CN106951643A - A kind of complicated outside plate three dimensional point cloud compressing method of hull and device - Google Patents
A kind of complicated outside plate three dimensional point cloud compressing method of hull and device Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of complicated outside plate three dimensional point cloud compressing method of hull and device, for solving also with higher operation efficiency can not simplify the technical problem of data in the case where being effectively kept the surface characteristics of curved surface to the compressing method of the complicated outside plate three dimensional point cloud of hull in the prior art.Present invention method includes：The three dimensional point cloud at random of the complicated outside plate of hull is split into different node spaces with subdivision criterion that Octree is combined by using K D trees；In each node space, feature Curvature Estimate is carried out using parabolic fit method, the curvature information of all three dimensional point clouds and the average curvature of each node space is obtained, and set adjustable curvature threshold；Flat site is divided into the affiliated area of three dimensional point cloud according to curvature threshold or details enriches region, and point cloud simplification is completed by the uniform grid method based on uniformly subdivision or minimum distance method to the three dimensional point cloud in two regions.
Description
Technical field
The present invention relates to ship hull plate manufacture field, more particularly to a kind of complicated outside plate three dimensional point cloud side of simplifying of hull
Method and device.
Background technology
Flame forming plate refers to that local wire is carried out to sheet material along predetermined heater wire heats, and makes sheet material with water tracking cooling
Local plastic deformation is produced, so that sheet material to be curved to a kind of bent plate method of required curve form.For a long time, extreme misery is curved
Plate technique is widely used in the processing and manufacturing of ship hull plate complexity shaping curved surface, and the detection and shaping to the complicated outside plate of hull are bent
The differentiation in face is the key technology of hull bent plate automatic forming processing.Wherein, the complicated outside plate morphable three dimensional point cloud number of hull
According to the technology for reconstructing three-dimensionally shaped curved surface, it is possible to provide comprehensively, intuitively, accurately real-time bent plate deformation of surface information, is current
Ship hull plate automates the study hotspot of process technology.However, because the deck of boat is larger, for the reading of the three dimensional point cloud of outside plate
Take and handle needs to take a substantial amount of time, and there are the data of bulk redundancy.
In recent years, people have carried out substantial amounts of research to simplifying for unorganized point cloud, current existing cloud number
It is divided into point cloud compressing method of two major classes based on triangle gridding according to whether the triangle gridding for building cloud data according to compressing method
The method directly simplified to a cloud.Wherein directly a cloud is carried out to simplify the operation for not needing triangle gridding, simplified
Process is more simple, and time complexity is also lower.Method directly to point cloud compressing includes：1) stochastical sampling method；2) bounding box
Method；3) uniform grid normal curvature；4) curvature simplifies method.But, stochastical sampling method, bounding box method and uniform sampling method are not all examined
Consider the local characteristicses of cloud data, therefore the minutia of original point cloud data can not be retained.And though curvature simplifies algorithm energy
It is effectively kept the surface characteristics of curved surface, but it is excessive to simplify rate, it is especially this big in the complicated outside plate of processing hull than relatively time-consuming
During scale cloud data, this defect is more obvious.
The content of the invention
The embodiments of the invention provide a kind of complicated outside plate three dimensional point cloud compressing method of hull and device, solve existing
The surface characteristics of curved surface can not be effectively kept to the compressing method of the complicated outside plate three dimensional point cloud of hull by having in technology
In the case of also with higher operation efficiency can simplify the technical problem of data.
The complicated outside plate three dimensional point cloud compressing method of a kind of hull provided in an embodiment of the present invention, including：
The subdivision criterion being combined by using K-D trees with Octree is by the three-dimensional point cloud number at random of the complicated outside plate of hull
According to being split into different node spaces, and the topological relation set up between three dimensional point cloud；
In each node space, feature Curvature Estimate is carried out using parabolic fit method, all three-dimensional points are obtained
The average curvature of the curvature information of cloud data and each node space；
According to the average curvature of all node spaces, adjustable curvature threshold is set；
Flat site is divided into the affiliated area of three dimensional point cloud according to curvature threshold or details enriches region, and it is right
Affiliated area completes point cloud simplification for the three dimensional point cloud of flat site by the uniform grid method based on uniformly subdivision, to institute
Category region is that the three dimensional point cloud in the abundant region of details realizes point cloud simplification by minimum distance method.
Alternatively, the subdivision criterion being combined by using K-D trees with Octree is by random three of the complicated outside plate of hull
Dimension cloud data is split into different node spaces, and the topological relation set up between three dimensional point cloud is specifically included：
The outer bounding box of minimum of the corresponding all three dimensional point clouds of the complicated outside plate of hull is obtained, and sets point of Octree
Depth is cut, the leaf node size of Octree is determined according to segmentation depth, corresponding Octree is constructed；
Tissue is carried out using K-D trees to the three dimensional point cloud in the leaf node of each Octree, respectively storage index letter
Breath and node coordinate information, and the owner record of each K-D trees is stored in corresponding Octree leaf node.
Alternatively, in each node space, feature Curvature Estimate is carried out using parabolic fit method, owned
The curvature information of three dimensional point cloud and the average curvature of each node space are specifically included：
In each node space, using the K arest neighbors each put in K- neighborhood search node spaces, each node is set up
The K- neighborhood relationships of three dimensional point cloud at random in space, feature Curvature Estimate is carried out using parabolic fit method,
Obtain the curvature information of all three dimensional point clouds and the average curvature of each node space.
Alternatively, according to the average curvature of all node spaces, set adjustable curvature threshold and specifically include：
According to the average curvature of all node spaces, initial curvature threshold value is determined by formula one, and for different ships
It is of different sizes shared by each region in the three dimensional point cloud model of external plate, initial curvature threshold value is repaiied by formula two
Just, revised curvature threshold is obtained, formula one is specially：
Wherein,For initial curvature threshold value, n is the summation of cloud data, IjFor the feature curvature of every；
Formula two is specially：
Wherein, I' is revised curvature threshold, and α is the index value carried out according to data model feature.
Alternatively, flat site is divided into the affiliated area of three dimensional point cloud according to curvature threshold or details enriches area
Domain, and point cloud letter is completed by the uniform grid method based on uniformly subdivision for the three dimensional point cloud of flat site to affiliated area
Change, be that the three dimensional point cloud in the abundant region of details realizes that point cloud simplification is specifically included by minimum distance method to affiliated area：
Judge whether the average curvature of each node space is more than revised curvature threshold, if so, then by average curvature
All three dimensional point clouds corresponding more than the node space of revised curvature threshold are determined as that belonging to details enriches region, no
Then, the corresponding all three dimensional point clouds of node space that average curvature is less than or equal to revised curvature threshold are determined as
Belong to flat site；
Point is completed by the uniform grid method based on uniformly subdivision for the three dimensional point cloud of flat site to affiliated area
Cloud simplifies, and is that the three dimensional point cloud in the abundant region of details realizes point cloud simplification by minimum distance method to affiliated area.
The complicated outside plate three dimensional point cloud compact device of a kind of hull provided in an embodiment of the present invention, including：
Subdivision module, for subdivision criterion the dissipating the complicated outside plate of hull being combined by using K-D trees with Octree
Random three dimensional point cloud is split into different node spaces, and the topological relation set up between three dimensional point cloud；
Estimation block, in each node space, carrying out feature Curvature Estimate using parabolic fit method, obtaining
Obtain the curvature information of all three dimensional point clouds and the average curvature of each node space；
Setting module, for the average curvature according to all node spaces, sets adjustable curvature threshold；
Divide and simplify module, with good grounds curvature threshold is divided into flat site to the affiliated area of three dimensional point cloud or thin
The abundant region of section, and it is complete by the uniform grid method based on uniformly subdivision for the three dimensional point cloud of flat site to affiliated area
It is that the three dimensional point cloud in the abundant region of details realizes point cloud simplification by minimum distance method to affiliated area into point cloud simplification.
Alternatively, subdivision module includes：
Construction unit, the outer bounding box of minimum for obtaining the corresponding all three dimensional point clouds of the complicated outside plate of hull, and
The segmentation depth of Octree is set, the leaf node size of Octree is determined according to segmentation depth, corresponding Octree is constructed；
Organizational unit, tissue is carried out for the three dimensional point cloud in the leaf node to each Octree using K-D trees, point
Not Cun Chu index information and node coordinate information, and the owner record of each K-D trees is stored in corresponding Octree leaf node.
Alternatively, estimation block includes：
Evaluation unit, it is nearest using the K each put in K- neighborhood search node spaces in each node space
Neighbour, the K- neighborhood relationships for the three dimensional point cloud at random set up in each node space are carried out using parabolic fit method
Feature Curvature Estimate, obtains the curvature information of all three dimensional point clouds and the average curvature of each node space.
Alternatively, setting module includes：
Amending unit is determined, for the average curvature according to all node spaces, initial curvature threshold is determined by formula one
Value, and for of different sizes shared by each region in the three dimensional point cloud model of different ship hull plates, by two pairs of formula
Initial curvature threshold value is modified, and obtains revised curvature threshold, and formula one is specially：
Wherein,For initial curvature threshold value, n is the summation of cloud data, IjFor the feature curvature of every；
Formula two is specially：
Wherein, I' is revised curvature threshold, and α is the index value carried out according to data model feature.
Alternatively, dividing simplified module includes：
Whether judging unit, the average curvature for judging each node space is more than revised curvature threshold, if so,
Then the corresponding all three dimensional point clouds of node space that average curvature is more than revised curvature threshold are judged to belonging to thin
The abundant region of section, otherwise, average curvature is less than or equal to the corresponding all three-dimensionals of node space of revised curvature threshold
Cloud data is judged to belonging to flat site；
Simplified element, for passing through to affiliated area for the three dimensional point cloud of flat site based on the uniform of uniformly subdivision
Gridding method completes point cloud simplification, is that the three dimensional point cloud in the abundant region of details is realized a little by minimum distance method to affiliated area
Cloud simplifies.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
The embodiments of the invention provide a kind of complicated outside plate three dimensional point cloud compressing method of hull and device, including：It is logical
Cross and be split into the three dimensional point cloud at random of the complicated outside plate of hull not with the subdivision criterion that Octree is combined using K-D trees
Same node space, and the topological relation set up between three dimensional point cloud；In each node space, using Parabolic Fit
Method carries out feature Curvature Estimate, obtains the curvature information of all three dimensional point clouds and the average song of each node space
Rate；According to the average curvature of all node spaces, adjustable curvature threshold is set；According to curvature threshold to three dimensional point cloud
Affiliated area is divided into flat site or details enriches region, and affiliated area is passed through for the three dimensional point cloud of flat site
Uniform grid method based on uniformly subdivision completes point cloud simplification, is that the three dimensional point cloud in the abundant region of details leads to affiliated area
Cross minimum distance method and realize the uniformly subdivision being combined in point cloud simplification, the embodiment of the present invention using Octree and K-D trees and office
The point cloud compressing method that portion's curved surface features are combined, the data of the characteristic area of original point cloud can not only be retained as far as possible, together
When also delete mass of redundancy data, significantly improve the efficiency of Cloud Points Reduction, with higher operation efficiency, and for
Simplifying for three dimensional point cloud contributes to the reconstruct in subsequent step to the three-dimensionally shaped curved surface of hull bent plate, is also beneficial to follow-up ship
The automatic material molding technology of external plate, improves deck of boat machining accuracy and efficiency meets actual demand, and it is right in the prior art to solve
The compressing method of hull complexity outside plate three dimensional point cloud can not also can in the case where being effectively kept the surface characteristics of curved surface
With higher operation efficiency simplify the technical problem of data.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is a kind of implementation of hull complexity outside plate three dimensional point cloud compressing method provided in an embodiment of the present invention
The schematic flow sheet of example；
Fig. 2 is a kind of another reality of hull complexity outside plate three dimensional point cloud compressing method provided in an embodiment of the present invention
Apply the schematic flow sheet of example；
Fig. 3 is a kind of another reality of hull complexity outside plate three dimensional point cloud compressing method provided in an embodiment of the present invention
Apply the idiographic flow schematic diagram of example；
Fig. 4 is outside the hull after the complicated outside plate three dimensional point cloud compressing method of hull provided in an embodiment of the present invention is simplified
Plate schematic diagram；
Fig. 5 is a kind of structural representation of hull complexity outside plate three dimensional point cloud compact device provided in an embodiment of the present invention
Figure.
Embodiment
The embodiments of the invention provide a kind of complicated outside plate three dimensional point cloud compressing method of hull and device, for solving
The surface characteristics of curved surface can not be effectively kept to the compressing method of the complicated outside plate three dimensional point cloud of hull in the prior art
In the case of also with higher operation efficiency can simplify the technical problem of data.
To enable goal of the invention of the invention, feature, advantage more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
Referring to Fig. 1, the complicated outside plate three dimensional point cloud compressing method of a kind of hull provided in an embodiment of the present invention, bag
Include：
101st, the subdivision criterion being combined by using K-D trees with Octree is by the three-dimensional point at random of the complicated outside plate of hull
Cloud data partition is into different node spaces, and the topological relation set up between three dimensional point cloud；
102nd, in each node space, feature Curvature Estimate is carried out using parabolic fit method, all three are obtained
Tie up the curvature information of cloud data and the average curvature of each node space；
103rd, according to the average curvature of all node spaces, adjustable curvature threshold is set；
104th, flat site is divided into the affiliated area of three dimensional point cloud according to curvature threshold or details enriches region,
And point cloud simplification is completed by the uniform grid method based on uniformly subdivision for the three dimensional point cloud of flat site to affiliated area,
Point cloud simplification is realized by minimum distance method for the three dimensional point cloud that details enriches region to affiliated area.
The embodiments of the invention provide a kind of complicated outside plate three dimensional point cloud compressing method of hull, including：By using
The three dimensional point cloud at random of the complicated outside plate of hull is split into different sections by K-D trees with subdivision criterion that Octree is combined
The space of points, and the topological relation set up between three dimensional point cloud；In each node space, using parabolic fit method come
Feature Curvature Estimate is carried out, the curvature information of all three dimensional point clouds and the average curvature of each node space is obtained；According to
The average curvature of all node spaces, sets adjustable curvature threshold；According to affiliated area of the curvature threshold to three dimensional point cloud
Domain is divided into flat site or details enriches region, and affiliated area is passed through based on sky for the three dimensional point cloud of flat site
Between subdivision uniform grid method complete point cloud simplification, to affiliated area be details enrich region three dimensional point cloud pass through minimum
Furthest Neighbor realizes the uniformly subdivision and local surface being combined in point cloud simplification, the embodiment of the present invention using Octree and K-D trees
The point cloud compressing method that feature is combined, the data of the characteristic area of original point cloud can not only be retained as far as possible, while also deleting
Except mass of redundancy data, the efficiency of Cloud Points Reduction is significantly improved, with higher operation efficiency, and for three-dimensional point
Simplifying for cloud data contributes to the reconstruct in subsequent step to the three-dimensionally shaped curved surface of hull bent plate, is also beneficial to subsequent vessels outside plate
Automatic material molding technology, improves deck of boat machining accuracy and efficiency meets actual demand, solves multiple to hull in the prior art
The compressing method of miscellaneous outside plate three dimensional point cloud can not can also use higher in the case where being effectively kept the surface characteristics of curved surface
Operation efficiency carry out simplifying the technical problems of data.
It is one to a kind of complicated outside plate three dimensional point cloud compressing method of hull provided in an embodiment of the present invention above
The detailed description of embodiment, below will be to a kind of complicated outside plate three dimensional point cloud side of simplifying of hull provided in an embodiment of the present invention
Another embodiment of method is described in detail.
Refer to Fig. 2 and Fig. 3, the complicated outside plate three dimensional point cloud compressing method of a kind of hull provided in an embodiment of the present invention
Another embodiment include：
201st, the outer bounding box of minimum of the corresponding all three dimensional point clouds of the complicated outside plate of hull is obtained, and sets Octree
Segmentation depth, determine the leaf node size of Octree according to segmentation depth, construct corresponding Octree；
First, the initial three-dimensional cloud data of the complicated outside plate of hull is read, it is special according to the near symmetrical of the complicated outside plate of hull
Property, quick-searching goes out x in cloud data, y, minimum and the maximum { x of z coordinatemax,xmin,ymax,ymin, and construct encirclement institute
A little substantially enclose box.Then the outer bounding box of minimum of the corresponding all three dimensional point clouds of the complicated outside plate of hull is got,
And the segmentation depth of Octree is set, the leaf node size of Octree is determined according to segmentation depth, corresponding Octree is constructed.
202nd, tissue is carried out using K-D trees to the three dimensional point cloud in the leaf node of each Octree, rope is stored respectively
Fuse is ceased and node coordinate information, and the owner record of each K-D trees is stored in corresponding Octree leaf node；
Hereafter, tissue then to the cloud data in the leaf node of each Octree using K-D trees is carried out, respectively storage index
Information and node coordinate information, while the owner record of each K-D tree is stored in corresponding Octree leaf node.
203rd, in each node space, using the K arest neighbors each put in K- neighborhood search node spaces, set up each
The K- neighborhood relationships of three dimensional point cloud at random in node space, are estimated using parabolic fit method to carry out feature curvature
Calculate, obtain the curvature information of all three dimensional point clouds and the average curvature of each node space；
In each node space, using the K arest neighbors each put in K- neighborhood search node spaces, each node is set up
The K- neighborhood relationships of three dimensional point cloud at random in space, the initial three-dimensional point of the complicated outside plate of hull obtained for reading
Cloud data carry out feature Curvature Estimate using parabolic fit method, obtain the curvature informations of all three dimensional point clouds and every
The average curvature of individual node space.
It should be noted that when carrying out neighborhood search, if the Octree leaf node where changing coordinates point can not be looked for
To desired data set is met, then must expanded search scope, scan for again, until find meet desired result or
Untill reaching algorithm end condition.
204th, according to the average curvature of all node spaces, initial curvature threshold value is determined by formula one, and for difference
Ship hull plate three dimensional point cloud model in it is of different sizes shared by each region, initial curvature threshold value is entered by formula two
Row amendment, obtains revised curvature threshold, and formula one is specially：
Wherein,For initial curvature threshold value, n is the summation of cloud data, IjFor the feature curvature of every；
Formula two is specially：
Wherein, I' is revised curvature threshold, and α is the index value carried out according to data model feature.
205th, judge whether the average curvature of each node space is more than revised curvature threshold, if so, then will be average
The corresponding all three dimensional point clouds of node space that curvature is more than revised curvature threshold are determined as that belonging to details enriches area
Domain, otherwise, average curvature is less than or equal to the corresponding all three dimensional point clouds of node space of revised curvature threshold
It is judged to belonging to flat site；
206th, it is complete by the uniform grid method based on uniformly subdivision for the three dimensional point cloud of flat site to affiliated area
It is that the three dimensional point cloud in the abundant region of details realizes point cloud simplification by minimum distance method to affiliated area into point cloud simplification.
Referring to Fig. 4, being the complicated outside plate three dimensional point cloud compressing method of hull provided in an embodiment of the present invention to hull
Outer Slab simplified after schematic diagram.
Compared with prior art, the embodiments of the invention provide a kind of complicated outside plate three dimensional point cloud side of simplifying of hull
Method, including：1) three dimensional point cloud is split into by different levels space with subdivision criterion that Octree is combined by K-d trees,
The tree-like data model of recurrence formation layer by layer；2) in each node space, while being utilized respectively, K- neighborhoods are calculated, feature curvature is estimated
Calculate, obtain point cloud feature curvature information；3) according to the curvature in all leaf node spaces, adjustable curvature threshold is set, is pressed
The scattered point cloud data of data source is divided into the region of different curvature size by threshold value；4) apply and cutd open based on space in flatter region
Point uniform grid method into point cloud simplification, it is ensured that simplify efficiency；5) region is relatively enriched in details to realize a little using minimum distance method
Cloud is simplified, it is ensured that the basic geological information of point cloud is not lost as far as possible.It is bent for the complicated outside plate of different hulls in the embodiment of the present invention
Face, can not only retain necessary characteristic information, while can also simplify data, with higher operation efficiency, solve existing skill
In art to the compressing method of the complicated outside plate three dimensional point cloud of hull can not the surface characteristics for being effectively kept curved surface situation
Under also with higher operation efficiency can simplify the technical problem of data.
It is to a kind of the another of the complicated outside plate three dimensional point cloud compressing method of hull provided in an embodiment of the present invention above
The detailed description of individual embodiment, will be simplified to a kind of complicated outside plate three dimensional point cloud of hull provided in an embodiment of the present invention below
Device is described in detail.
Referring to Fig. 5, the complicated outside plate three dimensional point cloud compact device of a kind of hull provided in an embodiment of the present invention includes：
Subdivision module 301, for the subdivision criterion that is combined by using K-D trees with Octree by the complicated outside plate of hull
Three dimensional point cloud at random is split into different node spaces, and the topological relation set up between three dimensional point cloud；Subdivision
Module 301 includes：
Construction unit 3011, the outer encirclement of minimum for obtaining the corresponding all three dimensional point clouds of the complicated outside plate of hull
Box, and the segmentation depth of Octree is set, the leaf node size of Octree is determined according to segmentation depth, corresponding eight fork is constructed
Tree；
Organizational unit 3012, K-D trees carry out group is utilized for the three dimensional point cloud in the leaf node to each Octree
Knit, index information and node coordinate information are stored respectively, and the owner record of each K-D trees is stored in corresponding Octree leaf segment
Point in.
Estimation block 302, in each node space, being estimated using parabolic fit method to carry out feature curvature
Calculate, obtain the curvature information of all three dimensional point clouds and the average curvature of each node space；Estimation block 302 includes：
Evaluation unit 3021, in each node space, utilizing the K each put in K- neighborhood search node spaces
Arest neighbors, the K- neighborhood relationships for the three dimensional point cloud at random set up in each node space, using parabolic fit method come
Feature Curvature Estimate is carried out, the curvature information of all three dimensional point clouds and the average curvature of each node space is obtained.
Setting module 303, for the average curvature according to all node spaces, sets adjustable curvature threshold；Set mould
Block 303 includes：
Amending unit 3031 is determined, for the average curvature according to all node spaces, initial song is determined by formula one
Rate threshold value, and for of different sizes shared by each region in the three dimensional point cloud model of different ship hull plates, pass through formula
Two pairs of initial curvature threshold values are modified, and obtain revised curvature threshold, and formula one is specially：
Wherein,For initial curvature threshold value, n is the summation of cloud data, IjFor the feature curvature of every；
Formula two is specially：
Wherein, I' is revised curvature threshold, and α is the index value carried out according to data model feature.
Divide and simplify module 304, with good grounds curvature threshold is divided into flat site to the affiliated area of three dimensional point cloud
Or details enriches region, and the uniform grid based on uniformly subdivision is passed through for the three dimensional point cloud of flat site to affiliated area
Method completes point cloud simplification, is that the three dimensional point cloud in the abundant region of details passes through minimum distance method realization point cloud letter to affiliated area
Change；Dividing simplified module 304 includes：
Whether judging unit 3041, the average curvature for judging each node space is more than revised curvature threshold,
If so, the corresponding all three dimensional point clouds of node space that average curvature is more than revised curvature threshold then are determined as into category
Region is enriched in details, otherwise, the node space that average curvature is less than or equal into revised curvature threshold is corresponding all
Three dimensional point cloud is judged to belonging to flat site；
Simplified element 3042, for passing through to affiliated area for the three dimensional point cloud of flat site based on uniformly subdivision
Uniform grid method completes point cloud simplification, is that the three dimensional point cloud in the abundant region of details passes through minimum distance method reality to affiliated area
Existing point cloud simplification.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, such as multiple units or component
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The coupling each other discussed or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces
Close or communicate to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, it can be stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially
The part contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are to cause a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention
Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, RandomAccess Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a kind of complicated outside plate three dimensional point cloud compressing method of hull, it is characterised in that including：
The three dimensional point cloud at random of the complicated outside plate of hull is cutd open with the subdivision criterion that Octree is combined by using K-D trees
It is divided into different node spaces, and the topological relation set up between the three dimensional point cloud；
In each node space, feature Curvature Estimate is carried out using parabolic fit method, all described three are obtained
Tie up the curvature information of cloud data and the average curvature of each node space；
According to the average curvature of all node spaces, adjustable curvature threshold is set；
Flat site is divided into the affiliated area of the three dimensional point cloud according to the curvature threshold or details enriches region,
And point cloud is completed by the uniform grid method based on uniformly subdivision for the three dimensional point cloud of the flat site to affiliated area
Simplify, be that the three dimensional point cloud in the abundant region of the details realizes point cloud simplification by minimum distance method to affiliated area.
2. the complicated outside plate three dimensional point cloud compressing method of hull according to claim 1, it is characterised in that described to pass through
The three dimensional point cloud at random of the complicated outside plate of hull is split into by difference with subdivision criterion that Octree is combined using K-D trees
Node space, and the topological relation set up between the three dimensional point cloud specifically includes：
The outer bounding box of minimum of the corresponding all three dimensional point clouds of the complicated outside plate of hull is obtained, and it is deep to set the segmentation of Octree
Degree, the leaf node size of Octree is determined according to the segmentation depth, corresponding Octree is constructed；
Tissue is carried out using K-D trees to the three dimensional point cloud in the leaf node of each Octree, respectively storage index letter
Breath and node coordinate information, and the owner record of each K-D trees is stored in corresponding Octree leaf node.
3. the complicated outside plate three dimensional point cloud compressing method of hull according to claim 2, it is characterised in that described every
In the individual node space, feature Curvature Estimate is carried out using parabolic fit method, all three-dimensional point cloud numbers are obtained
According to curvature information and the average curvature of each node space specifically include：
In each node space, using the K arest neighbors each put in node space described in K- neighborhood search, set up each
The K- neighborhood relationships of the three dimensional point cloud at random in the node space, spy is carried out using parabolic fit method
Curvature Estimate is levied, the curvature information of all three dimensional point clouds and the average curvature of each node space is obtained.
4. the complicated outside plate three dimensional point cloud compressing method of hull according to claim 3, it is characterised in that the basis
The average curvature of all node spaces, sets adjustable curvature threshold and specifically includes：
According to the average curvature of all node spaces, initial curvature threshold value is determined by formula one, and for different ships
It is of different sizes shared by each region in the three dimensional point cloud model of external plate, entered by two pairs of initial curvature threshold values of formula
Row amendment, obtains revised curvature threshold, and the formula one is specially：
Wherein,For initial curvature threshold value, n is the summation of cloud data, IjFor the feature curvature of every；
The formula two is specially：
Wherein, I' is revised curvature threshold, and α is the index value carried out according to data model feature.
5. the complicated outside plate three dimensional point cloud compressing method of hull according to claim 4, it is characterised in that the basis
The curvature threshold is divided into flat site to the affiliated area of the three dimensional point cloud or details enriches region, and to affiliated
Region completes point cloud simplification for the three dimensional point cloud of the flat site by the uniform grid method based on uniformly subdivision, to institute
Category region is that the three dimensional point cloud in the abundant region of the details realizes that point cloud simplification is specifically included by minimum distance method：
Judge whether the average curvature of each node space is more than the revised curvature threshold, if so, then will be average
The corresponding all three dimensional point clouds of node space that curvature is more than the revised curvature threshold are judged to belonging to details rich
Rich region, otherwise, average curvature is less than or equal to the corresponding all three-dimensionals of node space of the revised curvature threshold
Cloud data is judged to belonging to flat site；
Point is completed by the uniform grid method based on uniformly subdivision for the three dimensional point cloud of the flat site to affiliated area
Cloud simplifies, and is that the three dimensional point cloud in the abundant region of the details realizes point cloud simplification by minimum distance method to affiliated area.
6. a kind of complicated outside plate three dimensional point cloud compact device of hull, it is characterised in that including：
Subdivision module, for the subdivision criterion that is combined by using K-D trees with Octree by the at random of the complicated outside plate of hull
Three dimensional point cloud is split into different node spaces, and the topological relation set up between the three dimensional point cloud；
Estimation block, in each node space, carrying out feature Curvature Estimate using parabolic fit method, obtaining
Obtain the curvature information of all three dimensional point clouds and the average curvature of each node space；
Setting module, for the average curvature according to all node spaces, sets adjustable curvature threshold；
Divide and simplify module, the with good grounds curvature threshold is divided into flat site to the affiliated area of the three dimensional point cloud
Or details enriches region, and affiliated area is passed through based on the uniform of uniformly subdivision for the three dimensional point cloud of the flat site
Gridding method completes point cloud simplification, is that the three dimensional point cloud in the abundant region of the details passes through minimum distance method reality to affiliated area
Existing point cloud simplification.
7. the complicated outside plate three dimensional point cloud compact device of hull according to claim 6, it is characterised in that the subdivision
Module includes：
Construction unit, for obtaining the outer bounding box of minimum of the corresponding all three dimensional point clouds of the complicated outside plate of hull, and sets
The segmentation depth of Octree, the leaf node size of Octree is determined according to the segmentation depth, corresponding Octree is constructed；
Organizational unit, tissue is carried out for the three dimensional point cloud in the leaf node to each Octree using K-D trees, point
Not Cun Chu index information and node coordinate information, and the owner record of each K-D trees is stored in corresponding Octree leaf segment
Point in.
8. the complicated outside plate three dimensional point cloud compact device of hull according to claim 7, it is characterised in that the estimation
Module includes：
Evaluation unit, in each node space, utilizing the K each put in node space described in K- neighborhood search
Arest neighbors, the K- neighborhood relationships for the three dimensional point cloud at random set up in each node space, is intended using parabola
Conjunction method carries out feature Curvature Estimate, obtains the curvature information and each node space of all three dimensional point clouds
Average curvature.
9. the complicated outside plate three dimensional point cloud compact device of hull according to claim 8, it is characterised in that the setting
Module includes：
Amending unit is determined, for the average curvature according to all node spaces, initial curvature threshold is determined by formula one
Value, and for of different sizes shared by each region in the three dimensional point cloud model of different ship hull plates, by two pairs of formula
The initial curvature threshold value is modified, and obtains revised curvature threshold, and the formula one is specially：
Wherein,For initial curvature threshold value, n is the summation of cloud data, IjFor the feature curvature of every；
The formula two is specially：
Wherein, I' is revised curvature threshold, and α is the index value carried out according to data model feature.
10. the complicated outside plate three dimensional point cloud compact device of hull according to claim 9, it is characterised in that described stroke
Simplified module is divided to include：
Whether judging unit, the average curvature for judging each node space is more than the revised curvature threshold,
If so, then the corresponding all three dimensional point clouds of node space that average curvature is more than the revised curvature threshold are judged
Region is enriched to belong to details, otherwise, average curvature is less than or equal to the node space pair of the revised curvature threshold
All three dimensional point clouds answered are judged to belonging to flat site；
Simplified element, for passing through to affiliated area for the three dimensional point cloud of the flat site based on the uniform of uniformly subdivision
Gridding method completes point cloud simplification, is that the three dimensional point cloud in the abundant region of the details passes through minimum distance method reality to affiliated area
Existing point cloud simplification.
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