CN113269202B - Method for extracting point cloud of gate-type electric tower - Google Patents
Method for extracting point cloud of gate-type electric tower Download PDFInfo
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Abstract
The invention discloses a method for extracting point cloud of a gate-type electric tower, which comprises the following steps: acquiring an original point cloud of an electric tower power transmission line, and carrying out grid voxelization on the original point cloud of the electric tower power transmission line to obtain the original voxel point cloud; and acquiring space size information of the portal electric tower, and extracting a portal electric tower point cloud according to the space size information and the original voxel point cloud. According to the method for extracting the point cloud of the gate-type electric tower, the ground points, the vegetation points and the power line points at the bottom of the gate-type electric tower can be removed by utilizing the space structural characteristics of the gate-type electric tower, so that the accurate extraction of the point cloud of the gate-type electric tower is realized, the point cloud data is not required to be classified, manual operation is not required, and the extraction efficiency of the point cloud of the gate-type electric tower is improved.
Description
Technical Field
The invention relates to the technical field of point cloud data processing, in particular to a method for extracting point cloud of a gate-type electric tower.
Background
Along with development of unmanned aerial vehicle technology, the electric power industry is in the unmanned aerial vehicle of more and more adoption technologies such as electric power inspection technique such as photography of inclining and laser scanning to utilize the data of gathering to carry out the internal work such as space analysis, electric power part three-dimensional modeling, the data type that above-mentioned work species is commonly used is the point cloud data, and the surface information of space entity is reflected to the point cloud data, and although the three-dimensional information of electric power corridor kind space entity can be fully revealed to the point cloud data, but to different ground objects or electric power part, the point cloud data does not have data tag.
At present, when power grid tower extraction is performed, a great deal of manual operation is usually required for accurate extraction of a portal power tower, namely, data extraction is performed by a method of visually judging the area of the power tower point cloud and manually cutting.
The prior art is therefore still to be improved.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention provides a method for extracting a portal electric tower point cloud, which aims to solve the problem that the extraction of the portal electric tower point cloud needs manual operation.
The technical scheme provided by the invention is as follows:
a method of extracting a portal tower point cloud, wherein the method comprises:
acquiring an original point cloud of an electric tower power transmission line, and carrying out grid voxelization on the original point cloud of the electric tower power transmission line to obtain the original voxel point cloud;
and acquiring space size information of the portal electric tower, and extracting a portal electric tower point cloud according to the space size information and the original voxel point cloud.
The method for extracting the portal electric tower point cloud, wherein the obtaining the original point cloud of the electric tower power transmission line, and performing grid voxel on the original point cloud of the electric tower power transmission line to obtain the original voxel point cloud specifically comprises the following steps:
acquiring original point cloud data of an electric tower electric transmission line, and voxelizing the original point cloud grid to obtain a voxel grid region;
and acquiring each voxel center point and each voxel center point coordinate in the voxel grid region, and obtaining an original voxel point cloud according to each voxel center point and each voxel center point coordinate.
The method for extracting the portal electric tower point cloud, wherein the acquiring the space size information of the portal electric tower, extracting the portal electric tower point cloud according to the space size information and the original voxel point cloud specifically comprises the following steps:
acquiring tower pole size information of a gate-type electric tower, and extracting original point cloud of the gate-type electric tower according to the tower pole size information of the gate-type electric tower and the original voxel point cloud;
and acquiring the width of the gate-type electric tower, and extracting the point cloud of the gate-type electric tower according to the width of the gate-type electric tower and the original point cloud of the gate-type electric tower.
The method for extracting the point cloud of the gate-type electric tower, wherein the step of obtaining the tower pole size information of the gate-type electric tower, and the step of extracting the original point cloud of the gate-type electric tower according to the tower pole size information of the gate-type electric tower and the original voxel point cloud specifically comprises the following steps:
acquiring the tower pole height of a portal electric tower, and extracting a tower pole body element point cloud from the original voxel point cloud according to the tower pole height;
acquiring tower pole spacing of a portal electric tower, searching a beam voxel point cloud in the original voxel point cloud according to the tower pole spacing, and forming the voxel point cloud of the portal electric tower with the tower pole voxel point cloud;
and extracting the original point cloud of the gantry according to the original point cloud contained in the voxel grid region corresponding to the voxel point cloud of the gantry.
The method for extracting the portal electric tower point cloud, wherein the step of obtaining the tower height of the portal electric tower, before extracting the tower body element point cloud from the original voxel point cloud according to the tower height, further comprises:
obtaining a plurality of sub-voxel point clouds of the original voxel point cloud according to the voxel center point coordinates, and determining the number of the voxel center points of each sub-voxel point cloud, wherein the x-axis coordinates and the y-axis coordinates of the voxel center points in each sub-voxel point cloud are the same;
and acquiring the voxel resolution, and determining the accumulated voxel height of each sub-voxel point cloud according to the resolution and the number of voxel center points of each sub-voxel point cloud.
The method for extracting the portal electric tower point cloud, wherein the step of obtaining the tower height of the portal electric tower, and extracting the tower body element point cloud from the original voxel point cloud according to the tower height specifically comprises the following steps:
acquiring the tower pole height of the gate-type electric tower, and comparing the accumulated voxel height of each sub-voxel point cloud with the tower pole height;
and if the accumulated voxel height of the sub-voxel point clouds of the original voxel point cloud is larger than or equal to the tower height, extracting the sub-voxel point clouds as tower body voxel point clouds.
The method for extracting the point cloud of the gate-type electric tower, wherein the step of obtaining the width of the gate-type electric tower, before extracting the point cloud of the gate-type electric tower according to the width of the gate-type electric tower and the original point cloud of the gate-type electric tower, further comprises the following steps:
acquiring a horizontal projection point of the tower body element point cloud and a horizontal projection point set of the original point cloud of the portal electric tower;
and determining a fitting straight line according to the horizontal projection points of the tower pole voxel point cloud, and determining a first distance from each projection point in the horizontal projection point set of the original point cloud of the portal electric tower to the fitting straight line.
The method for extracting the point cloud of the gate-type electric tower, wherein the step of obtaining the width of the gate-type electric tower, and extracting the point cloud of the gate-type electric tower according to the width of the gate-type electric tower and the original point cloud of the gate-type electric tower specifically comprises the following steps:
acquiring the width of a gate-type electric tower, and extracting projection points with the first distance smaller than or equal to the width of the gate-type electric tower as target projection point clouds;
and determining an elevation value corresponding to each projection point in the target projection point cloud according to the original point cloud of the portal electric tower, and returning the elevation value to each projection point in the target projection point cloud to obtain the portal electric tower point cloud.
A computer readable storage medium, wherein the computer readable storage medium stores one or more programs executable by one or more processors to implement steps in the method of extracting a portal tower point cloud.
A terminal device, comprising: a processor, a memory, and a communication bus; the memory has stored thereon a computer readable program executable by the processor;
the communication bus realizes connection communication between the processor and the memory;
the terminal device implements the steps in the method for extracting the portal tower point cloud when executing the computer readable program.
The beneficial effects are that: the invention discloses a method for extracting point cloud of a gate-type electric tower, which comprises the following steps: acquiring an original point cloud of a gate-type electric tower, and preprocessing the original point cloud to obtain a voxel point cloud; and acquiring space size information of the portal electric tower, and extracting a portal electric tower point cloud from the voxel point cloud according to the space size information. According to the method for extracting the point cloud of the gate-type electric tower, the ground points, the vegetation points and the power line points at the bottom of the gate-type electric tower can be removed by utilizing the space structural characteristics of the gate-type electric tower, so that the automatic extraction of the point cloud of the gate-type electric tower is realized, the classification of point cloud data is not needed, and manual operation is not needed, so that the extraction efficiency of the point cloud of the gate-type electric tower is improved.
Drawings
Fig. 1 is a flowchart of a method for extracting a portal tower point cloud provided in the present embodiment;
fig. 2 is a schematic structural diagram of a terminal device according to the present embodiment.
Detailed Description
The invention provides a method for extracting a point cloud of a gate-type electric tower, which is used for making the purposes, the technical scheme and the effects of the invention clearer and more definite, and is further described in detail below. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention is described in detail below with reference to a specific embodiment by means of fig. 1.
As shown in fig. 1, the present embodiment provides a method for extracting a gantry point cloud, where the method includes:
s10, acquiring an original point cloud of the electric tower electric transmission line, and carrying out grid voxel on the original point cloud data of the electric tower electric transmission line to obtain an original voxel point cloud.
Specifically, the door-type electric tower is a pole tower for supporting wires and overhead ground wires through two columns to realize power transmission, the contact part of the door-type electric tower and the ground is of a cylindrical rod-shaped structure, the door-type electric tower comprises two mutually parallel pole rods, a cross beam and other power components, the pole rods are in contact with the ground and are perpendicular to the ground, the pole rods extend along the direction perpendicular to the ground and are connected with the cross beam so as to play a supporting role on the cross beam, and the cross beam is placed along the direction parallel to the ground and is simultaneously and vertically connected with the two pole rods so that the electric tower is in a door shape.
The original point cloud of the electric tower power transmission line refers to point cloud data of the portal electric tower power transmission line acquired through unmanned aerial vehicle oblique photography, laser scanning and other technologies, and is used for analysis of space entity three-dimensional information of an electric power corridor, three-dimensional modeling of electric power components of the portal electric tower and other works. Grid voxelization of the original point cloud data of the electric tower power transmission line refers to space division so as to grid the original point cloud data of the electric tower power transmission line, so that noise of ground point cloud, vegetation point cloud and power line point cloud can be eliminated conveniently according to the space characteristics of the portal electric tower. The original voxel point cloud is a point cloud obtained according to each voxel center point after the original point cloud of the electric tower electric transmission line is voxelized. Correspondingly, the obtaining the original point cloud of the electric tower electric transmission line, and performing grid voxel on the original point cloud of the electric tower electric transmission line to obtain the original voxel point cloud specifically comprises:
s11, acquiring original point cloud data of an electric tower electric transmission line, and voxelizing the original point cloud grid to obtain a voxel grid region;
and S12, acquiring each voxel center point and each voxel center point coordinate in the voxel grid region, and obtaining an original voxel point cloud according to each voxel center point and each voxel center point coordinate.
Specifically, the voxels refer to the minimum unit for carrying out space division on the area where the original point cloud of the electric tower electric transmission line is located, the voxels can be cube voxels, a plurality of voxels are obtained by carrying out cube voxel grid division on the original point cloud of the electric tower electric transmission line, and all point cloud data are divided into voxel grids. In a specific implementation manner of this embodiment, voxel meshing of an original point cloud may be performed by means of a spatial Octree (Octree), and voxel meshing by using Octree may improve overall efficiency of the meshing and may facilitate searching points inside the voxel grid.
Further, after obtaining a plurality of voxel grids, obtaining a central point of each voxel grid and counting the central point coordinates of each voxel, wherein the central point sitting marks of the voxel grids are (X, Y, Z), and the original voxel point cloud can be obtained according to the central points and the coordinates of all the voxel grids.
S20, acquiring space size information of the gantry, and extracting a gantry point cloud according to the space size information and the original voxel point cloud.
Specifically, the space dimension information of the door-type electric tower comprises tower pole dimension information and beam dimension of the door-type electric tower, the overall height of the door-type electric tower can be determined according to the tower pole dimension information, and the larger one of the tower pole diameter and the beam diameter can be determined to be the overall width of the door-type electric tower according to comparison. According to the overall height, the overall width, the tower pole distance and the original voxel point cloud of the gate-type electric tower, the gate-type electric tower point cloud is extracted, the integrity of gate-type electric tower point cloud data can be reserved as much as possible, and meanwhile, the bottom surface point, the vegetation point and the power line point at the bottom of the gate-type electric tower in the original voxel point cloud can be removed. Correspondingly, the acquiring the space size information of the gantry, and extracting the gantry point cloud according to the space size information and the original voxel point cloud specifically comprises:
s21, acquiring tower pole size information of a gate-type electric tower, and extracting original point cloud of the gate-type electric tower according to the tower pole size information of the gate-type electric tower and the original voxel point cloud;
s22, acquiring the width of the gate-type electric tower, and extracting the point cloud of the gate-type electric tower according to the width of the gate-type electric tower and the original point cloud of the gate-type electric tower.
Specifically, the tower pole size information of the gate-type electric tower comprises the tower pole height and the tower pole distance of the gate-type electric tower, the original point cloud of the gate-type electric tower is extracted according to the tower pole size information, and the ground point cloud and the vegetation point cloud at the bottom of the gate-type electric tower can be removed on the basis of keeping the integrity of the point cloud of the gate-type electric tower, so that the effect of denoising the original voxel point cloud is achieved. Further, the power line point cloud in the original point cloud of the gate-type electric tower can be removed according to the width of the gate-type electric tower, so that the complete gate-type electric tower point cloud is obtained. Correspondingly, the obtaining the tower pole size information of the gate-type electric tower, and extracting the original point cloud of the gate-type electric tower according to the tower pole size information of the gate-type electric tower and the original voxel point cloud specifically comprises:
s211, acquiring the tower pole height of a portal electric tower, and extracting a tower pole body element point cloud from the original voxel point cloud according to the tower pole height;
s212, acquiring tower pole spacing of a portal electric tower, searching a beam voxel point cloud in the original voxel point cloud according to the tower pole spacing, and forming the voxel point cloud of the portal electric tower with the tower pole voxel point cloud;
s213, extracting the original point cloud of the gantry according to the original point cloud contained in the voxel grid region corresponding to the voxel point cloud of the gantry.
Specifically, the height of the tower pole of the gate-type electric tower refers to the height of a cylindrical tower pole vertically contacted with the ground in the gate-type electric tower, the tower pole element point cloud refers to the point cloud of the area where the tower pole of the gate-type electric tower is located, and by analyzing the tower pole extending direction, namely the vertical direction, of the original voxel point cloud, according to the height of the tower pole of the gate-type electric tower, the elevation threshold value is set, and only the tower pole element point clouds which are continuous in the vertical direction and have the accumulated height reaching the elevation threshold value in the original voxel point cloud are reserved, so that the ground point clouds and vegetation point clouds which are continuous in the vertical direction and have the accumulated height not reaching the elevation threshold value are eliminated.
Further, in the process of extracting the tower body voxel point cloud, the point cloud of the area where the cross beam at the top of the portal electric tower is located is removed, so that expansion search is required to be performed on the top of the portal electric tower in the tower body voxel point cloud to obtain the cross beam voxel point cloud, and further, the voxel point cloud of the portal electric tower is obtained according to the tower body voxel point cloud and the cross beam voxel point cloud searched in the cross beam area, and further, the integrity of the portal electric tower point cloud can be kept.
In a specific implementation manner of the embodiment, through a Kdtree neighborhood searching method, tower pole spacing is used as a radius, tower pole top voxel center points are used as circle centers, and expansion searching is performed on the tops of two tower poles respectively, so that a beam voxel point cloud of a beam region in the portal electric tower is reserved to the greatest extent, and the integrity of the portal electric tower point cloud is further guaranteed.
The original point cloud of the gate-type electric tower refers to that the gate-type electric tower correspondingly obtains the tower pole height of the gate-type electric tower, and the method further comprises the steps of:
m10, dividing the original voxel point cloud into a plurality of sub-voxel point clouds according to the voxel center point coordinates of the original voxel point cloud, and determining the number of the voxel center points of each sub-voxel point cloud, wherein the x-axis coordinates and the y-axis coordinates of the voxel center points in each sub-voxel point cloud are the same;
and M20, acquiring voxel resolution, and determining the accumulated voxel height of each sub-voxel point cloud according to the resolution and the number of voxel center points of each sub-voxel point cloud.
Specifically, the original voxel point cloud is classified according to all the center point coordinates, each center point coordinate (X, Y, Z) is determined, the voxel center points with the same X-axis coordinate and Y-axis coordinate are divided into a point set to form sub-voxel point clouds, all the voxel center points of the original voxel point cloud are divided into a plurality of sub-voxel point clouds, whether the accumulated height of all the voxel center points of each sub-voxel point cloud reaches the tower height is judged, if the accumulated height does not reach the tower height, the sub-voxel point clouds are removed, and if the accumulated height does not reach the tower height, the sub-voxel point clouds are extracted to form the tower body element point clouds, so that the tower body element point clouds are extracted from the plurality of sub-voxel point clouds.
In one implementation of this embodiment, the accumulated voxel height of each sub-voxel point cloud is calculated from the resolution of the voxel and the number of voxel center points of each sub-voxel point cloud. The voxel resolution refers to the size of each voxel, for example, for a square voxel, the voxel resolution may be the side length of the square voxel, and the accumulated voxel height refers to the accumulated height value corresponding to each sub-voxel point cloud calculated according to the voxel resolution and the number of voxel center points of each sub-voxel point cloud. If the side length of the cube voxel is H and the number of voxel center points of the child voxel point cloud is n, the calculation formula of the accumulated voxel height H is as follows: h=h×n. Correspondingly, the step of obtaining the tower pole height of the portal electric tower, and the step of extracting the tower pole element point cloud from the original voxel point cloud according to the tower pole height specifically comprises the following steps:
s2111, acquiring the tower pole height of a gate-type electric tower, and comparing the accumulated voxel height of each sub-voxel point cloud with the tower pole height;
s2112, extracting the sub-voxel point cloud as a tower body voxel point cloud if the accumulated voxel height of the sub-voxel point cloud of the original voxel point cloud is larger than or equal to the tower body height.
Specifically, if the accumulated voxel height is greater than or equal to the tower height, the sub-voxel point clouds corresponding to the accumulated voxel height are considered to be continuous in the numerical direction, and the accumulated height reaches the tower height, so that it can be judged that the sub-voxel point clouds corresponding to the accumulated voxel height are located in the tower region, and all the point clouds of the tower region, namely the tower body pixel point clouds, are obtained.
Further, the obtaining the width of the gate-type electric tower, before extracting the point cloud of the gate-type electric tower according to the width of the gate-type electric tower and the original point cloud of the gate-type electric tower, further comprises:
n10, acquiring horizontal projection points of the tower body element point cloud and a horizontal projection point set of the original point cloud of the portal electric tower;
and N20, determining a fitting straight line according to the horizontal projection points of the tower pole voxel point cloud, and determining a first distance from each projection point in the horizontal projection point set of the original point cloud of the portal electric tower to the fitting straight line.
Specifically, the horizontal projection point of the tower body element point cloud is a projection of the tower body element point cloud on a horizontal plane, when the voxel resolution is greater than or equal to the tower diameter, as the tower is perpendicular to the horizontal plane, the horizontal projection point of the tower body element point cloud is two points, and a fitting straight line can be determined according to the two points. The horizontal projection point set of the original point cloud of the portal electric tower is a projection point set formed by projecting the original point cloud of the portal electric tower on a horizontal plane, and the horizontal plane is perpendicular to the tower pole, so that the Z value of the horizontal projection point set coordinate of the original point cloud of the portal electric tower is 0. By setting the width threshold, the target projection point cloud can be screened out from the horizontal projection point set of the original point cloud of the gate-type electric tower according to the distribution characteristics of the horizontal projection point set of the original point cloud of the gate-type electric tower, and further the gate-type electric tower point cloud is obtained. Correspondingly, the step of obtaining the width of the gate-type electric tower and extracting the point cloud of the gate-type electric tower according to the width of the gate-type electric tower and the original point cloud of the gate-type electric tower specifically comprises the following steps:
s221, acquiring the width of a gate-type electric tower, and extracting projection points with the first distance smaller than or equal to the width of the gate-type electric tower as target projection point clouds;
s222, determining an elevation value corresponding to each projection point in the target projection point cloud according to the original point cloud of the gantry, and returning the elevation value corresponding to each projection point in the target projection point cloud to obtain the gantry point cloud.
Specifically, the width of the gate-type electric tower refers to the whole width of the gate-type electric tower, the width of the gate-type electric tower is determined by comparing the diameter of the tower rod with the diameter of the cross beam and determining the width of the gate-type electric tower according to the larger value of the diameter of the tower rod and the diameter of the cross beam, and a width threshold value can be determined according to the width of the gate-type electric tower so as to be used for extracting the projection points in which the horizontal projection points of the original point cloud of the gate-type electric tower are concentrated.
Because the tower pole of the portal electric tower is two cylinders which are parallel to each other, the horizontal projection of the tower pole body element point cloud is two projection points, and the horizontal projection of the tower pole element point cloud is a projection point according to the two projection points (x 0 ,y 0 ) And (x) 1 ,y 1 ) Calculating a fitting straight line and obtaining a straight line equation:
kx-y+b＝0
wherein, the liquid crystal display device comprises a liquid crystal display device,
after obtaining the fitted straight line, the distances from all the horizontal projection points of the original point cloud of the gantry to the straight line are calculated, wherein one point (M x ,M y ) The distance calculation formula D for the example is:
and after obtaining the distances from all horizontal projection points of the original point cloud of the gate-type electric tower to the fitting straight line, obtaining the width of the gate-type electric tower, and setting a width threshold according to the width of the gate-type electric tower, wherein the width threshold can be equal to the width of the gate-type electric tower. Further, comparing the distance from the projection point to the fitting straight line with the width threshold, reserving the projection point with the distance smaller than or equal to the width threshold, and eliminating the projection point with the distance larger than or equal to the width threshold, so that redundant power line point clouds are eliminated, and target projection point clouds are obtained.
Further, according to the original point cloud of the gantry, the elevation value of each projection point in the target projection point cloud is obtained, namely the Z-axis coordinate value of the voxel center point corresponding to each projection point, and the elevation value of each projection point is returned to each projection point of the target projection point cloud to obtain the gantry point cloud.
The present invention also provides a terminal device, as shown in fig. 2, comprising at least one processor (processor) 20; a display screen 21; and a memory (memory) 22, which may also include a communication interface (Communications Interface) 23 and a bus 24. Wherein the processor 20, the display 21, the memory 22 and the communication interface 23 may communicate with each other via a bus 24. The display screen 21 is configured to display a user guidance interface preset in the initial setting mode. The communication interface 23 may transmit information. The processor 20 may invoke logic instructions in the memory 22 to perform the methods of the embodiments described above.
Further, the logic instructions in the memory 22 described above may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product.
The memory 22, as a computer readable storage medium, may be configured to store a software program, a computer executable program, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 20 performs functional applications and data processing, i.e. implements the methods of the embodiments described above, by running software programs, instructions or modules stored in the memory 22.
The memory 22 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the terminal device, etc. In addition, the memory 22 may include high-speed random access memory, and may also include nonvolatile memory. For example, a plurality of media capable of storing program codes such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or a transitory storage medium may be used.
In addition, the specific processes that the storage medium and the plurality of instruction processors in the mobile terminal load and execute are described in detail in the above method, and are not stated here.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of extracting a portal tower point cloud, the method comprising:
acquiring an original point cloud of an electric tower power transmission line, and carrying out grid voxelization on the original point cloud of the electric tower power transmission line to obtain the original voxel point cloud;
and acquiring space size information of the portal electric tower, and extracting a portal electric tower point cloud according to the space size information and the original voxel point cloud.
2. The method for extracting a portal power tower point cloud according to claim 1, wherein the obtaining an original point cloud of a power tower power transmission line, and performing grid voxel on the original point cloud of the power tower power transmission line to obtain an original voxel point cloud specifically comprises:
acquiring original point cloud data of an electric tower electric transmission line, and voxelizing the original point cloud grid to obtain a voxel grid region;
and acquiring each voxel center point and each voxel center point coordinate in the voxel grid region, and obtaining an original voxel point cloud according to each voxel center point and each voxel center point coordinate.
3. The method for extracting a gantry point cloud according to claim 2, wherein the obtaining spatial size information of the gantry, and extracting the gantry point cloud according to the spatial size information and the original voxel point cloud specifically comprises:
acquiring tower pole size information of a gate-type electric tower, and extracting original point cloud of the gate-type electric tower according to the tower pole size information of the gate-type electric tower and the original voxel point cloud;
and acquiring the width of the gate-type electric tower, and extracting the point cloud of the gate-type electric tower according to the width of the gate-type electric tower and the original point cloud of the gate-type electric tower.
4. The method for extracting a point cloud of a gantry according to claim 3, wherein the obtaining the tower size information of the gantry, and extracting the original point cloud of the gantry according to the tower size information of the gantry and the original voxel point cloud specifically comprises:
acquiring the tower pole height of a portal electric tower, and extracting a tower pole body element point cloud from the original voxel point cloud according to the tower pole height;
acquiring tower pole spacing of a portal electric tower, searching a beam voxel point cloud in the original voxel point cloud according to the tower pole spacing, and forming the voxel point cloud of the portal electric tower with the tower pole voxel point cloud;
and extracting the original point cloud of the gantry according to the original point cloud contained in the voxel grid region corresponding to the voxel point cloud of the gantry.
5. The method for extracting a portal electric tower point cloud as recited in claim 4, wherein said obtaining a tower height of a portal electric tower, before extracting a tower body point cloud from said original voxel point cloud according to said tower height, further comprises:
obtaining a plurality of sub-voxel point clouds of the original voxel point cloud according to the voxel center point coordinates, and determining the number of the voxel center points of each sub-voxel point cloud, wherein the x-axis coordinates and the y-axis coordinates of the voxel center points in each sub-voxel point cloud are the same;
and acquiring the voxel resolution, and determining the accumulated voxel height of each sub-voxel point cloud according to the resolution and the number of voxel center points of each sub-voxel point cloud.
6. The method for extracting a tower body point cloud from an original voxel point cloud according to claim 5, wherein the step of obtaining the tower height of the portal electric tower, and extracting the tower body point cloud from the original voxel point cloud according to the tower height specifically comprises:
acquiring the tower pole height of the gate-type electric tower, and comparing the accumulated voxel height of each sub-voxel point cloud with the tower pole height;
and if the accumulated voxel height of the sub-voxel point clouds of the original voxel point cloud is larger than or equal to the tower height, extracting the sub-voxel point clouds as tower body voxel point clouds.
7. The method of extracting a point cloud of a gantry of claim 4, wherein said obtaining a width of a gantry further comprises, prior to extracting a point cloud of a gantry based on the width of the gantry and an original point cloud of the gantry:
acquiring a horizontal projection point of the tower body element point cloud and a horizontal projection point set of the original point cloud of the portal electric tower;
and determining a fitting straight line according to the horizontal projection points of the tower pole voxel point cloud, and determining a first distance from each projection point in the horizontal projection point set of the original point cloud of the portal electric tower to the fitting straight line.
8. The method for extracting a point cloud of a gate-type electric tower according to claim 7, wherein the step of obtaining the width of the gate-type electric tower, and extracting the point cloud of the gate-type electric tower according to the width of the gate-type electric tower and the original point cloud of the gate-type electric tower specifically comprises:
acquiring the width of a gate-type electric tower, and extracting projection points with the first distance smaller than or equal to the width of the gate-type electric tower as target projection point clouds;
and determining an elevation value corresponding to each projection point in the target projection point cloud according to the original point cloud of the portal electric tower, and returning the elevation value corresponding to each projection point in the target projection point cloud to obtain the portal electric tower point cloud.
9. A computer readable storage medium storing one or more programs executable by one or more processors to perform the steps of the method of extracting a portal point cloud as claimed in any of claims 1-8.
10. A terminal device, comprising: a processor, a memory, and a communication bus; the memory has stored thereon a computer readable program executable by the processor;
the communication bus realizes connection communication between the processor and the memory;
the terminal device, when executing the computer readable program, implements the steps in the method for extracting a portal tower point cloud according to any of claims 1-8.
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