A point cloud geodesic path forward tracking generation method and device

Abstract

The invention relates to the field of point cloud data processing. The present invention selects the starting point p of the geodesic path s (x s ,y s ,z s ) and endpoint p e (x e ,y e ,z e ) between the main direction of travel, the main direction of travel is used to determine the gridded area; extract the coordinate values ​​of all data points in the gridded area to form three coordinate component arrays, sort the arrays and eliminate the same coordinate component values, and find out the grid The maximum and minimum values ​​of the coordinates of all point cloud data points in the grid area; respectively calculate the step size hx of the data points in the three axes i , hy j and hz k , non-uniformly grid two points p s and p e Between the data points, and then perform step 3; according to the step size hx i , hy j and hz k , use UNCDFMM to calculate the arrival time value of each cell of the wavefront grid; after calculating the arrival time of each cell, select the cells that satisfy the approximate geodesic property, and connect the vertices of these cells sequentially to form a geodesic path .

Description

technical field [0001] The invention relates to the field of point cloud data processing, in particular to a point cloud geodesic path forward tracking generation method and device. Background technique [0002] The shortest line between two points measured on the Earth's surface containing the two points to be measured. A geodesic, also known as a geodesic or geodesic, can be defined as the shortest or longest path between two points in space. [0003] Airline: The navigation of an airplane or ship in life is a geodesic. [0004] Geodesics on a cylinder: Cutting and flattening the cylinder gives an equidistant transformation from the cylinder to the plane, and the geodesics of the plane are straight lines. Therefore, when the geodesics on the cylindrical surface roll the plane into a cylindrical surface, the curves transformed from the straight lines on the plane can be easily found to be straight lines (sub-generic lines of the cylindrical surface), parallel circles or c...

AI Technical Summary

Problems solved by technology

Flatter areas usually use larger intervals (lesser density), and curved parts use smaller intervals (greater density). Due to the anisotropy of sampling, the existing mesh homogenization methods are more accurate for point clouds. The cell division is continuously subdivided from large to small until the cell contains only one point cloud data point. This division is uniform (the spacing in the three directions of X, Y, and Z is equal), resulting in point cloud data points often located in Inside the cell, the position of the cell is used to replace the position coordinates of the data point. The final generated geodesic line hardly passes through any data point of the point cloud (the point cloud data is not on the geodesic line), which is not faithful to the point cloud. data, so a less precise calculation method

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