CN114529652A - Point cloud compensation method, device, equipment, storage medium and computer program product - Google Patents
Point cloud compensation method, device, equipment, storage medium and computer program product Download PDFInfo
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- CN114529652A CN114529652A CN202210433453.8A CN202210433453A CN114529652A CN 114529652 A CN114529652 A CN 114529652A CN 202210433453 A CN202210433453 A CN 202210433453A CN 114529652 A CN114529652 A CN 114529652A
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Abstract
The application relates to the technical field of intelligent manufacturing, and provides a point cloud compensation method, a point cloud compensation device, a point cloud compensation computer device, a point cloud compensation storage medium and a point cloud compensation computer program product. According to the method and the device, the accuracy of compensation processing on the point cloud of the target object can be improved. The method comprises the following steps: the method comprises the steps of collecting point clouds aiming at a platform area for placing a target object, wherein the point clouds comprise a first point cloud corresponding to the target object and a second point cloud corresponding to an object-free overlapping area in the platform area, obtaining a curved surface model and a planar model of the platform area according to the second point cloud, obtaining compensation information of the first point cloud according to the curved surface model and the planar model, and performing compensation processing on the first point cloud according to the compensation information.
Description
Technical Field
The present application relates to the field of intelligent manufacturing technologies, and in particular, to a point cloud compensation method, apparatus, computer device, storage medium, and computer program product.
Background
With the development of intelligent manufacturing technology, the processing quality of the surface of the component part affects the performance of the product during the process of processing the product. In the conventional technology, a three-dimensional profiler is usually used to collect point clouds of a target object (such as a part) to detect the flatness of the surface of the target object, but the target object is often interfered by factors such as mechanical vibration, so that the point clouds of the target object collected by the three-dimensional profiler are inconsistent with the point clouds of the actual target object, and therefore compensation processing needs to be performed on the collected point clouds of the target object, so that the compensated point clouds are consistent with the point clouds of the actual target object.
The traditional technology usually performs compensation processing on the point cloud of the target object by means of manual measurement, but the accuracy of the compensation processing on the point cloud of the target object by the technology is low.
Disclosure of Invention
In view of the above, it is necessary to provide a point cloud compensation method, apparatus, computer device, computer readable storage medium and computer program product for solving the above technical problems.
In a first aspect, the present application provides a point cloud compensation method. The method comprises the following steps:
acquiring a point cloud aiming at a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to the non-object overlapping area in the platform area;
obtaining a curved surface model and a plane model of the platform area according to the second point cloud;
obtaining compensation information of the first point cloud according to the surface model and the plane model;
and according to the compensation information, performing compensation processing on the first point cloud.
In one embodiment, obtaining the compensation information of the first point cloud according to the surface model and the plane model includes:
obtaining a curved surface point cloud corresponding to an object overlapping area in the platform area according to the curved surface model, and obtaining a plane point cloud corresponding to the object overlapping area in the platform area according to the plane model;
and obtaining compensation information of the first point cloud according to the curved surface point cloud and the plane point cloud.
In one embodiment, obtaining a surface model of the platform region according to the second point cloud includes:
selecting part of second point clouds from the second point clouds, and performing multi-curve fitting processing on the part of second point clouds by using a least square method to obtain a multi-curve model; and obtaining a curved surface model of the platform area according to the multi-curve model.
In one embodiment, obtaining a planar model of the platform region from the second point cloud comprises:
and carrying out plane fitting processing on the second point cloud by using a least square method to obtain a plane model of the platform area.
In one embodiment, the method further comprises:
and determining a first point cloud and a second point cloud in the point clouds according to the height information of the points.
In one embodiment, determining the first point cloud and the second point cloud in the point clouds according to the height information of the points comprises:
performing plane fitting processing on the point cloud to obtain a reference plane of the platform area;
and dividing points in the point cloud into a first point cloud or a second point cloud according to whether the height between the first point cloud and the reference plane meets a height threshold condition.
In one embodiment, performing compensation processing on the first point cloud according to the compensation information includes:
compensating the first point cloud according to the compensation information to obtain a third point cloud corresponding to the target object;
and acquiring the flatness of the target object based on the third point cloud.
In a second aspect, the application further provides a point cloud compensation device. The device comprises:
the point cloud acquisition module is used for acquiring point clouds aiming at a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to a non-object overlapping area in the platform area;
the model obtaining module is used for obtaining a curved surface model and a plane model of the platform area according to the second point cloud;
the information obtaining module is used for obtaining the compensation information of the first point cloud according to the curved surface model and the plane model;
and the compensation processing module is used for performing compensation processing on the first point cloud according to the compensation information.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:
acquiring a point cloud aiming at a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to the non-object overlapping area in the platform area; obtaining a curved surface model and a plane model of the platform area according to the second point cloud; obtaining compensation information of the first point cloud according to the surface model and the plane model; and according to the compensation information, performing compensation processing on the first point cloud.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring a point cloud aiming at a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to the non-object overlapping area in the platform area; obtaining a curved surface model and a plane model of the platform area according to the second point cloud; obtaining compensation information of the first point cloud according to the surface model and the plane model; and according to the compensation information, performing compensation processing on the first point cloud.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
acquiring a point cloud aiming at a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to the non-object overlapping area in the platform area; obtaining a curved surface model and a plane model of the platform area according to the second point cloud; obtaining compensation information of the first point cloud according to the surface model and the plane model; and according to the compensation information, performing compensation processing on the first point cloud.
The point cloud compensation method, the point cloud compensation device, the point cloud compensation computer device, the storage medium and the computer program product are used for collecting point clouds aiming at a platform area for placing a target object, wherein the point clouds comprise a first point cloud corresponding to the target object and a second point cloud corresponding to an object-free overlapping area in the platform area, a curved surface model and a planar model of the platform area are obtained according to the second point cloud, compensation information of the first point cloud is obtained according to the curved surface model and the planar model, and compensation processing is carried out on the first point cloud according to the compensation information. The method comprises the steps of collecting point clouds from the upper side of a platform area downwards through a three-dimensional contourgraph aiming at the platform area for placing a target object, wherein the point clouds comprise a first point cloud corresponding to the target object and a second point cloud corresponding to a non-object overlapping area in the platform area, respectively carrying out surface fitting and surface fitting according to the second point cloud to obtain a surface model and a surface model of the platform area, obtaining compensation information of the first point cloud according to a difference value of the point clouds corresponding to the surface model and the surface model, and carrying out compensation processing on the first point cloud according to the compensation information, so that the accuracy of compensation processing on the point clouds of the target object is improved.
Drawings
FIG. 1 is a schematic flow chart of a point cloud compensation method according to an embodiment;
FIG. 2 is a diagram illustrating an exemplary application scenario of a point cloud compensation method;
FIG. 3 is a schematic diagram of a point cloud acquired by scanning in one embodiment;
FIG. 4 is a schematic diagram of selecting a point cloud for multi-curve fitting processing in one embodiment;
FIG. 5 is a schematic diagram of a point cloud after line structured light reconstruction in one embodiment;
FIG. 6 is a schematic 2D projection plane of a target object in one embodiment;
FIG. 7 is a schematic view of a captured point cloud region in one embodiment;
FIG. 8 is a block diagram of a point cloud compensation device according to an embodiment;
FIG. 9 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In an embodiment, as shown in fig. 1, a point cloud compensation method is provided, and this embodiment is exemplified by applying the method to a terminal, and includes the following steps:
step S101, aiming at a platform area for placing a target object, point clouds are collected.
In this step, the point clouds include a first point cloud corresponding to the target object and a second point cloud corresponding to a region without object overlap in the platform region, where the point clouds may be represented as a set of points, also referred to as a point set, the first point cloud may be a point cloud on the surface of the target object, and the second point cloud may be a point cloud of a region where the platform does not overlap with the target object in the platform region; the platform area may be a moving platform, such as a conveyor belt; the target object may be a workpiece placed on the platform area.
Specifically, the terminal collects point clouds for a platform area for placing a target object.
For example, as shown in fig. 2, a serial number 1 in fig. 2 is a motion platform (e.g., a conveyor belt with a pressing wheel), a serial number 2 is a three-dimensional profiler (e.g., a linear structured light profiler), and a serial number 3 is a workpiece to be measured, wherein the three-dimensional profiler is fixedly installed above the motion platform, the workpiece to be measured is placed on the motion platform, when the workpiece to be measured moves along with the motion platform and passes below the three-dimensional profiler, the three-dimensional profiler is triggered to scan, a terminal collects point clouds by the three-dimensional profiler, the point clouds collected by scanning are shown in fig. 3, where the serial number 1 represents a second point cloud of the conveyor belt, and the serial number 2 represents a first point cloud of the workpiece.
And S102, obtaining a curved surface model and a plane model of the platform area according to the second point cloud.
In this step, the curved surface model may be a curved surface map; the planar model may be a plan view.
Specifically, the terminal obtains a curved surface model and a plane model of the platform area according to the second point cloud.
Illustratively, when the platform area is affected by factors such as mechanical vibration, the platform area is an up-and-down curved surface, the terminal performs curved surface fitting on the second point cloud to obtain a curved surface model of the platform area, the whole point cloud of the curved surface model can be represented as F (x, y, z), and similarly, the terminal performs plane fitting on the second point cloud to obtain a plane model of the platform area, the whole point cloud of the plane model can be represented as G (x, y, z), wherein the capital letters of the marks can represent the point cloud, and the small letters of the marks can represent single points in the point cloud.
And S103, obtaining compensation information of the first point cloud according to the surface model and the plane model.
In this step, the compensation information may be a compensation amount of each point in the first point cloud, for example, for a certain point in the first point cloud, the compensation amount Δ p (x, y, z) of the point may be a difference between a spatial coordinate f (x, y, z) of the corresponding point of the point in the curved surface model and a spatial coordinate g (x, y, z) of the corresponding point of the point in the planar model, that is, Δ p (x, y, z) = f (x, y, z) -g (x, y, z).
Specifically, the terminal obtains the compensation information of the first point cloud according to the surface model and the plane model.
And step S104, performing compensation processing on the first point cloud according to the compensation information.
Specifically, the terminal performs compensation processing on the first point cloud according to the compensation information.
The point cloud compensation method comprises the steps of collecting point clouds aiming at a platform area for placing a target object, wherein the point clouds comprise a first point cloud corresponding to the target object and a second point cloud corresponding to an object-free overlapping area in the platform area, obtaining a curved surface model and a planar model of the platform area according to the second point cloud, obtaining compensation information of the first point cloud according to the curved surface model and the planar model, and performing compensation processing on the first point cloud according to the compensation information. The method comprises the steps of collecting point clouds from the upper side of a platform area downwards through a three-dimensional contourgraph aiming at the platform area for placing a target object, wherein the point clouds comprise a first point cloud corresponding to the target object and a second point cloud corresponding to a non-object overlapping area in the platform area, respectively carrying out surface fitting and surface fitting according to the second point cloud to obtain a surface model and a surface model of the platform area, obtaining compensation information of the first point cloud according to a difference value of corresponding points on the surface model and the surface model, and carrying out compensation processing on the first point cloud according to the compensation information, so that the accuracy of compensation processing on the point clouds of the target object is improved.
In an embodiment, the obtaining of the compensation information of the first point cloud according to the surface model and the plane model in step S103 specifically includes: obtaining a curved surface point cloud corresponding to an object overlapping area in the platform area according to the curved surface model, and obtaining a plane point cloud corresponding to the object overlapping area in the platform area according to the plane model; and obtaining compensation information of the first point cloud according to the curved surface point cloud and the plane point cloud.
In this embodiment, the object overlapping region in the platform region may be a region in the platform region where the platform overlaps with the target object, for example, a region where the workpiece is placed on the motion platform; the curved surface point cloud can be a set of points corresponding to each point in an object overlapping region in the platform region in the curved surface model; the planar point cloud may be a collection of points in the planar model corresponding to points in the object overlap region in the platform region.
Specifically, the terminal obtains a curved point cloud corresponding to an object overlapping area in the platform area according to the curved surface model, obtains a plane point cloud corresponding to the object overlapping area in the platform area according to the plane model, and obtains compensation information of the first point cloud according to the obtained curved point cloud and the plane point cloud.
Illustratively, the terminal obtains a curved surface point cloud F (x, y, z) corresponding to the object overlapping area in the platform area according to the curved surface model, and obtains a plane point cloud G (x, y, z) corresponding to the object overlapping area in the platform area according to the plane model, and obtains a compensation amount of the first point cloud according to the obtained curved surface point cloud and the plane point cloud, wherein Δ p (x, y, z) = F (x, y, z) -G (x, y, z) for a certain point in the first point cloud, where F (x, y, z) represents a spatial coordinate of the point corresponding to the point in the curved surface point cloud F (x, y, z), and G (x, y, z) represents a spatial coordinate of the point corresponding to the point in the plane point cloud G (x, y, z).
According to the technical scheme of the embodiment, the compensation information of the first point cloud is obtained according to the curved surface point cloud and the plane point cloud, so that the compensation information of the first point cloud corresponding to the target object can be more accurately obtained, and the accuracy of compensation processing on the point cloud of the target object can be improved subsequently.
In an embodiment, the obtaining of the curved surface model of the platform area according to the second point cloud in step S102 specifically includes: selecting part of second point clouds from the second point clouds, and performing multi-curve fitting processing on the part of second point clouds by using a least square method to obtain a multi-curve model; and obtaining a curved surface model of the platform area according to the multi-curve model. For example, in some embodiments, the obtaining the plane model of the platform area according to the second point cloud in step S102 specifically includes: and carrying out plane fitting processing on the second point cloud by using a least square method to obtain a plane model of the platform area.
Wherein, the multi-curve model can be a model composed of a plurality of curves; the least square method can be a method for obtaining an optimal plane equation by minimizing the distance residual between each point and a plane, a covariance matrix is constructed by de-centering a point set, and a corresponding eigenvalue and eigenvector of the covariance matrix are solved, wherein the direction corresponding to the minimum eigenvalue is a normal vector. Optionally, the least square method may be a concept of fitting a model, and may be used to fit a straight line, a curve, a plane and/or a curved surface, the plane may be solved by a PCA method, for the solution of a polynomial curve equation, the equation set may be solved by constructing a covariance matrix and an equation set, and using SVD and other methods, and the solution corresponding to the eigenvector corresponding to the minimum singular value is the solution of the unknown number.
Specifically, the terminal selects part of point clouds (part of second point clouds) from the second point clouds, multi-curve fitting processing can be performed on the part of point clouds by using a random sampling method (RANSAC) in combination with a least square method to obtain a multi-curve model, and a curved surface model of the platform region can be obtained according to the multi-curve model, wherein the curved surface model is not limited to the one obtained by the multi-curve model, and the curved surface model has many fitting methods, such as a traditional mobile least square method or a B-spline curved surface method, and the amount of calculation can be greatly reduced and the efficiency of obtaining the curved surface model of the platform region can be improved by performing curved surface fitting on the point clouds by using the multi-curve model; and performing plane fitting processing on the second point cloud by using a random sampling method (RANSAC) in combination with a least square method to obtain a plane model of the platform area.
Exemplarily, as shown in fig. 4, the terminal selects the point cloud of the rectangular frame with the number 1 in fig. 4 from the second point cloud, and calculates the average value Δ z of z coordinates of each row of data points in the width direction to obtain a row of point sets Pi（yi，△zi) Similarly, the point cloud of the rectangular frame with the number 2 in fig. 4 is selected from the second point cloud, and the average value Δ z of the z coordinates of each row of data points is calculated in the width direction to obtain a row of point set Pj（xi，△zi) Set of points Pi（yi，△zi) And set of points Pj（xi，△zi) Respectively fitted to polynomial curves F1(y, z) and F2(x, z), and the polynomial curve equation is F (x, y) = a0+a1x+a2x2+a3x3+a4x4+a5x5Performing surface fitting processing by a least square method to obtain a polynomial curve equation corresponding to the multi-curve model, and performing surface fitting processing on each point p (x) in the second point cloud according to the polynomial curve equationY, z) the corresponding point f (x, y, z) on the surface model of the plateau region may be represented as f (x, y, z) = μ f1（y，z）+（1-μ）*f2(x, z), wherein the mu belongs to (0, 1), and the mu is a weight coefficient, so as to obtain a curved surface model; and the terminal performs plane fitting processing on the second point cloud by using a least square method to obtain a plane model G (x, y, z) of the platform area, wherein for each point p (x, y, z) in the second point cloud, the corresponding point on the plane model of the platform area can be represented as G (x, y, z), and G (x, y, z) can be obtained through a plane equation.
According to the technical scheme, the curved surface model of the platform area is obtained through multi-curve fitting processing, the plane model of the platform area is obtained through plane fitting processing, the efficiency of obtaining the curved surface model and the plane model of the platform area is improved, and therefore the efficiency of performing compensation processing on the point cloud of the target object is improved.
In an embodiment, the method may further determine the first point cloud and the second point cloud in the point clouds by the following steps, specifically including: and determining a first point cloud and a second point cloud in the point clouds according to the height information of the points.
In this embodiment, the height information of the point may be a height value of the point in the point cloud, for example, a height value z in a coordinate of the point in the point cloud.
Specifically, the terminal determines a first point cloud and a second point cloud in the point clouds according to the height information of the points.
According to the technical scheme, the first point cloud and the second point cloud in the point cloud are determined according to the height information of the points, so that the first point cloud and the second point cloud in the point cloud can be identified and divided, and the point cloud of the target object can be compensated more accurately in the follow-up process.
In an embodiment, the method may further divide the points in the point cloud into the first point cloud or the second point cloud by the following steps, specifically including: performing plane fitting processing on the point cloud to obtain a reference plane of the platform area; and dividing points in the point cloud into a first point cloud or a second point cloud according to whether the height between the first point cloud and the reference plane meets a height threshold condition.
In this embodiment, the plane fitting process may be to fit the point cloud into one plane; the reference plane may be a plane, e.g. a plane representing the platform area; the altitude threshold condition may be a condition greater than a preset altitude threshold.
Specifically, the terminal performs plane fitting processing on the point cloud to obtain a reference plane of the platform area, and divides points in the point cloud which meet a height threshold condition into a first point cloud and divides points in the point cloud which do not meet the height threshold condition into a second point cloud according to whether the height between the reference plane and the point cloud meets the height threshold condition.
Illustratively, for a platform region for placing a target object (e.g., a circular planar object), after a terminal collects a point cloud by a line structured light profiler, a point cloud reconstructed by line structured light is obtained as shown in fig. 5, wherein the heights of the points may present different color distributions, then the terminal performs plane fitting processing on the point cloud by using a ranac algorithm, extracts a plane of the platform region, uses the plane of the platform region as a reference plane, divides points in the point cloud which satisfy a height threshold greater than a preset height threshold into first point clouds according to whether the height between the point cloud and the reference plane satisfies a height threshold condition, performs denoising processing on the first point clouds and projects the first point clouds onto the reference plane direction to obtain a projection plane 2D diagram of the target object as shown in fig. 6, performs shape feature detection on the projection plane 2D diagram, and determines the center position of the target object, filtering out some interference areas at the edge of the target object, then intercepting the point cloud in the preset range according to the central position of the target object, wherein the intercepted point cloud area is as shown in fig. 7, and dividing the points which do not meet the requirement of being larger than the preset height threshold value in the point cloud into second point cloud.
According to the technical scheme, the points in the point cloud are divided into the first point cloud or the second point cloud according to whether the height between the point cloud and the reference surface meets the height threshold condition, so that the first point cloud and the second point cloud in the point cloud can be more accurately identified and divided, and the point cloud of the target object can be more accurately compensated and processed subsequently.
In an embodiment, the compensating the first point cloud according to the compensation information in step S104 specifically includes: compensating the first point cloud according to the compensation information to obtain a third point cloud corresponding to the target object; and acquiring the flatness of the target object based on the third point cloud.
In this embodiment, the third point cloud may be a point cloud obtained by performing compensation processing on the first point cloud.
Specifically, the terminal performs compensation processing on the first point cloud according to the compensation information to obtain a third point cloud corresponding to the target object, and obtains the flatness of the target object based on the third point cloud.
Exemplarily, the terminal performs vibration compensation processing on a first point cloud Q (x, y, z) according to the vibration compensation quantity Δ P (x, y, z), and obtains a third point cloud Q corresponding to the target object after the vibration compensation processingSupplement device(x, y, z) = Q (x, y, z) - Δp (x, y, z), where Q is for a point in the third point cloudSupplement device(x, y, z) = q (x, y, z) - [ delta ] p (x, y, z), then denoising the third point cloud, fitting the third point cloud into a plane, calculating the distance between each third point cloud and the plane, and taking the sum of the maximum positive distance and the maximum negative distance as a measured value of the flatness.
According to the technical scheme of the embodiment, the flatness of the target object is obtained based on the third point cloud obtained through compensation, so that the flatness of the target object can be further accurately obtained after the point cloud of the target object is accurately compensated.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a point cloud compensation device for realizing the point cloud compensation method. The solution of the problem provided by the apparatus is similar to the solution described in the above method, so the specific limitations in one or more embodiments of the point cloud compensation apparatus provided below can be referred to the above limitations on the point cloud compensation method, and are not described herein again.
In one embodiment, as shown in fig. 8, there is provided a point cloud compensation apparatus 800, which may include:
a point cloud collection module 801, configured to collect a point cloud for a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to a non-object overlapping area in the platform area;
a model obtaining module 802, configured to obtain a curved surface model and a planar model of the platform area according to the second point cloud;
an information obtaining module 803, configured to obtain compensation information of the first point cloud according to the curved surface model and the planar model;
and the compensation processing module 804 is configured to perform compensation processing on the first point cloud according to the compensation information.
In an embodiment, the information obtaining module 803 is further configured to obtain, according to the curved surface model, a curved surface point cloud corresponding to an object overlapping area in the platform area, and obtain, according to the plane model, a plane point cloud corresponding to the object overlapping area in the platform area; and obtaining compensation information of the first point cloud according to the curved surface point cloud and the plane point cloud.
In an embodiment, the model obtaining module 802 is further configured to select a part of the second point cloud from the second point cloud, and perform a multi-curve fitting process on the part of the second point cloud by using a least square method to obtain a multi-curve model; and obtaining a curved surface model of the platform area according to the multi-curved-line model.
In an embodiment, the model obtaining module 802 is further configured to perform a plane fitting process on the second point cloud by using a least square method to obtain a plane model of the platform area.
In one embodiment, the apparatus 800 further comprises: and the point cloud determining module is used for determining the first point cloud and the second point cloud in the point cloud according to the height information of the points.
In one embodiment, the point cloud determining module is further configured to perform plane fitting processing on the point cloud to obtain a reference plane of the platform area; and dividing points in the point cloud into the first point cloud or the second point cloud according to whether the height between the point cloud and the reference surface meets a height threshold condition.
In an embodiment, the compensation processing module 804 is further configured to perform compensation processing on the first point cloud according to the compensation information to obtain a third point cloud corresponding to the target object; and acquiring the flatness of the target object based on the third point cloud.
The modules in the point cloud compensation device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for communicating with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer equipment also comprises an input/output interface, wherein the input/output interface is a connecting circuit for exchanging information between the processor and external equipment, and is connected with the processor through a bus, and the input/output interface is called an I/O interface for short. The computer program is executed by a processor to implement a point cloud compensation method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a point cloud aiming at a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to the non-object overlapping area in the platform area; obtaining a curved surface model and a plane model of the platform area according to the second point cloud; obtaining compensation information of the first point cloud according to the surface model and the plane model; and according to the compensation information, performing compensation processing on the first point cloud.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
obtaining a curved surface point cloud corresponding to an object overlapping area in the platform area according to the curved surface model, and obtaining a plane point cloud corresponding to the object overlapping area in the platform area according to the plane model; and obtaining compensation information of the first point cloud according to the curved surface point cloud and the plane point cloud.
In one embodiment, the processor when executing the computer program further performs the steps of:
selecting part of second point clouds from the second point clouds, and performing multi-curve fitting processing on the part of second point clouds by using a least square method to obtain a multi-curve model; and obtaining a curved surface model of the platform area according to the multi-curve model.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and carrying out plane fitting processing on the second point cloud by using a least square method to obtain a plane model of the platform area.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and determining a first point cloud and a second point cloud in the point clouds according to the height information of the points.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
performing plane fitting processing on the point cloud to obtain a reference plane of the platform area; and dividing points in the point cloud into a first point cloud or a second point cloud according to whether the height between the first point cloud and the reference plane meets a height threshold condition.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
compensating the first point cloud according to the compensation information to obtain a third point cloud corresponding to the target object; and acquiring the flatness of the target object based on the third point cloud.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a point cloud aiming at a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to the non-object overlapping area in the platform area; obtaining a curved surface model and a plane model of the platform area according to the second point cloud; obtaining compensation information of the first point cloud according to the surface model and the plane model; and according to the compensation information, performing compensation processing on the first point cloud.
In one embodiment, the computer program when executed by the processor further performs the steps of:
obtaining a curved surface point cloud corresponding to an object overlapping area in the platform area according to the curved surface model, and obtaining a plane point cloud corresponding to the object overlapping area in the platform area according to the plane model; and obtaining compensation information of the first point cloud according to the curved surface point cloud and the plane point cloud.
In one embodiment, the computer program when executed by the processor further performs the steps of:
selecting part of second point clouds from the second point clouds, and performing multi-curve fitting on the part of second point clouds by using a least square method to obtain a multi-curve model; and obtaining a curved surface model of the platform area according to the multi-curve model.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and carrying out plane fitting processing on the second point cloud by using a least square method to obtain a plane model of the platform area.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and determining a first point cloud and a second point cloud in the point clouds according to the height information of the points.
In one embodiment, the computer program when executed by the processor further performs the steps of:
performing plane fitting processing on the point cloud to obtain a reference plane of the platform area; and dividing points in the point cloud into a first point cloud or a second point cloud according to whether the height between the first point cloud and the reference plane meets a height threshold condition.
In one embodiment, the computer program when executed by the processor further performs the steps of:
compensating the first point cloud according to the compensation information to obtain a third point cloud corresponding to the target object; and acquiring the flatness of the target object based on the third point cloud.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:
acquiring a point cloud aiming at a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to the non-object overlapping area in the platform area; obtaining a curved surface model and a plane model of the platform area according to the second point cloud; obtaining compensation information of the first point cloud according to the surface model and the plane model; and according to the compensation information, performing compensation processing on the first point cloud.
In one embodiment, the computer program when executed by the processor further performs the steps of:
obtaining a curved surface point cloud corresponding to an object overlapping area in the platform area according to the curved surface model, and obtaining a plane point cloud corresponding to the object overlapping area in the platform area according to the plane model; and obtaining compensation information of the first point cloud according to the curved surface point cloud and the plane point cloud.
In one embodiment, the computer program when executed by the processor further performs the steps of:
selecting part of second point clouds from the second point clouds, and performing multi-curve fitting processing on the part of second point clouds by using a least square method to obtain a multi-curve model; and obtaining a curved surface model of the platform area according to the multi-curve model.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and carrying out plane fitting processing on the second point cloud by using a least square method to obtain a plane model of the platform area.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and determining a first point cloud and a second point cloud in the point clouds according to the height information of the points.
In one embodiment, the computer program when executed by the processor further performs the steps of:
performing plane fitting processing on the point cloud to obtain a reference plane of the platform area; and dividing points in the point cloud into a first point cloud or a second point cloud according to whether the height between the first point cloud and the reference plane meets a height threshold condition.
In one embodiment, the computer program when executed by the processor further performs the steps of:
compensating the first point cloud according to the compensation information to obtain a third point cloud corresponding to the target object; and acquiring the flatness of the target object based on the third point cloud.
It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, databases, or other media used in the embodiments provided herein can include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases involved in the embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (11)
1. A method of point cloud compensation, the method comprising:
acquiring a point cloud aiming at a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to a non-object overlapping area in the platform area;
obtaining a curved surface model and a plane model of the platform area according to the second point cloud;
obtaining compensation information of the first point cloud according to the curved surface model and the plane model;
and performing compensation processing on the first point cloud according to the compensation information.
2. The method of claim 1, wherein obtaining the compensation information of the first point cloud according to the surface model and the planar model comprises:
obtaining a curved surface point cloud corresponding to an object overlapping area in the platform area according to the curved surface model, and obtaining a plane point cloud corresponding to the object overlapping area in the platform area according to the plane model;
and obtaining compensation information of the first point cloud according to the curved surface point cloud and the plane point cloud.
3. The method of claim 1, wherein obtaining a surface model of the platform region from the second point cloud comprises:
selecting part of second point clouds from the second point clouds, and performing multi-curve fitting processing on the part of second point clouds by using a least square method to obtain a multi-curve model; and obtaining a curved surface model of the platform area according to the multi-curved-line model.
4. The method of claim 1, wherein obtaining a planar model of the platform region from the second point cloud comprises:
and performing plane fitting processing on the second point cloud by using a least square method to obtain a plane model of the platform area.
5. The method of claim 1, further comprising:
and determining the first point cloud and the second point cloud in the point clouds according to the height information of the points.
6. The method of claim 5, wherein determining the first and second ones of the point clouds based on the elevation information of the points comprises:
performing plane fitting processing on the point cloud to obtain a reference plane of the platform area;
and dividing points in the point cloud into the first point cloud or the second point cloud according to whether the height between the point cloud and the reference surface meets a height threshold condition.
7. The method according to any one of claims 1 to 6, wherein the compensating the first point cloud according to the compensation information includes:
compensating the first point cloud according to the compensation information to obtain a third point cloud corresponding to the target object;
and acquiring the flatness of the target object based on the third point cloud.
8. A point cloud compensation apparatus, the apparatus comprising:
the system comprises a point cloud acquisition module, a point cloud processing module and a data processing module, wherein the point cloud acquisition module is used for acquiring a point cloud aiming at a platform area for placing a target object; the point cloud comprises a first point cloud corresponding to the target object and a second point cloud corresponding to a non-object overlapping area in the platform area;
the model obtaining module is used for obtaining a curved surface model and a plane model of the platform area according to the second point cloud;
the information obtaining module is used for obtaining the compensation information of the first point cloud according to the curved surface model and the plane model;
and the compensation processing module is used for performing compensation processing on the first point cloud according to the compensation information.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
11. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 7 when executed by a processor.
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