inverse transformation of described coordinate transform is carried out to the coordinate data of each laser spots on current scan line, set up spatial index table for current scan line and preserve.
7. the storage means of laser radar point cloud data according to claim 6, it is characterized in that, after the described coordinate data to each laser spots on current scan line carries out the inverse transformation of described coordinate transform, set up spatial index table for current scan line and carry out preservation and comprise:
Coordinate data after the inverse transformation carrying out described coordinate transform in buffer zone and attribute data are compressed;
After coordinate data in buffer zone and attribute data are compressed, encode to current scan line, the numbering that current scan line is corresponding unique;
For the current scan line after being numbered sets up spatial index table, the key word of described spatial index table is the numbering of current scan line, and index entry value corresponding with key word in described spatial index table is the memory address of laser point cloud data on current scan line;
After spatial index table is set up to current scan line, the coordinate data of the buffer zone after current scan line compresses and attribute data are carried out writing back and preserved by the memory address in the spatial index table corresponding to current scan line.
8. a memory storage for laser radar point cloud data, is characterized in that, comprises,
Coordinate transformation unit, for according to gathered original laser cloud data, carries out coordinate transform by the laser spots on each sweep trace in original laser point cloud, the coordinate figure of all laser spots after obtaining coordinate transform;
Detect judging unit, for detecting the coordinate figure of the laser spots after carrying out coordinate transform, utilize the difference between current detected laser point coordinates value and formerly detected laser point coordinates value to judge that whether current detected laser spots is the starting point of new sweep trace;
Buffer unit, for carrying out the inverse transformation of described coordinate transform by the laser point cloud data on sweep trace stored in buffer zone to each laser spots on sweep trace in buffer zone;
Storage unit, preserves the laser point cloud data on sweep trace after the inverse transformation carrying out described coordinate transform.
9. the memory storage of laser radar point cloud data according to claim 8, it is characterized in that, described coordinate transformation unit comprises coordinate transform subelement, described coordinate transform subelement is used for the three-dimensional rectangular coordinate (x of each laser spots in original laser cloud data, y, z) spherical co-ordinate (r centered by three-dimensional laser scanner is converted to, θ, φ), wherein r is the distance that laser spots arrives scanner, θ is the angle of laser rays and surface level, φ be scanner work time horizontally rotate angle.
10. the memory storage of laser radar point cloud data according to claim 9, it is characterized in that, described detection judging unit comprises the first subelement and the second subelement, the change of θ value of follow-up N number of laser spots that described first subelement is used for by detecting current detected laser spots judges that whether current detected laser spots is the starting point of new sweep trace, and wherein N is positive integer; Described second subelement is for judging that by being compared by the mean value of the φ value of all laser spots on the φ value of current detected laser spots and current scan line whether current detected laser spots is the starting point of new sweep trace.
The memory storage of 11. laser radar point cloud datas according to Claim 8 described in-10 any one, it is characterized in that, described buffer unit comprises:
Coordinate data buffer unit, the coordinate data of all laser spots on cache sweep line;
Attribute data buffer unit, the attribute data of all laser spots on cache sweep line;
Coordinate inversion unit, for carrying out coordinate inversion by the coordinate of laser spots all in coordinate data buffer unit.
The memory storage of 12. laser radar point cloud datas according to Claim 8 described in-10 any one, it is characterized in that, described storage unit comprises:
Compression unit, for compressing stored in the coordinate data of buffer zone and attribute data;
Coding unit, after compressing the coordinate data of buffer zone and attribute data, encodes to each sweep trace, the numbering that each sweep trace is corresponding unique;
Indexing units, for setting up spatial index table for each sweep trace after being numbered, the key word of described spatial index table is the numbering of sweep trace, and index entry numerical value corresponding with key word in described spatial index table is the memory address of laser point cloud data on each sweep trace;
Write back unit, after spatial index table is set up to each sweep trace, the coordinate data of the buffer zone after each sweep trace compresses and attribute data are carried out writing back and preserved by the memory address in the spatial index table corresponding to each sweep trace.
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