CN109255008A - A kind of data processing method, system and electronic equipment - Google Patents
A kind of data processing method, system and electronic equipment Download PDFInfo
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- CN109255008A CN109255008A CN201811142106.XA CN201811142106A CN109255008A CN 109255008 A CN109255008 A CN 109255008A CN 201811142106 A CN201811142106 A CN 201811142106A CN 109255008 A CN109255008 A CN 109255008A
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
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- G06T2207/10028—Range image; Depth image; 3D point clouds
Abstract
The application provides a kind of data processing method, system and electronic equipment, very poor to reference point effect is obtained after three dimensional point cloud processing in the prior art for solving the problems, such as.The described method includes: constructing multiple first delaunay triangulation networks according to multiple first data points；For the first delaunay triangulation network of each of multiple first delaunay triangulation networks, the elevation of the highest point in the first delaunay triangulation network and the elevation of minimum point are obtained；According to the elevation of the elevation of the highest point, the elevation of minimum point and contour, judge whether all first data points in the first delaunay triangulation network are uncorrelated point；The uncorrelated point is deleted from multiple first data points, obtains multiple second data points；According to the first preset value and the multiple connection while each of connection while, obtain multiple secondary reference points；Remove the multiple secondary reference point according to from the multiple second data point, obtains multiple reference points.
Description
Technical field
This application involves three-dimensional data processing and surveying mapping technical field more particularly to a kind of data processing method,
System and electronic equipment.
Background technique
In mapping operations, contour is one of widest landforms representation method on map, currently, being directed to a wide range of area
Domain, the extracting method of contour generally use traditional photogrammetric office work method and obtain, i.e., acquire after three encryption of sky in solid
It is acquired in equipment, it is not only time-consuming and laborious in this way, it is also influenced by many factors such as weather, traditional contour lines extraction method is
It is not able to satisfy the demand of Informatization Development.
At present in mapping operations, airborne laser radar measuring technique in growing up at the end of the 20th century, it have round-the-clock,
It the characteristics of high-precision three-dimensional laser point cloud data under the round-the-clock various ground surface environments of quick obtaining, has been obtained in Surveying and Mapping Industry
It is widely applied.Therefore laser acquisition and measurement (LiDAR, Light Detection And Ranging) technology is utilized to carry out
The extraction of contour can significantly be improved aerial survey into the efficiency of figure operation, have many scholars to be done using software platform at present
Example is gone out, but the contour extracted has situations such as a large amount of small isolated ring, extraction effect is often unsatisfactory.Therefore,
The problem very poor to acquisition reference point effect after three dimensional point cloud processing exists in the prior art.
Summary of the invention
In view of this, the application provides a kind of data processing method, system and electronic equipment, for solving in the prior art
The problem very poor to acquisition reference point effect after three dimensional point cloud processing.
This application provides a kind of data processing method, the data processing method includes: according to multiple first data
Point constructs multiple first delaunay triangulation networks；For the first delaunay triangulation network of each of multiple first delaunay triangulation networks,
Obtain the elevation of the highest point in the first delaunay triangulation network and the elevation of minimum point；According to the elevation of the highest point, institute
The elevation of minimum point and the elevation of contour are stated, judges whether all first data points in the first delaunay triangulation network are equal
For uncorrelated point；The first data point is uncorrelated point if it exists, and the uncorrelated point is deleted from multiple first data points, is obtained
Multiple second data points；Multiple second delaunay triangulation networks, the multiple second delaunay are constructed according to multiple second data points
It include multiple connection sides in the triangulation network；According to the first preset value and it is the multiple connection while each of connection while, obtain it is more
A secondary reference point；Remove the multiple secondary reference point according to from the multiple second data point, obtains multiple third data points, institute
Stating multiple third data points is reference point.
Optionally, in the embodiment of the present application, remove the multiple time in the basis from the multiple second data point
Reference point, obtains multiple third data points, after the multiple third data point is reference point, further includes: will be the multiple
Each of secondary reference point time reference point obtains all the points connecting with the target point as target point, as even
Contact；Judge whether the target point meets whether the first equation and the tie point are secondary related to the tie point
Point；If the target point and the tie point meet the first equation and the tie point is time reference point, judgement and institute
The tie point for stating target point connection is reference point；It obtains and deletes remaining secondary reference point other than above-mentioned reference point.
Optionally, in the embodiment of the present application, described to judge whether the target point and the tie point meet first party
Whether formula and the tie point are time reference point, comprising: judge whether the target point and the tie point meet (Zpi-
Zt)×(Zpn-Zt) < 0, and the tie point is time reference point；Wherein, piFor target point, ZpiFor piThe elevation of point, ZtIt is described
The elevation of contour, pnBe with the point of all connections of target point be tie point, ZpnFor pnThe elevation of point.
Optionally, in the embodiment of the present application, it is described acquisition and delete remaining secondary reference point other than above-mentioned reference point
Later, further includes: equation group is met according to the longitude of each reference point, dimension and elevation and is then judged as interpolated point, is obtained more
A interpolated point；The multiple interpolated point is fitted using the principle of least square, obtains contour.
Optionally, in the embodiment of the present application, described that equation is met according to the longitude of each reference point, dimension and elevation
Group is then judged as interpolated point, obtains multiple interpolated points, comprising: according to
Obtain interpolated point (xt,yt)；
Wherein,aIt is the reference point connected when a connection of the multiple connection in,
xaIt isaThe longitude of point, yaIt isaThe latitude of point, ZaIt isaThe elevation of point, b are a connections in the multiple connection side
It is outlying from describedaAnother reference point of reference point, xbIt is the longitude of b point, ybIt is the latitude of b point, ZbIt is the elevation of b point, t isa
Point and b point connection side and contour intersection point, i.e.,aThe interpolated point of point and b point, xtFor the longitude of t point, ytFor the latitude of t point, ZtIt is t
The elevation of point.
Optionally, in the embodiment of the present application, described according to the elevation of the highest point, the elevation of minimum point and contour
The elevation of line judges whether all first data points in the first delaunay triangulation network are uncorrelated point, comprising: according to etc.
The elevation of high line subtracts the elevation of the highest point, obtains the first difference；The minimum point is subtracted according to the elevation of contour
Elevation,
Obtain the second difference；Whether it is greater than zero according to the product of first difference and second difference；If so, sentencing
All first data points in the fixed first delaunay triangulation network are uncorrelated point.
Optionally, in the embodiment of the present application, described according to each of the first preset value and the multiple connection side
Side is connected, multiple secondary reference points are obtained, comprising: when each is connected in for the multiple connection, judges the connection side
Side length value whether be greater than the first preset value；If so, determining that two second data points at the both ends of connection side connection are
Secondary reference point,
To obtain multiple secondary reference points.
Optionally, in the embodiment of the present application, it is described for the multiple connection each is connected in while, described in judgement
Whether the side length value on connection side is greater than the first preset value, comprising: judge whether the side length value on the connection side is greater than u+3 δ+a,
In, u is the average value of the side length value on the multiple connection side, and δ is the standard deviation of the side length value normal distribution on the connection side, a
For threshold value.
Present invention also provides a kind of data processing system, the data processing system includes: the first delaunay triangulation network
Module is constructed, for constructing multiple first delaunay triangulation networks according to multiple first data points；Elevation obtain module, for for
The first delaunay triangulation network of each of multiple first delaunay triangulation networks obtains the highest point in the first delaunay triangulation network
Elevation and minimum point elevation；Uncorrelated judgment module, for according to the elevation of the elevation of the highest point, minimum point with
And the elevation of contour, judge whether all first data points in the first delaunay triangulation network are uncorrelated point；Second
Data point obtains module, for deleting the uncorrelated point from multiple first data points, obtains multiple second data points；Second
The delaunay triangulation network constructs module, the multiple for constructing multiple second delaunay triangulation networks according to multiple second data points
It include multiple connection sides in the second delaunay triangulation network；Secondary reference point obtains module, for according to the first preset value and described more
A connection while each of connection while, obtain multiple secondary reference points；Reference point obtains module, for according to from the multiple the
Two data points remove the multiple secondary reference point, obtain multiple third data points, the multiple third data point is reference point.
Present invention also provides a kind of electronic equipment, the electronic equipment includes: processor and memory, the memory
The executable machine readable instructions of the processor are stored with, are executed such as when the machine readable instructions are executed by the processor
The upper method.
The application provides a kind of data processing method, system and electronic equipment, by carrying out structure to multiple first data points
Jiande Lip river Triangle ID net, then to each first delaunay triangulation network judge contour elevation whether its highest point elevation
Between the elevation of minimum point, to obtain uncorrelated point, the uncorrelated point is deleted from multiple first data points and is obtained
Multiple second data points；It is continued construct the delaunay triangulation network, in the Triangle ID net of Jiande Lip river each connection side judgement with
First preset value whether there is relationship, therefore, it is determined that whether the point at the both ends on connection side is time reference point, from the multiple the
After two data points remove the multiple secondary reference point, multiple reference points are obtained.Delaunay is effectively eliminated in this way
Small isolated ring in the triangulation network, thus efficiently solve in the prior art to three dimensional point cloud processing after obtain reference point
The very poor problem of effect.
To enable the above object and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and appended by cooperation
Attached drawing is described in detail below.
Detailed description of the invention
Illustrate the technical solutions in the embodiments of the present application or in the prior art in order to clearer, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 shows data processing method first part provided by the embodiments of the present application flow diagram；
Fig. 2 shows data processing method second part flow diagrams provided by the embodiments of the present application；
Fig. 3 shows data processing method Part III flow diagram provided by the embodiments of the present application；
Fig. 4 shows the flow diagram of data processing method steps S130 provided by the embodiments of the present application；
Fig. 5 shows the flow diagram of data processing method steps S160 provided by the embodiments of the present application；
Fig. 6 shows data processing system structural schematic diagram provided by the embodiments of the present application；
Fig. 7 shows electronic devices structure schematic diagram provided by the embodiments of the present application.
Icon: 100- data processing system；110- the first delaunay triangulation network constructs module；120- elevation obtains module；
Uncorrelated judgment module of 130-；The second data point of 140- obtains module；150- the second delaunay triangulation network constructs module；160-
Secondary reference point obtains module；170- reference point obtains module；200- electronic equipment；210- processor；220- memory.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Usually exist
The component of the embodiment of the present application described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed the application's to the detailed description of the embodiments herein provided in the accompanying drawings below
Range, but it is merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art are not being done
Every other embodiment obtained under the premise of creative work out, shall fall in the protection scope of this application.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present application, it should be noted that the instruction such as term " on ", "lower", "left", "right", "inner", "outside"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the product using when the side usually put
Position or positional relationship are merely for convenience of description the application and simplify description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
In the description of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.
In the description of the present application, it is also necessary to explanation, herein, such as first and second or the like relationship art
Language is only used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying this
There are any actual relationship or orders between a little entities or operation.The terms such as term "horizontal", "vertical", " pendency "
It is not offered as requiring component abswolute level or pendency, but can be slightly tilted.As "horizontal" only refers to that its direction is opposite " perpendicular
It is more horizontal for directly ", it is not to indicate that the structure is had to fully horizontally, but can be slightly tilted.Term " includes ",
"comprising" or any other variant thereof is intended to cover non-exclusive inclusion so that include a series of elements process,
Method, article or equipment not only include those elements, but also including other elements that are not explicitly listed, or are also wrapped
It includes as elements inherent to such a process, method, article, or device.In the absence of more restrictions, by sentence " including
One ... " limit element, it is not excluded that there is also another in the process, method, article or apparatus that includes the element
Outer identical element.For the ordinary skill in the art, above-mentioned term can be understood in this application with concrete condition
Concrete meaning.
With reference to the accompanying drawing, it elaborates to some embodiments of the application.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
First embodiment
Referring to Figure 1, Fig. 1 shows data processing method first part provided by the embodiments of the present application flow diagram.
This application provides a kind of data processing method, the data processing method includes:
Step S110: multiple first delaunay triangulation networks are constructed according to multiple first data points.
Wherein, it should be noted that, the definition of delaunay (Delaunay) triangulation network: it is a series of connected but does not weigh
The set of folded triangle, and the circumscribed circle of these triangles does not include other any points in this face domain.Delaunay tri-
The advantages of angle is netted is well-formed, and data structure is simple, and data redudancy is small, and storage efficiency is high, with irregular terrain surface specifications
It is perfect harmony, it can indicate the zone boundary of linear character and superposition arbitrary shape, it is easily updated, it is suitable for various distribution densities
Data etc.；Its limitation is that algorithm realizes realization calculation that is more complicated and difficult, but there now have been more maturation
Method.
Wherein it is possible to be appreciated that, according to multiple first data points construct multiple first delaunay triangulation network steps it
Before, it further include executing pretreated step, these steps that pretreated step includes but is not limited to: (1) attitude parameter resolves
With GPS difference processing；(2) course line is handled；(2) coordinates computed increment；(4) to point cloud data according to certain filter density.Here
Pretreated specific steps number and step content should not be construed as the limitation to the application.
Step S120: for the first delaunay triangulation network of each of multiple first delaunay triangulation networks, obtain this first
The elevation of highest point in the delaunay triangulation network and the elevation of minimum point.
Wherein, it should be noted that, to any point p in each of all first delaunay triangulation networksiIt is retrieved, is united
Count piPoint and its all line point pnElevation, obtain in highest elevation point (i.e. the elevation of highest point) ZmaxWith minimum elevation
Point (i.e. the elevation of minimum point) Zmin。
Step S130: according to the elevation of the elevation of the highest point, the elevation of the minimum point and contour, judgement should
Whether all first data points in the first delaunay triangulation network are uncorrelated point.
Wherein, it should be noted that, if (Zt-Zmax)*(Zt-Zmin) > 0 then determines in the first delaunay triangulation network
All first data points are uncorrelated point, wherein ZtFor the elevation for extracting contour, ZmaxFor the elevation of the highest point, Zmin
For the elevation of the minimum point.
Step S140: the first data point is uncorrelated point if it exists, is deleted from multiple first data points described uncorrelated
Point obtains multiple second data points.
Wherein, it should be noted that, from deleted in multiple first data points in the first delaunay triangulation network all first
Uncorrelated point in data point obtains multiple second data points.
Step S150: multiple second delaunay triangulation networks, the multiple second moral Lip river are constructed according to multiple second data points
It include multiple connection sides in Triangle ID net.
Wherein, it should be noted that, the definition of delaunay (Delaunay) triangulation network: it is a series of connected but does not weigh
The set of folded triangle, and the circumscribed circle of these triangles does not include other any points in this face domain.
Step S160: according to the first preset value and the multiple connection while each of connection while, obtain multiple secondary phases
Guan Dian.
Wherein, it should be noted that, for the multiple connection while each of connection while, judge described to connect side
Whether side length value is greater than u+3 δ+a, then determines that the two-end-point on the connection side is time reference point, wherein u is the multiple connection side
Side length value average value, δ be it is described connection side side length value normal distribution standard deviation, a is threshold value.
Step S170: remove the multiple secondary reference point according to from the multiple second data point, obtain multiple third numbers
Strong point, the multiple third data point is reference point.
Wherein, it should be noted that, remove the multiple secondary reference point according to from the multiple second data point, obtain more
A third data point, the multiple third data point is reference point.
Fig. 2 is referred to, Fig. 2 shows data processing method second part flow diagrams provided by the embodiments of the present application.
Optionally, in the embodiment of the present application, remove the multiple secondary reference point from the multiple second data point in the basis, obtain
Multiple third data points, after the multiple third data point is reference point, further includes:
Step S180: it using each of the multiple secondary reference point time reference point as target point, obtains and the mesh
The all the points of punctuate connection, as tie point.
Wherein, it should be noted that, using each of the multiple secondary reference point time reference point as target point, obtains
The all the points being connect with the target point, as tie point.
Step S190: judge whether the target point meets the first equation with the tie point and the tie point is
No is time reference point.
Wherein, it should be noted that, it is described judge the target point and the tie point whether meet the first equation with
And whether the tie point is time reference point, comprising: judges whether the target point and the tie point meet (Zpi-Zt)×
(Zpn-Zt) < 0, and the tie point is time reference point；Wherein, piFor target point, ZpiFor piThe elevation of point, ZtFor the contour
Elevation, pnBe with the point of all connections of target point be tie point, ZpnFor pnThe elevation of point.
Step S200: if the target point meets the first equation to the tie point and the tie point is secondary related
Point then determines that the tie point connecting with the target point is reference point.
Wherein, it should be noted that, if the target point and the tie point meet the first equation and the connection
Point is time reference point, then determines that the tie point connecting with the target point is reference point.
Step S210: obtaining and deletes remaining secondary reference point other than above-mentioned reference point.
Wherein, it should be noted that, remaining secondary reference point other than above-mentioned reference point is obtained, and deleted described remaining time
Reference point.
Fig. 3 is referred to, Fig. 3 shows data processing method Part III flow diagram provided by the embodiments of the present application.
Optionally, in the embodiment of the present application, it in the acquisition and deletes other than above-mentioned reference point after remaining secondary reference point, also wraps
It includes:
Step S220: equation group is met according to the longitude of each reference point, dimension and elevation and is then judged as interpolated point, is obtained
Obtain multiple interpolated points.
Wherein, it should be noted that, it is described equation group is met according to the longitude of each reference point, dimension and elevation then to sentence
Break as interpolated point, obtain multiple interpolated points, comprising:
According toObtain interpolated point (xt,yt)；
Wherein,aIt is the reference point connected when a connection of the multiple connection in, xaIt isaThe longitude of point,
yaIt isaThe latitude of point, ZaIt isaThe elevation of point, b are that a connection in the multiple connection side is outlying from describedaReference point it is another
One reference point, xbIt is the longitude of b point, ybIt is the latitude of b point, ZbIt is the elevation of b point, t isaPoint and b point connection side and contour
Intersection point, i.e.,aThe interpolated point of point and b point, xtFor the longitude of t point, ytFor the latitude of t point, ZtIt is the elevation of t point.
Step S230: being fitted the multiple interpolated point using the principle of least square, obtains contour.
Wherein, it should be noted that, the multiple interpolated point is fitted using the principle of least square, including retrieval
All triangles in Delaunay triangulation network, are attached the interpolated point in triangle edges, (only to the contour after connection
Including Interpolation spots) it is fitted by the principle of least square, and be fitted and exported by certain rule, after fitting
Contour assigns symbol (geographical symbol) and exports.
Fig. 4 is referred to, Fig. 4 shows the process signal of data processing method steps S130 provided by the embodiments of the present application
Figure.Optionally, in the embodiment of the present application, described according to the elevation of the highest point, the elevation of the minimum point and contour
The elevation of line judges whether all first data points in the first delaunay triangulation network are uncorrelated point, comprising:
Step S131: subtracting the elevation of the highest point according to the elevation of contour, obtains the first difference.
Step S132: subtracting the elevation of the minimum point according to the elevation of contour, obtains the second difference.
Step S133: whether it is greater than zero according to the product of first difference and second difference.
Step S134: if so, determining that all first data points in the first delaunay triangulation network are uncorrelated point.
Wherein, it should be noted that, if (Zt-Zmax)*(Zt-Zmin) > 0 then determines in the first delaunay triangulation network
All first data points are uncorrelated point, wherein ZtFor the elevation for extracting contour, ZmaxFor the elevation of the highest point, Zmin
For the elevation of the minimum point.
Fig. 5 is referred to, Fig. 5 shows the process signal of data processing method steps S160 provided by the embodiments of the present application
Figure.Optionally, in the embodiment of the present application, described to be connected according to each of the first preset value and the multiple connection side
Side obtains multiple secondary reference points, comprising:
Step S161: when each is connected in for the multiple connection, whether judge the side length value for connecting side
Greater than the first preset value.
Wherein, it should be noted that, it is described for it is the multiple connection in each connect while, judge the connection side
Side length value whether be greater than the first preset value, comprising: judge whether the side length value on the connection side is greater than u+3 δ+a, wherein u is
The average value of the side length value on the multiple connection side, δ are the standard deviation of the side length value normal distribution on the connection side, and a is threshold value.
Wherein it is possible to be appreciated that, u is the average value of the side length value on the multiple connection side, and using u as normal distribution
Desired value, withConfidence as the standard deviation of normal distribution, with [u-3 δ, u+3 δ] as normal distribution
Section, the maximum value of confidence interval endpoint are u+3 δ, in formula, uiFor the side length value of i-th line.
Step S162: if so, determine that two second data points at the both ends of connection side connection are time reference point, from
And obtain multiple secondary reference points.
Wherein, it should be noted that, if the side length value on the connection side is greater than the first preset value (i.e. u+3 δ+a), determine
Two second data points at the both ends of connection side connection are time reference point, to obtain multiple secondary reference points.
In order to make it easy to understand, another embodiment provided by the embodiments of the present application is described below, the embodiment of the present application is mentioned
A kind of contour lines extraction optimization method based on LiDAR point cloud provided in the another embodiment of confession, is described in detail as follows:
It obtains LiDAR point cloud data (i.e. many points), and point cloud data is pre-processed；
Wherein, it should be noted that, laser acquisition and measurement (LiDAR, Light Detection And Ranging),
Namely laser radar.It is to utilize GPS (Global Position System) and IMU (Inertial Measurement
Unit, inertial measuring unit) airborne lidar.
With the vertex elevation of Delaunay triangulation network and side length value (the side length value for projecting x/y plane) for constraint condition, into
Row space cluster analysis judges a cloud-type, obtains all reference points；
To reference point interpolation elevation；
Interpolation spots are connected into line, and are fitted by certain rule；
It assigns contour symbol and exports.
In above scheme, the data preprocessing the following steps are included:
(1) attitude parameter resolves and GPS difference processing；
(2) course line is handled；
(3) coordinates computed increment；
(4) to point cloud data according to certain filter density；
It is described using the vertex elevation of Delaunay triangulation network and side length value as constraint condition in above scheme, it carries out empty
Between clustering specifically included the step of judging a cloud-type, obtain all reference points:
(1) all point cloud pi are retrieved, statistics pi point and its all line point pn (are the composition TIN triangulation networks
Those points) elevation, obtain in highest elevation point Zmax and minimum elevational point Zmin；
(2) if (Zt-Zmax)*(Zt-Zmin) > 0 then determines that this point is uncorrelated point, wherein Zt is to extract contour
Elevation；
(3) all uncorrelated points are deleted, left point cloud is continued to construct Delaunay triangulation network；
(4) the average value u of all side lengths of Delaunay triangulation network is found out, and using u as the desired value of normal distribution, withAs the standard deviation of normal distribution, confidence interval with [u-3 δ, u+3 δ] as normal distribution, confidence
The maximum value of interval endpoint is u+3 δ, and in formula, ui is the side length value of i-th line；
(5) the side length value of all triangles in Delaunay triangulation network is retrieved, opposite side long value exceeds normal distribution confidence area
Between carry out count；
(6) for the side length of statistics, if side length value and the maximum value (i.e. u+3 δ) of normal distribution confidence interval endpoint
Difference is greater than some threshold value, then determines that the two-end-point of the side length is time reference point；
(7) remaining point is determined as reference point, all reference points is continued to construct Delaunay triangulation network；
(8) repetition step (6) is to (7) until no longer occurring being judged as time reference point a little；
(9) all secondary reference point pi are retrieved, 1. (Z is metpi-Zt)*(Zpn-Zt) < 0,2. pn is time reference point, then determines
Pn point is reference point, wherein ZpiFor the elevation of pi point, to there is all point cloud datas of line to pi, (Pn point refers to all related pn
In addition to Pi point and Pi have all the points of direct line in point), ZpnFor the elevation of pn point；
(10) step (9) constantly are repeated, until no longer occurring being judged as reference point a little；
(11) all secondary reference points are deleted.
In above scheme, the step of the interpolation elevation to reference point, specifically include:
(1) to all reference points, interpolation is carried out using the method for linear interpolation, calculation expression is
In formula: xt、ytFor the x and y coordinates of t point, ZtFor the elevation of t point；
(2) all Interpolation spots of mark (intersection point of two o'clock line and contour).
It is described that Interpolation spots are connected into line in above scheme, and be fitted and exported by certain rule
Step specifically includes:
(1) all triangles in Delaunay triangulation network are retrieved, the interpolated point in triangle edges is attached；
(2) contour (only including Interpolation spots) after connection is fitted by the principle of least square；
In above scheme, the imparting contour symbol and the step of export is specifically included:
(1) symbol (geographical symbol) is assigned to the contour after fitting；
(2) contour required for exporting.
A kind of contour lines extraction optimization method based on LiDAR point cloud, this method comprises: LiDAR point cloud data are obtained, and
Point cloud data is pre-processed；Using the vertex elevation of Delaunay triangulation network and side length value as constraint condition, it is poly- to carry out space
Alanysis judges a cloud-type, obtains all reference points；To all reference point interpolation elevations；Interpolation spots are connected into line,
And it is fitted by certain rule；It assigns contour symbol and exports.
Second embodiment
Fig. 6 is referred to, Fig. 6 shows data processing system structural schematic diagram provided by the embodiments of the present application.The application mentions
A kind of data processing system 100 supplied, the data processing system 100 include:
The first delaunay triangulation network constructs module 110, for constructing multiple first delaunays according to multiple first data points
The triangulation network.
Elevation obtains module 120, for for the first delaunay triangulation network of each of multiple first delaunay triangulation networks,
Obtain the elevation of the highest point in the first delaunay triangulation network and the elevation of minimum point.
Uncorrelated judgment module 130, for according to the elevation of the highest point, the elevation of minimum point and contour
Elevation judges whether all first data points in the first delaunay triangulation network are uncorrelated point.
Second data point obtains module 140, for deleting the uncorrelated point from multiple first data points, obtains multiple
Second data point.
The second delaunay triangulation network constructs module 150, for constructing multiple second delaunays according to multiple second data points
The triangulation network includes multiple connection sides in the multiple second delaunay triangulation network.
Secondary reference point obtains module 160, for being connected according to each of the first preset value and the multiple connection side
Side obtains multiple secondary reference points.
Reference point obtains module 170, for obtaining according to the multiple secondary reference point is removed from the multiple second data point
Multiple third data points are obtained, the multiple third data point is reference point.
3rd embodiment
Fig. 7 is referred to, Fig. 7 shows electronic devices structure schematic diagram provided by the embodiments of the present application.This application provides
A kind of electronic equipment 200, the electronic equipment 200 includes: processor 210 and memory 220, and the memory 220 stores
The machine readable instructions for having the processor 210 executable, the machine readable instructions execute when being executed by the processor 210
Method as in the first embodiment.
Wherein, it should be noted that, the electronic equipment 200 includes: processor 210 and memory 220, the memory
220 are stored with the executable machine readable instructions of the processor 210, and the machine readable instructions are held by the processor 210
Method as described above is executed when row.
The application provides a kind of data processing method, system and electronic equipment, by carrying out structure to multiple first data points
Jiande Lip river Triangle ID net, then to each first delaunay triangulation network judge contour elevation whether its highest point elevation
Between the elevation of minimum point, to obtain uncorrelated point, the uncorrelated point is deleted from multiple first data points and is obtained
Multiple second data points；It is continued construct the delaunay triangulation network, in the Triangle ID net of Jiande Lip river each connection side judgement with
First preset value whether there is relationship, therefore, it is determined that whether the point at the both ends on connection side is time reference point, from the multiple the
After two data points remove the multiple secondary reference point, multiple reference points are obtained.Delaunay is effectively eliminated in this way
Small isolated ring in the triangulation network, thus efficiently solve in the prior art to three dimensional point cloud processing after obtain reference point
The very poor problem of effect.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of data processing method, which is characterized in that the data processing method includes:
Multiple first delaunay triangulation networks are constructed according to multiple first data points；
For the first delaunay triangulation network of each of multiple first delaunay triangulation networks, obtain in the first delaunay triangulation network
Highest point elevation and minimum point elevation；
According to the elevation of the elevation of the highest point, the elevation of the minimum point and contour, first delaunay three is judged
Whether all first data points in the net of angle are uncorrelated point；
The first data point is uncorrelated point if it exists, deletes the uncorrelated point from multiple first data points, obtains multiple the
Two data points；
Multiple second delaunay triangulation networks are constructed according to multiple second data points, include in the multiple second delaunay triangulation network
Multiple connection sides；
According to the first preset value and the multiple connection while each of connection while, obtain multiple secondary reference points；
Remove the multiple secondary reference point according to from the multiple second data point, obtains multiple third data points, it is the multiple
Third data point is reference point.
2. data processing method as described in claim 1, which is characterized in that in the basis from the multiple second data point
Remove the multiple secondary reference point, obtain multiple third data points, after the multiple third data point is reference point, also wraps
It includes:
Using each of the multiple secondary reference point time reference point as target point, acquisition is connect all with the target point
Point, as tie point；
Judge whether the target point and the tie point meet whether the first equation and the tie point are time reference point；
If the target point and the tie point meet the first equation and the tie point is time reference point, judgement and institute
The tie point for stating target point connection is reference point；
It obtains and deletes remaining secondary reference point other than above-mentioned reference point.
3. data processing method as claimed in claim 2, which is characterized in that the judgement target point and the tie point
Whether meet whether the first equation and the tie point are time reference point, comprising:
Judge whether the target point and the tie point meet (Zpi-Zt)×(Zpn-Zt) < 0, and the tie point is time correlation
Point；Wherein, piFor target point, ZpiFor piThe elevation of point, ZtFor the elevation of the contour, pnIt is and all connections of target point
Point is tie point, ZpnFor pnThe elevation of point.
4. data processing method as claimed in claim 2, which is characterized in that in the acquisition and delete other than above-mentioned reference point
After remaining secondary reference point, further includes:
Meet equation group according to the longitude of each reference point, dimension and elevation and be then judged as interpolated point, obtains multiple interpolated points；
The multiple interpolated point is fitted using the principle of least square, obtains contour.
5. data processing method as claimed in claim 4, which is characterized in that the longitude according to each reference point, dimension
Degree and elevation meet equation group and are then judged as interpolated point, obtain multiple interpolated points, comprising:
According toObtain interpolated point (xt,yt)；
Wherein,aIt is the reference point connected when a connection of the multiple connection in, xaIt isaThe longitude of point, yaIt isa
The latitude of point, ZaIt isaThe elevation of point, b are that a connection in the multiple connection side is outlying from describedaReference point another
Reference point, xbIt is the longitude of b point, ybIt is the latitude of b point, ZbIt is the elevation of b point, t isaPoint and b point connection side and contour are handed over
Point, i.e.,aThe interpolated point of point and b point, xtFor the longitude of t point, ytFor the latitude of t point, ZtIt is the elevation of t point.
6. data processing method as described in claim 1, which is characterized in that the elevation according to the highest point, minimum
The elevation of point and the elevation of contour judge whether all first data points in the first delaunay triangulation network are not phase
Guan Dian, comprising:
The elevation of the highest point is subtracted according to the elevation of contour, obtains the first difference；
The elevation of the minimum point is subtracted according to the elevation of contour, obtains the second difference；
Whether it is greater than zero according to the product of first difference and second difference；
If so, determining that all first data points in the first delaunay triangulation network are uncorrelated point.
7. data processing method as described in claim 1, which is characterized in that described according to the first preset value and the multiple company
Each of edge fit connects side, obtains multiple secondary reference points, comprising:
When each is connected in for the multiple connection, it is default to judge whether the side length value on the connection side is greater than first
Value；
If so, determining that two second data points at the both ends of connection side connection are time reference point, to obtain multiple times
Reference point.
8. data processing method as claimed in claim 7, which is characterized in that described for each in the multiple connection side
Side is connected, judges whether the side length value on the connection side is greater than the first preset value, comprising:
Judge whether the side length value on the connection side is greater than u+3 δ+a, wherein u is being averaged for the side length value on the multiple connection side
Value, δ are the standard deviation of the side length value normal distribution on the connection side, and a is threshold value.
9. a kind of data processing system, which is characterized in that the data processing system includes:
The first delaunay triangulation network constructs module, for constructing multiple first delaunay triangulation networks according to multiple first data points；
Elevation obtains module, for being somebody's turn to do for the first delaunay triangulation network of each of multiple first delaunay triangulation networks
The elevation of highest point in the first delaunay triangulation network and the elevation of minimum point；
Uncorrelated judgment module is sentenced for the elevation according to the elevation of the highest point, the elevation of minimum point and contour
Whether all first data points broken in the first delaunay triangulation network are uncorrelated point；
Second data point obtains module, for deleting the uncorrelated point from multiple first data points, obtains multiple second numbers
Strong point；
The second delaunay triangulation network constructs module, for constructing multiple second delaunay triangulation networks according to multiple second data points,
It include multiple connection sides in the multiple second delaunay triangulation network；
Secondary reference point obtains module, for according to the first preset value and the multiple connection while each of connection while, obtain
Multiple secondary reference points；
Reference point obtains module, for removing the multiple secondary reference point according to from the multiple second data point, obtains multiple
Third data point, the multiple third data point is reference point.
10. a kind of electronic equipment, which is characterized in that the electronic equipment includes: processor and memory, the memory storage
The machine readable instructions for having the processor executable execute such as right when the machine readable instructions are executed by the processor
It is required that 1 to 8 described in any item methods.
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