CN104897176B - A kind of photogrammetric block adjustment method of multi-core parallel concurrent - Google Patents
A kind of photogrammetric block adjustment method of multi-core parallel concurrent Download PDFInfo
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- CN104897176B CN104897176B CN201510370051.8A CN201510370051A CN104897176B CN 104897176 B CN104897176 B CN 104897176B CN 201510370051 A CN201510370051 A CN 201510370051A CN 104897176 B CN104897176 B CN 104897176B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The invention discloses a kind of photogrammetric block adjustment method of multi-core parallel concurrent, it includes：During single air strips compensating computation, according to air strips quantity and computer CPU core amounts, the air strips compensating computation task of different air strips is dynamically distributed into single core and carries out parallel computation；When adjustment of Free Networks calculates, single air strips compensating computation result is linked in sequence by air strips and forms free space net；It is one group of carry out multistage merging by two adjacent air strips of air strips order, the adjustment of Free Networks distribution of computation tasks of each group is dynamically carried out parallel computation to different core；When bundle adjustment calculates, according to adjustment of Free Networks calculating as a result, carrying out bundle adjustment calculating by the way of multi-core parallel concurrent calculating.By using method disclosed by the invention, it is possible to achieve the efficient calculating of photogrammetric block adjustment, technical foundation is established for photogrammetric, mobile sequence image calculating of unmanned plane etc..
Description
Technical field
The present invention relates to aerospace photogrammetry field of measuring technique, more particularly to a kind of photogrammetric regional network of multi-core parallel concurrent
Error compensation method.
Background technology
Empty three adjustments of aerospace photogrammetry measurement are the regions that will be connected into by a plurality of air strips image data, to multiple course shadow
As region carries out overall adjustment, the elements of exterior orientation and closed points coordinate of every image of acquisition.Photogrammetric block adjustment bag
Include air strips method adjustment, adjustment of Free Networks and bundle adjustment；Air strips method adjustment is the connection wall scroll air strips shadow based on single air strips
As data become region, the single air strips adjustment of progress, initial elements of exterior orientation of every image of acquisition etc.；Adjustment of Free Networks is to pass through
The a plurality of single boat image data for crossing " air strips method adjustment " connects and composes free space net, carries out block adjustment, obtains every shadow
Initial elements of exterior orientation of picture etc., adjustment of Free Networks are not usually required to ground and have controlled point data to add compensating computation；Light beam
Method adjustment is on the basis of air strips method adjustment and adjustment of Free Networks, using collinearity equation and high-precision control point data, is established more
The block adjustment equation of bar course line image, carries out block adjustment, obtains the elements of exterior orientation and pass point seat of every image
Mark.
The normal equation of empty three adjustments of aerospace photogrammetry measurement is Large Scale Sparse matrix, its large-scale normal equation matrix resolves
Computing capability, storage capacity to CPU require high.
At present, computer technology parallel computation is just fast-developing, and new method and approach are provided for high-performance calculation,
As important support technologies such as unmanned plane is photogrammetric, mobile computing, general fit calculations.Multicore architecture and multinuclear calculating include multi-thread
The concurrent techniques such as journey, lock competition, speed-up ratio, load balancing, atomic operation；Multiple programming such as divide and rule pattern, pipeline mode, appoint
The decomposition of business figure and scheduling method, dynamic task scheduling pattern etc.；Parallel search includes sequential search and termination detection algorithm, parallel
Shortest Path Searching etc., sorting in parallel include parallel quicksort, parallel merging sequence, parallel radix sorting etc., parallel numerical
Calculating includes the content of parallel matrix multiplication, Parallel Prefix and calculating etc..
Common Photogrammetric Processing system has the following two kinds：1) digital photogrammetry grid (Digital
Photogrammetry Grid), it is the photogrammetric block adjustment based on computer network and cluster computer parallel technology
With processing system.Cluster computer is a kind of blade server (rolling reamer machine) system.It is most of that its hardware includes four：Blade
Server, disk array, work station and gigabit ethernet switch.Each blade server have oneself independent CPU, memory,
Hard disk and operating system, each blade server are a calculate node.Disk array is as file server, for storing sea
Measure aviation image data.Work station is responsible for file management and distributed tasks as client.Blade server, disk array and
Client is established by equipment such as gigabit ethernet switch and optical-fibre communications and connected, and assembles a server cluster.Collecting
Under group's pattern, all blade servers can connect the network environment for providing high speed, while can be with resource-sharing.Client
Survey area's task is divided into some subtasks and distributes to every blade server, when blade server receives task, starting should
Corresponding computing module calculates the data in disk array on server.Realize parallel computation treatment mechanism.But should
System uses computer network and cluster computer parallel computing, and equipment volume is big, and it is quick, mobile not apply to unmanned plane etc.
Evaluation work.2) Pixel Factory technology is the remote sensing image processing system for large-scale production, including photogrammetric regional network is put down
The content of poor parallel computation.The system hardware is made of 4 parts：Storage device is responsible for inputting initial data and preserves number of results
According to；Server includes 2 file servers and 1 database server；Processor includes 6 and calculates node and 4 work stations
(wherein 2 Linux work stations, 2 windows-based workstations), wherein, calculate node and be only responsible for calculating, each node is by task
It is divided into the processing of 4 part parallels；Backup library carries out system backup and project backup after digital product produces；Software systems are adopted
With concentrating type parallel computation principle, task is assigned on different machines (on cluster computer different computer nodes or
Different artificial seat).But the system uses cluster computer parallel computing, equipment volume is big, does not apply to unmanned plane
Deng quick, mobile computing work.
The content of the invention
The object of the present invention is to provide a kind of photogrammetric block adjustment method of multi-core parallel concurrent, to realize photogrammetric area
The efficient calculating of domain net adjusted data.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of photogrammetric block adjustment method of multi-core parallel concurrent, including：
During single air strips compensating computation, according to air strips quantity and computer CPU core amounts, dynamically by the boat of different air strips
Band compensating computation task distributes to single core and carries out parallel computation；
When adjustment of Free Networks calculates, single air strips compensating computation result is linked in sequence by air strips and forms free space net；Will
Two adjacent air strips of air strips order are one group of carry out multistage merging, dynamically the adjustment of Free Networks distribution of computation tasks of each group
Parallel computation is carried out to different core；
When bundle adjustment calculates, according to adjustment of Free Networks calculating as a result, being carried out by the way of multi-core parallel concurrent calculating
Bundle adjustment calculates.
Further, it is described according to air strips quantity and computer CPU core amounts, dynamically the air strips of different air strips are put down
Poor distribution of computation tasks carries out parallel computation to single core to be included：
When air strips number is more than core cpu quantity, parallel computation is carried out in batches to air strips；If air strips number is H, computer
Core amounts are n, and parallel computation batch is N, then：N=H/n, N take the smallest positive integral not less than H/n；
After parallel computation batch N is determined, in each batch the compensating computation of each air strips go to resolve according to multi-core parallel concurrent, each
One course line of core processing, is still resolved inside each course line, multinuclear handles a plurality of course line at the same time, finally parallel using serialization
After calculating n times, single air strips compensating computation result of each bar air strips in air cover domain is obtained.
Further, two air strips that air strips order is adjacent include for the multistage merging of one group of progress：
Determine the multistage series W merged：If air strips number is H, the series W that multistage merges is equal to not less than log2's (H)
Minimum integer；
Often merge level-one, air strips number is kept to the half for merging preceding air strips number or half adds 1, will by W grades of merging for several times
All air strips merge into one.
Further, this method further includes：
Merge determining for air strips number after every grade of merging：The air strips number before if two adjacent air strips are one group every time
For P, the air strips number after merging is Q, then：When it is odd number to merge preceding air strips number, then air strips number Q=P/2+1 after merging, wherein,
P/2 round numbers；When it is even number to merge preceding air strips number, then air strips number Q=P/2 after merging；
Before next stage merging, merge preceding air strips number becomes Q again, so circulation, and until Q=1, then explanation is whole surveys in area
Air strips merge complete.
As seen from the above technical solution provided by the invention, using multinuclear computing technique, perform parallel photogrammetric
Block adjustment calculates, and solves the efficient computational problem of photogrammetric block adjustment；For unmanned plane is photogrammetric, mobile sequence
Technical foundation is established in row image calculating etc..
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, without creative efforts, other can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of flow chart of the photogrammetric block adjustment method of multi-core parallel concurrent provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of single air strips adjustment parallel computation provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of adjustment of Free Networks parallel computation provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of the normal equation of bundle adjustment provided in an embodiment of the present invention.
Embodiment
With reference to the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, the every other implementation that those of ordinary skill in the art are obtained without making creative work
Example, belongs to protection scope of the present invention.
The embodiment of the present invention provides a kind of photogrammetric block adjustment method of multi-core parallel concurrent, wherein involved single air strips
Compensating computation, adjustment of Free Networks calculate and bundle adjustment calculating is similar with current conventional method, still, the present invention program profit
With multinuclear computing technique, photogrammetric block adjustment is performed parallel and is calculated, solves the height of photogrammetric block adjustment
Imitate computational problem；Technical foundation is established for photogrammetric, mobile sequence image calculating of unmanned plane etc.；The program can use common
Computer realizes that Fig. 1 it mainly includes the following steps：
When step 11, single air strips compensating computation, according to air strips quantity and computer CPU core amounts, dynamically by difference
The air strips compensating computation task of air strips distributes to single core and carries out parallel computation.
When step 12, adjustment of Free Networks calculate, single air strips compensating computation result is linked in sequence by air strips and forms free zone
Domain net；It is one group of carry out multistage merging by two adjacent air strips of air strips order, dynamically the adjustment of Free Networks of each group is calculated
Task is assigned to different core and carries out parallel computation.
When step 13, bundle adjustment calculate, according to adjustment of Free Networks calculating as a result, the side calculated using multi-core parallel concurrent
Formula carries out bundle adjustment calculating.
In order to make it easy to understand, 2-4 does the process that above three performs parallel detailed introduction below in conjunction with the accompanying drawings.
1st, single air strips adjustment parallel computation.
As shown in Fig. 2, the schematic diagram for single air strips adjustment parallel computation (empty three multi-core parallel concurrents in single air strips resolve).Its is specific
The step of it is as follows：
S011, single air strips compensating computation.
The coplanar condition model of each stereogram is established using continuous relative orientation, carries out taking air strips nonlinear corrections into account
Least square adjustment, and then resolve each image elements of exterior orientation and closed points coordinate in air strips.Mainly solution process is：
1) corresponding image points matching is carried out, obtains the image plane rectangular co-ordinate (x, y) of corresponding image points.
2) each three-dimensional model is established based on continuity method relative orientation, using picture point image plane rectangular co-ordinate (x, y) gradually
Least square adjustment is carried out to each three-dimensional model, resolves related each image with respect to elements of exterior orientation.
3) using common point between three-dimensional model, the compensating computation of different model common points connections is carried out, establishes unified list
Air strips model, and then resolve each image elements of exterior orientation in air strips.
S012, every air strips press single air strips adjustment and carry out serial computing.
Multi-core parallel concurrent calculating is carried out between S013, different air strips：By dynamically distributes computer CPU check figure, reach whole survey
The purpose that area list air strips adjustment resolves parallel.
In the embodiment of the present invention, according to air strips quantity and computer CPU core amounts, dynamically by the air strips of different air strips
Compensating computation task distributes to single core and carries out parallel computation.Specifically：
1) dynamically the distribution of computation tasks of different air strips is gone to count to single core from computer CPU check figure according to air strips number
Calculate, realize different air strips by different core parallel computations：When air strips number is less than CPU core number, without carrying out particular allocation；Work as boat
When band number is more than core cpu quantity, parallel computation is carried out in batches to air strips；If air strips number is H, computer core quantity is n,
Parallel computation batch is N, then：N=H/n, N take the smallest positive integral not less than H/n.Exemplary, air strips number H is 7, using n=4
Core computer, then batch N=7/4=2.
2) after parallel computation batch N is determined, in each batch the compensating computation of each air strips go to resolve according to multi-core parallel concurrent, often
A one course line of core processing, is still resolved inside each course line, multinuclear handles a plurality of course line at the same time, finally simultaneously using serialization
After row calculates n times, single air strips compensating computation result of each bar air strips in air cover domain is obtained.
2nd, adjustment of Free Networks parallel computation.
As shown in figure 3, the schematic diagram for adjustment of Free Networks parallel computation.Adjustment of Free Networks parallel computation is put down in single air strips
On the basis of difference, H single air strips are connected and composed into free space net, adjustment of Free Networks utilizes the seat of corresponding image points between different air strips
Same criterion is marked, carries out connecting compensating computation between air strips.And then H single air strips are connected and composed into free space net.It is of the invention real
Apply example and connect adjustment using multistage air strips, its detailed process is as follows：
S021, multistage air strips parallel connection adjustment.It is as shown in figure 3, identical using the coordinate of corresponding image points between different air strips
Criterion, carries out connecting compensating computation between air strips.Carry out multistage connection resolving and N number of single air strips are connected and composed into free space net.
S022, carry out absolute orientation to free space net, forms the region pessimistic concurrency control of common scale ruler and coordinate system.
S023, region overall adjustment of the net.Known control point coordinates, air strips points of common connection coordinate adjustment model are established, into
The photogrammetric region entirety least square adjustment of row, and then resolve image elements of exterior orientation and closed points coordinate.
In the embodiment of the present invention, when the multistage air strips of use connect adjustment, it is by two adjacent air strips of air strips order
One group of carry out multistage merging, dynamically calculates the distribution of computation tasks of each group to different IPs.Serial computing, group are carried out in group
Between carry out parallel computation；Classification merges " merging air strips " parallel computation.
In the embodiment of the present invention, it is thus necessary to determine that the series W that multistage merges, further according to the relation of air strips number and series W, dynamic
Distribute computer check figure：If air strips number is H, the series W that multistage merges is equal to the minimum integer not less than log2 (H)；Such as
There are 7 air strips before merging in Fig. 3, the minimum integer not less than log2 (7) is 3, then the recurring series of the block adjustment
For 3.The first order merge in, the 1st, 2 air strips be one group, the 3rd, 4 air strips be one group, the 5th, 6 air strips be one group, the 7th air strips are not joined
Calculated with the level, then it is 3+1=4 articles that the 1st grade, which merges air strips number,；During the second level merges, it is 4 to determine the air strips number before merging, the
1st, 2 merging air strips are one group, and the 3rd merges air strips and the 7th air strips for one group, and simultaneously air strips carry out space coordinate turn again for totally two combinations
Change, generate the 2nd grade of merging air strips；During the third level merges, it is that the 2, the 1st, 2 merging air strips are one group to determine the air strips number before merging,
So as to merge to obtain whole region.In above-mentioned merging process, often merge level-one, air strips number be kept to the half for merging preceding air strips number or
Half adds 1, and all air strips are merged into one by W grades of merging for several times.
In addition, in the embodiment of the present invention, the definite method of the merging air strips number after every grade of merging is further included：If each phase
Air strips number before two adjacent air strips are one group is P, and the air strips number after merging is Q, then：It is odd number when merging preceding air strips number
When, then air strips number Q=P/2+1 after merging, wherein, P/2 round numbers；When it is even number to merge preceding air strips number, then air strips after merging
Number Q=P/2；Before next stage merging, merge preceding air strips number becomes Q again, so circulation, and until Q=1, then explanation is whole surveys area
Interior air strips, which merge, completes.
3rd, bundle adjustment parallel computation.
When bundle adjustment calculates, according to adjustment of Free Networks calculating as a result, being carried out by the way of multi-core parallel concurrent calculating
Bundle adjustment calculates.It is comprised the following steps that：
S031, according to foregoing adjustment of Free Networks parallel computation as a result, image elements of exterior orientation and ground point to be asked are sat
It is denoted as unknown number, writing out the collinearity equation of every light one by one and carrying out collinearity equation linearisation, calculate using multi-core parallel concurrent,
Form the error equation of bundle adjustment.
S032, with image elements of exterior orientation (6 unknown numbers/every image) and topocentric coordinates to be asked, (3 unknown for foundation
Number/each ground points to be asked) for unknown number bundle adjustment normal equation.
As shown in figure 4, being the normal equation matrix of bundle adjustment, wherein black region provides the non-zero ginseng of normal equation matrix
Numerical digit is put.
S033, carry out such as Fig. 4 normal equations matrix separate disjusttment, and compensating computation diagonal region unknown number first (uses
Multi-core parallel concurrent calculates), every 6 elements of exterior orientation of image can be obtained, topocentric coordinates is calculated using 6 elements of exterior orientation of image is tried to achieve.
If S034, the last difference that unknown number is calculated twice are less than predetermined value, terminate to calculate.Otherwise, return to step
S032 is iterated calculating.
In the such scheme of the present invention, subregion Iterative method is taken, solves the empty three adjustment normal equations morbid state of flux of light method
Sex chromosome mosaicism.As shown in figure 4, the normal equation matrix N of flux of light method three adjustments of sky：
Matrix N is decomposed into N11, N12, N21, N22Sub-district, wherein N11, N22It is made of 6 × 6 rank non-zero independence diagonal matrix.
It is independent first to resolve N11, N22In each 6 × 6 rank matrix, that is, calculate unknown number (every image of each 6 × 6 rank matrix
6 elements of exterior orientation)；Then ground point approximate coordinate is calculated；Iteration, until meeting required precision.
In the such scheme of the present invention, using multinuclear computing technique, photogrammetric block adjustment is performed parallel and is calculated, solution
The efficient computational problem for photogrammetric block adjustment of having determined；Established for photogrammetric, mobile sequence image calculating of unmanned plane etc.
Technical foundation.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment can
To be realized by software, the mode of necessary general hardware platform can also be added by software to realize.Based on such understanding,
The technical solution of above-described embodiment can be embodied in the form of software product, the software product can be stored in one it is non-easily
The property lost storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in, including some instructions are with so that a computer is set
Standby (can be personal computer, server, or network equipment etc.) performs the method described in each embodiment of the present invention.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can readily occur in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (4)
- A kind of 1. photogrammetric block adjustment method of multi-core parallel concurrent, it is characterised in that including：During single air strips compensating computation, according to air strips quantity and computer CPU core amounts, dynamically the air strips of different air strips are put down Poor distribution of computation tasks carries out parallel computation to single core；When adjustment of Free Networks calculates, single air strips compensating computation result is linked in sequence by air strips and forms free space net；By air strips Two sequentially adjacent air strips are one group of carry out multistage merging, dynamically the adjustment of Free Networks distribution of computation tasks of each group to not Parallel computation is carried out with core；When bundle adjustment calculates, according to adjustment of Free Networks calculating as a result, carrying out light beam by the way of multi-core parallel concurrent calculating Method compensating computation.
- 2. according to the method described in claim 1, it is characterized in that, described according to air strips quantity and computer CPU core amounts, The air strips compensating computation task of different air strips dynamically is distributed to single core progress parallel computation includes：When air strips number is more than core cpu quantity, parallel computation is carried out in batches to air strips；If air strips number is H, computer core Quantity is n, and parallel computation batch is N, then：N=H/n, N take the smallest positive integral not less than H/n；After parallel computation batch N is determined, in each batch the compensating computation of each air strips go to resolve according to multi-core parallel concurrent, each core A course line is handled, is still resolved inside each course line using serialization, multinuclear handles a plurality of course line at the same time, finally in parallel computation After n times, single air strips compensating computation result of each bar air strips in air cover domain is obtained.
- 3. according to the method described in claim 1, it is characterized in that, two air strips that air strips order is adjacent for one group into The multistage merging of row includes：Determine the multistage series W merged：If air strips number is H, the series W of multistage merging, which is equal to, is not less than log2H's is minimum whole Number；Often merge level-one, air strips number is kept to the half for merging preceding air strips number or half adds 1, will be all by W grades of merging for several times Air strips merge into one.
- 4. the method according to claim 1 or 3, it is characterised in that this method further includes：Merge determining for air strips number after every grade of merging：If the air strips number before two adjacent air strips are one group every time is P, Air strips number after merging is Q, then：When it is odd number to merge preceding air strips number, then air strips number Q=P/2+1 after merging, wherein, P/2 takes Integer；When it is even number to merge preceding air strips number, then air strips number Q=P/2 after merging；Before next stage merging, merge preceding air strips number becomes Q again, so circulation, until Q=1, then illustrates the whole boat surveyed in area Tape merge is completed.
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| CN105973206B (en) * | 2016-04-27 | 2018-04-17 | 武汉讯图科技有限公司 | One kind is based on the air strips division methods of the algorithm of Douglas-general gram |
| CN108332721B (en) * | 2018-03-01 | 2020-12-11 | 北京中测智绘科技有限公司 | Aviation image parallel air-space three and recursive fusion method |
| CN113658190B (en) * | 2021-06-29 | 2022-06-14 | 桂林理工大学 | Tensor voting surface feature flight band adjustment method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101226057A (en) * | 2008-02-01 | 2008-07-23 | 武汉朗视软件有限公司 | Digital close range photogrammetry method |
| CN103175516A (en) * | 2013-02-26 | 2013-06-26 | 中国人民解放军信息工程大学 | Distributed computing method for adjustment of large-scale geodesic control net |
| CN103727929A (en) * | 2014-01-26 | 2014-04-16 | 北京建筑大学 | Indoor sequence image adjustment and stereoscopic measurement method for mobile sensor |
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| WO2004088245A1 (en) * | 2003-03-27 | 2004-10-14 | Zanen Pieter O | Method of solving the correspondence problem in convergent stereophotogrammetry |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101226057A (en) * | 2008-02-01 | 2008-07-23 | 武汉朗视软件有限公司 | Digital close range photogrammetry method |
| CN103175516A (en) * | 2013-02-26 | 2013-06-26 | 中国人民解放军信息工程大学 | Distributed computing method for adjustment of large-scale geodesic control net |
| CN103727929A (en) * | 2014-01-26 | 2014-04-16 | 北京建筑大学 | Indoor sequence image adjustment and stereoscopic measurement method for mobile sensor |
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