CN112652065A - Three-dimensional community modeling method and device, computer equipment and storage medium - Google Patents
Three-dimensional community modeling method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The invention relates to a three-dimensional community modeling method, a device, computer equipment and a storage medium, wherein the method comprises the steps of determining a specific task of oblique photogrammetry of an unmanned aerial vehicle, designing a flight path of the unmanned aerial vehicle according to the specific task and selecting a control point; acquiring image data of a community acquired by an unmanned aerial vehicle when flying according to a flight route and position and attitude information of the unmanned aerial vehicle in the flying process; and constructing a three-dimensional community model according to the image data, the position and the posture information. According to the invention, the image data of the community is acquired by adopting the unmanned aerial vehicle oblique photogrammetry technology, the three-dimensional community model is constructed by utilizing Smart3D three-dimensional modeling technology in combination with the position and attitude information of the unmanned aerial vehicle in the flight process, the unmanned aerial vehicle oblique photogrammetry technology further realizes simpler data acquisition, multiple viewpoint images can be obtained, the image effect is real, and the three-dimensional community model constructed by adopting the Smart3D three-dimensional modeling technology has the advantages of short manufacturing period, low cost and small technical difficulty.
Description
Technical Field
The invention relates to a modeling method, in particular to a three-dimensional community modeling method, a three-dimensional community modeling device, a computer device and a storage medium.
Background
The smart community is an important direction for developing digital economy at present as a foothold for building a smart city. In various application systems of smart cities, a three-dimensional model gradually replaces a two-dimensional plane and becomes an expression mode of a geographic information sharing platform, particularly a three-dimensional model constructed by three-dimensional images and position information becomes an important means for reproducing regional real scene digitization in a small region and a micro-scale space.
Currently, GIS (Geographic Information System) equipment is mainly used for collecting the position Information of the region in the Information collection of the community space schematic, the Information collection is relatively abstract Geographic Information parameters, and visual real scenes which accord with the vision of human eyes cannot be constructed. In addition, three-dimensional modeling by superposing the GIS and the BIM has the advantages of long manufacturing period, high cost, high technical difficulty and slow maintenance and update, and becomes an important bottleneck for restricting the rapid popularization of the micro-scale community space information.
Therefore, it is necessary to design a new method, which can acquire data more easily, obtain images with multiple viewpoints, and has the advantages of real image effect, short manufacturing period, low cost and small technical difficulty.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a three-dimensional community modeling method, a three-dimensional community modeling device, a computer device and a storage medium.
In order to achieve the purpose, the invention adopts the following technical scheme: a three-dimensional community modeling method, comprising:
determining a specific task of oblique photogrammetry of the unmanned aerial vehicle, and designing a flight path of the unmanned aerial vehicle and selecting a control point according to the specific task;
acquiring image data of a community acquired by the unmanned aerial vehicle when flying according to the flight route and position and attitude information of the unmanned aerial vehicle in the flying process;
and constructing a three-dimensional community model according to the image data, the position and the posture information.
The further technical scheme is as follows: the specific task of determining the oblique photogrammetry of the unmanned aerial vehicle, designing the flight line of the unmanned aerial vehicle and selecting the control point according to the specific task comprises the following steps:
determining a specific task of the oblique photogrammetry of the unmanned aerial vehicle, and setting a control point according to the specific task;
setting the precision of the three-dimensional community model;
determining a flight path of the unmanned aerial vehicle according to the specific task;
and setting a course overlapping rate and a side overlapping rate.
The further technical scheme is as follows: the building of the three-dimensional community model according to the image data, the position and the posture information comprises the following steps:
and processing the image data, the position and the posture information by utilizing a Smart3D three-dimensional modeling technology to generate a three-dimensional community model.
The further technical scheme is as follows: the processing the image data, the position information and the posture information by utilizing a Smart3D three-dimensional modeling technology to generate a three-dimensional community model comprises the following steps:
creating a new project and selecting a corresponding saving path;
newly building a blank block in the new project, and importing the image data into the blank block;
carrying out full-automatic aerial triangulation on the image data to obtain a measurement result;
generating a digital earth surface model for the measurement result by using a multi-view image dense matching method;
constructing a three-dimensional TIN model according to the digital earth surface model;
and constructing a three-dimensional community model according to the three-dimensional TIN model.
The further technical scheme is as follows: after the three-dimensional community model is constructed according to the three-dimensional TIN model, the method further comprises the following steps:
and carrying out precision detection on the three-dimensional community model.
The further technical scheme is as follows: the method for constructing the three-dimensional TIN model according to the digital earth surface model comprises the following steps:
generating a point cloud picture according to the digital earth surface model, and correcting the content with point cloud matching errors;
and constructing a three-dimensional TIN model for the corrected point cloud picture.
The further technical scheme is as follows: the building of the three-dimensional community model according to the three-dimensional TIN model comprises the following steps:
and mapping real image textures of the three-dimensional TIN model to obtain a three-dimensional community model.
The invention also provides a three-dimensional community modeling device, comprising:
the task determination unit is used for determining a specific task of the oblique photogrammetry of the unmanned aerial vehicle, designing a flight path of the unmanned aerial vehicle and selecting a control point according to the specific task;
the data acquisition unit is used for acquiring image data of a community acquired by the unmanned aerial vehicle when flying according to the flight route and position and attitude information of the unmanned aerial vehicle in the flying process;
and the building unit is used for building a three-dimensional community model according to the image data, the position and the posture information.
The invention also provides computer equipment which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor realizes the method when executing the computer program.
The invention also provides a storage medium storing a computer program which, when executed by a processor, is operable to carry out the method as described above.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the image data of the community is acquired by adopting the unmanned aerial vehicle oblique photogrammetry technology, the three-dimensional community model is constructed by utilizing Smart3D three-dimensional modeling technology in combination with the position and attitude information of the unmanned aerial vehicle in the flight process, the unmanned aerial vehicle oblique photogrammetry technology further realizes simpler data acquisition, multiple viewpoint images can be obtained, the image effect is real, and the three-dimensional community model constructed by adopting the Smart3D three-dimensional modeling technology has the advantages of short manufacturing period, low cost and small technical difficulty.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an application scenario of a three-dimensional community modeling method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a three-dimensional community modeling method according to an embodiment of the present invention;
FIG. 3 is a schematic sub-flow diagram of a three-dimensional community modeling method according to an embodiment of the present invention;
FIG. 4 is a schematic sub-flow chart of a three-dimensional community modeling method according to an embodiment of the present invention;
FIG. 5 is a schematic sub-flow chart of a three-dimensional community modeling method according to an embodiment of the present invention;
FIG. 6 is a schematic block diagram of a three-dimensional community modeling apparatus provided by an embodiment of the present invention;
FIG. 7 is a schematic block diagram of a task determination unit of a three-dimensional community modeling apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic block diagram of a building unit of a three-dimensional community modeling apparatus according to an embodiment of the present invention;
FIG. 9 is a schematic block diagram of a TIN model generation subunit of the three-dimensional community modeling apparatus according to the embodiment of the present invention;
FIG. 10 is a schematic block diagram of a computer device provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. 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 invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of an application scenario of a three-dimensional community modeling method according to an embodiment of the present invention. Fig. 2 is a schematic flow chart of a three-dimensional community modeling method according to an embodiment of the present invention. The three-dimensional community modeling method is applied to a server. The server performs data interaction with the unmanned aerial vehicle and the terminal, wherein image data of a community are acquired through the oblique photography technology of the unmanned aerial vehicle, the server processes the image data by utilizing Smart3D three-dimensional modeling software, a three-dimensional model of the community is generated, and the three-dimensional model of the community is fed back to the terminal for display.
Fig. 2 is a schematic flow chart of a three-dimensional community modeling method according to an embodiment of the present invention. As shown in fig. 2, the method includes the following steps S110 to S130.
S110, determining a specific task of oblique photogrammetry of the unmanned aerial vehicle, designing a flight line of the unmanned aerial vehicle and selecting a control point according to the specific task.
In this embodiment, the specific tasks include tasks about oblique photogrammetry of the community that the drone needs to perform.
Specifically, according to the management boundary range of the community, the intelligent community construction content and the community visual design task, the specific task of executing the community oblique photogrammetry is determined, and the design of flight routes and the selection of control points are carried out according to the specific task.
In an embodiment, referring to fig. 3, the step S110 may include steps S111 to S114.
And S111, determining a specific task of the oblique photography measurement of the unmanned aerial vehicle, and setting a control point according to the specific task.
In this embodiment, the control point is specifically the key point of unmanned aerial vehicle oblique photogrammetry in order to obtain the model of high accuracy, large tracts of land, many times and promote data concatenation precision, control point.
The selection of the control points needs to be uniformly distributed in the community, the total number is not less than 3, and the control points cannot be distributed on the same straight line.
And building a small platform on each control point by using bricks or building blocks, and distributing cross markers on the surface of each control point, wherein the cross markers are distributed as the distributed control points, and the surface of the platform and the markers are respectively brushed with contrasting color paint to enhance the visual resolution. And control points distributed in the community range comprise precision registration control points for modeling and model precision check points. The set control point needs to be registered in the server, and of course, after the control point is set in the server, the content arrangement of the corresponding position may be performed in the community.
And S112, setting the precision of the three-dimensional community model.
In this embodiment, the precision of the three-dimensional community model refers to a precision threshold of the generated three-dimensional community model, and the precision of the finally generated three-dimensional community model needs to be within an error range of the set precision.
Determining the precision of an achievement model according to the visual design achievement requirement of the community, the application requirement of a later model, the three-dimensional modeling project period of the community oblique photography and the like, and calculating a formula
Wherein H is the flying height of the unmanned aerial vehicle; f is the focal length of the camera; GSD is ground resolution; a is the size of the photosensitive element, the smaller the GSD, the higher the accuracy of the result model, the lower the flying height and the longer the image acquisition time.
And S113, determining the flight path of the unmanned aerial vehicle according to the specific task.
In the present embodiment, the flight path refers to a path in which the unmanned aerial vehicle flies when performing a specific task of oblique photogrammetry.
Specifically, factors such as the geographic position, the course trend, the precision requirement, the flying point, the landing point, the forced landing point, the flight time and the like of the community to be tested are comprehensively considered, specific execution parameters such as the flight height, the flight speed, the photographing interval and the flight track are calculated, and the flight course of the unmanned aerial vehicle is constructed according to the specific execution parameters.
And S114, setting a heading overlapping rate and a side overlapping rate.
In this embodiment, the lane overlapping degree refers to the overlapping degree of two adjacent image data, and the side overlapping degree refers to the image overlapping degree maintained between two adjacent lanes when the aircraft photographs along the lane. Wherein the course overlapping rate is 70-80%; the side overlapping rate is 70-80%.
The flight paths are arranged according to the straight line method of the shooting area trend, and the first and last flight path lenses parallel to the boundary line of the shooting area are ensured to obtain effective images of the measuring area; heading coverage exceeds the shot area boundary line by at least 3 baselines.
S120, acquiring image data of the community acquired by the unmanned aerial vehicle when flying according to the flight line and position and attitude information of the unmanned aerial vehicle in the flying process.
In this embodiment, in the image data in-process of acquireing the community, need build following hardware, cooperation unmanned aerial vehicle obtains relevant image data, including the fixed bolster and fix the camera of a perpendicular and four slopes on the support for synchronous acquisition image, a perpendicular camera of looking down, four slopes are a left side respectively and look, a right side look, a foresight and a backsight camera. The downward-looking inclined lens and the four inclined lenses form 45-degree included angles in the front direction, the rear direction, the left direction and the right direction respectively. And simultaneously acquiring coordinate data of five visual angle image exposure points, camera parameters and a relative position relation description document among the cameras, wherein the five visual angle cameras adopt civil full-frame cameras and are additionally provided with electronic shutters and power interfaces, so that the aerial images of the community are quickly acquired, and the cost of the oblique photography aerial equipment is reduced.
In addition, in this embodiment, unmanned aerial vehicle is the load-bearing platform of circuit flight aerial photograph, is the most important assurance of entire system operation security. Selecting the most suitable oblique photogrammetric equipment to carry on a flight platform according to static equipment parameters, actual flight test reports and other equipped mainstream unmanned aerial vehicle platforms; if the equipped model cannot meet the system requirements, then alternative models that can be used to implement the actual job community need to be demonstrated and determined.
And selecting a corresponding oblique photography measurement equipment system according to the performance parameters of the mainstream oblique photography measurement equipment by combining the selected performance characteristics of the unmanned aerial vehicle. The oblique photogrammetric equipment determines the core capability of system data acquisition, and three-dimensional data acquired by the oblique photogrammetric equipment is essentially different from data acquired by other visible light acquisition equipment. The practical situations such as community environment conditions, building height characteristics, operation community complexity and the like need to be considered.
The position and attitude information recorded in the oblique photogrammetry process of the unmanned aerial vehicle are acquired by adopting a GPS module and an IMU module respectively.
The method comprises the steps of operating and controlling an unmanned aerial vehicle to execute aerial photography tasks according to a planned air route, and carrying out aerial photography image acquisition on a measured community.
Specifically, the specific process of controlling the unmanned aerial vehicle to fly according to the flight route to acquire the image data of the community is as follows: the unmanned aerial vehicle carries out aerial photography movement and records a space coordinate system; pre-collecting a target image, and recording a target angle; judging whether the flight attitude and the angle need to be adjusted or not according to the flight route requirement, the current spatial coordinate system and the target angle; if the flight attitude and the angle need to be adjusted, executing aerial photographing movement of the unmanned aerial vehicle, and recording a space coordinate system; if the flight attitude and the angle do not need to be adjusted, acquiring a target image; recording real-time space coordinates and target angles; performing oblique photography and vertical photography, collecting aerial images, simultaneously shooting control point images on the ground, and storing the collected target images to form image data; and repeating the operation until the information of the area and the control point of the set aerial photography is required to be acquired.
In this embodiment, the unmanned aerial vehicle can be through data transmission and retransmission to ground controlgear according to the image data of the community that obtains when flight route flies and the position and the attitude information of unmanned aerial vehicle flight in-process, and upload to the server by ground controlgear again.
And S130, constructing a three-dimensional community model according to the image data, the position and the posture information.
In the present embodiment, the three-dimensional community model refers to a three-dimensional model of a community.
Specifically, the image data, the position and the posture information are processed by utilizing a Smart3D three-dimensional modeling technology to generate a three-dimensional community model.
In an embodiment, referring to fig. 4, the processing of the image data, the position information and the pose information by using the Smart3D three-dimensional modeling technique to generate the three-dimensional community model may include steps S131 to S137.
S131, creating a new project and selecting a corresponding saving path.
In this embodiment, the server will start Smart3D Master software, create a new project and name it, select a save path for the new project, and save the save path.
S132, creating a blank block in the new project, and importing the image data into the blank block.
Specifically, a blank block is newly built, image data are automatically imported into the blank block, in the imported image data, the server can automatically read the sensor transverse side size and the lens focal length information of a camera on the unmanned aerial vehicle, and corresponding image data are imported after the sensor size and the focal length information are confirmed to be complete.
And S133, carrying out full-automatic aerial triangulation on the image data to obtain a measurement result.
In the present embodiment, the measurement result refers to measurement data obtained by triangulation.
Specifically, the related image data of the control point is correlated to realize full-automatic combined aerial triangulation, and the control point and the image need to be correlated before aerial triangulation calculation. After importing the image data and reading the preset parameters, triangulation can be performed.
The full-automatic aerial triangulation algorithm can complete a full-automatic processing flow only by inputting an image list and control point information, so that a complicated and inefficient three-dimensional reconstruction process is avoided. The algorithm directly enters the adjustment flow of the whole area network according with strict collinear conditions after screening the image pairs in the image data, the calculation process is simple and efficient, and the operation and implementation of a computer are facilitated.
And S134, generating a digital earth surface model for the measurement result by using a multi-view image dense matching method.
In this embodiment, the digital surface model is a ground elevation model including the heights of surface buildings, bridges, trees, and the like.
By using the multi-view image dense matching method, a high-precision and high-resolution digital earth surface model can be generated, and the digital earth surface model can express the fluctuation change of the terrain.
And S135, constructing a three-dimensional TIN model according to the digital earth surface model.
In this embodiment, the three-dimensional TIN model refers to a three-dimensional model generated from points each having a continuous real value reflecting an elevation value.
In an embodiment, referring to fig. 5, the step S135 may include steps S1351 to S1352.
S1351, generating a point cloud picture according to the digital earth surface model, and correcting the content with point cloud matching errors;
s1352, constructing a three-dimensional TIN model for the corrected point cloud picture.
As the aerial photography view angle is shielded, the situation that a large and complex building and a building with a glass wall surface have leaks needs to be optimized; independent objects such as roads, bridges, water surfaces, green plants, lamp posts and the like need to be optimized; the condition that point cloud matching is wrong in areas such as narrow and dark places with unobvious image texture features needs to be corrected; the special buildings and structures which need to be modeled independently can be subjected to on-site three-dimensional laser scanning modeling and then are made by interior mapping of mapping software.
The three-dimensional laser scanning modeling is to obtain the space coordinates of each sampling point of a surface to be modeled independently under the same space reference system by using a laser scanner, and obtain a series of mass point sets expressing the space distribution and the surface characteristics of a target, wherein the point sets are called laser point clouds.
The laser scanner and the multi-lens combined panoramic camera move together, the relative position between the laser scanner and the multi-lens combined panoramic camera is fixed, and the laser scanner continuously scans the road surface. The laser point cloud is used for determining a photographic scale between two groups of adjacent original images, and the scanning direction of the scanner is basically from top to bottom, so that the road surface is scanned.
The building and the structure which need to be modeled independently can be subjected to on-site three-dimensional laser scanning modeling, spatial resolution, point position accuracy, surface normal vector and the like. By the method, images with small distances in pairs, namely unreasonable shooting distances or static images, which do not move and are shot twice in the same place, can be removed.
The point cloud image of the embodiment can be generated based on the digital earth surface model, and corresponding point clouds can be generated for some special non-generated buildings in a laser scanning mode so as to ensure the integrity of the point cloud image.
And S136, constructing a three-dimensional community model according to the three-dimensional TIN model.
Specifically, mapping of real image textures is performed on the three-dimensional TIN model to obtain a three-dimensional community model.
And S137, carrying out precision detection on the three-dimensional community model.
For precision detection of a three-dimensional community model, errors in plane point positions and errors in elevation point positions generally need to be calculated, wherein the errors in the plane point positions are
Where M is the detected in-plane error; n is the number of check points. Error in elevation point location is
Wherein
Error in elevation to be examined; n is the number of the check points; deltaznThe difference between the elevation value of the inspection point and the elevation value of the inspected point is also called an error value. The number of check points is the number of check points involved in the process of determining the control points.
The errors in the plane points and the errors in the elevation point positions need to satisfy 1: 500. 1: 1000. 1: 2000 and requirements of the technical code of field digital mapping (GB 14912-2005).
The unmanned aerial vehicle oblique photogrammetry technology is used for photogrammetry on communities and surrounding areas, a simulation three-dimensional model is built, the actual conditions of community buildings, structures, roads and the like are expressed in a three-dimensional mode, and the community fine management is achieved simply, economically and efficiently. The three-dimensional modeling method for the urban community based on the unmanned aerial vehicle oblique photogrammetry technology breaks through the traditional dimensionality based on plane graphic representation, community managers and operators can observe the landscape and physiognomy of the community from a multi-dimensional visual angle, the intelligent management of the community is more clearly shown, and the three-dimensional expression and the fine management of the community microscale space are realized. Adopt unmanned aerial vehicle platform oblique photography, data acquisition is simple, receives external environment influence less. The method has the advantages of capability of obtaining a plurality of viewpoint images, real image effect, high image resolution, large overlapping degree, high definition, good shooting illumination condition, capability of clearly displaying building textures, less ground object shielding phenomenon and good established community three-dimensional model effect. The Smart3D three-dimensional modeling technology is software for fully automatically establishing a three-dimensional model, does not have too much manual intervention, has short manufacturing period and small technical difficulty, and can rapidly popularize the information bottleneck of micro-scale community space visualization.
According to the three-dimensional community modeling method, the unmanned aerial vehicle oblique photogrammetry technology is adopted to acquire the image data of the community, the position and attitude information in the flight process of the unmanned aerial vehicle is combined, the Smart3D three-dimensional community model is established by utilizing the unmanned aerial vehicle oblique photogrammetry technology, the data are acquired simply by adopting the unmanned aerial vehicle oblique photogrammetry technology, a plurality of viewpoint images can be obtained, the image effect is real, and the three-dimensional community model established by adopting the Smart3D three-dimensional modeling technology has the advantages of short manufacturing period, low cost and small technical difficulty.
Fig. 6 is a schematic block diagram of a three-dimensional community modeling apparatus 300 according to an embodiment of the present invention. As shown in fig. 6, the present invention further provides a three-dimensional community modeling apparatus 300 corresponding to the above three-dimensional community modeling method. The three-dimensional community modeling apparatus 300 includes a unit for performing the above-described three-dimensional community modeling method, and the apparatus may be configured in a server. Specifically, referring to fig. 6, the three-dimensional community modeling apparatus 300 includes a task determination unit 301, a data acquisition unit 302, and a construction unit 303.
The task determination unit 301 is used for determining a specific task of oblique photogrammetry of the unmanned aerial vehicle, designing a flight path of the unmanned aerial vehicle and selecting a control point according to the specific task; the data acquisition unit 302 is used for acquiring image data of a community acquired by the unmanned aerial vehicle when flying according to the flight route and position and attitude information of the unmanned aerial vehicle in the flying process; a building unit 303, configured to build a three-dimensional community model according to the image data, the position, and the posture information.
In one embodiment, as shown in fig. 7, the task determination unit 301 includes a control point setting subunit 3011, a precision setting subunit 3012, a route determination subunit 3013, and an overlap rate setting subunit 3014.
The control point setting subunit 3011 is configured to determine a specific task of oblique photogrammetry of the unmanned aerial vehicle, and set a control point according to the specific task; an accuracy setting subunit 3012, configured to set an accuracy of the three-dimensional community model; the route determining subunit 3013 is configured to determine a flight route of the unmanned aerial vehicle according to the specific task; and an overlap rate setting subunit 3014, configured to set a heading overlap rate and a side overlap rate.
In an embodiment, the constructing unit 303 is configured to process the image data, the position information, and the pose information by using Smart3D three-dimensional modeling technology to generate a three-dimensional community model.
In one embodiment, as shown in fig. 8, the building unit 303 includes a project creating sub-unit 3031, a block creating sub-unit 3032, a triangulation sub-unit 3033, a surface model generating sub-unit 3034, a TIN model generating sub-unit 3035, a community model generating sub-unit 3036, and an accuracy detecting sub-unit 3037.
A project creating subunit 3031, configured to create a new project and select a corresponding saving path; a block creating subunit 3032, configured to create a new empty block in the new project, and import the image data into the empty block; a triangulation subunit 3033, configured to perform full-automatic aerial triangulation on the image data to obtain a measurement result; a surface model generating subunit 3034, configured to generate a digital surface model by using a multi-view image dense matching method for the measurement result; a TIN model generating subunit 3035, configured to construct a three-dimensional TIN model according to the digital earth surface model; a community model generating subunit 3036, configured to construct a three-dimensional community model according to the three-dimensional TIN model, and specifically, map real image textures of the three-dimensional TIN model to obtain the three-dimensional community model. And the precision detection subunit 3037 is configured to perform precision detection on the three-dimensional community model.
In an embodiment, as shown in fig. 9, the TIN model generating subunit 3035 includes a point cloud graph generating module 30351 and a TIN model constructing module 30352.
A point cloud image generating module 30351, configured to generate a point cloud image according to the digital surface model, and correct the content of the point cloud matching error; and a TIN model constructing module 30352, configured to construct a three-dimensional TIN model for the modified point cloud image.
It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation processes of the three-dimensional community modeling apparatus 300 and each unit may refer to the corresponding descriptions in the foregoing method embodiments, and for convenience and brevity of description, no further description is provided herein.
The three-dimensional community modeling apparatus 300 may be implemented in the form of a computer program that can be run on a computer device as shown in fig. 10.
Referring to fig. 10, fig. 10 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device 500 may be a server, wherein the server may be an independent server or a server cluster composed of a plurality of servers.
Referring to fig. 10, the computer device 500 includes a processor 502, memory, and a network interface 505 connected by a system bus 501, where the memory may include a non-volatile storage medium 503 and an internal memory 504.
The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032 comprises program instructions that, when executed, cause the processor 502 to perform a three-dimensional community modeling method.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the execution of the computer program 5032 in the non-volatile storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 can be enabled to execute a three-dimensional community modeling method.
The network interface 505 is used for network communication with other devices. Those skilled in the art will appreciate that the configuration shown in fig. 10 is a block diagram of only a portion of the configuration relevant to the present teachings and is not intended to limit the computing device 500 to which the present teachings may be applied, and that a particular computing device 500 may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
Wherein the processor 502 is configured to run the computer program 5032 stored in the memory to implement the following steps:
determining a specific task of oblique photogrammetry of the unmanned aerial vehicle, and designing a flight path of the unmanned aerial vehicle and selecting a control point according to the specific task; acquiring image data of a community acquired by the unmanned aerial vehicle when flying according to the flight route and position and attitude information of the unmanned aerial vehicle in the flying process; and constructing a three-dimensional community model according to the image data, the position and the posture information.
In an embodiment, when the processor 502 implements the specific task of determining the oblique photogrammetry of the unmanned aerial vehicle, and the steps of designing the flight path of the unmanned aerial vehicle and selecting the control point according to the specific task, the following steps are implemented:
determining a specific task of the oblique photogrammetry of the unmanned aerial vehicle, and setting a control point according to the specific task; setting the precision of the three-dimensional community model; determining a flight path of the unmanned aerial vehicle according to the specific task; and setting a course overlapping rate and a side overlapping rate.
In an embodiment, when the processor 502 implements the step of constructing the three-dimensional community model according to the image data, the position and the posture information, the following steps are specifically implemented:
and processing the image data, the position and the posture information by utilizing a Smart3D three-dimensional modeling technology to generate a three-dimensional community model.
In an embodiment, when the step of processing the image data, the position information and the posture information by using Smart3D three-dimensional modeling technology to generate a three-dimensional community model is implemented by the processor 502, the following steps are specifically implemented:
creating a new project and selecting a corresponding saving path; newly building a blank block in the new project, and importing the image data into the blank block; carrying out full-automatic aerial triangulation on the image data to obtain a measurement result; generating a digital earth surface model for the measurement result by using a multi-view image dense matching method; constructing a three-dimensional TIN model according to the digital earth surface model; and constructing a three-dimensional community model according to the three-dimensional TIN model.
In an embodiment, after the step of constructing a three-dimensional community model according to the three-dimensional TIN model is performed, the processor 502 further performs the following steps:
and carrying out precision detection on the three-dimensional community model.
In an embodiment, when the processor 502 implements the step of constructing the three-dimensional TIN model according to the digital surface model, the following steps are specifically implemented:
generating a point cloud picture according to the digital earth surface model, and correcting the content with point cloud matching errors; and constructing a three-dimensional TIN model for the corrected point cloud picture.
In an embodiment, when the step of constructing the three-dimensional community model according to the three-dimensional TIN model is implemented, the processor 502 specifically implements the following steps:
and mapping real image textures of the three-dimensional TIN model to obtain a three-dimensional community model.
It should be understood that in the embodiment of the present Application, the Processor 502 may be a Central Processing Unit (CPU), and the Processor 502 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will be understood by those skilled in the art that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program instructing associated hardware. The computer program includes program instructions, and the computer program may be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.
Accordingly, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program, when executed by a processor, causes the processor to perform the steps of:
determining a specific task of oblique photogrammetry of the unmanned aerial vehicle, and designing a flight path of the unmanned aerial vehicle and selecting a control point according to the specific task; acquiring image data of a community acquired by the unmanned aerial vehicle when flying according to the flight route and position and attitude information of the unmanned aerial vehicle in the flying process; and constructing a three-dimensional community model according to the image data, the position and the posture information.
In an embodiment, when the processor executes the computer program to implement the specific task of determining oblique photogrammetry of the unmanned aerial vehicle, and the steps of designing a flight path of the unmanned aerial vehicle and selecting a control point according to the specific task, the following steps are implemented:
determining a specific task of the oblique photogrammetry of the unmanned aerial vehicle, and setting a control point according to the specific task; setting the precision of the three-dimensional community model; determining a flight path of the unmanned aerial vehicle according to the specific task; and setting a course overlapping rate and a side overlapping rate.
In an embodiment, when the processor executes the computer program to implement the step of constructing the three-dimensional community model according to the image data, the position and the posture information, the following steps are specifically implemented:
and processing the image data, the position and the posture information by utilizing a Smart3D three-dimensional modeling technology to generate a three-dimensional community model.
In an embodiment, when the step of processing the image data, the position information and the posture information by using Smart3D three-dimensional modeling technology to generate a three-dimensional community model is implemented by the processor by executing the computer program, the following steps are specifically implemented:
creating a new project and selecting a corresponding saving path; newly building a blank block in the new project, and importing the image data into the blank block; carrying out full-automatic aerial triangulation on the image data to obtain a measurement result; generating a digital earth surface model for the measurement result by using a multi-view image dense matching method; constructing a three-dimensional TIN model according to the digital earth surface model; and constructing a three-dimensional community model according to the three-dimensional TIN model.
In an embodiment, after the step of constructing a three-dimensional community model from the three-dimensional TIN model is implemented by the processor by executing the computer program, the following steps are further implemented:
and carrying out precision detection on the three-dimensional community model.
In an embodiment, when the step of constructing the three-dimensional TIN model from the digital surface model is implemented by the processor by executing the computer program, the following steps are specifically implemented:
generating a point cloud picture according to the digital earth surface model, and correcting the content with point cloud matching errors; and constructing a three-dimensional TIN model for the corrected point cloud picture.
In an embodiment, when the step of constructing a three-dimensional community model according to the three-dimensional TIN model is implemented by the processor by executing the computer program, the following steps are specifically implemented:
and mapping real image textures of the three-dimensional TIN model to obtain a three-dimensional community model.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, which can store various computer readable storage media.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The three-dimensional community modeling method is characterized by comprising the following steps:
determining a specific task of oblique photogrammetry of the unmanned aerial vehicle, and designing a flight path of the unmanned aerial vehicle and selecting a control point according to the specific task;
acquiring image data of a community acquired by the unmanned aerial vehicle when flying according to the flight route and position and attitude information of the unmanned aerial vehicle in the flying process;
and constructing a three-dimensional community model according to the image data, the position and the posture information.
2. The three-dimensional community modeling method according to claim 1, wherein the determining a specific task of the oblique photogrammetry of the unmanned aerial vehicle, and designing the flight path of the unmanned aerial vehicle and selecting the control point according to the specific task comprises:
determining a specific task of the oblique photogrammetry of the unmanned aerial vehicle, and setting a control point according to the specific task;
setting the precision of the three-dimensional community model;
determining a flight path of the unmanned aerial vehicle according to the specific task;
and setting a course overlapping rate and a side overlapping rate.
3. The three-dimensional community modeling method according to claim 1, wherein the building a three-dimensional community model according to the image data, the position and the posture information comprises:
and processing the image data, the position and the posture information by utilizing a Smart3D three-dimensional modeling technology to generate a three-dimensional community model.
4. The three-dimensional community modeling method according to claim 3, wherein said processing said image data, position and pose information using Smart3D three-dimensional modeling technique to generate a three-dimensional community model comprises:
creating a new project and selecting a corresponding saving path;
newly building a blank block in the new project, and importing the image data into the blank block;
carrying out full-automatic aerial triangulation on the image data to obtain a measurement result;
generating a digital earth surface model for the measurement result by using a multi-view image dense matching method;
constructing a three-dimensional TIN model according to the digital earth surface model;
and constructing a three-dimensional community model according to the three-dimensional TIN model.
5. The three-dimensional community modeling method according to claim 4, wherein after constructing the three-dimensional community model according to the three-dimensional TIN model, the method further comprises:
and carrying out precision detection on the three-dimensional community model.
6. The method of claim 4, wherein the constructing a three-dimensional TIN model from the digital surface model comprises:
generating a point cloud picture according to the digital earth surface model, and correcting the content with point cloud matching errors;
and constructing a three-dimensional TIN model for the corrected point cloud picture.
7. The three-dimensional community modeling method according to claim 4, wherein said building a three-dimensional community model from said three-dimensional TIN model comprises:
and mapping real image textures of the three-dimensional TIN model to obtain a three-dimensional community model.
8. Three-dimensional community modeling apparatus, comprising:
the task determination unit is used for determining a specific task of the oblique photogrammetry of the unmanned aerial vehicle, designing a flight path of the unmanned aerial vehicle and selecting a control point according to the specific task;
the data acquisition unit is used for acquiring image data of a community acquired by the unmanned aerial vehicle when flying according to the flight route and position and attitude information of the unmanned aerial vehicle in the flying process;
and the building unit is used for building a three-dimensional community model according to the image data, the position and the posture information.
9. A computer device, characterized in that the computer device comprises a memory, on which a computer program is stored, and a processor, which when executing the computer program implements the method according to any of claims 1 to 7.
10. A storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.
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