CN110531374A - A kind of vehicle side based on laser point cloud data and GDI overlooks drawing drawing method - Google Patents
A kind of vehicle side based on laser point cloud data and GDI overlooks drawing drawing method Download PDFInfo
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- CN110531374A CN110531374A CN201910607487.2A CN201910607487A CN110531374A CN 110531374 A CN110531374 A CN 110531374A CN 201910607487 A CN201910607487 A CN 201910607487A CN 110531374 A CN110531374 A CN 110531374A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
A kind of vehicle side based on laser point cloud data and GDI overlooks drawing drawing method, the following steps are included: 1) obtain point cloud coordinate data needed for drawing vehicle side surface view and top view within the period that left and right laser radar carries out contour dimension detection to vehicle；2) average speed of vehicle driving is calculated by optoelectronic switch groupAnd scan frequency f and average speed according to laser radarCalculate the Z-direction coordinate value of coordinate points in every frame point cloud data；3) three dimensional point cloud is converted to the two-dimensional coordinate point data of different views needs；4) side of detection vehicle, top view are drawn using Windows graphical device interface (GDI)；5) the boundary graticule of tested vehicle is drawn out.Vehicle side that the present invention is surveyed and drawn, top view can it is more intuitive, clearly show vehicle outline shape and boundary graticule, if vehicle overall dimension fails the requirement that is up to state standards, testing staff and car owner can find out the position of transfiniting of vehicle accordingly.
Description
Technical field
It is specifically a kind of to be schemed based on laser point cloud data and Windows the invention belongs to vehicle side, top view field of drawing
Drawing drawing method is overlooked in the side of shape equipment interface (GDI).
Background technique
It is mostly based on the vehicle overall dimension automatic measurement system of laser radar currently on the market in display testing result
When be only capable of displaying the obtained numerical result of detection, and can not show the side of detected vehicle, top view.Minority can show tested vehicle
Side, top view automatic measurement system, also can only only draw the general profile shape of tested vehicle, these views still can not
Allow testing staff and tested vehicle car owner are more intuitive, faster understand testing result.Therefore realize that a kind of display effect is good, clear
Clear degree is high, and the vehicle side of the intuitive reaction detection result of energy, vertical view drawing drawing method are very necessary.
Currently it is related to the vehicle side based on laser point cloud data, overlooks in drawing drawing method, is closer to this programme
Include: patent of invention (application number: 201210515203.5, title: vehicle automatic identification device and its knowledge based on laser radar
Other method) profile of vehicle is scanned and is rebuild by laser radar and other ancillary equipments；Wang Hanning (is based on Laser Measuring
Away from vehicle cab recognition categorizing system [D] University Of Tianjin, 2012) laser range sensor is high with fixed frequency acquisition vehicle roof
Degree evidence simultaneously combines the collected speed data of radar velocity measurement sensor to carry out data processing by computer, redraws out the side of vehicle
End out line；Zhu Yinglong (research of vehicle's contour Size Measuring System [D] .2016) acquires width section by the rangefinder of left and right two,
The data that same width section is searched before carrying out profile drafting carry out rejecting splicing, pending data processing to the data of coincidence
After the completion, the distance between reverse-concave slice is obtained in conjunction with preceding rangefinder data, completes the drafting to vehicle's contour；Zhang Wen
Meeting, Guan Qiang, Sun Fengying (highway transport vehicle, which loads geometric dimension, to transfinite identification [J] Journal of northeast Forestry university, and 2009,37
(4): 108-111 non-contact measurement) is realized using laser range finder based on synchronized scanner, and utilizes composition algorithm, completes vehicle wheel
Wide synthesis；These methods are primarily present following problem:
(1) the general profile shape that can only draw tested vehicle can not show the gabarit details of vehicle.
(2) boundary graticule is drawn not on vehicle side, top view, can not observe the position of vehicle overload, it is difficult to be vehicle
Rectification provides help in time.
In conclusion current existing these are related to vehicle side, top view drafting scheme based on laser point cloud data, and
Non- is the optimal selection of most vehicle sensing mechanisms.
Summary of the invention
In order to overcome the shortcomings in the prior art, the purpose of the present invention is to provide one kind to be based on laser point cloud data and GDI
Vehicle side, overlook drawing drawing method, the vehicle side of mapping, top view can more intuitive, clearly show vehicle outline shape and
Boundary graticule, if vehicle overall dimension fails the requirement that is up to state standards, testing staff and car owner can find out the super of vehicle accordingly
Extreme position.
In order to solve the above-mentioned technical problem technical scheme is as follows:
A kind of vehicle side based on laser point cloud data and GDI overlooks drawing drawing method, and the method includes following steps
It is rapid:
Step 1: after vehicle enters detection zone, collecting the point cloud data that laser radar is collected into, and to point cloud data
Carry out primary filtration processing；Process is as follows:
Step 1.1: obtaining point cloud data the L={ (x that left laser radar scanning of each moment obtainsi,yi) | i=0,
1 ..., k-1 } point cloud data the R={ (x that obtains with right laser radar scanningi,yi) | i=0,1 ..., k-1 }, k is present frame
Points in point cloud data, coordinate points number is consistent in the point cloud data frame that left and right laser radar scanning obtains；
Step 1.2: rejecting in L, R and meet yi> h1Coordinate points, wherein h1Indicate coordinate points Y direction coordinate in L, R
The upper threshold of value；
Step 1.3: after merging coordinate system, rejecting in L, R and meet xi< l1Or xi> l2Coordinate points, wherein l1Indicate L, R
The bottom threshold of middle coordinate points X-direction coordinate value, l2Indicate the upper threshold of coordinate points X-direction coordinate value in L, R；
Step 2: filtering noise spot cloud coordinate points traverse all point cloud coordinates by step 1 primary filtration, calculate each
Point cloud coordinate points and front and back n1The distance d of the average coordinates value of a coordinate pointsiIf di> d1, then determine the coordinate points for noise spot
Cloud coordinate points reject it from point cloud data；
Step 3: point cloud data needed for extracting point cloud data needed for drawing vehicle side surface view and drawing vehicle；Process
It is as follows:
Step 3.1: calculating vehicle driving central axes X axis coordinate value, find out X axis coordinate value smallest point in L, remember that its X-axis is sat
Scale value is xLmin；X axis coordinate value maximum point in R is found out, remembers that its X axis coordinate value is xRmax, then the X-axis of vehicle driving central axes is sat
Scale value xmidCalculation formula are as follows:
xmid=(xLmin+xRmax)/2 (1)
Step 3.2: extracting point cloud data needed for drawing vehicle side surface view；It rejects in L, R and meets xi> l3Coordinate points, l3
Calculation formula are as follows:
l3=xmid-Δl (2)
l3X axis coordinate threshold value when point cloud data needed for drawing vehicle side surface view for extraction, Δ l are set according to different vehicle type
Fixed different value；
Step 3.3: extracting point cloud data needed for drawing vehicle；It rejects in L, R and meets xi> xRmaxCoordinate points,
And it rejects and meets x in L, Ri< xLmin；
Step 4: the average speed v of tested vehicle traveling, and the scanning according to laser radar are calculated by optoelectronic switch group
Frequency f and average speedCalculate the Z-direction coordinate value of coordinate points in every frame point cloud data；Process is as follows:
Step 4.1: optoelectronic switch group includes 4 pairs of optoelectronic switches, and distance is L, optoelectronic switch group between adjacent photo switch pair
When 1st pair of optoelectronic switch receives and be blocked signal, it is judged as detection start time, is denoted as t1, each side vehicle front and back wheel successively leads to
Cross each sidelight electric switch group detection zone, either side front-wheel block the 2nd optoelectronic switch at the time of be denoted as t2, similarly in the presence of
Carve t3、t4, rear-wheel block the 1st optoelectronic switch at the time of be denoted as t5, similarly there is moment t6、t7、t8, then tested vehicle is calculated
Average speed v are as follows:
The laser radar sensor scan period isThe then calculation formula of the Z coordinate value of adjacent i-th frame point cloud data are as follows:
Step 5: the three dimensional point cloud generated in step 4 is converted to the two-dimensional coordinate point data of different views needs；
Process is as follows:
Step 5.1: the X axis coordinate value for all three dimensional point cloud coordinates that step 4 is obtained is overlooked as vehicle is drawn
The Y axis coordinate value of coordinate points needed for scheming, X axis coordinate value of the Z axis coordinate value as coordinate points needed for drawing vehicle, passes through
This conversion has obtained all two-dimensional coordinate point datas needed for drawing vehicle；
Step 5.2: the Y axis coordinate value for all three dimensional point cloud coordinates that step 4 is obtained is as drafting vehicle left view
The Y axis coordinate value of coordinate points needed for scheming, X axis coordinate value of the Z axis coordinate value as coordinate points needed for drawing vehicle left view, passes through
This conversion has obtained all two-dimensional coordinate point datas needed for drawing vehicle left view；
Step 6: being needed using the Windows graphical device interface GDI drafting different views that read step 5 obtains respectively
Two-dimensional coordinate point data draws side, the top view of vehicle using the library function in GDI.
Further, the method also includes:
Step 7: drawing boundary graticule；Process is as follows:
Step 7.1: drawing vehicle side surface view boundary graticule；Point cloud data first frame needed for finding out tested vehicle side view and
The X axis coordinate value of last frame point cloud data in side view, drawing X axis coordinate value on side view with GDI library function is
The vertical line of this two-value；Short transverse coordinate value maximum point in point cloud data needed for side view is found out, with GDI library function in side view
The horizontal linear by the point is drawn on figure；
Step 7.2: drawing vehicle boundary graticule；Point cloud data width direction needed for finding out tested vehicle top view
Coordinate value maximum and smallest point, the horizontal linear by the two o'clock is drawn with GDI library function on top view.
Beneficial effects of the present invention are shown: (1) can it is more intuitive, clearly show vehicle outline shape, testing staff and
Tested vehicle car owner can it is more intuitive, faster understand testing result；(2) if vehicle overall dimension fails to be up to state standards
It is required that vehicle side, top view and boundary graticule that car owner can survey and draw according to the present invention find the position of transfiniting of vehicle, and whole in time
Change.
Detailed description of the invention
Fig. 1 is equipment scheme of installation.
In figure: the left laser radar of 1-, the right laser radar of 2-, 3- optoelectronic switch group.
Specific embodiment
The present invention is elaborated below with reference to embodiment.
Referring to Fig.1, a kind of vehicle side based on laser point cloud data and GDI, vertical view drawing drawing method, including following step
It is rapid:
Step 1: after vehicle enters detection zone, collecting the point cloud data that laser radar scanning obtains, and to a cloud number
According to progress primary filtration processing；Process is as follows:
Step 1.1: obtaining point cloud data the L={ (x that left laser radar scanning of each moment obtainsi,yi) | i=0,
1 ..., k-1 } point cloud data the R={ (x that obtains with right laser radar scanningi,yi) | i=0,1 ..., k-1 }, k is present frame
Points in point cloud data, coordinate points number is consistent in the point cloud data frame that left and right laser radar scanning obtains, in this example
K=274；
Step 1.2: rejecting in L, R and meet yi> h1Coordinate points, wherein h1Indicate coordinate points Y direction coordinate in L, R
The upper threshold of value, in this example h1=4200mm；
Step 1.3: after merging coordinate system, rejecting in L, R and meet xi< l1Or xi> l2Coordinate points, wherein l1Indicate L, R
The bottom threshold of middle coordinate points X-direction coordinate value, l2The upper threshold for indicating coordinate points X-direction coordinate value in L, R, at this
L in example1=500mm, l2=4000mm；
Step 2: filtering noise spot cloud coordinate points.All point cloud coordinates by step 1 primary filtration are traversed, are calculated each
Point cloud coordinate points and front and back n1The distance d of the average coordinates value of a coordinate pointsiIf di> d1, then determine the coordinate points for noise spot
Cloud coordinate points reject it from point cloud data；
Step 3: point cloud data needed for extracting point cloud data needed for drawing vehicle side surface view and drawing vehicle；Process
It is as follows:
Step 3.1: calculating vehicle driving central axes X axis coordinate value, find out X axis coordinate value smallest point in L, remember that its X-axis is sat
Scale value is xLmin；X axis coordinate value maximum point in R is found out, remembers that its X axis coordinate value is xRmax.Then the X-axis of vehicle driving central axes is sat
Scale value xmidCalculation formula are as follows:
xmid=(xLmin+xRmax)/2 (1)
Step 3.2: extracting point cloud data needed for drawing vehicle side surface view；It rejects in L, R and meets xi> l3Coordinate points, l3
Calculation formula are as follows:
l3=xmid-Δl (2)
l3X axis coordinate threshold value when point cloud data needed for drawing vehicle side surface view for extraction, Δ l can be according to different vehicle type
Different values is set, in this example Δ l=300mm.
Step 3.3: extracting point cloud data needed for drawing vehicle；It rejects in L, R and meets xi> xRmaxCoordinate points,
And it rejects and meets x in L, Ri< xLmin；
Step 4: the average speed of tested vehicle traveling is calculated by optoelectronic switch groupAnd the scanning according to laser radar
Frequency f and average speed v calculates the Z-direction coordinate value of coordinate points in every frame point cloud data, in this example f=60Hz；It crosses
Journey is as follows:
Step 4.1: optoelectronic switch group includes 4 pairs of optoelectronic switches, and distance is L between adjacent photo switch pair, in this example L
=30mm, the 1st pair of optoelectronic switch of optoelectronic switch group receives when being blocked signal, is judged as detection start time, is denoted as t1, each side
Vehicle front and back wheel passes sequentially through each sidelight electric switch group detection zone, either side front-wheel block the 2nd optoelectronic switch at the time of
It is denoted as t2, similarly there is moment t3、t4, rear-wheel block the 1st optoelectronic switch at the time of be denoted as t5, similarly there is moment t6、t7、
t8, then the average speed of tested vehicle is calculatedAre as follows:
The laser radar sensor scan period isThe then calculation formula of the Z coordinate value of adjacent i-th frame point cloud data are as follows:
Step 5: the three dimensional point cloud generated in step 4 is converted to the two-dimensional coordinate point data of different views needs；
Process is as follows:
Step 5.1: the X axis coordinate value for all three dimensional point cloud coordinates that step 4 is obtained is overlooked as vehicle is drawn
The Y axis coordinate value of coordinate points needed for scheming, X axis coordinate value of the Z axis coordinate value as coordinate points needed for drawing vehicle, passes through
This conversion has obtained all two-dimensional coordinate point datas needed for drawing vehicle；
Step 5.2: the Y axis coordinate value for all three dimensional point cloud coordinates that step 4 is obtained is as drafting vehicle left view
The Y axis coordinate value of coordinate points needed for scheming, X axis coordinate value of the Z axis coordinate value as coordinate points needed for drawing vehicle left view, passes through
This conversion has obtained all two-dimensional coordinate point datas needed for drawing vehicle left view；
Step 6: using Windows graphical device interface (GDI) drafting different views needs that read step 5 obtains respectively
Two-dimensional coordinate point data use library function in GDI to draw the side of vehicle, top view after special algorithm is handled；
Step 7: drawing boundary graticule；Process is as follows；
Step 7.1: drawing vehicle side surface view boundary graticule；Point cloud data first frame needed for finding out tested vehicle side view and
The X axis coordinate value of last frame point cloud data in side view, drawing X axis coordinate value on side view with GDI library function is
The vertical line of this two-value；Short transverse coordinate value maximum point in point cloud data needed for side view is found out, with GDI library function in side view
The horizontal linear by the point is drawn on figure；
Step 7.2: drawing vehicle boundary graticule；Point cloud data width direction needed for finding out tested vehicle top view
Coordinate value maximum and smallest point, the horizontal linear by the two o'clock is drawn with GDI library function on top view.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range should not be construed as being limited to the specific forms stated in the embodiments, and protection scope of the present invention is also and in this field skill
Art personnel conceive according to the present invention it is conceivable that equivalent technologies mean.
Claims (2)
1. a kind of vehicle side based on laser point cloud data and GDI overlooks drawing drawing method, which is characterized in that the method packet
Include following steps:
Step 1: after vehicle enters detection zone, collecting the point cloud data that laser radar is collected into, and carry out to point cloud data
Primary filtration processing；Process is as follows:
Step 1.1: obtaining point cloud data the L={ (x that left laser radar scanning of each moment obtainsi,yi) | i=0,1 ..., k-
1 } point cloud data the R={ (x obtained with right laser radar scanningi,yi) | i=0,1 ..., k-1 }, k is present frame point cloud data
In points, coordinate points number is consistent in the point cloud data frame that left and right laser radar scanning obtains；
Step 1.2: rejecting in L, R and meet yi> h1Coordinate points, wherein h1Indicate coordinate points Y direction coordinate value in L, R
Upper threshold；
Step 1.3: after merging coordinate system, rejecting in L, R and meet xi< l1Or xi> l2Coordinate points, wherein l1It indicates to sit in L, R
The bottom threshold of punctuate X-direction coordinate value, l2Indicate the upper threshold of coordinate points X-direction coordinate value in L, R；
Step 2: filtering noise spot cloud coordinate points traverse all point cloud coordinates by step 1 primary filtration, calculate each cloud
Coordinate points and front and back n1The distance d of the average coordinates value of a coordinate pointsiIf di> d1, then determine the coordinate points for noise spot cloud seat
Punctuate rejects it from point cloud data；
Step 3: point cloud data needed for extracting point cloud data needed for drawing vehicle side surface view and drawing vehicle；Process is such as
Under:
Step 3.1: calculating vehicle driving central axes X axis coordinate value, find out X axis coordinate value smallest point in L, remember its X axis coordinate value
For xLmin；X axis coordinate value maximum point in R is found out, remembers that its X axis coordinate value is xRmax, then the X axis coordinate value of vehicle driving central axes
xmidCalculation formula are as follows:
xmid=(xLmin+xRmax)/2 (1)
Step 3.2: extracting point cloud data needed for drawing vehicle side surface view；It rejects in L, R and meets xi> l3Coordinate points, l3Meter
Calculate formula are as follows:
l3=xmid-Δl (2)
l3For extract draw vehicle side surface view needed for point cloud data when X axis coordinate threshold value, Δ l according to different vehicle type set not
Same value；
Step 3.3: extracting point cloud data needed for drawing vehicle；It rejects in L, R and meets xi> xRmaxCoordinate points, and pick
Except meeting x in L, Ri< xLmin；
Step 4: the average speed of tested vehicle traveling is calculated by optoelectronic switch groupAnd the scan frequency f according to laser radar
And average speedCalculate the Z-direction coordinate value of coordinate points in every frame point cloud data；Process is as follows:
Step 4.1: optoelectronic switch group include 4 pairs of optoelectronic switches, adjacent photo switch pair between distance be L, the 1st pair of optoelectronic switch group
Optoelectronic switch receives when being blocked signal, is judged as detection start time, is denoted as t1, each side vehicle front and back wheel passes sequentially through each side
Optoelectronic switch group detection zone, either side front-wheel block the 2nd optoelectronic switch at the time of be denoted as t2, similarly there is moment t3、
t4, rear-wheel block the 1st optoelectronic switch at the time of be denoted as t5, similarly there is moment t6、t7、t8, then tested vehicle is calculated
Average speedAre as follows:
The laser radar sensor scan period isThe then calculation formula of the Z coordinate value of adjacent i-th frame point cloud data are as follows:
Step 5: the three dimensional point cloud generated in step 4 is converted to the two-dimensional coordinate point data of different views needs；Process
It is as follows:
Step 5.1: the X axis coordinate value for all three dimensional point cloud coordinates that step 4 is obtained is as drafting vehicle institute
The Y axis coordinate value of coordinate points is needed, X axis coordinate value of the Z axis coordinate value as coordinate points needed for drawing vehicle passes through this
Conversion has obtained all two-dimensional coordinate point datas needed for drawing vehicle；
Step 5.2: the Y axis coordinate value for all three dimensional point cloud coordinates that step 4 is obtained is as drafting vehicle left view institute
The Y axis coordinate value of coordinate points is needed, X axis coordinate value of the Z axis coordinate value as coordinate points needed for drawing vehicle left view passes through this
Conversion has obtained all two-dimensional coordinate point datas needed for drawing vehicle left view；
Step 6: using the Windows graphical device interface GDI two dimension drawing different views and needing that read step 5 obtains respectively
Coordinate point data draws side, the top view of vehicle using the library function in GDI.
2. vehicle side, vertical view drawing drawing method as described in claim 1 based on laser point cloud data and GDI, feature exist
In, the method also includes:
Step 7: drawing boundary graticule；Process is as follows:
Step 7.1: drawing vehicle side surface view boundary graticule；Point cloud data first frame needed for finding out tested vehicle side view and last
The X axis coordinate value of one frame point cloud data in side view draws X axis coordinate value thus two with GDI library function on side view
The vertical line of value；Point cloud data short transverse coordinate value maximum point needed for side view is found out, is drawn on side view with GDI library function
The horizontal linear that system passes through the point；
Step 7.2: drawing vehicle boundary graticule；Point cloud data width direction coordinate needed for finding out tested vehicle top view
Value maximum and smallest point, the horizontal linear by the two o'clock is drawn with GDI library function on top view.
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Application publication date: 20191203 |