CN113269897A - Method, device and equipment for acquiring surface point cloud and storage medium - Google Patents
Method, device and equipment for acquiring surface point cloud and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of data processing, and discloses a method, a device, equipment and a storage medium for acquiring surface point cloud, wherein the method comprises the following steps: extracting point cloud data of a point cloud file to be processed; calculating a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system; writing the first numerical value set and the second numerical value set into a preset type array to obtain current array information; obtaining target array information according to the target point cloud resolution and the current array information; traversing the target array information, and obtaining corresponding surface point clouds according to traversal results; according to the method, the target array information is obtained through the point cloud data, the preset type data and the target point cloud resolution in the point cloud file, the corresponding surface point cloud is obtained through traversing the target array information, and compared with the prior art that the surface point cloud is obtained through deleting internal points in the digital-analog point cloud through software, the surface point cloud of an object can be obtained more quickly and accurately.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a method, a device, equipment and a storage medium for acquiring surface point cloud.
Background
With the continuous development of computer vision technology, many different types of three-dimensional vision sensors, such as a line laser three-dimensional sensor, a structured light three-dimensional sensor and a binocular vision three-dimensional sensor, are emerging, the three-dimensional vision sensor is mainly used for acquiring target three-dimensional information, the technology is also applied to different industrial fields, such as unordered grabbing application scenes, but only point clouds corresponding to the surface of an object in the visual field of the three-dimensional vision sensor can be acquired through the three-dimensional vision sensor, but a standard model point cloud of the object often comprises many points representing the internal structure of the object, if the point clouds on the surface of the object cannot be effectively acquired, the registration difficulty is increased in the point cloud registration process, so that a large amount of time is consumed, and the currently commonly used technical scheme is that the internal points of a digital-analog artificial point cloud comprising the internal structure are deleted through software, but the, The efficiency of obtaining the surface point cloud is low, and the obtained surface point cloud is not pure.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment and a storage medium for acquiring surface point clouds, and aims to solve the technical problem that the surface point clouds of objects cannot be acquired more quickly and accurately in the prior art.
In order to achieve the above object, the present invention provides a method for acquiring a surface point cloud, which comprises the following steps:
acquiring a point cloud file to be processed, and extracting point cloud data of the point cloud file to be processed;
calculating a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system;
writing the first numerical value set and the second numerical value set into a preset type array to obtain current array information;
acquiring target point cloud resolution, and acquiring target array information according to the target point cloud resolution and the current array information;
and traversing the target array information, and obtaining corresponding surface point clouds according to the traversal result.
Optionally, the obtaining the target point cloud resolution and obtaining the target array information according to the target point cloud resolution and the current array information include:
extracting a first numerical value, a second numerical value, a third numerical value and a fourth numerical value of the current array information;
acquiring a preset resolution algorithm and a target point cloud resolution, and calculating the first numerical value, the second numerical value and the target point cloud resolution through the preset resolution algorithm to obtain a first resolution of the point cloud data in the direction of the transverse axis;
calculating the third numerical value, the fourth numerical value and the target point cloud resolution through a preset resolution algorithm to obtain a second resolution of the point cloud data in the longitudinal axis direction;
determining a corresponding target interval according to the first resolution and the second resolution;
acquiring a target point of point cloud data, and calculating position information of the target point falling in the target interval according to the target point cloud resolution;
and updating the current array information according to the target type array and the position information to obtain target array information.
Optionally, the updating the current array information according to the target type array and the location information to obtain target array information includes:
creating a target type array according to the first resolution and the second resolution, and initializing data in the target type array;
calculating the position information according to the target type number group to obtain a numerical value corresponding to the position information;
acquiring a current numerical value of a vertical axis in a space rectangular coordinate system, and judging a numerical value corresponding to the position information according to the current numerical value of the vertical axis and initialized data;
and updating the current array information according to the judgment result to obtain the target array information.
Optionally, before the updating the current array information according to the judgment result and obtaining the target array information, the method further includes:
acquiring a current numerical value of a vertical coordinate, and calculating a corresponding target numerical value according to the current numerical value of the vertical coordinate and an initialized numerical value;
judging whether the numerical value corresponding to the position information is all equal to initialized data or whether the numerical value corresponding to the position information is larger than the numerical value of the target point;
and if the numerical value corresponding to the position information is all equal to the initialized data or the numerical value corresponding to the position information is larger than the numerical value of the target point, updating the current array information according to the numerical value corresponding to the position information to obtain the target array information.
Optionally, the calculating a first set of numerical values and a second set of numerical values of the point cloud data in the coordinate axis direction by a spatial rectangular coordinate system includes:
extracting coordinate axis information of the space rectangular coordinate system;
respectively mapping the point cloud data on corresponding coordinate axes according to the coordinate axis information to obtain values corresponding to the coordinate axis directions;
and arranging and combining the numerical values corresponding to the coordinate axis directions according to the sequence relation of the coordinate axis information to obtain a corresponding first numerical value set and a corresponding second numerical value set.
Optionally, writing the first value set and the second value set into a preset type array to obtain current array information, where the method includes:
writing the first numerical value set and the second numerical value set into the preset type array;
initializing the preset type array written in the first numerical value set and the second numerical value set to obtain the current array information.
Optionally, the traversing the target array information and obtaining a corresponding surface point cloud according to a traversal result includes:
traversing the target array information to obtain a corresponding traversal result;
extracting numerical value information in the traversal result, and judging whether a numerical value corresponding to the numerical value information is a preset numerical value or not;
and if the numerical value corresponding to the numerical value information is a preset numerical value, taking the numerical value corresponding to the numerical value information as the surface point cloud at a target point of the point cloud data.
In addition, in order to achieve the above object, the present invention further provides an apparatus for acquiring a surface point cloud, including:
the extraction module is used for acquiring a point cloud file to be processed and extracting point cloud data of the point cloud file to be processed;
the calculation module is used for calculating a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system;
the writing module is used for writing the first numerical value set and the second numerical value set into a preset type array to obtain current array information;
the acquisition module is used for acquiring the target point cloud resolution and acquiring target array information according to the target point cloud resolution and the current array information;
and the traversing module is used for traversing the target array information and obtaining corresponding surface point clouds according to a traversing result.
In addition, in order to achieve the above object, the present invention further provides an acquisition apparatus of a surface point cloud, including: a memory, a processor and a program for acquiring a surface point cloud stored on the memory and executable on the processor, the program for acquiring a surface point cloud being configured to implement the method for acquiring a surface point cloud as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having stored thereon an acquisition program of a surface point cloud, which when executed by a processor implements the above-mentioned method of acquiring a surface point cloud.
The method for acquiring the surface point cloud comprises the steps of extracting point cloud data of a point cloud file to be processed by acquiring the point cloud file to be processed; calculating a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system; writing the first numerical value set and the second numerical value set into a preset type array to obtain current array information; acquiring target point cloud resolution, and acquiring target array information according to the target point cloud resolution and the current array information; traversing the target array information, and obtaining corresponding surface point clouds according to traversal results; according to the method, the target array information is obtained through the point cloud data, the preset type data and the target point cloud resolution in the point cloud file, the corresponding surface point cloud is obtained through traversing the target array information, and compared with the prior art that the surface point cloud is obtained through deleting internal points in the digital-analog point cloud through software, the surface point cloud of an object can be obtained more quickly and accurately.
Drawings
Fig. 1 is a schematic structural diagram of an acquisition apparatus for a surface point cloud of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a method for obtaining a surface point cloud according to the present invention;
FIG. 3 is a schematic flow chart illustrating a second embodiment of a method for obtaining a surface point cloud according to the present invention;
FIG. 4 is a flowchart illustrating a third embodiment of a method for obtaining a surface point cloud according to the present invention;
fig. 5 is a functional block diagram of the device for acquiring a surface point cloud according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an acquisition apparatus for a surface point cloud in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the acquiring device of the surface point cloud may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a definition of an acquisition device for a surface point cloud, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an acquisition program of a surface point cloud.
In the acquisition apparatus of the surface point cloud shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the device for acquiring a surface point cloud of the present invention may be disposed in the device for acquiring a surface point cloud, and the device for acquiring a surface point cloud calls the program for acquiring a surface point cloud stored in the memory 1005 through the processor 1001, and executes the method for acquiring a surface point cloud provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the method for acquiring the surface point cloud is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the method for acquiring a surface point cloud of the present invention.
In a first embodiment, the method for acquiring the surface point cloud comprises the following steps:
step S10, acquiring a point cloud file to be processed, and extracting point cloud data of the point cloud file to be processed.
It should be noted that, the execution subject of the embodiment is an acquisition device of the surface point cloud, and may also be other devices that can implement the same or similar functions, such as a surface point cloud acquirer, and the like.
It should be understood that the point cloud file to be processed refers to a file composed of points of an object for which surface point cloud data is to be acquired, the point cloud file includes point cloud data and other data, and after the point cloud file to be processed is obtained, the point cloud data in the point cloud file is extracted, and the point cloud data includes surface point cloud data and point cloud data of an internal structure.
In specific implementation, the surface point cloud acquirer acquires a point cloud file to be processed and extracts point cloud data of the point cloud file to be processed.
Step S20, calculating a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system.
It should be understood that the rectangular spatial coordinate system refers to a coordinate system consisting of a point in space and three coordinate axes, the three coordinate axes are a horizontal axis, a vertical axis and a vertical axis, the first value set refers to a set of maximum values of the point cloud data in three coordinate axis directions, and the second value set refers to a set of minimum values of the point cloud data in three coordinate axis directions, for example, the maximum value of the point cloud data in the horizontal axis direction is XmaxMinimum value of XminThe maximum value of the point cloud data in the direction of the longitudinal axis is YmaxMinimum value of YminAnd Z of the point cloud data in the vertical axis directionmaxMinimum value of ZminThe first value at this timeIs integrated as Xmax、YmaxAnd ZmaxThe second set of numerical values being Xmin、YminAnd Zmin。
Further, in order to effectively improve the accuracy of obtaining the value set, step S20 includes: extracting coordinate axis information of the space rectangular coordinate system; respectively mapping the point cloud data on corresponding coordinate axes according to the coordinate axis information to obtain values corresponding to the coordinate axis directions; and arranging and combining the numerical values corresponding to the coordinate axis directions according to the sequence relation of the coordinate axis information to obtain a corresponding first numerical value set and a corresponding second numerical value set.
It can be understood that each coordinate axis information refers to direction information and position information of each coordinate axis in a spatial rectangular coordinate system, point cloud data is mapped onto each coordinate axis, because the direction of each coordinate axis is divided into a positive direction and a negative direction, the numerical value at this time has a maximum value and a minimum value, and the sequential relationship refers to the sequential relationship established by each coordinate axis in the spatial rectangular coordinate system, for example, a horizontal axis, a vertical axis and a vertical axis, or a horizontal axis, a vertical axis and a vertical axis.
In specific implementation, the surface point cloud acquirer calculates a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system.
And step S30, writing the first numerical value set and the second numerical value set into a preset type array to obtain the current array information.
It should be understood that the preset type array refers to a pool type array, values of the pool type array are divided into two types, one is false, and the other is true, the preset type data can be established according to a data creation rule, and after the preset type array is successfully created, values in the first value set and the second value set are written into the preset type array to obtain current array information.
Further, in order to effectively improve the efficiency of obtaining the surface point cloud, step S30 includes: writing the first numerical value set and the second numerical value set into the preset type array; initializing the preset type array written in the first numerical value set and the second numerical value set to obtain the current array information.
It can be understood that initializing the preset type array means initializing values in the preset type array to false, and after obtaining the first value set and the second value set, sequentially writing the values in the first value set and the second value set into the preset type array to obtain the current array information.
In specific implementation, the surface point cloud acquirer writes the first numerical value set and the second numerical value set into a preset type array to obtain current array information.
And step S40, obtaining target point cloud resolution, and obtaining target array information according to the target point cloud resolution and the current array information.
It should be understood that the target point cloud resolution refers to a resolution composed of the number of point cloud minimum units, which is set manually by counting the number of point clouds, and the target array information is obtained from the values on the horizontal and vertical axes in the current array information and the target point cloud resolution.
In specific implementation, the surface point cloud acquirer acquires a target point cloud resolution, and obtains target array information according to the target point cloud resolution and the current array information.
And step S50, traversing the target array information, and obtaining corresponding surface point clouds according to the traversal result.
It can be understood that after the target numerical value information is obtained, traversing combination is performed on numerical values corresponding to the target numerical value information, and whether the numerical values obtained through traversing combination are set preset numerical values is judged, wherein the preset numerical values are-1 or target points in the point cloud data, and the target points can be any points in the point cloud data.
In specific implementation, the surface point cloud acquirer traverses the target array information and obtains corresponding surface point clouds according to traversal results.
In the embodiment, point cloud data of a point cloud file to be processed is extracted by acquiring the point cloud file to be processed; calculating a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system; writing the first numerical value set and the second numerical value set into a preset type array to obtain current array information; acquiring target point cloud resolution, and acquiring target array information according to the target point cloud resolution and the current array information; traversing the target array information, and obtaining corresponding surface point clouds according to traversal results; the target array information is obtained through the point cloud data, the preset type data and the target point cloud resolution in the point cloud file, the corresponding surface point cloud is obtained through traversing the target array information, and compared with the prior art that the surface point cloud is obtained through deleting internal points in the digital-analog point cloud through software, the surface point cloud of an object can be quickly and accurately obtained.
In an embodiment, as shown in fig. 3, a second embodiment of the method for acquiring a surface point cloud according to the present invention is proposed based on the first embodiment, and the step S40 includes:
step S401, extracting a first numerical value, a second numerical value, a third numerical value, and a fourth numerical value of the current array information.
It should be understood that the first value of the current array information refers to the maximum value of the point cloud data mapping in the horizontal axis direction, i.e. XmaxThe second value is the minimum value of the point cloud data mapping in the direction of the horizontal axis, namely XminThe third value refers to the maximum value of the point cloud data mapping in the longitudinal axis direction, namely YmaxThe fourth value refers to the minimum value of the point cloud data mapping in the longitudinal axis direction, namely YminAnd after the current array information is obtained, extracting a first numerical value, a second numerical value, a third numerical value and a fourth numerical value in the current array information.
In a specific implementation, the surface point cloud acquirer extracts a first numerical value, a second numerical value, a third numerical value and a fourth numerical value of the current array information.
Step S402, acquiring a preset resolution algorithm and a target point cloud resolution, and calculating the first numerical value, the second numerical value and the target point cloud resolution through the preset resolution algorithm to obtain a first resolution of the point cloud data in the horizontal axis direction.
It can be understood that the preset resolution algorithm refers to an algorithm for calculating the resolution of the point cloud, and the specific formula is as follows:
wherein X islenDenotes the resolution in the horizontal axis direction, XmaxRepresenting the maximum value, X, of the point cloud data mapping in the direction of the horizontal axisminAnd d represents the target point cloud resolution, and the maximum value, the minimum value and the set target point cloud resolution are substituted into a preset resolution algorithm to calculate the resolution of the point cloud data in the horizontal axis direction, namely the first resolution.
In specific implementation, the surface point cloud acquirer acquires a preset resolution algorithm and a target point cloud resolution, and calculates the first numerical value, the second numerical value and the target point cloud resolution through the preset resolution algorithm to obtain a first resolution of the point cloud data in the direction of the transverse axis.
And S403, calculating the third numerical value, the fourth numerical value and the target point cloud resolution through a preset resolution algorithm to obtain a second resolution of the point cloud data in the longitudinal axis direction.
It should be understood that, since the horizontal axis is different from the vertical axis, the preset resolving algorithm needs to be changed according to the change of the coordinate axis, i.e. the formula of the preset resolving algorithm becomes:
wherein Y islenIndicating resolution in the direction of the horizontal axis, YmaxRepresenting the maximum value, Y, of the point cloud data map in the direction of the longitudinal axisminRepresenting the minimum value of the point cloud data mapping in the direction of the longitudinal axis, d representing the target point cloud resolution, substituting the maximum value, the minimum value and the set target point cloud resolution into a preset resolution algorithm to calculate the point cloud data inThe resolution in the vertical axis direction, i.e., the second resolution.
In specific implementation, the surface point cloud acquirer calculates the third numerical value, the fourth numerical value and the target point cloud resolution through a preset resolution algorithm to obtain a second resolution of the point cloud data in the longitudinal axis direction.
Step S404, determining a corresponding target interval according to the first resolution and the second resolution.
It is understood that after obtaining the first resolution and the second resolution, the first resolution is multiplied by the second resolution to obtain the corresponding target interval, for example, the first resolution is XlenThe second resolution is YlenThe range of the target interval is Xlen*Ylen。
In a specific implementation, the surface point cloud acquirer determines a corresponding target interval according to the first resolution and the second resolution.
Step S405, acquiring a target point of the point cloud data, and calculating the position information of the target point falling in the target interval according to the target point cloud resolution.
It should be understood that the target data point refers to each point in the point cloud data, and the position information of the target data point in the target interval is calculated according to the target point cloud resolution, and the position information is in the target interval and is also represented by the interval, for example, the target point is PiBy the formula
，
Wherein P iswIndicating position information on the horizontal axis, PhIndicating position information on the horizontal axis, PiFor the target point, X represents a constant value on the horizontal axis, Y represents a constant value on the vertical axis, and d represents the target point cloud resolution, at which point P is passedwAnd PhI.e. position information of the target point.
In specific implementation, the surface point cloud acquirer acquires a target point of point cloud data, and calculates position information of the target point falling in the target interval according to the target point cloud resolution.
And step S406, updating the current array information according to the target type array and the position information to obtain target array information.
It should be understood that the target array information refers to the current array information updated by the target type data and the position information of the target point, specifically: creating a target type array according to the first resolution and the second resolution, and initializing data in the target type array; calculating the position information according to the target type number group to obtain a numerical value corresponding to the position information; acquiring a current numerical value of a vertical axis in a space rectangular coordinate system, and judging a numerical value corresponding to the position information according to the current numerical value of the vertical axis and initialized data; and updating the current array information according to the judgment result to obtain the target array information.
It will be appreciated that the target type array is a two-dimensional array of int type, in which the data stored must be integer, embodied in the form of int [ a ]][b]After obtaining the first resolution and the second resolution, an array of corresponding sizes is created according to the product of the first resolution and the second resolution, for example, the product of the first resolution and the second resolution is Xlen*YlenAt this time, the size of the target type array is also Xlen*YlenMeanwhile, the value in the target type array needs to be initialized to-1, and the value corresponding to the position information of the target point needs to be calculated according to the target type array, for example, the target type array is
The position information is (P)w，Ph) The value calculated by the target type array is
And updating the current array information according to the judgment result of the numerical value.
It should be understood that the specific determination steps are: acquiring a current numerical value of a vertical coordinate, and calculating a corresponding target numerical value according to the current numerical value of the vertical coordinate and an initialized numerical value; judging whether the numerical value corresponding to the position information is all equal to initialized data or whether the numerical value corresponding to the position information is larger than the numerical value of the target point; and if the numerical value corresponding to the position information is all equal to the initialized data or the numerical value corresponding to the position information is larger than the numerical value of the target point, updating the current array information according to the numerical value corresponding to the position information to obtain the target array information.
It is understood that the target value refers to a value obtained by comparing the current value with the initialized value, for example, the current value is
And
when the initial data is z, the target value is
And
the judgment at this time is based on
Or
、
Or
And determination of target type arrays, i.e.
Or
。
In specific implementation, the surface point cloud acquirer updates the current array information according to the target type array and the position information to obtain target array information.
In this embodiment, a first numerical value, a second numerical value, a third numerical value and a fourth numerical value of the current array information are extracted; acquiring a preset resolution algorithm and a target point cloud resolution, and calculating the first numerical value, the second numerical value and the target point cloud resolution through the preset resolution algorithm to obtain a first resolution of the point cloud data in the direction of the transverse axis; calculating the third numerical value, the fourth numerical value and the target point cloud resolution through a preset resolution algorithm to obtain a second resolution of the point cloud data in the longitudinal axis direction; determining a corresponding target interval according to the first resolution and the second resolution; acquiring a target point of point cloud data, and calculating position information of the target point falling in the target interval according to the target point cloud resolution; updating the current array information according to the target type array and the position information to obtain target array information; the position information of the target point is calculated through the target point cloud resolution and the target interval, and the current array information is updated according to the position information and the target type data, so that the accuracy of obtaining the target array information can be effectively improved.
In an embodiment, as shown in fig. 4, a third embodiment of the method for acquiring a surface point cloud according to the present invention is proposed based on the first embodiment, where the step S50 includes:
step S501, traversing the target array information to obtain a corresponding traversal result.
It can be understood that after the target array information is obtained, a corresponding traversal result is obtained by traversing the array corresponding to the target array information, and the traversal result is a numerical value in the target array.
In specific implementation, the surface point cloud acquirer traverses the target array information to obtain a corresponding traversal result.
Step S502, extracting numerical value information in the traversal result, and judging whether the numerical value corresponding to the numerical value information is a preset numerical value.
It can be understood that the preset value refers to true in the pool type array, and the value information in the traversal result refers to a specific value, i.e., true or false, in the array, and whether the specific value in the array is true is determined.
In specific implementation, the surface point cloud acquirer extracts numerical value information in the traversal result and judges whether a numerical value corresponding to the numerical value information is a preset numerical value or not.
Step S503, if the value corresponding to the numerical information is a preset value, using the value corresponding to the numerical information as the surface point cloud at the target point of the point cloud data.
It should be understood that when the value corresponding to the numerical information is true, the corresponding target point is found according to the value, the target point is used as the surface point cloud of the point cloud file to be processed, when the value corresponding to the numerical information is false, the point cloud data is directly discarded, and the final surface point cloud is the target point with the value of true.
In specific implementation, if the value corresponding to the numerical information is a preset value, the surface point cloud acquirer takes the value corresponding to the numerical information as the surface point cloud at a target point of the point cloud data.
In the embodiment, the target array information is traversed to obtain a corresponding traversal result; extracting numerical value information in the traversal result, and judging whether a numerical value corresponding to the numerical value information is a preset numerical value or not; if the numerical value corresponding to the numerical value information is a preset numerical value, taking the numerical value corresponding to the numerical value information as surface point cloud at a target point of point cloud data; by judging the numerical value in the traversal result and the preset numerical value and taking the target point with the numerical value consistent with the preset numerical value as the surface point cloud, the efficiency and the accuracy of obtaining the surface point cloud can be effectively improved.
In addition, an embodiment of the present invention further provides a storage medium, where an acquisition program of a surface point cloud is stored, and when the acquisition program of the surface point cloud is executed by a processor, the steps of the acquisition method of the surface point cloud as described above are implemented.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
In addition, referring to fig. 5, an embodiment of the present invention further provides an apparatus for acquiring a surface point cloud, where the apparatus for acquiring a surface point cloud includes:
the extraction module 10 is configured to acquire a point cloud file to be processed, and extract point cloud data of the point cloud file to be processed.
It should be understood that the point cloud file to be processed refers to a file composed of points of an object for which surface point cloud data is to be acquired, the point cloud file includes point cloud data and other data, and after the point cloud file to be processed is obtained, the point cloud data in the point cloud file is extracted, and the point cloud data includes surface point cloud data and point cloud data of an internal structure.
In specific implementation, the surface point cloud acquirer acquires a point cloud file to be processed and extracts point cloud data of the point cloud file to be processed.
And the calculating module 20 is configured to calculate a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a spatial rectangular coordinate system.
It should be understood that the rectangular spatial coordinate system refers to a coordinate system consisting of a point in space and three coordinate axes, the three coordinate axes are a horizontal axis, a vertical axis and a vertical axis, the first value set refers to a set of maximum values of the point cloud data in three coordinate axis directions, and the second value set refers to a set of minimum values of the point cloud data in three coordinate axis directions, for example, the maximum value of the point cloud data in the horizontal axis direction is XmaxMinimum value of XminThe maximum value of the point cloud data in the direction of the longitudinal axis is YmaxMinimum value of YminAnd Z of the point cloud data in the vertical axis directionmaxMinimum value of ZminThe first value set is Xmax、YmaxAnd ZmaxThe second set of numerical values being Xmin、YminAnd Zmin。
Further, in order to effectively improve the accuracy of obtaining the value set, step S20 includes: extracting coordinate axis information of the space rectangular coordinate system; respectively mapping the point cloud data on corresponding coordinate axes according to the coordinate axis information to obtain values corresponding to the coordinate axis directions; and arranging and combining the numerical values corresponding to the coordinate axis directions according to the sequence relation of the coordinate axis information to obtain a corresponding first numerical value set and a corresponding second numerical value set.
It can be understood that each coordinate axis information refers to direction information and position information of each coordinate axis in a spatial rectangular coordinate system, point cloud data is mapped onto each coordinate axis, because the direction of each coordinate axis is divided into a positive direction and a negative direction, the numerical value at this time has a maximum value and a minimum value, and the sequential relationship refers to the sequential relationship established by each coordinate axis in the spatial rectangular coordinate system, for example, a horizontal axis, a vertical axis and a vertical axis, or a horizontal axis, a vertical axis and a vertical axis.
In specific implementation, the surface point cloud acquirer calculates a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system.
And a writing module 30, configured to write the first numerical value set and the second numerical value set into a preset type array, so as to obtain current array information.
It should be understood that the preset type array refers to a pool type array, values of the pool type array are divided into two types, one is false, and the other is true, the preset type data can be established according to a data creation rule, and after the preset type array is successfully created, values in the first value set and the second value set are written into the preset type array to obtain current array information.
Further, in order to effectively improve the efficiency of obtaining the surface point cloud, step S30 includes: writing the first numerical value set and the second numerical value set into the preset type array; initializing the preset type array written in the first numerical value set and the second numerical value set to obtain the current array information.
It can be understood that initializing the preset type array means initializing values in the preset type array to false, and after obtaining the first value set and the second value set, sequentially writing the values in the first value set and the second value set into the preset type array to obtain the current array information.
In specific implementation, the surface point cloud acquirer writes the first numerical value set and the second numerical value set into a preset type array to obtain current array information.
And the obtaining module 40 is configured to obtain a target point cloud resolution, and obtain target array information according to the target point cloud resolution and the current array information.
It should be understood that the target point cloud resolution refers to a resolution composed of the number of point cloud minimum units, which is set manually by counting the number of point clouds, and the target array information is obtained from the values on the horizontal and vertical axes in the current array information and the target point cloud resolution.
In specific implementation, the surface point cloud acquirer acquires a target point cloud resolution, and obtains target array information according to the target point cloud resolution and the current array information.
And the traversing module 50 is used for traversing the target array information and obtaining corresponding surface point clouds according to the traversing result.
It can be understood that after the target numerical value information is obtained, traversing combination is performed on numerical values corresponding to the target numerical value information, and whether the numerical values obtained through traversing combination are set preset numerical values is judged, wherein the preset numerical values are-1 or target points in the point cloud data, and the target points can be any points in the point cloud data.
In specific implementation, the surface point cloud acquirer traverses the target array information and obtains corresponding surface point clouds according to traversal results.
In the embodiment, point cloud data of a point cloud file to be processed is extracted by acquiring the point cloud file to be processed; calculating a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system; writing the first numerical value set and the second numerical value set into a preset type array to obtain current array information; acquiring target point cloud resolution, and acquiring target array information according to the target point cloud resolution and the current array information; traversing the target array information, and obtaining corresponding surface point clouds according to traversal results; the target array information is obtained through the point cloud data, the preset type data and the target point cloud resolution in the point cloud file, the corresponding surface point cloud is obtained through traversing the target array information, and compared with the prior art that the surface point cloud is obtained through deleting internal points in the digital-analog point cloud through software, the surface point cloud of an object can be obtained more quickly and accurately.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the method for acquiring the surface point cloud provided in any embodiment of the present invention, and are not described herein again.
In an embodiment, the calculating module 20 is further configured to extract coordinate axis information of the spatial rectangular coordinate system; respectively mapping the point cloud data on corresponding coordinate axes according to the coordinate axis information to obtain values corresponding to the coordinate axis directions; and arranging and combining the numerical values corresponding to the coordinate axis directions according to the sequence relation of the coordinate axis information to obtain a corresponding first numerical value set and a corresponding second numerical value set.
In an embodiment, the writing module 30 is further configured to write the first set of numerical values and the second set of numerical values into the preset type array; initializing the preset type array written in the first numerical value set and the second numerical value set to obtain the current array information.
In an embodiment, the obtaining module 40 is further configured to extract a first numerical value, a second numerical value, a third numerical value, and a fourth numerical value of the current array information; acquiring a preset resolution algorithm and a target point cloud resolution, and calculating the first numerical value, the second numerical value and the target point cloud resolution through the preset resolution algorithm to obtain a first resolution of the point cloud data in the direction of the transverse axis; calculating the third numerical value, the fourth numerical value and the target point cloud resolution through a preset resolution algorithm to obtain a second resolution of the point cloud data in the longitudinal axis direction; determining a corresponding target interval according to the first resolution and the second resolution; acquiring a target point of point cloud data, and calculating position information of the target point falling in the target interval according to the target point cloud resolution; and updating the current array information according to the target type array and the position information to obtain target array information.
In an embodiment, the obtaining module 40 is further configured to initialize the data in the target type array according to a first resolution and a second resolution; calculating the position information according to the target type number group to obtain a numerical value corresponding to the position information; acquiring a current numerical value of a vertical axis in a space rectangular coordinate system, and judging a numerical value corresponding to the position information according to the current numerical value of the vertical axis and initialized data; and updating the current array information according to the judgment result to obtain the target array information.
In an embodiment, the obtaining module 40 is further configured to obtain a current index database, and extract classification list information of the current index database; performing type identification on target index data according to the classification list information to obtain the type of the target index data; storing the target index data to a current index database according to the type; setting a corresponding assessment system according to the target index data; and examining the personnel of different departments based on the examination system.
In an embodiment, the traversal module 50 is further configured to traverse the target array information to obtain a corresponding traversal result; extracting numerical value information in the traversal result, and judging whether a numerical value corresponding to the numerical value information is a preset numerical value or not; and if the numerical value corresponding to the numerical value information is a preset numerical value, taking the numerical value corresponding to the numerical value information as the surface point cloud at a target point of the point cloud data.
Other embodiments or implementations of the apparatus for acquiring a surface point cloud according to the present invention can refer to the above embodiments, and are not intended to be exhaustive.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The method for acquiring the surface point cloud is characterized by comprising the following steps of:
acquiring a point cloud file to be processed, and extracting point cloud data of the point cloud file to be processed;
calculating a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system;
writing the first numerical value set and the second numerical value set into a preset type array to obtain current array information;
acquiring target point cloud resolution, and acquiring target array information according to the target point cloud resolution and the current array information;
and traversing the target array information, and obtaining corresponding surface point clouds according to the traversal result.
2. The method of claim 1, wherein the obtaining a target point cloud resolution and obtaining target array information from the target point cloud resolution and the current array information comprises:
extracting a first numerical value, a second numerical value, a third numerical value and a fourth numerical value of the current array information;
acquiring a preset resolution algorithm and a target point cloud resolution, and calculating the first numerical value, the second numerical value and the target point cloud resolution through the preset resolution algorithm to obtain a first resolution of the point cloud data in the direction of the transverse axis;
calculating the third numerical value, the fourth numerical value and the target point cloud resolution through a preset resolution algorithm to obtain a second resolution of the point cloud data in the longitudinal axis direction;
determining a corresponding target interval according to the first resolution and the second resolution;
acquiring a target point of point cloud data, and calculating position information of the target point falling in the target interval according to the target point cloud resolution;
and updating the current array information according to the target type array and the position information to obtain target array information.
3. The method for acquiring the point cloud on the surface according to claim 2, wherein the updating the current array information according to the target type array and the position information to obtain the target array information comprises:
creating a target type array according to the first resolution and the second resolution, and initializing data in the target type array;
calculating the position information according to the target type number group to obtain a numerical value corresponding to the position information;
acquiring a current numerical value of a vertical axis in a space rectangular coordinate system, and judging a numerical value corresponding to the position information according to the current numerical value of the vertical axis and initialized data;
and updating the current array information according to the judgment result to obtain the target array information.
4. The method for acquiring the point cloud on the surface according to claim 3, wherein before the updating the current array information according to the judgment result to obtain the target array information, the method further comprises:
acquiring a current numerical value of a vertical coordinate, and calculating a corresponding target numerical value according to the current numerical value of the vertical coordinate and an initialized numerical value;
judging whether the numerical value corresponding to the position information is all equal to initialized data or whether the numerical value corresponding to the position information is larger than the numerical value of the target point;
and if the numerical value corresponding to the position information is all equal to the initialized data or the numerical value corresponding to the position information is larger than the numerical value of the target point, updating the current array information according to the numerical value corresponding to the position information to obtain the target array information.
5. The method for acquiring the point cloud on the surface according to claim 1, wherein the calculating the first set of numerical values and the second set of numerical values of the point cloud data in the coordinate axis direction through the spatial rectangular coordinate system comprises:
extracting coordinate axis information of the space rectangular coordinate system;
respectively mapping the point cloud data on corresponding coordinate axes according to the coordinate axis information to obtain values corresponding to the coordinate axis directions;
and arranging and combining the numerical values corresponding to the coordinate axis directions according to the sequence relation of the coordinate axis information to obtain a corresponding first numerical value set and a corresponding second numerical value set.
6. The method for acquiring the point cloud on the surface according to claim 1, wherein the writing the first value set and the second value set into a preset type array to obtain the current array information comprises:
writing the first numerical value set and the second numerical value set into the preset type array;
initializing the preset type array written in the first numerical value set and the second numerical value set to obtain the current array information.
7. The method for acquiring the surface point cloud according to any one of claims 1 to 6, wherein the traversing the target array information to obtain the corresponding surface point cloud according to the traversal result includes:
traversing the target array information to obtain a corresponding traversal result;
extracting numerical value information in the traversal result, and judging whether a numerical value corresponding to the numerical value information is a preset numerical value or not;
and if the numerical value corresponding to the numerical value information is a preset numerical value, taking the numerical value corresponding to the numerical value information as the surface point cloud at a target point of the point cloud data.
8. An apparatus for acquiring a point cloud of a surface, comprising:
the extraction module is used for acquiring a point cloud file to be processed and extracting point cloud data of the point cloud file to be processed;
the calculation module is used for calculating a first numerical value set and a second numerical value set of the point cloud data in the coordinate axis direction through a space rectangular coordinate system;
the writing module is used for writing the first numerical value set and the second numerical value set into a preset type array to obtain current array information;
the acquisition module is used for acquiring the target point cloud resolution and acquiring target array information according to the target point cloud resolution and the current array information;
and the traversing module is used for traversing the target array information and obtaining corresponding surface point clouds according to a traversing result.
9. An acquisition device of a point cloud of a surface, characterized in that it comprises: a memory, a processor and an acquisition program of a surface point cloud stored on the memory and executable on the processor, the acquisition program of the surface point cloud being configured with an acquisition method that implements the surface point cloud of any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon an acquisition program of a surface point cloud, which when executed by a processor implements the acquisition method of a surface point cloud according to any one of claims 1 to 7.
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