CN113160374B - Three-dimensional calculation method for volume change of gully based on terrain point cloud - Google Patents
Three-dimensional calculation method for volume change of gully based on terrain point cloud Download PDFInfo
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Abstract
The invention discloses a three-dimensional calculation method for ravine volume change based on terrain point cloud, which comprises the following steps: firstly, arranging reference points and acquiring gully point cloud; secondly, splicing gully point clouds of a gully area to be measured; thirdly, registering point clouds of a gully area to be measured; filtering point clouds in a gully area to be measured; fifthly, down-sampling point clouds in a gully area to be measured; sixthly, obtaining the M3C2 value of the laser point cloud in the next period relative to the laser point cloud in the previous period; seventh, dividing a deposition area and an erosion area in laser point cloud of a gully area to be measured; and eighthly, acquiring the volume variation of the gully area to be measured. The method disclosed by the invention is simple in steps, and the volume variation of the deposition area and the volume variation of the erosion area in the gully area to be detected are obtained, so that the volume variation of the gully area to be detected is obtained, and the accuracy of channel volume variation calculation based on the terrain variation point cloud is improved, so that the method is suitable for the terrain of the channel.
Description
Technical Field
The invention belongs to the technical field of measurement of volume change of gullies, and particularly relates to a three-dimensional calculation method for volume change of gullies based on terrain point cloud.
Background
In recent years, high-precision terrain information acquired based on remote sensing technologies such as real-time dynamic carrier phase differential technology (RTK GPS), photogrammetry, interferometric radar (InSAR), laser radar (LiDAR) and the like lays a foundation for rapid and efficient monitoring of terrain change. High-precision terrain monitoring is carried out through terrain models or point clouds. Compared with the former, the direct comparison of the point cloud can avoid additional errors introduced when the terrain model is generated through interpolation, so that the accuracy is higher, and the application in the terrain change monitoring is increased day by day.
The method for monitoring the terrain change based on the point cloud can obtain the real terrain change point cloud by removing uncertain factors in the terrain change from the obtained terrain change point cloud, and then the real terrain change point cloud can be converted into volume change. Therefore, the conversion from the terrain change point cloud to the volume change is a key link for improving the erosion quantization precision. The traditional two-dimensional method directly converts the terrain change point cloud into a regular two-dimensional grid, the grid attribute value is a function of the change point cloud value contained in the grid, the grid area is multiplied by the grid attribute value to obtain the volume change quantity corresponding to each grid, and the volume change quantities of different grids are added to obtain the volume change of the research area. The method has good applicability in smooth terrain areas, but has a challenge in steep terrain areas, such as gully areas. There are mainly three problems:
firstly, for ground points with the same horizontal position but different elevations, when the elevation change point cloud is converted into a grid by a traditional two-dimensional method, the change point cloud of different surfaces is directly projected to the same grid, and after a grid attribute value is obtained, the grid attribute value is multiplied by the area of the grid to obtain the volume change. The volume changes of different surface point clouds cannot be effectively distinguished and expressed, and further calculation errors of the volume changes of the research area are caused;
secondly, when the terrain is vertical or approximately vertical, the traditional two-dimensional method projects the terrain change point cloud to a grid for volume calculation, but the area of the grid cannot represent the surface area of the real terrain change part at the moment, so that the calculation error of the volume of a research area is caused;
thirdly, projecting a plurality of terrain change point clouds to the same grid unit ignores the specific information of different point cloud changes, so that the erosion and deposition characteristics cannot be effectively expressed in the two-dimensional grid; and the subtraction result of the point clouds before and after the vertical or approximately vertical surface change is difficult to correspond to the erosion and deposition characteristics.
Therefore, a three-dimensional calculation method for volume change of gullies based on terrain point cloud is needed, which is used for obtaining volume change of a deposition area and volume change of an erosion area in a gully area to be measured, so as to obtain the volume change of the gully area to be measured, and improve accuracy of calculation of the volume change of the gully based on the terrain change point cloud so as to adapt to a gully terrain.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a method for three-dimensionally calculating a volume change of a gully based on a topographic point cloud, which has the advantages of simple steps, reasonable design and low cost, and can obtain a volume change of a deposition area and a volume change of an erosion area in a gully area to be measured, thereby obtaining the volume change of the gully area to be measured, and improving the accuracy of calculating the volume change of the gully based on the topographic point cloud to adapt to the gully topography.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a three-dimensional calculation method for volume change of gullies based on terrain point cloud is characterized by comprising the following steps:
step one, arranging reference points and acquiring gully point cloud:
101, distributing a first datum point, a second datum point and a third datum point which are distributed in a triangular shape in a stable region outside a gully region to be measured, respectively distributing a first target ball, a second target ball and a third target ball in the first datum point, the second datum point and the third datum point, and acquiring three-dimensional coordinates of the first target ball, the second target ball and the third target ball under a WGS-84 coordinate system; wherein the three-dimensional coordinate of the first target ball is marked as T1The three-dimensional seating mark of the second target ball is denoted as T2The three-dimensional coordinate of the third target ball is marked as T3；
Step 102, scanning a gully area to be measured by adopting a ground three-dimensional laser scanner according to set measuring time, and respectively obtaining Q laser point clouds of measuring time; the method comprises the following steps that a ground three-dimensional laser scanner scans a gully area to be measured at 6 positions in each measurement time, then laser point clouds obtained at the qth measurement time are marked as qth initial laser point clouds, the qth initial laser point clouds comprise qth 1-time laser point clouds, qth 2-time laser point clouds, qth 3-time laser point clouds, qth 4-time laser point clouds, qth 5-time laser point clouds and qth 6-time laser point clouds, Q and Q are positive integers, Q is not less than 1 and not more than Q, and Q is not less than 2;
step two, splicing gully point clouds of the gully area to be measured:
splicing the 1 st laser point cloud of the q-th period, the 2 nd laser point cloud of the q-th period, the 3 rd laser point cloud of the q-th period, the 4 th laser point cloud of the q-th period, the 5 th laser point cloud of the q-th period and the 6 th laser point cloud of the q-th period by using Cyclone software through a computer under the three-dimensional coordinate reference of the first target ball, the second target ball and the third target ball to obtain spliced q-th laser point cloud;
step three, registering point clouds of a gully area to be measured:
step 301, introducing the laser point cloud in the phase Q after being spliced in the step two into CloudCompare software by adopting a computer;
step 302, using a computer and CloudCompare software to take the spliced phase 1 laser point cloud as a reference point cloud and the spliced phase 2 laser point cloud to spliced phase Q laser point cloud as point clouds to be registered;
step 303, respectively registering the spliced phase 2 laser point cloud to the spliced phase Q laser point cloud by using CloudCompare software by using a computer to obtain registered laser points; the laser points after registration comprise a registered phase 2 laser point cloud and a registered phase Q laser point cloud;
step 304, recording the phase 1 laser point cloud and the registered laser point cloud as a phase 1 expected filtered laser point cloud, a phase Q expected filtered laser point cloud, and a phase Q expected filtered laser point cloud respectively;
step four, filtering the point cloud of the gully area to be measured:
step 401, performing primary filtering on the qth expected filtering laser point cloud by using an MCC point cloud filtering algorithm by using a computer to obtain a qth laser point cloud after primary filtering;
step 402, performing secondary filtering on the qth-stage laser point cloud after primary filtering by using Terrasolide software by using a computer to obtain the qth-stage laser point cloud after secondary filtering;
step five, point cloud downsampling of the gully area to be measured:
step 501, introducing the qth laser point cloud after the secondary filtering into CloudCompare software by adopting a computer;
502, selecting a ' subsample ' tool by using cloudbopare software through a computer, selecting ' space ' in a popped ' method ' option, and inputting a down-sampling threshold value in ' min.
Step six, obtaining the M3C2 value of the laser point cloud in the next stage relative to the laser point cloud in the previous stage:
601, obtaining a mean value R of the terrain Roughness corresponding to the obtained q-th phase laser point cloud by using a computer and utilizing ' Roughness ' in a cloudbuare software ' Toolsq；
Step 602, when q is larger than 1, inputting 25R in ProjectionScale by using CloudCompare software M3C2 tool through a computerqIn "Normals", 25R is inputq+0.05, selecting Multi-scale in the calibration mode, selecting Z in the Preferred orientation, and processing the laser point cloud of the q-1 stage and the laser point cloud of the q-1 stage to obtain the M3C2 value of each point in the laser point cloud of the q-1 stage relative to the laser point cloud of the q-1 stage;
step seven, dividing a deposition area and an erosion area in the laser point cloud of the gully area to be measured:
step 701, performing field survey on a gully area to be measured when the q-1 phase laser point cloud and the q phase laser point cloud are obtained;
step 702, according to the on-site investigation result, processing the laser point cloud of the q-th phase relative to the laser point cloud of the q-1 phase by using a computer through CloudCompare software to obtain a point cloud area where the laser point cloud of the q-th phase is deposited relative to the laser point cloud of the q-1 phase and a point cloud area where erosion occurs; wherein, the point cloud area where the laser point cloud of the q-th period is deposited relative to the laser point cloud of the q-1 period is marked as the point cloud of the q-th deposition area, and the point cloud area where the laser point cloud of the q-th period is eroded relative to the laser point cloud of the q-1 period is marked as the point cloud of the q-th erosion area;
step eight, obtaining volume variation of the region with gullies to be measured:
step 801, obtaining the volume variation of the qth deposition area relative to the qth-1 measurement time according to the M3C2 value of each point in the step 602 and the plane area represented by each point obtained by processing the point cloud of the qth deposition area by using CloudCompare software through a computer
Step 802, obtaining the volume variation of the qth erosion area relative to the qth-1 measurement time according to the M3C2 value of each point in the step 602 and the plane area represented by each point obtained by processing the qth erosion area point cloud by using the CloudCompare software through the computer
Step 803, adopting a computer according to a formula
And obtaining the volume change of the qth measuring time of the gully area to be measured relative to the qth-1 measuring time.
The three-dimensional calculation method for volume change of gullies based on terrain point cloud is characterized in that: in the step 102, a ground three-dimensional laser scanner is adopted to obtain the initial laser point cloud in the q-th stage, and the specific process is as follows:
1021, acquiring a maximum positive height value and a minimum positive height value of a gully area to be measured, and taking the difference between the maximum positive height value and the minimum positive height value as a relative elevation H of a gully head; wherein, a soil connecting line between the gully area to be measured and the stable region is a gully boundary;
step 1022, arranging a first erecting station area S1, a second erecting station area S2 and a third erecting station area S3 in front of an outlet of the gully area to be measured; any scanning point in the gully region to be detected can be scanned by a ground three-dimensional laser scanner arranged in at least one of the first standing region S1, the second standing region S2 and the third standing region S3;
1023, laying a ground three-dimensional laser scanner in the first frame station area S1 and arranging the three-dimensional laser scanner at the height of the frame station
Then, a ground three-dimensional laser scanner is adopted to carry out 1 st scanning of the q-th time on a gully region to be measured, and 1 st laser point cloud of the q-th time is obtained; wherein | [ ·]The | represents the absolute value after the integer is taken;
step 1024, laying a ground three-dimensional laser scanner in the first frame station area S1, and arranging a ground three-dimensional laser scanner at the height of the frame station
Then, performing 2 nd scanning of a q-th time on a gully region to be detected by adopting a ground three-dimensional laser scanner to obtain 2 nd laser point cloud of the q-th time; wherein, [ ·]Representing rounding;
and 1025, sequentially arranging ground three-dimensional laser scanners on the second erection area S2 and the third erection area S3 according to the method from 1023 to 1024, and acquiring the 3 rd laser point cloud in the q-th period, the 4 th laser point cloud in the q-th period, the 5 th laser point cloud in the q-th period and the 6 th laser point cloud in the q-th period.
The three-dimensional calculation method for volume change of gullies based on terrain point cloud is characterized in that: in step 1022, an external rectangle of the ravine area to be measured is set, one side of the external rectangle is marked as side A, and the length of side A is marked as side LaOne side of the circumscribed rectangle perpendicular to the side A is marked as the side B, the first standing region S1, the second standing region S2 and the third standing region S3 are all circular regions, the connecting line of the circle centers of the first standing region S1, the second standing region S2 and the third standing region S3 is parallel to the side A, the minimum distance between the connecting line of the circle centers of the first standing region S1, the second standing region S2 and the third standing region S3 and the plane where the outlet of the gully region to be measured is located is larger than H tan60 degrees, the distances between the two adjacent standing regions are the same, and the distance between the circle center of the first standing region S1 and the circle center of the third standing region S1 is equal to La；
In step 103, the third reference point is located in the stable region outside the midpoint of the side a far away from the standing region, and the first reference point and the second reference point are symmetrically located on the two sides B and close to the stable region outside the side a of the standing region.
The three-dimensional calculation method for volume change of gullies based on terrain point cloud is characterized in that: in step 303, a computer is used for registering the spliced phase 2 laser point cloud to phase Q laser point cloud by using CloudCompare software to obtain the registered laser point cloud, and the specific process is as follows:
step 3031, selecting an 'Align point pairs' tool by using CloudCompare software through a computer, and respectively adjusting spliced phase 2 laser point cloud and phase 1 laser point cloud to the columns of 'Aligned' and 'Reference' by using a 'Swap' and confirming;
step 3032, sequentially inputting the three-dimensional coordinates of the first target ball, the three-dimensional coordinates of the second target ball and the three-dimensional coordinates of the third target ball in the spliced phase 2 laser point cloud in a closed position under a show tool by using a computer, and sequentially inputting the three-dimensional coordinates of the first target ball, the three-dimensional coordinates of the second target ball and the three-dimensional coordinates of the third target ball in the phase 1 laser point cloud in a closed position under the show tool;
3033, selecting an 'align' tool by using CloudCompare software through a computer, finishing registration of the spliced phase 2 laser point cloud to the phase 1 laser point cloud, and obtaining the registered phase 2 laser point cloud;
3034, according to the method from 3031 to 3033, until the registration of the spliced Q-th laser point cloud to the 1 st laser point cloud is completed, obtaining the registered Q-th laser point cloud.
The three-dimensional calculation method for volume change of gully based on terrain point cloud is characterized in that: in step 502, the down-sampling threshold is 0.5% -0.6% of the maximum scanning distance of the ground three-dimensional laser scanner to scan the region with ravines to be detected.
The three-dimensional calculation method for volume change of gully based on terrain point cloud is characterized in that: in step 801, according to the M3C2 value of each point in step 602 and the plane area represented by each point obtained by processing the point cloud of the q-th deposition area by using CloudCompare software through a computer, the volume variation of the q-th deposition area relative to the q-1 measurement time is obtained
The specific process is as follows:
step 8011, processing the point cloud of the q deposition area by using a computer and a "sensitivity" tool in CloudCompare software to obtain the radius 25R of each point in the q deposition areaqA planar density within a range; wherein the qth deposition zone is the c1The planar density of the dots was recorded as
c1And C1Are all positive integers, and c is more than or equal to 11≤C1，C1Representing the total point cloud number of the q deposition area;
8012, the method obtains the c (c) th deposition area of the q (q) th deposition area according to the step 6021M3C2 value of point relative to q-1 period laser point cloud
Step 8013, calculating formula
To obtain the c-th deposition area in the q-th deposition area1Area of plane represented by dot
Step 8014, calculating formula
Obtaining the volume change of the qth deposition area relative to the qth-1 measurement time
The three-dimensional calculation method for volume change of gullies based on terrain point cloud is characterized in that: in step 802, according to the M3C2 value of each point in step 602 and the plane area represented by each point obtained by processing the point cloud of the q-th erosion area by using CloudCompare software through a computer, the volume variation of the q-th erosion area relative to the q-1 measurement time is obtained
The specific process is as follows:
step 8021, using a computerProcessing the point cloud of the qth erosion area by using a 'sensitivity' tool in CloudCompare software to obtain the radius 25R of each point in the qth erosion areaqAn in-plane density within a range; wherein the qth erosion zone is the c2The planar density of the dots was recorded as
c2And C2Are all positive integers, and c is more than or equal to 12≤C2，C2Representing the total number of point clouds of the qth erosion area;
step 8022, according to step 602, obtaining the c-th erosion area in the q-th erosion area2M3C2 value of point relative to q-1 period laser point cloud
Step 8023, using a computer to calculate a formula
Obtaining the c-th erosion zone in the q-th erosion zone2Area of plane represented by dot
Step 8024, using a computer to calculate a formula
Obtaining the volume of the qth erosion zone relative to the qth-1 measurement time
The three-dimensional calculation method for volume change of gully based on terrain point cloud is characterized in that: in the step 102, the adjacent two measurement time ranges from 10days to 20 days;
in step 601, the value range of the set value of the kernel size in the Roughress is 0.05-0.1 meter.
Compared with the prior art, the invention has the following advantages:
1. the method has the advantages of simple steps, reasonable design, convenient realization and high precision.
2. The method comprises the steps of obtaining laser point clouds scanned for multiple times in a gully area to be measured, splicing the laser point clouds scanned for multiple times to obtain spliced laser point clouds, and on one hand, avoiding incomplete gully area scanning caused by potential shielding objects existing in the scanning process of a ground three-dimensional laser scanner; and on the other hand, the influence of the self error of the ground three-dimensional laser scanner is avoided through multiple times of scanning.
3. According to the method, firstly, the MCC point cloud filtering algorithm is used for filtering the laser point cloud to be filtered for the first time, and then, the Terra solid software is used for filtering the laser point cloud for the second time, so that the filtering time and the error caused by human intervention are reduced, the error caused by non-gully point noise is avoided, and the filtering precision is improved.
4. The invention adopts a computer to perform downsampling on the laser point cloud after the secondary filtering by utilizing CloudCompare software to obtain the laser point cloud after the downsampling, on one hand, the method aims to remove coincident points or close points and increase the calculation efficiency; another aspect is to increase the accuracy of the calculation of the area of the plane represented by the dots.
5. According to the method, a computer is adopted to carry out deposition area and erosion area segmentation on the point cloud of the ravine area to be measured by utilizing the CloudCompare software according to field investigation, so that the deposition area and the erosion area are obtained, the volume change of the deposition area and the volume change of the erosion area can be conveniently obtained in the follow-up process, and the volume change between two adjacent measuring times of the ravine area to be measured can be further obtained.
6. In the process of acquiring the volume change of the deposition area and the volume change of the erosion area, the volume change of the q-th deposition area relative to the q-1-th measurement time is obtained by utilizing the M3C2 value of each point and the plane area represented by each point
And the volume change amount of the qth erosion zone with respect to the q-1 th measurement time
The volume change quantity is obtained by the multiplication of the M3C2 value and the plane area, and the first consideration is that the change degree and the direction between point clouds at the same horizontal position but different elevations can be more accurately distinguished, so that the erosion amount and the deposition amount are effectively distinguished, and the accurate quantification of the volume change of a terrain complex area and a steep slope area is realized; secondly, the terrain change of a vertical or approximately vertical area can be quantified more accurately, the defect that the traditional two-dimensional method is wrong in calculating the surface area of the terrain change is overcome, and the calculation precision of the area volume change is improved. Meanwhile, by distinguishing the erosion area from the deposition area, the calculation errors of erosion and deposition volumes caused by different deformation directions are avoided. Thirdly, by avoiding errors introduced in the interpolation process of the traditional two-dimensional method, the calculation precision of the channel erosion and deposition volume is improved, and finally the precision of the calculation result of the channel volume change is improved.
In conclusion, the method provided by the invention has the advantages of simple steps, reasonable design and low cost, and the volume change quantity of the deposition area and the volume change quantity of the erosion area in the gully area to be detected are obtained, so that the volume change quantity of the gully area to be detected is obtained, and the accuracy of calculating the volume change quantity of the gully based on the terrain change point cloud is improved, so as to adapt to the terrain of the gully.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic view illustrating a structure of a region to be measured for gully, a reference point and a standing region according to the present invention.
Detailed Description
As shown in fig. 1, a method for three-dimensionally calculating a volume change of a ravine based on a landform point cloud includes the following steps:
step one, arranging reference points and acquiring gully point cloud:
step 101, distributing a first reference point, a second reference point and a third reference point which are distributed in a triangular shape in a stable region outside a gully region to be measured, and distributing a first standard on the first reference point, the second reference point and the third reference point respectivelyThe method comprises the following steps of (1) obtaining three-dimensional coordinates of a target ball, a second target ball and a third target ball in a WGS-84 coordinate system; wherein the three-dimensional coordinate of the first target ball is marked as T1The three-dimensional seating mark of the second target ball is denoted as T2The three-dimensional coordinate of the third target ball is marked as T3；
102, scanning a gully area to be measured by adopting a ground three-dimensional laser scanner according to set measuring time, and respectively acquiring Q laser point clouds of measuring time; the method comprises the following steps that a ground three-dimensional laser scanner scans a gully area to be measured at 6 positions in each measuring time, then laser point clouds obtained at the qth measuring time are marked as qth initial laser point clouds, the qth initial laser point clouds comprise qth 1 st laser point clouds, qth 2 nd laser point clouds, qth 3 rd laser point clouds, qth 4 th laser point clouds, qth 5 th laser point clouds and qth 6 th laser point clouds, Q and Q are positive integers, Q is not less than 1 and not more than Q, and Q is not less than 2;
step two, splicing gully point clouds of the gully area to be measured:
splicing the 1 st laser point cloud of the q-th period, the 2 nd laser point cloud of the q-th period, the 3 rd laser point cloud of the q-th period, the 4 th laser point cloud of the q-th period, the 5 th laser point cloud of the q-th period and the 6 th laser point cloud of the q-th period by using Cyclone software through a computer under the three-dimensional coordinate reference of the first target ball, the second target ball and the third target ball to obtain spliced q-th laser point cloud;
step three, registering point clouds of a gully region to be measured:
step 301, introducing the laser point cloud in the phase Q after being spliced in the step two into CloudCompare software by adopting a computer;
step 302, using a computer and CloudCompare software to take the spliced phase 1 laser point cloud as a reference point cloud and the spliced phase 2 laser point cloud to spliced phase Q laser point cloud as point clouds to be registered;
step 303, respectively registering the spliced phase 2 laser point cloud and the spliced phase Q laser point cloud by using a computer through CloudCompare software to obtain registered laser points; the laser points after registration comprise a registered phase 2 laser point cloud and a registered phase Q laser point cloud;
step 304, recording the phase 1 laser point cloud and the registered laser point cloud as a phase 1 expected filtered laser point cloud, a phase Q expected filtered laser point cloud, and a phase Q expected filtered laser point cloud respectively;
step four, filtering the point cloud of the gully area to be measured:
step 401, performing primary filtering on the qth expected filtering laser point cloud by using an MCC point cloud filtering algorithm by using a computer to obtain a qth laser point cloud after primary filtering;
402, performing secondary filtering on the laser point cloud of the q-th phase after primary filtering by using Terra-solid software by using a computer to obtain the laser point cloud of the q-th phase after secondary filtering;
step five, point cloud downsampling of the gully area to be measured:
step 501, guiding the qth laser point cloud after the secondary filtering into CloudCompare software by adopting a computer;
502, selecting a ' subsample ' tool by using cloudbopare software through a computer, selecting ' space ' in a popped ' method ' option, and inputting a down-sampling threshold value in ' min.
Step six, obtaining the M3C2 value of the laser point cloud in the next stage relative to the laser point cloud in the previous stage:
601, obtaining a mean value R of the terrain Roughness corresponding to the obtained q-th phase laser point cloud by using a computer and utilizing ' Roughness ' in a cloudbuare software ' Toolsq；
Step 602, when q is larger than 1, inputting 25R in ProjectionScale by using CloudCompare software M3C2 tool through a computerqIn "Normals", 25R is inputq+0.05, selecting "Multi-scale" in "calibration mode", selecting "-Z" in "Preferred orientation", and searching the q-1 th and q-th laser point cloudsProcessing to obtain M3C2 values of each point in the q-th stage laser point cloud relative to the q-1-th stage laser point cloud;
step seven, dividing a deposition area and an erosion area in the laser point cloud of the gully area to be measured:
step 701, performing field survey on a gully area to be measured when the q-1 st laser point cloud and the q-th laser point cloud are obtained;
step 702, according to the on-site investigation result, processing the laser point cloud of the q-th phase relative to the laser point cloud of the q-th phase 1 by using a computer and utilizing CloudCompare software to obtain a point cloud area where the laser point cloud of the q-th phase is deposited relative to the laser point cloud of the q-th phase 1 and a point cloud area where erosion occurs; the method comprises the following steps of firstly, recording a point cloud area in which a laser point cloud in a q-th period is deposited relative to a point cloud area in which the laser point cloud in the q-th period is deposited in a q-1-th period, and recording a point cloud area in which the laser point cloud in the q-th period is eroded relative to the laser point cloud in the q-1-th period as a point cloud in a q-th erosion area;
step eight, obtaining the volume variation of the gully region to be measured:
step 801, obtaining the volume variation of the qth deposition area relative to the qth-1 measurement time according to the M3C2 value of each point in the step 602 and the plane area represented by each point obtained by processing the point cloud of the qth deposition area by using CloudCompare software through a computer
Step 802, obtaining the volume variation of the qth erosion area relative to the qth-1 measurement time according to the M3C2 value of each point in the step 602 and the plane area represented by each point obtained by processing the qth erosion area point cloud by using the CloudCompare software through the computer
Step 803, adopting a computer to calculate according to a formula
Obtaining the q-th measurement time of the gully region to be measured relative to the q-1 st measurement timeThe amount of volume change.
In this embodiment, in step 102, a ground three-dimensional laser scanner is used to obtain the qth initial laser point cloud, and the specific process is as follows:
step 1021, acquiring a maximum positive height value and a minimum positive height value of a gully area to be measured, and taking the difference between the maximum positive height value and the minimum positive height value as a relative elevation H of a gully head; wherein, a soil connecting line between the gully area to be measured and the stable region is a gully boundary;
step 1022, arranging a first erecting station area S1, a second erecting station area S2 and a third erecting station area S3 in front of an outlet of the gully area to be measured; any scanning point in the gully region to be detected can be scanned by a ground three-dimensional laser scanner arranged in at least one of the first standing region S1, the second standing region S2 and the third standing region S3;
1023, laying a ground three-dimensional laser scanner in the first standing area S1 and keeping the height of the standing station
Then, a ground three-dimensional laser scanner is adopted to carry out 1 st scanning of the qth-phase of a gully area to be measured, and the 1 st laser point cloud of the qth-phase is obtained; wherein | [ ·]The | represents the absolute value after the integer is taken;
step 1024, laying a ground three-dimensional laser scanner in the first frame station area S1, and arranging a ground three-dimensional laser scanner at the height of the frame station
Then, performing 2 nd scanning of a q-th time on a gully region to be detected by adopting a ground three-dimensional laser scanner to obtain 2 nd laser point cloud of the q-th time; wherein [ ·]Representing rounding;
and 1025, sequentially arranging a ground three-dimensional laser scanner on the second station area S2 and the third station area S3 according to the method from 1023 to 1024, and acquiring the 3 rd laser point cloud in the q stage, the 4 th laser point cloud in the q stage, the 5 th laser point cloud in the q stage and the 6 th laser point cloud in the q stage.
As shown in fig. 2, in the present embodiment, in step 1022, an external rectangle of the ravine area to be measured is set, and the external rectangle is externally connected to the ravine area to be measuredOne side of the rectangle is denoted as the A side, and the length of the A side is denoted as LaOne side of the circumscribed rectangle perpendicular to the side A is marked as the side B, the first standing region S1, the second standing region S2 and the third standing region S3 are all circular regions, the connecting line of the circle centers of the first standing region S1, the second standing region S2 and the third standing region S3 is parallel to the side A, the minimum distance between the connecting line of the circle centers of the first standing region S1, the second standing region S2 and the third standing region S3 and the plane where the outlet of the gully region to be measured is located is larger than H tan60 degrees, the distances between the two adjacent standing regions are the same, and the distance between the circle center of the first standing region S1 and the circle center of the third standing region S1 is equal to La；
In step 103, the third reference point is located in the stable region outside the midpoint of the side a far away from the standing region, and the first reference point and the second reference point are symmetrically located on the two sides B and close to the stable region outside the side a of the standing region.
In this embodiment, in step 303, a computer is used to register the spliced phase 2 laser point cloud to phase Q laser point cloud by using cloudbuare software, so as to obtain a registered laser point cloud, and the specific process is as follows:
step 3031, selecting an 'align probability pairing' tool by using CloudCompare software through a computer, and respectively adjusting spliced phase 2 laser point cloud and phase 1 laser point cloud under the columns of 'Aligned' and 'Reference' by using 'Swap' and confirming;
step 3032, sequentially inputting the three-dimensional coordinates of the first target ball, the second target ball and the third target ball in the spliced phase 2 laser point cloud in a closed mode under a show tool by using a computer through CloudCompare software, and sequentially inputting the three-dimensional coordinates of the first target ball, the second target ball and the third target ball in the phase 1 laser point cloud in the closed mode under the show tool;
3033, selecting an alignment tool by using CloudCompare software through a computer, finishing registration of the spliced phase 2 laser point cloud to the phase 1 laser point cloud, and obtaining the registered phase 2 laser point cloud;
3034, according to the method from the step 3031 to the step 3033, until the registration of the spliced Q-th laser point cloud to the 1 st laser point cloud is completed, and the registered Q-th laser point cloud is obtained.
In this embodiment, the down-sampling threshold in step 502 is 0.5% to 0.6% of the maximum scanning distance of the ground three-dimensional laser scanner for scanning the gully area to be measured.
In this embodiment, in step 801, according to the M3C2 value of each point in step 602 and the plane area represented by each point obtained by point cloud processing of the qth deposition area by using CloudCompare software using a computer, the volume change of the qth deposition area with respect to the measurement time of the qth-1 is obtained
The specific process is as follows:
step 8011, processing the point cloud of the q deposition area by using a computer and a "sensitivity" tool in CloudCompare software to obtain the radius 25R of each point in the q deposition areaqA planar density within a range; wherein the qth deposition zone is the c1The planar density of the dots was recorded as
c1And C1Are all positive integers, and c is more than or equal to 11≤C1，C1Representing the total point cloud number of the q deposition area;
8012, according to step 602, the deposition area q is obtained1M3C2 value of point relative to q-1 phase laser point cloud
8013, use computer according to formula
To obtain the c-th deposition area in the q-th deposition area1Area of plane represented by dot
Steps 8014,Using a computer according to a formula
Obtaining the volume change of the qth deposition area relative to the qth-1 measurement time
In this embodiment, in step 802, the volume variation of the q-th erosion area with respect to the q-1-th measurement time is obtained according to the M3C2 value of each point in step 602 and the plane area represented by each point obtained by processing the point cloud of the q-th erosion area with the cloudbuare software by using a computer
The specific process is as follows:
step 8021, processing the point cloud of the qth erosion area by using a computer and a "sensitivity" tool in the cloudbcoarse software to obtain the radius 25R of each point in the qth erosion areaqA planar density within a range; wherein the qth erosion zone is the c2The planar density of the dots was recorded as
c2And C2Are all positive integers, and c is more than or equal to 12≤C2，C2Representing the total number of point clouds of the qth erosion area;
step 8022, according to step 602, obtaining the c th erosion area in the q th erosion area2M3C2 value of point relative to q-1 phase laser point cloud
Step 8023, using a computer to calculate a formula
Obtaining the c-th erosion zone in the q-th erosion zone2Area of plane represented by dot
8024, using a computer to calculate a formula
Obtaining the volume of the qth erosion area relative to the qth-1 measurement time
In this embodiment, the two adjacent measurement times in step 102 are 10days to 20 days;
in step 601, the value range of the set value of the kernel size in the Roughress is 0.05-0.1 meter.
In this embodiment, two adjacent measurement times are 10days, and may be adjusted according to actual needs.
In this embodiment, the down-sampling threshold in step 502 is 0.5% of the maximum scanning distance of the ground three-dimensional laser scanner scanning the ravine area to be measured.
In this embodiment, the MCC point cloud filtering algorithm in step 401 is Multiscale user classification algorithm.
In summary, the method provided by the invention has the advantages of simple steps, reasonable design and low cost, and obtains the volume change of the deposition area and the volume change of the erosion area in the gully area to be detected, so that the volume change of the gully area to be detected is obtained, and the accuracy of calculating the volume change of the gully based on the terrain change point cloud is improved, so as to adapt to the gully terrain.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. A three-dimensional calculation method for volume change of gullies based on terrain point cloud is characterized by comprising the following steps:
step one, arranging reference points and acquiring gully point cloud:
101, distributing a first reference point, a second reference point and a third reference point which are distributed in a triangular shape in a stable region outside a gully region to be measured, distributing a first target ball, a second target ball and a third target ball in the first reference point, the second reference point and the third reference point respectively, and obtaining three-dimensional coordinates of the first target ball, the second target ball and the third target ball under a WGS-84 coordinate system; wherein the three-dimensional coordinate of the first target ball is marked as T1The three-dimensional seating mark of the second target ball is denoted as T2The three-dimensional coordinate of the third target ball is marked as T3；
102, scanning a gully area to be measured by adopting a ground three-dimensional laser scanner according to set measuring time, and respectively acquiring Q laser point clouds of measuring time; the method comprises the following steps that a ground three-dimensional laser scanner scans a gully area to be measured at 6 positions in each measurement time, then laser point clouds obtained at the qth measurement time are marked as qth initial laser point clouds, the qth initial laser point clouds comprise qth 1-time laser point clouds, qth 2-time laser point clouds, qth 3-time laser point clouds, qth 4-time laser point clouds, qth 5-time laser point clouds and qth 6-time laser point clouds, Q and Q are positive integers, Q is not less than 1 and not more than Q, and Q is not less than 2;
step two, splicing gully point clouds of the gully area to be detected:
splicing the 1 st laser point cloud of the q-th period, the 2 nd laser point cloud of the q-th period, the 3 rd laser point cloud of the q-th period, the 4 th laser point cloud of the q-th period, the 5 th laser point cloud of the q-th period and the 6 th laser point cloud of the q-th period by using Cyclone software through a computer under the three-dimensional coordinate reference of the first target ball, the second target ball and the third target ball to obtain spliced q-th laser point cloud;
step three, registering point clouds of a gully region to be measured:
step 301, introducing the laser point cloud in the phase Q after being spliced in the step two into CloudCompare software by adopting a computer;
step 302, using a computer and CloudCompare software to take the spliced phase 1 laser point cloud as a reference point cloud and the spliced phase 2 laser point cloud to spliced phase Q laser point cloud as point clouds to be registered;
step 303, respectively registering the spliced phase 2 laser point cloud and the spliced phase Q laser point cloud by using a computer through CloudCompare software to obtain registered laser points; the laser points after registration comprise a registered phase 2 laser point cloud and a registered phase Q laser point cloud;
step 304, recording the phase 1 laser point cloud and the registered laser point cloud as a phase 1 expected filtered laser point cloud, a phase Q expected filtered laser point cloud, and a phase Q expected filtered laser point cloud respectively;
step four, filtering the point cloud of the gully area to be measured:
step 401, performing primary filtering on the qth expected filtering laser point cloud by using an MCC point cloud filtering algorithm by using a computer to obtain a qth laser point cloud after primary filtering;
step 402, performing secondary filtering on the qth-stage laser point cloud after primary filtering by using Terrasolide software by using a computer to obtain the qth-stage laser point cloud after secondary filtering;
step five, point cloud downsampling of the gully area to be measured:
step 501, introducing the qth laser point cloud after the secondary filtering into CloudCompare software by adopting a computer;
502, selecting a ' subsample ' tool by using cloudbopare software through a computer, selecting ' space ' in a popped ' method ' option, and inputting a down-sampling threshold value in ' min.
Step six, obtaining the M3C2 value of the laser point cloud of the later period relative to the laser point cloud of the previous period:
601, obtaining a mean value R of the terrain Roughness corresponding to the obtained q-th phase laser point cloud by using a computer and utilizing ' Roughness ' in a cloudbuare software ' Toolsq；
Step 602, when q is larger than 1, using the computer to input 2 in project Scale by using the tool of CloudCompare software M3C25RqIn "Normals", 25R is inputq+0.05, selecting 'Multi-scale' in the 'calibration mode', selecting '-Z' in the 'Preferred orientation', and processing the laser point cloud of the q-1 stage and the laser point cloud of the q-1 stage to obtain the M3C2 value of each point in the laser point cloud of the q-1 stage relative to the laser point cloud of the q-1 stage;
step seven, dividing a deposition area and an erosion area in the laser point cloud of the gully area to be measured:
step 701, performing field survey on a gully area to be measured when the q-1 phase laser point cloud and the q phase laser point cloud are obtained;
step 702, according to the on-site investigation result, processing the laser point cloud of the q-th phase relative to the laser point cloud of the q-th phase 1 by using a computer and utilizing CloudCompare software to obtain a point cloud area where the laser point cloud of the q-th phase is deposited relative to the laser point cloud of the q-th phase 1 and a point cloud area where erosion occurs; wherein, the point cloud area where the laser point cloud of the q-th period is deposited relative to the laser point cloud of the q-1 period is marked as the point cloud of the q-th deposition area, and the point cloud area where the laser point cloud of the q-th period is eroded relative to the laser point cloud of the q-1 period is marked as the point cloud of the q-th erosion area;
step eight, obtaining volume variation of the region with gullies to be measured:
step 801, obtaining the volume variation of the qth deposition area relative to the qth-1 measurement time according to the M3C2 value of each point in the step 602 and the plane area represented by each point obtained by processing the point cloud of the qth deposition area by using CloudCompare software through a computer
Step 802, obtaining the volume variation of the q-th erosion area relative to the q-1 measuring time according to the M3C2 value of each point in the step 602 and the plane area represented by each point obtained by processing the point cloud of the q-th erosion area by using CloudCompare software through a computer
Step 803Adopting a computer according to the formula
Obtaining the volume change of the qth measuring time of a gully area to be measured relative to the qth-1 measuring time;
in the step 102, the adjacent two measurement times are 10 days-20 days;
the value of the set value of the kernel size in the step 601 'roughress' is 0.05 m to 0.1 m.
2. A method for three-dimensional calculation of volume change of ravines based on terrain point cloud as claimed in claim 1 wherein: in the step 102, a ground three-dimensional laser scanner is adopted to obtain the initial laser point cloud in the q-th stage, and the specific process is as follows:
1021, acquiring a maximum positive height value and a minimum positive height value of a gully area to be measured, and taking the difference between the maximum positive height value and the minimum positive height value as a relative elevation H of a gully head; wherein, a soil connecting line between the gully area to be measured and the stable region is a gully boundary;
step 1022, arranging a first standing area S1, a second standing area S2 and a third standing area S3 in front of an outlet of the gully area to be measured; any scanning point in the gully region to be measured can be scanned by a ground three-dimensional laser scanner arranged in at least one of the first standing region S1, the second standing region S2 and the third standing region S3;
1023, laying a ground three-dimensional laser scanner in the first frame station area S1 and arranging the three-dimensional laser scanner at the height of the frame station
Then, a ground three-dimensional laser scanner is adopted to carry out 1 st scanning of the q-th time on a gully region to be measured, and 1 st laser point cloud of the q-th time is obtained; wherein | [ ·]Representing the rounding first and then the absolute value;
step 1024, laying a ground three-dimensional laser scanner in the first standing area S1, and arranging the ground three-dimensional laser scanner at the height of the standing station
Then, performing 2 nd scanning of a q-th time on a gully region to be detected by adopting a ground three-dimensional laser scanner to obtain 2 nd laser point cloud of the q-th time; wherein [ ·]Representing rounding;
and 1025, sequentially arranging a ground three-dimensional laser scanner on the second station area S2 and the third station area S3 according to the method from 1023 to 1024, and acquiring the 3 rd laser point cloud in the q stage, the 4 th laser point cloud in the q stage, the 5 th laser point cloud in the q stage and the 6 th laser point cloud in the q stage.
3. The method for three-dimensional calculation of volume change of ravines based on terrain point cloud as claimed in claim 2, wherein: in step 1022, a rectangle circumscribing the region with gullies to be measured is set, where one side of the rectangle is denoted as "A" side, and the length of the side A is denoted as "LaOne side of the circumscribed rectangle perpendicular to the side A is marked as side B, the first standing region S1, the second standing region S2 and the third standing region S3 are all circular regions, the circle center connecting line of the first standing region S1, the second standing region S2 and the third standing region S3 is parallel to the side A, the minimum distance between the circle center connecting line of the first standing region S1, the second standing region S2 and the third standing region S3 and the plane where the outlet of the measured gully region is located is larger than H tan60 degrees, the distances between the two adjacent standing regions are the same, and the distance between the circle center of the first standing region S1 and the circle center of the third standing region S1 is equal to La；
In step 103, the third reference point is located in the stable region outside the midpoint of the side a far from the shelving region, and the first reference point and the second reference point are symmetrically located on the two sides B and close to the stable region outside the side a of the shelving region.
4. The method for three-dimensional calculation of volume change of ravines based on terrain point cloud as claimed in claim 1, wherein: in step 303, a computer is used for registering the spliced phase 2 laser point cloud to phase Q laser point cloud by using CloudCompare software to obtain the registered laser point cloud, and the specific process is as follows:
step 3031, selecting an 'Align point pairs' tool by using CloudCompare software through a computer, and respectively adjusting spliced phase 2 laser point cloud and phase 1 laser point cloud under the columns of 'Aligned' and 'Reference' by using a 'Swap' and confirming;
step 3032, sequentially inputting the three-dimensional coordinates of the first target ball, the three-dimensional coordinates of the second target ball and the three-dimensional coordinates of the third target ball in the spliced phase 2 laser point cloud in a closed position under a show tool by using a computer, and sequentially inputting the three-dimensional coordinates of the first target ball, the three-dimensional coordinates of the second target ball and the three-dimensional coordinates of the third target ball in the phase 1 laser point cloud in a closed position under the show tool;
3033, selecting an 'align' tool by using CloudCompare software through a computer, finishing registration of the spliced phase 2 laser point cloud to the phase 1 laser point cloud, and obtaining the registered phase 2 laser point cloud;
3034, according to the method from 3031 to 3033, until the registration of the spliced Q-th laser point cloud to the 1 st laser point cloud is completed, obtaining the registered Q-th laser point cloud.
5. The method for three-dimensional calculation of volume change of ravines based on terrain point cloud as claimed in claim 1, wherein: in step 502, the down-sampling threshold is 0.5% -0.6% of the maximum scanning distance of the ground three-dimensional laser scanner for scanning the gully area to be measured.
6. The method for three-dimensional calculation of volume change of ravines based on terrain point cloud as claimed in claim 1, wherein: in step 801, according to the M3C2 value of each point in step 602 and the plane area represented by each point obtained by processing the point cloud of the q-th deposition area by using CloudCompare software through a computer, the volume variation of the q-th deposition area relative to the q-1 measurement time is obtained
The specific process is as follows:
step 8011, use computer to utilize "sensitivity" tool in CloudCompare software to settle the q' th sinkProcessing the point cloud of the deposition area to obtain the radius of each point in the q deposition area of 25RqAn in-plane density within a range; wherein the c-th deposition zone in the q-th deposition zone1The planar density of the dots is recorded as
c1And C1Are all positive integers, and c is more than or equal to 11≤C1，C1Representing the total point cloud number of the qth deposition area;
8012, the method obtains the c (c) th deposition area of the q (q) th deposition area according to the step 6021M3C2 value of point relative to q-1 phase laser point cloud
Step 8013, calculating formula
To obtain the c-th deposition area in the q-th deposition area1Area of plane represented by dot
8014, use the computer according to the formula
Obtaining the volume change of the qth deposition area relative to the qth-1 measurement time
7. A method for three-dimensional calculation of volume change of ravines based on terrain point cloud as claimed in claim 1 wherein: in step 802, according to the M3C2 value of each point in step 602 and the plane area represented by each point obtained by processing the point cloud of the q-th erosion area by using CloudCompare software through a computer, a body of the q-th erosion area relative to the q-1-th measurement time is obtainedVolume change amount
The specific process is as follows:
8021, processing the point cloud of the q-th erosion area by using a computer and utilizing a sensitivity tool in CloudCompare software to obtain a radius 25R of each point in the q-th erosion areaqAn in-plane density within a range; wherein, in the qth erosion zone, the kth2The planar density of the dots is recorded as
c2And C2Are all positive integers, and c is more than or equal to 12≤C2，C2Representing the total number of point clouds of a q-th erosion area;
step 8022, according to step 602, obtaining the c th erosion area in the q th erosion area2M3C2 value of point relative to q-1 phase laser point cloud
Step 8023, using a computer to calculate a formula
To obtain the c-th erosion zone in the q-th erosion zone2Area of plane represented by dot
Step 8024, using a computer to calculate a formula
Obtaining the volume of the qth erosion zone relative to the qth-1 measurement time
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