CN109684297A - A kind of 3 D laser scanning massive point date storage method - Google Patents
A kind of 3 D laser scanning massive point date storage method Download PDFInfo
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The present invention provides a kind of 3 D laser scanning massive point date storage methods, comprising: S1, the mobile intelligent terminal equipment that configuration can assist primary server to store are coordinately transformed the laser point in each scan line；S2, detection be coordinately transformed after laser point coordinate value, compare judge current laser point detected whether be new scan line starting point；S3, when judging that current laser point detected is not the starting point of new scan line, then using the coordinate value of the present laser point after coordinate transform as the coordinate data of the laser point on current scan line；Otherwise as in new scan line；S4, establishes edge data storage effectiveness maximum model and value judgement, the inverse transformation and preservation be coordinately transformed to each laser point on current scan line in the buffer area of center, and using the new scan line as current scan line；Next laser point of laser point current on current scan line is continued to execute step S2 to S4 as present laser point by S5, until the preservation of all original laser magnanimity point datas finishes.
Description
Technical field
The present invention relates to the magnanimity obtained in mass data storage and process field more particularly to three-dimensional laser scanning technique
The storage method of point data.
Background technique
Three-dimensional laser scanning technique is the new technology occurred in recent years, increasingly causes the concern of research field at home.
It is the principle using laser ranging, by the three-dimensional coordinate of a large amount of intensive point in record testee surface, reflectivity and
The information such as texture can quickly rebuild out the various graph data such as threedimensional model and line, face, body of measured target.Since three-dimensional swashs
Photo-scanning system densely can largely obtain the data point of target object, therefore relative to traditional spot measurement, three-dimensional swashs
Optical scanning technology is also referred to as evolving to the revolutionary technological break-through of planar survey from spot measurement.The technology is protected in cultural relics and historic sites
Shield, building, planning, civil engineering, factory's transformation, indoor design, building monitoring, traffic accident treatment, legal argument collection, calamity
There has also been many trials, application and explorations in the fields such as evil assessment, Ship Design, digital city, military analysis.Three-dimensional laser is swept
Retouching system includes the hardware components of data acquisition and the software section of data processing.According to the difference of carrier, 3 D laser scanning
System can be divided into airborne, vehicle-mounted, ground and handheld a few classes again.Application scanning technology is come originals such as the size and shapes that measures workpiece
Reason carrys out work.Be mainly used in reverse-engineering, responsible curved surface copies number, workpiece three-dimensional measurement, for existing three dimensional practicality (sample or
Model) in the case where no technical documentation, the profile collective data of object can be quickly measured, and be subject to construction, edited, modification
Generate the New Model for Digitized Parametric Surfaces of general output format.
Currently, the mode that Three Dimensional Ground laser scanning system mostly uses line to scan acquires data, using line by line or by column
Scanning mode acquires data, and the collected three-dimensional laser magnanimity point data of institute is with certain structural relation, but at present to being adopted
It is most of in the storage method of the three-dimensional laser magnanimity point data collected that pyramid piecemeal only is carried out to magnanimity massive point, it is this
Simple process is conducive to the display of magnanimity massive point, but since data volume is excessive, memory space is limited after all, and responds terminal
The speed of user's request can be therefore slack-off, and follow-up data treatment effeciency will be greatly reduced, and this traditional cloud storage mode is
Through not being suitable for the mass data point storage of Three Dimensional Ground scanning.
Summary of the invention
In order to overcome disadvantages described above in the prior art, it can save memory space this application provides a kind of and improve subsequent
The 3 D laser scanning massive point date storage method of data-handling efficiency.In order to realize that the above technical purpose, the application pass through
Following technical scheme is realized:
This application provides a kind of 3 D laser scanning massive point date storage method, which includes:
S1, the mobile intelligent terminal equipment that configuration can assist primary server to store are scanned according to original laser collected
Magnanimity point data is coordinately transformed the laser point in each scan line in original laser scanning magnanimity point data, is sat
The coordinate value of all laser points after mark transformation；
S2, detection be coordinately transformed after laser point coordinate value, by the coordinate value of current laser point detected with
The coordinate value of first laser point detected compares to judge whether current laser point detected is rising for new scan line
Initial point；
S3 then will be after the coordinate transform when judging current laser point detected is not the starting point of new scan line
Present laser point coordinate data of the coordinate value as the laser point on current scan line；
It, then will be current after the coordinate transform when judging starting point of the current laser point detected as new scan line
Coordinate data of the coordinate value of laser point as starting point in new scan line,
S4 establishes edge data storage effectiveness maximum model and value judgement: judge present laser point data whether be can
The data of maximum value are provided for terminal, if it is, edge memory node is stored to, if it is not, being stored to
Central buffer area carries out the inverse transformation of the coordinate transform to each laser point on current scan line in the central buffer area
And it saves, and using the new scan line as current scan line；
Next laser point of laser point detected current on current scan line is continued to hold by S5 as present laser point
Row step S2 to S4, until the preservation of all original laser magnanimity point datas finishes.
Preferably, the laser point progress of step S1 original laser scanned in magnanimity point data in each scan line
Coordinate transform includes:
By original laser scan magnanimity point data in each laser point three-dimensional rectangular coordinate (x, y, z) be converted to
Spherical coordinate (r, θ, φ) centered on three-dimensional laser scanner, wherein r is laser point to the distance of scanner, and θ is laser rays
With the angle of horizontal plane, φ is to horizontally rotate angle when scanner works.
Preferably, the step S2 is by the seat of the coordinate value of current laser point detected and first laser point detected
Scale value compares to judge whether current laser point detected is that the starting point of new scan line includes:
(S2-1) coordinate value of the coordinate value of current laser point detected and first laser point detected is carried out pair
Than judging whether current laser point detected can be used as the pre- reconnaissance of the starting point of new scan line；
(S2-2) after the pre- reconnaissance for the starting point that the current laser point detected of judgement can be used as new scan line, into one
Step judge current laser point detected whether be new scan line starting point.
Preferably, the step (S2-1) includes:
By regarding the laser magnanimity point data of same scan line as stable ergodic time series, operator is used
Template is current to judge to detect the size relation between the current θ value of laser point detected and the θ value of a upper laser point
Whether laser point detected can be used as the pre- reconnaissance of the starting point of new scan line；
Preferably, the step (S2-2) includes:
Judge to work as by the size relation between the θ value for the subsequent N number of laser point for detecting current laser point detected
Preceding laser point detected, and/or, by by all laser points on the φ value of current laser point detected and current scan line
φ value average value compare judge current laser point detected whether be new scan line starting point, wherein N is positive
Integer.
Preferably, the step S4 edge data stores effectiveness maximum model are as follows: it is assumed that edge memory node cache size
For V, node includes n data object while size is D={ datai| i=1,2 ..., n }, data object requested time
Number is timei, the initial time that data object i is stored in memory node is timei, current time timecurrent, data can be obtained
Object is that i is stored in calculate node time span are as follows:
timelength=timecurrent-timei (1)
Data object i is averaged requested number are as follows:
The storage effectiveness of data, the i.e. effectiveness of data object i are measured by the average requested number of data object i are as follows:
The maximum utility model of edge storing data object is expressed as:
Wherein, datawillTo be the data object size that will be stored in, if to be stored in new data pair in fringe node
As the edge cache space then vacateed has to be larger than datawillSize can cache the new data-objects to be stored in, side
It is less than or is equal to V-data by the sum of the data object size that selection continues storage in edge memory nodewill。
Preferably, the value judgement standard of the step S4 include: end-user request data object hit rate and
The average delay of calculate node response is worth to measure the storage of data point, wherein the terminal user imposes the hit rate of data
For within the given time, it is k, hit in edge memory node that mobile intelligent terminal user, which issues all request of data sums,
Number be m, the hit rate of end-user request data object is r=m/k；The corresponding average delay of calculate node be
In given certain period, terminal user issues request of data and responds the time it takes to calculate node is received.
Preferably, the step S5 is stored to central buffer area, on current scan line in the central buffer area
Each laser point carry out the inverse transformation of the coordinate transform and preservation includes:
(S5-1) by the laser scanning magnanimity point data on current scan line coordinate data and attribute data deposit respectively
Enter central buffer area, then described in the coordinate data progress to each laser point on current scan line in the central buffer area
The inverse transformation of coordinate transform；
(S5-2) after the inverse transformation for carrying out the coordinate transform to the coordinate data of each laser point on current scan line,
Spatial index table is established for current scan line and is saved.
Preferably, the step (S5-2) carries out the coordinate to the coordinate data of each laser point on current scan line
After the inverse transformation of transformation, for current scan line establish spatial index table and carry out save include:
(S5-2a) to after the inverse transformation for carrying out the coordinate transform in buffer area coordinate data and attribute data press
Contracting；
(S5-2b) it to the coordinate data in buffer area and after attribute data compresses, is encoded to current scan line,
Current scan line corresponds to a unique number；
(S5-2c) spatial index table, the keyword of the spatial index table are established for the current scan line after being numbered
For the number of current scan line, index entry value corresponding with keyword is laser sea on current scan line in the spatial index table
Measure the storage address of point data；
(S5-2d) after establishing spatial index table to current scan line, compressed buffer area will be carried out on current scan line
Coordinate data and attribute data write back and by spatial index table corresponding to current scan line storage address carry out
It saves.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.Target and feature of the invention will be apparent from view of following description taken together with the accompanying drawings,
In attached drawing:
Fig. 1 is the flow diagram according to the storage method of the 3 D laser scanning magnanimity point data of the embodiment of the present invention.
Fig. 2 is the flow diagram of the storage method of laser scanning magnanimity point data in the embodiment of the present application one.
Fig. 3 A, 3B, 3C are the datagram according to the 3 D laser scanning magnanimity point data of the embodiment of the present invention.
Fig. 4 is the first method flow chart according to the 3 D laser scanning magnanimity point data of the embodiment of the present invention.
Fig. 5 is the second method flow chart according to the 3 D laser scanning magnanimity point data of the embodiment of the present invention.
Specific embodiment
The application uses the technical solution of scan line detection, and it is basic that original laser scanning magnanimity point data, which is pressed scan line,
Unit is stored, as shown in Figure 1, including the following steps:
S1, the mobile intelligent terminal equipment that configuration can assist primary server to store are scanned according to original laser collected
Magnanimity point data is coordinately transformed the laser point in each scan line in original laser scanning magnanimity point data, is sat
The coordinate value of all laser points after mark transformation；
S2, detection be coordinately transformed after laser point coordinate value, by the coordinate value of current laser point detected with
The coordinate value of first laser point detected compares to judge whether current laser point detected is rising for new scan line
Initial point；
S3 then will be after the coordinate transform when judging current laser point detected is not the starting point of new scan line
Present laser point coordinate data of the coordinate value as the laser point on current scan line；
It, then will be current after the coordinate transform when judging starting point of the current laser point detected as new scan line
Coordinate data of the coordinate value of laser point as starting point in new scan line,
S4 establishes edge data storage effectiveness maximum model and value judgement: judge present laser point data whether be can
The data of maximum value are provided for terminal, if it is, edge memory node is stored to, if it is not, being stored to
Central buffer area carries out the inverse transformation of the coordinate transform to each laser point on current scan line in the central buffer area
And it saves, and using the new scan line as current scan line；
Next laser point of laser point detected current on current scan line is continued to hold by S5 as present laser point
Row step S2 to S4, until the preservation of all original laser magnanimity point datas finishes.
Compared with conventional massive point date storage method, the sequential storage magnanimity of scan line is on the one hand pressed in the application
Point maintains the spatial structural form of massive point, on the other hand, memory space efficiency and storage effect is taken into account in storing process
With being also convenient for subsequent data processing.
The specific implementation of the embodiment of the present application is described in detail with specific example below.
Embodiment one
Fig. 2 is the flow diagram of the storage method of laser radar magnanimity point data in the present embodiment, the storage method institute
It is directed to Three Dimensional Ground laser scanning system and acquires using scanning mode line by line or by column the three-dimensional coordinate of ground object
Point, these three-dimensional coordinate points be by line scan massive point in the form of carry out space arrangement, the storage method the following steps are included:
Step S101, the mobile intelligent terminal equipment that configuration can assist primary server to store, according to collected original sharp
Optical scanning magnanimity point data is coordinately transformed the laser point in each scan line in original laser scanning magnanimity point data,
Obtain the coordinate value of all laser points after coordinate transform.
In the present embodiment, by laser point in collected original laser massive point in each scan line coordinate
For three-dimensional rectangular coordinate (x, y, z), it is advantageous to the three-dimensional rectangular coordinate (x, y, z) by each laser point be converted to three-dimensional
Spherical coordinate (r, θ, φ) centered on laser scanner, wherein r is distance of the laser point to scanner, and θ is laser rays and water
The angle of plane, φ are to horizontally rotate angle when scanner works.The spherical coordinate (r, θ, φ) of laser point and three-dimensional right angle are sat
The transformational relation marked between (x, y, z) is as follows:
Above-mentioned coordinate transform is not limited to the transformation between three-dimensional rectangular coordinate and spherical coordinate, here by the three of laser point
Dimension rectangular coordinates transformation is that spherical coordinate is due to the end point of current scan line in spherical coordinate and next scan line
Very big difference is had between the θ value of starting point, is easy to judge that current laser point detected belongs to which item is swept using the mutation of θ value
Retouch line.The coordinate of laser point is transformed to spherical coordinate it will be apparent that being not intended to limit in the present embodiment, as long as it is current to be readily susceptible to judgement
Laser point detected belongs to which scan line, such as cylindrical coordinates.
Step S102 detects the coordinate value of the laser point after being coordinately transformed, by the seat of current laser point detected
Scale value and the coordinate value of first laser point compare tentatively to judge whether current laser point detected is new scan line
The pre- reconnaissance of starting point.
When a new scan line starts, seat of the coordinate value of laser point relative to laser point in a upper scan line thereon
Scale value can difference, the coordinate value in one of direction can generate a very big mutation, therefore can use this feature,
The current coordinate value of laser point detected and the coordinate value of a upper laser point are compared, to tentatively to judge current
Laser point detected whether be starting point in new scan line pre- reconnaissance.Here starting point refers in this scan line
First laser point.
Coordinate for laser point is this situation of spherical coordinate, when a new scan line starts, the θ of laser point thereon
Value can generate mutation relative to the θ value of laser point in a upper scan line, will current laser point detected using this feature
θ value and the θ value of a upper laser point compare, to tentatively to judge whether current laser point detected is newly to scan
The pre- reconnaissance of the starting point of line.
It is in the present embodiment by three-dimensional laser scanner continuous that the θ value for detecting laser point, which changes there are many kinds of method,
Generated data regard an ergodic stable time series as when work, will return the problem of finding scan line starting point
The problem of becoming the catastrophe point of hunting time sequence, the θ value that laser point is detected using a kind of method for sliding operator template are become
Change, the θ value of laser magnanimity point sequence is continuously slipped over using operator template.
Define θ (A), θ (B), θ (C) are respectively θ value in operator template at tri- positions A, B, C.In same scan line
The linear decline trend of θ value of laser point, and the θ value of starting point can be much larger than terminating on current scan line in next scan line
The θ value of point, starting point and end point here respectively refer in next scan line on first laser point and current scan line
The last one laser point.Therefore, if 3 points of A, B, C in same scan line, and this 3 points are arranged successively from front to back,
So when operator template is slided in this scan line, θ (B)-θ (A) should be negative value, and θ (C)-θ (B) also should be
Negative value.And if A, B two o'clock are in same scan line, the position of A point is before B point, and C point is in next scan line
On, so θ (B)-θ (A) is negative value, and θ (C)-θ (B) is positive value, and | θ (C)-θ (B) | > > | θ (B)-θ (A) |, wherein
Symbol " > > " expression " being far longer than ".That is, when operator template is slided along scan line, if meeting following formula (2)
Can principium identification operator template slided into the end of current scan line, position corresponding to C point is the starting of new scan line
The pre- reconnaissance of point.
Wherein, k is constant, indicates the jump degree of θ value.
If in the step when judging current laser point detected is not the pre- reconnaissance of starting point of new scan line,
Using the coordinate value of present laser point as the coordinate data of the laser point on current scan line, then proceed to detect next laser
Point until can judge that detected laser point can be used as the pre- reconnaissance of the starting point in new scan line, then executes following step
Rapid S103.
Step S103, after tentatively judging current pre- reconnaissance of the laser point detected as the starting point of new scan line, into
One step determines whether the laser point can be used as the starting point of new scan line.
By not only having laser point in the collected original laser magnanimity point data of institute, there is also have because of the reasons such as hardware institute
Caused by noise spot, so only by above-mentioned detection can not also determine completely currently laser point detected whether be new scan line
Starting point, therefore, after there is mutation in the θ value for detecting present laser point, it is also necessary to further determine that current detected
Whether laser point is noise spot, if it is noise spot, then rejecting the noise spot, continues to test next laser point；If no
It is noise spot, then being assured that current laser point detected is the starting point of new scan line, this can pass through following two
Kind of method is realized:
(1) subsequent N number of laser point of present laser point is detected, N is positive integer, in order to ensure subsequent N number of laser point is equal
In same scan line, so the value of N cannot be too big.If present laser point is the starting point of next scan line, and
It is not noise spot, then the θ value of subsequent N number of laser point should be " almost " monotone decreasing.In the present embodiment, operator is used
Template detects subsequent N number of laser point (N 5), calculates the θ difference between two adjacent laser points, under the operator template,
The θ difference between 10 pairs of laser points can be calculated, in the ideal case, the θ difference of this 10 pairs of laser points all should be negative, but
Due to the presence of noise spot, as long as the θ difference of most of " put to " is negative, it is defined as follows:
In this 5 adjacent point, one shares 10 pairs of points by ascending order arrangement to (Ni, Nj| 1 > i), it is counted with formula (3)
Calculate this 10 pairs of points.Preferably, if f (Ni, Nj) be 1 number be greater than or equal to 7, so that it may think that subsequent 5 points are " several
" monotone decreasing, it at this moment may determine that present laser point is not noise spot, thus using the point as the starting point of new scan line,
If f (Ni, Nj) be 1 number less than 7, then rejecting the noise spot it is considered that the laser point of current detection is noise spot.
Here with f (Ni, Nj) be 1 number and 7 between relationship be measurement index, only consider for experience, it is in the application and unlimited
In this value.It declares herein, present laser point refers both to current laser point detected in this application.
(2) the φ value of present laser point is detected, and by all laser in the φ value of present laser point and a upper scan line
The average value of the φ value of point compares, if scan line detected is the 1st article of scan line, just by the φ of present laser point
The average value of the φ value of value and previous all laser points detected compares, so that currently laser point detected is to determine
The no starting point that can be used as new scan line.In the ideal case, in same scan line, the level of three-dimensional laser scanner turns
Dynamic angle φ should be consistent, but often due to hardware reason, φ value is simultaneously non-critical completely the same, but assume that same is swept
The φ value for retouching laser point on line is to meet the random sequence of normal distribution.If present laser point is the starting point of new scan line,
So φ value of the current laser point should beNear, wherein φoldIt is averaged for the φ value of a upper scan line
Value,For the average value of the horizontal sextant angle of adjacent two scan lines.When the φ value of present laser point meets following formula (4)
When condition, then determines that present laser point is the starting point of next scan line, be otherwise used as noise points deleting.
∈ is the stochastic variable for meeting normal distribution in above formula, i.e. ∈~N (0, σ2)。
In order to ensure the real cancelling noise point of energy, need for above two method to be used in combination, but can also be according to reality
Situation selects one of method only to determine that current laser point detected is the starting point of new scan line.
It can be seen that the application while detecting laser point from step S103 and also eliminate noise spot, that is, realize filter
Wave energy, in this way in subsequent Data processing, there is no need to be filtered again, to improve follow-up data processing
Efficiency.
If will just be worked as by finding that current laser point detected is not the starting point of new scan line after the step
Coordinate data of the coordinate value of preceding laser point detected as laser point current on current scan line, and continue to test next
Laser point is until can determine that laser point detected is the starting point of new scan line, then executes following step S104.
S104 establishes edge data storage effectiveness maximum model and value judgement: judge present laser point data whether be
The data of maximum value can be provided for terminal, if it is, edge memory node is stored to, if it is not, being stored
To central buffer area, the inversion of the coordinate transform is carried out to each laser point on current scan line in the central buffer area
It changes and saves, and using the new scan line as current scan line.
Step S104 edge data stores effectiveness maximum model are as follows: it is assumed that edge memory node cache size is V, node packet
Containing n data object while size is D={ datai| i=1,2 ..., n }, the requested number of data object is timei, number
Initial time according to object i deposit memory node is timei, current time timecurrent, can obtain data object is that i is stored
In calculate node time span are as follows:
timelength=timecurrent-timei (1)
Data object i is averaged requested number are as follows:
The storage effectiveness of data, the i.e. effectiveness of data object i are measured by the average requested number of data object i are as follows:
The maximum utility model of edge storing data object is expressed as:
Wherein, datawillTo be the data object size that will be stored in, if to be stored in new data pair in fringe node
As the edge cache space then vacateed has to be larger than datawillSize can cache the new data-objects to be stored in, side
It is less than or is equal to V-data by the sum of the data object size that selection continues storage in edge memory nodewill。
The value judgement standard of step S104 includes: that the hit rate of end-user request data object and calculate node are rung
The average delay answered is worth to measure the storage of data point, wherein it is given that the terminal user, which imposes the hit rate of data,
In time, it is k that mobile intelligent terminal user, which issues all request of data sums, and the number hit in edge memory node is m,
The hit rate of end-user request data object is r=m/k；The corresponding average delay of calculate node is certain what is given
In period, terminal user issues request of data and responds the time it takes to calculate node is received.
S105, when determining current laser point detected is the starting point of new scan line, then by the seat of present laser point
Coordinate data of the scale value as starting point in new scan line, and the magnanimity point data of all laser points on current scan line is deposited
Enter central buffer area, the inverse transformation being coordinately transformed to each laser point on current scan line in the buffer area of center.
After determining the starting point that current laser point detected is new scan line, by all laser on current scan line
The magnanimity point data of point is stored in buffer area, and in the present embodiment, magnanimity point data is primarily referred to as coordinate data and attribute data, sits
The coordinate value that data are laser point is marked, attribute data includes laser intensity, color value, number of echoes etc.；Then step S101 is utilized
Described in coordinate transform inverse transformation, by the spherical coordinate transformation of laser points all on current scan line return three-dimensional rectangular coordinate.
S106, after the inverse transformation that each laser point in buffer area on current scan line is coordinately transformed, to slow
The magnanimity point data for rushing laser point on current scan line in area is compressed, and then establishes spatial index table simultaneously for current scan line
Write back preservation.
After the coordinate of laser point is converted back three-dimensional rectangular coordinate, to the sea of laser point on current scan line in buffer area
Amount point data is compressed.It in the present embodiment, is to be compressed using zlib to magnanimity point data, zlib is a kind of open source
The software library of compression function is provided, very easily interface is provided, is by output after the massive point data compression in buffer area
New buffer data, while also returning to compressed data length and data address.In this example using zlib to magnanimity
Point data carry out compression detailed process is as follows: firstly, by buffer area on current scan line laser point coordinate data and attribute
Data separating is respectively present in two individual buffer areas, then calls the function in the library zlib to coordinate data and attribute data
It is compressed, exports new coordinate data and attribute data, while returning to the data of compressed coordinate data and attribute data
Length and data address.
After the magnanimity point data of laser point is compressed on current scan line in buffer area, established for current scan line
Spatial index table simultaneously writes back preservation.The establishment process of the spatial index table is as follows: firstly, encoded to current scan line, it should
Corresponding one unique number of scan line；Then concordance list is established, the keyword of the concordance list is the number of current scan line, rope
Draw the storage address that index entry numerical value corresponding with keyword in table is the magnanimity point data of laser point on current scan line.
After establishing spatial index table for current scan line, the magnanimity of laser point on compressed current scan line is counted
According to being write back and saved by the storage address in spatial index table corresponding to each scan line.In the present embodiment,
Mainly the coordinate data of laser point on current scan line and attribute data are carried out respectively to write back preservation.
By establishing spatial index table for scan line, only needed in two adjacent scan lines in follow-up data processing
Carry out triangle building, so as to avoid irregular triangular mesh (TIN) is established with Delaunay algorithm during institute face
Face in massive point at random search closest to the problem of, and then improve follow-up data processing efficiency.
S107 handles next scan line, repeats above step S102 and S106, until owning in original laser massive point
Scan line be disposed.
Specifically, being using new scan line as current scan line, by next laser point of starting point in new scan line
It as present laser point, then proceedes to execute step S102 to S106, that is, detects present laser point and judge that present laser point is
The no starting point for new scan line, after the starting point of the new scan line of determination, and by the sea of laser points all on current scan line
The inverse transformation that amount point data deposit buffer area is coordinately transformed, then compresses the magnanimity point data in buffer area, is
Current scan line establishes spatial index table, finally carries out writing back preservation to compressed magnanimity point data.Repeat above step
S102 and S105 is until the preservation of all original laser magnanimity point datas finishes.
It in this example, has been detected on current scan line after all laser points to the magnanimity point data in this scan line
Saved, then detect next scan line again, if needed can also on saving current scan line magnanimity point data
Next scan line is detected simultaneously.
Using the storage method of laser radar magnanimity point data in the present embodiment, can be convenient according to space digital product
Specified precision carries out interlacing extraction or is vacuated every M row, and M is the positive integer greater than 1, to improve follow-up data
The efficiency of processing.In addition, being built by increasing spatial structural form to discrete laser massive point to improve subsequent three-dimensional
The efficiency of mould.
Although the present invention is described by reference to specific illustrative embodiments, these embodiments are not will receive
Restriction and only limited by accessory claim.It should be understood by those skilled in the art that can be without departing from of the invention
Change and modification are able to carry out to the embodiment of the present invention in the case where protection scope and spirit.
Claims (9)
1. a kind of 3 D laser scanning massive point date storage method, characterized by comprising:
S1, the mobile intelligent terminal equipment that configuration can assist primary server to store scan magnanimity according to original laser collected
Point data is coordinately transformed the laser point in each scan line in original laser scanning magnanimity point data, obtains coordinate change
The coordinate value of all laser points after changing；
S2 detects the coordinate value of the laser point after being coordinately transformed, by the coordinate value of current laser point detected and formerly
The coordinate value of laser point detected compare judge current laser point detected whether be new scan line starting point；
S3, when judging current laser point detected is not the starting point of new scan line, then by working as after the coordinate transform
Coordinate data of the coordinate value of preceding laser point as the laser point on current scan line；
When judging starting point of the current laser point detected as new scan line, then by the present laser after the coordinate transform
Coordinate data of the coordinate value of point as starting point in new scan line,
S4 establishes edge data storage effectiveness maximum model and value judgement: judge present laser point data whether be can be end
End provides the data of maximum value, if it is, edge memory node is stored to, if it is not, being stored to center
Buffer area carries out inverse transformation and the guarantor of the coordinate transform to each laser point on current scan line in the central buffer area
It deposits, and using the new scan line as current scan line；
Next laser point of laser point detected current on current scan line is continued to execute step as present laser point by S5
Rapid S2 to S4, until the preservation of all original laser magnanimity point datas finishes.
2. a kind of 3 D laser scanning massive point date storage method according to claim 1, it is characterised in that the step
Suddenly being coordinately transformed to the laser point in each scan line in original laser scanning magnanimity point data for S1 includes:
The three-dimensional rectangular coordinate (x, y, z) that original laser scans each laser point in magnanimity point data is converted to and is swashed with three-dimensional
Spherical coordinate (r, θ, φ) centered on photoscanner, wherein r is distance of the laser point to scanner, and θ is laser rays and level
The angle in face, φ are to horizontally rotate angle when scanner works.
3. a kind of 3 D laser scanning massive point date storage method according to claim 1, it is characterised in that the step
Rapid S2 compares the coordinate value of the coordinate value of current laser point detected and first laser point detected to judge to work as
Whether preceding laser point detected is that the starting point of new scan line includes:
(S2-1) coordinate value of the coordinate value of current laser point detected and first laser point detected is compared
Judge whether current laser point detected can be used as the pre- reconnaissance of starting point of new scan line；
(S2-2) after the pre- reconnaissance for the starting point that the current laser point detected of judgement can be used as new scan line, further sentence
Disconnected current laser point detected whether be new scan line starting point.
4. a kind of 3 D laser scanning massive point date storage method according to claim 3, it is characterised in that the step
Suddenly (S2-1) includes:
By regarding the laser magnanimity point data of same scan line as stable ergodic time series, operator template is used
Judge currently to be examined to detect the size relation between the current θ value of laser point detected and the θ value of a upper laser point
Whether the laser point of survey can be used as the pre- reconnaissance of the starting point of new scan line.
5. a kind of 3 D laser scanning massive point date storage method according to claim 3, it is characterised in that the step
Suddenly (S2-2) includes:
Current institute is judged by the size relation between the θ value for the subsequent N number of laser point for detecting current laser point detected
The laser point of detection, and/or, by by the φ of all laser points on the φ value of current laser point detected and current scan line
The average value of value compare judge current laser point detected whether be new scan line starting point, wherein N is positive integer.
6. a kind of 3 D laser scanning massive point date storage method according to claim 1, it is characterised in that the step
Rapid S4 edge data stores effectiveness maximum model are as follows: it is assumed that edge memory node cache size is V, node includes n data pair
As while size is D={ datai| i=1,2 ..., n }, the requested number of data object is timei, data object i deposit
The initial time of memory node is timei, current time timecurrent, can obtain data object is that i is stored in calculate node
Time span are as follows:
timelength=timecurrent-timei (1)
Data object i is averaged requested number are as follows:
The storage effectiveness of data, the i.e. effectiveness of data object i are measured by the average requested number of data object i are as follows:
The maximum utility model of edge storing data object is expressed as:
Wherein, datawillTo be the data object size that will be stored in, if to be stored in new data-objects in fringe node, by
The edge cache space vacateed has to be larger than datawillSize can cache the new data-objects to be stored in, edge storage
It is less than or is equal to V-data by the sum of the data object size that selection continues storage in nodewill。
7. a kind of 3 D laser scanning massive point date storage method according to claim 1, it is characterised in that the step
The value judgement standard of rapid S4 includes: the hit rate of end-user request data object and the average delay of calculate node response
It is worth to measure the storage of data point, wherein it is movement within the given time that the terminal user, which imposes the hit rate of data,
It is k that intelligent terminal user, which issues all request of data sums, and the number hit in edge memory node is m, and terminal user asks
The hit rate for seeking data object is r=m/k；The corresponding average delay of calculate node is within given certain period, eventually
End subscriber issues request of data and responds the time it takes to calculate node is received.
8. a kind of 3 D laser scanning massive point date storage method according to claim 1, it is characterised in that the step
Rapid S5 is stored to central buffer area, carries out the seat to each laser point on current scan line in the central buffer area
It marks the inverse transformation converted and preservation includes:
(S5-1) by the coordinate data in the laser scanning magnanimity point data on current scan line and during attribute data is stored in respectively
Then heart buffer area carries out the coordinate to the coordinate data of each laser point on current scan line in the central buffer area
The inverse transformation of transformation；
(S5-2) after the inverse transformation for carrying out the coordinate transform to the coordinate data of each laser point on current scan line, to work as
Preceding scan line is established spatial index table and is saved.
9. a kind of 3 D laser scanning massive point date storage method according to claim 8, it is characterised in that the step
It suddenly is current after (S5-2) carries out the inverse transformation of the coordinate transform to the coordinate data of each laser point on current scan line
Scan line is established spatial index table and save
(S5-2a) to after the inverse transformation for carrying out the coordinate transform in buffer area coordinate data and attribute data compress；
(S5-2b) it to the coordinate data in buffer area and after attribute data compresses, is encoded to current scan line, currently
Scan line corresponds to a unique number；
(S5-2c) spatial index table is established for the current scan line after being numbered, the keyword of the spatial index table is to work as
The number of preceding scan line, index entry value corresponding with keyword is laser massive point on current scan line in the spatial index table
The storage address of data；
(S5-2d) after establishing spatial index table to current scan line, the seat of compressed buffer area will be carried out on current scan line
Mark data and attribute data are write back and are saved by the storage address in spatial index table corresponding to current scan line.
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