CN104535049A - Aerial photograph non-stereoscopic collection mapping method - Google Patents

Abstract

The invention discloses an aerial photograph non-stereoscopic collection mapping method which comprises the following steps: taking image data (stereo image pairs), camera parameters, elements of exterior orientation and DSM data as input data; forming at least two display windows (namely a left window and a right window); respectively loading the stereo image pairs in the left window and the right window (namely a left image and a right image); drawing a roof polygon pgn1 on the left window, and querying the DSM data so as to obtain the Z coordinate value of each vertex of the pgn1; converting each vertex coordinate of the pgn1 into geodetic coordinates by virtue of a collinearity equation and a Z value, thereby obtaining a polygon PGN under the geodetic coordinate system, and converting the PGN into the right image by virtue of the collinearity equation, thereby obtaining a polygon pgn2; visually inspecting whether the pgn2 is matched with the roof in the right image by an operator, if not, moving the vertex coordinate of the pgn2 so as to be matched with the roof; and calculating to obtain the corresponding result polygon under the geodetic coordinates by virtue of the pgn1 and pgn2 according to the forward intersection principle after matching. The method disclosed by the invention has the advantages of high precision and high operating efficiency.

Description

The plotting method that a kind of aeroplane photography non-cubic gathers

Technical field

The present invention relates to photogrammetric research field, the plotting method of particularly a kind of aeroplane photography non-cubic collection.

Background technology

Along with technology developing rapidly in countries in the world such as information age, Geographic Information System and virtual cities, people are day by day urgent to the expression of three-dimensional information various in city and process, utilize these three-dimensional informations to contribute to carrying out the work such as planning and design, emergency command, three-dimensional spatial analysis, pollution distributed simulation, civil engineering work in related city development decision-making support, city.In the construction element of three-dimensional digital city, the Quantity of buildings is maximum, and difficulty is maximum, and the degree that becomes more meticulous requires also relatively higher.

At present, the vector data of three-dimensional model building typically uses that 3-D data collection software setup obtains, current 3-D data collection software great majority all build steric environment based on image and carry out mapping, this mapping mode relies on high performance computing machine, professional graphic video card, 3D display, 3D glasses, 3D mouse (or handwheel pin dish), and the digital Photogrammetric System of specialty (as Virtuozo), need to set up photogrammetric workstation, then under steric environment, mapping is completed after wearing upper 3D glasses by the three-dimensional collector of specialty, this mode exists that hardware device is many and expense is large, the shortcoming high to personnel requirement.Have the correlative study carried out the mapping mode under non-cubic environment at present, but operating efficiency is on the low side, precision is not high, still can not meet market demands yet.

Summary of the invention

In order to overcome traditional deficiency based on several image collection atural object three-dimensional coordinates, the invention discloses the plotting method that a kind of aeroplane photography non-cubic gathers, the method does not need stereoscopic device to assist mapping, fulfil assignment based on non-cubic environment completely, employ DSM data for auxiliary mapping simultaneously, therefore not only reduce hardware cost, and there is the advantage that precision is high, operating efficiency is high.

Object of the present invention is realized by following technical scheme: the plotting method that a kind of aeroplane photography non-cubic gathers, and comprises step:

(1) using stereogram, elements of exterior orientation, camera parameter, DSM data as input data;

(2) arrange and be no less than 2 display windows, stereogram is carried in wherein in the first display window and the second display window respectively;

(3) in the first display window, draw rooftop polygons pgn1, inquiry DSM data obtain the initial Z value on each summit of this rooftop polygons;

(4) terrestrial coordinate on each summit in described rooftop polygons pgn1 is calculated according to collinearity equation and Z value, obtain the polygon PGN under earth coordinates, calculate the picture planimetric coordinates of each summit of PGN on the second display window by collinearity equation again, form polygon pgn2;

(5) judge polygon pgn2 on the second display window whether with the roof fit in its inner image loaded, if not fit, the respective vertices moved in described pgn2 makes its fit, then enters step (6); If fit, then PGN is exactly the required result polygon obtained, and completes mapping;

(6) according to photogrammetric middle space intersection principle, calculated the result polygon under terrestrial coordinate by these two image polygons of pgn1 and pgn2, complete mapping.

Preferred as another kind, described step (5) is: judge polygon pgn2 on the second display window whether with the roof fit in its inner image loaded, if not fit, the Z value adjusting the respective vertices in described rooftop polygons pgn1 makes its fit.

Concrete, in described step (1), stereogram, elements of exterior orientation, camera parameter, DSM data carry out following process as after the input of input data:

(1-1) pre-service is carried out to DSM data: go to the planimetric coordinates of corresponding image by all records of DSM data from surving coordinate;

(1-2) load elements of exterior orientation, camera parameter: in this process, load camera parameter, and the filename of all images is added in image list control;

(1-3) DSM pretreated place catalogue is set;

(1-4) destination file path is set, for preserving the terrestrial coordinate be collected.

Concrete, in described step (4), by a certain summit in collinearity equation and the described rooftop polygons pgn1 of Z value calculating as planar point coordinate (x ₁, y ₁) process of corresponding terrestrial coordinate (X, Y, Z) is:

$\left(\begin{array}{c}X-X_s\\ Y-Y_s\\ Z-Z_s\end{array}\right)=t\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)\left(\begin{array}{c}{x}_1-x_0\\ y_1-y_0\\ -f\end{array}\right);$

Therefore:

$\left\{\begin{array}{c}X=X_s+t[a_1(x_1-x_0)+a_2(y_1-y_0)-{\mathrm{fa}}_3]\\ Y=Y_s+t[b_1(x_1-x_0)+b_2(y_1-y_0)-{\mathrm{fb}}_3]\\ Z=Z_s+t[c_1(x_1-x_0)+c_2(y_1-y_0)-{\mathrm{fc}}_3]\end{array}\right.$

Make Z=Z ₁, then $t=\frac{Z_1-Z_s}{[c_1(x_1-x_0)+c_2(y_1-y_0)-{\mathrm{fc}}_3]},$ Can obtain thus:

$\left\{\begin{array}{c}X=X_s+t[a_1(x_1-x_0)+a_2(y_1-y_0)-{\mathrm{fa}}_3]\\ Y=Y_s+t[b_1(x_1-x_0)+b_2(y_1-y_0)-{\mathrm{fb}}_3]\\ Z=Z_1\end{array}\right.;$

Wherein, (X, Y, Z) is terrestrial coordinate to be asked; (X _s, Y _s, Z _s) be the line element in image elements of exterior orientation; (x ₁, y ₁) be known picture planar point coordinate; (x ₀, y ₀) be the coordinate of principal point in collimation mark coordinate system; F is the focal length in camera parameter; T is the zoom factor of model scale; Z ₁for (x ₁, y ₁) height value of corresponding atural object unique point; Rotation matrix corresponding to photographic camera attitude angle is:

$\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right);$

Namely by picture planimetric coordinates (x ₁, y ₁) try to achieve the terrestrial coordinate (X, Y, Z) of object point.

Concrete, in described step (4), the step being calculated the picture planimetric coordinates of a certain summit of PGN (X, Y, Z) on the second display window (x ', y ') by collinearity equation is:

$\left\{\begin{array}{c}{x}^{\′}=x_0-f\frac{a_1(X-X_s)+b_1(Y-Y_s)+c_1(Z-Z_s)}{a_3(X-X_s)+b_3(Y-Y_s)+c_3(Z-Z_s)}\\ y^{\′}=y_0-f\frac{a_2(X-X_s)+b_2(Y-Y_s)+c_2(Z-Z_s)}{a_3(X-X_s)+b_3(Y-Y_s)+c_3(Z-Z_s)}\end{array}\right.;$

Wherein, (X _s, Y _s, Z _s) be the line element in image elements of exterior orientation; (x ₀, y ₀) be the coordinate of principal point in collimation mark coordinate system (i.e. side-play amount, generally very little), f is the focal length in camera parameter, and these two data are all included in camera parameter.Rotation matrix corresponding to photographic camera attitude angle is:

$\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right);$

Namely picture planimetric coordinates (x ', y ') on the second display window is tried to achieve by the terrestrial coordinate (X, Y, Z) of object point.

Space intersection described in step (6) belongs to prior art, and its definition is: by the inside and outside element of orientation of two photos in stereogram and picpointed coordinate to determine the method for corresponding topocentric ground coordinate.In described step (6), calculated the concrete Jian Wangpei army of the polygonal computation process of result under terrestrial coordinate by these two image polygons of pgn1 and pgn2, Xu Yaming writes, " photogrammetry " second edition of being published by publishing house of Wuhan University.

Compared with prior art, tool has the following advantages and beneficial effect in the present invention:

1, the inventive method makes full use of ultimate principle and the algorithm of photogrammetry, in the process of operation, all the time be based on single-sheet photo, so do not need three-dimensional collection environment can complete the collecting work of three-dimensional coordinate, therefore can remove the equipment such as handwheel pin dish and three-dimensional display apparatus, reduce hardware cost.

2, for the present invention, general data treatment people can be competent at the collecting work of house roof three-dimensional structure line of vector, and the threshold of operating personnel reduces greatly, and can save training input cost.

3, the three-dimensional coordinate collection of atural object is transferred to two-dimensional environment from three-dimensional environment by the inventive method, and whole workflow is simplified, under the precondition ensureing precision, improve work efficiency.

4, have employed DSM data in the inventive method for auxiliary mapping, obtain the value of Z anticipation accurately by DSM, namely improve acquisition precision, accelerate operating efficiency again.

Accompanying drawing explanation

Fig. 1 is the process flow diagram of method described in embodiment 1.

Fig. 2 is the operation interface schematic diagram in embodiment 1.

Fig. 3 is the process flow diagram of method described in embodiment 2.

Embodiment

Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.

Embodiment 1

Described in the present embodiment, the plotting method of aeroplane photography non-cubic collection realizes in ordinary PC, for acquisition plane roof.Input data comprise:

1, image data: 27010.GIF, 27011.GIF, 27009.GIF, 26010.GIF.

2, DSM data: 27009_27010.las, 27010_27011.las, 26010_26011.las.

3, camera parameter file UCXP.cmr, form is as follows:

4, elements of exterior orientation file photos.txt, form is as follows:

Preliminary work: under image data, DSM data, camera parameter file, elements of exterior orientation file are all placed on same catalogue workspace.

See Fig. 1, the plotting method that aeroplane photography non-cubic described in the present embodiment gathers, comprises the following steps:

1, pre-service is carried out to DSM data: the DSM in the present invention refers to digital surface model, refer to that body surface form is with the set of numeral expression.The DSM data that the present invention mentions refer to cloud data, point cloud is the massive point set expressing object space distribution and target surface characteristic under the same space reference frame, comprise the three-dimensional coordinate (XYZ) of culture point, also may comprise laser reflection intensity (Intensity) and colouring information (RGB).

Carrying out pretreated process is: operating personnel uses batch processing instrument to go to the planimetric coordinates of corresponding image by all records of DSM data from surving coordinate, as 27010_27011.las gone under 27010.GIF and called after 27010_27011_to_27010.las, 27010_27011.las to be gone under 27011.GIF and called after 27010_27011_to_27011.las, last pre-processed results is stored in workspace dsm_data under catalogue.

2, elements of exterior orientation file (D: workspace photos.txt) is loaded: the filename and the camera parameter file that have recorded all images in elements of exterior orientation file, so this operation can load camera parameter file simultaneously, and all image names are added in image list control.

DSM pretreated place catalogue (D: workspace dsm_data) 3, is set.

Destination file path (D: workspace result.shp) 4, is set: for preserving the house roof top structure line of vector (the result polygons namely under earth coordinates) be collected.

5, image 27010.GIF is set to left image, left window can load and show this image; Image 27011.GIF is set to right image, and right window can load and show this image.Operation interface diagram as shown in Figure 2.Wherein left image, right image are a stereogram, stereogram is adjacent two photos with superimposed image taken the photograph station and obtain on course line, owing to having superimposed image, therefore in stereoscopic viewing system (as stereoscopic plotter or stereoscope etc.), just can form stereoscopic model, carry out stereoscopy, decipher and mapping.

6, operating personnel clicks and gathers rooftop polygons button, and namely choose the unique point of atural object, then in left window, carry out vector quantization along the outline line on roof, obtain polygon pgn1, in the process, system is according to each summit (x of pgn1 ₁, y ₁) coordinate is that initial Z value has been composed on each summit by inquiry DSM data, after obtaining pgn1, system is according to each apex coordinate (x of pgn1 ₁, y ₁) and Z value go out photogrammetric coordinate system by collinearity equation inverse, namely terrestrial coordinate (X, Y, Z), and upgrade result layer, then pgn1 can be projected to by collinearity equation on the right image on right window by system again, calculates the picture planimetric coordinates of pgn1 on right image, obtains polygon pgn2.Described as planimetric coordinates be used to describe the position of picture point in photo.Described terrestrial coordinate is terrestrial photogrammetry coordinate, and it is transitional coordinate system, in photogrammetric, be first terrestrial photogrammetry coordinate by ground point in the coordinate conversion of image space auxiliary coordinates, then be converted to ground survey coordinate.Namely collinearity equation is resolved the collinearity equation formula of picture planimetric coordinates by terrestrial coordinate according to photo centre, picture point and culture point three point on a straight line relation.

7, whether operating personnel visual pgn2 in right window overlaps with the roof in right image, if do not overlapped, then respective vertices in translation pgn2 (x ', y ') make it overlap, if overlapped, then directly go to next step.

8, according to photogrammetric middle space intersection principle (namely corresponding image points), corresponding terrestrial coordinate (X, Y, Z) is calculated by each apex coordinate of pgn1 and pgn2, and the result polygon under obtaining earth coordinates, and upgrade result layer.

Embodiment 2

The present embodiment except following characteristics other structures with embodiment 1:

Method described in the present embodiment as shown in Figure 3, with image data (stereogram), camera parameter, elements of exterior orientation and DSM data are as input data, left image and right image is loaded respectively in the window of left and right, rooftop polygons pgn1 is drawn at left window, inquiry DSM data obtain the Z coordinate figure on each summit of pgn1, by collinearity equation, each apex coordinate of pgn1 is converted to terrestrial coordinate, obtain the polygon PGN under earth coordinates, and then by collinearity equation, PGN is converted in right image, obtain polygon pgn2, whether operating personnel visual pgn2 in right window overlaps with roof.

If overlapped, then directly PGN to be updated in result layer result.shp; Otherwise get back on left image and adjust Z value, now PGN and pgn2 can be updated, and repeats this operation, until pgn2 overlaps with roof, after the roof that operating personnel judges in pgn2 and right image overlaps, then stop adjustment, now PGN is updated in destination file result.shp.

Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.

Claims (5)

1. the plotting method that aeroplane photography non-cubic gathers, is characterized in that: comprise step:

(1) using stereogram, elements of exterior orientation, camera parameter, DSM data as input data;

(2) arrange and be no less than 2 display windows, stereogram is carried in wherein in the first display window and the second display window respectively;

(3) in the first display window, draw rooftop polygons pgn1, inquiry DSM data obtain the initial Z value on each summit of this rooftop polygons;

(4) terrestrial coordinate on each summit in described rooftop polygons pgn1 is calculated according to collinearity equation and Z value, obtain the polygon PGN under earth coordinates, calculate the picture planimetric coordinates of each summit of PGN on the second display window by collinearity equation again, form polygon pgn2;

(5) judge polygon pgn2 on the second display window whether with the roof fit in its inner image loaded, if not fit, the respective vertices moved in described pgn2 makes its fit, then enters step (6); If fit, then PGN is exactly the required result polygon obtained, and completes mapping;

(6) according to photogrammetric middle space intersection principle, calculated the result polygon under terrestrial coordinate by these two image polygons of pgn1 and pgn2, complete mapping.

2. the plotting method of aeroplane photography non-cubic collection according to claim 1, it is characterized in that: described step (5) is: judge polygon pgn2 on the second display window whether with the roof fit in its inner image loaded, if not fit, the Z value adjusting the respective vertices in described rooftop polygons pgn1 makes its fit.

3. the plotting method of aeroplane photography non-cubic collection according to claim 1 and 2, is characterized in that: in described step (1), and stereogram, elements of exterior orientation, camera parameter, DSM data carry out following process as after the input of input data:

(1-1) pre-service is carried out to DSM data: go to the planimetric coordinates of corresponding image by all records of DSM data from surving coordinate;

(1-2) load elements of exterior orientation, camera parameter: in this process, load camera parameter, and the filename of all images is added in image list control;

(1-3) DSM pretreated place catalogue is set;

(1-4) destination file path is set, for preserving the terrestrial coordinate be collected.

4. the plotting method of aeroplane photography non-cubic collection according to claim 1, is characterized in that: in described step (4), by a certain summit in collinearity equation and the described rooftop polygons pgn1 of Z value calculating as planar point coordinate (x ₁, y ₁) process of corresponding terrestrial coordinate (X, Y, Z) is:

$\left(\begin{array}{c}{X-X}_s\\ {Y-Y}_s\\ {Z-Z}_s\end{array}\right)=t\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right)\left(\begin{array}{c}{x}_1-x_0\\ y_1-y_0\\ -f\end{array}\right);$

Therefore:

$\left\{\begin{array}{c}X=X_s+t[a_1(x_1-x_0)+a_2(y_1-y_0)-{\mathrm{fa}}_3]\\ Y=Y_s+t[b_1(x_1-x_0)+b_2(y_1-y_0)-{\mathrm{fb}}_3]\\ Z=Z_s+t[c_1(x_1-x_0)+c_2(y_1-y_0){-\mathrm{fc}}_3]\end{array}\right.$

Make Z=Z ₁, then $t=\frac{Z_1-Z_s}{[c_1(x_1-x_0)+c_2(y_1-y_0)-{\mathrm{fc}}_3]},$ Can obtain thus:

$\left\{\begin{array}{c}X=X_s+t[a_1(x_1-x_0)+a_2(y_1-y_0)-]{\mathrm{fa}}_3\\ Y=Y_s+t[b_1(x_1-x_0)+b_2(y_1-y_0)-{\mathrm{fb}}_3]\\ Z=Z_1\end{array}\right.;$

Wherein, (X, Y, Z) is terrestrial coordinate to be asked; (X _s, Y _s, Z _s) be the line element in image elements of exterior orientation; (x ₁, y ₁) be known picture planar point coordinate; (x ₀, y ₀) be the coordinate of principal point in collimation mark coordinate system; F is the focal length in camera parameter; T is the zoom factor of model scale; Z ₁for (x ₁, y ₁) height value of corresponding atural object unique point; Rotation matrix corresponding to photographic camera attitude angle is:

$\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right);$

Namely by picture planimetric coordinates (x ₁, y ₁) try to achieve the terrestrial coordinate (X, Y, Z) of object point.

5. the plotting method of aeroplane photography non-cubic collection according to claim 3, it is characterized in that: in described step (4), picture planimetric coordinates (the x of a certain summit of PGN (X, Y, Z) on the second display window is calculated by collinearity equation ^', y ^') step be:

$\left\{\begin{array}{c}{x}^{\′}=x_0-f\frac{a_1\left({X-X}_s\right)+b_1\left({Y-Y}_s\right)+c_1\left({Z-Z}_s\right)}{a_3\left({X-X}_s\right)+b_3\left({Y-Y}_s\right)+c_3\left({Z-Z}_s\right)}\\ y^{\′}=y_0-f\frac{a_2\left({X-X}_s\right)+b_2\left({Y-Y}_s\right)+c_2\left({Z-Z}_s\right)}{a_3\left({X-X}_s\right)+b_3\left({Y-Y}_s\right)+c_3\left({Z-Z}_s\right)}\end{array}\right.;$

Wherein, (X _s, Y _s, Z _s) be the line element in image elements of exterior orientation; (x ₀, y ₀) be the coordinate of principal point in collimation mark coordinate system, f is the focal length in camera parameter, and rotation matrix corresponding to photographic camera attitude angle is:

$\left(\begin{array}{ccc}{a}_1& a_2& a_3\\ b_1& b_2& b_3\\ c_1& c_2& c_3\end{array}\right);$

Namely picture planimetric coordinates (x ', y ') on the second display window is tried to achieve by the terrestrial coordinate (X, Y, Z) of object point.