CN104535049B - 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

A kind of plotting method of aeroplane photography non-cubic collection

Technical field

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

Background technology

With technology the developing rapidly in countries in the world such as information age, GIS-Geographic Information System and virtual city, people To the expression of three-dimensional informations various in city with process increasingly urgent, contribute to carrying out relevant city opening using these three-dimensional informations Send out the work such as decision support, the planning and designing in city, emergency command, three-dimensional spatial analysis, pollution distributed simulation, civil engineering. In the construction element of three-dimensional digital city, at most, difficulty is maximum for the Quantity of building, and the degree that becomes more meticulous requires also relatively more High.

At present, the vector data of three-dimensional model building typically uses what three dimensional data collection Software Production obtained, when Front three-dimensional data acquisition software great majority are all based on image structure steric environment and carry out mapping, and this mapping mode relies on height The computer of performance, professional graphic video card, 3d display, 3d glasses, 3d mouse (or handwheel foot disk), and the digital photography of specialty Measuring system (as virtuozo), needs to set up photogrammetric workstation, then wears upper 3d eye by specialty solid collector Mapping is completed under steric environment, this mode has that hardware device is many and expensive, high to personnel requirement shortcoming after mirror. Also there is the correlational study that the mapping mode under non-cubic environment is carried out at present, but working performance is low, precision is not high, still can not Meet market demands.

Content of the invention

In order to overcome the shortcomings of traditional based on several image collection atural object three-dimensional coordinates, the invention discloses a kind of aviation The plotting method of photography non-cubic collection, the method does not need stereoscopic device auxiliary mapping, is based entirely on non-cubic environment and completes Operation, is simultaneously used dsm data and is used for assisting mapping, therefore not only reduce hardware cost, and have high precision, operation The advantage of efficiency high.

The purpose of the present invention is realized by following technical scheme: a kind of plotting method of aeroplane photography non-cubic collection, Including step:

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

(2) setting is no less than 2 display windows, and stereogram loads the first display window and the second display wherein respectively In window；

(3) draw rooftop polygons pgn1 in the first display window, inquiry dsm data obtains this rooftop polygons and respectively pushes up The initial z value of point；

(4) calculate the geodetic coordinates on each summit in described rooftop polygons pgn1 according to collinearity equation and z value, obtain the earth Polygon pgn under coordinate system, then image plane coordinate on the second display window for each summit of pgn, structure are calculated by collinearity equation Become polygon pgn2；

(5) judge the roof fit in the image whether the polygon pgn2 on the second display window is loaded with its inside, If not fit, moving the respective vertices in described pgn2 makes its fit, subsequently into step (6)；If fit, pgn is just It is the required result polygon obtaining, complete mapping；

(6) according to photogrammetric middle space intersection principle, calculated by this two image polygons of pgn1 and pgn2 Result polygon under geodetic coordinates, completes mapping.

As another kind of preferably, described step (5) is: the polygon pgn2 judging on the second display window whether with its in Roof fit in the image that portion loads, if not fit, adjusts the z value of the respective vertices in described rooftop polygons pgn1 Make its fit.

Specifically, in described step (1), stereogram, elements of exterior orientation, camera parameter, dsm data are as input data Carry out following process after input:

(1-1) dsm data is carried out with pretreatment: all records of dsm data are gone to corresponding image from measurement coordinate Under plane coordinates；

(1-2) elements of exterior orientation, camera parameter are loaded: load camera parameter during this, and the literary composition by all images Part name is added to image list control；

(1-3) setting dsm pretreated place catalogue；

(1-4) destination file path is set, for preserving the geodetic coordinates being collected.

Specifically, in described step (4), a certain summit in described rooftop polygons pgn1 is calculated by collinearity equation and z value Image plane point coordinates (x₁,y₁) process of corresponding geodetic coordinates (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=z₁, then $t=\frac{z_1-z_s}{[c_1(x_1-x_0)+c_2(y_1-y_0)-{\mathrm{fc}}_3]},$ Thus can obtain:

$\left\{\begin{array}{c}x=x_s+t[a_1(x_1-x_0)+a_2(y_1-y_0)-{\mathrm{fa}}_3]\\ y=y_s+t[b_1(x_1-x_0)+b_2(y_1-y_0)-{\mathrm{fb}}_3]\\ z=z_1\end{array}\right.;$

Wherein, (x, y, z) is geodetic coordinates to be asked；(x_s,y_s,z_s) for the line element in image elements of exterior orientation；(x₁, y₁) it is known image plane point coordinates；(x₀,y₀) it is coordinate in collimation mark coordinate system for the principal point；F is Jiao in camera parameter Away from；T is the zoom factor of model scale；z₁For (x₁,y₁) corresponding atural object characteristic point height value；Photographic camera attitude angle pair The spin matrix answered is:

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

I.e. by image plane coordinate (x₁,y₁) try to achieve the geodetic coordinates (x, y, z) of object point.

Specifically, in described step (4), a certain summit of pgn (x, y, z) is calculated on the second display window by collinearity equation The step of image plane coordinate (x ', y ') be:

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

Wherein, (x_s,y_s,z_s) for the line element in image elements of exterior orientation；(x₀、y₀) it is principal point in collimation mark coordinate system Coordinate (i.e. side-play amount, general very little), f is the focal length in camera parameter, and this two data are included in camera parameter.Take the photograph The corresponding spin matrix of shade machine attitude angle is:

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

The image plane coordinate (x ', y ') on the second display window is tried to achieve by the geodetic coordinates (x, y, z) of object point.

Space intersection described in step (6) belongs to prior art, and its definition is: by two photos in stereogram Method to determine accordingly topocentric geographical coordinates of the inside and outside element of orientation and picpointed coordinate.In described step (6), by The polygonal calculating process of result that this two image polygons of pgn1 and pgn2 calculate under geodetic coordinates be specifically shown in Wang Peijun, " photogrammetry " second edition that Xu Yaming writes, being published by publishing house of Wuhan University.

The present invention compared with prior art, has the advantage that and beneficial effect:

1st, the inventive method makes full use of ultimate principle and the algorithm of photogrammetry, during operation, is all the time Based on single-sheet photo, so not needing three-dimensional collection environment can complete the collecting work of three-dimensional coordinate, therefore can go Except equipment such as handwheel foot disk and three-dimensional display apparatus, reduce hardware cost.

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

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

4th, employ dsm data in the inventive method to be used for assisting mapping, accurate z anticipation value is obtained by dsm, that is, carries High acquisition precision, accelerates working performance again.

Brief description

Fig. 1 is the flow chart of embodiment 1 methods described.

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

Fig. 3 is the flow chart of embodiment 2 methods described.

Specific embodiment

With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention do not limit In this.

Embodiment 1

Described in the present embodiment, the plotting method of aeroplane photography non-cubic collection is realized, with acquisition plane room on common pc machine As a example top.Input data includes:

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

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

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

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

Preparation: image data, dsm data, camera parameter file, elements of exterior orientation file are all placed on same catalogue Under workspace.

Referring to Fig. 1, the plotting method of aeroplane photography non-cubic collection described in the present embodiment, comprise the following steps:

1st, dsm data is carried out with pretreatment: the dsm in the present invention refers to digital surface model, refers to body surface form with number The set of word expression.The dsm data that the present invention mentions refers to cloud data, and point cloud is expression target empty under the same space referential Between distribution and target surface characteristic magnanimity point set, the three-dimensional coordinate comprising culture point (xyz) is it is also possible to comprise laser-bounce Intensity (intensity) and colouring information (rgb).

The process carrying out pretreatment is: operating personnel uses batch processing instrument to sit all records of dsm data from measurement Mark goes under the plane coordinates of corresponding image, such as goes under 27010.GIF by 27010_27011.las and is named as 27010_ 27011_to_27010.las, 27010_27011.las is gone under 27011.GIF and is named as 27010_27011_to_ 27011.las, by last pre-processed results be stored in workspace dsm_data under catalogue.

2nd, load elements of exterior orientation file (d: workspace photos.txt): remembered in elements of exterior orientation file Record filename and the camera parameter file of all images, so this operation can load camera parameter file simultaneously, and will own Image name add to image list control.

3rd, setting dsm pretreated place catalogue (d: workspace dsm_data).

4th, setting destination file path (d: workspace result.shp): for preserving the house roof being collected Top structure line of vector (i.e. result polygon under earth coordinates).

5th, image 27010.GIF is set to left image, left window can load and show this image；By image 27011.GIF It is set to right image, right window can load and show this image.Operation interface diagram is as shown in Figure 2.Wherein left image, right image are one Stereogram, stereogram is adjacent two photos with superimposed image taking the photograph station acquisition on course line, due to having mcakle Picture, therefore in stereoscopic viewing system, (as stereoscopic plotter or stereoscope etc.), so that it may constitute stereomodel, carries out stereoscopic viewing Examine, interpret and survey and draw.

6th, operating personnel clicks collection rooftop polygons button, that is, the characteristic point of selection atural object, then in left window In carry out vector quantization along the contour line on roof, obtain polygon pgn1, in the process, system according to pgn1 each Summit (x₁,y₁) coordinate by inquire about dsm data assigned initial z value for each summit, after obtaining pgn1, system is according to pgn1 Each apex coordinate (x₁,y₁) and z value photogrammetric coordinate system is gone out by collinearity equation inverse, that is, geodetic coordinates (x, y, Z), and update result figure layer, then pgn1 can be projected on the right image on right window by system again by collinearity equation, calculates To image plane coordinate on right image for the pgn1, obtain polygon pgn2.Described image plane coordinate is used to describe picture point in picture Position in piece.Described geodetic coordinates be terrestrial photogrammetric survey coordinate, it is transitional coordinate system, photogrammetric in, first will Ground point is terrestrial photogrammetric survey coordinate in the Coordinate Conversion of image space auxiliary coordinates, is reconverted into ground survey coordinate.Altogether Line equation is resolved the conllinear side of image plane coordinate according to photo centre, picture point and culture point three point on a straight line relation by geodetic coordinates Formula.

7th, whether operating personnel visual pgn2 in right window is overlapped with the roof in right image, if misaligned, puts down The respective vertices (x ', y ') moved in pgn2 make it overlap, if overlapped, directly go to next step.

8th, according to photogrammetric middle space intersection principle (namely corresponding image points), by each summit of pgn1 and pgn2 Calculating coordinate goes out corresponding geodetic coordinates (x, y, z), and obtains the result polygon under earth coordinates, and updates result figure Layer.

Embodiment 2

The present embodiment in addition to following characteristics other structures with embodiment 1:

The present embodiment methods described as shown in figure 3, with image data (stereogram), camera parameter, elements of exterior orientation with And dsm data is as input data, left and right window loads left image and right image respectively, draw roof in left window polygon Shape pgn1, inquiry dsm data obtains the z coordinate value on each summit of pgn1, by collinearity equation by each apex coordinate of pgn1 change to Geodetic coordinates, obtains the polygon pgn under earth coordinates, is then changed pgn to right image by collinearity equation again, obtains Polygon pgn2, whether operating personnel visual pgn2 in right window is overlapped with roof.

If overlapped, directly pgn is updated in result figure layer result.shp；Otherwise return to adjustment z on left image Value, now pgn and pgn2 can be updated, and repeats this operation, till pgn2 is overlapped with roof, when operating personnel judges After roof 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 preferably embodiment, but embodiments of the present invention are not subject to above-described embodiment Limit, other any spirit without departing from the present invention and the change made under principle, modification, replacement, combine, simplify, All should be equivalent substitute mode, be included within protection scope of the present invention.

Claims (5)

1. a kind of collection of aeroplane photography non-cubic plotting method it is characterised in that: include step:

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

(2) setting is no less than 2 display windows, and stereogram loads the first display window and the second display window wherein respectively Interior；

(3) draw rooftop polygons pgn1 in the first display window, inquiry dsm data obtains each summit of this rooftop polygons Initial z value；

(4) calculate the geodetic coordinates on each summit in described rooftop polygons pgn1 according to collinearity equation and z value, obtain geodetic coordinates Polygon pgn under system, then image plane coordinate on the second display window for each summit of pgn is calculated by collinearity equation, constitute many Side shape pgn2；

(5) judge the roof fit in the image whether the polygon pgn2 on the second display window is loaded with its inside, if The respective vertices that fit does not then move in described pgn2 make its fit, subsequently into step (6)；If fit, pgn is exactly institute Result polygon to be tried to achieve, completes mapping；

(6) according to photogrammetric middle space intersection principle, calculate the earth by this two image polygons of pgn1 and pgn2 Result polygon under coordinate, completes mapping.

2. aeroplane photography non-cubic according to claim 1 collection plotting method it is characterised in that: described step (5) For: judge the roof fit in the image whether the polygon pgn2 on the second display window is loaded with its inside, if do not covered The z value closing the respective vertices then adjusting in described rooftop polygons pgn1 makes its fit.

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

(1-1) dsm data is carried out with pretreatment: all records of dsm data are gone to the plane of corresponding image from measurement coordinate Under coordinate；

(1-2) elements of exterior orientation, camera parameter are loaded: load camera parameter during this, and the filename by all images Add to image list control；

(1-3) setting dsm pretreated place catalogue；

(1-4) destination file path is set, for preserving the geodetic coordinates being collected.

4. aeroplane photography non-cubic according to claim 1 collection plotting method it is characterised in that: described step (4) In, a certain summit image plane point coordinates (x in described rooftop polygons pgn1 is calculated by collinearity equation and z value₁,y₁) corresponding big The process on ground 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=z₁, then $t=\frac{z_1-z_s}{[c_1(x_1-x_0)+c_2(y_1-y_0)-{\mathrm{fc}}_3]},$ Thus can obtain:

$\left\{\begin{array}{c}x=x_s+t[a_1(x_1-x_0)+a_2(y_1-y_0)-]{\mathrm{fa}}_3\\ y=y_s+t[b_1(x_1-x_0)+b_2(y_1-y_0)-{\mathrm{fb}}_3]\\ z=z_1\end{array}\right.;$

Wherein, (x, y, z) is geodetic coordinates to be asked；(x_s,y_s,z_s) for the line element in image elements of exterior orientation；(x₁,y₁) be Known image plane point coordinates；(x₀,y₀) it is coordinate in collimation mark coordinate system for the principal point；F is the focal length in camera parameter；T is The zoom factor of model scale；z₁For (x₁,y₁) corresponding atural object characteristic point height value；The corresponding rotation of photographic camera attitude angle Torque battle array is:

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

I.e. by image plane coordinate (x₁,y₁) try to achieve the geodetic coordinates (x, y, z) of object point.

5. aeroplane photography non-cubic according to claim 3 collection plotting method it is characterised in that: described step (4) In, image plane coordinate (x on the second display window for a certain summit of pgn (x, y, z) is calculated by collinearity equation^′, y^′) step It is:

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

Wherein, (x_s,y_s,z_s) for the line element in image elements of exterior orientation；(x₀、y₀) it is seat in collimation mark coordinate system for the principal point Mark, f is the focal length in camera parameter, and the corresponding spin matrix of photographic camera attitude angle is:

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

The image plane coordinate (x ', y ') on the second display window is tried to achieve by the geodetic coordinates (x, y, z) of object point.