CN105488836A - Circular colored tape point cloud rendering method based on elevation distribution characteristics - Google Patents
Circular colored tape point cloud rendering method based on elevation distribution characteristics Download PDFInfo
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- CN105488836A CN105488836A CN201510777548.1A CN201510777548A CN105488836A CN 105488836 A CN105488836 A CN 105488836A CN 201510777548 A CN201510777548 A CN 201510777548A CN 105488836 A CN105488836 A CN 105488836A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
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Abstract
The invention relates to a circular colored tape point cloud rendering method based on elevation distribution characteristics. The circular colored tape point cloud rendering method comprises the following specific steps: firstly, creating a point cloud view, using a multi-thread mechanism to load the line and row number of the point clouds, an outer boundary box, the circle index information of the point clouds and point cloud data information into a memory; secondly, customizing an ombre colored tape (colorRamp) to obtain the color of each point cloud in the memory through a scale value; thirdly, ejecting the points of which the elevation direction and strength is specially big or small, and independently carrying out statistics to obtain the maximum value and the minimum value of the elevation and the maximum value and the minimum value of the strength; fourthly, according to the minimum value of the elevation, calculating the RGB (Red, Green and Blue) color information of the point cloud which needs to be rendered, and calculating the transparency information of the point cloud which needs to be rendered according to the minimum value of the strength; and finally, using an OpenGL (Open Graphics Library) to draw all point clouds in real time in a point cloud three-dimensional view. Generally, the method improves point cloud recognition, enhances a point cloud contrast effect and better assists in point cloud postprocessing including digital mapping and the like.
Description
Technical field
Invention herein relates to a kind of circulation colour band point cloud rendering intent based on elevation distribution characteristics, belongs to Surveying and Mapping Industry and three-dimensional laser technical field.
Background technology
Along with three-dimensional laser scanner technology is applied to Surveying and Mapping Industry, cloud data has become data source important in survey field, and it has high precision, high density and the feature such as digital.For three-dimensional laser technology by the three-dimensional spatial information in the real world of high precision step-scan quick obtaining, these numerical informations can be shown in computing machine by visualization technique, be mainly used in the dynamic view display of cloud data, be convenient to a cloud and carry out man-machine interaction according in subsequent treatment.
Summary of the invention
The object of the invention is according to self-defining data layout store and management cloud data, then according to gradual change colour band acquisition point cloud colouring information, transparence information is added in a cloud real-time rendering, and this transparence information is by the intensity statistics of a cloud, effectively improve the resolution of a cloud, enhance the contrast that a cloud is played up, the reference point cloud aftertreatments such as auxiliary figure mapping are that a kind of some cloud being convenient to interpretation plays up mode.
For achieving the above object, first vehicle-mounted (ground or knapsack) three-dimensional laser measurement system image data is used, wherein vehicle-mounted three-dimensional laser traverse measurement system comprises vehicle, three-dimensional laser scanner, GPS navigator, inertial guidance system and panorama camera, image data process is carried out in vehicle travels, three-dimensional laser scanner is for obtaining cloud data, the POS system that GPS navigator and inertial guidance system are formed is for obtaining posture position information, according to time unifying, attitude information and the positional information of each circle of three dimensional point cloud scanning circle is obtained according to the POS information interpolation clearing gathered.According to above data, carry out storing by circle to cloud data, the information wherein stored for a some record comprises three-dimensional coordinate, color and intensity etc.
A kind of circulation colour band point cloud rendering intent based on elevation distribution characteristics that the present invention proposes comprises following several step:
Step 1, self-defining some cloud 3-D view is embedded in many document views of MFC, adopts self-defining data form to carry out store and management to cloud data;
Step 2, an establishment point cloud view, multi-thread mechanism is used to be loaded in internal memory by cloud data, the information loaded comprises the ranks number of a cloud, outer bounding box, the circle index information putting cloud and cloud data information, and it is worth mentioning that, the some cloud in internal memory carries out index according to circle;
Step 3, by select self-defining gradual change colour band, change in coordinate axis direction and circulation step-length, set-point cloud view rendering parameter;
Step 4, in a render process of cloud view, according to arrange rendering parameter, carry out painted to a cloud.
The self-defined gradual change colour band of 4.1 structure, gets look for during cloud real-time rendering;
4.2 according to given maximum value and minimizing proportional range, removes maximum value and the minimal value of some cloud level journey and intensity, counts minimum value and the maximal value of a cloud level journey and intensity;
4.3 obtain RGB color in gradual change colour band according to an elevation for record, calculate the transparency of color, constitute each component of hsv color according to a strength information of record;
4.4, in a real-time rendering of cloud view, complete the drafting to recording a little.
Tool of the present invention has the following advantages:
1, three-dimensional laser measurement system has strong interference immunity, precision is large, the high and uninterrupted operation of all-weather work of density, can quick obtaining and more new data.
2, in the process browsing a cloud, carry out circulation gradual change colour band according to elevation direction and play up, be convenient to distinguish road surface and lower vegetation etc., improve the identification of a cloud;
3, in real-time rendering process, in being played up by strength information addition point, strengthen the contrast of some cloud, aid in the relevant subsequent process such as digital mapping, the filtration of some cloud and point cloud classifications better.。
Accompanying drawing explanation
Fig. 1 is a kind of circulation colour band point cloud rendering intent operational flowchart based on elevation distribution characteristics.
Fig. 2 is the operational flowchart that the present invention adds up elevation and is worth most.
Fig. 3 is the operational flowchart that STATISTICAL STRENGTH of the present invention is worth most.
Fig. 4 three-dimensional laser point cloud presses Z-direction rendering effect figure according to circulation colour band.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Self-defining some cloud view is embedded in many document views of MFC by step 1, and each some cloud view may correspond to multiple somes cloud objects.Cloud data is loaded on internal memory, and adopts self-defining data layout memory point cloud, and the some cloud in internal memory is for storing by circle, is convenient to access;
Step 2 self-defined graduated colors two-dimensional array colorRampList [m] [n], wherein m is the colour band numbering built, n is the graduated colors kind of the colour band built, then gradual change colour band colorRamp is constructed, for 10 graduated colors kinds, in internal memory, each record proportionally can be worth the color value obtaining this gradual change colour band;
Step 3 adds up the maxima and minima of elevation.In order to make the some cloud color after playing up by colour band keep relative stability, when adding up some cloud color, need to reject the large especially or little especially point of elevation.To play up by elevation circulation colour band, concrete operations are as follows: a traversal point cloud, by elevation be a little mapped in [0,999] interval, and to the some cloud quantity dropped in i-th interval add up (wherein i=0,1,2 ..., 999); The distribution of adjustment elevation, set point cloud point number percentage threshold is f, and the point using this threshold value larger and less to elevation is rejected; Cloud data after statistical updating, obtains new maximal value MaxZ and minimum M inZ.
The maxima and minima of step 4 STATISTICAL STRENGTH.In a cloud strength information addition point is played up, strengthen the contrast that some cloud is played up, need to add up strength information, and when STATISTICAL STRENGTH information, need to reject the large especially or little especially point of intensity.Concrete operations are as follows: a traversal point cloud, by intensity to be a little mapped to [0,999] interval, and to the some cloud quantity dropped in i-th interval add up (wherein i=0,1,2 ..., 999); Adjustment intensity distributions, set point cloud point hundreds of proportion by subtraction maximum value threshold value is fmaxI and some cloud point hundreds of proportion by subtraction minimal value threshold value fminI, uses the threshold value fmaxI point larger to intensity to filter, uses the threshold value fminI point less to intensity to filter; Cloud data after statistical updating, obtains new maximum of intensity MaxI and minimum M inI;
Step 5 arranges gradual change colour band, circulation step-length step and change in coordinate axis direction, calculates the RGB colouring information needing to play up a little.To play up by elevation circulation colour band, concrete operations are as follows: the institute that traversal needs are played up a little, deduct MinZ with the Z coordinate of current point and obtain Dis, then Dis asks mould to obtain MDis to Step, in order to ensure the symmetry of color, mark the point that MDis is odd number, Step deducts MDis and obtains relative cycle distance dMDis, then obtain the ratio value of color belt in circulation colour band and this colour band according to dMDis, thus take out color;
Step 6 calculates transparency, and guaranteeing that a cloud plays up color can not be too black or too bright, strengthens the contrast that some cloud is played up.Concrete operations are as follows: traversal needs the point played up, and calculates the intensity level of current point and the difference of MinI, and this difference is dropped in interval [0.1,0.95], thus try to achieve the transparency L of this point, as the transparency component of hsv color;
Step 7 use OpenGL in a cloud 3-D view to have a cloud to carry out real-time rendering.
Claims (5)
1. the circulation colour band point cloud rendering intent based on elevation distribution characteristics, first, vehicle-mounted (ground or knapsack) three-dimensional laser measurement system is used to carry out data acquisition, three-dimensional laser scanner is for obtaining cloud data, and the POS system that GPS navigator and inertial guidance system are formed is for obtaining posture position information; Secondly, cloud data stores by circle, and the information spinner of storage will comprise three-dimensional coordinate, color and intensity etc.; Finally by calculating, acquisition point cloud hsv color value, achieve the circulation colour band point cloud being convenient to interpretation and play up, key step is as follows:
Step 1, self-defining some cloud 3-D view is embedded in many document views of MFC, adopts self-defining data form to carry out store and management to cloud data, a cloud is loaded on internal memory simultaneously;
Step 2, newly-built gradual change colour band colorRamp, in internal memory, each record proportionally can be worth the color value obtaining this gradual change colour band;
Step 3, traversal point cloud, rejects the point that elevation direction is large especially or little especially, counts a cloud level journey maximal value MaxZ and minimum M inZ;
Step 4, traversal point cloud, rejects the point that intensity is large especially or little especially, counts a cloud maximum of intensity MaxI and minimum M inI;
Step 5, traversal need the some cloud played up, according to the circulation step-length arranged and the Z value of current point and the difference of MinZ, obtain the ratio value of color belt in gradual change colour band and this colour band, thus the RGB colouring information of acquisition current point;
Step 6, traversal need the some cloud played up, and calculate the intensity level of current point and the difference of MinI, and this difference is dropped in interval [0.1,0.95], thus obtain the transparency L of this point, as the transparency component of hsv color;
Step 7, use OpenGL in a cloud 3-D view to have a cloud to carry out real-time rendering.
2. a kind of circulation colour band point cloud rendering intent based on elevation distribution characteristics according to claim 1, is characterized in that: the traversal institute described in step 3 a little, adds up the maxima and minima of elevation.In order to make the some cloud color after playing up by colour band keep relative stability, when adding up some cloud color, need to reject the large especially or little especially point of elevation.To play up by elevation circulation colour band, concrete operations are as follows: a traversal point cloud, by elevation be a little mapped in [0,999] interval, and to the some cloud quantity dropped in i-th interval add up (wherein i=0,1,2 ..., 999); The distribution of adjustment elevation, set point cloud point number percentage threshold is f, and the point using this threshold value larger and less to elevation is rejected; Cloud data after statistical updating, obtains new maximal value MaxZ and minimum M inZ.
3. a kind of circulation colour band point cloud rendering intent based on elevation distribution characteristics according to claim 1, is characterized in that: traversal described in step 4 institute a little, the maxima and minima of STATISTICAL STRENGTH.In a cloud strength information addition point is played up, strengthen the contrast that some cloud is played up, need to add up strength information, and when STATISTICAL STRENGTH information, need to reject the large especially or little especially point of intensity.Concrete operations are as follows: a traversal point cloud, by intensity to be a little mapped to [0,999] interval, and to the some cloud quantity dropped in i-th interval add up (wherein i=0,1,2 ..., 999); Adjustment intensity distributions, set point cloud point hundreds of proportion by subtraction maximum value threshold value is fmaxI and some cloud point hundreds of proportion by subtraction minimal value threshold value fminI, uses the threshold value fmaxI point larger to intensity to filter, uses the threshold value fminI point less to intensity to filter; Cloud data after statistical updating, obtains new maximum of intensity MaxI and minimum M inI.
4. a kind of circulation colour band point cloud rendering intent based on elevation distribution characteristics according to claim 1, is characterized in that: arrange gradual change colour band, circulation step-length step and change in coordinate axis direction described in step 5, calculates the RGB colouring information needing to play up a little.To play up by elevation circulation colour band, concrete operations are as follows: the institute that traversal needs are played up a little, deduct MinZ with the Z coordinate of current point and obtain Dis, then Dis asks mould to obtain MDis to Step, in order to ensure the symmetry of color, mark the point that MDis is odd number, Step deducts MDis and obtains relative cycle distance dMDis, then obtain the ratio value of color belt in circulation colour band and this colour band according to dMDis, and then take out color.
5. a kind of circulation colour band point cloud rendering intent based on elevation distribution characteristics according to claim 1, is characterized in that: the calculating transparency described in step 6, and guaranteeing that a cloud plays up color can not be too black or too bright, strengthens the contrast that some cloud is played up.Concrete operations are as follows: traversal needs the point played up, and calculates the intensity level of current point and the difference of MinI, and this difference is dropped in interval [0.1,0.95], thus try to achieve the transparency L of this point, as the transparency component of hsv color.
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| CN107449378A (en) * | 2017-07-21 | 2017-12-08 | 辽宁科技大学 | A kind of test of rock surface degree of roughness and computational methods based on 3-D view |
| CN107705336A (en) * | 2017-04-15 | 2018-02-16 | 北京航空航天大学 | A kind of pathological image staining components adjusting method |
| CN110634380A (en) * | 2018-06-22 | 2019-12-31 | 高德信息技术有限公司 | Method and device for leveling road |
| CN114565731A (en) * | 2022-03-03 | 2022-05-31 | 南京超达信息科技有限公司 | Electromagnetic environment visualization method based on complex terrain |
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| CN106846498A (en) * | 2017-02-08 | 2017-06-13 | 武汉海达数云技术有限公司 | Laser point cloud rendering intent and device |
| CN106846498B (en) * | 2017-02-08 | 2020-06-05 | 武汉海达数云技术有限公司 | Laser point cloud rendering method and device |
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| CN114565731A (en) * | 2022-03-03 | 2022-05-31 | 南京超达信息科技有限公司 | Electromagnetic environment visualization method based on complex terrain |
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Application publication date: 20160413 |