Implementation Of LiDAR Point Cloud Acquisition And 3D Reconstruction Software System

LiDAR(Light Detection And Ranging) scanning system can obtain the surface three-dimensional information data of the target quickly through the laser active detection, and it is a new means of modern measurement techniques. Three-dimensional reconstruction of the LiDAR point cloud data used in reverse engineering, urban planning, ancient building protection, deformation monitoring, virtualization and others areas is more and more frequently, and the three-dimensional reconstruction of the LiDAR point cloud data research has become a hot topic. But the LiDAR system on the market is generally expensive, and the penetration is still low. For this situation, a software system was designed and implemented to complete the acquisition and reconstruction of point cloud data based on ground LiDAR hardware developed by oneself.In the first, the paper studied the structure of ground LiDAR system components, principles of ranging system and scan mode of scanner, analyzed the hardware system of LiDAR. In the second, this paper introduced the structure characters and processing of point cloud data, and studied the processing related to 3D reconstruction of point cloud data. Next, an acquisition software was designed using Visual Studio 2010 integrated development environment in Windows operating system. It achieved USB data communication between hardware and software, LiDAR scanner self-test, scan control and status monitoring, point cloud data acquisition and preservation, real-time display of 3D point cloud data using OpenGL. Finally, a 3D reconstruction software was designed, and mainly achieved these functions with the ground LiDAR point cloud data as a processing object:PCD Files read and write, point data search, surface feature of point cloud data estimation, key points extraction based on the changes of normal vector and curvature of point cloud data, point cloud data registration based on the Point Feature Histograms of the key points, point cloud data filter to remove the Outlier and down sampling, point cloud data 3D reconstruction and visualization.