CN102436678B - Method and system for generating three-dimensional road model - Google Patents
Method and system for generating three-dimensional road model Download PDFInfo
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Abstract
The invention relates to a method for generating a three-dimensional road model, which belongs to the field of three-dimensional road modeling. The method comprises the following steps: (1) collecting the data of the center line of a road to obtain the two-dimensional node data of the center line of the road; (2) resolving the structural characteristic of the road and constructing a road model; (3) separating out the node data of the center lines of a common road section and an intersection from the two-dimensional data of the center line of the road; (4) modeling the node data by invoking the road model to generate the characteristic point data of the edges of the common road section and the intersection; (5) connecting each point corresponding to the characteristic point data of the edges to generate a road model of a three-dimensional grid; and (6) sticking a corresponding texture onto the generated road model of the three-dimensional grid according to the attribute data of the road to obtain a three-dimensional solid model of the road. The invention also provides a system for generating the three-dimensional road model. According to the method for generating the three-dimensional road model, which is disclosed by the invention, the three-dimensional road model is generated in a fully automatic way, the manual intervention is avoided, and the modeling efficiency is enhanced.
Description
Technical field
The invention belongs to the three-dimensional road modeling field in virtual reality, relate in particular to a kind of generation method and system of three-dimensional road model.
Background technology
In a lot of applications, traditional two dimension (2D) shows has more and more allowed people feel uninteresting, dull and single, can not meet far away due to the progressive various demands of bringing of epoch.The appearance of virtual reality and three-dimensional (3D) technology, gives people's vision with revolutionary change.Lively, the true to nature and abundant virtual reality world that 3-D technology brings, makes people can observe on computers more intuitively the real scene of real world.
In navigation of electronic map field, traditional two-dimensional map is to adopt " point " and " line " to come the abstract objective world of describing.Although this method can provide user needed information simply, fast and timely, it also exists fatal weakness---the just two-dimensional world of a plane of its reflection, reflection objective world that can not be real, lively.Nowadays, three-dimensional map has become new focus, has been subject to paying close attention to widely.Three-dimensional map not only can provide all required information of two-dimensional map, and it can create three-dimensional, true to nature, a lively virtual world, brings user brand-new, on the spot in person sensation, bring that we enrich, experience really.
It is that three dimensional network is formatted and the method for material texture that three-dimensional scenic reappears what adopt.3D grid is described the shape profile of object, the color of material texture description object and material (as transmission, reflection etc.) and appearance information.Utilize 3D grid and material texture, object very really, clearly can reflect reality.In three-dimensional scenic, by creating gridding methods, can be very fine and smoothly, real surface reveals the spatial relationship in object and the world, browse three-dimensional scenic and be just equivalent to enter one and shone upon the virtual world forming by real world.
Three-dimensional map comprises topography and geomorphology, road, bridge, the information of the many levels such as buildings and other view, and wherein road is the most important core component of three-dimensional map, is equivalent to bone and the train of thought of whole map.
Traditional three-dimensional road modeling method is very single, and what substantially adopt is for example, method by using some 3 d modeling softwares (3Dmax) to carry out artificial modeling.Artificial modeling takes time and effort, and efficiency is extremely low.Especially while carrying out modeling in enormous quantities, shortcoming and the drawback of artificial modeling are completely exposed, and consequent time restriction and efficiency limitations among others, had a strong impact on the application of three-dimensional road model in electronic chart and other field.
Summary of the invention
The present invention is the technical matters that solves inefficiency in existing artificial three-dimensional road modeling, and a kind of three-dimensional road model generating method and system are efficiently provided.
A kind of three-dimensional road model generating method, comprises the steps:
(1), road axis data are gathered, obtain two-dimentional road axis node data;
(2), resolve road structure feature, set up corresponding road model, described road model comprises common section model and crossing model;
(3), resolve the topological relation of two-dimentional road axis node data, isolate common section centerline node data and crossing centerline node data;
(4), call described road model described node data carried out to modelling, generate road edge characteristic point data, described road edge characteristic point data comprises common section Edge Feature Points data and edge, crossing characteristic point data;
(5), connect each point corresponding to described Edge Feature Points data, generating three-dimensional grid road model;
(6), according to the attribute data of road, the 3D grid road model of generation is sticked to corresponding texture, obtain three-dimensional road solid model.
A kind of three-dimensional road model generation system, comprising:
Data acquisition module, for road axis data are gathered, obtains two-dimentional road axis node data;
Road model is set up module, for resolving road structure feature, sets up corresponding road model, and described road model comprises common section model and crossing model;
Data separating module, for resolving the topological relation of described two-dimentional road axis node data, isolates common section centerline node data and crossing centerline node data;
Data modeling module, carries out modelling for calling described road model to described node data, generates road edge characteristic point data, and described road edge characteristic point data comprises common section Edge Feature Points data and edge, crossing characteristic point data;
3D grid road model generation module, for connecting each point corresponding to described Edge Feature Points data, generating three-dimensional grid road model;
Three-dimensional road solid model generation module, sticks corresponding texture for the attribute data according to road by the 3D grid road model of generation, obtains three-dimensional road solid model.
The full automatic generating three-dimensional road model of three-dimensional road model generating method of the present invention and system, has avoided manual intervention, therefore can improve modeling efficiency.
Brief description of the drawings
Fig. 1 is the process flow diagram of the three-dimensional road model generating method that provides of the embodiment of the present invention;
Fig. 2 is the orientation diagram for definite trend of road that the embodiment of the present invention provides;
Fig. 3 is the circular curve simulated roadway bend schematic diagram that the embodiment of the present invention provides;
Fig. 4 is the Bezier simulated roadway bend schematic diagram that the embodiment of the present invention provides;
Fig. 5 (a) is definite junction edge edge segment of curve schematic diagram that the embodiment of the present invention provides; Edge feature dot generation method schematic diagram;
Fig. 5 (b) is that the single bend place, definite crossing that the embodiment of the present invention provides extends out a little and interior expansion point schematic diagram;
Fig. 5 (c) is that the crossing of removing that the embodiment of the present invention provides extends out point, retains an expansion point schematic diagram in crossing;
The crossing Edge Feature Points schematic diagram that Fig. 5 (d) embodiment of the present invention provides;
Fig. 6 is the road axis schematic diagram data that the embodiment of the present invention provides;
Fig. 7 is the separation common section centreline data that provides of the embodiment of the present invention and the method flow diagram of crossing centreline data;
Fig. 8 be the embodiment of the present invention provide according to the method flow diagram of other multilink that comprises this node of junction node data search;
Fig. 9 is the 3D grid road model schematic diagram that the embodiment of the present invention provides;
Figure 10 be the embodiment of the present invention provide stick the three-dimensional road solid model partial result schematic diagram after road texture;
Figure 11 be the embodiment of the present invention provide stick the three-dimensional road solid model effect schematic diagram after road texture;
Figure 12 is a kind of three-dimensional road model generation system schematic that the invention process provides.
Embodiment
In order to make technical matters solved by the invention, technical scheme and beneficial effect clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
In order to solve the technical matters of inefficiency in artificial three-dimensional road modeling, the invention provides a kind of three-dimensional road model generating method, as shown in Figure 1, comprise the steps:
(1), road axis data are gathered, obtain two-dimentional road axis node data;
(2), resolve road structure feature, set up corresponding road model, described road model comprises common section model and crossing model;
(3), resolve the topological relation of two-dimentional road axis node data, isolate common section centerline node data and crossing centerline node data;
(4), call described road model described node data carried out to modelling, generate road edge characteristic point data, described road edge characteristic point data comprises common section Edge Feature Points data and edge, crossing characteristic point data;
(5), connect each point corresponding to described Edge Feature Points data, generating three-dimensional grid road model;
(6), according to the attribute data of road, the 3D grid road model of generation is sticked to corresponding texture, obtain three-dimensional road solid model.
Above-mentioned steps (1) obtains two-dimentional road axis node data can adopt following two kinds of methods.
Method one, first imports the bitmap of taking photo by plane, and then on bitmap, extracts road axis nodal information taking photo by plane, last, and the information of road axis is changed into two-dimentional road axis node data.On figure, extract road axis information and adopt and get a method taking photo by plane, get a little at each flex point place of road axis, obtain road axis nodal information.
The collection of two-dimentional road axis information is got a method and is realized in utilization.When collection, can follow following rule: for common section, do not contain the section at crossing, start to get a little from one end of road, taking road axis as benchmark, if the direction of road has the angle of deflection and deflection to be greater than α, get a little in the position deflecting, α is self-defining maximum deflection angle value; For crossing, taking road axis as benchmark, first get in order 2 points at close crossing of any road, and then get an other road 2 points at close crossing, the like get a little.
Method two, directly reads the file of the various forms of storage road axis information data, such as KIWI (a kind of storage format of map information data) file or project file or other user-defined file etc.Then to its normalized.
In file, center line information data recording is the latitude and longitude coordinates of road axis, and its precision may be up to after radix point ten more than, thereby is bringing a lot of inconvenience aspect the calculating of data and processing.In order to reach optimization data, be convenient to the object processed, a kind of easy method for normalizing is proposed.
First center line information data is carried out to piecemeal, whole data are divided into grid type data, grid type data are carried out to label processing; Secondly, process successively each grid type data, find in grid the data point A of lower left; Then the coordinate of other data point is all deducted to the coordinate of data point A, obtain the relative coordinate about data point A, and the coordinate obtaining is multiplied by M, M is the multiple that coordinate amplifies, according to the determine precision of data, so just obtain the coordinate through preliminary normalized, i.e. two-dimentional road axis node data.
Road can simply be divided into common section and crossing.Article one, complete road can be put together by multiple crossings and common section.Propose to set up as follows thus the method for road model.
Common section model and crossing model are all to generate road edge characteristic point data model according to road axis node data to obtain.The method concrete steps of setting up common section model and crossing model are as follows:
A, from described two-dimentional road axis node data, take out in order 3 road axis node datas, and generate road edge characteristic point data models according to these 3 road axis node datas;
B, first road axis node data of rejecting, select to add with the next road axis node data that thirdly road axis node data is adjacent, and generate road edge characteristic point data models according to these 3 road axis node datas;
C, repeating step B, finish until get last road axis node data.
Next be generate roadway characteristic marginal point data model and be connected with the seamless zero lap of road edge characteristic point data model of follow-up generation by 3 road axis node datas.
Common section model can be divided into straight line path segment model and bend section model.For the straight line path segment model in the model of common section, directly determine according to its road axis node data and the unidirectional W that has a lot of social connections.From revenue centre line node to both sides, the unidirectional W that has a lot of social connections of expansion, obtains straight line section roadway characteristic marginal point data model.
For bend section, profit obtains its roadway characteristic marginal point data model with the following method.Method step is as follows:
Trend and the slope of the first line segment that a, first, bend place of calculating and second point road axis node data form, and trend and the slope of second point and the second line segment that thirdly road axis node data forms; And calculate the angle that the first line segment and the second line segment form;
B, according to described angle, unidirectional have a lot of social connections and bend determine precision center line on the position of bend starting point and bend end point;
C, extend out into outer arc curve point and inner arc curve point according to bend starting point and bend end point, outer arc curve point and inner arc curve point are bend place roadway characteristic marginal point data model.
In order to describe the method that obtains bend section roadway characteristic marginal point data model in detail, be described below in conjunction with accompanying drawing.As shown in Figure 2, be arranged in the position of orientation diagram for bend section centreline data point.
1, first determine trend and the slope of section OP, section OQ, and angle α between section OP, section OQ.Angle α utilizes following formula to try to achieve.
In formula
for the vector of section OP,
for vector
mould,
for the vector of section OQ,
for vector
mould.The value of cos (π-α) being carried out arc cosine processing and obtained α, α span is [0, π].
2, determine the position of bend starting point A and bend end point B on center line by the angle α of section OP, section OQ, the unidirectional W of having a lot of social connections and bend precision S.AB section generates arc, and other parts generate forthright face.Bend precision is the factor for controlling curve smoothing, i.e. the alternative maximum radian number of straight-line segment for regulation.The position calculation that AB is ordered is very important, and that gets is too small, and bend transition is unnatural, also easily occurs the situation of folded inside; That gets is excessive, the disconnected connection in road before and after may affecting, and before and after causing, section is overlapping.
Bend starting point A and bend end point B coordinate are calculated as follows:
By vector
determine the position of bend starting point A; By vector
determine the position of bend end point B.
In formula:
for second point O is to the vector of bend starting point A,
for second point O is to the vector of bend end point B; W is unidirectional having a lot of social connections, and α is angle, and S is bend precision, and β is the scaling of normalization precision when road axis information data is normalized or the bitmap of taking photo by plane image while getting center line; P is the first point, and O is second point, and Q is for thirdly;
for the vector of O to the first P of second point,
for vector
mould;
for second point O arrives the thirdly vector of Q,
for vector
mould.
3, extend out into outer arc curve point and inner arc curve point employing circular arc simulation or Bezier simulation according to bend starting point and bend end point.
Circular arc analogy method is as follows, and as shown in Figure 3, first circular arc simulation needs to determine three parameters, central coordinate of circle T, radius R and angle [alpha].Crossing bend starting point A does
vertical line, cross bend end point B and do
vertical line, two vertical lines intersect at a T, obtain the coordinate of center of circle T.AT is radius R, and R adds that the unidirectional W of having a lot of social connections is outer arc radius, and it is inner arc radius that R deducts the unidirectional W of having a lot of social connections.
Then according to vector
vector
trend, determine start angle φ.First judge the position relationship of Q point and OP line segment, if
taking P point as the center of circle, turn clockwise be less than angle π just can be with
direction is identical, and establishing the first coefficient ZF is-1, if
taking P point as the center of circle, be rotated counterclockwise be less than angle π just can be with
direction is the same, and establishing the first coefficient ZF is 1.
trend taking O as initial point is divided into eight kinds, as shown in Figure 2, i.e. and orientation 1, orientation 2, orientation 3, orientation 4, orientation 5, orientation 6, orientation 7, orientation 8.The value of moving towards D is [1,8].
According to moving towards the value of D and the value of the first coefficient ZF, determine start angle φ below:
If D=1, when ZF=-1,
when ZF=1,
If when D1=2 or 4, ZF=-1,
when ZF=1,
If D1=3, when ZF=-1, φ=π; When ZF=1, φ=0;
If D1=5, when ZF=-1,
when ZF=1,
If when D1=6 or 8, ZF=-1,
when ZF=1,
If D1=7, when ZF=-1, φ=0; When ZF=1, φ=π.
After start angle φ determines, with
for stepping, calculate successively each edge feature point number of degrees on outer arc and inner arc, adopt formula φ+ZF*S*n to calculate, ZF is the first coefficient, by Q point and vector
position relationship determine, n is circular arc segments, the value of n be [1,
round and add 1].
Finally according to inner arc radius R-W and angle φ+ZF*S*n, adopt formula x=(R-W) * cos (φ+ZF*S*n), y=(R-W) * sin (φ+ZF*S*n) calculates the coordinate position of the each unique point on inner arc; According to outer arc radius R-W and angle φ+ZF*S*n, adopt formula x=(R-W) * cos (φ+ZF*S*n), y=(R-W) * sin (φ+ZF*S*n) calculates the coordinate position of the each unique point on outer arc.
Bezier analogy method is as follows, as shown in Figure 4.Bezier is more flexible compared with circular arc simulation, the face overlapping phenomenon occurring can avoid many circular arc simulations time.Bezier simulation need to be determined three points, bend starting point A and bend end point B and a reference mark, and bend starting point A and bend end point B become four some A1, A2, B1, B2 to both sides expansion; A1 and B1, A2 and B2 become two pairs of bend starting points and bend end point, P1A1 and Q1B1 extended line meet at some formation control point K1, P2A2 and Q2B2 extended line meet at some formation control point K2, this has just completed outer arc curve and inner arc curve does the required parameter of secondary Bezier, to put A1, B1, K1 substitution Bessel's function, can obtain the segmental arc point set that inner arc Curves needs, to put A2, B2, K2 substitution Bessel's function, can obtain the segmental arc point set that outer arc Curves needs, the number of point is controlled by the bend precision of inputting.
Multiple situation is divided at crossing, for example junction of three roads, four forks in the road, five forks in the road, six forks in the road, many forks in the road, and its crossing model can be simulated with curve.Three curves for the junction of three roads, four curves for four forks in the road, many curves for many forks in the road, by that analogy.The generation of crossing model curve and common section River Bend Models generate similar, only retain the interior expansion point of bend, reject and extend out a little, then all curves that obtain are together in series, and just can obtain the profile at crossing.
The method step of setting up crossing model is as follows:
H, calculate trend and the slope of the first line segment that first, crossing road every road and second point form, and second point and thirdly trend and the slope of the second line segment of formation; Calculate the angle that the first line segment and the second line segment form;
I, according to described angle, unidirectional have a lot of social connections and bend determine precision center line on the position of bend starting point and bend end point;
J, extend out into outer arc curve point and inner arc curve point according to bend starting point and bend end point, outer arc curve point and inner arc curve point are bend place roadway characteristic marginal point data;
K, crossing curve is generated, then bend place outer arc curve point part is removed, retain inner arc curve point.
Taking four forks in the road as example, in conjunction with Fig. 5 (a), 5 (b), 5 (c), 5 (d) to its detailed description, the first step: as shown in Fig. 5 (a), determine segment of curve AOB, BOC, COD, the DOA that need to calculate and process; Second step: as shown in Fig. 5 (b), successively calculate by the generation method in common detour section that segment of curve extends out a little and interior expansion point; The 3rd step: as shown in Fig. 5 (c), remove and extend out a little, expand point in retaining; The 4th step: as shown in Fig. 5 (d), arrange all interior expansion point generating, form a complete point set.This point set gets up with segment link successively, has just formed the edge feature at crossing.
The method that separates common section and crossing centerline node data in above-mentioned steps (3) is as follows: describe taking two-dimentional road axis node data in KIWI file as foundation at this.In KIWI file, in data, store to put as least unit, some node node form a link link, and some link link form a multilink multilink, and some multilink multilink just form whole file data.Multilink multilink divide according to being real-life road name, for example Zhongshan Road, it will be abstracted into a multilink multilink in data.The relation of multilink multilink, link link, node node as shown in Figure 6.
In to the analysis of this structure, common section relates to the relation between inner link link, and crossing relates to the relation between multilink multilink.What we need to do is distinguished these different relations, and a class is summed up as the common section of road node data, and a class is summed up as road cross node data.Be illustrated in figure 7 the method flow diagram that separates common section and crossing centerline node data, comprise the steps:
(1), order reads a multilink multlink;
(2), order reads a link link in multilink multilink;
(3), read the node note in link link;
(4), whether decision node note belongs to multilink; If not, according to other multilink multilink that comprises this node note of junction node note data search;
(5), classified as common section centerline node data;
(6), judge that whether this link link is the last item link link in multilink multilink, if not, jumps to step (two);
(7), judge that whether this multilink multilink is the last item multilink multilink, if not, jumps to step (); If so, finish.
As shown in Figure 8, in above-mentioned steps (four), comprise the steps: according to other multilink multilink that comprises this node note of junction node note data search
A, search according to crossing center line information node note the multilink multilink being associated;
B, successively read multilink multilink;
Under c, decision node note, whether link link belongs to initial or finishes link link, if so, obtains a node note, as no, obtains two node note;
D, judge whether this multilink multilink is the last item multilink multilink, if not, jumps to step b, if so, finishes.
In carrying out above-mentioned classification, to stay the connected interface in various sections, ensure that these sections can seamless, zero lap, naturally couple together.Do this step work, pre-read data is necessary.
In above-mentioned steps (4), call described road model described node data is carried out to modelling, generate road edge characteristic point data, described road edge characteristic point data comprises common section Edge Feature Points data and edge, crossing characteristic point data.
In the time that data are the common section of road data, call common section modeling method, and the Edge Feature Points data of generation are stored; In the time that data are road cross data, call crossing modeling method, and the Edge Feature Points data of generation are stored.Two piece of data are storage separately respectively.
The Edge Feature Points generating three-dimensional grid road model of above-mentioned steps (5) linking-up road.As shown in Figure 9, for the common section of road, every four road edge unique points are connected into a face, finally form a complete common section face; For road cross, every two adjacent road edge unique points and central point are connected to form to a gore, connect and just formed a complete crossing face successively.
Above-mentioned steps (6) is sticked corresponding texture according to the attribute data of road by the 3D grid road model of generation, the three-dimensional road solid model schematic diagram obtaining, as shown in figure 10.For the common section of road, according to its number of lanes information, stick the track texture of respective number to road surface; For road cross, can be divided into transition section, zebra line segment, between San Ge texture area, central area, sticks corresponding texture to respectively these three intervals.Figure 11 simulates with three-dimensional road model generating method the three-dimensional road solid model design sketch obtaining, and can find out that it has higher fidelity.
Three-dimensional road solid model need to be stored and derive it after being generated.Three-dimensional road solid model divides two to store, the storage common section of road three-dimensional road solid model data, another piece storage road cross three-dimensional road solid model data.If the common section of road three-dimensional road solid model data add separation data by a section road surface and form, separate data and be used for distinguishing unconnected common section; If road cross three-dimensional road solid model data add separation data by multiple crossings data and form, separate data and be used for distinguishing unconnected crossing data.
The derivation part use of three-dimensional road solid model data be a kind of three dimensional file storage format-OBJ form of open form, this file is made up of two files, an expansion .OBJ by name and an expansion .MTL by name.The composition of the physical coordinates of OBJ memory point and texture coordinate and face; The information such as memory location and illumination of MTL storage texture material.
When constructing after a road three-dimensional grid model by introduction above, just define its feature such as width, height, at this moment it seems to be placed on there just as a silk ribbon.In order to allow three-dimensional road solid model demonstrate abundant image effect, paste upper corresponding texture according to road attribute information to road three-dimensional model, increase the road circuit units such as street lamp, traffic sign, crash barrier.The method using in the present embodiment example is UV pinup picture, and this is a kind of three-dimensional model chart pasting method generally using.
After three-dimensional road solid model pinup picture, showing in three-dimensional road solid model data importing 3 d modeling software and production three-dimensional road model.
In addition, the present invention also provides a kind of three-dimensional road model generation system, as shown in figure 12, comprising:
Data acquisition module 121, for road axis data are gathered, obtains two-dimentional road axis node data;
Road model is set up module 122, for resolving road structure feature, sets up corresponding road model, and described road model comprises common section model and crossing model;
Data separating module 123, for resolving the topological relation of described two-dimentional road axis node data, isolates common section centerline node data and crossing centerline node data;
Data modeling module 124, carries out modelling for calling described road model to described node data, generates road edge characteristic point data, and described road edge characteristic point data comprises common section Edge Feature Points data and edge, crossing characteristic point data;
3D grid road model generation module 125, for connecting each point corresponding to described Edge Feature Points data, generating three-dimensional grid road model;
Three-dimensional road solid model generation module 126, sticks corresponding texture for the attribute data according to road by the 3D grid road model of generation, obtains three-dimensional road solid model.
Three-dimensional road solid model after generating also needs three-dimensional road model data to store or derive, and this system also comprises:
Storage output module, for storing or derive described three-dimensional road model data.
When constructing after a road three-dimensional grid model by introduction above, just define its feature such as width, height, at this moment it seems to be placed on there just as a silk ribbon.In order to allow three-dimensional road solid model demonstrate abundant image effect, also need to paste upper corresponding texture according to road attribute information to road three-dimensional model, increase the road circuit units such as street lamp, traffic sign, crash barrier.
This system also comprises: road pavement module, for the three-dimensional road solid model of deriving is increased to street lamp, traffic sign, guard rail texture;
Display module, for showing the described three-dimensional road solid model that has increased street lamp, traffic sign, guard rail texture.
The present invention can such as, by extracting the information of road axis and its abstract various formatted files (KIWI file etc.) that change into 2-D data or read storage road axis information data being generated to the three-dimensional road model with high emulation real-time dynamicly, also generating three-dimensional road model storing data in the memory device of appointment statically.Thus, not only greatly improve the modeling efficiency of three-dimensional road, and strengthen the applicability of three-dimensional road in electronic chart, expand the application of three-dimensional road, effectively solved and set up that three-dimensional road model takes time and effort, the problem of inefficiency in the applications such as three-dimensional navigation, city planning, virtual reality.
Target of the present invention is exactly the manual intervention while reducing as much as possible three-dimensional road modeling, realizes the leap to machine modeling by artificial modeling.Can greatly improve thus the efficiency of three-dimensional road modeling, generate the three-dimensional road model with high emulation.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (15)
1. a three-dimensional road model generating method, is characterized in that, described method comprises the steps:
(1), road axis data are gathered, obtain two-dimentional road axis node data;
(2), resolve road structure feature, set up corresponding road model, described road model comprises common section model and crossing model;
(3), resolve the topological relation of two-dimentional road axis node data, isolate common section centerline node data and crossing centerline node data;
(4), call described road model described node data carried out to modelling, generate road edge characteristic point data, described road edge characteristic point data comprises common section Edge Feature Points data and edge, crossing characteristic point data;
(5), connect each point corresponding to described Edge Feature Points data, generating three-dimensional grid road model;
(6), according to the attribute data of road, the 3D grid road model of generation is sticked to corresponding texture, obtain three-dimensional road solid model;
The method that separates common section and crossing centerline node data in described step (3) is as follows:
(1), order reads a multilink;
(2), order reads a link in multilink;
(3), read the node in link;
(4), whether decision node belongs to multilink; If not, according to other multilink that comprises this node of junction node data search;
(5), classified as common section centerline node information;
(6), judge that whether this link is the last item link in multilink, if not, jumps to step (two);
(7), judge that whether this multilink is the last item multilink, if not, jumps to step (); If so, finish.
2. three-dimensional road model generating method as claimed in claim 1, is characterized in that, described step (6) also comprises the steps: afterwards
(7), three-dimensional road model data is stored or derived.
3. three-dimensional road model generating method as claimed in claim 2, is characterized in that, described step (7) also comprises the steps: afterwards
(8), the three-dimensional road solid model of deriving is increased to street lamp, traffic sign, guard rail texture;
(9), the described three-dimensional road solid model that has increased street lamp, traffic sign, guard rail texture is shown.
4. three-dimensional road model generating method as claimed in claim 1, is characterized in that, described step (1) comprising:
The collection bitmap of taking photo by plane, then extracts two-dimentional road axis node data taking photo by plane on bitmap;
Or
The file that reads storage road axis information, is normalized road axis information data, obtains two-dimentional road axis node data.
5. three-dimensional road model generating method as claimed in claim 4, is characterized in that, the method that described step (2) is set up road model comprises the steps:
A, from described two-dimentional road axis node data, take out in order 3 road axis node datas, and generate road edge characteristic point data models according to these 3 road axis node datas;
B, first road axis node data of rejecting, select to add with the next road axis node data that thirdly road axis node data is adjacent, and generate road edge characteristic point data models according to these 3 road axis node datas;
C, repeating step B, finish until get last road axis node data.
6. three-dimensional road model generating method as claimed in claim 5, it is characterized in that, described road edge characteristic point data model comprises bend place, common section roadway characteristic marginal point data model, described in obtain bend place, common section roadway characteristic marginal point data model method comprise:
Trend and the slope of the first line segment that a, first, bend place of calculating and second point road axis node data form, and trend and the slope of second point and the second line segment that thirdly road axis node data forms; Calculate the angle that the first line segment and the second line segment form;
B, according to described angle, unidirectional have a lot of social connections and bend determine precision center line on the position of bend starting point and bend end point;
C, extend out into outer arc curve point and inner arc curve point according to bend starting point and bend end point, outer arc curve point and inner arc curve point are bend place, common section roadway characteristic marginal point data model.
7. three-dimensional road model generating method as claimed in claim 5, is characterized in that, described road edge characteristic point data model comprises crossing roadway characteristic marginal point data model, and the method for setting up crossing roadway characteristic marginal point data model comprises:
Trend and the slope of the first line segment that h, first, every road of calculating crossing road and second point road axis node data form, and trend and the slope of second point and the second line segment that thirdly road axis node data forms; Calculate the angle that the first line segment and the second line segment form;
I, according to described angle, unidirectional have a lot of social connections and bend determine precision center line on the position of bend starting point and bend end point;
J, extend out into outer arc curve point and inner arc curve point according to bend starting point and bend end point, outer arc curve point and inner arc curve point are bend place roadway characteristic marginal point data model;
K, all crossing bends place curve is generated, then bend place outer arc curve point is removed, retain inner arc curve point, obtain crossing roadway characteristic marginal point data model.
8. the three-dimensional road model generating method as described in claim 6 or 7, is characterized in that, the following method of definite employing of described bend starting point and bend end point:
By vector
determine the position of bend starting point A; By vector
determine the position of bend end point B;
In formula:
for second point O is to the vector of bend starting point A,
for second point O is to the vector of bend end point B; W is unidirectional having a lot of social connections, and α is angle, and S is bend precision, and β is the scaling of normalization precision when road axis information data is normalized or the bitmap of taking photo by plane image while getting center line; P is the first point, and O is second point, and Q is for thirdly;
for the vector of O to the first P of second point,
for vector
mould;
for second point O arrives the thirdly vector of Q,
for vector
mould.
9. three-dimensional road model generating method as claimed in claim 8, is characterized in that, circular arc simulation or Bezier simulation for described outer arc curve point and inner arc curve point.
10. three-dimensional road model generating method as claimed in claim 9, is characterized in that, the described method simulation outer arc curve point with circular arc simulation and the method for inner arc curve point comprise:
I, mistake bend starting point A do
vertical line, cross bend end point B and do
vertical line, two vertical lines intersect at a T, described some T is center of circle T, AT is radius R, R adds that the unidirectional W of having a lot of social connections is outer arc radius, it is inner arc radius that R deducts the unidirectional W of having a lot of social connections;
II, foundation vector
vector
trend, determine start angle φ;
III, with
for stepping, calculate successively the number of degrees, adopt formula φ+ZF*S*n to calculate, ZF is the first coefficient, by Q point and vector
position relationship determine, ZF value is 1 or-1, n is circular arc segments, the value of n be [1,
round and add 1];
IV, according to inner arc radius R-W and angle φ+ZF*S*n, adopt formula x=(R-W) * cos (φ+ZF*S*n), y=(R-W) * sin (φ+ZF*S*n) calculates the each unique point on inner arc; According to outer arc radius R-W and angle φ+ZF*S*n, adopt formula x=(R-W) * cos (φ+ZF*S*n), y=(R-W) * sin (φ+ZF*S*n) calculates the each unique point on outer arc.
11. three-dimensional road model generating methods as claimed in claim 1, is characterized in that, described step (four) comprises the steps: according to other multilink that comprises this node of junction node data search
A, search according to crossing center line information node the multilink being associated;
B, successively read multilink;
Under c, decision node, whether link belongs to initial or finishes link, if so, obtains a node, if not, obtains two nodes;
D, judge whether this multilink is the last item multilink, if not, jumps to step b, if so, finishes.
12. three-dimensional road model generating methods as claimed in claim 1, is characterized in that, described step (6) is specially:
According to number of lanes information, 3D grid road model is pasted to track texture, respective texture is sticked in the transition section to road cross, zebra line segment, central area, obtains three-dimensional road solid model.
13. 1 kinds of three-dimensional road model generation systems, is characterized in that, comprising:
Data acquisition module, for road axis data are gathered, obtains two-dimentional road axis node data;
Road model is set up module, for resolving road structure feature, sets up corresponding road model, and described road model comprises common section model and crossing model;
Data separating module, for resolving the topological relation of described two-dimentional road axis node data, isolates common section centerline node data and crossing centerline node data;
Data modeling module, carries out modelling for calling described road model to described node data, generates road edge characteristic point data, and described road edge characteristic point data comprises common section Edge Feature Points data and edge, crossing characteristic point data;
3D grid road model generation module, for connecting each point corresponding to described Edge Feature Points data, generating three-dimensional grid road model;
Three-dimensional road solid model generation module, sticks corresponding texture for the attribute data according to road by the 3D grid road model of generation, obtains three-dimensional road solid model.
14. three-dimensional road model generation systems as claimed in claim 13, is characterized in that, described system also comprises:
Storage output module, for storing or derive described three-dimensional road model data.
15. three-dimensional road model generation systems as claimed in claim 14, is characterized in that, described system also comprises:
Road pavement module, for increasing street lamp, traffic sign, guard rail texture to the three-dimensional road solid model of deriving;
Display module, for showing the described three-dimensional road solid model that has increased street lamp, traffic sign, guard rail texture.
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