CN105809615A - Point cloud data imaging method - Google Patents
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Abstract
The invention provides a point cloud data imaging method, and the method comprises the steps: S1, an arbitrary point is selected as an original point, and a cylinder model of which adopts the original point as a center and adopts a straight line passing through the original point in vertical direction as an axle center is established; S2, cylindrical projection transformation is performed on each laser measure point needed to be transformed as an image, and the point is projected on the surface of the cylinder model to form a cylindrical projection point; S3, the surface is expanded as a two-dimensional plane, and distance values between the laser manufacture points and the original point are calculated; S4, the distance values between the laser manufacture points and the original point serve as gray values of corresponding cylindrical projection points, and the cylindrical projection points on the two-dimensional plane are processed as a raster image. According to the invention, the method adopts a projection transformation model based on the cylinder to perform dimension reduction process on 3D laser point cloud data, so that the data is transformed as a distance image based on one view point and satisfied perspective condition; and the cylinder model met the perspective principle has two-dimensional continuous ductility and can maintain the vertical unchanged capacity of the image on the cylinder surface.
Description
Technical field
The present invention relates to Point Cloud Processing field, be specifically related to a kind of cloud data Image Creation method.
Background technology
Three-dimensional laser point cloud data is used to be reconstructed on the surface of real-world object, but, independent laser scanning can not comprise enough information to support that we are to the deep understanding of target, therefore we need cloud data is carried out dimensionality reduction, so that it can carry out registration with image data, it is simple to better reduce real world.
In recent years, the method having more solution three-dimensional laser point cloud dimensionality reduction, i.e. some cloud Image Creation, such as cloud data is projected to website for the sphere of the centre of sphere by laser scanner on a certain website, generate 2D image, again using the gray value as image of the distance between cloud and website, namely generate a some cloud distance/degree of depth image；It addition, also have emissive porwer as image greyscale value, then it is analyzed again, to reduce the complexity of problem.
But these research methoies tend not to adapt to territorial laser scanning point cloud data or the Vehicle-borne Laser Scanning point cloud of multistation splicing.
Summary of the invention
It is an object of the invention to, for problems of the prior art, it is provided that a kind of cloud data Image Creation method, the image of its generation has the continuous ductile of two dimension.
For achieving the above object, the present invention is by the following technical solutions:
A kind of cloud data Image Creation method, comprises the following steps:
S1, take any viewpoint as initial point, set up centered by initial point, the cylinder model being axle center with the vertical direction straight line of crossing initial point；
S2, the Laser Measuring point that need to be converted into image for each carry out cylindrical surface projecting conversion, are projected on the cylinder of the cylinder model described in S1, form cylindrical surface projecting point；
S3, cylinder unwrapping is become two dimensional surface, the coordinate of cylinder subpoint is defined by two dimensional surface；Calculate the distance value between each laser measuring point and initial point, the coordinate of distance value with corresponding cylindrical surface projecting point is associated record；
S4, gray value using the distance value between laser measuring point and initial point as corresponding cylindrical surface projecting point, be processed into Raster Images by the cylindrical surface projecting point on two dimensional surface described in S3.
Further, described S2 comprises the following steps:
S201, foundation are with initial point for the centre of sphere, and the Sphere Measurement Model being radius with the radius of the cylinder model described in S1, the line direction along laser measuring point with initial point on Laser Measuring spot projection to Sphere Measurement Model, will form spherical projection point；
S202, by the spherical projection point described in S201 by etc. arc length mapping in the way of project on the cylinder of the cylinder model described in S1, formed cylindrical surface projecting point.
Further, in described S1, with viewpoint for initial point O, with the axle center of cylinder model for z-axis, set up three-dimensional cartesian coordinate system O-xyz；In described S3, with the intersection points B of y-axis positive direction and the cylinder of cylinder model for initial point, on cylinder, y-axis positive direction is i direction of principal axis to the circumferencial direction of x-axis positive direction, axial for j direction of principal axis with cylinder, sets up two-dimensional direct angle coordinate system B-ij on cylinder；After then cylinder being launched into two dimensional surface along j axle, cylindrical surface projecting point coordinate on two dimensional surface (i, the value of distance value d j) and between corresponding laser measuring point and initial point is as follows:
Wherein, (x0, y0, z0) for the coordinate of initial point O, (x, y, z) be the coordinate of the laser measuring point corresponding with cylindrical surface projecting point, and R is the radius of cylinder model, and θ is laser measuring point and the angle of the projection in xOy plane of the line of initial point O with y-axis positive direction,Angle for line and the xOy plane of laser measuring point and initial point O.
Further, described S4 comprises the following steps:
S401, so that (i, j, form d) integrates the set of some cloud data for projection on two dimensional surface；
S402, calculating (i, minimum enclosed rectangle T j)；
S403, by discrete for T for grid, pixel depth or resolution that the grid length of side obtains as required are determined；
When having the data for projection of multiple laser measuring point in S404, unit grid, retain the minimum data for projection of distance value d；When there is no the data for projection of laser measuring point in unit grid, it is labeled as null；Thus ensureing each unit grid is up to a distance value d；
S405, (I, J, d), described I and J is row number and the line number of unit grid respectively to generate new some cloud data for projection grid；
S406, the distance value d of new some cloud data for projection set is quantified as gray value 0-255；
S407, to each unit grid according to the gray value after its distance value d taken amount, and be output as grayscale image by this gray value.
Further, in S404, also include: for being labeled as the unit grid of null, when there being the data for projection of laser measuring point in unit grid about, it is carried out assignment by the meansigma methods adopting the distance value d of 8 neighborhood unit grid around this unit grid, and carries out three iteration assignment.
Further, described S2 includes: the line direction along laser measuring point with initial point on Laser Measuring spot projection to the cylinder of cylinder model, will form cylindrical surface projecting point.
Further, in described S1, with viewpoint for initial point O, with the axle center of cylinder model for z-axis, set up three-dimensional cartesian coordinate system O-xyz；In described S3, with the intersection points B of y-axis positive direction and the cylinder of cylinder model for initial point, on cylinder, y-axis positive direction is i direction of principal axis to the circumferencial direction of x-axis positive direction, axial for j direction of principal axis with cylinder, sets up two-dimensional direct angle coordinate system B-ij on cylinder；After then cylinder being launched into two dimensional surface along j axle, cylindrical surface projecting point coordinate on two dimensional surface (i, the value of distance value d j) and between corresponding laser measuring point and initial point is as follows:
Wherein, (x0, y0, z0) for the coordinate of initial point O, (x, y, z) be the coordinate of the laser measuring point corresponding with cylindrical surface projecting point, and R is the radius of cylinder model, and θ is laser measuring point and the angle of the projection in xOy plane of the line of initial point O with y-axis positive direction,Angle for line and the xOy plane of laser measuring point and initial point O.
Further, the projection in xOy plane of the line of laser measuring point and initial point O with the computing formula of the angle theta of y-axis positive direction is:
Wherein, when the projection in xOy plane of the laser measuring point respectively falls in first, second, third and fourth quadrant of O-xy coordinate system, k value takes k=0,1,2,3 respectively.
Further, the angle of the line of laser measuring point and initial point O and xOy planeComputing formula be:
Further,Value be:
The present invention adopts the projective transformation model based on cylinder that 3D laser point cloud data is carried out dimension-reduction treatment, is transformed to the range image meeting Perspective Conditions based on a certain viewpoint；Its cylinder model meeting perspective principle has the continuous ductile of two dimension, can keep the vertical invariance of image on cylinder simultaneously.Namely this model is the tie of contact 3D and 2D, is also the premise effectively extracting linear feature.And traditional areal model and Sphere Measurement Model are all cannot take into account these two aspects demand simultaneously.The method may be equally applicable for the range image of plane projection, and the line Automatic signature extraction for territorial laser scanning point cloud explores a kind of new technical thought.
Accompanying drawing explanation
Fig. 1 is the projection process schematic diagram in the S201 of the embodiment of the present invention one；
Fig. 2 be the embodiment of the present invention one S201 in calculate θ time quadrant decision process schematic diagram；
Fig. 3 is the projection process schematic diagram in the S202 of the embodiment of the present invention one；
Fig. 4 is the discrete grid schematic diagram in the S403 of the embodiment of the present invention one；
Fig. 5 is the projection process schematic diagram in the S2 of the embodiment of the present invention two.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, technical scheme is described in detail.
Embodiment one
A kind of cloud data Image Creation method that the embodiment of the present invention provides comprises the following steps:
S1, take any viewpoint O (x0, y0, z0) as zero, set up centered by initial point O, with R for radius, the cylinder model being axle center with the vertical direction straight line of initial point O excessively；And with viewpoint for initial point O, with the axle center of cylinder model for z-axis, set up three-dimensional cartesian coordinate system O-xyz；
S2, need to be converted into for each image laser measuring point P (x, y, z) carry out cylindrical surface projecting conversion, is projected on the cylinder of the cylinder model described in S1, formed cylindrical surface projecting point；It should be noted that laser measuring point P herein and described in claims (x, y, be z) refer to all laser measuring points collected, and not refers specifically to for a certain laser measuring point.Below will with laser measuring point A (x1, y1, z1) for example, describing the cylindrical surface projecting conversion process of the present embodiment in detail, other laser measuring points process also referring to identical step.
Specifically, the cylindrical surface projecting conversion described in the present embodiment comprises the following steps:
S201, for laser measuring point A (x1, y1, z1), set up with initial point O for the centre of sphere, with the R Sphere Measurement Model being radius, along AO direction, laser measuring point A is projected on Sphere Measurement Model, formation spherical projection point A ' (θ,), as shown in Figure 1；It should be noted that about the schematic diagram of projection process in Figure of description provided by the invention, in order to avoid accompanying drawing content excessively complexity is easy to show projection process, all only depict the part of z-axis positive direction, z-axis negative direction part is all omitted.
Wherein, θ is the angle of the projection in xOy plane of the line of laser measuring point A and initial point O and y-axis positive direction,Angle for line and the xOy plane of laser measuring point A and initial point O.With Sphere Measurement Model for reference, θ also is understood as the spherical projection point A ' longitude on Sphere Measurement Model,It also is understood as the spherical projection point A ' latitude on Sphere Measurement Model.
Specifically, the computational methods of θ are as follows:
First, it is determined that laser measuring point A subpoint C in xOy plane is relative to the quadrant residing for O-xy coordinate system；
Then according to equation below is calculated:
Wherein, as in figure 2 it is shown, when laser measuring point A subpoint C in xOy plane respectively falls in first, second, third and fourth quadrant of O-xy coordinate system, k value takes k=0,1,2,3 respectively.
Computing formula then as follows:
According to above-mentioned method obtain laser measuring point A projection A ' on Sphere Measurement Model (θ,) after, proceed following process.
S202, by described in S201 spherical projection point A ' (θ,) by etc. arc length mapping in the way of project on the cylinder of the cylinder model described in S1, formed cylindrical surface projecting point A ".Namely this process is one and is mapped according to the mode of arc length equably by equator to polar region, in fact namely the ken in 180 ° of sphere latitude direction is carried out decile uniform projection again to cylinder according to latitude, and longitude aspect is still identical with cylinder equiangular transformation, as shown in Figure 3.
S3, cylinder unwrapping is become two dimensional surface, to cylinder subpoint A on two dimensional surface " coordinate be defined；Calculate the distance value d between laser measuring point A and initial point O, by distance value d and corresponding cylindrical surface projecting point A " coordinate be associated record；
Specifically, in the present embodiment, with the intersection points B of y-axis positive direction and the cylinder of cylinder model for initial point, on cylinder, y-axis positive direction is i direction of principal axis to the circumferencial direction of x-axis positive direction, axial for j direction of principal axis with cylinder, sets up two-dimensional direct angle coordinate system B-ij on cylinder；After then cylinder being launched into two dimensional surface along j axle (i.e. BD direction shown in Fig. 3), cylindrical surface projecting point A " coordinate on two dimensional surface (i, the value of distance value d j) and between laser measuring point A and initial point O is as follows:
The value of R takes 1 in the present embodiment.
S4, using the distance value d between laser measuring point A and initial point O as corresponding cylindrical surface projecting point A " gray value, the cylindrical surface projecting point A by two dimensional surface described in S3 " be processed into Raster Images.
Specifically, described S4 comprises the following steps:
S401, so that (i, j, form d) integrates the set of some cloud data for projection on two dimensional surface；
S402, calculating (i, minimum enclosed rectangle T j)；
S403, by discrete for T for grid, as shown in Figure 4, pixel depth or resolution that the grid length of side obtains as required are determined；
When having the data for projection of multiple laser measuring point in S404, unit grid (i.e. single little grid), retain the minimum data for projection of distance value d；When there is no the data for projection of laser measuring point in unit grid, it is labeled as null；Thus ensureing each unit grid is up to a distance value d；
Data for projection for unit grid inner laser measuring point lacks (being labeled as the unit grid of null described in namely), one is large-area disappearance, mainly target object too far cannot be found range or owing to the cause influences such as scanning angle cause a cloud cavity, lacking for this class large area point cloud, the present invention is left intact；Another kind is random measuring point disappearance (namely having the data for projection of laser measuring point in the unit grid around this unit grid) that some are very tiny, for this situation, it is carried out assignment by the meansigma methods that can adopt the distance value d of 8 neighborhood unit grid around this unit grid, and carry out three iteration assignment, thus effectively tiny some cloud disappearance of this part is repaired；
S405, (I, J, d), described I and J is row number and the line number of unit grid respectively to generate new some cloud data for projection grid；
S406, the distance value d of new some cloud data for projection set is quantified as gray value 0-255；
S407, to each unit grid according to the gray value after its distance value d taken amount, and be output as grayscale image by this gray value；
S408, file export: unit grid is formed image file or grid file main software such as (support) arcgis or envi generate visualization image, adopt BMP form or JPG form to export.
Embodiment two
According to technical scheme provided by the invention, present embodiments provide another cloud data Image Creation method.The cloud data Image Creation method that the present embodiment provides and embodiment one are substantially the same, and only have employed different cylindrical surface projecting alternative approachs in S2, and accordingly, the coordinate of cylindrical surface projecting point is also required to adopt different computing formula；Therefore, below will with laser measuring point A (x1, y1, z1) for example, emphasis sets forth the present embodiment differentiation details in S2 and S3, for the step that other are identical, does not repeat them here.
Specifically, as it is shown in figure 5, in the present embodiment, described S2 includes:
Along AO direction, laser measuring point A is projected on the cylinder of cylinder model, directly obtain cylindrical surface projecting point A ".
In described S3, with the intersection points B of y-axis positive direction and the cylinder of cylinder model for initial point, on cylinder, y-axis positive direction is i direction of principal axis to the circumferencial direction of x-axis positive direction, axial for j direction of principal axis with cylinder, sets up two-dimensional direct angle coordinate system B-ij on cylinder；After then cylinder being launched into two dimensional surface along j axle (i.e. BD direction shown in Fig. 5), cylindrical surface projecting point A " coordinate on two dimensional surface (i, the value of distance value d j) and between corresponding laser measuring point A and initial point O is as follows:
Wherein, R is the radius of cylinder model, and θ is the angle of the projection in xOy plane of the line of laser measuring point A and initial point O and y-axis positive direction,Angle for line and the xOy plane of laser measuring point A and initial point O.
Further, the computational methods of θ are identical with embodiment one,Value be:
The present invention adopts the projective transformation model based on cylinder that 3D laser point cloud data is carried out dimension-reduction treatment, is transformed to the range image meeting Perspective Conditions based on a certain viewpoint；Its cylinder model meeting perspective principle has the continuous ductile of two dimension, can keep the vertical invariance of image on cylinder simultaneously.Namely this model is the tie of contact 3D and 2D, is also the premise effectively extracting linear feature.And traditional areal model and Sphere Measurement Model are all cannot take into account these two aspects demand simultaneously.The method may be equally applicable for the range image of plane projection, and the line Automatic signature extraction for territorial laser scanning point cloud explores a kind of new technical thought.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a cloud data Image Creation method, it is characterised in that comprise the following steps:
S1, take any viewpoint as initial point, set up centered by initial point, the cylinder model being axle center with the vertical direction straight line of crossing initial point；
S2, the Laser Measuring point that need to be converted into image for each carry out cylindrical surface projecting conversion, are projected on the cylinder of the cylinder model described in S1, form cylindrical surface projecting point；
S3, cylinder unwrapping is become two dimensional surface, the coordinate of cylinder subpoint is defined by two dimensional surface；Calculate the distance value between each laser measuring point and initial point, the coordinate of distance value with corresponding cylindrical surface projecting point is associated record；
S4, gray value using the distance value between laser measuring point and initial point as corresponding cylindrical surface projecting point, be processed into Raster Images by the cylindrical surface projecting point on two dimensional surface described in S3.
2. cloud data Image Creation method according to claim 1, it is characterised in that described S2 comprises the following steps:
S201, foundation are with initial point for the centre of sphere, and the Sphere Measurement Model being radius with the radius of the cylinder model described in S1, the line direction along laser measuring point with initial point on Laser Measuring spot projection to Sphere Measurement Model, will form spherical projection point；
S202, by the spherical projection point described in S201 by etc. arc length mapping in the way of project on the cylinder of the cylinder model described in S1, formed cylindrical surface projecting point.
3. cloud data Image Creation method according to claim 2, it is characterised in that in described S1, with viewpoint for initial point O, with the axle center of cylinder model for z-axis, set up three-dimensional cartesian coordinate system O-xyz；In described S3, with the intersection points B of y-axis positive direction and the cylinder of cylinder model for initial point, on cylinder, y-axis positive direction is i direction of principal axis to the circumferencial direction of x-axis positive direction, axial for j direction of principal axis with cylinder, sets up two-dimensional direct angle coordinate system B-ij on cylinder；After then cylinder being launched into two dimensional surface along j axle, cylindrical surface projecting point coordinate on two dimensional surface (i, the value of distance value d j) and between corresponding laser measuring point and initial point is as follows:
Wherein, (x0, y0, z0) for the coordinate of initial point O, (x, y, z) be the coordinate of the laser measuring point corresponding with cylindrical surface projecting point, and R is the radius of cylinder model, and θ is laser measuring point and the angle of the projection in xOy plane of the line of initial point O with y-axis positive direction,Angle for line and the xOy plane of laser measuring point and initial point O.
4. cloud data Image Creation method according to claim 3, it is characterised in that described S4 comprises the following steps:
S401, so that (i, j, form d) integrates the set of some cloud data for projection on two dimensional surface；
S402, calculating (i, minimum enclosed rectangle T j)；
S403, by discrete for T for grid, pixel depth or resolution that the grid length of side obtains as required are determined；
When having the data for projection of multiple laser measuring point in S404, unit grid, retain the minimum data for projection of distance value d；When there is no the data for projection of laser measuring point in unit grid, it is labeled as null；Thus ensureing each unit grid is up to a distance value d；
S405, (I, J, d), described I and J is row number and the line number of unit grid respectively to generate new some cloud data for projection grid；
S406, the distance value d of new some cloud data for projection set is quantified as gray value 0-255；
S407, to each unit grid according to the gray value after its distance value d taken amount, and be output as grayscale image by this gray value.
5. cloud data Image Creation method according to claim 4, it is characterized in that, in S404, also include: for being labeled as the unit grid of null, when there being the data for projection of laser measuring point in unit grid about, it is carried out assignment by the meansigma methods adopting the distance value d of 8 neighborhood unit grid around this unit grid, and carries out three iteration assignment.
6. cloud data Image Creation method according to claim 1, it is characterised in that described S2 includes: the line direction along laser measuring point with initial point on Laser Measuring spot projection to the cylinder of cylinder model, will form cylindrical surface projecting point.
7. cloud data Image Creation method according to claim 6, it is characterised in that in described S1, with viewpoint for initial point O, with the axle center of cylinder model for z-axis, set up three-dimensional cartesian coordinate system O-xyz；In described S3, with the intersection points B of y-axis positive direction and the cylinder of cylinder model for initial point, on cylinder, y-axis positive direction is i direction of principal axis to the circumferencial direction of x-axis positive direction, axial for j direction of principal axis with cylinder, sets up two-dimensional direct angle coordinate system B-ij on cylinder；After then cylinder being launched into two dimensional surface along j axle, cylindrical surface projecting point coordinate on two dimensional surface (i, the value of distance value d j) and between corresponding laser measuring point and initial point is as follows:
Wherein, (x0, y0, z0) for the coordinate of initial point O, (x, y, z) be the coordinate of the laser measuring point corresponding with cylindrical surface projecting point, and R is the radius of cylinder model, and θ is laser measuring point and the angle of the projection in xOy plane of the line of initial point O with y-axis positive direction,Angle for line and the xOy plane of laser measuring point and initial point O.
8. the cloud data Image Creation method according to claim 3 or 7, it is characterised in that the computing formula of the projection in xOy plane of the line of laser measuring point and initial point O and the angle theta of y-axis positive direction is:
Wherein, when the projection in xOy plane of the laser measuring point respectively falls in first, second, third and fourth quadrant of O-xy coordinate system, k value takes k=0,1,2,3 respectively.
9. cloud data Image Creation method according to claim 3, it is characterised in that the line of laser measuring point and initial point O and the angle of xOy planeComputing formula be:
10. cloud data Image Creation method according to claim 7, it is characterised in thatValue be:
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