CN112683221B - Building detection method and related device - Google Patents
Building detection method and related device Download PDFInfo
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- CN112683221B CN112683221B CN202011519512.0A CN202011519512A CN112683221B CN 112683221 B CN112683221 B CN 112683221B CN 202011519512 A CN202011519512 A CN 202011519512A CN 112683221 B CN112683221 B CN 112683221B
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Abstract
The embodiment of the application provides a building detection method and a related device, and the method is used for acquiring a point set and a plane set acquired aiming at a building to be detected. Then, an edge point set between a first plane and a second plane in the plane set is determined according to the point set and the plane set. If the first plane is determined to be adjacent to the second plane, the first plane is indicated to be intersected with the first wall surface of the building to be detected corresponding to the first plane and the second plane is indicated to be intersected with the second wall surface of the building to be detected corresponding to the second plane, and therefore the included angle between the first plane and the second plane is calculated to determine the verticality or the squareness between the first wall surface and the second wall surface. Because the point set and the plane set are based on the data acquired by the digitization aiming at the building to be detected, and the included angle between two adjacent and intersected wall surfaces in the building to be detected is calculated based on the point set and the plane set, the measurement of the verticality or the squareness between the two wall surfaces is realized, the measurement error caused by manual measurement is reduced, the measurement cost is reduced, and the measurement efficiency is improved.
Description
Technical Field
The application relates to the technical field of buildings, in particular to a building detection method and a related device.
Background
In the process of checking and accepting a newly-built house, whether the house meets the building requirements or not can be detected by measuring the perpendicularity and the squareness of the building. The perpendicularity refers to an included angle between a wall surface and the ground, and the squareness refers to an included angle between the wall surface and the wall surface. In the related art, the perpendicularity and the squareness of a building to be detected can be measured by means of a ruler and the like manually.
Fig. 1 provides a method for manually measuring perpendicularity, specifically: the center of a handheld 2m detection ruler is positioned on a wall surface with the same waist height, the detection ruler is abutted against the detected surface, the holding ruler is vertical, the observation movable pin is exposed by 3-5mm, the swinging is flexible, and when the pointer stops automatically, the pointer value is the verticality deviation of the detected surface. When the length of the wall is less than 3 meters, the position of the same wall, which is about 30cm away from the vertical internal and external corners of the two ends, is actually measured for 2 times according to the following principle: firstly, measuring the verticality for 1 time when the top end of the guiding rule is contacted with the position of the upper concrete top plate, and secondly, measuring the verticality for 1 time when the bottom end of the guiding rule is contacted with the position of the lower ground; when the length of the wall is more than 3 meters, the wall length is increased once at the middle position.
Fig. 2 provides a method for manually measuring squareness, which specifically includes: before actual measurement, using a 5-meter measuring tape or a laser swinger to check two ejected squareness control lines by taking a short side wall as a reference, then respectively measuring the distances between 3 positions (two ends and the middle) and the control lines along the direction of a long side wall, taking the range between 3 measured values as 1 calculation point for judging the qualification rate of the measured index
The manual measurement mode is adopted, so that the labor consumption is high, the cost is high, the consumed time is long, the time for measuring one house is generally 15-30 minutes, the efficiency is low, errors exist in the measurement result, and the measurement precision is low.
Disclosure of Invention
In order to solve the technical problems in the prior art, the application provides a building detection method and a related device, so that the measurement cost is reduced, and the measurement precision is improved.
In one aspect, an embodiment of the present application provides a building detection method, where the method includes:
acquiring a point set and a plane set acquired aiming at a building to be detected; the set of planes is determined from the set of points;
determining a set of edge points between a first plane and a second plane in the set of planes according to the set of points and the set of planes; the set of edge points is used to identify that the first plane intersects the second plane;
determining whether the first plane and the second plane are adjacent according to the edge point set;
if yes, calculating an included angle between the first plane and the second plane.
In a possible implementation manner, if a first point to be fixed is any one point in the set of points, and a first distance between the first point to be fixed and the first plane and a second distance between the first point to be fixed and the second plane respectively satisfy a distance condition, the first point to be fixed is determined as a point in the set of edge points.
In a possible implementation manner, if a target point is any point in the edge point set, the determining whether the first plane and the second plane are adjacent to each other according to the edge point set includes:
determining k neighboring points of the target point from the point set;
if the number of adjacent points meeting the angle condition in the k adjacent points meets a first threshold condition, determining the target point as a common edge point of the first plane and the second plane;
and determining whether the first plane and the second plane are adjacent or not according to the common edge point in the edge point set.
In a possible implementation manner, if the second undetermined point is a common edge point of the k adjacent points, the angle condition includes:
a first included angle between the second undetermined point and the first plane meets a first angle condition, and a second included angle between the second undetermined point and the second plane meets a second angle condition.
In a possible implementation manner, if the edge point set includes n edge points, where the n edge points include m common edge points, and the determining whether the first plane and the second plane are adjacent to each other according to the common edge points in the edge point set includes:
determining whether the first plane and the second plane are adjacent by determining whether the n edge points and the m common edge points satisfy a second threshold condition.
In one possible implementation manner, the acquiring the point set and the plane set collected for the building to be detected includes:
acquiring a point cloud data point set collected aiming at a building to be detected;
and carrying out plane segmentation on the point cloud data point set to obtain a point cloud plane set aiming at the building to be detected.
In one possible implementation, the method further includes:
determining whether an included angle between the first plane and the second plane meets a third angle condition;
if so, determining that the angle between the first plane and the second plane meets the building requirement of the perpendicularity requirement of the building to be detected;
if not, determining that the angle between the first plane and the second plane does not meet the building requirement of the perpendicularity requirement of the building to be detected.
On the other hand, the embodiment of the present application provides a building detection apparatus, the apparatus includes an obtaining unit, a determining unit, and a calculating unit:
the acquisition unit is used for acquiring a point set and a plane set acquired aiming at a building to be detected; the set of planes is determined from the set of points;
the determining unit is configured to determine, according to the point set and the plane set, an edge point set between a first plane and a second plane in the plane set; the set of edge points is used to identify that the first plane intersects the second plane;
the determining unit is configured to determine whether the first plane and the second plane are adjacent to each other according to the edge point set; if yes, triggering the computing unit;
the calculating unit is used for calculating an included angle between the first plane and the second plane.
In a possible implementation manner, if a first point to be fixed is any one point in the point set, the determining unit is configured to determine the first point to be fixed as a point in the edge point set when a first distance between the first point to be fixed and the first plane and a second distance between the first point to be fixed and the second plane respectively satisfy a distance condition.
In a possible implementation manner, if a target point is any point in the edge point set, the determining unit is configured to:
determining k neighboring points of the target point from the point set;
if the number of adjacent points meeting the angle condition in the k adjacent points meets a first threshold condition, determining the target point as a common edge point of the first plane and the second plane;
and determining whether the first plane and the second plane are adjacent or not according to the common edge point in the edge point set.
In a possible implementation manner, if the second undetermined point is a common edge point of the k adjacent points, the angle condition includes:
a first included angle between the second undetermined point and the first plane meets a first angle condition, and a second included angle between the second undetermined point and the second plane meets a second angle condition.
In a possible implementation manner, if the edge point set includes n edge points, where the n edge points include m common edge points, the determining unit is configured to determine whether the first plane and the second plane are adjacent by determining whether the n edge points and the m common edge points satisfy a second threshold condition.
In a possible implementation manner, the obtaining unit is configured to:
acquiring a point cloud data point set acquired aiming at a building to be detected;
and carrying out plane segmentation on the point cloud data point set to obtain a point cloud plane set aiming at the building to be detected.
In a possible implementation manner, the determining unit is further configured to:
determining whether an included angle between the first plane and the second plane meets a third angle condition;
if so, determining that the angle between the first plane and the second plane meets the building requirement of the perpendicularity requirement of the building to be detected;
if not, determining that the angle between the first plane and the second plane does not meet the building requirement of the perpendicularity requirement of the building to be detected.
In another aspect, an embodiment of the present application provides a computer device, where the computer device includes a memory and a processor:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the method of the above aspect according to instructions in the program code.
In another aspect, the present application provides a computer-readable storage medium for storing a computer program for executing the method of the above aspect.
According to the technical scheme, the point set and the plane set acquired aiming at the building to be detected are acquired, wherein the plane set is determined according to the point set. Then, from the set of points and the set of planes, a set of edge points between a first plane and a second plane in the set of planes is determined, the set of edge points identifying the intersection of the first plane and the second plane. Since it cannot be determined whether the first plane and the second plane are adjacent in the building to be detected, it is also necessary to determine whether the first plane and the second plane are adjacent according to the edge point set. If the first plane is determined to be adjacent to the second plane, the first plane is indicated to be intersected with the first wall surface of the building to be detected corresponding to the first plane and the second plane is indicated to be intersected with the second wall surface of the building to be detected corresponding to the second plane, and therefore the included angle between the first plane and the second plane is calculated to determine the verticality or the squareness between the first wall surface and the second wall surface. Because the point set and the plane set are based on the data acquired by the digitization aiming at the building to be detected, and the included angle between two adjacent and intersected wall surfaces in the building to be detected is calculated based on the point set and the plane set, the measurement of the verticality or the squareness between the two wall surfaces is realized, the measurement error caused by manual measurement is reduced, the measurement cost is reduced, and the measurement efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a method for measuring verticality according to the present disclosure;
FIG. 2 is a schematic diagram of a squareness measurement method provided herein;
fig. 3 is a schematic flow chart of a building detection method according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of extracting edge points according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of two intersecting planes provided by an embodiment of the present application;
FIG. 6 is a schematic flow chart of another building detection method provided in the embodiments of the present application;
fig. 7 is a schematic structural diagram of a building detection apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Because the method of adopting manual measurement is with high costs, inefficiency, there is measurement error, therefore, this application provides a building detection method and relevant device, has reduced measurement cost, has improved measurement of efficiency, has reduced the measurement error that leads to because manual measurement, has improved measurement accuracy.
The building detection method provided by the embodiment of the application is applied to building detection equipment with data processing capacity, such as terminal equipment or a server, and the method can be independently executed through the terminal equipment, can also be independently executed through the server, can also be applied to a network scene of communication between the terminal equipment and the server, and is executed through the cooperation between the terminal equipment and the server. The terminal equipment can be a mobile phone, a desktop computer, a portable computer and the like; the server may be understood as an application server or a Web server, and in actual deployment, the server may be an independent server or a cluster server.
The building detection method provided by the embodiment of the application is described below by taking a terminal device as an execution subject.
Referring to fig. 3, fig. 3 is a schematic flowchart of a building detection method according to an embodiment of the present disclosure. As shown in fig. 3, the building detection method includes the steps of:
s301: and acquiring a point set and a plane set acquired aiming at the building to be detected.
In practical application, a point set can be collected for a building to be detected by using an instrument such as a scanner, and then, plane segmentation is performed according to the collected point set to obtain a plane set for the building to be detected. Wherein each plane in the plane set corresponds to a wall/ground of the building to be detected. For convenience of description, in the present application, the wall surface and the ground surface of the building to be detected are not distinguished.
In a possible implementation manner, a point cloud point set acquired for a building to be detected may be acquired, and then, based on the point cloud point set, plane segmentation is performed to obtain a plane set for the building to be detected. The point cloud points in the point cloud point set refer to points with full amount of point cloud data.
In practical applications, the point cloud point set may be downsampled before performing the plane segmentation, so as to reduce the cost and time of subsequent data calculation. In the embodiment of the application, a RANdom Sample Consensus (RANSAC) algorithm is adopted to perform plane segmentation on the point cloud point set to obtain a plane set corresponding to a building to be detected. In practical applications, other ways may also be adopted for performing plane segmentation, and no limitation is made herein.
The point cloud data of the building to be detected is used for performing 3D modeling on the building to be detected, and the plane set obtained by plane segmentation is used for simulating the building to be detected, so that the building to be detected can be measured based on the point set and the plane set, and the problems of low efficiency, high cost and measurement error caused by manual measurement are solved.
S302: and determining an edge point set between a first plane and a second plane in the plane set according to the point set and the plane set.
It can be understood that the premise for measuring the perpendicularity or squareness between two walls in a building to be detected is as follows: the two wall surfaces intersect and are adjacent to each other. In view of this, in the embodiment of the present application, two intersecting planes are determined by extracting the edge point set.
In practical application, each point in the point set is subjected to plane division, and an edge point between a first plane and a second plane in the plane set is determined. If one point in the set of points is an edge point between the first plane and the second plane, it indicates that the first plane intersects the second plane, i.e., the edge point identifies two intersecting planes. Based on this, by extracting the edge points, the intersecting plane is determined.
In a possible implementation manner, if the first point to be fixed is any one point in the point set, it is determined whether a distance from the first point to be fixed to each plane in the plane set satisfies a distance condition, and the first point to be fixed is divided. If the first point to be fixed is divided into a plurality of planes, the first point to be fixed is determined as an edge point.
In the embodiment of the present application, a distance threshold is set as the distance condition, if a first distance from the first point to be fixed to the first plane is not greater than the distance threshold, the first point to be fixed is classified onto the first plane, and a second distance from the first point to be fixed to the second plane is not greater than the distance threshold, the first point to be fixed is classified onto the second plane. Based on this, the first point to be determined is an edge point between the first plane and the second plane.
In the practical application process, the terminal device may implement the extraction of the edge point by the following codes:
Def belonging_plains(all_distance,threshold):
mask＝all_distances<threshold
mask[point,min_distance]＝True
and if the distance between a point and a certain plane is less than a threshold value according to a distance threshold value, the point is considered to belong to the plane, and the value is set as true. If there are more than 1 true in a row of the mask, it means that the point belongs to multiple planes, and these points are the edge points to be found.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating edge point extraction according to an embodiment of the present disclosure. As shown in fig. 4, the distance threshold is set to 5 mm. For the first to-be-determined point 403, the first distance to the first plane 401 is less than 5mm, and the distance to the second plane 402 is greater than 5mm, then the first to-be-determined point 403 is not an edge point of the first plane 401 and the second plane 402. For the first to-be-fixed point 404, a first distance from the first plane 401 and a second distance from the second plane 402 are both less than 5mm, and the first to-be-fixed point 404 is an edge point of the first plane 401 and the second plane 402.
As described above, all edge points belonging to two intersecting planes in the point set are determined, and the specific process is not described herein again.
The above-mentioned every point in the point set is divided by the distance condition, the edge point of a plurality of planes is extracted, two planes which intersect each other in the plane set are determined, and therefore the two planes are used as the basis for the subsequent calculation of the verticality or the squareness between the planes.
S303: determining whether the first plane and the second plane are adjacent according to the edge point set.
For the extracted edge points, it cannot be determined whether the edge points are two plane edge points where the building to be detected is truly intersected. Since the planes in the mathematical sense are extended wirelessly, while the planes in the building to be actually inspected are limited. The edge point extracted in S302 may be a point on an intersection line between the extension surface of the first plane corresponding to the first wall surface of the building to be detected and the second plane corresponding to the second wall surface of the building to be detected in the detection to be detected. In waiting to detect the building, first wall is not adjacent with the second wall. That is to say, the first plane and the second plane are intersected but not adjacent, and correspondingly, the included angle between the first wall surface and the second wall surface in the building to be detected does not need to be measured.
If the point 504 is an edge point of the first plane 501 and the second plane 502, as shown in fig. 5, it indicates that the first plane 501 intersects the second plane 502. In the building to be inspected shown in fig. 5, the extension planes of the first plane 501 and the second plane 502 intersect at the intersection line 503, i.e. the first plane 501 and the second plane 502 intersect but are not adjacent, so that it is not necessary to measure the perpendicularity between the first plane 501 and the second plane 502.
Therefore, during the measurement process, it is necessary to determine whether two intersecting planes are adjacent, thereby determining two planes for which the perpendicularity or squareness needs to be calculated. For this reason, in the embodiment of the present application, it may be determined whether the first plane and the second plane are adjacent to each other according to the edge point set.
In a possible implementation manner, if a target point is any one point in the edge point set, k adjacent points of the target point are determined from the point set. If the number of the adjacent points meeting the angle condition in the k adjacent points meets a first threshold condition, determining that the target point is a common edge point of the first plane and the second plane, and determining whether the first plane and the second plane are adjacent according to the common edge point in the edge point set.
In a possible implementation manner, if the second undetermined point is a common edge point of any one of the k adjacent points, the angle condition includes:
a first included angle between the second undetermined point and the first plane meets a first angle condition, and a second included angle between the second undetermined point and the second plane meets a second angle condition. For example, the first angle condition is set to be less than 40 °, and the second angle condition is set to be less than 40 °. In practical applications, the first angle condition and the second angle condition may be set according to actual scenes, and are not limited herein.
In a possible implementation manner, if the edge point set includes n edge points, where the n edge points include m common edge points, the determining whether the first plane and the second plane are adjacent to each other according to the common edge points in the edge point set includes:
determining whether the first plane and the second plane are adjacent by determining whether the n edge points and the m common edge points satisfy a second threshold condition. In practical applications, whether the first plane and the second plane are adjacent to each other can be determined by comparing the ratio of m to n with a preset threshold. For example, if the preset threshold is set to 0.8, when the ratio of m to n is greater than 0.8, it is determined that the first plane intersects and is adjacent to the second plane; when the ratio of m to n is not greater than 0.8, it is determined that the first plane intersects with but is not adjacent to the second plane.
In practical applications, n edge points are randomly sampled from the edge point set. And determining K adjacent points of the target point by adopting a K-D Tree algorithm for any one target point in the n edge points. Then, counting the number of adjacent points in the k adjacent points, wherein the number of the adjacent points is j, and the number of the adjacent points is j, wherein the number of the adjacent points is that the normal vector of the adjacent points, the first included angle between the normal vector of the adjacent points and the normal vector of the first plane and the second included angle between the normal vector of the adjacent points and the normal vector of the second plane are both smaller than 40 degrees, and if the ratio of j to k is larger than a first threshold value, determining that the target point is a common edge point of the first plane and the second plane. Based on this, m common edge points belonging to the first plane and the second plane among the n edge points are determined. And determining whether the first plane and the second plane are adjacent by judging whether the ratio of m to n is larger than a second threshold value. If yes, the first plane and the second plane are intersected and adjacent; if not, the first plane and the second plane intersect but are not adjacent.
In practical applications, the terminal device may implement the above determining whether the planes are adjacent by executing the following codes:
Def crossing_plains(edge_points,plains,angle_threshold,ratio_threshold):
(note: edge _ points is the matrix of the edge points extracted in the previous step and the plane to which the edge points belong, and random sampling is carried out on the edge points)
Sample_points＝Random_sample(edge_points)
(Note:) carrying out KDtree algorithm on each point to obtain k adjacent points around each point
Kpoints＝KDtree(Sample_points)
(Note:) calculating the normal vector of each point and the included angle between the normal vector and the plane
Vector_point＝estimate_normals(Kpoints)
Vector_plains＝estimate_normals(plains)
Angle＝math.degrees(Vector_point,Vector_plains)
Count is Count (Angle <40) (note: calculating the number of included angles between two faces <40 degrees)
(Note: if the number of angles to two faces <40 degrees > angle _ threshold, they are considered as common edge points)
Ratio of Count/len (Kpoints) (note: statistics of Ratio of points satisfying requirement)
Flag＝Ratio>ratio_threshold
(Note: if > ratio _ threshold, then the two planes to which the points belong are considered to be adjacent and intersecting)
Whether the first plane is adjacent to the second plane or not is detected, and whether the first plane is intersected with the first wall surface corresponding to the building to be detected and the second plane is intersected with the second wall surface corresponding to the building to be detected or not is determined, so that whether the included angle between the first plane and the second plane needs to be calculated or not is determined.
S304: if yes, calculating an included angle between the first plane and the second plane.
Based on the above steps, if it is determined that the first plane and the second plane intersect and are adjacent, it indicates that the perpendicularity or squareness between the first plane and the second plane needs to be measured. Therefore, an included angle between the first plane and the second plane is calculated, and the included angle between the first wall surface of the building to be detected corresponding to the first plane and the second wall surface of the building to be detected corresponding to the second plane is marked by the included angle.
In practical application, an included angle between the first plane and the second plane can be calculated according to a normal vector of the first plane and a normal vector of the second plane.
It will be appreciated that the angle between the two planes is measured and a further determination is made as to whether the two planes meet the building requirements.
In a possible implementation manner, it is determined whether an included angle between the first plane and the second plane satisfies a third angle condition, where the third angle condition may be a preset angle threshold, and in practical application, the angle threshold may be set according to an actual acceptance criterion, which is not limited herein.
If the included angle between the first plane and the second plane meets the third angle condition, the angle between the first plane and the second plane can be determined to meet the building requirement of the building to be detected. If the included angle between the first plane and the second plane does not meet the third angle condition, the angle between the first plane and the second plane can be determined not to meet the building requirement to be detected.
The building detection method provided by the above embodiment obtains the point set and the plane set acquired for the building to be detected, wherein the plane set is determined according to the point set. Then, from the set of points and the set of planes, a set of edge points between a first plane and a second plane in the set of planes is determined, the set of edge points identifying the intersection of the first plane and the second plane. Since it cannot be determined whether the first plane and the second plane are adjacent in the building to be detected, it is also necessary to determine whether the first plane and the second plane are adjacent according to the edge point set. If the first plane is determined to be adjacent to the second plane, the first plane is indicated to be intersected with the first wall surface of the building to be detected corresponding to the first plane and the second plane is indicated to be intersected with the second wall surface of the building to be detected corresponding to the second plane, and therefore the included angle between the first plane and the second plane is calculated to determine the verticality or the squareness between the first wall surface and the second wall surface. Because the point set and the plane set are based on the data acquired by the digitization aiming at the building to be detected, and the included angle between two adjacent and intersected wall surfaces in the building to be detected is calculated based on the point set and the plane set, the measurement of the verticality or the squareness between the two wall surfaces is realized, the measurement error caused by manual measurement is reduced, the measurement cost is reduced, and the measurement efficiency is improved.
For ease of understanding, the building detection method provided in the embodiment of the present application is described below with reference to fig. 6.
Referring to fig. 6, fig. 6 is a building detection method according to an embodiment of the present application. As shown in fig. 6, the building detection method includes the steps of:
during the measurement, a point cloud point set is collected (601) for a house using a 3D laser scanning technique and down-sampled (602). Then, plane segmentation is carried out on the point cloud point set by adopting a RANSAC algorithm, a plane set (603) corresponding to the house is obtained, and each plane in the plane set corresponds to each wall surface of the house. Then, whether the distance from the point cloud point in the point cloud point set to each plane in the plane set meets a distance threshold value or not is judged, each point in the point cloud point set is subjected to plane division, and an edge point set divided into two planes is extracted from the plane division (604). Then, based on the edge point set, two intersecting and adjacent planes (605) are detected by adopting a K-D tree algorithm and a threshold comparison method, and an included angle (606) of the two planes is calculated, namely the included angle of two wall surfaces corresponding to the two planes.
The house information is converted into the point cloud data through the 3D laser scanning technology, so that the included angle between two intersected and adjacent planes is calculated according to the point cloud data, the digital detection of the house verticality and the squareness is realized, the manual detection error is avoided, the measurement cost is reduced, the measurement efficiency is improved, and the measurement precision is improved.
In view of the building detection method provided in the foregoing embodiment, an embodiment of the present application further provides a building detection apparatus, where the building detection apparatus 700 includes an obtaining unit 701, a determining unit 702, and a calculating unit 703:
the acquiring unit 701 is configured to acquire a point set and a plane set acquired for a building to be detected; the set of planes is determined from the set of points;
the determining unit 702 is configured to determine, according to the point set and the plane set, an edge point set between a first plane and a second plane in the plane set; the set of edge points is used to identify that the first plane intersects the second plane;
the determining unit 702 is configured to determine whether the first plane and the second plane are adjacent to each other according to the edge point set; if yes, triggering the computing unit;
the calculating unit 703 is configured to calculate an included angle between the first plane and the second plane.
In a possible implementation manner, if a first point to be fixed is any point in the point set, the determining unit 702 is configured to determine the first point to be fixed as a point in the edge point set when a first distance between the first point to be fixed and the first plane and a second distance between the first point to be fixed and the second plane respectively satisfy a distance condition.
In a possible implementation manner, if a target point is any point in the edge point set, the determining unit 702 is configured to:
determining k neighboring points of the target point from the point set;
if the number of adjacent points meeting the angle condition in the k adjacent points meets a first threshold condition, determining the target point as a common edge point of the first plane and the second plane;
and determining whether the first plane and the second plane are adjacent or not according to the common edge point in the edge point set.
In a possible implementation manner, if the second undetermined point is a common edge point of the k adjacent points, the angle condition includes:
a first included angle between the second undetermined point and the first plane meets a first angle condition, and a second included angle between the second undetermined point and the second plane meets a second angle condition.
In a possible implementation manner, if the edge point set includes n edge points, where the n edge points include m common edge points, the determining unit 702 is configured to determine whether the first plane and the second plane are adjacent by determining whether the n edge points and the m common edge points satisfy a second threshold condition.
In a possible implementation manner, the obtaining unit 701 is configured to:
acquiring a point cloud point set collected aiming at a building to be detected;
and carrying out plane segmentation on the point cloud point set to obtain a point cloud plane set aiming at the building to be detected.
In a possible implementation manner, the determining unit 702 is further configured to:
determining whether an included angle between the first plane and the second plane meets a third angle condition;
if so, determining that the angle between the first plane and the second plane meets the building requirement of the building to be detected;
if not, determining that the angle between the first plane and the second plane does not meet the building requirement of the building to be detected.
The building detection device provided by the above embodiment acquires the point set and the plane set acquired for the building to be detected, wherein the plane set is determined according to the point set. Then, according to the point set and the plane set, an edge point set between a first plane and a second plane in the plane set is determined, and the edge point set is used for identifying that the first plane intersects with the second plane. Since it cannot be determined whether the first plane and the second plane are adjacent in the building to be detected, it is also necessary to determine whether the first plane and the second plane are adjacent according to the edge point set. If the first plane is determined to be adjacent to the second plane, the first plane is indicated to be intersected with the first wall surface of the building to be detected corresponding to the first plane and the second plane is indicated to be intersected with the second wall surface of the building to be detected corresponding to the second plane, and therefore the included angle between the first plane and the second plane is calculated to determine the verticality or the squareness between the first wall surface and the second wall surface. Because the point set and the plane set are based on the data acquired by the digitization aiming at the building to be detected, and the included angle between two adjacent and intersected wall surfaces in the building to be detected is calculated based on the point set and the plane set, the measurement of the verticality or the squareness between the two wall surfaces is realized, the measurement error caused by manual measurement is reduced, the measurement cost is reduced, and the measurement efficiency is improved.
An embodiment of the present application further provides a computer device, where the device includes a memory and a processor:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute any one of the building detection methods provided in the above embodiments according to instructions in the program code.
The embodiment of the application also provides a computer-readable storage medium, which is used for storing a computer program, and the computer program is used for executing any one of the building detection methods provided by the above embodiments.
It will be understood by those skilled in the art that all or part of the steps of implementing the above method embodiments may be implemented by hardware associated with program instructions, and that the program may be stored in a computer readable storage medium, and when executed, performs the steps including the above method embodiments; and the aforementioned storage medium may be at least one of the following media: various media that can store program codes, such as read-only memory (ROM), RAM, magnetic disk, or optical disk.
It should be noted that, in the present specification, all the embodiments are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus and system embodiments, since they are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described embodiments of the apparatus and system are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only one specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A building detection method, the method comprising:
acquiring a point set and a plane set acquired aiming at a building to be detected; the set of planes is determined from the set of points;
determining an edge point set between a first plane and a second plane in the plane set according to the point set and the plane set; the set of edge points is used to identify that the first plane intersects the second plane;
determining whether the first plane and the second plane are adjacent according to the edge point set;
if so, calculating an included angle between the first plane and the second plane;
if the target point is any point in the edge point set, determining whether the first plane and the second plane are adjacent to each other according to the edge point set includes:
determining k adjacent points of the target point from the point set;
if the number of adjacent points meeting the angle condition in the k adjacent points meets a first threshold condition, determining the target point as a common edge point of the first plane and the second plane;
and determining whether the first plane and the second plane are adjacent or not according to the common edge point in the edge point set.
2. The method according to claim 1, wherein a first point to be fixed is determined as a point in the edge point set if the first point to be fixed is any one point in the point set and a first distance between the first point to be fixed and the first plane and a second distance between the first point to be fixed and the second plane respectively satisfy a distance condition.
3. The method of claim 1, wherein if the second pending point is any common edge point of the k neighboring points, the angle condition comprises:
a first included angle between the second undetermined point and the first plane meets a first angle condition, and a second included angle between the second undetermined point and the second plane meets a second angle condition.
4. The method of claim 1, wherein if the set of edge points includes n edge points, the n edge points including m common edge points, the determining whether the first plane and the second plane are adjacent according to the common edge points in the set of edge points comprises:
determining whether the first plane and the second plane are adjacent by determining whether the n edge points and the m common edge points satisfy a second threshold condition.
5. The method of claim 1, wherein the obtaining the set of points and the set of planes collected for the building to be detected comprises:
acquiring a point cloud point set collected aiming at a building to be detected;
and carrying out plane segmentation on the point cloud point set to obtain a point cloud plane set aiming at the building to be detected.
6. The method of claim 1, further comprising:
determining whether an included angle between the first plane and the second plane meets a third angle condition;
if so, determining that the angle between the first plane and the second plane meets the building requirement of the building to be detected;
if not, determining that the angle between the first plane and the second plane does not meet the building requirement of the building to be detected.
7. A building detection apparatus, characterized in that the apparatus comprises an acquisition unit, a determination unit and a calculation unit:
the acquisition unit is used for acquiring a point set and a plane set acquired aiming at a building to be detected; the set of planes is determined from the set of points;
the determining unit is configured to determine, according to the point set and the plane set, an edge point set between a first plane and a second plane in the plane set; the set of edge points is used to identify that the first plane intersects the second plane;
the determining unit is configured to determine whether the first plane and the second plane are adjacent to each other according to the edge point set; if yes, triggering the computing unit;
the calculating unit is used for calculating an included angle between the first plane and the second plane;
if the target point is any point in the edge point set, the determining unit is configured to:
determining k neighboring points of the target point from the point set;
if the number of adjacent points meeting the angle condition in the k adjacent points meets a first threshold condition, determining the target point as a common edge point of the first plane and the second plane;
and determining whether the first plane and the second plane are adjacent or not according to the common edge point in the edge point set.
8. A computer device, the device comprising a memory and a processor:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the method of any of claims 1-6 according to instructions in the program code.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium is used to store a computer program for performing the method of any of claims 1-6.
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