CN114372313A - Image processing method and system for actual measurement and laser scanner - Google Patents
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Abstract
The invention discloses an image processing method and system for actually measuring actual quantity and a laser scanner, wherein the image processing method comprises the following steps: acquiring three-dimensional scanning data of a building area, and acquiring a two-dimensional house type graph according to the three-dimensional scanning data; transforming the vector of the two-dimensional house type diagram to match the transformed two-dimensional house type diagram with the design diagram of the building area; and acquiring the coincidence quantity of the transformed two-dimensional house type diagram and the design diagram. The image processing method and system for the actual measurement and the laser scanner can accurately match the actual measurement with the design drawing in a larger difference, obtain the difference between the actual measurement data and the design drawing, quickly obtain the modification items in the actual engineering, and are convenient for construction acceptance and use by users.
Description
Technical Field
The invention relates to an image processing method and system for actually measured actual quantity and a laser scanner.
Background
The actual measurement is a method for truly reflecting product quality data through field test and measurement by using a measuring tool. And according to the related quality acceptance standard, the error of the metering control engineering quality data is within the range allowed by the national housing construction standard.
In order to strengthen the quality management of house buildings, improve the quality responsibility consciousness, strengthen the quality responsibility pursuit and ensure the engineering construction quality, 8-25 months in 2014, the urban and rural construction department of housing issues a temporary solution for the quality lifelong responsibility pursuit of the main project responsible for the five responsibilities of the building engineering, so that the engineering quality problem is emphatically emphasized in the construction industry. In addition, in recent years, the real estate industry is difficult to continue the early explosive growth, the market situation is not optimistic, the competition is more intense, and developers also need to pay more attention to the quality of products to gain the favor of customers.
The actual measurement of the construction project is a method for controlling the error of the project quality data within the allowable range of the national housing construction standard according to the relevant quality acceptance standard. The development of this work can better promote the project to do good physical quality work. Through the mode of establishing a product entity quality actual measurement system and carrying out the system, the engineering quality level of each stage of the project is objectively and truly reflected, the real-time improvement and continuous improvement of the entity quality are promoted, and the aim of one-time qualification of the entity quality is further achieved. Therefore, the actual measurement system of civil engineering is playing an important role in the building market as an important component of quality control in the Chinese building market, and has become a hard index for ensuring the quality of the building engineering.
The actual measurement needs many indexes, mainly including: flatness, the straightness that hangs down, hollowing and fracture, ceiling and the depth of parallelism on ground are extremely poor, the bathroom is waterproof, window caulking and beat glue, door opening size, the reducer of window, socket panel's height etc. involve the safety problem in the work progress if standardize like setting up of scaffold frame, three treasures four mouths use and protect whether satisfy the standard requirement, whether the construction power consumption is standard, whether fire-fighting equipment, fire-fighting equipment satisfy the standard requirement etc..
At present, the international technology for 3D live-action scanning and restoring high-precision building space mainly obtains 3D space depth data through laser radar scanning equipment and obtains texture data through an RGB camera. Other 3D live-action scanning techniques, such as those implemented by structured light 3D sensors, are 3D live-action spatial scanning restoration techniques based on 2D image sensors and sfm (structure From motion) techniques.
In the existing actual measurement tool, the three-dimensional scanning data cannot be compared with a CAD drawing after being acquired, and the manual comparison efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects that after scanning data is obtained by the existing actual measurement real quantity tool in the prior art, three-dimensional scanning data cannot be compared with a CAD drawing after being obtained, and the manual comparison efficiency is low.
The invention solves the technical problems through the following technical scheme:
an image processing method for actually measuring actual quantity, the image processing method comprising:
acquiring three-dimensional scanning data of a building area, and acquiring a two-dimensional house type graph according to the three-dimensional scanning data;
transforming the vector of the two-dimensional house type diagram to match the transformed two-dimensional house type diagram with the design diagram of the building area;
and acquiring the coincidence quantity of the transformed two-dimensional house type diagram and the design diagram.
Preferably, the image processing method includes:
segmenting and semantically recognizing the three-dimensional scanning data to obtain a plurality of components with semantic information, and then obtaining components of a two-dimensional user-type graph corresponding to the components in the three-dimensional scanning data;
transforming vectors of all components in the two-dimensional house type diagram to match the transformed two-dimensional house type diagram with a design diagram of the building area;
and obtaining the transformation reliability of the two-dimensional house-type graph transformation according to the coincidence quantity, wherein the higher the coincidence quantity is, the higher the transformation reliability is.
Preferably, the means for obtaining a two-dimensional house map corresponding to the means in the three-dimensional scan data comprises:
setting the Z-axis coordinates of all the members in the three-dimensional scanning data to zero to acquire the members of the two-dimensional house map, wherein the plane coordinates of the members of the two-dimensional house map and the Z-axis coordinates of the members corresponding to the three-dimensional scanning data are stored by an Xml format.
The plane coordinate and the Z-axis coordinate may also be stored in json, dxf or any custom format, which all fall within the scope of the present application.
Preferably, the transforming vectors of all the members in the two-dimensional house type map to match the transformed two-dimensional house type map with the design map of the building area includes:
selecting a target component in a two-dimensional house-type drawing, and searching a corresponding component matched with the target component in the design drawing;
and acquiring a coordinate transformation matrix for transforming the two-dimensional house type graph to the design graph according to the vector of the target component and the vector of the corresponding component.
Preferably, the acquiring the coincidence amount of the transformed two-dimensional house type diagram and the design diagram includes:
pixelating the two-dimensional floor plan and the design plan to obtain a pixel binary map of the same size;
and acquiring the intersection of the two-dimensional house type graph and the pixel binary graph of the design graph as the coincidence quantity of the two-dimensional house type graph and the design graph.
Preferably, the pixelating the two-dimensional floor plan and the design plan to obtain a pixel binary map of the same size comprises:
acquiring a minimum circumscribed rectangle of the two-dimensional house type drawing and the design drawing;
acquiring the diagonal length L of the larger minimum circumscribed rectangle in the minimum circumscribed rectangles of the two-dimensional floor plan and the design plan;
the two-dimensional house type drawing and the design drawing are reduced by a multiplying power L/(N-1);
and adding the reduced two-dimensional house type graph and the design graph to the pixel binary graph with the size of N x N.
Preferably, the image processing method includes:
acquiring all transformation matrixes from the target component to all corresponding components in the design drawing;
calculating the coincidence quantity of the two-dimensional house-type diagram and the pixel binary diagram of the design diagram under each transformation matrix to obtain the transformation reliability of the transformation matrix;
and judging whether the numerical value with the highest transformation reliability meets a preset value, and if so, transforming the two-dimensional indoor type graph by using a transformation matrix with the highest transformation reliability.
Preferably, the acquiring three-dimensional scan data of a building area includes:
acquiring the three-dimensional scanning data through a laser scanner, wherein the laser scanner comprises a gradienter and a compass;
and acquiring the ground component and the ceiling component in the three-dimensional scanning data according to the parameters of the gradienter and the compass when the three-dimensional scanning data is acquired, and acquiring the semantics of the cavity according to the distance from the cavity on the wall surface to the ground component and the ceiling component in the three-dimensional scanning data.
The invention also provides an image processing system, which comprises a laser scanner and is used for realizing the image processing method.
The invention also provides a laser scanner, which is used for the image processing system; or the like, or, alternatively,
the laser scanner comprises a processing module, and the laser scanner is used for realizing the image processing method.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the image processing method and system for the actual measurement and the laser scanner can accurately match the actual measurement with the design drawing in a larger difference, obtain the difference between the actual measurement data and the design drawing, quickly obtain the modification items in the actual engineering, and are convenient for construction acceptance and use by users.
In actual construction, often have temporarily to add the baffle wall or cut a door opening, can cause the deletion to building element, but these excessive constructions can influence the room profile very seldom, and the binary profile map based on downsampling can reduce the error of construction this moment to reach both and can realize higher coincidence degree.
Drawings
Fig. 1 is a flowchart of an image processing method according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of a two-dimensional house layout and a design drawing in embodiment 1 of the present invention.
Fig. 3 is a schematic structural diagram of a pixel binary image in embodiment 1 of the present invention.
Fig. 4 is another structural diagram of a pixel binary image in embodiment 1 of the invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Referring to fig. 2, 3 and 4, the present embodiment provides an image processing system, in which the laser scanning system includes a laser scanner and a processing terminal.
The laser scanner is used for acquiring three-dimensional scanning data of a building area and acquiring a two-dimensional house type image according to the three-dimensional scanning data;
the processing terminal is used for transforming the vector of the two-dimensional house type graph so as to match the transformed two-dimensional house type graph with the design graph of the building area;
the processing terminal is further configured to obtain a coincidence quantity of the transformed two-dimensional house-type diagram 11 and the design diagram 12.
Further, the processing terminal is further configured to:
segmenting and semantically recognizing the three-dimensional scanning data to obtain a plurality of components with semantic information, and then obtaining components of a two-dimensional user-type graph corresponding to the components in the three-dimensional scanning data;
transforming vectors of all components in the two-dimensional house type diagram to match the transformed two-dimensional house type diagram with a design diagram of the building area;
and obtaining the transformation reliability of the two-dimensional house-type graph transformation according to the coincidence quantity, wherein the higher the coincidence quantity is, the higher the transformation reliability is.
Further, the processing terminal is further configured to:
the means for obtaining a two-dimensional house figure corresponding to a means in the three-dimensional scan data comprises:
setting the Z-axis coordinates of all the members in the three-dimensional scanning data to zero to acquire the members of the two-dimensional house map, wherein the plane coordinates of the members of the two-dimensional house map and the Z-axis coordinates of the members corresponding to the three-dimensional scanning data are stored by an Xml format.
Further, the processing terminal is further configured to:
selecting a target component in a two-dimensional house-type drawing, and searching a corresponding component matched with the target component in the design drawing;
and acquiring a coordinate transformation matrix for transforming the two-dimensional house type graph to the design graph according to the vector of the target component and the vector of the corresponding component.
Further, the processing terminal is further configured to:
pixelating the two-dimensional floor plan and the design plan to obtain a pixel binary map of the same size;
in fig. 3, the two-dimensional pixel map of the two-dimensional house map is 13, and the two-dimensional pixel map of the plan map is 14.
And acquiring the intersection of the two-dimensional house type graph and the pixel binary graph of the design graph as the coincidence quantity 15 of the two-dimensional house type graph and the design graph.
Further, the processing terminal is further configured to:
acquiring a minimum circumscribed rectangle of the two-dimensional house type drawing and the design drawing;
acquiring the diagonal length L of the larger minimum circumscribed rectangle in the minimum circumscribed rectangles of the two-dimensional floor plan and the design plan;
the two-dimensional house type drawing and the design drawing are reduced by a multiplying power L/(N-1);
and adding the reduced two-dimensional house type graph and the design graph to the pixel binary graph with the size of N x N.
Further, the processing terminal is further configured to:
acquiring all transformation matrixes from the target component to all corresponding components in the design drawing;
calculating the coincidence quantity of the two-dimensional house-type diagram and the pixel binary diagram of the design diagram under each transformation matrix to obtain the transformation reliability of the transformation matrix;
and judging whether the numerical value with the highest transformation reliability meets a preset value, and if so, transforming the two-dimensional indoor type graph by using a transformation matrix with the highest transformation reliability.
Further, the processing terminal is further configured to: acquiring the three-dimensional scanning data through a laser scanner, wherein the laser scanner comprises a gradienter and a compass;
and acquiring the ground component and the ceiling component in the three-dimensional scanning data according to the parameters of the gradienter and the compass when the three-dimensional scanning data is acquired, and acquiring the semantics of the cavity according to the distance from the cavity on the wall surface to the ground component and the ceiling component in the three-dimensional scanning data.
Referring to fig. 1, with the image processing system, the present embodiment further provides an image processing method, including:
and 102, acquiring the coincidence quantity of the transformed two-dimensional house type diagram and the design diagram.
Wherein, step 100 specifically comprises:
acquiring the three-dimensional scanning data through a laser scanner, wherein the laser scanner comprises a gradienter and a compass;
and acquiring the ground component and the ceiling component in the three-dimensional scanning data according to the parameters of the gradienter and the compass when the three-dimensional scanning data is acquired, and acquiring the semantics of the cavity according to the distance from the cavity on the wall surface to the ground component and the ceiling component in the three-dimensional scanning data.
Further, step 101 further comprises:
step 102 specifically comprises: and obtaining the transformation reliability of the two-dimensional house-type graph transformation according to the coincidence quantity, wherein the higher the coincidence quantity is, the higher the transformation reliability is.
In step 1012, the Z-axis coordinates of all the components in the three-dimensional scan data are set to zero to obtain the components of the two-dimensional house map, wherein the plane coordinates of the components of the two-dimensional house map and the Z-axis coordinates of the components corresponding to the three-dimensional scan data are stored in the Xml format.
selecting a target component in a two-dimensional house-type drawing, and searching a corresponding component matched with the target component in the design drawing;
and acquiring a coordinate transformation matrix for transforming the two-dimensional house type graph to the design graph according to the vector of the target component and the vector of the corresponding component.
Wherein step 102 comprises
and 1022, acquiring the intersection of the two-dimensional house type graph and the pixel binary graph of the design graph as the coincidence quantity of the two-dimensional house type graph and the design graph.
Specifically, step 1021 comprises:
acquiring a minimum circumscribed rectangle of the two-dimensional house type drawing and the design drawing;
acquiring the diagonal length L of the larger minimum circumscribed rectangle in the minimum circumscribed rectangles of the two-dimensional floor plan and the design plan;
the two-dimensional house type drawing and the design drawing are reduced by a multiplying power L/(N-1);
and adding the reduced two-dimensional house type graph and the design graph to the pixel binary graph with the size of N x N.
In this embodiment, N is 32.
After step 102, comprising:
103, acquiring all transformation matrixes from the target component to all corresponding components in the design drawing;
104, calculating the coincidence quantity of the two-dimensional house type graph and the pixel binary graph of the design graph under each transformation matrix to obtain the transformation reliability of the transformation matrix;
and acquiring a plurality of transformation matrixes, wherein each transformation matrix corresponds to one credibility, and transforming the two-dimensional indoor graph according to the transformation matrix with the highest credibility.
And 105, judging whether the value with the highest transformation reliability meets a preset value, if so, executing a step 106, and otherwise, executing a step 107.
And 106, transforming the two-dimensional floor plan by using the transformation matrix with the highest transformation reliability, and then ending the process.
And step 107, manually selecting a transformation matrix.
Referring to fig. 2, 3 and 4, the present embodiment first performs semantic segmentation of three-dimensional scan data.
After the building area is scanned, the scanning result is divided into a continuous dense area and a hollow area. The relatively flat and continuous dense areas are easily available as walls, ceilings and floors, and the floor members and ceiling members can be identified based on the laser scanner's own level and compass. The hollow areas are distinguished according to the height from the ground, the door is arranged at the height of 0 from the floor, and the window is arranged at a certain distance from the floor. The boundary contour coordinate points of all members such as walls, doors, windows, floors and ceilings can be obtained.
And then, generating a 2D image by projection, and setting the Z coordinates of all the components to be 0 by a method of acquiring a top view of the 3D point cloud to obtain the coordinates of the 2D component generated by projection.
The outline of the whole room is recorded by storing the 2D coordinate information of the member in the Xml format and the Z-axis information such as the height of a house, the height of a window and the like.
Then, selecting a corresponding component, calculating a coordinate transformation matrix, and taking the wall in the two-dimensional house-type drawing and the CAD design drawing as the corresponding component. The corresponding vector is generated clockwise from the corresponding component with the respective scanning centers (geometric centers of the room outlines) as the origin. And calculating a coordinate transformation matrix when the two-dimensional user-type diagram coordinates are transformed to be coincident with the vector of the CAD design diagram.
And then, generating a down-sampling binary image after coordinate transformation, and transforming the two-dimensional house type image by using the obtained coordinate transformation matrix. And drawing the two-dimensional house-type drawing and the CAD design drawing after coordinate transformation into a 32-by-32-pixel binary drawing, wherein the line width is 2. And the length of the diagonal line of the larger minimum circumscribed rectangle of the two-dimensional user-type drawing and the CAD design drawing after coordinate transformation is L, and the zooming magnification is L/(32-1) times when the binary drawing is drawn. It is readily known that the color of the pixel with drawn lines is True and the area without drawn lines is False.
And finally, calculating the matching reliability, acquiring the component matching relationship, and taking the intersection of the two binary images, namely the overlapped part. The ratio of the binary image with the overlapped part occupying less color pixels is calculated as the reliability of the matching. And exhaustively exhausting the matching possibility of all the corresponding components, calculating the matching reliability of all the conditions, taking the component with the highest reliability as the final corresponding component, and taking the component which is superposed in the down-sampled binary image as the matching component.
In other embodiments, the laser scanner includes a processing module that can implement the functionality of the processing terminal.
The image processing method and system for actual measurement and the laser scanner can accurately match the actual measurement with the design drawing in a large difference mode, obtain the difference between the actual measurement data and the design drawing, quickly obtain the modification items in the actual engineering, and are convenient for construction acceptance and use by users.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. An image processing method for actually measuring actual quantity, the image processing method comprising:
acquiring three-dimensional scanning data of a building area, and acquiring a two-dimensional house type graph according to the three-dimensional scanning data;
transforming the vector of the two-dimensional house type diagram to match the transformed two-dimensional house type diagram with the design diagram of the building area;
and acquiring the coincidence quantity of the transformed two-dimensional house type diagram and the design diagram.
2. The image processing method as claimed in claim 1, wherein the image processing method comprises:
segmenting and semantically recognizing the three-dimensional scanning data to obtain a plurality of components with semantic information, and then obtaining components of a two-dimensional user-type graph corresponding to the components in the three-dimensional scanning data;
transforming vectors of all components in the two-dimensional house type diagram to match the transformed two-dimensional house type diagram with a design diagram of the building area;
and obtaining the transformation reliability of the two-dimensional house-type graph transformation according to the coincidence quantity, wherein the higher the coincidence quantity is, the higher the transformation reliability is.
3. The image processing method of claim 2, wherein the means for obtaining a two-dimensional house map corresponding to the means in the three-dimensional scan data comprises:
the Z-axis coordinates of all the members in the three-dimensional scan data are set to zero to acquire members of the two-dimensional house figure.
4. The image processing method of claim 2, wherein transforming vectors of all members of the two-dimensional house type map to match the transformed two-dimensional house type map with a plan of the building area comprises:
selecting a target component in a two-dimensional house-type drawing, and searching a corresponding component matched with the target component in the design drawing;
and acquiring a coordinate transformation matrix for transforming the two-dimensional house type graph to the design graph according to the vector of the target component and the vector of the corresponding component.
5. The image processing method as claimed in claim 2, wherein said obtaining the coincidence of the transformed two-dimensional house view and the design view comprises:
pixelating the two-dimensional floor plan and the design plan to obtain a pixel binary map of the same size;
and acquiring the intersection of the two-dimensional floor plan and the pixel binary map of the design map as the coincidence quantity of the two-dimensional floor plan and the design map.
6. The image processing method of claim 5, wherein pixelating the two-dimensional layout map and the design map to obtain a pixel binary map of the same size comprises:
acquiring a minimum circumscribed rectangle of the two-dimensional house type drawing and the design drawing;
acquiring the diagonal length L of the larger minimum circumscribed rectangle in the minimum circumscribed rectangles of the two-dimensional floor plan and the design plan;
the two-dimensional house type drawing and the design drawing are reduced by a multiplying power L/(N-1);
and adding the reduced two-dimensional house type graph and the design graph to the pixel binary graph with the size of N x N.
7. The image processing method as claimed in claim 5, wherein the image processing method comprises:
acquiring all transformation matrixes from the target component to all corresponding components in the design drawing;
calculating the coincidence quantity of the two-dimensional house-type diagram and the pixel binary diagram of the design diagram under each transformation matrix to obtain the transformation reliability of the transformation matrix;
and judging whether the numerical value with the highest transformation reliability meets a preset value, and if so, transforming the two-dimensional indoor type graph by using a transformation matrix with the highest transformation reliability.
8. The image processing method of claim 2, wherein said obtaining three-dimensional scan data of a building area comprises:
acquiring the three-dimensional scanning data through a laser scanner, wherein the laser scanner comprises a gradienter and a compass;
and acquiring the ground component and the ceiling component in the three-dimensional scanning data according to the parameters of the gradienter and the compass when the three-dimensional scanning data is acquired, and acquiring the semantics of the cavity according to the distance from the cavity on the wall surface to the ground component and the ceiling component in the three-dimensional scanning data.
9. An image processing system comprising a laser scanner, the image processing system being configured to implement the image processing method according to any one of claims 1 to 8.
10. A laser scanner for use in the image processing system of claim 9; or the like, or, alternatively,
the laser scanner comprises a processing module, and the laser scanner is used for realizing the image processing method as claimed in any one of claims 1 to 8.
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| CN115130191A (en) * | 2022-07-28 | 2022-09-30 | 盎维云(深圳)计算有限公司 | Positive and reverse BIM fusion modeling engine |
| WO2024177239A1 (en) * | 2023-02-22 | 2024-08-29 | Samsung Electronics Co., Ltd. | Method and apparatus for mapping indoor |
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