CN115330939A

CN115330939A - House type graph generation method and device, electronic equipment and storage medium

Info

Publication number: CN115330939A
Application number: CN202210946520.6A
Authority: CN
Inventors: 李伟; 胡洋
Original assignee: You Can See Beijing Technology Co ltd AS
Current assignee: You Can See Beijing Technology Co ltd AS
Priority date: 2022-08-08
Filing date: 2022-08-08
Publication date: 2022-11-11
Also published as: WO2024031973A1

Abstract

The embodiment of the disclosure discloses a house type graph generation method, a device, an electronic device and a storage medium, wherein the method comprises the following steps: acquiring an initial plane wire frame diagram and a target three-dimensional point cloud model of a target house under a first coordinate system; based on the target three-dimensional point cloud model, correcting the initial plane wire frame diagram to obtain a corrected plane wire frame diagram corresponding to the target house; determining height information respectively corresponding to all functions of the target house based on the corrected planar wire frame diagram and the target three-dimensional point cloud model; and generating a three-dimensional house type graph corresponding to the target house based on the corrected planar wire frame graph and the height information respectively corresponding to the functions. The accuracy of the house type graph is effectively improved, and the technical problems that the house type graph obtained in the prior art is not accurate enough and the like are solved.

Description

House type graph generation method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to computer technologies, and in particular, to a house type graph generating method and apparatus, an electronic device, and a storage medium.

Background

The house is one of important places of daily life of people, and the house pattern diagram is one of necessary information for people to know the house, so that the construction of the accurate house pattern diagram is very important. In the prior art, a house type graph is usually obtained by manually drawing through manual measurement, and the house type graph obtained based on the house type graph is often not accurate enough.

Disclosure of Invention

The embodiment of the disclosure provides a house type graph generation method and device, electronic equipment and a storage medium, so as to solve the technical problems that a house type graph in the prior art is not accurate enough and the like.

In one aspect of the embodiments of the present disclosure, a house type graph generating method is provided, including:

acquiring an initial plane wire frame diagram and a target three-dimensional point cloud model of a target house under a first coordinate system;

based on the target three-dimensional point cloud model, correcting the initial plane wire frame diagram to obtain a corrected plane wire frame diagram corresponding to the target house;

determining height information respectively corresponding to all functions of the target house based on the corrected planar wire frame diagram and the target three-dimensional point cloud model;

and generating a three-dimensional house type graph corresponding to the target house based on the corrected planar wire frame graph and the height information respectively corresponding to the functions.

In an embodiment of the present disclosure, the height information includes a top height and a ground height; generating a three-dimensional house type graph corresponding to the target house based on the corrected planar wire frame graph and the height information respectively corresponding to each function, wherein the three-dimensional house type graph comprises the following steps:

for any one function room, determining first line frame information at the top height and second line frame information at the ground height corresponding to the function room based on the corrected plane line frame diagram;

and determining the three-dimensional house type graph based on the first frame information and the second frame information which respectively correspond to all the functions.

In an embodiment of the present disclosure, the determining, based on the corrected planar wire frame diagram and the target three-dimensional point cloud model, height information corresponding to each function of the target house includes:

based on the corrected plane wire frame diagram, extracting first point cloud data respectively corresponding to all the functions from the target three-dimensional point cloud model;

and determining the top height and the ground height respectively corresponding to each function based on the first point cloud data respectively corresponding to each function.

In an embodiment of the present disclosure, the determining a top height and a ground height respectively corresponding to each of the function rooms based on the first point cloud data respectively corresponding to each of the function rooms includes:

aiming at any one function, determining the number of points included in each of a plurality of height ranges based on the first point cloud data corresponding to the function;

determining the top height and the ground height corresponding to the function room based on the number of points included in each of the height ranges.

In an embodiment of the present disclosure, the modifying the initial planar wire frame diagram based on the target three-dimensional point cloud model to obtain a modified planar wire frame diagram corresponding to the target house includes:

vertically projecting the target three-dimensional point cloud model onto a plane where the initial plane line frame diagram is located to obtain a projection result, wherein the projection result comprises coordinates of projection points projected onto the plane where the initial plane line frame diagram is located;

and correcting the initial planar wire frame diagram according to the projection result to obtain the corrected planar wire frame diagram.

In an embodiment of the present disclosure, the obtaining the corrected planar wire frame diagram by performing correction processing on the initial planar wire frame diagram according to the projection result includes:

determining the distance from each projection point to each original wall line in the initial plane wire frame diagram based on the projection result;

for any original wall line, determining a target projection point of which the distance from the original wall line is less than a first distance threshold value based on the distance from each projection point to the original wall line;

determining a corrected rear wall line corresponding to the original wall line based on each target projection point;

determining the end point of the corrected wall line based on the end point of the original wall line;

and determining the corrected planar wire frame diagram based on the corrected rear wall line corresponding to each original wall line and the end point of the corrected rear wall line.

In one embodiment of the present disclosure, the first and second electrodes are, the method for acquiring the initial plane wire frame diagram and the target three-dimensional point cloud model of the target house under the first coordinate system comprises the following steps:

acquiring planar line frame information and original three-dimensional point cloud data of the target house;

determining the initial planar wire frame diagram of the target house in a first coordinate system based on the planar wire frame information;

and converting the original three-dimensional point cloud data into the first coordinate system to obtain the target three-dimensional point cloud model of the target house in the first coordinate system.

In another aspect of the embodiments of the present disclosure, there is provided a house type graph generating apparatus, including:

the first acquisition module is used for acquiring an initial plane wire frame diagram and a target three-dimensional point cloud model under a first coordinate system of a target house;

the first processing module is used for correcting the initial plane wire frame diagram based on the target three-dimensional point cloud model to obtain a corrected plane wire frame diagram corresponding to the target house;

the second processing module is used for determining height information corresponding to each function of the target house based on the corrected planar wire frame diagram and the target three-dimensional point cloud model;

and the third processing module is used for generating a three-dimensional house type graph corresponding to the target house based on the corrected planar wire frame graph and the height information respectively corresponding to the functions.

In an embodiment of the present disclosure, the height information includes a top height and a ground height; the third processing module comprises:

the first processing unit is used for determining first line frame information at the top height and second line frame information at the ground height corresponding to any functional room based on the corrected planar line diagram;

and the second processing unit is used for determining the three-dimensional house type graph based on the first frame information and the second frame information which respectively correspond to all the functions.

In an embodiment of the present disclosure, the second processing module includes:

the third processing unit is used for extracting first point cloud data corresponding to each function from the target three-dimensional point cloud model based on the corrected planar wire frame diagram;

and the fourth processing unit is used for determining the top height and the ground height respectively corresponding to each function room based on the first point cloud data respectively corresponding to each function room.

In an embodiment of the present disclosure, the fourth processing unit is specifically configured to:

aiming at any one function, determining the number of points included in each of a plurality of height ranges based on the first point cloud data corresponding to the function; determining the top height and the ground height corresponding to the function room based on the number of points included in each of the height ranges.

In an embodiment of the present disclosure, the first processing module includes:

a fifth processing unit, configured to vertically project the target three-dimensional point cloud model onto a plane where the initial planar line frame diagram is located, to obtain a projection result, where the projection result includes coordinates of projection points projected onto the plane where the initial planar line frame diagram is located;

and the sixth processing unit is used for correcting the initial planar wire frame diagram according to the projection result to obtain the corrected planar wire frame diagram.

In an embodiment of the present disclosure, the sixth processing unit is specifically configured to:

determining the distance from each projection point to each original wall line in the initial plane wire frame diagram based on the projection result; for any original wall line, determining a target projection point of which the distance from the original wall line is less than a first distance threshold value based on the distance from each projection point to the original wall line; determining a corrected rear wall line corresponding to the original wall line based on each target projection point; determining the end point of the corrected wall line based on the end point of the original wall line; and determining the corrected planar wire frame diagram based on the corrected rear wall line corresponding to each original wall line and the end point of the corrected rear wall line.

In an embodiment of the present disclosure, the first obtaining module includes:

the acquisition unit is used for acquiring the plane wire frame information and the original three-dimensional point cloud data of the target house;

a determining unit, configured to determine the initial planar wire frame diagram of the target house in a first coordinate system based on the planar wire frame information;

and the conversion unit is used for converting the original three-dimensional point cloud data into the first coordinate system to obtain the target three-dimensional point cloud model of the target house in the first coordinate system.

According to a further aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, implement the method according to any of the above-mentioned embodiments of the present disclosure.

According to still another aspect of an embodiment of the present disclosure, there is provided an electronic apparatus including:

a memory for storing a computer program product;

a processor configured to execute the computer program product stored in the memory, and when the computer program product is executed, the method according to any of the above embodiments of the present disclosure is implemented.

According to the house type graph generation method, the house type graph generation device, the electronic equipment and the storage medium, the initial plane line frame graph of the house is corrected through the three-dimensional point cloud model of the house, the more accurate corrected plane line block diagram is obtained, the height information among all functions can be automatically determined based on the corrected plane line frame diagram and the three-dimensional point cloud model, the three-dimensional house type graph of the house can be generated based on the corrected plane line frame diagram and the height information among all functions, the accuracy of the house type graph is effectively improved, and the technical problems that the house type graph obtained in the prior art is not accurate enough and the like are solved.

The technical solution of the present disclosure is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

The present disclosure may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

FIG. 1 is an exemplary application scenario of the house layout generation method provided by the present disclosure;

FIG. 2 is a flow chart diagram of a house pattern generation method provided by an exemplary embodiment of the present disclosure;

FIG. 3 is a flow chart diagram of a house pattern generation method provided by another exemplary embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a modified plan wire frame diagram of a target house provided by an exemplary embodiment of the present disclosure;

FIG. 5 is a three-dimensional wire-frame diagram of a functional room of a target premises provided by an exemplary embodiment of the present disclosure;

FIG. 6 is a flowchart illustrating step 2032 provided by an exemplary embodiment of the present disclosure;

FIG. 7 is a schematic diagram illustrating a determination principle of inter-function height information provided by an exemplary embodiment of the present disclosure;

FIG. 8 is a schematic diagram of projection results provided by an exemplary embodiment of the present disclosure;

FIG. 9 is a flowchart of step 2022 provided by an exemplary embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a house pattern generation apparatus provided in an exemplary embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of a house pattern generation apparatus according to another exemplary embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of an application embodiment of the electronic device of the present disclosure.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

It will be understood by those within the art that the terms "first", "second", etc. in the embodiments of the present disclosure are used only for distinguishing between different steps, devices or modules, etc., and do not denote any particular technical meaning or necessary logical order therebetween.

It is also understood that in embodiments of the present disclosure, "a plurality" may refer to two or more and "at least one" may refer to one, two or more.

It is also to be understood that any reference to any component, data, or structure in the embodiments of the present disclosure may be generally understood as one or more, unless explicitly defined otherwise or indicated to the contrary hereinafter.

In addition, the term "and/or" in the present disclosure is only one kind of association relationship describing an associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in the present disclosure generally indicates that the former and latter associated objects are in an "or" relationship.

It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and the same or similar parts may be referred to each other, so that the descriptions thereof are omitted for brevity.

Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.

The disclosed embodiments may be applied to electronic devices such as terminal devices, computer systems, servers, etc., which are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with electronic devices, such as terminal devices, computer systems, servers, and the like, include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set top boxes, programmable consumer electronics, network pcs, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above systems, and the like.

Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.

Summary of the disclosure

In the process of implementing the present disclosure, the inventor finds that the house layout graph is one of the necessary information for people to know the house, and therefore, it is very important to construct an accurate house layout graph. In the prior art, a house type graph is usually obtained by manually drawing through manual measurement, and the house type graph obtained based on the house type graph is often not accurate enough.

Brief description of the drawings

Fig. 1 is an exemplary application scenario of the house pattern generation method provided by the present disclosure.

In the house property field, in order to enable a user to better understand house types, a corresponding three-dimensional house type graph needs to be generated for a house, a house type graph generation device is utilized to execute the house type graph generation method disclosed by the invention, an initial plane house type graph (namely an initial plane line block graph) of the house obtained in advance can be corrected based on a target three-dimensional point cloud model of the house (hereinafter referred to as a target house) obtained in advance, a more accurate plane line block graph (namely a corrected plane line block graph) of the target house is obtained, further height information corresponding to each function of the target house is determined based on the corrected plane line block graph and the target three-dimensional point cloud model, a three-dimensional house type graph corresponding to the target house is generated based on the corrected plane line block graph and the height information corresponding to each function, the automatic generation of the house three-dimensional house type graph is realized, the accuracy of the house type graph is effectively improved, and the technical problems that the three-dimensional house type graph obtained in the prior art is not accurate enough are solved.

Exemplary method

Fig. 2 is a flowchart illustrating a house pattern generation method according to an exemplary embodiment of the present disclosure. The method comprises the following steps:

step 201, obtaining an initial plane wire frame diagram and a target three-dimensional point cloud model of a target house under a first coordinate system.

The target house may be any house which needs to generate a three-dimensional house type graph, and the initial planar wire frame graph may be a polygonal wire frame graph of the target house obtained in any manner, for example, a manually drawn polygonal wire frame graph is mapped to the first coordinate system as an initial planar wire frame graph in the world coordinate system of the target house. The target three-dimensional point cloud model may be a three-dimensional point cloud model obtained based on mapping of scan-acquired original three-dimensional point cloud data to a first coordinate system. The first coordinate system may be a world coordinate system, or may be set as a relative coordinate system having a certain mapping relationship with the world coordinate system according to actual requirements, specifically, may be set according to actual requirements, as long as the initial planar wire frame diagram and the target three-dimensional point cloud model are located in the same coordinate system. For example, a first coordinate system is established by taking a preset position of the target house as an origin, and an initial planar wire frame diagram and a target three-dimensional point cloud model of the target house under the first coordinate system are obtained. And is not particularly limited.

For example, since the initial plane line diagram has no height information, the initial plane line diagram may be mapped onto an XOY plane of the first coordinate system, which is convenient for subsequent processing, and may be specifically set according to actual requirements.

And 202, correcting the initial plane wire frame diagram based on the target three-dimensional point cloud model to obtain a corrected plane wire frame diagram corresponding to the target house.

The correction of the initial planar wire frame diagram may be performed by vertically projecting the target three-dimensional point cloud model onto a plane where the initial planar wire frame diagram is located, finding projection points near each wall line based on a distance between each projection point and each wall line of the initial planar wire frame diagram, fitting the projection lines, and when a fitting result is matched with a corresponding wall line in the initial planar wire frame diagram, taking the projection line as a corrected wall line corresponding to the wall line, thereby obtaining a corrected planar wire frame diagram. Optionally, the distance between each point and each wall line in the initial plane wire frame diagram is determined directly based on the X, Y coordinates of the points in the target three-dimensional point cloud model within the same height range as the initial plane line block diagram, further, the points near each wall line are determined, a line outgoing section is fitted, when the fitted line segment is matched with the corresponding wall line, the line segment is used as the corrected wall line corresponding to the wall line, the corrected wall line corresponding to each wall line is determined based on the line outgoing section, and the corrected plane line block diagram is determined based on the corrected wall line. The specific modification mode may be set according to actual requirements, and this embodiment is not limited.

And step 203, determining height information respectively corresponding to all functions of the target house based on the corrected planar wire frame diagram and the target three-dimensional point cloud model.

The functional room refers to each divided space in the target room, such as a bedroom, a living room, a dining room, a toilet, and the like. The height information of the functional room can comprise the top height and the ground height of the functional room, the height information can be determined based on the rule that the number of points on the top and the ground of the functional room in the target three-dimensional point cloud model is more than that of the points in the middle part, the height information can also be determined based on the rule that the point density of the top and the ground height of the functional room in the middle area of the horizontal plane is more than that of the part between the top and the ground, the height information can also be determined in other possible modes, the height information can be specifically set according to actual requirements, and the embodiment is not limited.

And step 204, generating a three-dimensional house type graph corresponding to the target house based on the corrected planar wire frame graph and the height information respectively corresponding to the functions.

After obtaining the corrected planar line frame diagram and the height information corresponding to each function, the corrected planar line frame diagram can be translated and stretched along the height direction to determine the three-dimensional line frame corresponding to each function, and the three-dimensional house type diagram corresponding to the target house is determined based on the three-dimensional line frame corresponding to each function.

Optionally, the obtained three-dimensional wire frames among the functions of the target house can be fused according to the adjacent relation of the corrected planar wire frame diagram to obtain the three-dimensional house type diagram of the target house.

Optionally, the fused three-dimensional wire frame between the functions can be combined with other elements (such as door, window and other elements) of the target house to generate a three-dimensional floor plan of the target house. The method can be specifically set according to actual requirements. For the information determination of other elements, any implementable manner may be adopted, and the disclosure is not limited.

According to the house type graph generating method provided by the embodiment of the disclosure, the initial plane line frame graph of the house is corrected through the three-dimensional point cloud model of the house, a more accurate corrected plane line block diagram is obtained, and the height information among all functions can be automatically determined based on the corrected plane line frame diagram and the three-dimensional point cloud model, so that the three-dimensional house type graph of the house can be generated based on the corrected plane line frame diagram and the height information among all functions, the accuracy of the house type graph is effectively improved, and the technical problems that the house type graph obtained in the prior art is not accurate enough and the like are solved.

Fig. 3 is a flowchart illustrating a house type diagram generating method according to another exemplary embodiment of the disclosure.

In an alternative example, the height information includes a top height and a ground height, and the step 204 of generating a three-dimensional floor plan corresponding to the target house based on the modified planar wire frame diagram and the height information corresponding to each function includes:

step 2041, for any one function room, based on the modified planar line diagram, determining first line frame information at the top height and second line frame information at the ground height corresponding to the function room.

The top height may refer to a coordinate of the top of the functional room in the Z-axis direction in the first coordinate system, and the ground height may refer to a coordinate of the ground of the functional room in the Z-axis direction in the first coordinate system. The first frame information at least includes wall line information and wall line end point information at the top height of the functional room, the wall line information may be straight line description information, for example, taking the top and the ground of the functional room are parallel to the XOY axis as an example, the wall line information may be parameters k and b describing a straight line y = kx + b, k represents a slope of the straight line, and b represents an intercept of the straight line, since the wall line represented here is parallel to the XOY plane, a wall line Z coordinate is a fixed value, and specific wall line information may be determined according to actual conditions, which is not limited in this embodiment. The wall line endpoint information is the wall line endpoint coordinate, for example, two endpoints are (x 1, y1, z 1) and (x 2, y2, z 2) respectively, and similarly, the second line frame information includes the wall line information and the wall line endpoint information at the ground height between the functions, and is not described again in detail.

Step 2042, determining a three-dimensional house type graph based on the first frame information and the second frame information respectively corresponding to the functions.

After the first frame information and the second frame information corresponding to each function are determined, the wall line vertex in the first frame information and the wall line vertex in the second frame information of each function can be connected to form a wall line in the Z-axis direction, so that three-dimensional line frames corresponding to each function can be obtained, and then the three-dimensional line frames corresponding to each function are fused to obtain a three-dimensional house type graph of the target house.

Illustratively, fig. 4 is a schematic diagram of a modified planar wire frame diagram of a target house, which includes modified wall wires and wall wire end points corresponding to respective functions according to an exemplary embodiment of the present disclosure. Fig. 5 is a three-dimensional wire frame schematic diagram of a functional room of a target house provided by an exemplary embodiment of the present disclosure. The planar wire frame between the functions in this example is rectangular, and the resulting three-dimensional wire frame between the functions is cubic. In practical application, the three-dimensional wire frame between functions is obtained by translation and stretching the planar wire frame between the functions along the direction vertical to the plane of the planar wire frame, so that the cross section of the three-dimensional wire frame between the functions at any height is the same as the shape of the planar wire frame. Details are not repeated.

In an alternative example, the determining, based on the modified planar wire frame diagram and the target three-dimensional point cloud model, height information corresponding to each function of the target house in step 203 includes:

step 2031, based on the corrected planar line block diagram, extracting first point cloud data respectively corresponding to each function from the target three-dimensional point cloud model.

The target three-dimensional point cloud model comprises point cloud data of all functional rooms of a target room in a first coordinate system, and the point cloud data of the functional rooms comprise coordinates of collected points on walls, tops and the ground of the functional rooms. The modified planar line block diagram includes inter-division information among the functions, for example, the modified planar line block diagram is represented by a two-level data structure, the first level is an inter-function identifier, such as an inter-function ID, and the second level is wall line information and wall line end information among the functions, and the specific representation mode is not limited. By combining the corresponding relationship between the functions of the target three-dimensional point cloud model and the corrected planar wireframe diagram, point cloud data respectively corresponding to the functions can be extracted from the target three-dimensional point cloud model based on the X coordinate and the Y coordinate of the functions of the corrected planar wireframe diagram, and the point cloud data is called as first point cloud data.

For example, taking the modified planar line frame diagram as an example, the ground of the target house represented by the target three-dimensional point cloud model is parallel to the XOY plane, or is set on the XOY plane corresponding to the modified planar line frame diagram, and then the region formed by the X coordinates and the Y coordinates among the functions in the modified planar line frame diagram is translated along the Z axis, so that whether the X coordinates and the Y coordinates of each point in the target three-dimensional point cloud model belong to the range among the functions can be determined, and accordingly, the first point cloud data corresponding to each function can be extracted from the target three-dimensional point cloud model. In practical application, the corrected planar wireframe diagram may not be set to the XOY plane of the first coordinate system, and the specific processing principle is similar to the above, and based on the parallel of the target three-dimensional point cloud model ground and the corrected planar wireframe diagram and the principle that the functions of the target three-dimensional point cloud model are consistent with the functions of the corrected planar wireframe diagram, the first point cloud data respectively corresponding to each function is extracted, and the specific principle is not described again.

Step 2032, based on the first point cloud data respectively corresponding to each function, determining the top height and the ground height respectively corresponding to each function.

Because the first point cloud data of each function room comprises the point data of the top, the ground and the surrounding wall surface of the function room, the points belonging to the top and the ground can be determined based on the distribution characteristics of the points in the first point cloud data of the function rooms, and the top height and the ground height can be determined based on the points. The top height may be a Z-axis coordinate corresponding to the top, and the ground height may be a Z-axis coordinate corresponding to the ground. The specific manner of determining the top height and the ground height may be set according to actual requirements.

Fig. 6 is a flowchart illustrating step 2032 provided by an exemplary embodiment of the present disclosure.

In an optional example, the determining, based on the first point cloud data respectively corresponding to the functions in step 2032, a top height and a ground height respectively corresponding to each function includes:

step 20321, for any one function, determining the number of points included in each of the plurality of height ranges based on the first point cloud data corresponding to the function.

The number and the specific range of the height ranges may be set according to actual requirements, for example, the height range may be every 1 centimeter as one height range, and the number of the height ranges is determined based on the distribution height of the points in the first point cloud data.

Step 20322, determining the corresponding top height and ground height between the functions based on the number of points included in each height range.

Since the top height range includes the entire top points, the ground height range includes the entire ground points. Other height ranges only include points of the wall surface part, and based on the difference of the distribution quantity of the points of the top part, the bottom part and the middle height part between the functions, the number of the points in the two height ranges can be determined to be obviously more, and the top height and the ground height between the functions can be determined by combining the upper and lower relations of the heights of the two ranges.

For example, fig. 7 is a schematic diagram illustrating a principle of determining inter-function height information according to an exemplary embodiment of the present disclosure. In the example, the ground point of the target three-dimensional point cloud model and the XOY plane of the first coordinate system are used as an example, the first point cloud data between functions is divided into n height ranges along the Z-axis direction, the number of points included in each height range is calculated, and two range heights with the largest number of points are determined as the top height and the ground height.

In an optional example, the step 202 of correcting the initial planar wire frame diagram based on the target three-dimensional point cloud model to obtain a corrected planar wire frame diagram corresponding to the target house includes:

step 2021, vertically projecting the target three-dimensional point cloud model onto a plane where the initial plane line frame diagram is located, to obtain a projection result, where the projection result includes coordinates of each projection point projected onto the plane where the initial plane line frame diagram is located.

The initial plane wire frame graph and the ground of the target three-dimensional point cloud model are in parallel correspondence, so that the target three-dimensional point cloud model can be directly and vertically projected onto the plane where the initial plane wire frame graph is located, the projection result of the target three-dimensional point cloud model can be obtained, and the projection points included in the projection result are the points where all points in the target three-dimensional point cloud model are vertically projected onto the plane where the initial plane wire frame graph is located.

For example, when the initial planar wire frame diagram is located on the XOY plane of the first coordinate system, the Z coordinate of each point in the target three-dimensional point cloud model may be set to 0, so as to obtain the corresponding projection point of each point.

Exemplarily, fig. 8 is a schematic diagram of a projection result provided by an exemplary embodiment of the present disclosure.

Step 2022, correcting the initial planar wire-frame diagram according to the projection result to obtain a corrected planar wire-frame diagram.

The target three-dimensional point cloud model comprises a plurality of projection points, wherein the projection points are arranged on the wall, the top and the ground of each function of the target house, and the projection points are projected to the plane of the initial plane line block diagram.

Fig. 9 is a flowchart of step 2022 provided by an exemplary embodiment of the present disclosure.

In an alternative example, the step 2022 of performing a correction process on the initial planar wire frame diagram according to the projection result to obtain a corrected planar wire frame diagram includes:

step 20221, based on the projection result, determines the distance from each projection point to each original wall line in the initial planar wire frame diagram.

Because the projection result includes the coordinates of each projection point projected onto the plane where the initial plane line diagram is located, and the initial plane line diagram includes the wall line information and the wall line end point information of each original wall line, the distance from each projection point to each original wall line in the initial plane line diagram can be determined based on the calculation principle of the distance from the point to the straight line, and the specific principle is not described in detail.

Step 20222, for any original wall line, determining a target projection point whose distance from the original wall line is less than the first distance threshold based on the distance from each projection point to the original wall line.

The target three-dimensional point cloud model has a corresponding relation among functions of the initial plane line frame diagram, so that the projection points of the target three-dimensional point cloud model on the plane of the initial plane line frame diagram have the characteristic of dense wall line point distribution and can be distributed near the corresponding wall lines in the initial plane line frame diagram, and therefore the corresponding relation between the projection points and the original wall lines can be determined based on the distance between the projection points and the original wall lines.

Step 20223, determine the corrected rear wall line corresponding to the original wall line based on the target projection points.

After determining a target projection point corresponding to an original wall line, fitting a projection wall line corresponding to the original wall line based on each target projection point corresponding to the original wall line, and determining a modified rear wall line corresponding to the original wall line based on a comparison result of the projection wall line and the original wall line, wherein the comparison result includes two results of matching and mismatching, and can be determined according to a preset comparison rule, and the comparison rule can be set according to actual requirements, for example, an included angle between the projection wall line and the original wall line is smaller than an angle threshold, a distance from an end point of the original wall line to the projection wall line is smaller than a distance threshold, a coincidence degree between the projection wall line and the original wall line is greater than a coincidence degree threshold, and the like, and is not particularly limited, so as to ensure the accuracy of the projection wall line. When the projection wall line and the original wall line meet the comparison rule, the projection wall line can be determined to be matched with the original wall line, otherwise, the projection wall line is determined to be not matched with the original wall line. And when the projection wall line is matched with the original wall line, taking the projection wall line as a corrected rear wall line corresponding to the original wall line, otherwise, taking the original wall line as the corrected rear wall line.

At step 20224, the end point of the modified back wall line is determined based on the end point of the original wall line.

Specifically, the end point of the original wall line may be vertically projected onto the straight line of the corrected rear wall line, and the end point of the corrected rear wall line is determined, so as to obtain the corrected rear wall line segment.

Step 20225, determine a modified flat line diagram based on the modified rear wall line and the end point of the modified rear wall line corresponding to each original wall line.

Specifically, the corrected rear wall line segments can be determined based on the corrected rear wall lines and the end points of the corrected rear wall lines corresponding to the original wall lines, intersection points of straight lines of adjacent corrected rear wall line segments are calculated, and the final end points of the corrected rear wall lines can be obtained, so that the corrected rear wall lines form complete polygons corresponding to functions, and the complete polygons corresponding to the functions form corrected planar line frame diagrams corresponding to the target house.

According to the method, the initial plane line frame diagram is corrected through the projection of the target three-dimensional point cloud model on the plane where the initial plane line frame diagram is located, so that the accuracy of the plane house type diagram can be improved, the three-dimensional house type diagram is generated based on the corrected plane line frame diagram, and the accuracy of the generated three-dimensional house type diagram is guaranteed.

In an alternative example, the step 201 of obtaining an initial planar wire frame diagram and a target three-dimensional point cloud model in a first coordinate system of a target house includes:

and step 2011, acquiring planar wire frame information and original three-dimensional point cloud data of the target house.

The planar wire frame information of the target house may include length information of each wall of each functional room of the target house, adjacent relations between the walls and other related information, and may be specifically set according to actual requirements as long as the polygonal structure of the planar user-type diagram of the target house can be determined. The raw three-dimensional point cloud data may be three-dimensional point cloud data of a target house obtained based on any practicable measurement device. The measuring device may be, for example, a laser-based scanning device, and is not particularly limited.

Step 2012, based on the planar wire frame information, determining an initial planar wire frame diagram of the target house in the first coordinate system.

In order to facilitate the realization of the correction of the initial plane line block diagram, the plane line frame information of the target house and the original three-dimensional point cloud data are unified under a first coordinate system, and the first coordinate system can be set according to actual requirements, such as a world coordinate system, or other coordinate systems relative to a coordinate origin, and is not particularly limited. After the first coordinate system is determined, an initial planar wire frame diagram of the target house under the first coordinate system is determined based on planar wire frame information of the target house, the initial planar wire frame diagram may include original wall wire information and original wall wire end point information of each function of the target house under the first coordinate system, the original wall wire information includes straight line representation parameters of the original wall wire under the first coordinate system, and the original wall wire end point information includes end point coordinates of the original wall wire under the first coordinate system, so that the initial planar wire frame diagram of the target house under the first coordinate system and composed of polygons can be obtained and used as a planar user type diagram of the target house.

And 2013, converting the original three-dimensional point cloud data into a first coordinate system, and obtaining a target three-dimensional point cloud model of the target house in the first coordinate system.

The conversion from the original three-dimensional point cloud data to the first coordinate system may be performed based on a mapping relationship between a coordinate system of the original three-dimensional point cloud data and the first coordinate system, and the mapping relationship may be determined by combining the initial planar line block diagram, for example, by using any preset position in the target house as a reference, it is ensured that a point corresponding to the preset position in the initial planar line block diagram and a point corresponding to the preset position in the target three-dimensional point cloud model are the same point in the first coordinate system, and it is ensured that a horizontal direction between functions in the initial planar line block diagram is consistent with each function of the target three-dimensional point cloud model. The detailed mapping principle is not described in detail.

According to the house type graph generating method, the initial plane house type graph drawn manually and the three-dimensional point cloud model obtained through scanning can be combined, the accurate plane house type graph is obtained firstly, then the height information among all functions of the house can be extracted based on the three-dimensional point cloud model, the two-dimensional plane house type graph is converted into the three-dimensional house type graph, the accurate height among different functions of the house is guaranteed, the three-dimensional house type graph is accurately and automatically generated, and the accuracy of the three-dimensional house type graph is effectively improved.

Any of the house pattern generation methods provided by the embodiments of the present disclosure may be performed by any suitable device having data processing capabilities, including but not limited to: terminal equipment, a server and the like. Alternatively, any of the house pattern generation methods provided by the embodiments of the present disclosure may be executed by a processor, for example, the processor may execute any of the house pattern generation methods mentioned by the embodiments of the present disclosure by calling a corresponding instruction stored in a memory. And will not be described in detail below.

Exemplary devices

Fig. 10 is a schematic structural diagram of a house type graph generating apparatus according to an exemplary embodiment of the present disclosure. The apparatus of this embodiment may be used to implement the corresponding method embodiment of the present disclosure, and the apparatus shown in fig. 10 includes: a first obtaining module 501, a first processing module 502, a second processing module 503 and a third processing module 504.

A first obtaining module 501, configured to obtain an initial planar wireframe diagram and a target three-dimensional point cloud model in a first coordinate system of a target house; a first processing module 502, configured to correct the initial planar wire frame diagram based on the target three-dimensional point cloud model obtained by the first obtaining module 501, so as to obtain a corrected planar wire frame diagram corresponding to the target house; a second processing module 503, configured to determine, based on the corrected planar wire frame diagram and the target three-dimensional point cloud model obtained by the first processing module 502, height information corresponding to each function of the target house; and a third processing module 504, configured to generate a three-dimensional house type diagram corresponding to the target house based on the corrected planar wireframe diagram and the height information corresponding to each function.

Fig. 11 is a schematic structural diagram of a house pattern generation apparatus according to another exemplary embodiment of the present disclosure.

In one optional example, the height information includes a top height and a ground height; a third processing module 504 comprising: a first processing unit 5041 and a second processing unit 5042.

A first processing unit 5041, configured to determine, for any one of the functional rooms, first frame information at a top height and second frame information at a ground height corresponding to the functional room based on the modified planar line diagram; the second processing unit 5042 is configured to determine a three-dimensional house type graph based on the first frame information and the second frame information respectively corresponding to the functions.

In an alternative example, the second processing module 503 includes: a third processing unit 5031 and a fourth processing unit 5032.

A third processing unit 5031, configured to extract, based on the corrected planar line diagram, first point cloud data corresponding to each function from the target three-dimensional point cloud model; the fourth processing unit 5032 is configured to determine a top height and a ground height respectively corresponding to each function based on the first point cloud data respectively corresponding to each function.

In an alternative example, the fourth processing unit 5032 is specifically configured to: aiming at any function, determining the number of points included in each of the plurality of height ranges based on first point cloud data corresponding to the function; the corresponding top and ground heights between functions are determined based on the number of points included in each height range.

In an alternative example, the first processing module 502 includes: a fifth processing unit 5021 and a sixth processing unit 5022.

A fifth processing unit 5021, configured to vertically project the target three-dimensional point cloud model onto the plane where the initial planar line block diagram is located, to obtain a projection result, where the projection result includes coordinates of each projection point projected onto the plane where the initial planar line block diagram is located; a sixth processing unit 5022, configured to perform correction processing on the initial planar wire-frame diagram according to the projection result, to obtain a corrected planar wire-frame diagram.

In an optional example, the sixth processing unit 5022 is specifically configured to: determining the distance from each projection point to each original wall line in the initial plane wire frame diagram based on the projection result; for any original wall line, determining a target projection point of which the distance from the original wall line is smaller than a first distance threshold value based on the distance from each projection point to the original wall line; determining a corrected rear wall line corresponding to the original wall line based on each target projection point; determining the end point of the corrected wall line based on the end point of the original wall line; and determining a corrected plane line block diagram based on the corrected rear wall line and the end point of the corrected rear wall line corresponding to each original wall line.

In an optional example, the first obtaining module 501 includes: the acquisition unit 5011, the determination unit 5012, and the conversion unit 5013.

An obtaining unit 5011, configured to obtain planar wireframe information and original three-dimensional point cloud data of a target house; a determination unit 5012, configured to determine an initial planar wire frame diagram of the target house in the first coordinate system based on the planar wire frame information; the conversion unit 5013 is configured to convert the original three-dimensional point cloud data to the first coordinate system, and obtain a target three-dimensional point cloud model of the target house in the first coordinate system.

In addition, an embodiment of the present disclosure further provides an electronic device, including:

a memory for storing a computer program product; a processor, configured to execute the computer program product stored in the memory, and when the computer program product is executed, implement the house pattern generation method according to any of the above embodiments of the present disclosure.

Fig. 12 is a schematic structural diagram of an application embodiment of the electronic device of the present disclosure. As shown in fig. 12, the electronic device includes one or more processors and memory.

The processor may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

The memory may store one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program products may be stored on the computer-readable storage medium and executed by a processor to implement the house map generation methods of the various embodiments of the present disclosure described above and/or other desired functions.

In one example, the electronic device may further include: an input device and an output device, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

The input device may also include, for example, a keyboard, a mouse, and the like.

The output device may output various information including the determined distance information, direction information, and the like to the outside. The output devices may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.

Of course, for simplicity, only some of the components of the electronic device relevant to the present disclosure are shown in fig. 12, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device may include any other suitable components, depending on the particular application.

In addition to the above methods and apparatus, embodiments of the present disclosure may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the house style sheet generation method according to various embodiments of the present disclosure described in the above section of this specification.

The computer program product may write program code for carrying out operations for embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the house map generation method according to various embodiments of the present disclosure described in the above section of this specification.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

Those of ordinary skill in the art will understand that: all or part of the steps of implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer-readable storage medium, and when executed, executes the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

The foregoing describes the general principles of the present disclosure in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present disclosure are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.

In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

It is also noted that in the devices, apparatuses, and methods of the present disclosure, each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims

1. A house type graph generating method is characterized by comprising the following steps:

2. The method of claim 1, wherein the height information comprises a top height and a ground height; generating a three-dimensional house type graph corresponding to the target house based on the corrected planar wire frame graph and the height information respectively corresponding to the functions, wherein the three-dimensional house type graph comprises the following steps:

and determining the three-dimensional house type graph based on the first frame information and the second frame information respectively corresponding to the functions.

3. The method of claim 1, wherein determining respective corresponding altitude information between functions of the target premises based on the modified planar wire frame map and the target three-dimensional point cloud model comprises:

extracting first point cloud data respectively corresponding to all the functions from the target three-dimensional point cloud model based on the corrected planar wire frame diagram;

4. The method of claim 3, wherein determining the respective top and ground heights between the functions based on the respective first point cloud data between the functions comprises:

determining the top height and the ground height corresponding to the functional room based on the number of points included in each of the height ranges.

5. The method of claim 1, wherein the correcting the initial planar wire frame diagram based on the target three-dimensional point cloud model to obtain a corrected planar wire frame diagram corresponding to the target house comprises:

6. The method according to claim 5, wherein the correcting the initial planar wire frame diagram according to the projection result to obtain the corrected planar wire frame diagram comprises:

and determining the corrected planar wireframe diagram based on the corrected rear wall line corresponding to each original wall line and the end point of the corrected rear wall line.

7. The method of any one of claims 1-6, wherein the obtaining of the initial planar wire frame map and the target three-dimensional point cloud model in the first coordinate system of the target house comprises:

8. A house type map generation apparatus, comprising:

9. An electronic device, comprising:

a memory for storing a computer program product;

a processor for executing the computer program product stored in the memory, and when executed, implementing the method of any of the preceding claims 1-7.

10. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the method of any of claims 1-7.