CN117537735B - Measurement method and device - Google Patents
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- 238000000691 measurement method Methods 0.000 title description 10
- 238000005259 measurement Methods 0.000 claims abstract description 200
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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Abstract
The invention discloses a measuring method and a measuring device, wherein the measuring method is executed in a computing device, and the measuring method comprises the following steps: acquiring a panoramic image of a measured object, wherein the panoramic image is formed by splicing a plurality of shooting images, and any shooting image is in proportional relation with a solid part of the shot measured object; marking acquisition points from the panoramic view based on the measurement type; mapping each acquisition point position to an entity of the measurement object according to the proportional relation, and scanning the entity by laser to obtain corresponding point data; and acquiring a measurement result by using the point data.
Description
Technical Field
The invention relates to the field of measurement, in particular to a measurement method and a measurement device.
Background
With the rapid development of technology, there is an increasing demand for measuring objects. Particularly in specific fields, such as manufacturing industry, medical industry, environmental monitoring and the like, the method is particularly important for accurately measuring the size, shape and position of an object. However, the existing measurement technology often has certain limitations, such as low measurement precision, complex operation, need of professional personnel to implement, and the like, and cannot meet the increasing high-precision, rapid and convenient measurement requirements.
In object measurement, conventional measurement methods include direct measurement and indirect measurement. Direct measurement refers to direct reading of data such as the size, shape, etc. of an object, such as calipers, gauges, etc., by a measuring tool. However, these methods tend to measure only simple geometries and tend to be ineffective for complex three-dimensional structures. Indirect measurement is the calculation of the size and shape of an object by measuring certain physical properties of the object, such as optics, electromagnetism, etc. Such as by Computed Tomography (CT), magnetic Resonance (MRI), and the like. However, these methods tend to be expensive in equipment, complicated in operation, and have some damage to the object being measured.
Disclosure of Invention
The present invention has been made in view of the above problems, and it is an object of the present invention to provide a method, a computing device and a storage medium that overcome or at least partially solve the above problems.
According to one aspect of the present invention, there is provided a measurement method comprising:
Acquiring a panoramic image of a measured object, wherein the panoramic image is formed by splicing a plurality of shooting images, and any shooting image is in proportional relation with a solid part of the shot measured object;
Marking acquisition points from the panoramic view based on the measurement type;
Mapping each acquisition point position to an entity of the measurement object according to the proportional relation, and scanning the entity by laser to obtain corresponding point data;
And acquiring a measurement result by using the point data.
Optionally, in the method according to the invention, the measurement types include at least square flatness measurement, perpendicularity measurement and flatness measurement.
Optionally, in the method according to the present invention, when the measurement type is squareness measurement, marking the acquisition point from the panorama comprises:
Determining a first display area indicating a first measurement wall body and a second display area indicating a second measurement wall body from the panoramic image;
Marking overlapping areas indicating the first measurement wall and the second measurement wall from the first display area and the second display area;
Determining at least one overlapping acquisition point from the overlapping region;
And for each overlapped acquisition point, taking the overlapped acquisition points as starting points, extending and drawing lines to the first display area and the second display area to obtain a first extension line positioned in the first display area and a second extension line positioned in the second display area, and respectively selecting a plurality of points from the first extension line and the second extension line as the acquisition points, wherein the first extension line and the second extension line are vertical.
Optionally, in the method according to the present invention, using the point data, obtaining a measurement result includes:
placing the data of each point into a preset three-dimensional space coordinate system;
In the three-dimensional space coordinate system, connecting point data corresponding to acquisition points on the same extension line to obtain a first real line;
Judging whether the included angle between the first intersected measured lines meets a preset condition or not.
Optionally, in the method according to the present invention, when the measurement type is a perpendicularity measurement, marking the acquisition point from the panorama comprises:
Determining a third display area indicating a third measurement wall from the panorama;
making at least one vertical line perpendicular to the line indicating the upper and lower edges of the third measuring wall in the third display area;
for each vertical line, a plurality of points are selected as the acquisition points.
Optionally, in the method according to the present invention, using the point data, obtaining a measurement result includes:
placing the data of each point into a preset three-dimensional space coordinate system;
in the three-dimensional space coordinate system, connecting point data corresponding to the acquisition points on the same vertical line to obtain a second real measurement line;
And judging whether the included angle between each real line and the corresponding coordinate axis in the coordinate system meets the preset condition.
Optionally, in the method according to the present invention, when the measurement type is flatness measurement, marking the acquisition point from the panorama comprises:
determining a fourth display area indicating a fourth measurement wall from the panorama;
And indicating four corner points of the fourth measuring wall body and a plurality of points on the surface of the fourth measuring wall body as the collecting points.
Optionally, in the method according to the present invention, using the point data, obtaining a measurement result includes:
placing the data of each point into a preset three-dimensional space coordinate system;
And judging whether the distance between the point data corresponding to the acquisition points on the fourth measurement wall surface and the plane formed by the four corner points meets the preset condition or not.
Optionally, in the method according to the present invention, acquiring a panorama of the measurement object includes:
The method comprises the steps that an acquisition unit is utilized to acquire at least one shooting image of the measuring object under a plurality of different visual angles respectively;
and based on the shooting sequence of each shooting image, splicing the shooting images to obtain the panoramic image.
Optionally, before marking the acquisition point from the panoramic view, the method further comprises the following steps:
analyzing the panoramic image to obtain at least one panoramic element existing in the panoramic image;
a pre-stored element category set is called, wherein a plurality of different external element categories exist in the pre-stored element category set;
Comparing each panoramic element with a plurality of external element types in the pre-stored element type set;
if the category in any panoramic element belongs to one of a plurality of external element categories in the pre-stored element category set, rejecting the panoramic element in an element area in which the panoramic image is located to obtain a blank area;
And complementing the blank area based on a graph complementing preset strategy to obtain an updated panoramic graph, and deleting and/or adjusting the corresponding acquisition point positions if the marked acquisition point positions are judged to be in the blank area.
Optionally, the deleting and/or adjusting the corresponding acquisition point position includes:
determining deletion and/or adjustment of the acquisition points according to the measurement type;
If the acquisition points in any blank area are deleted, displaying the completed blank area according to a first state;
If the acquisition points in any blank area are adjusted, displaying the completed blank area according to a second state, respectively extending the acquisition points in the blank area as starting points according to two sides of the corresponding extending line direction, and determining other points on the extending line;
After determining the point outside the blank area, taking the determined point outside the blank area as a new acquisition point and stopping the extension determination of other points in two directions
Optionally, after the panoramic element is removed from the element area in which the panoramic image is located, the method further includes the following steps:
determining each contour point of the region contour forming the blank region based on the blank region obtained after the elimination;
and connecting each contour point with the center point in sequence by taking the center point of the blank area as a reference so as to complement the blank area.
According to yet another aspect of the present invention, there is provided a measuring apparatus comprising:
The acquisition module is configured to acquire a panoramic image of the measured object, wherein the panoramic image is formed by splicing a plurality of shooting images, and any shooting image is in proportional relation with the entity part of the shot measured object;
A tagging module configured to tag acquisition points from the panorama based on a measurement type;
the scanning module is configured to map each acquisition point position to the entity of the measurement object according to the proportional relation, and acquire corresponding point data by scanning the entity through laser;
And the result generation module is configured to acquire a measurement result by using the point data.
According to yet another aspect of the present invention, there is provided a computing device comprising: at least one processor and a memory storing program instructions, wherein the program instructions are configured to be executed by the at least one processor, the program instructions comprising instructions for performing the above-described measurement method.
According to yet another aspect of the present invention, there is provided a readable storage medium storing program instructions that, when read and executed by a computing device, cause the computing device to perform the above-described measurement method.
According to the scheme of the invention, the measured object is photographed in multiple directions, and the panoramic images corresponding to the measured object are spliced based on a plurality of photographing images; then marking acquisition points from the panoramic view based on the measurement type of the measurement object, and mapping the acquisition points to the entity of the measurement object according to the proportional relation; a laser scanning device may then be employed to scan the entity for corresponding point data, for example; finally, the obtained point data are utilized to obtain corresponding measurement results; the measuring method has the advantages of high measuring precision, low cost, no damage to the measured object in the measuring process and certain practicability.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the technical means of the present invention, as it is embodied in the present specification, and is intended to provide a better understanding of the above and other objects, features and advantages of the present invention, as it is embodied in the following description.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 shows a schematic diagram of a computing device 100 according to one embodiment of the invention;
FIG. 2 shows a flow chart of a measurement method 200 according to another embodiment of the invention;
fig. 3 shows a block diagram of a measuring device according to a further embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
With the rapid development of technology, there is an increasing demand for measuring objects. Particularly in specific fields, such as manufacturing industry, medical industry, environmental monitoring and the like, the method is particularly important for accurately measuring the size, shape and position of an object. However, the existing measurement technology often has certain limitations, such as low measurement precision, complex operation, need of professional personnel to implement, and the like, and cannot meet the increasing high-precision, rapid and convenient measurement requirements.
During the course of the inventors' study, it was found that: in object measurement, conventional measurement methods include direct measurement and indirect measurement. Direct measurement refers to direct reading of data such as the size, shape, etc. of an object, such as calipers, gauges, etc., by a measuring tool. However, these methods tend to measure only simple geometries and tend to be ineffective for complex three-dimensional structures. Indirect measurement is the calculation of the size and shape of an object by measuring certain physical properties of the object, such as optics, electromagnetism, etc. Such as by Computed Tomography (CT), magnetic Resonance (MRI), and the like. However, these methods tend to be expensive in equipment, complicated in operation, and have some damage to the object being measured.
The present inventors have proposed the present invention in order to solve the problems in the prior art described above. One embodiment of the invention provides a method that may be performed in a computing device. FIG. 1 illustrates a block diagram of a computing device 100 according to one embodiment of the invention. As shown in FIG. 1, in a basic configuration 102, a computing device 100 typically includes a system memory 106 and one or more processors 104. The memory bus 108 may be used for communication between the processor 104 and the system memory 106.
Depending on the desired configuration, the processor 104 may be any type of processing including, but not limited to: a microprocessor (μp), a microcontroller (μc), a digital information processor (DSP), or any combination thereof. The processor 104 may include one or more levels of caches, such as a first level cache 110 and a second level cache 112, a processor core 114, and registers 116. The example processor core 114 may include an Arithmetic Logic Unit (ALU), a Floating Point Unit (FPU), a digital signal processing core (DSP core), or any combination thereof. The example memory controller 118 may be used with the processor 104, or in some implementations, the memory controller 118 may be an internal part of the processor 104.
Depending on the desired configuration, system memory 106 may be any type of memory including, but not limited to: volatile memory (such as RAM), non-volatile memory (such as ROM, flash memory, etc.), or any combination thereof. Physical memory in a computing device is often referred to as volatile memory, RAM, and data in disk needs to be loaded into physical memory in order to be read by processor 104. The system memory 106 may include an operating system 120, one or more applications 122, and program data 124. The application 122 is actually a plurality of program instructions for instructing the processor 104 to perform a corresponding operation. In some implementations, the application 122 may be arranged to execute instructions on an operating system by the one or more processors 104 using the program data 124. Operating system 120 may be Linux, windows or the like, which includes program instructions for handling basic system services and performing hardware-dependent tasks. The application 122 includes program instructions for implementing various user-desired functions, and the application 122 may be, but is not limited to, a browser, instant messaging software, a software development tool (e.g., integrated development environment IDE, compiler, etc.), etc. When an application 122 is installed into computing device 100, a driver module may be added to operating system 120.
When the computing device 100 starts up running, the processor 104 reads the program instructions of the operating system 120 from the memory 106 and executes them. Applications 122 run on top of operating system 120, utilizing interfaces provided by operating system 120 and underlying hardware to implement various user-desired functions. When a user launches the application 122, the application 122 is loaded into the memory 106, and the processor 104 reads and executes the program instructions of the application 122 from the memory 106.
Computing device 100 also includes storage device 132, storage device 132 including removable storage 136 and non-removable storage 138, both removable storage 136 and non-removable storage 138 being connected to storage interface bus 134.
Computing device 100 may also include an interface bus 140 that communicates with basic configuration 102 via bus/interface controller 130 from various interface devices (e.g., output device 142, peripheral interface 144, and communication device 146). The example output device 142 includes a graphics processing unit 148 and an audio processing unit 150. They may be configured to facilitate communication with various external devices such as a display or speakers via one or more a/V ports 152. Example peripheral interfaces 144 may include a serial interface controller 154 and a parallel interface controller 156, which may be configured to facilitate communication via one or more I/O ports 158 and external devices such as input devices (e.g., keyboard, mouse, pen, voice input device, touch input device) or other external devices (e.g., printer, scanner, etc.). An example communication device 146 may include a network controller 160, which may be arranged to facilitate communication with one or more other computing devices 162 via one or more communication ports 164 over a network communication link.
The network communication link may be one example of a communication medium. Communication media may typically be embodied by computer readable instructions, data structures, program modules, and may include any information delivery media in a modulated data signal, such as a carrier wave or other transport mechanism. A signal may be "modulated data signal" such that one or more of its data set or changed in such a manner as to encode information in the signal. By way of non-limiting example, communication media may include wired media such as a wired network or special purpose network, and wireless media such as acoustic, radio Frequency (RF), microwave, infrared (IR) or other wireless media. The term computer readable media as used herein may include both storage media and communication media.
Computing device 100 also includes a storage interface bus 134 that is coupled to bus/interface controller 130. The storage interface bus 134 is coupled to the storage device 132, and the storage device 132 is adapted for data storage. An example storage device 132 may include removable storage 136 (e.g., CD, DVD, U disk, removable hard disk, etc.) and non-removable storage 138 (e.g., hard disk drive HDD, etc.).
In computing device 100 according to the present invention, application 122 includes a plurality of program instructions to perform method 200.
Fig. 2 shows a flow chart of a method 200 according to another embodiment of the invention. The method 200 is suitable for execution in a computing device, such as the computing device 100 described previously.
As shown in fig. 2, the purpose of the method 200 is to implement a measurement method, beginning with step S202, and in step S202, the following are included: and acquiring a panoramic image of the measured object, wherein the panoramic image is formed by splicing a plurality of shooting images, and any shooting image is in proportional relation with the entity part of the shot measured object.
Further, in step S202, the obtaining of the panoramic image of the measurement object further includes the following sub-steps:
The method comprises the steps of respectively acquiring at least one shooting image of a measurement object under a plurality of different visual angles by utilizing an acquisition unit;
and based on the shooting sequence of each shooting image, splicing the shooting images to obtain the panoramic image.
For example, a panorama can be understood as a representation of the surrounding environment as much as possible by means of wide angles of view and in the form of drawings, photographs, videos, three-dimensional models, etc.; capturing image information of the whole scene or rendering a picture by using modeling software, and performing picture splicing by using software to obtain a picture capable of displaying panoramic information; here, the acquisition unit may comprise a camera, video camera or other image acquisition device.
In this embodiment, the measurement object may include any object having a shape, such as a building in the construction industry, a mechanical device in the mechanical field, or a related object having a solid in other fields; in actual operation, a plurality of photographing devices such as cameras may firstly photograph a measurement object at a multi-azimuth angle to obtain a plurality of photographing images corresponding to a plurality of physical parts forming different azimuth of the measurement object, and then splice the plurality of photographing images in order to obtain a panorama of the measurement object, where each photographing image corresponds to a corresponding proportional relationship with the photographed physical part of the measurement object, so as to realize a mapping relationship between the plurality of physical parts forming the measurement object and the panorama.
In step S204, the following are included: based on the measurement type, the acquisition points are marked from the panorama.
In the present embodiment, when the measurement object is a building and has a plurality of wall surfaces, the measurement type may include at least square flatness measurement, perpendicularity measurement, and flatness measurement; wherein, squareness can be understood as: the accuracy of the alignment and geometric centreline of the building or its components in the horizontal direction. Briefly, squareness describes whether a building or its components are "on a straight line". If the squareness of a building or its components is poor, its edges may deviate from the center line, resulting in unstable structure or inconvenient use; verticality refers to the alignment of a building or its components in a vertical direction. If the verticality of a building or its components is not good, its edges may be inclined, resulting in unstable structure or inconvenient use; flatness refers to the level of the surface of a building or its terrace. Flatness directly affects the stability of a building or other structure, such as a roof, floor, etc. If the flatness of a building or terrace is not good, it may suffer from problems such as water accumulation and cracks.
For example, when the measurement type is squareness measurement, since squareness of a building wall refers to a standard dimension of wall perpendicularity, perpendicularity and inclination with respect to the ground, measurement can be performed by an angle between the wall and the ground based on the building, and thus, marking an acquisition point from a panorama may include the following sub-steps:
Determining a first display area indicating a first measurement wall body and a second display area indicating a second measurement wall body from the panoramic image;
Marking overlapping areas indicating the first measurement wall and the second measurement wall from the first display area and the second display area;
And for each overlapped acquisition point, taking the overlapped acquisition points as starting points, extending and drawing lines to the first display area and the second display area to obtain a first extension line positioned in the first display area and a second extension line positioned in the second display area, and respectively selecting a plurality of points from the first extension line and the second extension line as acquisition points, wherein the first extension line and the second extension line are vertical.
It can be stated that the first measuring wall body and the second measuring wall body are independent wall bodies with included angles on two sides, the first measuring wall body and the second measuring wall body are adjacently arranged, one wall body can be ground, and an overlapping area is formed between the first measuring wall body and the second measuring wall body; because the panorama of the measurement object and the physical portion of the measurement object are in a mapping relationship, the first display area and the second display area in the panorama can be mapped to the first measurement wall and the second measurement wall of the measurement object correspondingly, and the overlapping area where the first display area and the second display area overlap can also be mapped to the overlapping position where the first measurement wall and the second measurement wall of the measurement object overlap correspondingly.
Here, when the measurement type is square accuracy measurement, the method of acquiring the acquisition point includes: determining at least one overlapping acquisition point in an overlapping area where a first display area and a second display area overlap, and respectively extending drawn lines to the first display area and the second display area based on each overlapping acquisition point as a starting point, so as to respectively obtain a first extension line positioned in the first display area and a second extension line positioned in the second display area, and then respectively selecting a plurality of points from the first extension line and the second extension line to serve as acquisition points; wherein the first extension line and the second extension line need to be perpendicular.
For example, when the measurement type is a perpendicularity measurement, since perpendicularity of a building wall refers to a vertical deviation of a vertical height of the wall, measurement can be performed by a vertical deviation based on opposite edge lines of the building, and thus, marking an acquisition point from a panorama can include the following sub-steps:
determining a third display area from the panorama indicating a third measurement wall;
making at least one vertical line perpendicular to the line indicating the upper and lower edges of the third measuring wall in the third display area;
For each vertical line, a plurality of points are selected as acquisition points.
It may be noted that the third measurement wall is an integrally formed wall, and is independent from the first measurement wall and the second measurement wall, and the third display area in the panorama may be mapped to the third measurement wall of the measurement object.
Here, when the measurement type is perpendicularity measurement, the method of acquiring the acquisition point includes: by making at least one vertical line perpendicular to the upper and lower edge lines indicating the third measuring wall in the third display area, and based on each vertical line, respectively selecting a plurality of points as acquisition points; the third measuring wall may be rectangular, and the upper and lower edges of the third measuring wall may be understood as two non-adjacent rectangular sides.
For example, when the measurement type is flatness measurement, since the flatness of a building wall refers to the degree of unevenness between the wall surface and a reference plane, measurement can be performed by the flatness of the surface of the wall based on the building, and thus, marking the acquisition point from the panorama can include the following sub-steps:
determining a fourth display area indicating a fourth measurement wall from the panoramic view;
And indicating four corner points of the fourth measuring wall body and a plurality of points on the surface of the fourth measuring wall body as acquisition points.
It may be noted that the fourth measurement wall is also an integrally formed wall, and is independent from the first measurement wall, the second measurement wall, and the third measurement wall, and the fourth display area in the panorama may be mapped to the fourth measurement wall of the measurement object.
Here, the fourth measuring wall may be rectangular, and when the measuring type is flatness measurement, the method of obtaining the collection point includes: and taking a plurality of points for indicating four corner points and surfaces of the fourth measuring wall as acquisition points.
The inventor further found in the study that, because the external device such as the socket or the bulb is often convexly installed on the building wall, and the external device often has a certain shape, such as a rectangle, an ellipse or other irregular shapes, when the square degree, the perpendicularity and the flatness of the building wall are measured, the measurement result is deviated due to the existence of the external device, so in order to improve the measurement accuracy, the external object possibly existing on the building wall needs to be removed before the measurement of the building wall is performed.
To achieve the above object, in one possible implementation manner, the present inventors propose that before S04, the method may further include the following steps:
analyzing the panorama to obtain at least one panorama element existing in the panorama;
a pre-stored element category set is called, and a plurality of different external element categories exist in the pre-stored element category set;
comparing each panoramic element with a plurality of external element types in a pre-stored element type set;
If the category in any panoramic element belongs to one of a plurality of external element categories in the element category set, rejecting the panoramic element in the element area in the panoramic image.
In this embodiment, the types of external elements that may exist on the building wall may be collected and sorted in advance, and a corresponding set of pre-stored element types may be formed, where the set of pre-stored element types may be stored in a storage device such as a usb disk, a hard disk, etc.; after the panorama is acquired, the panorama can be scanned and analyzed to obtain at least one panorama element present in the panorama, where the panorama element is to be understood as an object element present in the panorama; after the panoramic element is obtained, the panoramic element can be compared with the types of the external elements in the pre-stored element type set, if the comparison result shows that the type of the panoramic element belongs to one of the types of the external elements in the pre-stored element type set, the existence of the panoramic element is indicated to cause the deviation of the subsequent measurement result, so that the panoramic element can be removed, and the panoramic image after the panoramic element is removed is marked with the acquisition point position.
Further, after the panoramic elements are removed from the element areas in the panoramic image, corresponding blank areas appear on the panoramic image, and in order to ensure the accuracy and the integrity of the subsequent measurement results, the blank areas need to be complemented; thus, in this implementation, the following steps are also included:
determining each contour point of the region contour forming the blank region based on the blank region obtained after the elimination;
and connecting each contour point with the center point in sequence by taking the center point of the blank area as a reference so as to complement the blank area.
In this embodiment, the area profile of the blank area may be understood as being composed of a plurality of profile points, and in order to complement the blank area, the profile points may be sequentially connected with the center point with reference to the center point of the blank area, so as to achieve the effect of complementing the blank area; in addition, besides connecting each contour point with the center point in sequence to complement the blank area, the contour points can be mutually connected in pairs, so that the blank area is complemented.
The method and the device can complement the blank area based on a graph complement preset strategy to obtain an updated panoramic graph, and delete and/or adjust corresponding acquisition points if the marked acquisition points are judged to be in the blank area. In an actual application scene, elements corresponding to the blank area may have uneven conditions, so that errors occur if the acquisition points are selected in the corresponding area for measurement, and the acquisition points in the blank area are deleted and/or adjusted to avoid the error.
The technical scheme provided by the invention, wherein the deleting and/or adjusting of the corresponding acquisition point position comprises the following steps:
and determining deletion and/or adjustment of the acquisition point according to the measurement type. Different measurement types the present invention may preset different processing modes, such as deleting and/or adjusting the acquisition point.
And if the acquisition points in any blank area are deleted, displaying the completed blank area according to a first state. When the acquisition points are deleted, the method and the device do not complement the deleted acquisition points, and the method and the device display the complement blank areas according to the first state so as to remind the user.
And if the acquisition points in any blank area are adjusted, displaying the completed blank area according to a second state, respectively extending the acquisition points in the blank area as starting points according to two sides of the corresponding extending line direction, and determining other points on the extending line. At this point the invention will adjust the acquisition point and display it in a second state and proceed to extend the selection of a new point as an acquisition point to replace the deleted acquisition point.
After determining the point outside the blank area, taking the determined point outside the blank area as a new acquisition point and stopping the extension determination of other points in two directions. By the method, the point which is closest to the blank area in the extension line and is relatively away from the blank area can be determined as the acquisition point, and after the corresponding acquisition point is determined, the extension determination of other points in two directions is stopped, so that the adjustment of the acquisition point is realized.
In step S206, the following are included: according to the above-mentioned proportional relation in S202, each acquisition point in S204 is mapped onto the entity of the measurement object, and the entity of the measurement object is scanned by the laser to obtain the corresponding point data.
In this embodiment, since the panorama and the measurement object are in a mapping relationship, after mapping each acquisition point acquired in S204 onto the entity of the measurement object, the corresponding laser scanning device may be used to perform whole-body scanning on the measurement object, so as to obtain the electrical data of the entity corresponding to the measurement object.
In step S208, the following is included, and the corresponding measurement result is acquired according to the corresponding point data acquired in S206.
For example, when the point data is obtained based on a squareness measurement, for example, the substep of obtaining the measurement result may include:
Placing each data into a preset three-dimensional space coordinate system;
In a three-dimensional space coordinate system, connecting point data corresponding to acquisition points on the same extension line to obtain a first real measurement line;
Judging whether the included angle between the first intersected measured lines meets a preset condition or not.
In the present embodiment, the three-dimensional space coordinate system is a coordinate system for describing and indicating the position of a point in the three-dimensional space, which describes the position of a point using three parameters; the method comprises the steps that a corresponding three-dimensional space coordinate system can be established based on a building wall body, corresponding point data are placed in the three-dimensional space coordinate system, and because the first extension line and the acquisition point on the second extension line exist in the three-dimensional space coordinate system, the point data corresponding to the acquisition point on the same extension line can be connected, so that first real measurement lines corresponding to measurement wall objects are obtained respectively, and whether the included angle between the intersected first real measurement lines meets preset conditions is judged; here, the preset condition may be set based on the square accuracy qualification condition of the building wall, for example, an included angle range may be 85 ° to 95 °, that is, when the included angle between the first intersecting measured lines is in the range of 85 ° to 95 °, the square accuracy of the measurement object may be judged to be in a qualified state.
For example, when the point data is obtained based on a perpendicularity measurement, for example, the substep of obtaining the measurement result may include:
placing the data of each point into a preset three-dimensional space coordinate system;
In the three-dimensional space coordinate system, connecting point data corresponding to the acquisition points on the same vertical line to obtain a second real measurement line;
And judging whether the included angle between each real line and the corresponding coordinate axis in the coordinate system meets the preset condition.
In this embodiment, similar to the above, a corresponding three-dimensional space coordinate system may be established based on the building wall, and the corresponding point data is placed in the three-dimensional space coordinate system, and since there is at least one acquisition point on a vertical line in the three-dimensional space coordinate system, the point data corresponding to the acquisition point on the same vertical line may be connected to obtain a second real line, and whether the included angle between each real line and the corresponding coordinate axis in the coordinate system satisfies the preset condition is determined; here, the preset condition may be set based on the condition that the verticality of the building wall is qualified, for example, an included angle range may be 85 ° to 95 °, that is, when the included angle between each real line and the corresponding coordinate axis in the coordinate system is in the range of 85 ° to 95 °, the verticality of the measurement object may be judged to be in a qualified state.
For example, when the point data is obtained based on a flatness measurement, for example, the substep of obtaining the measurement result may include:
placing the data of each point into a preset three-dimensional space coordinate system;
And judging whether the distance between the point data corresponding to the acquisition point on the fourth measurement wall surface and the plane formed by the four corner points meets the preset condition or not.
Here, similarly to the above, a corresponding three-dimensional space coordinate system may be established based on the building wall, and the corresponding point data may be placed in the three-dimensional space coordinate system, and since there are four corner points for indicating the fourth measurement wall and a plurality of points on the fourth measurement wall surface in the three-dimensional space coordinate system, the point data for indicating the acquisition point on the fourth measurement wall surface may be first formed into a corresponding plane with the four corner points, and then it may be determined whether the distances between the plurality of planes satisfy the preset condition; here, the preset condition may be set based on a flatness qualification condition of the building wall, for example, a distance range may be 1cm to 3cm, that is, when a distance between a plurality of planes is in a range of 1cm to 3cm, it may be determined that the flatness of the measurement object is in a qualified state.
According to the embodiment, the measured object is photographed in multiple directions, and panoramic images corresponding to the measured object are formed by splicing the photographed images; then marking acquisition points from the panoramic view based on the measurement type of the measurement object, and mapping the acquisition points to the entity of the measurement object according to the proportional relation; a laser scanning device may then be employed to scan the entity for corresponding point data, for example; finally, the obtained point data are utilized to obtain corresponding measurement results; the measuring method has the advantages of high measuring precision, low cost, no damage to the measured object in the measuring process and certain practicability.
Yet another embodiment of the present invention provides a measuring device, fig. 3 being a block diagram of its corresponding device, the device comprising:
The acquisition module is configured to acquire a panoramic image of the measured object, wherein the panoramic image is formed by splicing a plurality of shooting images, and any shooting image is in proportional relation with the entity part of the shot measured object;
A marking module configured to mark acquisition points from the panorama based on the measurement type;
The scanning module is configured to map each acquisition point position onto an entity of a measurement object according to the proportion relation, and acquire corresponding point data by scanning the entity through laser;
And the result generation module is configured to acquire a measurement result by using the point data.
The various techniques described herein may be implemented in connection with hardware or software or, alternatively, with a combination of both. Thus, the methods and apparatus of the present invention, or certain aspects or portions of the methods and apparatus of the present invention, may take the form of program code (i.e., instructions) embodied in tangible media, such as removable hard drives, U-drives, floppy diskettes, CD-ROMs, or any other machine-readable storage medium, wherein, when the program is loaded into and executed by a machine, such as a computer, the machine becomes an apparatus for practicing the invention.
In the case of program code execution on programmable computers, the computing device will generally include a processor, a storage medium readable by the processor (including volatile and non-volatile memory and/or storage elements), at least one input device, and at least one output device. Wherein the memory is configured to store program code; the processor is configured to perform the method of the invention in accordance with instructions in said program code stored in the memory.
By way of example, and not limitation, readable media comprise readable storage media and communication media. The readable storage medium stores information such as computer readable instructions, data structures, program modules, or other data. Communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. Combinations of any of the above are also included within the scope of readable media.
In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with examples of the invention. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It should be appreciated that the teachings of the present invention as described herein may be implemented in a variety of programming languages and that the foregoing description of specific languages is provided for disclosure of preferred embodiments of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in a device as described in this embodiment, or alternatively may be located in one or more devices different from the devices in this example. The modules in the foregoing examples may be combined into one module or may be further divided into a plurality of sub-modules.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Furthermore, some of the embodiments are described herein as methods or combinations of method elements that may be implemented by a processor of a computer system or by other means of performing the functions. Thus, a processor with the necessary instructions for implementing the described method or method element forms a means for implementing the method or method element. Furthermore, the elements of the apparatus embodiments described herein are examples of the following apparatus: the apparatus is for carrying out the functions performed by the elements that are also for carrying out the objects of the invention.
As used herein, unless otherwise specified the use of the ordinal terms "first," "second," "third," etc., to describe a general object merely denote different instances of like objects, and are not intended to imply that the objects so described must have a given order, either temporally, spatially, in ranking, or in any other manner.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of the above description, will appreciate that other embodiments are contemplated within the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is intended to be illustrative, but not limiting, of the scope of the invention, which is defined by the appended claims.
Claims (3)
1. A method of measurement, comprising:
Acquiring a panoramic image of a measured object, wherein the panoramic image is formed by splicing a plurality of shooting images, and any shooting image is in proportional relation with a solid part of the shot measured object;
Marking acquisition points from the panoramic view based on the measurement type;
Mapping each acquisition point position to an entity of the measurement object according to the proportional relation, and scanning the entity by laser to obtain corresponding point data;
acquiring a measurement result by using the point data;
Wherein the measurement type at least comprises square flatness measurement, perpendicularity measurement and flatness measurement;
when the measurement type is square measurement, marking the acquisition point position from the panoramic image, including:
Determining a first display area indicating a first measurement wall body and a second display area indicating a second measurement wall body from the panoramic image;
Marking overlapping areas indicating the first measurement wall and the second measurement wall from the first display area and the second display area;
Determining at least one overlapping acquisition point from the overlapping region;
For each overlapped acquisition point, taking the overlapped acquisition points as starting points, extending and drawing lines to a first display area and a second display area to obtain a first extension line positioned in the first display area and a second extension line positioned in the second display area, and respectively selecting a plurality of points from the first extension line and the second extension line as the acquisition points, wherein the first extension line and the second extension line are vertical;
Obtaining a measurement result using the point data, including:
placing the data of each point into a preset three-dimensional space coordinate system;
In the three-dimensional space coordinate system, connecting point data corresponding to acquisition points on the same extension line to obtain a first real line;
Judging whether the included angle between the first actual measurement lines of each intersection meets a preset condition or not;
When the measurement type is perpendicularity measurement, marking an acquisition point position from the panoramic image, including:
Determining a third display area indicating a third measurement wall from the panorama;
making at least one vertical line perpendicular to the line indicating the upper and lower edges of the third measuring wall in the third display area;
selecting a plurality of points as the acquisition points for each vertical line respectively;
Obtaining a measurement result using the point data, including:
placing the data of each point into a preset three-dimensional space coordinate system;
in the three-dimensional space coordinate system, connecting point data corresponding to the acquisition points on the same vertical line to obtain a second real measurement line;
Judging whether the included angle between each real line and the corresponding coordinate axis in the coordinate system meets the preset condition;
When the measurement type is flatness measurement, marking the acquisition point position from the panoramic image, including:
determining a fourth display area indicating a fourth measurement wall from the panorama;
four corner points indicating the fourth measuring wall body and a plurality of points on the fourth measuring wall body surface are used as the collecting points;
Obtaining a measurement result using the point data, including:
placing the data of each point into a preset three-dimensional space coordinate system;
And judging whether the distance between the point data corresponding to the acquisition points on the fourth measurement wall surface and the plane formed by the four corner points meets the preset condition or not.
2. The method of claim 1, wherein obtaining a panoramic view of the measurement object comprises:
The method comprises the steps that an acquisition unit is utilized to acquire at least one shooting image of the measuring object under a plurality of different visual angles respectively;
and based on the shooting sequence of each shooting image, splicing the shooting images to obtain the panoramic image.
3. A measurement device, comprising:
The acquisition module is configured to acquire a panoramic image of the measured object, wherein the panoramic image is formed by splicing a plurality of shooting images, and any shooting image is in proportional relation with the entity part of the shot measured object;
A tagging module configured to tag acquisition points from the panorama based on a measurement type;
the scanning module is configured to map each acquisition point position to the entity of the measurement object according to the proportional relation, and acquire corresponding point data by scanning the entity through laser;
a result generation module configured to acquire a measurement result using the point data;
Wherein the measurement type at least comprises square flatness measurement, perpendicularity measurement and flatness measurement;
when the measurement type is square measurement, marking the acquisition point position from the panoramic image, including:
Determining a first display area indicating a first measurement wall body and a second display area indicating a second measurement wall body from the panoramic image;
Marking overlapping areas indicating the first measurement wall and the second measurement wall from the first display area and the second display area;
Determining at least one overlapping acquisition point from the overlapping region;
For each overlapped acquisition point, taking the overlapped acquisition points as starting points, extending and drawing lines to a first display area and a second display area to obtain a first extension line positioned in the first display area and a second extension line positioned in the second display area, and respectively selecting a plurality of points from the first extension line and the second extension line as the acquisition points, wherein the first extension line and the second extension line are vertical;
Obtaining a measurement result using the point data, including:
placing the data of each point into a preset three-dimensional space coordinate system;
In the three-dimensional space coordinate system, connecting point data corresponding to acquisition points on the same extension line to obtain a first real line;
Judging whether the included angle between the first actual measurement lines of each intersection meets a preset condition or not;
When the measurement type is perpendicularity measurement, marking an acquisition point position from the panoramic image, including:
Determining a third display area indicating a third measurement wall from the panorama;
making at least one vertical line perpendicular to the line indicating the upper and lower edges of the third measuring wall in the third display area;
selecting a plurality of points as the acquisition points for each vertical line respectively;
Obtaining a measurement result using the point data, including:
placing the data of each point into a preset three-dimensional space coordinate system;
in the three-dimensional space coordinate system, connecting point data corresponding to the acquisition points on the same vertical line to obtain a second real measurement line;
Judging whether the included angle between each real line and the corresponding coordinate axis in the coordinate system meets the preset condition;
When the measurement type is flatness measurement, marking the acquisition point position from the panoramic image, including:
determining a fourth display area indicating a fourth measurement wall from the panorama;
four corner points indicating the fourth measuring wall body and a plurality of points on the fourth measuring wall body surface are used as the collecting points;
Obtaining a measurement result using the point data, including:
placing the data of each point into a preset three-dimensional space coordinate system;
And judging whether the distance between the point data corresponding to the acquisition points on the fourth measurement wall surface and the plane formed by the four corner points meets the preset condition or not.
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