CN110084819A - A kind of laser point cloud transmission line of electricity dividing method based on spatial relationship - Google Patents
A kind of laser point cloud transmission line of electricity dividing method based on spatial relationship Download PDFInfo
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- CN110084819A CN110084819A CN201910408082.6A CN201910408082A CN110084819A CN 110084819 A CN110084819 A CN 110084819A CN 201910408082 A CN201910408082 A CN 201910408082A CN 110084819 A CN110084819 A CN 110084819A
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- point cloud
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/64—Analysis of geometric attributes of convexity or concavity
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a kind of laser point cloud transmission line of electricity dividing method based on spatial relationship, it includes: that transmission line of electricity laser point cloud three-dimensional data is projected to XOY plane；Calculate the convex closure of route laser point cloud data；Calculate separately out the maximum distance of the nodal distance shaft tower plane coordinates line equation of the convex closure of left and right directions, if the distance of left and right directions and more than 1 meter, using least square method carry out straight line fitting, form 2 left and right sides；Calculate transmission line of electricity laser point cloud data to left and right sideline distance；Transmission line of electricity laser point cloud data after dividing on XOY plane is projected in XOZ plane, the convex closure of route laser point cloud data is calculated；Sequence takes out the node of convex closure and connects into line, according to the trend of connecting line, is partitioned into transmission line of electricity laser point cloud data, until completing the segmentation of transmission line of electricity laser point cloud data；Solving the prior art cannot be guaranteed the technical problems such as the accuracy of laser point cloud data share split.
Description
Technical field
The invention belongs to technical field of electric power more particularly to a kind of laser point cloud transmission line of electricity segmentations based on spatial relationship
Method.
Background technique
Transmission line of electricity share split calculation method based on laser point cloud is the analysis of transmission line of electricity laser point cloud data and shows
Important and committed step, the laser point cloud data after share split directly affect laser point cloud data analysis quality and bandwagon effect.Mesh
The share split method of preceding laser point cloud data mostly according to the elevation information of power line, utilizes transmission line of electricity laser point cloud data and projection
Laser point cloud data depth displacement afterwards is judged, it cannot be guaranteed that the accuracy of laser point cloud data share split.Current power line point
It cuts and still has some problems in the research of algorithm, it can be with induction and conclusion are as follows: and 1) mainly research power line completely puts cloud relatively,
It is inadequate to power line missing point cloud segmentation research；2) it is imperfect to summarize electric power line model, studies and is concentrated mainly on power line in XOY
The model that plane projection is not overlapped projects power line in XOY plane and is overlapped model research not enough；3) to different power line point clouds
Data need to adjust partitioning parameters, and engineer application is bad, realize that difficulty is big.
Summary of the invention
The technical problem to be solved in the present invention: a kind of laser point cloud transmission line of electricity segmentation side based on spatial relationship is provided
Method, to solve to utilize transmission line of electricity laser point cloud data and throwing for the segmentation of laser point cloud transmission line of electricity is existing in the prior art
The laser point cloud data depth displacement of movie queen judges, it cannot be guaranteed that the technical problems such as accuracy of laser point cloud data share split.
Technical solution of the present invention:
A kind of laser point cloud transmission line of electricity dividing method based on spatial relationship, it includes:
Transmission line of electricity laser point cloud three-dimensional data is projected to XOY plane by step 1；
Step 2, the convex closure for calculating route laser point cloud data；
Step 3, the node for obtaining convex closure, sequence take out the node of convex closure, according to shaft tower plane coordinates line equation, calculate
In the left and right directions of plane coordinates line equation, the node of the convex closure of left and right directions stores convex closure node respectively out；
Step 4, calculate separately out left and right directions convex closure nodal distance shaft tower plane coordinates line equation it is maximum away from
From, if the distance of left and right directions and be no more than 1 meter, then it is assumed that be a line, enter step 6；Otherwise 5 are entered step；
The convex closure node of left and right directions is carried out straight line fitting using least square method by step 5, is formed 2 left and right sides, is counted
The distance that transmission line of electricity laser point cloud data arrives left and right sideline is calculated, if distance is no more than 1 meter, then it is assumed that be left and right sideline
Point is simultaneously stored the point in left and right sideline respectively；Laser point cloud data by distance more than 1 meter is individually stored and is entered step
1；
Transmission line of electricity laser point cloud data after dividing on XOY plane is projected in XOZ plane, and calculated by step 6
The convex closure of route laser point cloud data out；
Step 7, obtaining step 6 convex closure node, sequence take out convex closure node, node is connected into line, according to
The trend of connecting line is partitioned into transmission line of electricity laser point cloud data, until completing the segmentation of transmission line of electricity laser point cloud data.
The convex closure is the convex polygon that the outermost point of route laser point cloud data is connected to composition.
Beneficial effects of the present invention:
The present invention is directed to the spatial relation of power line point cloud data, calculates electric power line laser in XOY plane first
The convex closure of point cloud data calculates power line according to the positional relationship of the node line of convex closure and power line laser point cloud data
Line belonging to laser point cloud completes the segmentation in XOY plane to power line point cloud data；Further for avoiding power line from existing
The case where XOY plane projection is overlapped, the present invention further will be projected in XOZ plane by laser point cloud data after XOY plane segmentation,
XOZ plane to after XOY plane is divided laser point cloud data divided again, avoid transmission line of electricity laser point cloud data
There is asking for accidentally segmentation there may be coincidence on XOY plane or in the segmentation of transmission line of electricity caused by too small situation
Topic；The present invention carries out power line segmentation by extracting the convex closure node acquisition outermost point of route laser point cloud data, works as electricity
When line of force intermediate point cloud has missing, do not influence convex closure outside power line point cloud still and extract, thus solve the prior art for
The bad problem of power line point cloud deletion condition application effect；Meanwhile the parameter set in the present invention is preset parameter, is applicable in
In all power line point cloud datas, without according to different data adjusting parameter.Power line segmentation can be solved through the invention to rely on
Point cloud data quality needs to adjust partitioning parameters, summarizes the problems such as electric power line model is imperfect to different power line point cloud datas
The problems such as accuracy of caused laser point cloud data share split is poor；To carry out the exhibition of power line vector quantization after dividing based on power line
Show, power line simulation is calculated and taken a firm foundation under each operating condition；It solves in the prior art for laser point cloud transmission line of electricity point
The existing laser point cloud data depth displacement using after transmission line of electricity laser point cloud data and projection is cut to be judged, it cannot be guaranteed that
The technical problems such as the accuracy of laser point cloud data share split.
Specific embodiment
A kind of laser point cloud transmission line of electricity dividing method based on spatial relationship, it includes:
Transmission line of electricity laser point cloud three-dimensional data is projected to XOY plane by step 1；
Step 2, the convex closure for calculating route laser point cloud data, convex closure are exactly that outermost point is connected composition
Convex polygon, it can concentrate all points comprising point；
Step 3, the node for obtaining convex closure, sequence take out the node of convex closure, according to shaft tower plane coordinates line equation, calculate
In the left and right directions of plane coordinates line equation, the node of the convex closure of left and right directions stores convex closure node respectively out；
Step 4, calculate separately out left and right directions convex closure nodal distance shaft tower plane coordinates line equation it is maximum away from
From.If the distance of left and right directions and be no more than 1 meter, then it is assumed that be a line, enter step 6；Otherwise 5 are entered step；
The convex closure node of left and right directions is carried out straight line fitting using least square method by step 5, is formed 2 left and right sides, is counted
The distance that transmission line of electricity laser point cloud data arrives left and right sideline is calculated, if distance is no more than 1 meter, then it is assumed that be left and right sideline
Point is simultaneously stored the point in left and right sideline respectively；Laser point cloud data by distance more than 1 meter individually stores, and enters step 1.
After having arrived the step, segmentation of the transmission line of electricity laser point cloud data on XOY plane is just completed.Due to power transmission line
Road laser point cloud data on XOY plane there may be overlapped or apart from it is too small in the case where, will lead to transmission line of electricity point
It the case where cutting in the presence of accidentally dividing, needs to be checked in XOZ plane；
Step 6 projects to the transmission line of electricity laser point cloud data after dividing on XOY plane in XOZ plane, calculates
The convex closure of route laser point cloud data；
The node of step 7,6 convex closure of obtaining step, sequence take out the node of convex closure.Line is connected into according to node, according to
The trend of connecting line is partitioned into transmission line of electricity laser point cloud data；Until completing the segmentation of transmission line of electricity laser point cloud data.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In range disclosed by the invention, the change or replacement that can be readily occurred in should all be contained those familiar with the art
Lid is within the scope of the invention as claimed.
Claims (2)
1. a kind of laser point cloud transmission line of electricity dividing method based on spatial relationship, it includes:
Transmission line of electricity laser point cloud three-dimensional data is projected to XOY plane by step 1；
Step 2, the convex closure for calculating route laser point cloud data；
Step 3, the node for obtaining convex closure, the node that sequence takes out convex closure calculate convex according to shaft tower plane coordinates line equation
In the left and right directions of plane coordinates line equation, the node of the convex closure of left and right directions stores packet node respectively；
Step 4, calculate separately out left and right directions convex closure nodal distance shaft tower plane coordinates line equation maximum distance, such as
The distance of fruit left and right directions and be no more than 1 meter, then it is assumed that be a line, enter step 6；Otherwise 5 are entered step；
The convex closure node of left and right directions is carried out straight line fitting using least square method by step 5, is formed 2 left and right sides, is calculated
Transmission line of electricity laser point cloud data to left and right sideline distance, if distance be no more than 1 meter, then it is assumed that be the point in left and right sideline simultaneously
The point in left and right sideline is stored respectively；Laser point cloud data by distance more than 1 meter individually stores and enters step 1；
Transmission line of electricity laser point cloud data after dividing on XOY plane is projected in XOZ plane, and calculates outlet by step 6
The convex closure of road laser point cloud data；
Step 7, obtaining step 6 convex closure node, sequence take out convex closure node, node is connected into line, according to connection
The trend of line is partitioned into transmission line of electricity laser point cloud data, until completing the segmentation of transmission line of electricity laser point cloud data.
2. a kind of laser point cloud transmission line of electricity dividing method based on spatial relationship according to claim 1, feature exist
In: the convex closure is the convex polygon that the outermost point of route laser point cloud data is connected to composition.
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Effective date of registration: 20210913 Address after: 550000 No. 17 Binhe Road, Nanming District, Guiyang City, Guizhou Province Applicant after: Guizhou Power Grid Co.,Ltd. Address before: No.17 Binhe Road, Nanming District, Guiyang City, Guizhou Province Applicant before: Guizhou Power Grid Co.,Ltd. Applicant before: POWERCHINA GUIZHOU ELECTRIC POWER DESIGN & RESEARCH INSTITUTE Co.,Ltd. |
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