CN110274549A - A kind of measurement method and measuring device of Caiyu target - Google Patents
A kind of measurement method and measuring device of Caiyu target Download PDFInfo
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- CN110274549A CN110274549A CN201910550096.1A CN201910550096A CN110274549A CN 110274549 A CN110274549 A CN 110274549A CN 201910550096 A CN201910550096 A CN 201910550096A CN 110274549 A CN110274549 A CN 110274549A
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- 238000005259 measurement Methods 0.000 claims description 6
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- 238000004590 computer program Methods 0.000 claims description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30188—Vegetation; Agriculture
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Abstract
This application provides the measurement method and measuring device of a kind of Caiyu target, the visual signature based on target object determines the actual position information of target object and target object in the target image got；Based on the default acquisition position information in actual position information and target object, the first point cloud data of target object is acquired；Based on the first point cloud data, determine the first cusp position and the second cusp position that opposite sides is tangent on acquisition position and target object, first length of the first line between the first cusp position and acquisition position, the first angle between the second length and the first line and the second line of the second line between second cusp position and acquisition position；The first angle between the second length and the first line and the second line of the first length, the second line based on the first line determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object at acquisition position.
Description
Technical field
This application involves woods domain Caiyu technical fields, measurement method and measurement dress more particularly, to a kind of Caiyu target
It sets.
Background technique
With the fast development of forestry related industry, many times needing to cut the artificial rapid-result a large amount of trees of woods
It cuts down, but for the sustainable development of forestry industry, every one tree of felling will meet certain standard, that is to say, that be cut down
Every one tree all need to reach certain specification, such as the diameter of a cross-section of a tree trunk 1.3 meters above the ground for the trees cut down should reach how many specification or more,
These require to carry out manual measurement and can determine after screening.
But due to forest land environment complexity, barrier is more, and the measurement environment that operator can reach is extremely limited, leads to
Often complicated forestry environment can make Caiyu work operations be interrupted, in some environments, for example, it is natural that earthquake, flood etc. occurs
Under the area of disaster or certain rugged topography environment, it is unfavorable for manually measuring, or even danger can be brought to operator
Danger, is unfavorable for the measurement to trees, operating efficiency is low.
Summary of the invention
In view of this, a kind of measurement method and measuring device for being designed to provide Caiyu target of the application, by right
The acquisition of woods domain target image, determines the point cloud data of target object, and the rule of target object are determined by the point cloud data of object
Lattice information, thus can work in the environment that operator can not reach whether carrying out Caiyu work and judging, it can be with
The danger for effectively reducing manual work improves the efficiency of operation.
The embodiment of the present application provides a kind of measurement method of Caiyu target, and the measurement method includes:
Visual signature based on target object determines target object and the target object in the target image got
Actual position information；
Based on the default acquisition position information in the actual position information and the target object, the target is acquired
First point cloud data of object；
Based on first point cloud data, opposite sides is tangent on acquisition position and the target object first is determined
Cusp position and the second cusp position, first of the first line between first cusp position and the acquisition position are long
Degree, the second length of the second line between second cusp position and the acquisition position and first line with
The first angle between second line；
Second length of the first length, second line based on first line and first line and institute
The first angle between the second line is stated, determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object described at the acquisition position.
Further, the visual signature based on target object, determine in the target image that gets target object with
And the actual position information of the target object, comprising:
Determine target area of the target object in the target image；
Obtain the pixel value of each pixel of the target area in each Color Channel respectively, and based on getting
Pixel value calculates the pixel mean value at each channel in the target area；
Based on the pixel mean value in the target area described at each channel and in the presetted pixel section in each channel
In range, the color of object characteristic image of the target image is determined；
Based on the color of object characteristic image, the target area characteristic image in the target image is determined, and determine
Target area characteristic image in the target image；
Based on the target area characteristic image, the target object and the target object in the target image are determined
Actual position information.
Further, described to be based on the color of object characteristic image, determine that the target area in the target image is special
Levy image, comprising:
Establish the pixel coordinate system of the target image；
Determine that row of the center of target object in the color of object characteristic image in the pixel coordinate system is sat
Minimum row numerical value in scale value and column coordinate value and the color of object characteristic image in regional scope shared by target object and
Minimum columns value, wherein the target line numerical value is less than target object in the color of object characteristic image in shared region model
Other line number values in all line number values enclosed in addition to the target line numerical value, the target column numerical value are less than the target
Its in all columns values in shared regional scope in addition to the target column numerical value of target object in color characteristic image
His columns value；
Determine that the first difference between the row coordinate value and the target line numerical value is the color of object characteristic image
The width value of middle target object, and determine that the second difference between the column coordinate value and the target column numerical value is the target
The height value of target object in color characteristic image；
Based on the width value and the height value, the target area feature of the target area is determined, and determine institute
State the target area characteristic image of target image.
Further, the measurement method is calculated by the following formula the diameter of a cross-section of a tree trunk 1.3 meters above the ground of target object:
Wherein, D is the diameter of a cross-section of a tree trunk 1.3 meters above the ground of target object, R1The first length, R for first line2It is the of second line
Two length, first angle of the θ between first line and second line.
Further, the physical location of target object and the target object in the target image that the determination is got
After information, the measurement method further include:
Based on the actual position information of the target object, coboundary position and the lower boundary of the target object are determined
Position；
Determine the third line between the acquisition position and target object coboundary position and the acquisition position
Second angle of the 4th line between target object lower boundary position；
Any one in coboundary and lower boundary based on the target object and second angle, to the mesh
Second point cloud data of mark object is acquired；
The second point cloud data based on the target object, establishes the 3 dimensional drawing of the target object.
The embodiment of the present application also provides a kind of measuring device of Caiyu target, the measuring device includes:
First determining module determines object in the target image got for the visual signature based on target object
The actual position information of body and the target object；
First acquisition module, the actual position information and the mesh for being determined based on first determining module
The default acquisition position information on object is marked, the first point cloud data of the target object is acquired；
Second determining module, first point cloud data for being acquired based on first acquisition module determine acquisition
Opposite sides tangent the first cusp position and the second cusp position on position and the target object, the first point of contact position
The first length of the first line between the acquisition position is set, between second cusp position and the acquisition position
The first angle between second length of the second line and first line and second line；
Third determining module, the first length of first line for being determined based on second determining module, institute
The first angle between the second length and first line and second line of the second line is stated, determination is adopted described
Collect the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object at position.
Further, first determining module includes:
First determination unit, for determining target area of the target object in the target image；
Computing unit, for obtaining the determining target area of first determination unit respectively in each Color Channel
In the pixel value of each pixel calculate the picture at each channel in the target area and based on the pixel value got
Plain mean value；
Second determination unit, for based in the calculated target area described at each channel of the computing unit
Pixel mean value and in the presetted pixel interval range in each channel, determines the color of object characteristic pattern of the target image
Picture；
Third determination unit, the color of object characteristic image for being determined based on second determination unit, is determined
Target area characteristic image in the target image, and determine the target area characteristic image in the target image；
4th determination unit, the target area characteristic image for being determined based on the third determination unit, is determined
The actual position information of target object and the target object in the target image.
Further, the third determination unit is specifically used for:
Establish the pixel coordinate system of the target image；
Determine that row of the center of target object in the color of object characteristic image in the pixel coordinate system is sat
Minimum row numerical value in scale value and column coordinate value and the color of object characteristic image in regional scope shared by target object and
Minimum columns value, wherein the target line numerical value is less than target object in the color of object characteristic image in shared region model
Other line number values in all line number values enclosed in addition to the target line numerical value, the target column numerical value are less than the target
Its in all columns values in shared regional scope in addition to the target column numerical value of target object in color characteristic image
His columns value；
Determine that the first difference between the row coordinate value and the target line numerical value is the color of object characteristic image
The width value of middle target object, and determine that the second difference between the column coordinate value and the target column numerical value is the target
The height value of target object in color characteristic image；
Based on the width value and the height value, the target area feature of the target area is determined, and determine institute
State the target area characteristic image of target image.
Further, the third determining module is calculated by the following formula the diameter of a cross-section of a tree trunk 1.3 meters above the ground of target object:
Wherein, D is the diameter of a cross-section of a tree trunk 1.3 meters above the ground of target object, R1The first length, R for first line2It is the of second line
Two length, first angle of the θ between first line and second line.
Further, the measuring device further include:
4th determining module, the actual bit confidence of the target object for being determined based on first determining module
Breath, determines the coboundary position and lower boundary position of the target object；
5th determining module, for determining that the third between the acquisition position and target object coboundary position connects
Second angle of the 4th line between line and the acquisition position and target object lower boundary position；
Second acquisition module, for the coboundary based on the determining target object of the 4th determining module and below
Any one in boundary and second angle, are acquired the second point cloud data of the target object；
Module is established, the second point cloud data of the target object for being acquired based on second acquisition module is built
Found the 3 dimensional drawing of the target object.
The embodiment of the present application also provides a kind of electronic equipment, comprising: processor, memory and bus, the memory are deposited
Contain the executable machine readable instructions of the processor, when electronic equipment operation, the processor and the memory it
Between by bus communication, the measurement side of such as above-mentioned Caiyu target is executed when the machine readable instructions are executed by the processor
The step of method.
The embodiment of the present application also provides a kind of computer readable storage medium, is stored on the computer readable storage medium
Computer program, when which is run by processor the step of the execution such as measurement method of above-mentioned Caiyu target.
The measurement method and measuring device of a kind of Caiyu target provided by the embodiments of the present application, the vision based on target object
Feature determines the actual position information of target object and the target object in the target image got；Based on the reality
Default acquisition position information on border location information and the target object acquires first cloud number of the target object
According to；Based on first point cloud data, the first point of contact that opposite sides is tangent on acquisition position and the target object is determined
Position and the second cusp position, the first length of the first line between first cusp position and the acquisition position, institute
State the second length and first line and described the of the second line between the second cusp position and the acquisition position
The first angle between two lines；Second length of the first length, second line based on first line and institute
The first angle between the first line and second line is stated, determines the chest of the target object described at the acquisition position
Diameter.
In this way, determining the point cloud data of target object by the acquisition to woods domain target image, pass through the point cloud number of object
According to the diameter of a cross-section of a tree trunk 1.3 meters above the ground for determining target object target object at default acquisition position, thus to whether carrying out Caiyu work and sentencing
It is disconnected, it can work in the environment that operator can not reach, reduce the danger of operator, improve the efficiency of operation.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the system architecture diagram under a kind of possible application scenarios；
Fig. 2 is a kind of flow chart of the measurement method of Caiyu target provided by the embodiment of the present application；
Fig. 3 is a kind of target object diameter of a cross-section of a tree trunk 1.3 meters above the ground calculation method of the measurement method of Caiyu target provided by the embodiment of the present application
Schematic diagram；
Fig. 4 is a kind of flow chart of the measurement method of Caiyu target provided by another embodiment of the application；
Fig. 5 is a kind of one of structural schematic diagram of measuring device of Caiyu target provided by the embodiment of the present application；
Fig. 6 is a kind of second structural representation of the measuring device of Caiyu target provided by the embodiment of the present application；
Fig. 7 is the structural schematic diagram of the first determining module shown in Fig. 5；
Fig. 8 is the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art are obtained every without making creative work
A other embodiments, shall fall in the protection scope of this application.
Firstly, the application application scenarios applicatory are introduced.The application can be applied to woods domain Caiyu technical field,
The visual signature based on target object is obtained, determines the actual bit of target object and target object in collected target image
It sets, the first point cloud data of target object of the acquisition target object at default acquisition position, according to the first of target object point
Cloud data calculate the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object at default acquisition position.Referring to Fig. 1, Fig. 1 is a kind of under the application scenarios
System composition.As shown in fig. 1, the system comprises acquisition device, measuring device and target object, the acquisition device is used
In acquiring the target image needed for the prediction meanss comprising target object, the measuring device is receiving the acquisition dress
After setting the collected target image comprising target object, the visual signature based on target object determines mesh in the target image
The physical location of object and target object is marked, and the point cloud data at the default acquisition position of target object is acquired,
Obtain the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object at default acquisition position.
Referring to Fig. 2, Fig. 2 is the flow chart of the measurement method for the Caiyu target that one embodiment of the application provides.In Fig. 2
It is shown, the measurement method of Caiyu target provided by the embodiments of the present application, comprising:
Step 201, the visual signature based on target object determine in the target image that gets target object and described
The actual position information of target object.
In the step, target image is obtained, and extract the visual signature of target object in the target image, based on extraction
The visual signature of target object determines described in target object and determination in the target image in the target image out
Actual position information of the target object in woods domain.
For example, want to measure trees in woods domain, the image of trees region, root will be obtained first
According to the image comprising trees got, the physical location of trees and the trees in the picture is determined.
Step 202, based on the default acquisition position information in the actual position information and the target object, acquisition
First point cloud data of the target object.
In the step, believed according to the actual position information for the target object determined and preset acquisition position
Breath acquires the first point cloud data of target object at the preset acquisition position of target object, uses in subsequent calculating.
Corresponding to the above embodiments, after determining the physical location of trees, can be acquired by two-dimensional laser radar
The first point cloud data of trees at default acquisition position, for example, setting needs to acquire target trees at the 1.3m of ground first
The point cloud data of the trunk diameter of a cross-section of a tree trunk 1.3 meters above the ground, it will be able to pass through the point cloud number of two-dimensional laser radar acquisition trunk diameter of a cross-section of a tree trunk 1.3 meters above the ground at the 1.3m of ground
According to.
Step 203 is based on first point cloud data, determines that acquisition position and opposite sides on the target object are homogeneous
The first cusp position and the second cusp position cut, the first line between first cusp position and the acquisition position
First length, the second length of the second line between second cusp position and the acquisition position and described first
The first angle between line and second line.
In the step, after the first point cloud data of the target object has been determined, to the of the target object of acquisition
One point cloud data is fitted processing, the profile and border figure that a target object presets acquisition position is obtained, after fitting
First point cloud data of target object determines the first point of contact position that opposite sides is tangent on acquisition position and the target object
Set with the second cusp position, and determine the first long of the first line between first cusp position and the acquisition position
Degree, the second length of the second line between second cusp position and the acquisition position and first line with
The first angle between second line.
Corresponding to above-described embodiment, after the point cloud data for collecting trees, point cloud data is fitted, due to trees
Stem form is approximately round, so obtaining the trees boundary profile of an approximately round ground 1.3m after fitting.It determines
The position at tangent the first point of contact of opposite sides of the trees boundary profile after acquisition position and fitting and the second point of contact
Position, and determine the first length of the first line of acquisition position and the first cusp position and with the second cusp position the
The first angle between second length of two lines and first line and second line.
Step 204, the first length based on first line, the second length of second line and described first
The first angle between line and second line determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object described at the acquisition position.
In the step, by the first length of first line determined, the second length of second line with
And the first angle between first line and second line, calculate the target object at preset acquisition position
The diameter of a cross-section of a tree trunk 1.3 meters above the ground.
Further, step 201 further include: determine target area of the target object in the target image；Point
The pixel value of each pixel of the target area in each Color Channel is not obtained, and based on the pixel value got, meter
Calculate the pixel mean value at each channel in the target area；It is equal based on the pixel in the target area described at each channel
It is worth and in the presetted pixel interval range in each channel, determines the color of object characteristic image of the target image；It is based on
The color of object characteristic image determines the target area characteristic image in the target image, and determines the target image
In target area characteristic image；Based on the target area characteristic image, determine the target object in the target image with
And the actual position information of the target object.
In the step, the target area in collected target image where target object is determined, determine the object
Body obtains each pixel of the target area in each Color Channel after the target area in the target image respectively
Pixel value, and based on all pixels value got, calculates the pixel mean value at each channel in the target area, will be
It is compared, chooses within the scope of pixel mean value and the preset pixel range in each channel when each channel in the target area
Target area of the mean value of each Color Channel within the scope of the preset pixel range in each channel forms the target face
Color characteristic image；On the basis of the color of object characteristic image has been determined, determine that the target area of the target image is special
Image is levied, then on the basis of the target area characteristic image has been determined, determines that the target area of the target image is special
Levy image；It is finally based on the target area feature, determines the target object and the target object in the target image
Actual position information.
Wherein, the target area characteristic image is to calculate the mesh on the basis of target area characteristic image
The total number value for the pixel being connected in target object in mark provincial characteristics image, passes through the model of the total number value with preset pixel
It encloses and is compared, exclude the lesser target object of total number of some pixels being connected in the characteristic image of target area, obtain
The target area characteristic image.
Further, described to be based on the color of object characteristic image, determine that the target area in the target image is special
Levy image, comprising: establish the pixel coordinate system of the target image；Determine target object in the color of object characteristic image
Center target in the row coordinate value and column coordinate value and the color of object characteristic image in the pixel coordinate system
Minimum row numerical value and minimum columns value in regional scope shared by object, wherein the target line numerical value is less than the target face
Other in all line number values in shared regional scope in addition to the target line numerical value of target object in color characteristic image
Line number value, it is all in shared regional scope that the target column numerical value is less than target object in the color of object characteristic image
Other columns values in columns value in addition to the target line numerical value；It determines between the row coordinate value and the target line numerical value
The first difference be the width value of target object in the color of object characteristic image, and determine the column coordinate value and the mesh
Mark the height value that the second difference between columns value is target object in the color of object characteristic image；Based on the width value
And the height value, determine the target area feature of the target area, and determine that the target area of the target image is special
Levy image.
In the step, based on the target image got, using the lower left corner of the target image as the origin O of coordinate system,
Establish the pixel coordinate system of the target image；Determine the center of target object in the color of object characteristic image in institute
The row coordinate value and column coordinate value in pixel coordinate system are stated, and the color of object characteristic pattern is determined by the pixel coordinate system
The target line numerical value and target column numerical value of pixel as in regional scope shared by target object, wherein the target line numerical value
The target line is removed in all line number values in shared regional scope less than target object in the color of object characteristic image
Other line number values except numerical value, the target column numerical value is less than target object in the color of object characteristic image in institute occupied area
Other columns values in all columns values in the range of domain in addition to the target line numerical value, for example, the obtained mesh
Mark includes 1 row pixel, the 2nd column picture in the 1st column pixel value in the corresponding pixel coordinate region of target object in color characteristic image
Include 3 row pixels in element value, include 2 row pixels in the 3rd column pixel value, then target line numerical value is " 1 " at this time；It is same
, include 2 column pixels in the 2nd row pixel value in the 1st row pixel value if including 3 column pixels, includes 1 column picture in the 3rd row pixel value
Element, then target column numerical value is " 1 " at this time；Determine the first difference between the row coordinate value and the target line numerical value for institute
The width value of target object in color of object characteristic image is stated, and is determined between the column coordinate value and the target column numerical value
Second difference is the height value of target object in the color of object characteristic image；Based on the width value and the height
Value determines the target area feature of the target area, and determines the target area characteristic image of the target image.
Specifically, being calculated by the following formula the target area feature of the target area:
Wherein, AWHFor the target area feature of the target area, W is the width value, and H is the height value.
Further, step 204 is calculated by the following formula the diameter of a cross-section of a tree trunk 1.3 meters above the ground (as shown in Figure 3) of target object:
Wherein, D is the diameter of a cross-section of a tree trunk 1.3 meters above the ground of target object, R1The first length, R for first line2It is the of second line
Two length, angle of the θ between first line and second line.
In the step, after the first point cloud data for obtaining the target object, the acquisition position and described first are determined
First length R of first line at point of contact1And the second length of the acquisition position and second line at second point of contact
R2, and acquire the first length R1Square with the second length R2Square sum, seek the first length R1, the second length R2And cos θ
Two times of values of product, and determine the square root of the difference of two times of values described and with the product, it is the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object.
The measurement method of Caiyu target provided by the embodiments of the present application, the visual signature based on target object are determined and are obtained
To target image in the actual position information of target object and the target object；Based on the actual position information and
Default acquisition position information on the target object, acquires the first point cloud data of the target object；Based on described first
Point cloud data determines opposite sides is tangent on acquisition position and the target object the first cusp position and the second point of contact position
Set, the first length of the first line between first cusp position and the acquisition position, second cusp position with
First between second length of the second line between the acquisition position and first line and second line
Angle；Second length of the first length, second line based on first line and first line with it is described
The first angle between second line determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object described at the acquisition position.
In this way, determining the first point cloud data of target object by the acquisition to woods domain target image, pass through the of object
One point cloud data determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground at preset acquisition position of target object, thus to whether carry out Caiyu work sentence
It is disconnected, it can work in the environment that operator can not reach, reduce the danger of operator, improve the efficiency of operation.
Referring to Fig. 4, Fig. 4 is a kind of flow chart of the measurement method for Caiyu target that another embodiment of the application provides.
As shown in Figure 4, the measurement method of a kind of Caiyu target provided by the embodiments of the present application, comprising:
Step 401, the visual signature based on target object determine in the target image that gets target object and described
The actual position information of target object.
Step 402, the actual position information based on the target object, determine the coboundary position of the target object with
And lower boundary position.
In the step, the actual position information of target object and the target object in the target image has been determined
Later, actual position information based on the target object determines coboundary position and the lower boundary of the target object
Position.
Step 403, determine third line between the acquisition position and target object coboundary position with it is described
Second angle of the 4th line between acquisition position and target object lower boundary position.
In the step, after the coboundary and lower boundary that target object has been determined, the acquisition position and institute are determined
It states between the third line between the position of target object coboundary and the acquisition position and target object lower boundary position
The 4th line the second angle.
Any one in step 404, the coboundary based on the target object and lower boundary and second angle,
Second point cloud data of the target object is acquired.
In the step, using any one in the coboundary and lower boundary of the target object as beginning, the other end is eventually
End is rotation angle with second angle, acquires the second point cloud data of the target object.
Step 405, the second point cloud data based on the target object, establish the 3 dimensional drawing of the target object.
In the step, after the second point cloud data for collecting the target object, it is based on second point cloud data, is built
Found the 3 dimensional drawing of the target object.
In this way, the 3 dimensional drawing by the target object can analyze the case where target object.
Corresponding to above-described embodiment, after the actual position information of trees has been determined, determine trees coboundary and
The lower boundary of trees, at the same determine between third line, acquisition position and lower boundary between acquisition position and coboundary the
Four lines obtain the second angle between the third line and the 4th line, (or following with the coboundaries of trees
Boundary) it is beginning, it is rotation angle with the second angle, acquires the second point cloud data of trees from top to bottom (or from bottom to top), leads to
Cross the 3 dimensional drawing that collected second point cloud data establishes trees.That is the method in the application can pass through two dimension
Laser radar can establish tree three-dimensional model.
It and is by taking trees as an example in the present embodiment, however, it is not limited to this, and in other embodiments, this method can also
It enough detects the diameter of a cross-section of a tree trunk 1.3 meters above the ground of other objects and establishes three-dimensional model diagram.
Wherein, the description of step 401 is referred to the description of step 201, and can reach identical technical effect, to this
It does not repeat them here.
The measurement method of Caiyu target provided by the embodiments of the present application, the visual signature based on target object are determined and are obtained
To target image in the actual position information of target object and the target object；Actual bit based on the target object
Confidence breath, determines the coboundary position and lower boundary position of the target object；Determine the acquisition position and the target
The 4th between third line and the acquisition position between the position of object coboundary and target object lower boundary position
Second angle of line；Any one in coboundary and lower boundary based on the target object and second angle, it is right
Second point cloud data of the target object is acquired；The second point cloud data based on the target object, establishes the mesh
Mark the 3 dimensional drawing of object.
In this way, determining the second point cloud data of target object by the acquisition to woods domain target image, pass through the of object
Two point cloud datas establish the 3 dimensional drawing of target object, so as to the 3 dimensional drawing by target object to target object
It is further analyzed, can work in the environment that operator can not reach, effectively reduce the danger of manual work,
Be conducive to improve operating efficiency.
Fig. 5 to Fig. 7 is please referred to, Fig. 5 is the structural representation of the measuring device for the Caiyu target that one embodiment of the application provides
One of figure, Fig. 6 are the second structural representation of the measuring device of Caiyu target provided by the embodiment of the present application, and Fig. 7 is in Fig. 5
Shown in the first determining module structural schematic diagram.As shown in Figure 5, the measuring device 500 of Caiyu target includes:
First determining module 510 determines target in the target image got for the visual signature based on target object
The actual position information of object and the target object；
First acquisition module 520, for based on first determining module 510 determine the actual position information and
Default acquisition position information on the target object, acquires the first point cloud data of the target object；
Second determining module 530, first point cloud data for being acquired based on first acquisition module 520, really
Determine the first cusp position and the second cusp position that opposite sides is tangent on acquisition position and the target object, described first
First length of the first line between cusp position and the acquisition position, second cusp position and the acquisition position
Between the second line the second length and first line and second line between the first angle；
Third determining module 540, first of first line for being determined based on second determining module 530 are long
It spends, the first angle between the second length and first line and second line of second line, determines
The diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object at the acquisition position.
Further, as shown in fig. 6, the measuring device 500 of the Caiyu target further include:
4th determining module 550, the actual bit of the target object for being determined based on first determining module 510
Confidence breath, determines the coboundary position and lower boundary position of the target object；
5th determining module 560, the mesh determined for determining the acquisition position and the 4th determining module 550
Mark the mesh that third line and the acquisition position and the 4th determining module 550 between the position of object coboundary determine
Mark the second angle of the 4th line between object lower boundary position；
Second acquisition module 570, the coboundary of the target object for being determined based on the 4th determining module 550
With any one in lower boundary and second angle, the second point cloud data of the target object is acquired；
Module 580 is established, the second point cloud number of the target object for acquiring based on second acquisition module 570
According to establishing the 3 dimensional drawing of the target object.
Further, as shown in fig. 7, first determining module 510 includes:
First determination unit 511, for determining target area of the target object in the target image；
Computing unit 512, for obtaining the determining target area of first determination unit 511 respectively in each face
The pixel value of each pixel in chrominance channel, and based on the pixel value got, calculate the target area at each channel
In pixel mean value；
Second determination unit 513, for being based on the calculated target area described at each channel of the computing unit 512
Pixel mean value in domain and in the presetted pixel interval range in each channel, determines that the color of object of the target image is special
Levy image；
Third determination unit 514, the color of object feature for being determined based on second determination unit 513, really
Target area characteristic image in the fixed target image, and determine the target area characteristic image in the target image；
4th determination unit 515, the target area characteristic pattern for being determined based on the third determination unit 514
Picture determines the actual position information of the target object and the target object in the target image.
Further, the third determination unit 514 is specifically used for:
Establish the pixel coordinate system of the target image；
Determine that row of the center of target object in the color of object characteristic image in the pixel coordinate system is sat
Minimum row numerical value in scale value and column coordinate value and the color of object characteristic image in regional scope shared by target object and
Minimum columns value, wherein the target line numerical value is less than target object in the color of object characteristic image in shared region model
Other line number values in all line number values enclosed in addition to the target line numerical value, the target column numerical value are less than the target
Its in all columns values in shared regional scope in addition to the target column numerical value of target object in color characteristic image
His columns value；
Determine that the first difference between the row coordinate value and the target line numerical value is the color of object characteristic image
The width value of middle target object, and determine that the second difference between the column coordinate value and the target column numerical value is the target
The height value of target object in color characteristic image；
Based on the width value and the height value, the target area feature of the target area is determined, and determine institute
State the target area characteristic image of target image.
Further, the third determining module 540 is calculated by the following formula the diameter of a cross-section of a tree trunk 1.3 meters above the ground of target object:
Wherein, D is the diameter of a cross-section of a tree trunk 1.3 meters above the ground of target object, R1The first length, R for first line2It is the of second line
Two length, first angle of the θ between first line and second line.
A kind of measuring device of Caiyu target provided by the embodiments of the present application, the visual signature based on target object determine
The actual position information of target object and the target object in the target image got；Based on the actual position information
And the default acquisition position information on the target object, acquire the first point cloud data of the target object；Based on described
First point cloud data determines that acquisition position first cusp position tangent with opposite sides on the target object and second is cut
Point position, the first length of the first line between first cusp position and the acquisition position, the second point of contact position
It sets between the second length and first line and second line of the second line between the acquisition position
First angle；Second length of the first length, second line based on first line and first line with
The first angle between second line determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object described at the acquisition position.
In this way, determining the point cloud data of target object by the acquisition to woods domain target image, pass through the point cloud number of object
According to the diameter of a cross-section of a tree trunk 1.3 meters above the ground for determining target object target object at default acquisition position, thus to whether carrying out Caiyu work and sentencing
It is disconnected, it can work in the environment that operator can not reach, reduce the danger of operator, improve the efficiency of operation.
Referring to Fig. 8, Fig. 8 is the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application.Such as institute in Fig. 8
Show, the electronic equipment 800 includes processor 810, memory 820 and bus 830.
The memory 820 is stored with the executable machine readable instructions of the processor 810, when electronic equipment 800 is transported
When row, communicated between the processor 810 and the memory 820 by bus 830, the machine readable instructions are by the place
When managing the execution of device 810, the measurement method that the Caiyu target in the embodiment of the method as shown in above-mentioned Fig. 2 and Fig. 4 can be executed
Step, specific implementation can be found in embodiment of the method, and details are not described herein.
The embodiment of the present application also provides a kind of computer readable storage medium, is stored on the computer readable storage medium
Computer program can execute in the embodiment of the method as shown in above-mentioned Fig. 2 and Fig. 4 when the computer program is run by processor
Caiyu target measurement method the step of, specific implementation can be found in embodiment of the method, and details are not described herein.
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, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random AccessMemory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover the protection in the application
Within the scope of.Therefore, the protection scope of the application should be subject to the protection scope in claims.
Claims (10)
1. a kind of measurement method of Caiyu target, which is characterized in that the measurement method includes:
Visual signature based on target object determines the reality of target object and the target object in the target image got
Border location information；
Based on the default acquisition position information in the actual position information and the target object, the target object is acquired
The first point cloud data；
Based on first point cloud data, the first point of contact that opposite sides is tangent on acquisition position and the target object is determined
Position and the second cusp position, the first length of the first line between first cusp position and the acquisition position, institute
State the second length and first line and described the of the second line between the second cusp position and the acquisition position
The first angle between two lines；
Second length of the first length, second line based on first line and first line and described the
The first angle between two lines determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the target object described at the acquisition position.
2. measurement method as described in claim 1, which is characterized in that the visual signature based on target object, determination obtain
The actual position information of target object and the target object in the target image got, comprising:
Determine target area of the target object in the target image；
The pixel value of each pixel of the target area in each Color Channel is obtained respectively, and based on the pixel got
Value calculates the pixel mean value at each channel in the target area；
Based on the pixel mean value in the target area described at each channel and in the presetted pixel interval range in each channel
It is interior, determine the color of object characteristic image of the target image；
Based on the color of object characteristic image, the target area characteristic image in the target image is determined, and described in determination
Target area characteristic image in target image；
Based on the target area characteristic image, the reality of the target object and the target object in the target image is determined
Border location information.
3. measurement method as claimed in claim 2, which is characterized in that it is described to be based on the color of object characteristic image, it determines
Target area characteristic image in the target image, comprising:
Establish the pixel coordinate system of the target image；
Determine row coordinate value of the center of target object in the color of object characteristic image in the pixel coordinate system
With the minimum row numerical value and minimum in regional scope shared by target object in column coordinate value and the color of object characteristic image
Columns value, wherein the target line numerical value is less than target object in the color of object characteristic image in shared regional scope
All line number values in other line number values in addition to the target line numerical value, the target column numerical value is less than the color of object
Other column of target object in all columns values in shared regional scope in addition to the target column numerical value in characteristic image
Numerical value；
Determine that the first difference between the row coordinate value and the target line numerical value is mesh in the color of object characteristic image
The width value of object is marked, and determines that the second difference between the column coordinate value and the target column numerical value is the color of object
The height value of target object in characteristic image；
Based on the width value and the height value, the target area feature of the target area is determined, and determine the mesh
The target area characteristic image of logo image.
4. measurement method as described in claim 1, which is characterized in that the measurement method is calculated by the following formula object
The diameter of a cross-section of a tree trunk 1.3 meters above the ground of body:
Wherein, D is the diameter of a cross-section of a tree trunk 1.3 meters above the ground of target object, R1The first length, R for first line2Second for second line is long
Degree, first angle of the θ between first line and second line.
5. measurement method as described in claim 1, which is characterized in that target object in the target image that the determination is got
And after the actual position information of the target object, the measurement method further include:
Based on the actual position information of the target object, the coboundary position and lower boundary position of the target object are determined
It sets；
Determine the third line between the acquisition position and target object coboundary position and the acquisition position and institute
State the second angle of the 4th line between target object lower boundary position；
Any one in coboundary and lower boundary based on the target object and second angle, to the object
Second point cloud data of body is acquired；
The second point cloud data based on the target object, establishes the 3 dimensional drawing of the target object.
6. a kind of measuring device of Caiyu target, which is characterized in that the measuring device includes:
First determining module, for the visual signature based on target object, determine in the target image got target object with
And the actual position information of the target object；
First acquisition module, the actual position information and the object for being determined based on first determining module
Default acquisition position information on body, acquires the first point cloud data of the target object；
Second determining module, first point cloud data for being acquired based on first acquisition module, determines acquisition position
First cusp position and second cusp position tangent with opposite sides on the target object, first cusp position with
First length of the first line between the acquisition position, second between second cusp position and the acquisition position
The first angle between second length of line and first line and second line；
Third determining module, the first length of first line for being determined based on second determining module, described the
The first angle between second length of two lines and first line and second line is determined in the acquisition position
Set the diameter of a cross-section of a tree trunk 1.3 meters above the ground for locating the target object.
7. measuring device as claimed in claim 6, which is characterized in that first determining module includes:
First determination unit, for determining target area of the target object in the target image；
Computing unit, for obtaining the determining target area of first determination unit respectively in each Color Channel
The pixel value of each pixel, and based on the pixel value got, the pixel calculated at each channel in the target area is equal
Value；
Second determination unit, for based on the pixel in the calculated target area described at each channel of the computing unit
Mean value and in the presetted pixel interval range in each channel, determines the color of object characteristic image of the target image；
Third determination unit, for based on second determination unit determine the color of object characteristic image, determine described in
Target area characteristic image in target image, and determine the target area characteristic image in the target image；
4th determination unit, for based on the third determination unit determine the target area characteristic image, determine described in
The actual position information of target object and the target object in target image.
8. measuring device as claimed in claim 6, which is characterized in that the measuring device further include:
4th determining module, the actual position information of the target object for being determined based on first determining module, really
The coboundary position and lower boundary position of the fixed target object；
5th determining module, the target object top determined for determining the acquisition position and the 4th determining module
The target object lower boundary that third line and the acquisition position and the 4th determining module between boundary position determine
Second angle of the 4th line between position；
Second acquisition module, in the coboundary and lower boundary based on the determining target object of the 4th determining module
Any one and second angle, are acquired the second point cloud data of the target object；
Module is established, the second point cloud data of the target object for acquiring based on second acquisition module establishes institute
State the 3 dimensional drawing of target object.
9. a kind of electronic equipment characterized by comprising processor, memory and bus, the memory are stored with the place
The executable machine readable instructions of device are managed, when electronic equipment operation, by described between the processor and the memory
Bus communication executes the measurement as described in any in claim 1 to 5 when the machine readable instructions are executed by the processor
The step of method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program executes the step of the measurement method as described in any in claim 1 to 5 when the computer program is run by processor
Suddenly.
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