CN101545775A - Method for calculating orientation elements of photo and the height of building by utilizing digital map - Google Patents
Method for calculating orientation elements of photo and the height of building by utilizing digital map Download PDFInfo
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Abstract
The invention provides a method for calculating photo orientation elements and building height by utilizing a digital map. The method comprises the following steps: step S1: a digital photo containing a whole building is shot, and a digital map of a building region is obtained, wherein the digital photo is provided with a photo two-dimensional coordinate system, and the digital map is provided with a digital map coordinate system; step S2: one point on the digital map corresponds to a plurality of points on a wall edge of the building in the digital photo, and altitude data is assumed for wall corner points with different heights according to a stratified structure of the building; the wall corner points are photo control points, and coordinates of the photo control points in the photo two-dimensional coordinate system and the digital map coordinate system are respectively obtained; coordinates of a photo principal point in the photo two-dimensional coordinate system are obtained, and the photo principal point is a perpendicular foot point of a shooting lens center on the photo. The method has small field operation workload, low expense and high precision.
Description
Technical Field
The invention relates to a method for calculating azimuth elements of a photo and the height of a building, in particular to a method for simultaneously calculating the azimuth elements of a close shot and the height of the building by using a digital map. The technology belongs to the field of photogrammetry.
Background
With the increasing and widespread resolution of the photographic equipment, the common digital photos also become important tools for people to carry out photogrammetry. The primary content of the urban three-dimensional modeling technology lies in the acquisition of a large amount of urban basic three-dimensional data, wherein the acquired data comprises the plane position, the ground elevation, the height and the ground texture of a ground object target. The current three-dimensional data acquisition method is to use photogrammetry and remote sensing technology to obtain a Digital ground model of a city, a Digital Line Graphic (DLG), and a Digital camera to obtain texture of ground objects and height data of buildings on the spot to establish a Digital city model.
A digital city three-dimensional geographic space frame (Li Ming, Wang Relay week, Marek. science publishing Co., Ltd., 2008) provides a method for three-dimensional measurement of a building by using a single photo of a measuring camera, and the theory is that orientation elements of the photo are calculated according to three groups of parallel lines of the building, and on the basis, the single photo three-dimensional modeling of the building is realized. However, many buildings do not provide complete parallel lines in three directions and can only be performed with metrology cameras, making this approach very limiting.
Disclosure of Invention
The technical problem is as follows: the invention aims to solve the technical problem of providing a method for calculating azimuth elements and building height by using a digital map, which can calculate the building height from a single digital photo and the digital map.
The technical scheme is as follows: in order to solve the technical problems, the invention adopts the technical scheme that:
step S1: shooting a digital photo of a complete building to obtain a digital map of the area of the building, wherein the digital photo is provided with a photo two-dimensional coordinate system, and the digital map is provided with a digital map coordinate system;
step S2: one point on the digital map corresponds to a plurality of points on the edge of a building wall in the digital photo, and according to the layered structure of the building, elevation data is assumed for wall corner points with different heights, the wall corner points are photo control points, and coordinates of the photo control points in a photo two-dimensional coordinate system and a digital map coordinate system are obtained; acquiring the coordinates of a main point of a photo in a two-dimensional coordinate system of the photo, wherein the main point of the photo is a foot point of the center of a photographic objective lens on the photo;
step S3: establishing a photogrammetric coordinate system D-XDYDZDThe photogrammetry coordinate system takes an approximate photography point position as an origin, a solid east direction as an X axis, a vertical upward direction as a Y axis and a solid south direction as a Z axis, and converts the coordinates of the photo control points in the digital map coordinate system into coordinates in the photogrammetry coordinate system, wherein the conversion process comprises four steps of translation, exchange of the Y axis and the Z axis and plane rotation, and the method for the translation, the exchange of the Y axis and the Z axis comprises the following steps:
the plane rotation method comprises the following steps:
in the formula (I); xD YD ZDTranslating the map coordinate of the representative photo control point to a coordinate with D as an origin;
Xdrawing (A) YDrawing (A) ZDrawing (A)Coordinates of a digital map coordinate system representing photo control points;
Xt Yt Ztcoordinates in a photogrammetric coordinate system representing photographic control points;
α represents a ground azimuth of a photographing direction at the time of photographing;
step S4: calculating orientation elements and building height of the photo according to a collinear equation in photogrammetry; orientation elements of the picture including the location of the photograph (X)S、YS、ZS) Side roll angle of photography
A photographing pitch angle omega and a picture rotation angle kappa, f a focal length of a photographing objective lens and an image coordinate (x) of a picture principal point of the picture0、y0)；
Position of photographic point (X)S、YS、ZS) With XOuter straightTo represent; xS、YS、ZSRespectively representing three-dimensional coordinates of the photographing points in the photogrammetric coordinates;
roll angle for photographyThe camera pitch angle omega and the image rotation angle kappa in XExternal cornerTo represent;
f is focal length of photographic objective lens, x0、y0Is the image coordinate of the main point of the image, i.e. the point of the center of the objective lens on the image, f, x0、y0With XInner partTo represent;
image distortion coefficient kappa1With XDistortion ofTo represent;
unknown point space coordinate (X)D、YD、ZD) With XUnknown pointTo represent;
the calculation equation is:
in the formula: vx、VyIs the correction number of the error equation;
the classification by unknowns is represented by a matrix:
V＝AXouter straight+BYExternal corner+CXInner part+DXDistortion of+EXUnknown point-L (4)
In the formula: v is a correction matrix of the error equation;
l is an error equation constant term matrix;
Xunknown pointThe unknown number of the height of the building is included;
the various unknowns can then be calculated according to the least squares principle.
Has the advantages that: the digital map is used as a condition to integrally calculate the azimuth elements and the building height of the photo, and the digital map is a future development trend for acquiring urban three-dimensional data due to simple equipment, easy operation, small field workload, low cost and high precision, and solves the problem of calculating the building height from a single digital photo and the digital map.
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FIG. 1 is a flow chart of a method for calculating orientation elements of a photo according to the present invention;
fig. 2 is a digital image of a building. Wherein 1-9 are point numbers (see tables 1 and 2 below)
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention can strictly calculate the shooting position, the shooting attitude, the shot focal length and distortion and the building height of the digital photo, can be widely applied to digital city construction and three-dimensional modeling, and belongs to the field of close-range photogrammetry and computer vision.
The invention utilizes the existing large-scale digital map, considers the layered control structure of the building, calculates the orientation elements of the digital photos and the building height, and has the advantages of small field workload, low cost and high precision.
The invention provides a method for strictly calculating the orientation element of a photo and the height of a building according to a collinear equation by utilizing a plane control point provided by a digital map and considering the layered control structure of the building, and the method comprises the following steps as shown in figure 1:
step S11: shooting a digital photo of a complete building to obtain a digital map of the area of the building, wherein the digital photo is provided with a photo two-dimensional coordinate system, and the digital map is provided with a digital map coordinate system;
step S12: one point on the digital map corresponds to a plurality of points on the edge of a building wall in the digital photo, and according to the layered structure of the building, elevation data is assumed for wall corner points with different heights, the wall corner points are photo control points, and coordinates of the photo control points in a photo two-dimensional coordinate system and a digital map coordinate system are obtained;
step S13: establishing a photogrammetric coordinate system D-XDYDZDThe photogrammetry coordinate system takes an approximate photography point position as an origin, a solid east direction as an X axis, a vertical upward direction as a Y axis and a solid south direction as a Z axis, and converts a digital map coordinate system into a photogrammetry coordinate system;
step S14: and calculating the internal and external orientation elements and the building height of the photo by using the coordinates of the photo control points in the photogrammetric coordinate system and the coordinates in the two-dimensional coordinate system of the photo.
In step S12, a photo control point is selected by using the layered structure of the building, and a corner point of the building can select a plurality of photo control points with different heights on the digital photo, and each of the photo control points assumes a height value.
In step S14, the orientation element of the digital photo including the complete building includes the photographing position parameter X of the photographing photoS、YS、ZSPhotographic attitude parametersOmega, kappa, internal orientation elements f, x0、y0(ii) a According to the coordinates of the photo control point in the photogrammetry coordinate system and the coordinates of the photo two-dimensional coordinate system, the collinear equation in photogrammetry is utilized to calculate the orientation element and the photo distortion parameter k of the digital photo1And building height, wherein XS、YS、ZSRespectively representing the three-dimensional coordinates of the photographing points in the photogrammetric coordinates,
omega and kappa respectively represent the roll angle, pitch angle and image rotation angle of the photography, f is the focal length of the objective lens of the photography, x0、y0The image coordinate of the main point of the photo is the point of the center of the objective lens on the photo.
Namely: the first step is as follows: a digital map of the study area is acquired.
The second step is that: the digital photo of the building is shot by a common digital camera. When shooting, the complete building is required to be shot, the high and low sidelines of the building are mainly included, and calculation is facilitated.
The third step: corresponding points on the digital map and digital image are selected. Since one point on the digital map corresponds to a plurality of points on the side line of the building wall, these points are called shot control points by assuming an elevation data for corner points of different heights. And obtaining the coordinates of the photo control points in the digital map coordinate system and the two-dimensional coordinates in the photo coordinate system by programming corresponding software. The photo control points are selected by utilizing the layered structure of the building, and a corner point of the building can select a plurality of photo control points with different heights on the digital photo, and a height value is respectively assumed.
The fourth step: establishing a photogrammetric coordinate system D-XDYDZDA right-handed system having the photographing position as an origin or the approximate photographing position as an origin, the elevation direction as a Y-axis, and the opposite direction of the photographing direction as a Z-axis. The map coordinate system is converted to the photogrammetric coordinate system by programming corresponding software.
The fifth step: and calculating the orientation element and the building height of the photo by using the coordinate of the same name point in photogrammetry and the plane coordinate of the two-dimensional photo.
More specifically, the method comprises the following steps:
(1) a digital map is acquired.
(2) And shooting the digital photo.
(3) And acquiring the map coordinates and the photo coordinates of the photo control points. Since one point on the digital map corresponds to a plurality of points on the side line of the building wall, one elevation data is assumed by giving corner points of different heights.
(4) Establishing a photogrammetric coordinate system D-XDYDZD. And a right-handed system in which the coordinate system uses the approximate photographing position or the photographing position as an origin, the elevation direction is the Y axis, and the reverse direction of the photographing direction is the Z axis. The map coordinate system is converted to the photogrammetric coordinate system by programming corresponding software. Map coordinate system to photogrammetry coordinate system D-XDYDZDThe conversion process comprises four steps of translation, Y-axis and Z-axis exchange and plane rotation, wherein the translation, the Y-axis and the Z-axis exchange are realized by a formula:
the plane rotation formula is:
in the formula (I); xD YD ZDTranslating the map coordinate of the representative photo control point to a coordinate with D as an origin;
Xdrawing (A) YDrawing (A) ZDrawing (A)Coordinates of a digital map coordinate system representing photo control points;
Xt Yt Ztcoordinates in a photogrammetric coordinate system representing photographic control points;
α represents a ground azimuth of a photographing direction at the time of photographing.
(5) And according to the collinear equation, calculating internal and external orientation elements, picture distortion and building height of the picture by using photogrammetric coordinates and picture coordinates of the picture control points. The mathematical model calculated is:
the solution model includes four types of parameters: position, posture, inner orientation element and image distortion coefficient kappa of photographing point1. The solved unknowns include five types of unknowns, which are:
position X of photographic pointS、YS、ZSWith XOuter straightTo represent; xS、YS、ZSRespectively, three-dimensional coordinates of the photographing points in the photogrammetric coordinates.
Pose of camera spot
ω, κ, by XExternal cornerTo represent;
ω and κ represent the roll angle, pitch angle and image rotation angle of the image.
Internal orientation elements f, x0、y0With XInner partTo represent; f is focal length of photographic objective lens, x0、y0The image coordinates of the main point of the photo, namely the drop foot point of the center of the objective lens on the photo are obtained.
Image distortion coefficient kappa1With XDistortion ofTo represent;
unknown point spatial coordinate XD、YD、ZDIn (1) or (2) with XUnknown pointTo indicate.
The error equation of the solution model is:
in the formula: vx、VyIs the correction of the error equation.
The classification by unknowns is represented by a matrix:
V＝AXouter straight+BXExternal corner+CXInner part+DXDistortion of+EXUnknown point-L (4)
In the formula: v is a correction matrix of the error equation;
l is an error equation constant term matrix;
Xunknown pointIncluding the building height unknown.
The various unknowns can then be calculated according to the least squares principle.
And (3) programming by adopting Visual C #. NET, and automatically measuring the coordinates of the digital map and the digital photo by utilizing an ArcGIS ENGINE map control.
The coordinates of three room corner points corresponding to 1-9 points in the photo in fig. 2 are shown in table 1.
TABLE 1 two-dimensional plane coordinates on digital map and elevation initial values thereof
| Point number | x (Pixel) | y (Pixel) | Map coordinate X (Rice) | Map coordinate Y (Rice) | Initial value of elevation Z (meter) |
| 1 | -1221.2 | -338.5 | 1061.15 | 1262.77 | 10 |
| 2 | -307.6 | -273.6 | 1061.15 | 1245.10 | 10 |
| 3 | 1161.4 | -292.6 | 1115.88 | 1245.10 | 10 |
| 4 | -1214.2 | 119.6 | 1061.15 | 1262.77 | 18 |
| 5 | -323 | 360.9 | 1061.15 | 1245.10 | 18 |
| 6 | 1138.5 | -39.4 | 1115.88 | 1245.10 | 18 |
| 7 | -1199.8 | 559.8 | 1061.15 | 1262.77 | 26 |
| 8 | -332.5 | 945.1 | 1061.15 | 1245.10 | 26 |
| 9 | 1119.5 | 208.4 | 1115.88 | 1245.10 | 26 |
The coordinates of the established photogrammetric coordinate origin D are as follows:
wherein,
are approximations. Approximate azimuth angle in photography: alpha is alphaTaking a photographThe inverse of the curve 1.06730270945475 is the Z-axis. Conversion of the map coordinate system in Table 1 to the photogrammetric coordinate system D-XDYDZDThe conversion results are shown in Table 2.
TABLE 2 photogrammetry coordinate system coordinates of control points
| Point number | x (Pixel) | y (Pixel) | Map coordinate X (Rice) | Map coordinate Y (Rice) | Initial value of elevation Z (meter) | XD(Rice) | YD(Rice) | ZD(Rice) |
| 1 | -1221.2 | -338.5 | 1061.15 | 1262.77 | 10 | -24.22 | 1 | -38.75 |
| 2 | -307.6 | -273.6 | 1061.15 | 1245.10 | 10 | -8.74 | 1 | -30.23 |
| 3 | 1161.4 | -292.6 | 1115.88 | 1245.10 | 10 | 17.56 | 1 | -78.23 |
| 4 | -1214.2 | 119.6 | 1061.15 | 1262.77 | 18 | -24.22 | 9 | -38.75 |
| 5 | -323 | 360.9 | 1061.15 | 1245.10 | 18 | -8.74 | 9 | -30.23 |
| 6 | 1138.5 | -39.4 | 1115.88 | 1245.10 | 18 | 17.56 | 9 | -78.23 |
| 7 | -1199.8 | 559.8 | 1061.15 | 1262.77 | 26 | -24.22 | 17 | -38.75 |
| 8 | -332.5 | 945.1 | 1061.15 | 1245.10 | 26 | -8.74 | 17 | -30.23 |
| 9 | 1119.5 | 208.4 | 1115.88 | 1245.10 | 26 | 17.56 | 17 | -78.23 |
The unknowns calculated using the transformed photogrammetric coordinate system coordinates and the photograph coordinates are shown in table 3.
TABLE 3 results of calculation
| Calculating parameters | Calculation results |
| Xs(m) | -1.483 |
| Ys(m) | -0.396 |
| Zs(m) | -1.784 |
| Phi (arc) | -0.1361996 |
| Omega (radian) | 0.1306600 |
| K (arc) | -0.039236 |
| f (Pixel) | 2901.8 |
| x0 (Pixel) | 13.0 |
| y0 (Pixel) | -20.6 |
| K1 | 1.94×10-8 |
| Height (m) | 13.13 |
Claims (1)
1. A method for calculating photo orientation elements and building height using a digital map, comprising: the method comprises the following steps:
step 1: shooting a digital photo of a complete building to obtain a digital map of the area of the building, wherein the digital photo is provided with a photo two-dimensional coordinate system, and the digital map is provided with a digital map coordinate system;
step 2: one point on the digital map corresponds to a plurality of points on the edge of a building wall in the digital photo, and according to the layered structure of the building, elevation data is assumed for wall corner points with different heights, the wall corner points are photo control points, and coordinates of the photo control points in a photo two-dimensional coordinate system and a digital map coordinate system are obtained; acquiring the coordinates of a main point of a photo in a two-dimensional coordinate system of the photo, wherein the main point of the photo is a foot point of the center of a photographic objective lens on the photo;
and step 3: establishing a photogrammetric coordinate system D-XDYDZDThe photogrammetry coordinate system takes an approximate photography point position as an origin, a solid east direction as an X axis, a vertical upward direction as a Y axis and a solid south direction as a Z axis, and converts the coordinates of the photo control points in the digital map coordinate system into coordinates in the photogrammetry coordinate system, wherein the conversion process comprises four steps of translation, exchange of the Y axis and the Z axis and plane rotation, and the method for the translation, the exchange of the Y axis and the Z axis comprises the following steps:
The plane rotation method comprises the following steps:
In the formula (I); xDYDZDTranslating the map coordinate of the representative photo control point to a coordinate with D as an origin;
Xdrawing (A)YDrawing (A)ZDrawing (A)Coordinates of a digital map coordinate system representing photo control points;
XtYtZtcoordinates in a photogrammetric coordinate system representing photographic control points;
α represents a ground azimuth of a photographing direction at the time of photographing;
and 4, step 4: calculating orientation elements and building height of the photo according to a collinear equation in photogrammetry; orientation elements of the picture including the location of the photograph (X)S、YS、ZS) Side roll angle of photography
The shooting pitch angle omega and the image rotation angle kappa, f the focal length of the shooting objective lens and the image coordinate (x) of the image principal point of the image0、y0)；
Position of photographic point (X)S、YS、ZS) With XOuter straightTo represent; xS、YS、ZSRespectively representing three-dimensional coordinates of the photographing points in the photogrammetric coordinates;
roll angle for photography
Photographing pitch angle omega and picture rotation angle kappa in XExternal cornerTo represent;
f is focal length of photographic objective lens, x0、y0Is the image coordinate of the main point of the image, i.e. the point of the center of the objective lens on the image, f, x0、y0With XInner partTo represent;
image distortion coefficient kappa1With XDistortion ofTo represent;
unknown point space coordinate (X)D、YD、ZD) With XUnknown pointTo represent;
the calculation equation is:
in the formula: vx、VyIs the correction number of the error equation;
the classification by unknowns is represented by a matrix:
V＝AXouter straight+BXExternal corner+CXInner part+DXDistortion of+EXUnknown point-L formula 4
In the formula: v is a correction matrix of the error equation;
l is an error equation constant term matrix;
Xunknown pointThe unknown number of the height of the building is included;
the various unknowns can then be calculated according to the least squares principle.
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