Code point-driven three-dimensional point cloud deformation method

A code point-driven three-dimensional (3D) point cloud deformation method for monitoring a deformation state of a moving structure relative to a static structure connected thereto, comprising:

• (1) pasting a plurality of movable code points for recording a real-time pose of the moving structure on a surface of the moving structure, and pasting a plurality of fixed code points on the static structure;
• (2) when the moving structure is in a static state, obtaining a reference pose of each of the plurality of movable code points and a reference pose of each of the plurality of fixed code points using a dual-camera measurement system, and at the same time, obtaining a 3D point cloud reference model comprising parts of the moving structure and parts of the static structure using a 3D laser scanner;
• (3) when the moving structure is moving, regularly photographing, by the dual-camera measurement system, the moving structure and the static structure to obtain a real-time pose of each of the plurality of movable code points and a real-time pose of each of the plurality of fixed code points at different time points;
• aligning each of the plurality of fixed code points at each time point with the corresponding fixed code point when the moving structure is in a static state, and comparing the reference pose of any of the plurality of movable code points when the moving structure is in a static state with a real-time pose of the corresponding movable code point at each time point;
• and
• (4) calculating a transformation matrix from the reference pose of any of the plurality of movable code points when the moving structure is in a static state to real-time pose of the corresponding movable code point at each time point;
• and transforming point cloud of the moving structure in the 3D point cloud reference model through the transformation matrix at each time point to obtain real-time point cloud model data.