CN112906092A - Mapping method and mapping system - Google Patents
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Abstract
The embodiment of the invention discloses a mapping method and a mapping system, wherein the mapping method comprises the following steps: acquiring a BIM (building information modeling) model, and analyzing and deriving spatial geometric information in the BIM model; acquiring a three-dimensional point cloud model and determining segmentation information of the three-dimensional point cloud model; establishing a coordinate transformation relation between the BIM model and the three-dimensional point cloud model; aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation; and establishing a corresponding relation between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model. The coordinate transformation relation between the BIM model and the three-dimensional point cloud model is established to realize the alignment of the BIM model and the three-dimensional point cloud model, and then the mapping relation between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model can be established, thereby being beneficial to improving the practicability of the BIM model and providing necessary field data information for actual engineering construction.
Description
Technical Field
The present application claims priority based on chinese patent 201911136264.9, filed domestic on 19/11/2019, the disclosure of which is incorporated herein by reference.
The embodiment of the invention relates to a computer-aided modeling technology, in particular to a mapping method and a mapping system.
Background
At present, with the continuous improvement of engineering informatization degree, Building Information Models (BIM) technology is generally popularized and implemented in the Building field.
In the existing implementation engineering, a high-precision three-dimensional scanner can be adopted to carry out real-time modeling on a site building to obtain a three-dimensional high-precision point cloud model. The pre-established BIM model usually has deviation from a three-dimensional point cloud model obtained by actual field scanning, but due to the limitation of technical level, the communication barrier between the BIM model and the three-dimensional point cloud model cannot be broken at present, so that the BIM model lacks practicability, and is difficult to provide necessary field data information for actual engineering construction.
Disclosure of Invention
In view of this, embodiments of the present invention provide a mapping method and a mapping system, which can establish a mapping relationship between a BIM model and a three-dimensional point cloud model, and are beneficial to improving the practicability of the BIM model and providing necessary field data information for actual engineering construction.
In a first aspect, an embodiment of the present invention provides a mapping method, configured to establish a mapping relationship between a BIM model and a three-dimensional point cloud model, where the mapping method includes:
acquiring a BIM (building information modeling) model, and analyzing and deriving spatial geometric information of the BIM model;
acquiring a three-dimensional point cloud model and determining segmentation information of the three-dimensional point cloud model;
establishing a coordinate transformation relation between the BIM model and the three-dimensional point cloud model;
aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation;
and establishing a corresponding relation between the space geometric information of the BIM model and the segmentation information of the three-dimensional point cloud model after alignment.
Optionally, the spatial geometry information at least includes semantic information and structural information.
Optionally, the semantic information at least includes room information and plane information of each plane forming the room; the structural information at least comprises a starting corner point, an ending corner point and cross section position information of each surface.
Optionally, the establishing of the coordinate transformation relationship between the BIM model and the three-dimensional point cloud model specifically includes:
analyzing the BIM model and the three-dimensional point cloud model to obtain respective three-dimensional spindle frame and gravity center;
calculating a rotation transformation amount, a translation transformation amount and a scale transformation amount between the BIM model and the three-dimensional point cloud model based on a three-dimensional main shaft frame and a gravity center of the BIM model and the three-dimensional point cloud model;
and taking the rotation transformation amount, the translation transformation amount and the scale transformation amount as the coordinate transformation relation.
Optionally, the analyzing the BIM model and the three-dimensional point cloud model to obtain respective three-dimensional spindle frame and gravity center specifically includes:
respectively carrying out principal component analysis on the BIM model and the three-dimensional point cloud model to obtain respective three main shafts, and establishing three-dimensional main shaft frames corresponding to the respective three main shafts;
and calculating the gravity centers of the BIM model and the three-dimensional point cloud model.
Optionally, the calculating a rotation transformation amount between the BIM model and the three-dimensional point cloud model specifically includes: recording the rotation transformation quantity from the three-dimensional point cloud model to the BIM model as Rs2bIn a calculation manner of Rs2b＝FSCAN -1*FBIMWherein F isSCANMarking a three-dimensional main shaft of the three-dimensional point cloud model, FSCAN -1Is FSCANInverse matrix of, FBIMIs that it isAnd a three-dimensional spindle frame of the BIM model.
Optionally, calculating a translation transformation amount between the BIM model and the three-dimensional point cloud model specifically includes: recording the translation transformation quantity from the three-dimensional point cloud model to the BIM model as Ts2bThe calculation mode is Ts2b＝CBIM-CSCANIn which C isBIMIs the center of gravity, C, of the BIM modelSCANAnd the gravity center of the three-dimensional point cloud model is taken as the gravity center of the three-dimensional point cloud model.
Optionally, calculating a scale transformation amount between the BIM model and the three-dimensional point cloud model specifically includes:
transforming the BIM model and the three-dimensional point cloud model to be below respective three-dimensional main shaft frames;
calculating the numerical difference between the minimum value and the maximum value of the transformed BIM model and the transformed three-dimensional point cloud model on any one of the three main axes;
recording the scale transformation quantity from the three-dimensional point cloud model to the BIM model as Ss2bThe calculation mode is Ss2b＝DBIM/DSCANWherein D isBIMAnd DSCANThe numerical difference is the minimum value and the maximum value on any one same main shaft in the three main shafts of the transformed BIM model and the transformed three-dimensional point cloud model.
Optionally, the establishing of the correspondence between the aligned spatial geometric information of the BIM model and the segmentation information of the three-dimensional point cloud model specifically includes: and establishing a corresponding relation between the structural information of the BIM model and the segmentation surface of the three-dimensional point cloud model after alignment.
Optionally, the establishing of the corresponding relationship between the structure information of the aligned BIM model and the segmentation surface of the three-dimensional point cloud model specifically includes:
determining a first face set according to the face information of the BIM model, and calculating the gravity center point of each face according to the structural information corresponding to each face in the first face set;
determining a second surface set according to the segmentation surface of the three-dimensional point cloud model aligned with the BIM model, and calculating the center of gravity point of each surface according to the point cloud information corresponding to each surface in the second surface set;
and establishing a corresponding relation between the gravity center point of each surface in the first surface set and the gravity center point of the aligned surface in the second surface set.
Optionally, after establishing the corresponding relationship between the structure information of the BIM model and the segmentation plane of the three-dimensional point cloud model after alignment, the method further includes:
and giving the surface information corresponding to each structural information in the BIM model to the corresponding segmentation surface of the three-dimensional point cloud model.
In a second aspect, an embodiment of the present invention further provides a mapping system, configured to establish a mapping relationship between a BIM model and a three-dimensional point cloud model, where the mapping relationship includes:
the BIM model acquisition and analysis module is used for acquiring a BIM model and analyzing and exporting the space geometric information of the BIM model;
the point cloud model acquisition and analysis module is used for acquiring a three-dimensional point cloud model and determining segmentation information of the three-dimensional point cloud model;
the coordinate transformation relation establishing module is used for establishing a coordinate transformation relation between the BIM model and the three-dimensional point cloud model;
the coordinate alignment module is used for aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation;
and the mapping module is used for establishing a corresponding relation between the space geometric information of the aligned BIM model and the three-dimensional point cloud model segmentation information.
The embodiment of the invention provides a mapping method and a mapping system, wherein the mapping method is used for establishing a mapping relation between a BIM model and a three-dimensional point cloud model and comprises the following steps: acquiring a BIM (building information modeling) model, and analyzing and deriving spatial geometric information in the BIM model; acquiring a three-dimensional point cloud model and determining segmentation information of the three-dimensional point cloud model; establishing a coordinate transformation relation between the BIM model and the three-dimensional point cloud model; aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation; and establishing a corresponding relation between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model. The coordinate transformation relation between the BIM model and the three-dimensional point cloud model is established to realize the alignment of the BIM model and the three-dimensional point cloud model, and then the mapping relation between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model can be established, thereby being beneficial to improving the practicability of the BIM model and providing necessary field data information for actual engineering construction.
Drawings
Fig. 1 is a schematic flowchart of a mapping method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of segmentation information of a three-dimensional point cloud model in a mapping method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a screw hole when a mapping method according to an embodiment of the present invention is applied to wall screw hole detection;
fig. 4 is a flowchart illustrating a mapping method according to a second embodiment of the present invention;
fig. 5 is a schematic diagram of a three-dimensional spindle frame of a BIM model and a three-dimensional point cloud model in a mapping method according to a second embodiment of the present invention;
fig. 6 is a schematic diagram of the aligned BIM model and the three-dimensional point cloud model in the mapping method according to the second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a mapping system according to a third embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 invention. In the following embodiments, optional features and examples are provided in each embodiment, and various features described in the embodiments may be combined to form a plurality of alternatives, and each numbered embodiment should not be regarded as only one technical solution.
Example one
Fig. 1 is a schematic flow chart of a mapping method according to an embodiment of the present invention, which is applicable to establishing a mapping relationship between a BIM model and a three-dimensional point cloud model. The method can be executed by a mapping system provided by the embodiment of the present invention, and the mapping system is implemented in software and/or hardware, and is preferably configured in an electronic device, such as a computer device.
Referring to fig. 1, the mapping method specifically includes the following steps:
and S110, acquiring the BIM, and analyzing and deriving the space geometric information of the BIM.
In the embodiment of the invention, the BIM model can be regarded as a building engineering information base which is complete and consistent with the actual situation and is provided for the model by establishing a virtual building engineering three-dimensional model and utilizing a digital technology. The information base may contain geometric information, attribute information and state information describing building components, and may further contain space of non-component objects, state information of motion behaviors, and the like, and the information contained in the information base may be collectively referred to as space geometric information of the BIM model.
And correspondingly, the mapping system can respond to the model mapping instruction and derive the BIM corresponding to the mapping instruction from the preset storage space so as to acquire the BIM. Specifically, after the BIM model is obtained, the spatial geometric information can be obtained by analyzing the preset identifier in the code segment corresponding to the BIM model, and the spatial geometric information can be derived after being obtained by analysis.
Optionally, the spatial geometry information at least includes semantic information and structural information.
In the embodiment of the present invention, the semantic information may be regarded as attribute information of the building element, and at least includes room information and surface information of each surface constituting a room; the structural information may be considered as geometrical information of the building element, comprising at least start corner points, end corner points and cross-sectional position information of each face.
Specifically, the semantic information can be analyzed as room information "room" or face information "wall" by analyzing the preset identifier "type"; when the semantic information is "room", the room name can be analyzed by analyzing the preset identifier "name", the room id can be analyzed by analyzing the preset identifier "id", and the positions of the corner points "and the position information of the cross section" orientation "of the room can be analyzed by analyzing the preset identifier" maps "; when the semantic information is 'wall', the width of the wall surface can be analyzed by analyzing the preset identifier 'width', the wall surface id can be analyzed by analyzing the preset identifier 'id', and the positions 'points' and the position information 'orientation' of the cross section of the wall surface can be analyzed by analyzing the preset identifier 'maps'. Wherein the corner positions may comprise a start corner and an end corner, and each corner may represent a corner position with a two-dimensional identification "x" and "y".
And S120, acquiring the three-dimensional point cloud model and determining the segmentation information of the three-dimensional point cloud model.
In the embodiment of the invention, the high-precision three-dimensional scanner can be used for scanning and modeling the site building in real time to obtain the three-dimensional point cloud model. The mapping system can respond to the model mapping instruction and acquire a three-dimensional point cloud model which is modeled in real time by the three-dimensional scanner corresponding to the mapping instruction in a wired/wireless communication mode. In addition, the three-dimensional scanner may further store the three-dimensional point cloud model obtained through modeling into a preset storage medium (e.g., a hard disk), and configure the medium in connection with the mapping system, so that the mapping system may derive the three-dimensional point cloud model corresponding to the mapping instruction from the medium in response to the model mapping instruction.
Specifically, the point cloud model may be segmented by applying a RanSaC algorithm, a point cloud segmentation algorithm based on proximity information (e.g., a kdTree or OcTree algorithm), a point cloud frequency-based segmentation (filtering) method (e.g., DoN algorithm), or a minimum segmentation algorithm, which is not limited herein. And obtaining the segmentation information comprising at least one segmentation surface after the three-dimensional point cloud model is segmented. When the three-dimensional point cloud model is a model of a planar building component, plane segmentation may be preferably performed on the point cloud model by plane _ segmentation.
For example, fig. 2 is a schematic diagram of segmentation information of a three-dimensional point cloud model in a mapping method according to an embodiment of the present invention. The three-dimensional point cloud model in fig. 2 is a building point cloud model formed by wall surfaces, each point cloud surface can be obtained after plane segmentation, and each point cloud surface can be used as segmentation information of the three-dimensional point cloud model.
And S130, establishing a coordinate transformation relation between the BIM model and the three-dimensional point cloud model.
In the embodiment of the invention, a building coordinate system exists in the building of the BIM model, a modeling coordinate system exists in the real-time modeling of the three-dimensional point cloud model, and differences such as a scale proportion, a main shaft frame direction, a model gravity center position and the like may exist between the building coordinate system of the BIM model and the modeling coordinate system of the three-dimensional point cloud model. In order to solve the difference between the BIM model and the three-dimensional point cloud model, a coordinate transformation relation between the two models can be established, and specifically, the transformation quantity of the scale proportion between the BIM model and the three-dimensional point cloud model, the rotation transformation quantity of the main shaft frame direction and the translation transformation quantity of the model gravity center position can be calculated.
Optionally, establishing a coordinate transformation relationship between the BIM model and the three-dimensional point cloud model specifically includes: analyzing the BIM model and the three-dimensional point cloud model to obtain respective three-dimensional spindle frame and gravity center; calculating a rotation transformation amount, a translation transformation amount and a scale transformation amount between the BIM model and the three-dimensional point cloud model based on the three-dimensional main shaft frame and the gravity center of the BIM model and the three-dimensional point cloud model; and taking the rotation transformation amount, the translation transformation amount and the scale transformation amount as a coordinate transformation relation.
In the embodiment of the invention, after the three-dimensional main shaft frame and the gravity center of the BIM model and the three-dimensional point cloud model are obtained through analysis, the rotation transformation quantity in the direction from the BIM model to the three-dimensional point cloud model or from the three-dimensional point cloud model to the three-dimensional main shaft frame of the BIM model, the translation transformation quantity of the position of the gravity center of the model and the scale transformation quantity of the proportional value between the model and the real object can be further calculated. Also, the amount of rotational transformation, the amount of translational transformation, and the amount of scale transformation from the BIM model to the three-dimensional point cloud model may be taken as the coordinate transformation relationship from the BIM model to the three-dimensional point cloud model, and the amount of rotational transformation, the amount of translational transformation, and the amount of scale transformation from the three-dimensional point cloud model to the BIM model may be taken as the coordinate transformation relationship from the three-dimensional point cloud model to the BIM model.
And S140, aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation.
In the embodiment of the invention, the BIM model can be transformed into the coordinate system corresponding to the three-dimensional point cloud model according to the coordinate transformation relation from the BIM model to the three-dimensional point cloud model, so that the BIM model and the three-dimensional point cloud model are aligned under the coordinate system corresponding to the three-dimensional point cloud model; and the three-dimensional point cloud model can be converted into a coordinate system corresponding to the BIM model according to the coordinate conversion relation from the three-dimensional point cloud model to the BIM model, so that the BIM model and the three-dimensional point cloud model are aligned under the coordinate system corresponding to the BIM model.
S150, establishing a corresponding relation between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model.
In the embodiment of the invention, when the BIM model is aligned with the three-dimensional point cloud model, the mapping relation between the BIM model and the three-dimensional point cloud model can be further established, namely the corresponding relation between the space geometric information of the BIM model and the segmentation information of the three-dimensional point cloud model is established. Specifically, the correspondence between the surface of the BIM model and the partition surface of the three-dimensional point cloud model may be established, and after the establishment of the facade correspondence, the correspondence between the room of the BIM model and the room formed by the partition surfaces of the three-dimensional point cloud model may also be established.
Optionally, establishing a correspondence between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model specifically includes: and establishing a corresponding relation between the structural information of the aligned BIM model and the segmentation surface of the three-dimensional point cloud model.
In the embodiment of the present invention, establishing the corresponding relationship between the structure information of the aligned BIM model and the partition surfaces of the three-dimensional point cloud model may be considered to establish a relationship between geometric information of surfaces in the BIM model and geometric information of partition surfaces in the three-dimensional point cloud model, for example, establishing a relationship between barycentric position information of a wall surface and barycentric position information of partition surfaces. By establishing the relationship between the geometric information of the surfaces in the BIM model and the geometric information of the segmentation surfaces in the three-dimensional point cloud model, the corresponding relationship between the surfaces in the BIM model and the segmentation surfaces in the three-dimensional point cloud model can be established, so that the mapping relationship between the BIM model and the three-dimensional point cloud model can be established.
Further, establishing a corresponding relationship between the structure information of the aligned BIM model and the segmentation surface of the three-dimensional point cloud model specifically includes: determining a first face set according to face information of the BIM model, and calculating a gravity center point of each face according to structural information corresponding to each face in the first face set; determining a second surface set according to a segmentation surface of the three-dimensional point cloud model aligned with the BIM model, and calculating the center of gravity point of each surface according to point cloud information corresponding to each surface in the second surface set; and establishing a corresponding relation between the gravity center point of each surface in the first surface set and the gravity center point of the alignment surface in the second surface set.
In the embodiment of the present invention, the surface information included in the BIM model, for example, the number of included wall surfaces and the number of each wall surface, may be obtained by analyzing the BIM model, and the structural information corresponding to each surface in the BIM model, for example, the position of each corner point and the position of a cross section of each wall surface, may also be obtained. According to the face information in the BIM obtained by analysis, a first face set F corresponding to the face information can be constructedBIM＝{f1,f2,...fmIn which f1-fmRepresenting the first to mth faces in the BIM model. Further, sequentially acquiring information such as the positions of each corner point and the position of a cross section corresponding to the first surface to the mth surface in the first surface set, calculating the center position of the corner point position of the currently acquired surface, taking the coordinate position formed by the center position and the position of the cross section as the gravity center point of the currently acquired surface, and obtaining a surface gravity center point set C of the BIM model until all the gravity center points of the m surfaces are calculatedF_BIM＝{c1,c2,...cm}。
At least one division surface can be obtained by dividing the three-dimensional point cloud model, and a second surface set F corresponding to the division surface can be constructedSCAN＝{f1,f2,...fnIn which f1-fnRepresenting the first divided surface to the nth divided surface in the three-dimensional point cloud model. Further, point cloud information (point coordinate information) of all points corresponding to the first segmentation surface to the nth segmentation surface in the second surface set is sequentially acquired, central coordinates of all points on the current acquisition surface are calculated and taken as gravity center points of the current acquisition surface, and a surface gravity center point set C of the three-dimensional point cloud model can be acquired until all gravity center points of the n segmentation surfaces are calculatedF_SCAN＝{c1,c2,...cn}。
The corresponding relation between the barycentric point of each surface in the first surface set and the barycentric point of the alignment surface in the second surface set can be established by establishing a relation corresponding table, a global variable pointer or a search tree. Taking the example of building a search tree, a search tree from the center of gravity point of the first surface set to the center of gravity point of the alignment surface of the second surface set, i.e., L, can be builtb2s＝{lij；ci→cj},ci∈CF_BIM,cj∈CF_SCAN. After the two groups of barycentric points are established correspondingly, each barycentric point can be used for representing a respective surface, so that the logical relationship between the surfaces in the BIM model and the segmentation surfaces in the three-dimensional point cloud model is successfully established, and the mapping relationship between the BIM model and the three-dimensional point cloud model is established.
Optionally, after establishing the corresponding relationship between the structure information of the aligned BIM model and the partition surface of the three-dimensional point cloud model, the method further includes: and giving the surface information corresponding to each structural information in the BIM model to the corresponding segmentation surface of the three-dimensional point cloud model.
In the embodiment of the invention, after the logical relationship between the surfaces in the BIM model and the partition surfaces in the three-dimensional point cloud model is established, the surface information such as the type, the number and the like of the surfaces in the BIM model can be given to the corresponding partition surfaces of the three-dimensional point cloud model, so that the surface information can be directly obtained according to the three-dimensional point cloud model, and necessary field data information is provided for actual engineering construction.
In the prior art, because a certain deviation exists between the position of a screw hole on a wall surface and the position of a screw hole of a BIM model, the specific position of the screw hole needs to be repositioned according to three-dimensional point cloud data obtained by field scanning in the actual screw hole plugging operation. After the mapping relation between the BIM model and the three-dimensional point cloud model is established by the mapping method provided by the embodiment of the invention, the wall surface number of the screw hole to be detected can be inquired in the BIM model, and then the corresponding wall surface in the three-dimensional point cloud model can be quickly found by utilizing the mapping relation between the BIM model and the three-dimensional point cloud model, and the position of the screw hole can be quickly and accurately positioned by utilizing high-precision three-dimensional point cloud data so as to realize the relocation of the screw hole of the BIM model, which is favorable for improving the practicability of the BIM model and provides necessary field data information for the actual engineering construction. Fig. 3 is a schematic view of a screw hole when the mapping method provided by the embodiment of the invention is applied to wall surface screw hole detection. In the figure, a black circle is the outline of a screw hole in three-dimensional point cloud data, and a white circle is the gravity center position of the screw hole.
The mapping method provided by the embodiment of the invention is used for establishing a mapping relation between a BIM model and a three-dimensional point cloud model, and comprises the following steps: acquiring a BIM (building information modeling) model, and analyzing and deriving spatial geometric information in the BIM model; acquiring a three-dimensional point cloud model and determining segmentation information of the three-dimensional point cloud model; establishing a coordinate transformation relation between the BIM model and the three-dimensional point cloud model; aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation; and establishing a corresponding relation between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model. The coordinate transformation relation between the BIM model and the three-dimensional point cloud model is established to realize the alignment of the BIM model and the three-dimensional point cloud model, and then the mapping relation between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model can be established, thereby being beneficial to improving the practicability of the BIM model and providing necessary field data information for actual engineering construction.
Example two
Fig. 4 is a schematic flow chart of a mapping method according to a second embodiment of the present invention, and this embodiment explains a calculation process of a rotation transformation amount, a translation transformation amount, and a scale transformation amount from a three-dimensional point cloud model to a BIM model on the basis of the above embodiments, so that after the three-dimensional point cloud model is rotated, translated, and scaled, alignment with the BIM model in a coordinate system of the BIM model can be achieved. The technical details of this embodiment that are the same as those of the above embodiments will not be described again. As shown in fig. 4, the method specifically includes the following steps:
s401, acquiring a BIM model, and analyzing and deriving the space geometric information of the BIM model.
S402, obtaining the three-dimensional point cloud model and determining the segmentation information of the three-dimensional point cloud model.
And S403, respectively carrying out principal component analysis on the BIM model and the three-dimensional point cloud model to obtain three respective main shafts, and establishing three-dimensional main shaft frames corresponding to the three respective main shafts.
In the embodiment of the invention, Principal Component Analysis (PCA) is respectively carried out on the BIM model and the three-dimensional point cloud model, so that the directions of three main shafts of the BIM model and the three-dimensional point cloud model can be found out, and the frames corresponding to the three main shafts are established. For example, fig. 5 is a schematic diagram of three-dimensional spindle frames of a BIM model and a three-dimensional point cloud model in a mapping method provided by the second embodiment of the present invention, where (a) the diagram provides a BIM model diagram, (b) the diagram provides scan data corresponding to a house type, i.e., a three-dimensional point cloud model diagram, and (a) the diagram and (b) the diagram respectively visualize a calculated three-dimensional spindle frame FBIMAnd FSCAN。
S404, calculating the gravity centers of the BIM model and the three-dimensional point cloud model.
In the embodiment of the invention, the center of gravity of the BIM model can be obtained by calculating the corner point positions of all the surfaces and the central position of the cross section position in the BIM model; the center of gravity of the three-dimensional point cloud model can be obtained by calculating the center positions of the point coordinates of all points in the three-dimensional point cloud model.
S405, recording the rotation transformation quantity from the three-dimensional point cloud model to the BIM model as Rs2bIn a calculation manner of Rs2b＝FSCAN -1*FBIMWherein F isSCANThree-dimensional spindle frame for three-dimensional point cloud model, FSCAN -1Is FSCANInverse matrix of, FBIMIs a three-dimensional main shaft frame of the BIM model.
S406, recording the translation transformation quantity from the three-dimensional point cloud model to the BIM model as Ts2bThe calculation mode is Ts2b＝CBIM-CSCANIn which C isBIMIs the center of gravity of the BIM model, CSCANIs the center of gravity of the three-dimensional point cloud model.
And S407, transforming the BIM model and the three-dimensional point cloud model to be below respective three-dimensional main shaft frames.
S408, calculating the numerical difference between the minimum value and the maximum value of the transformed BIM model and the transformed three-dimensional point cloud model on any one of the three main axes.
S409, recording the scale transformation quantity from the three-dimensional point cloud model to the BIM model as Ss2bThe calculation mode is Ss2b＝DBIM/DSCANWherein D isBIMAnd DSCANThe numerical difference is the minimum value and the maximum value on any one same main shaft in the three main shafts of the transformed BIM model and the transformed three-dimensional point cloud model.
In the embodiment of the invention, the steps S407 to S409 are processes for determining the scale transformation amount from the three-dimensional point cloud model to the BIM model. Firstly, the original BIM model M isBIMTransforming the coordinate system during construction to the position under the three-dimensional main shaft frame to obtain MBIM' model M of the original three-dimensional point cloudSCANTransforming the coordinate system during modeling to the position under the three-dimensional main shaft frame to obtain MSCAN' then optionally one and the same principal axis among the respective three principal axes, e.g. all X-axes are selected, and the minimum and maximum values in each X-axis dimension are calculated separately
And
and
and
calculate them separatelyDifference in value of
And
after the calculation, the scale transformation quantity from the three-dimensional point cloud model to the BIM model can be determined as Ss2b＝DBIM/DSCAN。
And S410, aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the rotation transformation amount, the translation transformation amount and the scale transformation amount from the three-dimensional point cloud model to the BIM model.
According to the rotation transformation amount, the translation transformation amount and the scale transformation amount from the three-dimensional point cloud model to the BIM model, after the three-dimensional point cloud model is rotated, translated and subjected to scale transformation, the three-dimensional point cloud model is aligned with the BIM model under a coordinate system of the BIM model. For example, fig. 6 is a schematic diagram of the aligned BIM model and the three-dimensional point cloud model in the mapping method according to the second embodiment of the present invention. The grey part in the image is a BIM model, the textured part is a three-dimensional point cloud model, and the BIM model and the textured part are aligned under the same world coordinate.
S411, establishing a corresponding relation between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model.
The mapping method provided by the embodiment of the invention explains the calculation process of the rotation transformation amount, the translation transformation amount and the scale transformation amount from the three-dimensional point cloud model to the BIM model, and can realize the alignment with the BIM model under the coordinate system of the BIM model after the three-dimensional point cloud model is rotated, translated and subjected to scale transformation. In addition, the embodiments of the present invention have the same inventive concept as the embodiments of the present invention, and the technical details not described in the embodiments refer to the embodiments described above, and the technical details have the same technical effects.
EXAMPLE III
Fig. 7 is a schematic structural diagram of a mapping system according to a third embodiment of the present invention. The mapping system can realize the mapping method provided by any embodiment of the invention and establish the mapping relation between the BIM model and the three-dimensional point cloud model.
Referring to fig. 7, the mapping system includes:
a BIM model obtaining and analyzing module 710, configured to obtain a BIM model, analyze and derive spatial geometric information of the BIM model;
the point cloud model obtaining and analyzing module 720 is used for obtaining a three-dimensional point cloud model and determining segmentation information of the three-dimensional point cloud model;
a coordinate transformation relation establishing module 730, configured to establish a coordinate transformation relation between the BIM model and the three-dimensional point cloud model;
the coordinate alignment module 740 is used for aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation;
and the mapping module 750 is configured to establish a corresponding relationship between the spatial geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model.
Optionally, the spatial geometry information at least includes semantic information and structural information.
Optionally, the semantic information at least includes room information and plane information of each plane constituting the room; and the structural information at least comprises a starting corner point, a terminating corner point and cross section position information of each surface.
Optionally, the coordinate transformation relationship establishing module specifically includes:
the frame gravity center analysis submodule is used for analyzing the BIM model and the three-dimensional point cloud model to obtain respective three-dimensional main shaft frame and gravity center;
the transformation amount calculation operator module is used for calculating a rotation transformation amount, a translation transformation amount and a scale transformation amount between the BIM model and the three-dimensional point cloud model based on the three-dimensional main shaft frame and the gravity center of the BIM model and the three-dimensional point cloud model;
and the transformation relation determining submodule is used for taking the rotation transformation quantity, the translation transformation quantity and the scale transformation quantity as a coordinate transformation relation.
Optionally, the frame barycenter analysis submodule specifically includes:
the frame analysis unit is used for respectively carrying out principal component analysis on the BIM model and the three-dimensional point cloud model to obtain three main shafts respectively and establishing three-dimensional main shaft frames corresponding to the three main shafts respectively;
and the gravity center calculating unit is used for calculating the gravity centers of the BIM model and the three-dimensional point cloud model.
Optionally, the transform amount operator module specifically includes:
a rotation transformation amount calculation unit for recording the rotation transformation amount from the three-dimensional point cloud model to the BIM model as Rs2bIn a calculation manner of Rs2b＝FSCAN -1*FBIMWherein F isSCANThree-dimensional spindle frame for three-dimensional point cloud model, FSCAN -1Is FSCANInverse matrix of, FBIMIs a three-dimensional main shaft frame of the BIM model.
Optionally, the transform amount operator module specifically includes:
a translation transformation quantity calculation unit for recording the translation transformation quantity from the three-dimensional point cloud model to the BIM model as Ts2bThe calculation mode is Ts2b＝CBIM-CSCANIn which C isBIMIs the center of gravity of the BIM model, CSCANIs the center of gravity of the three-dimensional point cloud model.
Optionally, the transform amount operator module specifically includes:
the scale transformation amount calculation unit is used for transforming the BIM model and the three-dimensional point cloud model to be below respective three-dimensional main shaft frames; calculating the numerical difference between the minimum value and the maximum value of the transformed BIM model and the transformed three-dimensional point cloud model on any one of the three main axes; recording the scale transformation quantity from the three-dimensional point cloud model to the BIM model as Ss2bThe calculation mode is Ss2b＝DBIM/DSCANWherein D isBIMAnd DSCANThe numerical difference is the minimum value and the maximum value on any one same main shaft in the three main shafts of the transformed BIM model and the transformed three-dimensional point cloud model.
Optionally, the mapping module is specifically configured to: and establishing a corresponding relation between the structural information of the aligned BIM model and the segmentation surface of the three-dimensional point cloud model.
Optionally, the mapping module specifically includes:
the first gravity center point calculation submodule is used for determining a first face set according to face information of the BIM and calculating the gravity center point of each face according to structural information corresponding to each face in the first face set;
the second center of gravity point calculation submodule is used for determining a second surface set according to the segmentation surface of the three-dimensional point cloud model aligned with the BIM model and calculating the center of gravity point of each surface according to the point cloud information corresponding to each surface in the second surface set;
and the mapping submodule is used for establishing the corresponding relation between the gravity center point of each surface in the first surface set and the gravity center point of the alignment surface in the second surface set.
Optionally, the mapping module further includes:
and the information giving sub-module is used for giving the surface information corresponding to each structural information in the BIM model to the corresponding segmentation surface of the three-dimensional point cloud model.
The mapping system provided by the embodiment of the invention can execute the mapping method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For details of the mapping, reference may be made to any embodiment of the present invention.
Example four
Fig. 8 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention. The device 12 is typically an electronic device that undertakes mapping or mapping functions.
As shown in FIG. 8, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 that couples the various components (including the memory 28 and the processing unit 16).
The processor 16 executes programs stored in the memory 28 to execute various functional applications and data processing, for example, implement the mapping method provided by the above-mentioned embodiment of the present invention, which is used for establishing a mapping relationship between the BIM model and the three-dimensional point cloud model, including:
acquiring a BIM (building information modeling) model, and analyzing and deriving spatial geometric information of the BIM model; acquiring a three-dimensional point cloud model and determining segmentation information of the three-dimensional point cloud model; establishing a coordinate transformation relation between the BIM model and the three-dimensional point cloud model; aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation; and establishing a corresponding relation between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model.
Of course, those skilled in the art can understand that the processor may also implement the technical solution of the mapping method provided in any embodiment of the present invention.
EXAMPLE five
The fifth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the mapping method provided in the fifth embodiment of the present invention, where the method is used to establish a mapping relationship between a BIM model and a three-dimensional point cloud model, and includes:
acquiring a BIM (building information modeling) model, and analyzing and deriving spatial geometric information of the BIM model; acquiring a three-dimensional point cloud model and determining segmentation information of the three-dimensional point cloud model; establishing a coordinate transformation relation between the BIM model and the three-dimensional point cloud model; aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation; and establishing a corresponding relation between the space geometric information of the aligned BIM model and the segmentation information of the three-dimensional point cloud model.
Of course, the computer program stored on the computer-readable storage medium provided in the embodiments of the present invention is not limited to the above method operations, and may also execute the mapping method provided in any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor device, apparatus, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution apparatus, device, or apparatus.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution apparatus, device, or apparatus.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A mapping method for establishing a mapping relationship between a BIM model and a three-dimensional point cloud model comprises the following steps:
acquiring a BIM (building information modeling) model, and analyzing and deriving spatial geometric information of the BIM model;
acquiring a three-dimensional point cloud model and determining segmentation information of the three-dimensional point cloud model;
establishing a coordinate transformation relation between the BIM model and the three-dimensional point cloud model;
aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation;
and establishing a corresponding relation between the space geometric information of the BIM model and the segmentation information of the three-dimensional point cloud model after alignment.
2. The method of claim 1, wherein the spatial geometry information comprises at least semantic information and structural information.
3. The method of claim 2, the semantic information including at least room information and face information constituting each face of a room; the structural information at least comprises a starting corner point, an ending corner point and cross section position information of each surface.
4. The method according to claim 1, wherein the establishing of the coordinate transformation relationship between the BIM model and the three-dimensional point cloud model specifically comprises:
analyzing the BIM model and the three-dimensional point cloud model to obtain respective three-dimensional spindle frame and gravity center;
calculating a rotation transformation amount, a translation transformation amount and a scale transformation amount between the BIM model and the three-dimensional point cloud model based on a three-dimensional main shaft frame and a gravity center of the BIM model and the three-dimensional point cloud model;
and taking the rotation transformation amount, the translation transformation amount and the scale transformation amount as the coordinate transformation relation.
5. The method of claim 4, wherein analyzing the BIM model and the three-dimensional point cloud model to obtain respective three-dimensional spindle frame and center of gravity comprises:
respectively carrying out principal component analysis on the BIM model and the three-dimensional point cloud model to obtain respective three main shafts, and establishing three-dimensional main shaft frames corresponding to the respective three main shafts;
and calculating the gravity centers of the BIM model and the three-dimensional point cloud model.
6. The method according to claim 4, wherein the calculating the rotation transformation amount between the BIM model and the three-dimensional point cloud model specifically comprises: recording the rotation transformation quantity from the three-dimensional point cloud model to the BIM model as Rs2bIn a calculation manner of
Rs2b＝FSCAN -1*FBIMWherein F isSCANMarking a three-dimensional main shaft of the three-dimensional point cloud model, FSCAN -1Is FSCANInverse matrix of, FBIMAnd marking a frame for the three-dimensional main shaft of the BIM model.
7. The method according to claim 4, wherein calculating the translation transformation amount between the BIM model and the three-dimensional point cloud model specifically comprises: recording the translation transformation quantity from the three-dimensional point cloud model to the BIM model as Ts2bIn a calculation manner of
Ts2b＝CBIM-CSCANIn which C isBIMIs the center of gravity, C, of the BIM modelSCANAnd the gravity center of the three-dimensional point cloud model is taken as the gravity center of the three-dimensional point cloud model.
8. The method according to claim 4, wherein calculating the scale transformation amount between the BIM model and the three-dimensional point cloud model specifically comprises:
transforming the BIM model and the three-dimensional point cloud model to be below respective three-dimensional main shaft frames;
calculating the numerical difference between the minimum value and the maximum value of the transformed BIM model and the transformed three-dimensional point cloud model on any one of the three main axes;
recording the scale transformation quantity from the three-dimensional point cloud model to the BIM model as Ss2bIn a calculation manner of
Ss2b＝DBIM/DSCANWherein D isBIMAnd DSCANThe numerical difference is the minimum value and the maximum value on any one same main shaft in the three main shafts of the transformed BIM model and the transformed three-dimensional point cloud model.
9. The method according to claim 3, wherein the establishing of the correspondence between the aligned spatial geometry information of the BIM model and the segmentation information of the three-dimensional point cloud model specifically comprises: and establishing a corresponding relation between the structural information of the BIM model and the segmentation surface of the three-dimensional point cloud model after alignment.
10. The method according to claim 9, wherein the establishing of the correspondence between the structure information of the BIM model after the alignment and the segmentation plane of the three-dimensional point cloud model specifically includes:
determining a first face set according to the face information of the BIM model, and calculating the gravity center point of each face according to the structural information corresponding to each face in the first face set;
determining a second surface set according to the segmentation surface of the three-dimensional point cloud model aligned with the BIM model, and calculating the center of gravity point of each surface according to the point cloud information corresponding to each surface in the second surface set;
and establishing a corresponding relation between the gravity center point of each surface in the first surface set and the gravity center point of the aligned surface in the second surface set.
11. The method of claim 9, after establishing a correspondence between the structure information of the BIM model after the aligning and the segmentation plane of the three-dimensional point cloud model, further comprising:
and giving the surface information corresponding to each structural information in the BIM model to the corresponding segmentation surface of the three-dimensional point cloud model.
12. A mapping system for establishing a mapping relationship between a BIM model and a three-dimensional point cloud model, comprising:
the BIM model acquisition and analysis module is used for acquiring a BIM model and analyzing and exporting the space geometric information of the BIM model;
the point cloud model acquisition and analysis module is used for acquiring a three-dimensional point cloud model and determining segmentation information of the three-dimensional point cloud model;
the coordinate transformation relation establishing module is used for establishing a coordinate transformation relation between the BIM model and the three-dimensional point cloud model;
the coordinate alignment module is used for aligning the BIM model and the three-dimensional point cloud model under the same coordinate according to the coordinate transformation relation;
and the mapping module is used for establishing a corresponding relation between the space geometric information of the aligned BIM model and the three-dimensional point cloud model segmentation information.
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