CN108776993A - The modeling method and buried cable work well modeling method of three-dimensional point cloud with hole - Google Patents
The modeling method and buried cable work well modeling method of three-dimensional point cloud with hole Download PDFInfo
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Abstract
The invention discloses the three-dimensional rebuilding methods of a kind of three-dimensional point cloud hole modeling method and buried cable work well, including：Step 1: importing three-dimensional point cloud, top surface point cloud is extracted from three-dimensional point cloud, and is fitted and obtains top surface point cloud boundary line, and the height according to three-dimensional point cloud carries out longitudinal stretching to top surface point cloud boundary line, the whole boundary line of three-dimensional point cloud is obtained, the model as unit of face is built by whole boundary line；Step 2: three-dimensional point cloud is divided into millet cake cloud according to model by geometric surface, the hole center of each hole of each millet cake cloud is obtained according to face point-cloud fitting；Step 3: projecting successively at the hole center in each face to corresponding each face of model, to obtain subpoint of the hole center on each face, the radius of corresponding hole or the corresponding hole radius of fitting are inputted, each hole center successively topology is cut out to obtain the model with hole.The present invention has rapid build model, and the precisely advantageous effect of structure hole.
Description
Technical field
The present invention relates to the fields buried cable Gong Jing.It is more particularly related to it is a kind of based on hole three
The modeling method of dimension point cloud, and it is related to a kind of buried cable work well of the modeling method based on the three-dimensional point cloud with hole
Three-dimensional rebuilding method.
Background technology
Urban Buried Pipeline Network facility is the important infrastructure for playing city function and ensuring city rapid coordination development.With
It China and increases civilian infrastructure informatization dynamics, traditional Urban Buried Pipeline Network relies on design drawing and CAD
The two-dimentional expression-form of drawing cannot meet the needs of monitoring of tools inquiry, and the three-dimensional reconstruction of underground pipe network is extremely urgent.
The node of existing Buried Pipeline Network Systems-underground work well facility, due to environment complexity, all kinds of pipelines are crisscross, exist in well
Situations such as ponding mud, is difficult to obtain in whole wells information using the methods of manual measurement and constructs that there are certain danger
Property.Laser radar technique has rapidity, not contact, penetrability, real-time, dynamic, initiative, high density, high-precision, number
The characteristics such as change, automation.Cable work well becomes current development dependent on the reverse reconstruction of three-dimensional laser point cloud data under old place
Trend.
Underground utilities are complicated to contain much information, and Three-dimensional Display, management and analysis have certain difficulty.Existing underground
Modeling tool in pipe network in three-dimensional generalized information system mostly relies on the commercialization GIS software designed towards general purpose, when modeling
Between long and interactive operation it is poor.The softwares such as Arc/Info provide object dimensional and show, but for the complexity three of real world
Dimension relationship cannot be described in detail and analyze, and without providing the modeling tool towards buried cable.Foreign scholar Burger with
Ermes is rebuild three-dimensional with close-range photogrammetry (close-range photogrammetry) technology and structural solid method (CSG)
Pipeline model.Their research is very effective for explicitly upper complicated pipeline, it can be difficult to rebuilding underground utilities.
Hu,Zhen；Ma, zhenqiang are to solve the problems, such as existing Urban Buried Pipeline Network 3D modeling process, are carried
Go out a kind of new algorithm based on the libraries 3D, compared with traditional algorithm, more precisely still efficiency is not good enough for new algorithm, three-dimensional modeling
Data source is rich and varied, and laser radar is as a kind of rapidly and efficiently high-precision Spatial data capture method, in three-dimensional building
Model field is significant.It is a kind of method that high-precision is inversely rebuild to carry out curved surface modeling based on point cloud data,
The Wrapping algorithms that Edelsbrunner H are proposed are that one kind being based on implicit surface algorithm, are based on scale space and multiple dimensioned point
The algorithm reconstruction effect of analysis is preferable, but less efficient for being rebuild when large-scale curved reconstruction.Point cloud data is taken progressive
The mode of filtering carries out the extraction of building three-dimensional information, and Vosselman, G obtain building object plane using 3D Hough transforms
Piece to realize the purpose of building three-dimensional reconstruction, but is the absence of the calculating for metope cavern model.It is built in isomery three-dimensional
In terms of topology rebuilding, the automated topology algorithm for reconstructing that He Biao etc. is researched and proposed can effectively solve multi-source heterogeneous building three-dimensional and open up
Reconstruction is flutterred, rebuilds and works well in terms of topological in building and outer topology, but side wall can not be handled with ground not
Vertical situation.
The point cloud data of buried cable work well is since well inner cable is intricate, there are mud, work well walls cable aperture
Situations such as hole, point cloud can not situation in expressed intact well, carrying out reverse rebuild using the point-cloud fitting triangulation network merely can cause
Metope lacks or can not reconstruct cable pore.
Topological model is widely used at present CSG and BREP.CSG models are a kind of single models, can be significantly
The data volume of simplified model, and the building process of model detailed can be embodied by binary tree, have in building process
Topological invariance.But the minimum unit of CSG models can only generally be divided into the basic solid primitives such as cuboid sphere, can not handle three
Dimension space internal links relationship.And CSG models can only handle more regular object, face spline curve or spline surface
With certain limitation when the complex surface model developed.A kind of BREP also single models, core concept body
The spatial entities of present any complexity can finally be expressed by the form of parametric equation.BREP models can express
The more complicated entity of smaller, minimum unit can be abstracted into a geometric point, and have detailed topological connection relation, point,
There are constant connection order between line, face, body, deformation or position that the topological relation of model will not be because of realistic model move
It is dynamic to change, ensure topological coherence.But on expression model it is excessively cumbersome with it is complicated, not enough intuitively, thus it is general not
Building process for describing spatial model.
Invention content
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of modeling methods based on the three-dimensional point cloud with hole, can be quick
Ground constructs model, and accurately constructs the hole on model；
A kind of three-dimensional reconstruction side of the buried cable work well of the modeling method based on the three-dimensional point cloud with hole is also provided
Method can quickly construct buried cable work well model, and accurately construct the pore that current supply cable is worn.
In order to realize these purposes and other advantages according to the present invention, provide a kind of based on the three-dimensional point with hole
The modeling method of cloud, including：
Step 1: importing three-dimensional point cloud, top surface point cloud is extracted from three-dimensional point cloud, and be fitted and obtain top surface point cloud boundary
Line, the height according to three-dimensional point cloud carry out longitudinal stretching to top surface point cloud boundary line, obtain the whole boundary line of three-dimensional point cloud, lead to
Cross CSG-BREP model of the whole boundary line structure as unit of face；
Step 2: three-dimensional point cloud is divided into millet cake cloud according to CSG-BREP models by geometric surface, according to face point-cloud fitting
Obtain the hole centre coordinate of each hole in each face；
Step 3: the hole center in each face is projected successively to corresponding each face of CSG-BREP models, to obtain
Subpoint of the hole center on each face is taken, the radius of corresponding hole or the corresponding hole radius of fitting are inputted, it is right
Topology cuts out to obtain the CSG-BREP models with hole successively at each hole center.
Preferably, the acquisition methods of three-dimensional point cloud are：Initial three-dimensional point cloud is obtained using the method for 3 D laser scanning,
Then initial three-dimensional point cloud is simplified, obtains three-dimensional point cloud.
Preferably, the construction method in each face of the CSG-BREP models in step 1 is：If face is plane,
Infinitepiston parametric equation where plane determines by crossing any point in plane and face normal, the pass of plane
Key point is head and the tail endpoint, the endpoint of curve key point and the key point of curve of straight line, by the key point of plane with up time
Needle or counterclockwise arrangement generate the element of style type, are then cut to infinitepiston with the ranging from limitation boundary of ring
It cuts out, generates the parametric equation of the plane to carry out topological criteria；
If face is curved surface,
According to the key point for extracting curved surface up-and-down boundary line, the isometric array of two groups of storage key points is established, according to upper
The key point in following boundary line generates B-spline curves, and the parametric equation of the curved surface is generated by the cartesian product of two B-spline curves.
Preferably, space circle fitting and setting are carried out to the sideline point cloud of hole using RANSAC methods in step 2
Radius of circle is to obtain hole center.
Preferably, the method for the actual coordinate at acquisition hole center is specially in step 3：Candidate curved surface is calculated first
The normal direction of piece projects squared distance function, is then excluded roughly to patch using Pruning strategy, if judging, patch is close
Like being plane, then using the parameter field midpoint of patch as the initial point of iterative algorithm, iterative algorithm refinement is called, is projected
Point；
If judging, curved surface cannot be approximately plane, by squared-distance displayization, carry out convex closure and Incremental Construction, count respectively
The u for calculating known minimum squared distance carries out beta pruning to the intersection point of convex closure to convex closure, v to candidate patch, obtains new patch,
Then recurrence judgement is carried out to new patch, then recalculates the normal direction projection squared distance function of candidate curved surface, weight again
Multiple above-mentioned judgement, until obtaining subpoint.
Preferably, the method for the CSG-BREP models with hole obtained in step 3 is by the topology between model
Operation method.
A kind of three-dimensional reconstruction side of the buried cable work well of the modeling method based on the three-dimensional point cloud with hole is also provided
Method, including：
Step 1: importing the initial three-dimensional point cloud of single work well, point cloud pretreatment is carried out to work well initial three-dimensional point cloud, is obtained
To the work well three-dimensional point cloud for simplifying denoising, top surface point cloud is extracted from work well three-dimensional point cloud, and be fitted and obtain the top surface sides Dian Yun
Boundary line, the height according to work well three-dimensional point cloud carry out longitudinal stretching to top surface point cloud boundary line, obtain the whole side of work well model
Boundary line builds CSG-BREP model of the work well as unit of face by whole boundary line；
Step 2: work well three-dimensional point cloud is divided into millet cake cloud according to CSG-BREP models by geometric surface, according to millet cake cloud
Fitting obtains the hole center of each hole of each millet cake cloud；
Step 3: the hole center in each face is projected successively to corresponding each face of CSG-BREP models, to obtain
Subpoint of the hole center on each face is taken, the radius of corresponding hole or the corresponding hole radius of fitting are inputted, it is right
Topology cuts out to obtain the CSG-BREP models of the work well with hole successively at each hole center；
It is that head and the tail point carries out cable company with the hole in CSG-BREP models Step 4: according to work well inside cable point cloud
It connects, obtains single work well model；
Step 5: obtaining the work well model of other work wells using the method for step 1 to step 4；
Step 6: obtained work well model is carried out cable connection according to work well external cable point cloud, it is whole to obtain work well
Body three-dimensional models.
Preferably, work well initial three-dimensional point cloud is obtained using the method for 3 D laser scanning.
Preferably, the quantity of the point cloud of single work well is more than 5,000,000.
Preferably, top surface point cloud boundary key point is fitted using RANSAC algorithms in step 1, connects the top surface sides Dian Yun
Boundary's key point obtains top surface point cloud boundary line.
The present invention includes at least following advantageous effect：
The first, method interactivity of the invention is good, the physical model built can be intuitively seen, for real world
Complex three-dimensional relationship can be described in detail and analyze, and facilitate reconstruct buried cable work well, can with rapid build underground electricity
Cable model, and precisely build hole.
The second, efficient for being rebuild when large-scale curved reconstruction.
Third can accurately build cover cavern model.
4th, the case where side wall and ground out of plumb can be handled.
5th, the point cloud data of buried cable work well is since well inner cable is intricate, there are mud, work well walls electricity
Situations such as cable hole, point cloud can not situation in expressed intact well, carry out reverse rebuilding meeting merely using the point-cloud fitting triangulation network
Metope is caused to lack or can not reconstruct cable pore, and the method for the present invention can lack to avoid metope, and reconstruct electricity
Cable pore.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the buried cable work well model topology structure of one of present invention technical solution；
Fig. 2 is the underground work well model topology restructing algorithm flow of one of present invention technical solution；
Fig. 3 is the top surface point cloud and boundary line key point schematic diagram of one of present invention technical solution；
Fig. 4 is one of the present invention work well model of technical solution and different types of wall model schematic；
Fig. 5 is the UV Plane Crop schematic diagrames of one of present invention technical solution；
Fig. 6 is the plane wall key point schematic diagram of one of present invention technical solution；
Fig. 7 is the curved walls key point schematic diagram of one of present invention technical solution；
Fig. 8 is the subpoint calculation process of one of the present invention central point of technical solution；
Fig. 9 is the iterative process schematic diagram of the global projection of one of present invention technical solution；
Figure 10 is that the spatial entities of one of present invention technical solution find intersection flow chart；
The metope topology reconstruction schematic diagram of one of Figure 11 present invention technical solution；
A variety of method wall Model Reconstructions for hole millet cake cloud of one of Figure 12 present invention technical solution
Schematic diagram.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
As shown in Fig. 1~12, the present invention provides a kind of modeling method based on the three-dimensional point cloud with hole, including：
Step 1: importing three-dimensional point cloud, top surface point cloud is extracted from three-dimensional point cloud, and be fitted and obtain top surface point cloud boundary
Line, the height according to three-dimensional point cloud carry out longitudinal stretching to top surface point cloud boundary line, obtain the whole boundary line of three-dimensional point cloud, lead to
Cross CSG-BREP model of the whole boundary line structure as unit of face；
Step 2: three-dimensional point cloud is divided into millet cake cloud according to CSG-BREP models by geometric surface, according to face point-cloud fitting
Obtain the hole centre coordinate of each hole in each face；
Step 3: the hole center in each face is projected successively to corresponding each face of CSG-BREP models, to obtain
Subpoint of the hole center on each face is taken, the radius of corresponding hole or the corresponding hole radius of fitting are inputted, it is right
Topology cuts out to obtain the CSG-BREP models with hole successively at each hole center.
In the above-mentioned technical solutions, three-dimensional point cloud is the structure for recording real world object in dots, each point includes
There is three-dimensional coordinate, some may contain colouring information (RGB) or Reflection intensity information (Intensity), using laser radar skill
Art scanning can obtain the corresponding three-dimensional point cloud of real world object, the structure for the object that can reflect reality, but some are contained
The real world object of hole, point cloud can not expressed intact its inner case, if carried out using the point-cloud fitting triangulation network merely inverse
Metope can be caused to lack or can not reconstruct hole to rebuilding.
Therefore in the above-mentioned technical solutions, first pass through projection and obtain point cloud data at the top of model, then RANSAC is used to calculate
Method is fitted point cloud boundary key point, by the obtained point cloud boundary key point side of fitting at obtaining top sides boundary line, then foundation after line
The actual height of three-dimensional point cloud carries out longitudinal stretching to top sides boundary line, so that it may to obtain the perspective wire frame model of three-dimensional point cloud,
Hypostazation is carried out using the triangulation network to show, just obtained the entity mould without hole to each face of obtained perspective wire frame model
Type can carry out Reverse reconstruction to the overall structure of real world object in this way, in this way can be to avoid the missing of metope, while also be hole
The topological structure on the fixed basis of the Reverse reconstruction pad in hole, CSG-BREP models is vertex composition side, side group cyclization, ring composition face, face
Shelling or body are further organized, is built into the topology objects of higher levels step by step by the topology objects of lower-level, centre is not
It can across grade establishment.This model can comprehensively inside careful record cast topological relation.
After obtaining the CSG-BREP models of real world object, also hole is reconstructed on CSG-BREP models, make itself and reality
The parameters such as numbers of hole, hole location, the hole size of object itself match, therefore, by the three-dimensional of real world object
Point cloud is split according to the geometric surface of CSG-BREP models, obtains the millet cake cloud in each face, these millet cake clouds have recorded respectively
The hole information in each face obtains the boundary key point of each hole using same method, then by these boundary key points
It is linked to be line, obtains the boundary line of each hole to get to the boundary of the annular of each hole, so can also obtain each hole
The radius in hole and hole center project hole center to CSG-BREP models, can obtain each hole in CSG-
Then position on BREP models on corresponding face carries out topology according to the radius size of each hole on corresponding face and cuts
It cuts out, has just obtained the CSG-BREP models with hole, can so make the hole information completely that real world object itself has
On Reverse reconstruction to CSG-BREP models, the missing of hole is avoided.
In another technical solution, the acquisition methods of three-dimensional point cloud are：It is obtained using the method for 3 D laser scanning former
Then beginning three-dimensional point cloud simplifies initial three-dimensional point cloud, obtains three-dimensional point cloud.Laser radar point cloud data can react big
Type, complexity, irregular scene information include not only the spatial information of target can record the Reflection intensity information of target simultaneously
With color half-tone information, but the three-dimensional laser point cloud data directly acquired contains bulk redundancy information, it is difficult to be applied to actual
In reverse reconstruction engineering, so needing to carry out simplifying the work of the point cloud pretreatments such as denoising to point cloud data.For example get rid of this not
Belong to the point of the structure of real world object, such as the point that distribution density is excessively intensive, a kind of removable mesh generation can be taken
Point cloud compressing filter algorithm, the algorithm mainly simplify a cloud by space lattice.In another technical solution, step
The construction method in each face of the CSG-BREP models in one is：If face is plane,
Infinitepiston parametric equation where plane determines by crossing any point in plane and face normal, the pass of plane
Key point is head and the tail endpoint, the endpoint of curve key point and the key point of curve of straight line, by the key point of plane with up time
Needle or counterclockwise arrangement generate the element of style type, are then cut to infinitepiston with the ranging from limitation boundary of ring
It cuts out, generates the parametric equation of the plane to carry out topological criteria；
If face is curved surface,
According to the key point for extracting curved surface up-and-down boundary line, the isometric array of two groups of storage key points is established, according to upper
The key point in following boundary line generates B-spline curves, and the parametric equation of the curved surface is generated by the cartesian product of two B-spline curves.
In the above-mentioned technical solutions, in substantially 500 ten thousand point cloud experimental data, single face be broadly divided into plane and
Two kinds of curved walls.In actual point cloud data, the not necessarily perfect partial cylindrical surface of curved walls, so taking rule
Parametrization establish curved surface and be unable to solving practical problems.
In this case, it is to establish two according to the key point for extracting curved walls up-and-down boundary line by the way of
The isometric array of group.B-spline curves are generated according to key point, mathematically three-dimension curved surface is considered by the cartesian product of two curves
It generates, so come the range of termination surface and determining the shape of curved surface by B-spline curves.
Space circle is carried out in another technical solution, in step 2 to the sideline point cloud of hole using RANSAC methods to intend
It closes and setting radius of circle is to obtain hole center.RANSAC methods are the sample data sets for including abnormal data according to one group,
The mathematical model parameter for calculating data obtains the algorithm of effective sample data.Also the accurate of each hole can be extracted
Boundary point to obtain the accurate boundary line of each hole, and then obtains the accurate hole center of each hole, be its in CSG-
BREP model accurate projections are laid a solid foundation.
In another technical solution, the method that the actual coordinate at hole center is obtained in step 3 is specially：It counts first
The normal direction for calculating candidate patch projects squared distance function, is then excluded roughly to patch using Pruning strategy, if sentencing
Disconnected patch is approximately plane, then using the parameter field midpoint of patch as the initial point of iterative algorithm, iterative algorithm is called to ask
Essence obtains subpoint；
If judging, curved surface cannot be approximately plane, by squared-distance displayization, carry out convex closure and Incremental Construction, count respectively
The u for calculating known minimum squared distance carries out beta pruning to the intersection point of convex closure to convex closure, v to candidate patch, obtains new patch,
Then recurrence judgement is carried out to new patch, then recalculates the normal direction projection squared distance function of candidate curved surface, weight again
Multiple above-mentioned judgement, until obtaining subpoint.
In the above-mentioned technical solutions, the hole center obtained by RANSAC methods can in step 1 utilize top surface point cloud
The face of generation have mutually from state, point surface error it is excessive when can influence subsequent wall topological criteria, can not carry out topology weight
Structure.In order to solve this problem, hole center is obtained by the way of being projected to the hole center fitted on the whole
Actual coordinate, i.e. subpoint.
In another technical solution, the method for the CSG-BREP models with hole obtained in step 3 is to pass through mould
Topological criteria method between type.Using Boolean algorithm may only opposite carry out cutting out for single hole, in order to realize that each face is more
The face that previous step is completed is brought into as new voxel parameter in Boolean calculation by the complicated face of hole using the method for iteration,
It is repeated multiple times, complete the topology reconstruction of metope.
The present invention also provides a kind of three-dimensionals of the buried cable work well of modeling method based on the three-dimensional point cloud with hole
Method for reconstructing, including：
Step 1: importing the initial three-dimensional point cloud of single work well, point cloud pretreatment is carried out to work well initial three-dimensional point cloud, is obtained
To the work well three-dimensional point cloud for simplifying denoising, top surface point cloud is extracted from work well three-dimensional point cloud, and be fitted and obtain the top surface sides Dian Yun
Boundary line, the height according to work well three-dimensional point cloud carry out longitudinal stretching to top surface point cloud boundary line, obtain the whole side of work well model
Boundary line builds CSG-BREP model of the work well as unit of face by whole boundary line；
Step 2: work well three-dimensional point cloud is divided into millet cake cloud according to CSG-BREP models by geometric surface, according to millet cake cloud
Fitting obtains the hole center of each hole of each millet cake cloud；
Step 3: the hole center in each face is projected successively to corresponding each face of CSG-BREP models, to obtain
Subpoint of the hole center on each face is taken, the radius of corresponding hole or the corresponding hole radius of fitting are inputted, it is right
Topology cuts out to obtain the CSG-BREP models of the work well with hole successively at each hole center；
It is that head and the tail point carries out cable company with the hole in CSG-BREP models Step 4: according to work well inside cable point cloud
It connects, obtains single work well model；
Step 5: obtaining the work well model of other work wells using the method for step 1 to step 4；
Step 6: obtained work well model is carried out cable connection according to work well external cable point cloud, it is whole to obtain work well
Body three-dimensional models.
In the above-mentioned technical solutions, the point cloud data of buried cable work well due to well inner cable is intricate, there are mud,
Work well wall has situations such as cable cavern, point cloud can not situation in expressed intact well, merely using the point-cloud fitting triangulation network into
Reverse rebuild of row can cause metope to lack or can not reconstruct cable pore.
Therefore in the above-mentioned technical solutions, the top point cloud data that projection obtains three-dimensional point cloud is first passed through, is then used
RANSAC algorithms are fitted point cloud boundary key point, by the obtained point cloud boundary key point side of fitting at obtaining top boundary after line
Line, then the actual height of foundation three-dimensional point cloud carry out longitudinal stretching to top sides boundary line, so that it may to obtain the solid of three-dimensional point cloud
Wire-frame model carries out hypostazation using the triangulation network to each face of obtained perspective wire frame model and shows, just obtained not apertures
The physical model in hole, in this way can to the overall structure of real world object carry out Reverse reconstruction, in this way can to avoid the missing of metope,
Also it is the fixed basis of Reverse reconstruction pad of pore simultaneously, the topological structure of CSG-BREP models is vertex composition side, side group cyclization, ring
Shelling or body are further organized in composition face, face, and the topology for being built into higher levels step by step by the topology objects of lower-level is right
As centre can not across grade establishment.This model can comprehensively inside careful record cast topological relation.
After obtaining the CSG-BREP models of work well, also pore is reconstructed on CSG-BREP models, make itself and work well itself
Pore number, pore position, the parameters such as pore size match, therefore, by the three-dimensional point cloud of work well according to CSG-
The geometric surface of BREP models is split, and obtains the millet cake cloud in each face, these millet cake clouds have recorded the pore in each face respectively
Information obtains the boundary key point of each pore using same method, and then by these boundaries, key point is linked to be line, obtains every
The boundary line of a pore so can also obtain the radius and pipe of each pore to get to the boundary of the annular of each pore
Hole center projects pore center to CSG-BREP models, and it is corresponding on CSG-BREP models can to obtain each pore
Face on position, topology is then carried out on corresponding face according to the radius size of each pore and is cut out, is just had
The CSG-BREP models of pore can so make the Reverse reconstruction of the pore information completely that work well itself has to CSG-BREP moulds
In type, the missing of pore is avoided, is the fixed basis of reconstruct pad of cable.
According to inside cable point cloud, after building the CSG-BREP models of cable, then according to the pore in CSG-BREP models
Position be attached complete cable with the CSG-BREP models of pore be reconstructed, to obtain the complete of single work well
Whole reconstruct has the cable connection relationship completed, and is the fixed basis of reconstruct pad of entire cable work well pattern.Using same method
The model for reconstructing other work wells builds the CSG-BREP models of external cable further according to the cable point cloud outside work well, then
It connect to obtain buried cable work well pattern network with the CSG-BREP model topologies of all complete work wells.
In another technical solution, work well initial three-dimensional point cloud is obtained using the method for 3 D laser scanning.Laser thunder
There is rapidity up to technology, not contact, penetrability, real-time, dynamic, initiative, high density, high-precision, digitlization, automation
Etc. characteristics, can preferably collect the three dimensional point cloud of cable work well located underground, it is reliable to be that its reverse reconstruction obtains
Initial data.
In another technical solution, the quantity of the point cloud of single work well is more than 5,000,000, can to constitute work well
Each face approximation can be divided into two kinds of plane and curved surface.
In another technical solution, top surface point cloud boundary key point is fitted using RANSAC algorithms in step 1, by suitable
Hour hands or inverse time orientation connection top surface point cloud boundary key point obtain top surface point cloud boundary line.RANSAC methods can be extracted often
The accurate boundary point of a hole to obtain the accurate boundary line of each hole, and then obtains the accurate hole of each hole
Center is laid a solid foundation for it in CSG-BREP model accurate projections.
Topological model is widely used at present CSG and BREP.CSG models are a kind of single models, can be significantly
The data volume of simplified model, and the building process of model detailed can be embodied by binary tree, have in building process
Topological invariance.But the minimum unit of CSG models can only generally be divided into the basic solid primitives such as cuboid sphere, can not handle three
Dimension space internal links relationship.And CSG models can only handle more regular object, face spline curve or spline surface
With certain limitation when the complex surface model developed.A kind of BREP also single models, core concept body
The spatial entities of present any complexity can finally be expressed by the form of parametric equation.BREP models can express
The more complicated entity of smaller, minimum unit can be abstracted into a geometric point, and have detailed topological connection relation, point,
There are constant connection order between line, face, body, deformation or position that the topological relation of model will not be because of realistic model move
It is dynamic to change, ensure topological coherence.But on expression model it is excessively cumbersome with it is complicated, not enough intuitively, thus it is general not
Building process for describing spatial model.
The model that the present invention uses is combines the Compound Topology model of both the above model：CSG-BREP models.In conjunction with
The Micro expression of the macroscopical associativity and BREP models of CSG models carries out geometry to complicated extraterrestrial target and is abstracted, will be complicated
Object resolves into CSG basic solid primitives, is extracted from basic solid primitives and obtains the parameter value in corresponding sides and face, convenient for further meter
It calculates.The topological structure of CSG-BREP models be vertex composition side, side group cyclization, ring constitute face, face further organize shelling or
Body, the topology objects of higher levels are built by the topology objects of lower-level step by step, and centre can not across grade establishment.This model
Topological relation that can comprehensively inside careful record cast.
As shown in Figure 1, buried cable work well model master-plan includes cable pore ditch as unit of building wall, on face
The structures such as road hole.Work well main body is constituted by multiple faces, the element of volume such as superposition work well shaft form underground work well threedimensional model.For
Metope with pore, the present invention is based on the intersection operations of parameter curve and parametric surface to carry out work well model face and cylinder
Between Boolean calculation, and the boundary remained is built into ring according to topology rebuilding thought by side again, then face is built by ring,
Face builds shell and the mode of body is modeled.The model is under the constraint for ensureing topological coherence, using gradual structure side
Method obtains compound body three-dimensional models.The underground work well model of inventive algorithm structure can be accomplished all by unit decomposition
Model assembly.
As shown in Fig. 2, for the algorithmic procedure substantially point cloud data of the underground work well model topology reconstruct with hole
Pretreatment, extraction boundary point, builds work well model as unit of face, extracts hole central point, to center extraction work well millet cake cloud
Point is projected, carries out topology reconstruction to metope, to establish the true threedimensional model of work well.
As shown in figure 3, (a), (b), (c) in Fig. 3 are the point clouds after simplifying, laser radar point cloud data can react big
Type, complexity, irregular scene information include not only the spatial information of target can record the Reflection intensity information of target simultaneously
With color half-tone information.But the three-dimensional laser point cloud data directly acquired contains bulk redundancy information, it is difficult to be applied to reality
Reverse reconstruction engineering in, so needing simplify the work of the point cloud pretreatments such as denoising to point cloud data.The present invention takes one
The point cloud compressing filter algorithm of the removable mesh generation of kind, the algorithm mainly simplify a cloud by space lattice.
Since work well point cloud data is the more regular point cloud data of shape, model top point cloud number is obtained by projection
According to using RANSAC algorithms fitting point cloud boundary key point, acquisition puts cloud parameter to carry out parametric modeling.
As shown in Figure 4：By being fitted point cloud model plane and Boundary Extraction, the pass of top surface on point cloud model can be obtained
Key point data can obtain the key point of point cloud model bottom surface using height translation.Single side wall can be upper by what is extracted
Top surface and bottom surface key point establish parametric equation and indicate metope information, while being shown using triangulation network structure metope entity
Show.CSG-BREP models are the objects that a kind of object by lower-level is built into higher levels step by step, and centre can not across grade group
It builds.For work well wall strictly observe by vertex form while, while group cyclization, ring constitute the sequence in face.
In substantially 500 ten thousand point cloud experimental data, single side wall is roughly divided into two kinds of plane wall and curved walls.
1, plane wall
The each face of CSG-BREP models can be indicated with parametric equation.It is unlimited flat where wall for plane wall
Face parametric equation by cross plane in any point P and face normal N can determine：
S (u, v)=P+uDu+vDv, (u, v)
∈ (- ∞ ,+∞)
× (- ∞, ∞) (1)
As shown in figure 5, cutting out by taking rectangle as an example to infinitepiston, the data of clipping rectangle plane include real number Umin,
Umax, Vmin, VmaxWith an infinitepiston S (u, v).Clipping rectangle is that plane is limited in rectangular area [Umin, Umax]×
[Vmin, Vmax] in obtain result.The plane B (u, v) being tailored：
B (u, v)=s (u, v), (u, v)
∈[Umin, Umax]
×[Vmin, Vmax](2)
As shown in fig. 6, the key point of plane wall be mainly the head and the tail endpoint (endpoint of curve key point) of straight line with
And the key point of curve.Plane key point is generated into the element of style type with suitable or counterclockwise arrangement, then with ring
Ranging from limitation boundary is cut out infinitepiston, generates the plane parameter equation that can carry out topological criteria.
2, curved walls
In actual point cloud data, the not necessarily perfect partial cylindrical surface of curved walls, so taking the ginseng of rule
Numberization establishes curved surface and is unable to solving practical problems.
As shown in fig. 7, being the key that basis extracts curved walls up-and-down boundary line by the way of in this case
Point establishes two groups of isometric arrays.B-spline curves are generated according to key point, mathematically three-dimension curved surface is considered by two curves
Cartesian product generate, so come the range of termination surface and determining the shape of curved surface by B-spline curves.
Compared to Bezier curve, B-spline curves have more flexibility.The control vertex of Bezier curve is to whole curve
All have an impact, that is, changes the position on a certain vertex, the shape of whole curve can all change, thus Bezier curve does not have
Part modification property.And in B-spline curves, any number of control vertex can be set to B-spline, can also determine each control
The coverage on vertex.
The definition of p B-spline curves is：
Wherein, Pi is control vertex (control point), Ni,p(u) i-th be defined on aperiodic knot vector
A p B-spline basic function, is defined as：
It is defined according to B-spline curves it is found that given control vertex Pi (control points), degree of curve p
(degree) and knot vector U (knot vectors), B sample curves also determine that.
According to the B-spline curves obtained, B-spline surface is obtained by cartesian product.The data of curved surface include u reasonable
Flag bit ru, v reasonable flag bit rv, curved surface number mu, mv and weight poles.The number mu, mv of u, v cannot be more than
The control point number nu of 25, u, v, nv are required for being more than or equal to 2.Wherein Bi,jIndicate three-dimensional point, hi,jIndicate weight factor.
The parametric equation of B-spline surface is as follows：
The pore of work well metope, which generates, depends on pore central point and form parameter.The present invention carries out the pipe of topology reconstruction
Hole site is to carry out space circle fitting and setting radius of circle threshold value to the sideline point cloud of pore using RANSAC methods to obtain.
By this method extraction obtain point can with above using key point generate face have mutually from state, point surface error it is excessive
When can influence subsequent wall topological criteria, topology reconstruction can not be carried out.
In order to solve this problem, the present invention is obtained by the way of being projected to the pore center fitted in pore
Actual coordinate of the heart on metope.The method of use combines the global estimation that normal direction projects and iterative refinement algorithm to space
Point is projected, and specific flow is as shown in Figure 8.
The global estimating algorithm of normal direction projection is calculated containing the candidate patch with subpoint, reduces computer capacity,
Subpoint, which is settled accounts, for subsequent iteration refinement mitigates computation burden.For space one point P and curved surface S (u, v), normal direction projection
The normal direction that overall situation estimation calculates candidate patch first projects squared distance function, then uses Pruning strategy to carry out curved surface thick
Slightly exclude.If patch can be approximated to be plane, using the parameter field midpoint of curved surface as the initial point of iterative algorithm, call
Iterative algorithm refinement, algorithm terminate.If curved surface cannot be approximately plane, by squared-distance displayization, convex closure increment is carried out
Construction, the u for calculating separately known minimum squared distance carry out beta pruning to candidate patch to the intersection point of convex closure to convex closure, v, obtain
New patch.Recurrence judgement is carried out to candidate patch, the normal direction projection that return initial step continues to calculate candidate curved surface is flat
Square distance function.
As shown in figure 9, from (1) to (2), again to (3), vivid illustrates the process for reducing tessellation region, using complete
When office's estimation recurrence resolves candidate curved surface, 2 representation of a surface region to be asked, the region that 3 representation of a surface have been excluded, 1 curved surface table
Show the region excluded when recurrence each time is using global estimating algorithm.For narrowing down to the curved surface of certain threshold value, using normal direction
The iterative refinement algorithm of projection solves subpoint, reduces the degree of tessellation so that algorithm more lightweight.
Pore on work well wall model is that the basis of cable connection needs to meet the needs of inversely rebuilding to wall
Surface model carries out Boolean calculation to complete topology reconstruction.
Boolean calculation is made of two parts, and first part is Boolean calculation operator, is divided into intersection operation (COMMON), is asked
Union (FUSE) seeks difference operation (CUT)；Second part is two voxel parameter S1 mesh for needing to carry out Boolean calculation in space
Mark object and S2 Boolean calculation tools.The realization of Boolean calculation is dependent on the geometric element implied in parameter voxel, such as body
The surface parameter equation etc. of plain parameter.Table 1 is that several element parametric equations participated in the reconstruct of work well model topology indicate：
1 part basic solid primitives parametric equation of table
First voxel parameter S1 metopes model and the throwing of S2 Boolean calculation tools of face Boolean calculation are obtained
Shadow position can generate boolean by the pore radius (length of side) that the pore radius (length of side) or Ransac of user setting fit
Operation is tailored element S 2, and topology reconstruction is carried out with the geometrical model of work well wall.
Algorithm needs to input two object space voxels of A, B.All sides (parameter curve expression) in traversal A, while time
Go through all faces in B (parametric surface expression).Face all in side all in A and B is found intersection, acquisition is partitioned by intersection point
New side.All faces in all sides in B and A are subjected to intersection operation again, obtain intersection point.
Classification processing is carried out by the side that intersection point is divided, after voxel is found intersection, the side quilt that intersects with face in B in A
Intersection point is divided into several sections.It is in the inside of B, outside, or three kinds of feelings of coincidence to judge that these in A divide later side at this time
Condition.Similarly, B takes identical operation relative to A.
Solve new intersection.It needs first to determine useful cross before solving new intersection.I.e. if the intersection point solved is same
When meet on the boundary of A and in the boundary of B (contain boundary), then the intersection point is available point.Similarly, judge B having relative to A
Effect point.After judging all available points, these available points are subjected to line again, obtain new intersection.
Need to judge the going or staying on original boundary in A, B.According to the classification results of side classification processing and the new intersection of connection
To complete Boolean calculation.When A and B do intersection operation, then the side in A is internal and boundary relative to B, as reservation,
Cast out relative to B external edges, while identical operation is taken relative to A to B.When A and B do sum operation or difference operation, A
In side relative to B be external, as reservation, cast out inside.The boundary that will be remained, again according to topology rebuilding thought
Ring is built by side, then face is built by ring, face builds shell and the mode of body constructs the result S after A and B Boolean calculations.
By above procedure, that is, calculate intersection point, solve new intersection, boundary is gone or stayed, after topology recombination, just realize
The spatial model boundary topology of overlapping relation reconstructs, and reduces topological data redundancy.The flow chart of algorithm is as shown in Figure 10：
Calculating intersection point in algorithmic procedure needs all parameter curves being collectively expressed as：
C (t)=(x (t), y (t), z (t)) (7)
All parametric surfaces are collectively expressed as：
F (u, v)=(x (u, v), y (u, v), z (u, v)) (8)
Then the intersection point of parameter curve and parametric surface is determined by following algorithm：
Two spatial entities are indicated using parametric equation, parametric equation asks friendship to need to meet：
C (t)-F (u, v)=0 (9)
Enable S (t, u, v)=C (t)-F (u, v) (10)
Seek parameter differential equation：
Each parameter differential of the differential equation is shown, and in both sides dot productIt enablesIt can obtain
Obtain iterative equation：
After obtaining iterative equation, bounding volumetree is built respectively to curve and curved surface, when bounding volumetree and the song of curve
When the bounding volumetree leaf intersection in face, take the parameter value in two leaves as initial value t0, u0, v0Carry out iteration, is received until meeting
Condition is held back, intersection point is finally sought.
According to above-mentioned algorithm, by the Boolean calculation between model, the topological relation between model is revert to mould again
The access of the structure and topological structure of type inner topology relationship.
The single hole of progress of practising physiognomy may only be cut out using this algorithm, in order to realize the complicated wall of metope multiple hole
The metope that previous step is completed is brought into as new S1 in Boolean calculation by body using the method for iteration, repeated multiple times, is completed
The topology reconstruction of metope, as shown in figure 11.
In order to verify modeling feasibility of the invention for the underground work well point cloud model with hole, by multi-modeling side
Three kinds of different types of wall datas of method pair：Curved surface point cloud data, rectangular surfaces point cloud data and concave plane point cloud data
It is modeled, model result is compared.
As shown in figure 12, using the method for comparison have in the libraries CGAL three-dimensional Ronny Di's triangular network curve reestablishing method and
Implicit surface modeling in common point cloud modeling software Geomagic.The curve reestablishing method of three-dimensional Ronny Di's triangular network is one
Under fixed constraints, by optimum triangular shape selection criteria, screened one by one from the three-dimensional Ronny Di's triangular network built in advance
Go out optimum triangular shape to be added on yield surface, the curved surface of final output be series of displays triangle sets at manifold surface,
The point cloud model of topographical scan, building scanning and fining scanning can be rebuild.Geomagic is using Wrapping tables
Face algorithm for reconstructing is a kind of implicit surface algorithm, and the definition based on Morse theories to Delauney triangle complexity is poly- to simple form
Class carries out routed reducing and does.
In Figure 12, (a) is the model structure that is obtained through three kinds of methods of curved, is (b) regular planar shape through three kinds of methods
Obtained model structure, (c) model structure obtained through three kinds of methods for polygon plane, experimental result sample can from Figure 12
To find out, the metope model with hole obtained using Geomagic and Di Luoni curve reestablishings is had on wall
Imperfection, the part of missing point cloud and metope hole can not distinguish modeling in metope, it may appear that wall it is damaged or
Situations such as hole can not be built out.And the present invention can well face the metope model modeling with hole.
By above three method respectively to the modeling Contrast on effect of metope point cloud model it is found that the present invention can be very good
Applied to the point cloud wall modeling with hole, wall performance caused by a cloud incompleteness can be avoided imperfect well,
Actual conditions for giving expression to wall pore that can be outstanding.It can be good at meeting actual production and quick three-dimensional visualization behaviour
Make the needs browsed.
The present invention for hole underground work well model three-dimensional modeling method based on three-dimensional laser point cloud,
A cloud is simplified by point cloud pretreatment, by adaptively vacuating and RANSAC algorithms extract millet cake cloud and model side
Boundary line generates the work well wall model without hole.Wall is opened up by the method for cutting on the basis of the model built
Reconstruct is flutterred, the requirement for completing underground work well model three-dimensional modeling is reached.By experimental test, conclusion is as follows：
(1) outstanding for the quality reconstruction of a variety of wall models, there is practicability.
(2) in contrast to existing common cloud modeling method, modeling effect is more bonded reality, meets user demand.
But method employed herein is that continuous Boolean calculation is resolved into a series of single Boolean calculation, it is preceding primary
Operation result input primary as after.Since Boolean calculation needs to cut intersection, each operation can all generate new
Dough sheet then causes the precision of continuous Boolean calculation and performance constantly to decline.Next target is to combine a variety of methods,
CorkMaster, Toptop etc. improve current method so as to the boolean with manifold or the model of selfing
Cutting has stability, while improving the robustness and precision of the test for intersection and cutting under continuous several times Boolean calculation.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. the modeling method based on the three-dimensional point cloud with hole, which is characterized in that including：
Step 1: importing three-dimensional point cloud, top surface point cloud is extracted from three-dimensional point cloud, and be fitted and obtain top surface point cloud boundary line,
Height according to three-dimensional point cloud carries out longitudinal stretching to top surface point cloud boundary line, obtains the whole boundary line of three-dimensional point cloud, passes through
Whole boundary line builds the CSG-BREP models as unit of face；
Step 2: three-dimensional point cloud is divided into millet cake cloud according to CSG-BREP models by geometric surface, obtained according to face point-cloud fitting
The hole centre coordinate of each hole in each face；
Step 3: the hole center in each face is projected successively to corresponding each face of CSG-BREP models, with acquisition pores
Subpoint of the hole center on each face inputs the radius of corresponding hole or the corresponding hole radius of fitting, to each
Topology cuts out to obtain the CSG-BREP models with hole successively at hole center.
2. the modeling method as described in claim 1 based on the three-dimensional point cloud with hole, which is characterized in that three-dimensional point cloud
Acquisition methods are：Initial three-dimensional point cloud is obtained using the method for 3 D laser scanning, then initial three-dimensional point cloud is simplified,
Obtain three-dimensional point cloud.
3. the modeling method as described in claim 1 based on the three-dimensional point cloud with hole, which is characterized in that in step 1
The construction method in each face of CSG-BREP models is：If face is plane,
Infinitepiston parametric equation where plane determines by crossing any point in plane and face normal, the key point of plane
For the head and the tail endpoint, the endpoint of curve key point and the key point of curve of straight line, by the key point of plane with clockwise or
Person's counterclockwise arrangement generates the element of style type, is then cut out to infinitepiston with the ranging from limitation boundary of ring,
Generate the parametric equation of the plane to carry out topological criteria；
If face is curved surface,
According to the key point for extracting curved surface up-and-down boundary line, the isometric array of two groups of storage key points is established, according to upper following
The key point in boundary line generates B-spline curves, and the parametric equation of the curved surface is generated by the cartesian product of two B-spline curves.
4. the modeling method as described in claim 1 based on the three-dimensional point cloud with hole, which is characterized in that adopted in step 2
Space circle fitting and setting radius of circle are carried out to obtain hole center to the sideline point cloud of hole with RANSAC methods.
5. the modeling method as claimed in claim 4 based on the three-dimensional point cloud with hole, which is characterized in that obtained in step 3
The method for taking the actual coordinate at hole center is specially：The normal direction for calculating candidate patch first projects squared distance function, so
Patch is excluded roughly using Pruning strategy afterwards, if judging, patch is approximately plane, by the parameter field of patch
Initial point of the midpoint as iterative algorithm calls iterative algorithm refinement, obtains subpoint；
If judging, curved surface cannot be approximately plane, by squared-distance displayization, carry out convex closure and Incremental Construction, calculate separately
Know that the u of minimum squared distance carries out beta pruning to the intersection point of convex closure to convex closure, v to candidate patch, obtains new patch, then
Recurrence judgement is carried out to new patch, then recalculates the normal direction projection squared distance function of candidate curved surface again, in repetition
Judgement is stated, until obtaining subpoint.
6. the modeling method as described in claim 1 based on the three-dimensional point cloud with hole, which is characterized in that in step 3
To the methods of the CSG-BREP models with hole be by the topological criteria method between model.
7. the three-dimensional of the buried cable work well based on the modeling method described in claim 1 based on the three-dimensional point cloud with hole
Method for reconstructing, which is characterized in that including：
Step 1: importing the initial three-dimensional point cloud of single work well, point cloud pretreatment is carried out to work well initial three-dimensional point cloud, obtains essence
The work well three-dimensional point cloud of simple denoising extracts top surface point cloud from work well three-dimensional point cloud, and is fitted and obtains top surface point cloud boundary line,
Height according to work well three-dimensional point cloud carries out longitudinal stretching to top surface point cloud boundary line, obtains the whole boundary line of work well model,
CSG-BREP model of the work well as unit of face is built by whole boundary line；
Step 2: work well three-dimensional point cloud is divided into millet cake cloud according to CSG-BREP models by geometric surface, according to face point-cloud fitting
Obtain the hole center of each hole of each millet cake cloud；
Step 3: the hole center in each face is projected successively to corresponding each face of CSG-BREP models, with acquisition pores
Subpoint of the hole center on each face inputs the radius of corresponding hole or the corresponding hole radius of fitting, to each
Topology cuts out to obtain the CSG-BREP models of the work well with hole successively at hole center；
Step 4: according to work well inside cable point cloud, it is that head and the tail point carries out cable connection with the hole in CSG-BREP models, obtains
To single work well model；
Step 5: obtaining the work well model of other work wells using the method for step 1 to step 4；
Step 6: obtained work well model is carried out cable connection according to work well external cable point cloud, work well whole three is obtained
Dimension module.
8. the three-dimensional rebuilding method of buried cable work well as claimed in claim 7, which is characterized in that use 3 D laser scanning
Method obtain work well initial three-dimensional point cloud.
9. the three-dimensional rebuilding method of buried cable work well as claimed in claim 7, which is characterized in that the point cloud of single work well
Quantity is more than 5,000,000.
10. the three-dimensional rebuilding method of buried cable work well as claimed in claim 7, which is characterized in that used in step 1
RANSAC algorithms are fitted top surface point cloud boundary key point, and connection top surface point cloud boundary key point obtains top surface point cloud boundary line.
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| CN113626892B (en) * | 2021-07-31 | 2023-02-28 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Conformal curved surface radome high-precision three-dimensional model reconstruction method |
| CN113836694A (en) * | 2021-08-23 | 2021-12-24 | 苏州同异三维打印科技有限公司 | Material increase manufacturing-oriented geometric modeling method based on discretized point cloud |
| CN115222930A (en) * | 2022-09-02 | 2022-10-21 | 四川蜀天信息技术有限公司 | WebGL-based 3D model arrangement and combination method |
| CN115222930B (en) * | 2022-09-02 | 2022-11-29 | 四川蜀天信息技术有限公司 | WebGL-based 3D model arrangement and combination method |
| CN117252991A (en) * | 2023-10-25 | 2023-12-19 | 北京华科软科技有限公司 | Fusion method of voxel construction and boundary representation and three-dimensional graphic engine |
| CN117252991B (en) * | 2023-10-25 | 2024-03-29 | 北京华科软科技有限公司 | Fusion method of voxel construction and boundary representation and three-dimensional graphic engine |
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