CN108335337B - method and device for generating orthoimage picture - Google Patents
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The application discloses a method for generating an orthoimage picture, which comprises the following steps: selecting sampling track points from track points generated when the collection vehicle runs on a road according to a preset sampling rule; aiming at a sampling track point, determining a road area range covered by an orthophoto map to be rendered according to the coordinates of the sampling track point, the driving direction angle of a collection vehicle and the side length of a drawing area, wherein the range comprises at least one grid, and each grid corresponds to a pixel point of the orthophoto map to be rendered; obtaining the height value of each grid from the point cloud data of the road generated by the collection vehicle during driving according to the plane coordinate of each grid, and obtaining the three-dimensional coordinate of each grid; obtaining the color corresponding to each grid according to the three-dimensional coordinates of each grid, the image data of the road and the camera parameters; the color of the pixel point corresponding to each grid in the orthographic projection image to be rendered is rendered into the color corresponding to the corresponding grid, the scheme fully considers the height change of the road surface, and a more accurate orthographic projection image is generated.
Description
Technical Field
the present disclosure relates to the field of map data processing technologies, and in particular, to a method and an apparatus for generating an ortho-image map.
background
the orthographic image map is a plane map with orthographic projection property, and has the characteristics of geometric position information, image intuitiveness and the like, so that the orthographic image map is used for generating a map to obtain the orthographic image map and is widely applied to navigation products.
When the orthographic image map is generated, the orthographic image of the road surface needs to be generated, in the prior art, when the orthographic image of the road surface is generated, the height of the road surface is set to be a uniform fixed height value, and in the process of carrying out orthographic projection processing, the fixed height value is used as an input parameter of the processing, and finally the orthographic image of the road surface is obtained.
In reality, the road surface often has undulation, and the height of road surface is not a uniform, and therefore, the change of road surface height has not been fully considered among the prior art, and sets up road surface height to unified fixed height value, and this can cause the accuracy of the orthophoto map that obtains according to unified fixed road surface height value not high.
Disclosure of Invention
in view of the above, the present application provides a method and an apparatus for generating an orthophoto map to eliminate the problem of inaccuracy of the generated orthophoto map due to inaccuracy of the height value.
In order to achieve the above object, the present application provides a method for generating an orthoimage map, the method including:
Selecting sampling track points from track points generated when the collection vehicle runs on a road according to a preset sampling rule;
aiming at a sampling track point, determining a road area range covered by an orthophoto map to be rendered according to the coordinates of the sampling track point, the driving direction angle of a collection vehicle and the preset side length of a drawing area, wherein the road area range comprises at least one grid, and each grid corresponds to a pixel point of the orthophoto map to be rendered;
Obtaining the plane coordinate of each grid according to the coordinate of the sampling track point and the driving direction angle of the collection vehicle;
according to the plane coordinates of each grid, obtaining the height value of each grid from the point cloud data of the road generated when the collection vehicle runs on the road, wherein the height value and the plane coordinates of each grid form the three-dimensional coordinates of each grid;
obtaining the color corresponding to each grid according to the three-dimensional coordinates of each grid, the image data of the road and preset camera parameters, wherein the camera parameters are the camera parameters which are installed on the acquisition vehicle and used for shooting the image data of the road;
rendering the color of the pixel point corresponding to each grid in the orthographic projection image to be rendered into the color corresponding to the corresponding grid.
the present application further provides an apparatus for generating an orthophoto map, the apparatus comprising:
The sampling track point selecting unit is used for selecting sampling track points from track points generated when the collection vehicle runs on a road according to a preset sampling rule;
the range determining unit is used for determining a road area range covered by the orthographic projection image to be rendered according to the coordinates of a sampling track point, the driving direction angle of the collection vehicle and the preset side length of a drawing area aiming at the sampling track point, wherein the road area range comprises a plurality of grids, and each grid corresponds to one pixel point of the orthographic projection image to be rendered;
The plane coordinate determination unit is used for obtaining the plane coordinate of each grid according to the coordinate of the sampling track point and the driving direction angle of the collection vehicle;
the three-dimensional coordinate determination unit is used for obtaining the height value of each grid from the point cloud data of the road generated when the collection vehicle runs on the road according to the plane coordinate of each grid, and the height value and the plane coordinate of each grid form the three-dimensional coordinate of each grid;
the color determining unit is used for obtaining the color corresponding to each grid according to the three-dimensional coordinates of each grid, the image data of the road and preset camera parameters, and the camera parameters are the camera parameters which are installed on the collecting vehicle and used for shooting the image data of the road;
and the rendering unit is used for rendering the color of the pixel point corresponding to each grid in the orthographic projection image to be rendered into the color corresponding to the corresponding grid.
according to the technical scheme, the sampling track points are selected from the track points generated when the collection vehicle runs on the road, and aiming at one sampling track point, determining the road area range covered by the orthophoto map to be rendered according to the coordinates of the sampling track points, the driving direction angle of the collection vehicle and the preset side length of the drawing area, wherein the road area range comprises a plurality of grids, calculating the plane coordinates of each grid, according to the plane coordinates of each grid, obtaining the height value of each grid from the point cloud data of the road generated when the collection vehicle runs on the road, further obtaining the three-dimensional coordinates of the grids, further obtaining the corresponding color of each grid according to the three-dimensional coordinates of each grid, the picture data of the road and the preset camera parameters, and rendering the color of the pixel point corresponding to each grid in the orthographic projection image to be rendered into the color corresponding to the corresponding grid. In the orthophoto map generating process, the point cloud data comprises real height values of road surface sampling points, so that the height value of each grid obtained from the point cloud data is the most real height value of the image corresponding to the grid area, the generation of the orthophoto map based on the three-dimensional coordinates comprising the real height values fully considers the height fluctuation change of the road surface, and the problem of inaccuracy of the generated orthophoto map caused by inaccurate height value parameters is solved.
drawings
in order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
fig. 1 is a flowchart of a method for generating an orthoimage chart according to an embodiment of the present disclosure;
FIG. 2 is an exemplary diagram of determining a road region range covered by an orthophoto map to be rendered according to the present disclosure;
FIG. 3 is a flowchart of a method for determining a target road picture according to another embodiment of the present disclosure;
FIG. 4 is an exemplary graph of the shooting distance of the camera of the present application;
fig. 5 is a block diagram of an apparatus for generating an orthoimage according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
the embodiment of the application provides a method for generating an orthoimage picture, and a specific flow is shown in fig. 1.
step S100: selecting sampling track points from track points generated when the collection vehicle runs on a road according to a preset sampling rule;
The acquisition vehicle acquires road picture data in the process of running along a road, track points are generated in the process, and the position information corresponding to the track points can be acquired through positioning equipment carried by the acquisition vehicle, such as GPS positioning equipment and inertial navigation positioning equipment.
Preferably, the sampling track points can be selected from the track points generated when the collection vehicle runs on the road according to a sampling rule that the distance between two adjacent sampling track points is equal to a preset distance threshold value.
specifically, the preset distance threshold may be equal to a length value in the preset side length of the drawing area, where a side of the drawing area parallel to the vehicle driving direction is a long side, for example, the length value is 20 meters, and then the distance between two adjacent sampling track points is 20 meters.
step S110, aiming at a sampling track point, determining a road area range covered by an orthophoto map to be rendered according to the coordinates of the sampling track point, the driving direction angle of a collection vehicle and the preset side length of a drawing area, wherein the road area range comprises at least one grid, and each grid corresponds to one pixel point of the orthophoto map to be rendered;
The coordinates of the sampling track points can be longitude and latitude coordinates or plane coordinates after the longitude and latitude conversion; the driving direction of the collection vehicle is the driving direction of the collection vehicle when the sampling track point is generated, and the driving direction angle refers to an included angle between the driving direction and the due north direction and can be collected from inertial navigation equipment of the vehicle; the length value in the preset drawing area side length may be determined by the difference between the close-up shooting distance and the farthest-up shooting distance of the camera, as shown in fig. 4, for example, the closest shooting distance of the camera is 2 meters in front of the camera, the farthest-up shooting distance is 22 meters in front of the camera, and the difference is 20 meters, so the length value may be set to 20 meters; the width value can be set according to the width of the road, and the width of the drawing area capable of covering the road is taken as the standard.
taking the preset drawing area side length of 20m × 20m as an example, assuming that the current vehicle runs in a middle lane, the road area range covered by the orthophoto map to be rendered is based on the position of the current sampling track point, and the road area covered by 2 meters to 22 meters in front of the running direction, 10 meters on the left side and 10 meters on the right side is taken, as shown in fig. 2, two adjacent sampling track points: the distance value between sampling track point 1 and sampling track point 2 is 20 meters, and the road that drawing area 1 and drawing area 2 that two sampling track points correspond respectively covered is sampling track point 1 and the road region scope that adopts the orthophoto map that treats the rendering that track point 2 corresponds to cover respectively.
The road area range includes at least one grid, and specifically, the number of the grids may be determined according to a preset resolution, for example, the preset resolution is 1000 × 1000, that is, the resolution of the generated orthophoto map is 1000 × 1000, and the mapping area includes 1000 × 1000 grids.
step 120, obtaining a plane coordinate of each grid according to the coordinates of the sampling track points and the driving direction angle of the collection vehicle;
Specifically, the calculation may be performed according to the following grid plane coordinate calculation formula:
x2＝x1*cos(yaw)+y1*sin(yaw)+X0；
y2＝-x1*sin(yaw)+y1*cos(yaw)+Y0；
X2 and Y2 denote plane coordinates of the grid, X0 and Y0 denote coordinates of the sampled track points, X1 and Y1 denote grid coordinates of the grid in a grid coordinate system with the sampled track points as the origin of coordinates, and yaw denotes a driving direction angle, where the plane coordinates refer to coordinates in a rectangular coordinate system.
step S130, according to the plane coordinates of each grid, obtaining the height value of each grid from the point cloud data of the road generated when the collection vehicle runs on the road, wherein the height value and the plane coordinates of each grid form the three-dimensional coordinates of each grid;
The point cloud data is a large set of point data that reflects the three-dimensional coordinates of the sampling points along the road surface of the collection vehicle travel track. The collection vehicle can be used for collecting the three-dimensional coordinates of the sampling points on the road surface by utilizing the three-dimensional laser radar carried by the collection vehicle in the running process of the collection vehicle.
preferably, the process of obtaining the height value of each grid from the point cloud data of the road generated when the collection vehicle runs on the road according to the plane coordinates of each grid specifically includes:
aiming at each grid, searching a target point from the point cloud data of the road generated when an acquisition vehicle runs on the road according to the plane coordinates of the grid, wherein the distance value between the target point and the grid is smaller than the distance value between other points in the point cloud data and the grid;
and determining the height value of the target point as the height value of the grid.
in the process, the distance value between each point in the point cloud data and the grid is calculated, the minimum distance value is found from the calculated distance values, the height value in the coordinate of the point corresponding to the minimum distance value is used as the height value of the grid, and therefore the point in the point cloud closest to each grid position is found in the shortest distance mode, and the accuracy of the height value of the grid is guaranteed.
step S140, obtaining the color corresponding to each grid according to the three-dimensional coordinates of each grid, the picture data of the road and preset camera parameters, wherein the camera parameters are the camera parameters which are installed on the collection vehicle and used for shooting the picture data;
Specifically, firstly, aiming at a grid, determining a target road picture from the picture data of the road, wherein the target road picture shoots an image of a corresponding area of the grid;
the road picture data collected in the driving process of the collection vehicle reflects the actual road surface road condition of the road along the driving track, and each picture is marked with the position coordinate when the picture is shot.
the image data of the road may be directly captured by the camera of the capturing vehicle, for example, the image capturing is performed at a capturing speed of 10 images per second. Or the actual road is recorded, and then the picture data with the position coordinates is obtained by performing picture processing on the recorded video and the driving track of the collection vehicle, such as an inertial navigation track or a GPS track. Because the video file is composed of images of one frame and one frame, the image data with the shooting position can be obtained by carrying out frame extraction on the video file and matching the inertial navigation position or the GPS position corresponding to each frame.
then, according to the three-dimensional coordinates of the grid and preset camera parameters, determining corresponding pixel points of the grid in the target road picture;
specifically, the process of determining the pixel point corresponding to the three-dimensional coordinate of the mesh in the target road picture involves coordinate conversion, and since the three-dimensional coordinate of the mesh is a three-dimensional coordinate in a world coordinate system, the coordinate conversion includes converting the three-dimensional coordinate of the mesh in the world coordinate system into a three-dimensional coordinate in a camera coordinate system, and converting the three-dimensional coordinate in the camera coordinate system into a pixel coordinate in an image coordinate system, and specifically includes:
suppose that: p represents the three-dimensional coordinates of the grid in the world coordinate system, T represents the translation vector, i.e., the origin of the target to be photographed — the origin of the camera, and the rotation matrix R is: rx(yaw)*Ry(pitch)*Rz(roll), wherein the direction angle yaw, the pitch angle pitch, and the roll angle roll are rotation angles around x, y, and z axes of the camera coordinate system;
Converting the coordinates P to coordinates in the camera coordinate system as: pc (x)c,yc,zc)＝R(P-T)；
The coordinates Pc are converted into coordinates in the image coordinate system as: p0(x0,y0) Wherein X is0＝fx*(xc/zc)+cx，y0＝fy*(yc/zc)+cywherein c isxand cyTo shift the optical axis, fxand fyIs the physical focal length. The optical axis deviation, the physical focal length and the rotation angle of the camera coordinate system around the x, y and z axes belong to preset camera parameters.
And finally, taking the color of the pixel point as the color corresponding to the grid.
S150, rendering the color of the pixel point corresponding to each grid in the orthographic projection image to be rendered into the color corresponding to the corresponding grid;
and coloring the grid points according to the colors corresponding to the grids, and obtaining the orthophoto map after the road coverage area is colored.
In the technical scheme of the embodiment, sampling track points are selected from track points generated when the collection vehicle runs on a road, aiming at one sampling track point, determining the road area range covered by the orthophoto map to be rendered according to the coordinates of the sampling track points, the driving direction angle of the collection vehicle and the preset side length of the drawing area, wherein the road area range comprises a plurality of grids, calculating the plane coordinates of each grid, according to the plane coordinates of each grid, obtaining the height value of each grid from the point cloud data of the road generated when the collection vehicle runs on the road, further obtaining the three-dimensional coordinates of the grids, further obtaining the corresponding color of each grid according to the three-dimensional coordinates of each grid, the picture data of the road and the preset camera parameters, and rendering the color of the pixel point corresponding to each grid in the orthographic projection image to be rendered into the color corresponding to the corresponding grid. In the orthophoto map generating process, the point cloud data comprises the real height value of the road pavement sampling point, so the height value of each grid obtained in the point cloud data is the real height value of the image corresponding to the grid area, the generated orthophoto map is generated based on the three-dimensional coordinate comprising the real height value, the height fluctuation change of the road surface is fully considered, and the problem of inaccuracy of the generated orthophoto map caused by inaccurate height value parameters is solved.
In an embodiment of the present application, for a mesh, a target road picture is determined from the image data of the road, and a process of taking an image of a corresponding area of the mesh by using the target road picture is specifically included, as shown in fig. 3:
step S300, aiming at a grid, calculating a distance value between the shooting position of each picture in the road picture data and the plane coordinate of the grid;
specifically, as shown in fig. 4, the camera can photograph only the road surface between the closest photographing distance of 2 meters and the farthest photographing distance of 22 meters, so that the target road picture is determined by the distance value of the photographing position of the picture to the plane coordinates of the mesh.
Taking the coordinate of the shooting position as the transformed plane coordinate as an example: the shooting position coordinates are (X1, Y1), the plane coordinates of a grid are (X1, Y1), and the distance value between the shooting position coordinates and the plane coordinates of the grid is calculated:
Step S310, taking a road picture with a distance value between the closest shooting distance value and the farthest shooting distance value of the camera as a target road picture for shooting the image of the corresponding area of the grid;
specifically, the calculated distance value may have one or more road pictures located between the closest shooting distance of 2 meters and the farthest shooting distance of 22 meters, that is, there is a case where there is one or more road pictures whose distance value is located between the closest shooting distance value and the farthest shooting distance value of the camera, then,
If the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera is one, taking the road picture as a target road picture of the image shot to the corresponding area of the grid;
if the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera is more than one, calculating the absolute value of the difference value between the distance value corresponding to the road picture and the closest shooting distance value of the camera aiming at each road picture, wherein the distance value corresponding to the road picture is the distance value from the shooting position of the picture to the plane coordinate of the grid;
And selecting the road picture with the minimum absolute difference value as a target road picture for shooting the image of the area corresponding to the grid.
In the above embodiment, when there are a plurality of road pictures having distance values between the closest shooting distance value and the farthest shooting distance value of the camera, one road picture of the image of the mesh region shot when the shooting position of the road picture is closest to the mesh position is selected as the coloring basis, because the clearer the picture of the object shot closer to the object is, the truest the obtained color is, and then one road picture of the image of the mesh region shot when the shooting position of the road picture is closest to the mesh position is selected as the coloring basis, so that the coloring of the mesh point is closest to the actual color of the image point, and the generated orthophoto image is more accurate.
An embodiment of the present application further provides an orthophoto map generating apparatus, as shown in fig. 5, the apparatus includes:
The sampling track point selecting unit 500 is used for selecting sampling track points from track points generated when the collection vehicle runs on a road according to a preset sampling rule;
The range determining unit 510 is configured to determine, for a sampling trajectory point, a road area range covered by an orthophoto map to be rendered according to coordinates of the sampling trajectory point, a driving direction angle of the collection vehicle, and a preset drawing area side length, where the road area range includes at least one grid, and each grid corresponds to a pixel point of the orthophoto map to be rendered;
The plane coordinate determination unit 520 is used for obtaining the plane coordinate of each grid according to the coordinate of the sampling track point and the driving direction angle of the collection vehicle;
A three-dimensional coordinate determination unit 530, configured to obtain a height value of each grid from point cloud data of the road generated when the collection vehicle travels on the road according to a plane coordinate of each grid, where the height value and the plane coordinate of each grid form a three-dimensional coordinate of each grid;
A color determining unit 540, configured to obtain a color corresponding to each grid according to the three-dimensional coordinate of each grid, the image data of the road, and preset camera parameters, where the camera parameters are camera parameters installed on the collection vehicle to capture the image data of the road;
and a rendering unit 550, configured to render the color of the pixel point corresponding to each grid in the orthographic projection image to be rendered as the color corresponding to the corresponding grid.
Preferably, the sampling trajectory point selecting unit 500 selects the sampling trajectory point from the trajectory points generated when the collection vehicle runs on the road according to a preset sampling rule, and specifically includes:
and selecting sampling track points from the track points generated when the collection vehicle runs on the road according to a sampling rule that the distance between two adjacent sampling track points is equal to a preset distance threshold value.
Preferably, the process of obtaining the height value of each mesh from the point cloud data of the road generated when the collection vehicle travels on the road by the three-dimensional coordinate determination 530 unit according to the plane coordinate of each mesh specifically includes:
aiming at each grid, searching a target point from the point cloud data of the road generated when an acquisition vehicle runs on the road according to the plane coordinates of the grid, wherein the distance value between the target point and the grid is smaller than the distance value between other points in the point cloud data and the grid;
And determining the height value of the target point as the height value of the grid.
Preferably, the process of obtaining the color corresponding to each mesh according to the three-dimensional coordinate of each mesh, the image data of the road, and the preset camera parameter by the color determination unit 540 specifically includes:
determining a target road picture from the picture data of the road aiming at a grid, wherein the target road picture shoots an image of a region corresponding to the grid;
determining pixel points corresponding to the grids in the target road picture according to the three-dimensional coordinates of the grids and preset camera parameters; and taking the color of the pixel point as the color corresponding to the grid.
preferably, the color determining unit 540 determines, for a mesh, a target road picture from the image data of the road, and a process of taking an image of a region corresponding to the mesh by using the target road picture specifically includes:
calculating a distance value from the shooting position of each picture in the road picture data to the plane coordinate of the grid aiming at one grid;
And taking the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera as a target road picture of the image shot to the corresponding area of the grid.
preferably, the determining unit 540 takes the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera as the target road picture of the image of the corresponding area of the mesh, and specifically includes:
If the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera is one, taking the road picture as a target road picture of the image shot to the corresponding area of the grid;
if the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera is more than one, calculating the absolute value of the difference value between the distance value corresponding to the road picture and the closest shooting distance value of the camera aiming at each road picture, wherein the distance value corresponding to the road picture is the distance value from the shooting position of the road picture to the plane coordinate of the grid;
and selecting the road picture with the minimum absolute difference value as a target road picture for shooting the image of the area corresponding to the grid.
finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 a process, method, article, or apparatus that comprises the element.
the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A method for generating an ortho image, the method comprising:
selecting sampling track points from track points generated when the collection vehicle runs on a road according to a preset sampling rule;
aiming at a sampling track point, determining a road area range covered by an orthophoto map to be rendered according to the coordinates of the sampling track point, the driving direction angle of a collection vehicle and the preset side length of a drawing area, wherein the road area range comprises at least one grid, and each grid corresponds to a pixel point of the orthophoto map to be rendered;
obtaining the plane coordinate of each grid according to the coordinate of the sampling track point and the driving direction angle of the collection vehicle;
according to the plane coordinates of each grid, obtaining the height value of each grid from the point cloud data of the road generated when the collection vehicle runs on the road, wherein the height value and the plane coordinates of each grid form the three-dimensional coordinates of each grid;
obtaining the color corresponding to each grid according to the three-dimensional coordinates of each grid, the image data of the road and preset camera parameters, wherein the camera parameters are the camera parameters which are installed on the acquisition vehicle and used for shooting the image data of the road;
rendering the color of the pixel point corresponding to each grid in the orthographic projection image to be rendered into the color corresponding to the corresponding grid.
2. the method according to claim 1, wherein the selecting of the sampling trajectory points from the trajectory points generated when the collection vehicle travels on the road according to the preset sampling rule specifically comprises:
And selecting sampling track points from the track points generated when the collection vehicle runs on the road according to a sampling rule that the distance between two adjacent sampling track points is equal to a preset distance threshold value.
3. the method of claim 1, wherein obtaining a height value for each grid from point cloud data of a road generated by a collection vehicle traveling over the road based on planar coordinates for each grid comprises:
aiming at each grid, searching a target point from the point cloud data of the road generated when a collection vehicle runs on the road according to the plane coordinate of the grid, wherein the distance value between the target point and the grid is smaller than the distance value between other points in the point cloud data and the grid;
and determining the height value of the target point as the height value of the grid.
4. the method of claim 1, wherein the obtaining the corresponding color of each mesh according to the three-dimensional coordinates of each mesh, the image data of the road and preset camera parameters comprises:
Determining a target road picture from the picture data of the road aiming at a grid, wherein the target road picture shoots an image of a region corresponding to the grid;
Determining pixel points corresponding to the grids in the target road picture according to the three-dimensional coordinates of the grids and preset camera parameters;
and taking the color of the pixel point as the color corresponding to the grid.
5. the method as claimed in claim 4, wherein said determining a target road picture from said road picture data for a mesh, said target road picture capturing images of corresponding regions of the mesh, comprises:
Aiming at a grid, calculating a distance value from the shooting position of each road picture in the road picture data to the plane coordinate of the grid;
And taking the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera as a target road picture of the image shot to the corresponding area of the grid.
6. the method as claimed in claim 5, wherein said taking a road picture having a distance value between the closest shooting distance value and the farthest shooting distance value of the camera as the target road picture taken to the image of the mesh corresponding area comprises:
if the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera is one, taking the road picture as a target road picture of the image shot to the corresponding area of the grid;
If the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera is more than one, calculating the absolute value of the difference value between the distance value corresponding to the road picture and the closest shooting distance value of the camera aiming at each road picture, wherein the distance value corresponding to the road picture is the distance value from the shooting position of the road picture to the plane coordinate of the grid;
And selecting the road picture with the minimum absolute difference value as a target road picture for shooting the image of the area corresponding to the grid.
7. an apparatus for generating an orthophoto map, the apparatus comprising:
The sampling track point selecting unit is used for selecting sampling track points from track points generated when the collection vehicle runs on a road according to a preset sampling rule;
the range determining unit is used for determining a road area range covered by the orthophoto map to be rendered according to the coordinates of a sampling track point, the driving direction angle of the collection vehicle and the preset side length of a drawing area aiming at the sampling track point, wherein the road area range comprises at least one grid, and each grid corresponds to one pixel point of the orthophoto map to be rendered;
the plane coordinate determination unit is used for obtaining the plane coordinate of each grid according to the coordinate of the sampling track point and the driving direction angle of the collection vehicle;
the three-dimensional coordinate determination unit is used for obtaining the height value of each grid from the point cloud data of the road generated when the collection vehicle runs on the road according to the plane coordinate of each grid, and the height value and the plane coordinate of each grid form the three-dimensional coordinate of each grid;
The color determining unit is used for obtaining the color corresponding to each grid according to the three-dimensional coordinates of each grid, the image data of the road and preset camera parameters, and the camera parameters are the camera parameters which are installed on the collecting vehicle and used for shooting the image data of the road;
and the rendering unit is used for rendering the color of the pixel point corresponding to each grid in the orthographic projection image to be rendered into the color corresponding to the corresponding grid.
8. The device according to claim 7, wherein the sampling track point selecting unit selects the sampling track points from the track points generated when the collection vehicle runs on the road according to a preset sampling rule, and specifically comprises:
and selecting sampling track points from the track points generated when the collection vehicle runs on the road according to a sampling rule that the distance between two adjacent sampling track points is equal to a preset distance threshold value.
9. The apparatus according to claim 7, wherein the process of obtaining the height value of each mesh from the point cloud data of the road generated when the collection vehicle travels on the road according to the plane coordinates of each mesh by the three-dimensional coordinate determination unit specifically includes:
Aiming at each grid, searching a target point from the point cloud data of the road generated when an acquisition vehicle runs on the road according to the plane coordinates of the grid, wherein the distance value between the target point and the grid is smaller than the distance value between other points in the point cloud data and the grid;
And determining the height value of the target point as the height value of the grid.
10. the apparatus of claim 7, wherein the process of obtaining the color corresponding to each mesh according to the three-dimensional coordinates of each mesh, the image data of the road, and preset camera parameters by the color determination unit specifically comprises:
determining a target road picture from the picture data of the road aiming at a grid, wherein the target road picture shoots an image of a region corresponding to the grid;
Determining pixel points corresponding to the grids in the target road picture according to the three-dimensional coordinates of the grids and preset camera parameters;
and taking the color of the pixel point as the color corresponding to the grid.
11. The apparatus of claim 10, wherein the color determining unit determines, for a mesh, a target road picture from the image data of the road, and the process of capturing the image of the corresponding area of the mesh by the target road picture comprises:
Calculating a distance value from the shooting position of each picture in the road picture data to the plane coordinate of the grid aiming at one grid;
And taking the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera as a target road picture of the image shot to the corresponding area of the grid.
12. the apparatus of claim 11, wherein the color determination unit takes a road picture having a distance value between a closest photographing distance value and a farthest photographing distance value of a camera as a process of photographing a target road picture to the mesh corresponding area image, comprising:
If the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera is one, taking the road picture as a target road picture of the image shot to the corresponding area of the grid;
If the road picture with the distance value between the closest shooting distance value and the farthest shooting distance value of the camera is more than one, calculating the absolute value of the difference value between the distance value corresponding to the road picture and the closest shooting distance value of the camera aiming at each road picture, wherein the distance value corresponding to the road picture is the distance value from the shooting position of the road picture to the plane coordinate of the grid;
and selecting the road picture with the minimum absolute difference value as a target road picture for shooting the image of the area corresponding to the grid.
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| CN201710048480.2A CN108335337B (en) | 2017-01-20 | 2017-01-20 | method and device for generating orthoimage picture |
| PCT/CN2018/072318 WO2018133727A1 (en) | 2017-01-20 | 2018-01-12 | Method and apparatus for generating orthophoto map |
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| CN109712197B (en) * | 2018-12-20 | 2023-06-30 | 珠海瑞天安科技发展有限公司 | Airport runway gridding calibration method and system |
| CN111475590B (en) * | 2019-01-23 | 2023-04-25 | 阿里巴巴集团控股有限公司 | Road data auditing method, system, terminal equipment and storage medium |
| CN110111414B (en) * | 2019-04-10 | 2023-01-06 | 北京建筑大学 | Orthographic image generation method based on three-dimensional laser point cloud |
| CN110415330B (en) * | 2019-04-29 | 2020-05-29 | 当家移动绿色互联网技术集团有限公司 | Road generation method, device, storage medium and electronic equipment |
| CN110969679A (en) * | 2019-11-27 | 2020-04-07 | 淮南矿业(集团)有限责任公司 | Arcgis and cas software combined image correction method |
| CN111667545B (en) * | 2020-05-07 | 2024-02-27 | 东软睿驰汽车技术（沈阳）有限公司 | High-precision map generation method and device, electronic equipment and storage medium |
| CN113945153A (en) * | 2020-07-16 | 2022-01-18 | 远景网格有限公司 | Method and device for determining distance and position by image tracking for automatic driving |
| CN112598767B (en) * | 2020-12-29 | 2024-05-10 | 厦门市美亚柏科信息股份有限公司 | Track behavior analysis method based on space-time big data, terminal equipment and storage medium |
| CN115394178B (en) * | 2021-09-02 | 2023-11-03 | 中国地质大学（北京） | Manufacturing method of Chinese-blind bilingual labeling tactile map jigsaw teaching aid for special teaching |
| CN117292349B (en) * | 2023-11-22 | 2024-04-12 | 魔视智能科技(武汉)有限公司 | Method, device, computer equipment and storage medium for determining road surface height |
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