CN114782438A - Object point cloud correction method and device, electronic equipment and storage medium - Google Patents
Object point cloud correction method and device, electronic equipment and storage medium Download PDFInfo
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- G06T7/0002—Inspection of images, e.g. flaw detection
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Abstract
The invention discloses an object point cloud correction method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining an object point cloud; determining the effective point cloud number and the effective point cloud set of each line in the object point cloud; when the number of the effective point clouds is larger than a preset threshold value, selecting a reference point cloud from the effective point cloud set; and correcting the row of object point clouds according to the effective point cloud set and the reference point cloud. By adopting the scheme provided by the invention, the deformation of the three-dimensional point cloud of the object in the vibration scene of the object can be corrected.
Description
Technical Field
The present invention relates to the field of object detection technologies, and in particular, to an object point cloud correction method and apparatus, an electronic device, and a storage medium.
Background
Along with the progress of science and technology, more and more factory production has used machine vision to replace the manual work to carry out the detection of product flaw, if size and defect detection in panel, the steel sheet production process, machine vision has the characteristics stable, the accuracy is high and can uninterrupted duty twenty-four hours, has promoted the production efficiency of enterprise simultaneously and has avoided leaking the loss that the detection flaw piece caused.
However, the machine vision is usually accompanied with the transformation of the production line at present, the production line needs to be shut down during the transformation, the cost is high, if the transformation is not performed, the stability of the traditional production line is poor, for example, when the three-dimensional point cloud of a flat object is obtained through line laser, the collected point cloud is deformed to a certain degree because the product is in random up-and-down vibration caused by a conveyor belt, and the defect detection of the product is difficult.
Disclosure of Invention
At present, to under the object vibration scene, there is the technical problem of deformation in the object three-dimensional point cloud among the prior art, mainly adopt to reform transform producing the line, improve conveyer belt stability, fix leveling the object on the conveyer belt, reduce the mode of leveling the vibration of object and solve.
However, the above method has the following disadvantages: the production line needs to be transformed into huge economic cost, and production halt is needed during transformation, so that huge losses are brought to enterprises.
Based on this, in order to solve the technical problem that the three-dimensional point cloud of the object is deformed in the vibration scene of the object, embodiments of the present invention provide an object point cloud correction method, apparatus, electronic device and storage medium.
The technical scheme of the embodiment of the invention is realized as follows:
the embodiment of the invention provides an object point cloud correction method, which comprises the following steps:
acquiring an object point cloud;
determining the effective point cloud number and the effective point cloud set of each line in the object point cloud;
when the number of the effective point clouds is larger than a preset threshold value, selecting a reference point cloud from the effective point cloud set;
and correcting the row of object point clouds according to the effective point cloud set and the reference point cloud.
In the above solution, the correcting the row of object point clouds according to the effective point cloud set and the reference point cloud includes:
determining a first coordinate included angle of the effective point cloud set relative to the reference point cloud according to the effective point cloud set and the reference point cloud;
carrying out angle leveling on the Z coordinate axis on the row of object point clouds by utilizing the first coordinate included angle;
determining parameters of line laser equipment;
and according to the line laser equipment parameters and the reference point cloud, carrying out angle adjustment on the X coordinate axis on the line of object point cloud.
In the above scheme, determining a first coordinate included angle of the effective point cloud set relative to the reference point cloud according to the effective point cloud set and the reference point cloud includes:
calculating included angles between coordinate vectors and Y coordinate axes, wherein the coordinate vectors are formed by all point clouds in the effective point cloud set and the reference point clouds;
determining the average value of the included angles;
and taking the average value as the first coordinate included angle.
In the above solution, the leveling of the angle on the Z coordinate axis of the line of object point clouds by using the first coordinate included angle includes:
calculating a first distance between each point cloud in the row of object point clouds and the reference point cloud;
calculating the adjustment height of each point cloud in the row of object point clouds on a Z coordinate axis according to the first distance and the first coordinate included angle;
and subtracting the adjustment height of each point cloud in the row of object point clouds on the Z coordinate axis on the basis of the Z coordinate value of each point cloud in the row of object point clouds, and performing angle leveling on the Z coordinate axis on each point cloud in the row of object point clouds.
In the above solution, the calculating the adjustment height of each point cloud in the row of object point clouds on the Z coordinate axis according to the first distance and the first coordinate included angle includes:
according to the first distance and the first coordinate included angle, calculating the adjustment height of each point cloud in the line of object point clouds on the Z coordinate axis by using the following formula (1):
Wherein the content of the first and second substances,
indicating the adjusted height of each point cloud in the row of object point clouds on the Z coordinate axis,
representing a first distance between each point cloud in the row of object point clouds and the reference point cloud,
representing a first coordinate angle.
In the above solution, according to the line laser device parameter and the reference point cloud, the angle adjustment on the X coordinate axis is performed on the line of object point clouds, which includes:
inputting the line laser equipment parameters and the reference point cloud coordinates into a preset first equation, and obtaining the adjustment height of the line of object point clouds on the X coordinate axis;
when the Z coordinate value of the reference point cloud is larger than 0, subtracting the adjustment height of the line of object point clouds on the X coordinate axis on the basis of the X coordinate value of each point cloud in the line of object point clouds, and adjusting the height of each point cloud in the line of object point clouds on the X coordinate axis; and when the Z coordinate value of the reference point cloud is less than or equal to 0, adding the adjustment height of the line of object point clouds on the X coordinate axis on the basis of the X coordinate value of each point cloud in the line of object point clouds, and performing adjustment height on the X coordinate axis on each point cloud in the line of object point clouds.
In the above scheme, the preset first equation is:
wherein, the first and the second end of the pipe are connected with each other,
coordinate values on the Z coordinate axis of each point cloud in the row of object point clouds,
representing coordinate values of the reference point cloud on the Z coordinate axis,
and
the line laser device parameters are shown as,
indicating the adjusted height of the row of object point clouds on the X coordinate axis,
the column number of the object point cloud of the current row is represented,
representing the total number of columns of the object point cloud.
The embodiment of the invention also provides an object point cloud correction device, which comprises:
the acquisition module is used for acquiring an object point cloud;
the determining module is used for determining the effective point cloud number and the effective point cloud set of each line in the object point cloud;
the selecting module is used for selecting a reference point cloud from the effective point cloud set when the number of the effective point clouds is larger than a preset threshold value;
and the correcting module is used for correcting the line of object point clouds according to the effective point cloud set and the reference point cloud.
An embodiment of the present invention further provides an electronic device, including: a processor and a memory for storing a computer program capable of running on the processor; wherein, the first and the second end of the pipe are connected with each other,
the processor is adapted to perform the steps of any of the above methods when running the computer program.
The embodiment of the present invention further provides a storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the methods are implemented.
The embodiment of the invention provides an object point cloud correction method, device, electronic equipment and storage medium, and the object point cloud is obtained;
determining the effective point cloud number and the effective point cloud set of each line in the object point cloud; when the number of the effective point clouds is larger than a preset threshold value, selecting a reference point cloud from the effective point cloud set; and correcting the row of object point clouds according to the effective point cloud set and the reference point cloud. By adopting the scheme provided by the invention, the deformation of the three-dimensional point cloud of the object in the vibration scene of the object can be corrected.
Drawings
FIG. 1 is a schematic flow chart of an object point cloud correction method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a calibration process according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an object point cloud correction apparatus according to an embodiment of the present invention;
fig. 4 is an internal structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples.
The embodiment of the invention provides an object point cloud correction method, as shown in fig. 1, the method comprises the following steps:
step 101: acquiring an object point cloud;
step 102: determining the effective point cloud number and the effective point cloud set of each line in the object point cloud;
step 103: when the number of the effective point clouds is larger than a preset threshold value, selecting a reference point cloud from the effective point cloud set;
step 104: and correcting the row of object point clouds according to the effective point cloud set and the reference point cloud.
The embodiment provides a method for correcting a three-dimensional point cloud of a flat object in a vibration scene with strong robustness, which takes a camera aperture imaging model into consideration to correct the point cloud in the x direction, so that flat and correct three-dimensional information of the surface of the flat object can be acquired in the vibration scene for subsequent analysis and use, and a production line does not need to be modified.
In addition, it should be noted that the solution of this embodiment is to correct the three-dimensional point cloud of the object into a correct shape, and unlike the smooth point cloud, the smooth point cloud makes the point cloud look smooth, but does not necessarily restore the point cloud into a correct shape.
In an embodiment, the correcting the line of object point clouds according to the effective point cloud set and the reference point cloud includes:
determining a first coordinate included angle of the effective point cloud set relative to the reference point cloud according to the effective point cloud set and the reference point cloud;
angle leveling on a Z coordinate axis is carried out on the row of object point clouds by utilizing the first coordinate included angle;
determining parameters of line laser equipment;
and adjusting the angle of the line of object point clouds on the X coordinate axis according to the line laser equipment parameters and the reference point clouds.
In one embodiment, the determining a first coordinate angle of the effective point cloud set relative to the reference point cloud according to the effective point cloud set and the reference point cloud includes:
calculating included angles between coordinate vectors and Y coordinate axes, wherein the coordinate vectors are formed by all point clouds in the effective point cloud set and the reference point clouds;
determining the average value of the included angles;
and taking the average value as the first coordinate included angle.
In an embodiment, the leveling the object point cloud on the Z coordinate axis by using the first coordinate angle includes:
calculating a first distance between each point cloud in the row of object point clouds and the reference point cloud;
calculating the adjustment height of each point cloud in the row of object point clouds on the Z coordinate axis according to the first distance and the first coordinate included angle;
and subtracting the adjustment height of each point cloud in the line of object point clouds on the Z coordinate axis on the basis of the Z coordinate value of each point cloud in the line of object point clouds, and carrying out angle leveling on the Z coordinate axis on each point cloud in the line of object point clouds.
In an embodiment, the calculating an adjusted height of each point cloud in the row of object point clouds on the Z coordinate axis according to the first distance and the first coordinate angle includes:
according to the first distance and the first coordinate included angle, calculating the adjustment height of each point cloud in the line of object point clouds on the Z coordinate axis by using the following formula (1):
Wherein, the first and the second end of the pipe are connected with each other,
indicating the adjusted height of each point cloud in the row of object point clouds on the Z coordinate axis,
representing a first distance between each point cloud in the row of object point clouds and a reference point cloud,
representing a first coordinate angle.
In an embodiment, the performing, according to the line laser device parameter and the reference point cloud, an angle adjustment on an X coordinate axis of the line of object point clouds includes:
inputting the line laser equipment parameters and the reference point cloud coordinates into a preset first equation, and acquiring the adjustment height of the line of object point clouds on an X coordinate axis;
when the Z coordinate value of the reference point cloud is larger than 0, subtracting the adjustment height of the line of object point clouds on the X coordinate axis on the basis of the X coordinate value of each point cloud in the line of object point clouds, and adjusting the height of each point cloud in the line of object point clouds on the X coordinate axis; and when the Z coordinate value of the reference point cloud is less than or equal to 0, adding the adjustment height of the line of object point clouds on the X coordinate axis on the basis of the X coordinate value of each point cloud in the line of object point clouds, and performing adjustment height on the X coordinate axis on each point cloud in the line of object point clouds.
In one embodiment, the preset first equation is:
wherein the content of the first and second substances,
coordinate values of each point cloud in the row of object point clouds on the Z coordinate axis,
representing coordinate values of the reference point cloud on the Z coordinate axis,
and
the parameters of the line laser apparatus are shown,
indicating the adjusted height of the row of object point clouds on the X coordinate axis,
the number of columns representing the current row of object point clouds,
representing the total number of columns of the object point cloud.
The object point cloud correction method provided by the embodiment of the invention obtains the object point cloud; determining the effective point cloud number and the effective point cloud set of each line in the object point cloud; when the number of the effective point clouds is larger than a preset threshold value, selecting a reference point cloud from the effective point cloud set; and correcting the line of object point clouds according to the effective point cloud set and the reference point cloud. By adopting the scheme provided by the invention, the deformation of the three-dimensional point cloud of the object in the vibration scene of the object can be corrected.
The present invention will be described in detail below with reference to application examples.
The application embodiment provides a method for correcting a three-dimensional point cloud of a flat object in a vibration scene with strong robustness, and the method considers a camera aperture imaging model to correct the point cloud in the x direction, so that flat and correct three-dimensional information of the surface of the flat object can be acquired in the vibration scene for subsequent analysis and use, and a production line does not need to be modified.
Specifically, the method comprises a calibration step part and a correction step part:
a calibration step part:
(1) as the internal reference of the line laser equipment cannot be given by the general equipment, but the method needs to be simply calibrated to obtain necessary information for subsequent calculation, referring to fig. 2, firstly, an object (such as a wood board) with edges and corners at the edge is taken, the edge of the object is placed at a position of about seventy percent in the line laser visual field, and the edge point of the current object is recorded as a position 1;
(2) acquiring a point cloud once by using a line laser to obtain a point cloud S1 (containing invalid point information, wherein the invalid point depth z value is-1000000000) at a position 1 and a corresponding camera image B1 thereof;
(3) transversely moving the object until the edge of the object is about to disappear and is in a line laser view, recording the edge position of the current object as a position 2, and acquiring a point cloud S2 and a camera image B2 corresponding to the point cloud S2, wherein the height of the position 1 is the same as that of the position 2 under the ideal condition;
(4) the main purpose of calibration is to obtain the distance d from the optical center of the line laser camera to the imaging plane, the half angle theta of the line laser view angle and the actual point distance dx on the imaging plane in fig. 1, and by respectively extracting the coordinates of the position 1 and the position 2 from the point cloud S1 and the point cloud S2, the height value of the position 1 is z, and the x-direction coordinate difference between the position 1 and the position 2 is delta x;
(5) the difference value Deltau of the horizontal coordinates of the edge in the camera vision field can be obtained through images B1 and B2 when the object is at different positions, and can be listed through the relation of similar triangles
Because two unknowns d and dx are included, the two unknowns d and dx cannot be directly solved, so that the steps 1 to 4 are repeated to obtain another set of similar triangular relationships at other positions, and the two equations are combined to obtain d and dx.
And a correction step part:
(1) acquiring a point cloud S of a flat object by a line laser sensor, wherein the point cloud S is H rows and W columns, and H multiplied by W points (including invalid points);
(2) establishing an array V with a size of H for recording the effective point number of each line (usually, when the line laser device collects the point cloud, a small z coordinate far beyond the measuring range is given to the ineffective point, such as-100000000), and counting the effective total point number of the z coordinate in the H-th line point cloud for each line of point cloud of the point cloud S
To make
；
(3) Establishing an array P with the size of H for recording the coordinates of the effective points of each line, and if V [ H ] is the H-th line]Greater than the threshold of the number of the single row valid points
(empirically set to be not less than 0.1 XW), then from S [ h ]][0]Starting at S [ h ]][W-1]Ending, sequentially arranging the row and column coordinates of the effective points
Store in P [ h ]]In this way P [ h ]]The first element and the last element of (a) are the starting row and the ending row of the effective points of the h row, and represent the point clouds of the flat objects in the row of point clouds;
(4) go through each row of point clouds of S, e.g., for h row of point clouds, if it is V [ h ]]Greater than the line valid point threshold
Then select the row point cloud valid point array P [ h ]]Medium number k =0.9 × V [ h ]](result rounded down) points
As a reference point of the line, the corresponding three-dimensional coordinates are expressed as
Is marked as
Then from P [ h ]][0]Starting up to p [ h ]][k-1]End, for each point p [ h ] in it][i]Obtaining corresponding three-dimensional coordinates from S
Calculating a vector
Angle with the Y coordinate axis vector (0, 1, 0)
All of the row
The sum is divided by the number k-1 to obtain the angle of the line
；
(5) Then through
The h-th line of point cloud of the point cloud S is subjected to angle leveling by leveling every point Sh in the line of point cloud][w]I.e. the point of the h-th line of the point cloud S, the distance between the point and the reference point of the line is calculated
Then pass through
Calculating the height Deltaz in the z direction required to be adjusted for leveling the angle,
finishing angle leveling;
(6) then, correcting the x coordinate of each point of the h-th line of point cloud based on the calibrated parameters by using an equation obtained by similar triangles
If only the equation is unknown, the equation can be directly solved
If the point cloud is larger than 0, the point cloud of the row needs to be elongated after being adjusted to the 0 plane, and then
(7) For a single point cloud elongated in the step 6, the point cloud distance after elongation is too large to cause over sparseness, and the point density is improved by performing interpolation operation by taking the mean value of adjacent points;
(8) the z-direction height of each point in the final point cloud S
Subtract the datum height of the row
Namely, it is
And finishing the leveling of the whole point cloud S of the leveling object.
The embodiment provides a method for correcting a three-dimensional point cloud of a flat object in a vibration scene with strong robustness, which fully considers a camera pinhole imaging model, solves the problem of point cloud deformation of line laser acquisition caused by random shaking of a conveyor belt, can obtain three-dimensional information of the surface of the flat object with high accuracy, and can be used for various analyses such as size detection, defect identification and the like.
In order to implement the method according to the embodiment of the present invention, an embodiment of the present invention further provides an object point cloud correction apparatus, as shown in fig. 3, the object point cloud correction apparatus 300 includes: an acquisition module 301, a determination module 302, a selection module 303 and a correction module 304; wherein the content of the first and second substances,
an obtaining module 301, configured to obtain an object point cloud;
a determining module 302, configured to determine an effective point cloud number and an effective point cloud set of each line in the object point cloud;
a selecting module 303, configured to select a reference point cloud from the effective point cloud set when the effective point cloud number is greater than a preset threshold;
and a correcting module 304, configured to correct the row of object point clouds according to the effective point cloud set and the reference point cloud.
In practical applications, the obtaining module 301, the determining module 302, the selecting module 303 and the correcting module 304 may be implemented by a processor in the object point cloud correcting apparatus.
It should be noted that: the apparatus provided in the foregoing embodiment is only illustrated by dividing the program modules, and in practical applications, the processing allocation may be completed by different program modules as needed, that is, the internal structure of the terminal is divided into different program modules, so as to complete all or part of the processing described above. In addition, the apparatus provided in the above embodiment and the method embodiment belong to the same concept, and the specific implementation process thereof is described in the method embodiment, which is not described herein again.
To implement the method of the embodiment of the present invention, the embodiment of the present invention further provides a computer program product, where the computer program product includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps of the method described above.
Based on the hardware implementation of the program module, in order to implement the method according to the embodiment of the present invention, an electronic device (computer device) is further provided in the embodiment of the present invention. Specifically, in one embodiment, the computer device may be a terminal, and its internal structure diagram may be as shown in fig. 4. The computer apparatus includes a processor a01, a network interface a02, a display screen a04, an input device a05, and a memory (not shown in the figure) connected through a system bus. Wherein processor a01 of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises an internal memory a03 and a non-volatile storage medium a 06. The nonvolatile storage medium a06 stores an operating system B01 and a computer program B02. The internal memory a03 provides an environment for the operation of the operating system B01 and the computer programs B02 in the non-volatile storage medium a 06. The network interface a02 of the computer apparatus is used for communication with an external terminal through a network connection. The computer program is executed by the processor a01 to implement the method of any of the above embodiments. The display screen a04 of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device a05 of the computer device may be a touch layer covered on the display screen, a button, a trackball or a touch pad arranged on a casing of the computer device, or an external keyboard, a touch pad or a mouse.
It will be appreciated by those skilled in the art that the configuration shown in fig. 4 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
The device provided by the embodiment of the present invention includes a processor, a memory, and a program stored in the memory and capable of running on the processor, and when the processor executes the program, the method according to any one of the embodiments is implemented.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include transitory computer readable media (transmyedia) such as modulated data signals and carrier waves.
It will be appreciated that the memory of embodiments of the invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The described memory for embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. An object point cloud correction method, characterized in that the method comprises:
acquiring an object point cloud;
determining the effective point cloud number and the effective point cloud set of each line in the object point cloud;
when the number of the effective point clouds is larger than a preset threshold value, selecting a reference point cloud from the effective point cloud set;
and correcting the line of object point clouds according to the effective point cloud set and the reference point cloud.
2. The method of claim 1, wherein the correcting the line of object point clouds based on the set of valid point clouds and the reference point cloud comprises:
determining a first coordinate included angle of the effective point cloud set relative to the reference point cloud according to the effective point cloud set and the reference point cloud;
angle leveling on a Z coordinate axis is carried out on the row of object point clouds by utilizing the first coordinate included angle;
determining parameters of line laser equipment;
and according to the line laser equipment parameters and the reference point cloud, carrying out angle adjustment on the X coordinate axis on the line of object point cloud.
3. The method of claim 2, wherein determining a first coordinate angle of the effective point cloud set relative to the reference point cloud from the effective point cloud set and the reference point cloud comprises:
calculating included angles between coordinate vectors and Y coordinate axes, wherein the coordinate vectors are formed by all point clouds in the effective point cloud set and the reference point clouds;
determining the average value of the included angles;
and taking the average value as the first coordinate included angle.
4. The method of claim 2, wherein the leveling the object point cloud with the first coordinate angle in the Z-coordinate axis comprises:
calculating a first distance between each point cloud in the row of object point clouds and the reference point cloud;
calculating the adjustment height of each point cloud in the row of object point clouds on the Z coordinate axis according to the first distance and the first coordinate included angle;
and subtracting the adjustment height of each point cloud in the row of object point clouds on the Z coordinate axis on the basis of the Z coordinate value of each point cloud in the row of object point clouds, and performing angle leveling on the Z coordinate axis on each point cloud in the row of object point clouds.
5. The method of claim 4, wherein calculating the adjusted height of each point cloud in the row of object point clouds along the Z-coordinate axis according to the first distance and the first coordinate angle comprises:
according to the first distance and the first coordinate included angle, calculating the adjustment height of each point cloud in the line of object point clouds on the Z coordinate axis by using the following formula (1):
Wherein the content of the first and second substances,
indicating the adjusted height of each point cloud in the row of object point clouds on the Z coordinate axis,
representing a first distance between each point cloud in the row of object point clouds and the reference point cloud,
representing a first coordinate angle.
6. The method of claim 2, wherein said adjusting the angle of the line of object point clouds in the X coordinate axis according to the line laser apparatus parameters and the reference point clouds comprises:
inputting the line laser equipment parameters and the reference point cloud coordinates into a preset first equation, and obtaining the adjustment height of the line of object point clouds on the X coordinate axis;
when the Z coordinate value of the reference point cloud is larger than 0, subtracting the adjustment height of the line of object point clouds on an X coordinate axis on the basis of the X coordinate value of each point cloud in the line of object point clouds, and performing adjustment height on the X coordinate axis on each point cloud in the line of object point clouds; and when the Z coordinate value of the reference point cloud is less than or equal to 0, adding the adjustment height of the line of object point clouds on the X coordinate axis on the basis of the X coordinate value of each point cloud in the line of object point clouds, and performing adjustment height on the X coordinate axis on each point cloud in the line of object point clouds.
7. The method of claim 6, wherein the predetermined first equation is:
wherein, the first and the second end of the pipe are connected with each other,
representing the line of object pointsCoordinate values of each point cloud in the cloud on the Z coordinate axis,
representing coordinate values of the reference point cloud on the Z coordinate axis,
and
the parameters of the line laser apparatus are shown,
indicating the adjusted height of the row of object point clouds on the X coordinate axis,
the column number of the object point cloud of the current row is represented,
representing the total number of columns of the object point cloud.
8. An object point cloud correction apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring an object point cloud;
the determining module is used for determining the effective point cloud number and the effective point cloud set of each line in the object point cloud;
the selecting module is used for selecting a reference point cloud from the effective point cloud set when the number of the effective point clouds is larger than a preset threshold value;
and the correcting module is used for correcting the line of object point clouds according to the effective point cloud set and the reference point cloud.
9. An electronic device, comprising: a processor and a memory for storing a computer program capable of running on the processor; wherein, the first and the second end of the pipe are connected with each other,
the processor is adapted to perform the steps of the method of any one of claims 1 to 7 when running the computer program.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method according to any one of claims 1 to 7.
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