CN111581711B - Tower modeling method and device, terminal equipment and computer readable storage medium - Google Patents
Tower modeling method and device, terminal equipment and computer readable storage medium Download PDFInfo
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Abstract
The application discloses a tower modeling method, a device, terminal equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring point cloud data of a pole tower; performing horizontal slicing on the point cloud data according to a preset slicing threshold to obtain point cloud data of each layer; determining tower leg key points, tower arm key points and tower head key points of the tower based on the point cloud data of each layer; and modeling the tower according to the topological relation among the tower leg key points, the tower arm key points and the tower head key points. The technical scheme of the application has fewer required parameters, high automation degree and higher efficiency, and can accurately model the tower from multiple directions.
Description
Technical Field
The application relates to the technical field of survey and inspection, in particular to a pole tower modeling method, a pole tower modeling device, terminal equipment and a computer readable storage medium.
Background
With the continuous and deep requirements of the power grid in China on intelligent and fine inspection operation, the three-dimensional digital power grid technology becomes more and more important. The structure and the performance of the transmission tower directly and directly influence the safety, the economy and the reliability of the transmission line. Therefore, three-dimensional modeling of transmission towers is an indispensable part of three-dimensional digital transmission engineering and smart grids.
In practical application, because the number of towers is large and various, the efficiency of manual modeling or semi-manual semi-automatic modeling is very low. Therefore, the conventional manual modeling or semi-manual semiautomatic modeling method cannot achieve an efficient modeling effect.
The existing automatic pole and tower modeling mode is usually divided through single pole and tower point cloud data, the dividing positions of the pole and tower are obtained through the characteristics of the point numbers, the characteristic value ratios and the like of the subdivision subsets, after the main directions of the point clouds above the middle and long arm cross beams are determined, the linear fitting is carried out according to the dividing positions determined before, the RANSAC algorithm is adopted, and the structural parameters are determined to realize automatic modeling. However, the scheme has the advantages that the required parameters are relatively large, the calculated amount is large, the scheme for modeling through single tower point cloud data is not suitable for an asymmetric tower model, the applicability is low, and the modeling result is inaccurate.
Disclosure of Invention
In view of the foregoing, an object of an embodiment of the present application is to provide a tower modeling method, apparatus, terminal device, and computer readable storage medium, so as to solve the deficiencies of the prior art.
According to an embodiment of the present application, there is provided a tower modeling method including:
acquiring point cloud data of a pole tower;
performing horizontal slicing on the point cloud data according to a preset slicing threshold to obtain point cloud data of each layer;
determining tower leg key points, tower arm key points and tower head key points of multiple directions of the tower based on the point cloud data of each layer;
and modeling the tower according to the topological relation among the tower leg key points, the tower arm key points and the tower head key points in all directions.
In the above pole tower modeling method, the determining the tower leg key points, the tower arm key points and the tower head key points of the pole tower in multiple directions based on the point cloud data of each layer includes:
respectively calculating a minimum direction bounding box of each layer of point cloud data;
separating a plurality of tower leg lines of the tower according to the minimum direction bounding boxes corresponding to the layers;
extracting tower leg key points, tower arm key points and tower head key points in multiple directions from the tower leg lines, wherein the multiple directions comprise directions of four corner points of a quadrilateral projected onto a plane by point cloud data of each layer.
In the above tower modeling method, before the separating the leg line of the tower according to the minimum direction bounding box corresponding to each layer, the method further includes:
and adjusting the minimum direction bounding boxes corresponding to the layers to be in the same direction, and executing the operation of separating the tower leg lines of the tower aiming at the adjusted minimum direction bounding boxes of the layers.
In the above pole modeling method, the adjusting the minimum direction bounding boxes corresponding to the layers to the same direction includes:
respectively calculating the mould lengths corresponding to two sides of each layer of minimum direction bounding box in the horizontal direction;
taking the maximum mould length of each layer as the tower arm direction, and calculating an included angle between the tower arm direction and the horizontal direction in the layer;
calculating a rotation matrix according to the included angle and the axial direction of the tower arm direction;
and rotating the minimum direction bounding box in the layer according to the rotation matrix so as to adjust the minimum direction bounding boxes corresponding to each layer to the same direction.
In the pole tower modeling method, before extracting the tower leg key points, the tower arm key points and the tower head key points in multiple directions in the tower leg line, the method further includes:
projecting the point cloud data corresponding to the tower leg lines of each layer into a plane to obtain projection points;
and removing abnormal point cloud data in the tower leg lines according to the side length and the area of a quadrangle formed by projection points of the tower leg lines of each layer, and executing the operation of extracting the tower leg key points, the tower arm key points and the tower head key points based on the tower leg lines after the abnormal point cloud data are removed.
In the pole tower modeling method, before extracting the tower leg key points, the tower arm key points and the tower head key points in multiple directions in the tower leg line, the method further includes:
simplifying point cloud data corresponding to the tower leg lines according to preset simplifying conditions;
repeatedly executing the steps until the repeated execution times reach the preset times;
and performing operations of extracting tower leg key points, tower arm key points and tower head key points in multiple directions based on the simplified tower leg lines.
In the above tower modeling method, the preset simplifying condition includes that an included angle between a last layer minimum direction bounding box of the current layer and a next layer minimum direction bounding box of the current layer is larger than a preset angle;
correspondingly, the simplifying the point cloud data corresponding to the tower leg line according to the preset simplifying condition includes:
and removing the minimum direction bounding box which does not meet the preset simplifying conditions so as to simplify the tower leg line.
According to another embodiment of the present application, there is provided a tower modeling apparatus including:
the acquisition module is used for acquiring point cloud data of the pole tower;
the layer cutting module is used for horizontally cutting the point cloud data according to a preset layer cutting threshold value to obtain the point cloud data of each layer;
the determining module is used for determining tower leg key points, tower arm key points and tower head key points of multiple directions of the tower based on the point cloud data of each layer;
and the modeling module is used for carrying out pole and tower modeling according to the topological relation among the tower leg key points, the tower arm key points and the tower head key points.
According to still another embodiment of the present application, there is provided a terminal device including a memory for storing a computer program and a processor that runs the computer program to cause the terminal device to execute the above-described tower modeling method.
According to still another embodiment of the present application, there is provided a computer-readable storage medium storing the computer program used in the terminal device.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
the method, the device, the terminal equipment and the computer readable storage medium for modeling the pole tower can model the pole tower according to the pole leg key points, the pole arm key points and the pole head key points in multiple directions, the modeling mode can be used for the existing symmetrical pole tower and the existing asymmetrical pole tower, the required parameters are fewer, the degree of automation is high, the efficiency is high, and the modeling result is accurate.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope of protection of the present application, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for modeling a tower according to a first embodiment of the present application;
FIG. 2 is a schematic flow chart of a tower modeling method according to a second embodiment of the present application;
FIG. 3 is a schematic flow chart of a tower modeling method according to a third embodiment of the present application;
FIG. 4 is a schematic flow chart of a tower modeling method according to a fourth embodiment of the present application;
FIG. 5 is a schematic flow chart of a tower modeling method according to a fifth embodiment of the present application;
fig. 6 is a schematic structural diagram of a tower modeling apparatus according to a sixth embodiment of the present application.
Description of main reference numerals:
600-pole tower modeling device; 610-an acquisition module; 620-slicing module; 630-a determination module; 640-modeling module.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
Example 1
Fig. 1 shows a schematic flow chart of a tower modeling method according to a first embodiment of the present application.
The pole tower modeling method comprises the following steps:
in step S110, point cloud data of a tower is acquired.
Specifically, the tower can be scanned by a three-dimensional laser radar, point cloud data are collected, and the collected point cloud data are used as the point cloud data of the tower.
In step S120, horizontal slicing is performed on the point cloud data according to a preset slicing threshold to obtain point cloud data of each layer.
In this embodiment, the slicing threshold may be 1m, and in some other embodiments, the slicing threshold may be set according to a specific application scenario, which is not limited herein.
Specifically, the slice plane may be determined by a preset slice threshold, for example, a slice plane may be determined at intervals of a preset slice threshold based on a horizontal plane (may be the ground as the horizontal plane), where the number of slice planes is determined according to the height of the tower.
After determining the slicing planes, slicing the point cloud data of the pole tower according to the slicing planes, and dividing the point cloud data of the pole tower into different layers to obtain the point cloud data corresponding to each layer.
In step S130, tower leg keypoints, tower arm keypoints, and tower head keypoints in multiple directions of the tower are determined based on the point cloud data of each layer.
In three-dimensional modeling of towers, in order to reduce computation and errors, some key points of the towers are generally reserved for modeling the towers.
The keypoints may include tower leg keypoints for tower legs, tower arm keypoints on tower arms, and tower head keypoints for tower heads.
The distance between the tower leg and the ground is smaller than the distance between the tower arm and the ground, and the distance between the tower arm and the ground is smaller than the distance between the tower head and the ground.
Further, the tower leg key points may include a layer of point cloud of the tower leg at the bottom of the tower, which is nearest to the ground; the tower arm key points can comprise tower arm bottom point clouds, tower arm change point clouds and tower arm upper point clouds on the tower arm; the tower head key points can comprise a tower head bottom point cloud, a tower head change point cloud and a tower head top point cloud of the tower head.
Specifically, the point cloud data of each layer is optimized, other point cloud data are filtered out, and the tower leg key points, the tower arm key points and the tower head key points are reserved.
In step S140, pole tower modeling is performed according to the topological relation among the tower leg key points, the tower arm key points and the tower head key points in each direction.
The topological relation may be: the four tower leg lines of the tower can be directly connected in sequence, a tower leg connection diaphragm at the bottom of the tower between the four tower leg lines is determined according to tower leg key points, a connection diaphragm of a tower arm above a tower leg between four tower leg lines is determined according to tower arm key points, and a connection diaphragm of a tower head above the tower arm is determined according to tower head key points.
And determining the inclined material according to the preset tower model and other parameters. The diagonal members are typically located between the connecting rails for stabilizing the tower. And (5) completing modeling of the tower according to the connection relation among the tower leg lines, the connection transverse bars and the inclined materials.
In addition, the leg of the tower is generally gradually reduced from the size of each layer near the ground, and the wrong cut layer (i.e. the cut layer without connecting the transverse bars) is removed by using a downward extension mode.
The technical scheme of the embodiment has the advantages of less required parameters, high efficiency and high automation degree, and can obtain better effects on various tower models, such as a dry tower, a butterfly tower, an upper character, a dry character, a drum type, a butterfly type, a cat head type and a wine glass type tower.
Example 2
Fig. 2 is a schematic flow chart of a tower modeling method according to a second embodiment of the present application.
The pole tower modeling method comprises the following steps:
in step S210, point cloud data of a tower is acquired.
This step is the same as step S110 and will not be described here again.
In step S220, horizontal slicing is performed on the point cloud data according to a preset slicing threshold to obtain point cloud data of each layer.
This step is the same as step S120 and will not be described here again.
In step S230, a minimum direction bounding box of each layer of point cloud data is calculated.
Specifically, when extracting the tower leg key point, the tower arm key point and the tower head key point, the tower leg key point, the tower arm key point and the tower head key point are all on the tower leg line where the tower leg of the pole tower is located, so that the step of determining the tower leg line according to the point cloud data of each layer is required.
When determining the tower leg line, a minimum direction bounding box needs to be constructed according to point cloud data corresponding to each layer.
In step S240, a plurality of leg lines of the tower are separated according to the minimum directional bounding boxes corresponding to the respective layers.
Specifically, the tower leg line is determined according to the vertex of the minimum direction bounding box corresponding to each layer.
In general, in order to maintain the stability of a pylon, the pylon is usually supported by four pylon leg lines, and therefore the last determined pylon leg lines also comprise four.
In this embodiment, linear fitting may be performed according to corner points of corresponding positions in the bounding boxes in the minimum directions in each layer, and a straight line obtained by fitting is used as a tower leg line.
For example, taking two layers of point cloud data as an example, a minimum direction bounding box constructed on the point cloud data of the first layer comprises four corner points A1, B1, C1 and D1, and if the corner point for which the upper left corner is made is A1, sorting the four corner points in a clockwise direction to obtain A1- > D1- > C1- > B1; if the minimum direction bounding box constructed by the point cloud data of the second layer comprises four corner points A2, B2, C2 and D2, and if the corner point for which the upper left corner is made is A2, sorting the four corner points in a clockwise direction to obtain A2- > D2- > C2- > B2; then A1 and A2 are positioned at the corresponding positions of the minimum direction bounding boxes of different layers, and then linear fitting can be carried out according to A1 and A2 to obtain a first tower leg line of the tower; d1 and D2 are positioned at the corresponding positions of the minimum direction bounding boxes of different layers, so that linear fitting can be performed according to D1 and D2 to obtain a second tower leg line of the tower; c1 and C2 are positioned at the corresponding positions of the minimum direction bounding boxes of different layers, so that a third tower leg line of the tower can be obtained by linear fitting according to the C1 and the C2; b1 and B2 are positioned at the corresponding positions of the minimum direction bounding boxes of different layers, and then linear fitting can be carried out according to B1 and B2 to obtain a fourth tower leg line of the tower.
In some other embodiments, four corner clusters corresponding to the minimum direction bounding box can be separated according to the point cloud data of the minimum direction bounding box of each layer, and since the corner clusters may have a plurality of corners, straight line segments can be extracted by a RANSAC (RANdom SAmple Consensus, random sampling agreement) method, and the extracted straight line segments are taken as tower leg lines.
In step S250, tower leg keypoints, tower arm keypoints, and tower head keypoints in multiple directions are extracted in the tower leg line.
In the direction from the tower leg to the tower head, the connecting transverse bars are shorter and shorter, so that the minimum direction bounding boxes corresponding to each layer are not consistent, an included angle is necessarily formed between corresponding points of the minimum direction bounding boxes, the tower leg line is continuously optimized according to the included angle as a constraint condition, finally, the reserved point cloud is used as the point cloud to be extracted, and the tower leg key point, the tower arm key point and the tower head key point are determined according to the abrupt change of the point cloud to be extracted in the horizontal direction.
In addition, since the tower leg key points, the tower arm key points, and the tower head key points in a plurality of directions (usually 4 directions) are extracted on the tower leg line, this modeling method is also effective for an asymmetric tower model when modeling a tower.
In step S260, pole tower modeling is performed according to the topological relation among the tower leg key points, the tower arm key points and the tower head key points in each direction.
This step is the same as step S140 and will not be described here again.
Example 3
Fig. 3 is a schematic flow chart of a tower modeling method according to the first embodiment of the present application.
The pole tower modeling method comprises the following steps:
in step S310, point cloud data of a tower is acquired.
This step is the same as step S110 and will not be described here again.
In step S320, horizontal slicing is performed on the point cloud data according to a preset slicing threshold to obtain point cloud data of each layer.
This step is the same as step S120 and will not be described here again.
In step S330, a minimum direction bounding box of each layer of point cloud data is calculated.
This step is the same as step S230 and will not be described here again.
In step S340, the minimum direction bounding boxes corresponding to the respective layers are adjusted to the same direction.
Specifically, because the directions of the minimum direction bounding boxes corresponding to the layers are different due to factors such as inclination of the tower or asymmetry of the tower, in order to improve the accuracy of modeling of the tower, the minimum direction bounding boxes corresponding to the layers are firstly adjusted to be in the same direction, and a tower leg line is determined according to the adjusted minimum direction bounding boxes.
Further, the adjusting the minimum direction bounding box corresponding to each layer to the same direction includes:
respectively calculating the mould lengths corresponding to two sides of each layer of minimum direction bounding box in the horizontal direction; taking the maximum mould length of each layer as the tower arm direction, and calculating an included angle between the tower arm direction and the horizontal direction in the layer; calculating a rotation matrix according to the included angle and the axial direction of the tower arm direction; and rotating the minimum direction bounding box in the layer according to the rotation matrix so as to adjust the minimum direction bounding boxes corresponding to each layer to the same direction.
In this embodiment, for the minimum direction bounding box of each layer, first, with the horizontal direction as a reference, according to the maximum module length of the minimum direction bounding box on the horizontal direction as the rotation axis of the tower arm direction, the included angle between the rotation axis of the tower arm direction and the horizontal direction is calculated, and according to the included angle and the rotation axis, a rotation matrix is determined, and according to the rotation matrix, the minimum direction bounding box of the layer can be rotated to the horizontal direction.
Of course, in some other embodiments, the minimum orientation bounding box may be rotated to that orientation with reference to any other orientation. The rotation axis may also be defined by a direction of a minimum module length of the minimum direction bounding box in a predetermined direction, which is not limited herein. The minimum direction bounding boxes of all the layers are only required to be rotated to the same direction, and the reference and the rotation axis are not limited.
In step S350, a plurality of leg lines of the tower are separated according to the minimum directional bounding boxes corresponding to the respective layers.
This step is the same as step S240 and will not be described here again.
In step S360, tower leg keypoints, tower arm keypoints, and tower head keypoints in multiple directions are extracted in the tower leg line.
This step is the same as step S250 and will not be described here again.
In step S370, pole tower modeling is performed according to the topological relation among the tower leg key points, the tower arm key points and the tower head key points in each direction.
This step is the same as step S140 and will not be described here again.
Example 4
Fig. 4 is a schematic flow chart of a tower modeling method according to a fourth embodiment of the present application.
The pole tower modeling method comprises the following steps:
in step S410, point cloud data of a tower is acquired.
This step is the same as step S110, and is not limited herein.
In step S420, horizontal slicing is performed on the point cloud data according to a preset slicing threshold to obtain point cloud data of each layer.
This step is the same as step S120, and is not limited herein.
In step S430, a minimum direction bounding box of each layer of point cloud data is calculated.
This step is the same as step S230 and will not be described here again.
In step S440, a plurality of leg lines of the tower are separated according to the minimum directional bounding boxes corresponding to the respective layers.
This step is the same as step S240 and will not be described here again.
In step S450, projection points are obtained by projecting the corresponding point cloud data of the tower leg lines of each layer into the plane.
In step S460, the abnormal point cloud data in the tower leg line is removed according to the side length and the area of the quadrangle composed of the projection points of the tower leg lines of each layer.
In step S450, the graph formed by projecting points on the horizontal direction of the tower leg line after slicing is a quadrangle in theory, so that abnormal data points can be removed according to the side length of the quadrangle and the area of the quadrangle, only point clouds meeting the conditions of the side length of the quadrangle and the area of the quadrangle are reserved, a subsequent modeling method is executed according to the point cloud data with the abnormal point cloud data removed, and the tower modeled by using the method is more realistic and more accurate when analyzing the inclination of the tower.
In step S470, tower leg keypoints, tower arm keypoints, and tower head keypoints in multiple directions are extracted in the tower leg line.
This step is the same as step S250 and will not be described here again.
In step S480, pole and tower modeling is performed according to the topological relation among the tower leg key points, the tower arm key points and the tower head key points in each direction.
This step is the same as step S140 and will not be described here again.
Example 5
Fig. 5 shows a flowchart of a tower modeling method according to a fourth embodiment of the present application.
The pole tower modeling method comprises the following steps:
in step S510, point cloud data of a tower is acquired.
This step is the same as step S110 and will not be described here again.
In step S520, the point cloud data is subjected to horizontal slicing according to a preset slicing threshold to obtain point cloud data of each layer.
This step is the same as step S120 and will not be described here again.
In step S530, a minimum direction bounding box of each layer of point cloud data is calculated, respectively.
This step is the same as step S230 and will not be described here again.
In step S540, the plurality of leg lines of the tower are separated according to the minimum directional bounding boxes corresponding to the respective layers.
This step is the same as step S240 and will not be described here again.
In step S550, the point cloud data corresponding to the leg line is simplified according to a preset simplification condition.
Further, the preset simplifying conditions include that an included angle between a minimum direction bounding box of a layer above the current layer and a minimum direction bounding box of a layer below the current layer is larger than a preset angle, and the preset angle can be obtained according to an empirical value, and is not limited herein.
Correspondingly, the simplifying the point cloud data corresponding to the tower leg line according to the preset simplifying condition includes:
and removing the minimum direction bounding box which does not meet the preset simplifying conditions so as to simplify the tower leg line.
Specifically, as the four corner clusters of the minimum direction bounding box of each layer are respectively provided with a plurality of corner points, each corner point in each corner point cluster is connected according to a preset sequence to form a plurality of line segments, calculating the included angle between the lowest direction bounding box of the upper layer of the current layer and the corresponding line segment of the minimum direction bounding box of the lower layer of the current layer, respectively judging whether each included angle is larger than the preset angle, and if the included angle is larger than the preset angle, reserving the minimum direction bounding box of the upper layer and the minimum direction bounding box of the lower layer corresponding to the included angle; and if the included angle is smaller than or equal to the preset angle, removing the minimum direction bounding box of the upper layer and the minimum direction bounding box of the lower layer corresponding to the included angle.
In step S560, it is determined whether the execution count reaches a preset count.
Repeatedly executing the above-mentioned point cloud data corresponding to the tower leg line according to the preset simplifying condition, if the execution times reach the preset times, ending executing the operation of simplifying the point cloud data corresponding to the tower leg line according to the preset simplifying condition, at this time, filtering the point cloud data which does not meet the preset condition, and proceeding to step S570; if the number of execution times does not reach the preset number of times, returning to step S550, and continuing to execute the step of simplifying the point cloud data corresponding to the tower leg line according to the preset simplifying condition.
In step S570, the simplified tower leg line extracts tower leg key points, tower arm key points and tower head key points in a plurality of directions.
Specifically, on the optimized tower leg line, determining a tower leg area, a tower arm area and a tower head area according to the abrupt change of the tower leg line in the horizontal direction;
and clustering the distances between the point cloud data corresponding to the tower leg areas to obtain the tower leg key points.
And (3) slicing the point cloud data corresponding to the tower arm region and the point cloud data corresponding to the tower head region according to the direction perpendicular to the tower arm, and repeatedly executing the steps S530-S570 according to the point cloud data after slicing to extract the tower arm key points and the tower head key points.
In step S580, pole tower modeling is performed according to the topological relation among the tower leg key points, the tower arm key points and the tower head key points in each direction.
This step is the same as step S140 and will not be described here again.
Example 6
Fig. 6 is a schematic structural diagram of a tower modeling apparatus according to a fifth embodiment of the present application. The tower modeling apparatus 600 corresponds to the tower modeling method in embodiment 1, and the tower modeling method in embodiment 1 is also applicable to the tower modeling apparatus 600, and will not be described here.
The pole modeling apparatus 600 includes an acquisition module 610, a slicing module 620, a determination module 630, and a modeling module 640.
An obtaining module 610 is configured to obtain point cloud data of the tower.
And the slicing module 620 is configured to perform horizontal slicing on the point cloud data according to a preset slicing threshold to obtain point cloud data of each layer.
The determining module 630 is configured to determine tower leg keypoints, tower arm keypoints, and tower head keypoints in multiple directions of the tower based on the point cloud data of each layer.
And the modeling module 640 is configured to perform tower modeling according to the topological relation among the tower leg key points, the tower arm key points and the tower head key points.
The application also provides a terminal device, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the terminal device to execute the functions of each module in the pole modeling method or the pole modeling device.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for at least one function, and the like; the storage data area may store data created according to the use of the computer device, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
The terminal device may be a computer terminal (desktop computer, server, etc.), or a mobile terminal (mobile phone, tablet computer, notebook computer, etc.).
The embodiment also provides a computer storage medium for storing the pole tower modeling method used in the terminal equipment.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in various embodiments of the application may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.
Claims (6)
1. A method of modeling a tower, comprising:
acquiring point cloud data of a pole tower;
performing horizontal slicing on the point cloud data according to a preset slicing threshold to obtain point cloud data of each layer;
determining tower leg key points, tower arm key points and tower head key points of multiple directions of the tower based on the point cloud data of each layer;
performing pole tower modeling according to topological relations among the tower leg key points, the tower arm key points and the tower head key points in all directions;
determining tower leg key points, tower arm key points and tower head key points of multiple directions of the tower based on the point cloud data of each layer comprises the following steps:
respectively calculating a minimum direction bounding box of each layer of point cloud data;
separating a plurality of tower leg lines of the tower according to the minimum direction bounding boxes corresponding to the layers;
extracting tower leg key points, tower arm key points and tower head key points in multiple directions from the tower leg lines, wherein the multiple directions comprise directions of four corner points of a quadrilateral projected onto a plane by point cloud data of each layer;
before the separation of the tower leg lines of the tower according to the minimum direction bounding boxes corresponding to the layers, the method further comprises the following steps:
adjusting the minimum direction bounding boxes corresponding to all layers to be in the same direction, and executing the operation of separating the tower leg lines of the tower aiming at the adjusted minimum direction bounding boxes of all layers;
the adjusting the minimum direction bounding boxes corresponding to the layers to the same direction comprises:
respectively calculating the mould lengths corresponding to two sides of each layer of minimum direction bounding box in the horizontal direction;
taking the maximum mould length of each layer as the tower arm direction, and calculating an included angle between the tower arm direction and the horizontal direction in the layer;
calculating a rotation matrix according to the included angle and the axial direction of the tower arm direction;
and rotating the minimum direction bounding box in the layer according to the rotation matrix so as to adjust the minimum direction bounding boxes corresponding to each layer to the same direction.
2. The pole and tower modeling method of claim 1, wherein the extracting the tower leg keypoints, the tower arm keypoints, and the tower head keypoints in multiple directions in the tower leg line further comprises:
projecting the point cloud data corresponding to the tower leg lines of each layer into a plane to obtain projection points;
and removing abnormal point cloud data in the tower leg lines according to the side length and the area of a quadrangle formed by projection points of the tower leg lines of each layer, and executing the operation of extracting the tower leg key points, the tower arm key points and the tower head key points based on the tower leg lines after the abnormal point cloud data are removed.
3. The pole and tower modeling method of claim 2, wherein the extracting the tower leg keypoints, the tower arm keypoints, and the tower head keypoints in a plurality of directions in the tower leg line further comprises:
simplifying point cloud data corresponding to the tower leg lines according to preset simplifying conditions;
repeatedly executing the steps until the repeated execution times reach the preset times;
and performing operations of extracting tower leg key points, tower arm key points and tower head key points in multiple directions based on the simplified tower leg lines.
4. A tower modeling method according to claim 3, wherein the predetermined simplifying condition includes that an included angle between a last layer minimum direction bounding box of the current layer and a minimum direction bounding box of a next layer of the current layer is larger than a predetermined angle;
correspondingly, the simplifying the point cloud data corresponding to the tower leg line according to the preset simplifying condition includes:
and removing the minimum direction bounding box which does not meet the preset simplifying conditions so as to simplify the tower leg line.
5. A terminal device comprising a memory for storing a computer program and a processor that runs the computer program to cause the terminal device to perform the pole modeling method of any of claims 1 to 4.
6. A computer-readable computer storage medium, characterized in that it stores the computer program used in the terminal device of claim 5.
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| CN112945198B (en) * | 2021-02-02 | 2023-01-31 | 贵州电网有限责任公司 | Automatic detection method for inclination of power transmission line iron tower based on laser LIDAR point cloud |
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