CN106441242B - A kind of interactive plotting method based on laser point cloud and full-view image - Google Patents
A kind of interactive plotting method based on laser point cloud and full-view image Download PDFInfo
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Abstract
The interactive plotting method based on laser point cloud and full-view image that the invention discloses a kind of, it includes positive interaction or/and reversed interaction mapping step, and positive interactive step is from panoramic image pixel coordinate setting to laser point coordinates；Reversed interactive step is to navigate to panoramic image pixel coordinate from laser point coordinates.The present invention confirms mapping object from panoramic picture, has the characteristics that intuitive, clear, clear in forward direction interaction.In reversed interaction, it is obtained using way to play for time interaction and specifies laser point, switch to rectangular space coordinate using coordinate transformation parameter, and panoramic image pixel coordinate is calculated using space calibration parameter, panorama point GPS coordinate and spatial attitude information, to show the corresponding orientation of laser point in panorama sketch.
Description
Technical Field
The invention belongs to the mapping technology.
Background
The laser point cloud is utilized to carry out mapping, the field work amount can be greatly reduced, the range is wide, the precision is high, and therefore the application of the laser point cloud is more and more extensive. However, laser point cloud mapping currently has some significant problems: the intuition degree is low, a certain time is consumed for searching and confirming the target, and especially under the condition that the incomplete point cloud is incomplete, certain experience is needed for confirmation. Meanwhile, due to the randomness of the target, omission of mapping elements is easily caused during mapping. The requirements of mapping, surveying and construction are difficult to meet, and the application of the laser point cloud in the field of mapping is restricted.
The mobile measurement system can rapidly acquire the laser point cloud and the panoramic image, and the panoramic image has the characteristics of strong intuition and wide display range. However, panoramic images acquired by the current mobile measurement system are mainly used for browsing, and no precedent of combining laser point cloud for interactive mapping exists. Although there are some applications for mapping based on panoramic images, the mapping accuracy is low due to the fact that space calibration parameters and space attitude Information (IMU) are not comprehensively used, the requirement for mapping accuracy of a large scale cannot be met, and the mapping accuracy can only be used for rough positioning. Some panoramic images are used for confirming an acquisition point, so that the operation complexity is too high, the characteristic of high-precision mapping of laser point cloud is not utilized, and the mapping efficiency and precision are influenced.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides an interactive mapping method based on laser point cloud and panoramic image based on the concept of mapping by combining the laser point cloud and the panoramic image, thereby achieving the purpose of high-precision mapping.
In order to achieve the purpose, the invention adopts the following technical scheme:
an interactive mapping method based on laser point cloud and panoramic image is characterized by comprising a forward interaction or/and reverse interaction mapping step, wherein the forward interaction step is to locate the pixel coordinate of the panoramic image to the laser point coordinate; the reverse interaction step is to locate the pixel coordinates of the panoramic image from the coordinates of the laser points; wherein:
the forward interaction steps are as follows:
firstly, using the space attitude information and coordinate conversion parameter of the panoramic image to convert the pixel coordinate of the image into a three-dimensional local coordinate p1(ii) a Simultaneously calculating the three-dimensional local coordinate o of the panoramic shooting point1(ii) a The method specifically comprises the following steps:
1.1) obtaining pixel coordinates of the panoramic image, and establishing a conversion relation between the pixel coordinates of the image and spatial rectangular coordinates:
1.1.1) coordinate P of panoramic pixelsr(X, Y) conversion to image space coordinates Pr' (X, Y,0) wherein PrThe (X, Y) coordinate system is a Cartesian rectangular coordinate system taking the lower left corner of the panoramic image as an origin; 0<X<w, w is the number of horizontal pixels of the panoramic image; 0<Y<h, h is the longitudinal pixel number of the panoramic image;
1.1.2) image space coordinate Pr' (X, Y,0) into panorama sphere space coordinates Psp(Xsp,Ysp,Zsp)
Defining a panoramic ball space coordinate system, taking the center of a ball as an origin, setting the radius of the ball as R, and establishing a conversion relation between an image space coordinate system and the panoramic ball space coordinate system, wherein the conversion formula is as follows:
ψ＝X/R；
θ＝Y/R；
Xsp＝R*sin(θ)*cos(ψ)；
Ysp＝R*sin(θ)*sin(ψ)；
Zsp＝R*cos(θ)；
converting the image space coordinate P by the above formular' (X, Y,0) into panorama sphere space coordinates Psp(Xsp,Ysp,Zsp)；
1.1.3) panoramic ball space coordinate Psp(Xsp,Ysp,Zsp) Conversion to combined navigation system coordinates
Acquiring space calibration parameters of the panoramic camera and the integrated navigation system, taking the anticlockwise direction as positive, and setting a rotation matrix corresponding to an axis X, Y, Z as RZ,RX,RY6 exterior orientation elements of the ball in an object space coordinate system areω, κ, Δ X, Δ Y, Δ Z, where Δ X, Δ Y, Δ Z represent three offsets from the X, Y, Z axis,ω, κ denote three rotational angles around axis Z, X, Y, respectively;
the conversion relationship between the panoramic ball space coordinate and the integrated navigation system coordinate is as follows:
wherein,
the panoramic ball space coordinate P is converted through the conversion relationsp(Xsp,Ysp,Zsp) Conversion to combined navigation system coordinates Pimu(Ximu,Yimu,Zimu)；
1.1.4) combining the navigation System coordinates Pimu(Ximu,Yimu,Zimu) Conversion to spatial rectangular coordinates
Acquiring inertial navigation information of a current panorama measured by an IMU, wherein the inertial navigation information comprises a space attitude angle roll angle R, a pitch angle P, a yaw angle H during panorama shooting and longitude L and latitude B under a shooting point space rectangular coordinate; wherein R represents an included angle between an inertial navigation x axis and the horizontal direction, P represents an included angle between an inertial navigation y axis and the horizontal direction, and H represents an included angle between an inertial navigation advancing direction and the due north direction;
then R, P, H are respectively set as r, p and y, and the rotation y is around the z axis; rotating p around the x axis; finally, rotating r around the y axis; then there are:
wherein
The coordinates of the point under a common earth surface coordinate system are set as(the value is recorded in the inertial navigation information); rotate around the x-axis firstRotate again around the z-axisThen there are:
wherein:
wherein,a is the major semi-axis (6378137 meters) of the WGS84 ellipsoid parameters; b is the minor semi-axis (6356752.314 meters) of the WGS84 ellipsoid parameter;
thenThe space rectangular coordinate obtained by conversion;
1.1.5) finally, converting the space rectangular coordinate into a three-dimensional local coordinate by using the coordinate conversion parameter and the prior art;
1.2) obtaining the width of the current panoramic image as w, the height as h, the unit of w and h as pixel, then the pixel coordinate of the panoramic center point is (w/2, h/2), according to the processing procedure of converting pixel coordinate of panoramic image into space rectangular coordinate described in the steps of 1.1.1-1.1.4, firstly converting pixel coordinate of panoramic image into space rectangular coordinate, then converting into three-dimensional local coordinate o by using coordinate conversion parameter according to the step of 1.1.51；
Second step of1、p1Constructing a spatial three-dimensional straight line segment l', and calculating a plane projection buffer area based on the line segment; acquiring a laser point set PC in the buffer range; the method specifically comprises the following steps:
2.1) Using two three-dimensional spatial points o1(Xo1,Yo1,Zo1) And p1(Xp1,Yp1,Zp1) Constructing a space straight line l; processing in vector mode with o1Is the initial point of the vector, p1Is a pointing point, and therefore its unit direction vector v is calculated as:
wherein Lo1p1Is o1And p1The three-dimensional spatial distance of (a);
2.2) calculating according to different conditions based on the Z component of the vector of the l to obtain a specified line segment; for a point P' on l:
if there is Zp1≥Zo1And then:
P'＝(Xo1+v[0]*Lv,Yo1+v[1]*Lv,Zo1+v[2]*Lv)
wherein L isvIs the maximum search length;
if there is Zp1<Zo1And then:
firstly, calculating the ground elevation of a panoramic shooting point: zg＝Zo1-HcIn which H iscIs the camera height of the device; let plane PgIs passed through (0,0, Z)g) The horizontal plane of the dots, P' is then l and PgThe intersection point of (a); further calculate the current P' and o1Is a spatial distance LP'O1If L isP'O1＞LvThen, then
P'＝(Xo1+v[0]*Lv,Yo1+v[1]*Lv,Zo1+v[2]*Lv)
From o1And P 'as two vertices to form a line segment l';
2.3) carrying out projection processing on the three-dimensional line segment l 'to obtain a two-dimensional plane line segment l'; obtaining a line segment l passing through one end point of l' and perpendicular to lv1The length of the laser point cloud data is d x 4, and d is the thinning interval of the laser point cloud data and is divided equally by the end points;
the perpendicular segment l passing through the other end of l' is obtained using the same methodv2；
Is prepared fromv1And lv2A rectangle formed by four end points is used as a plane projection buffer area of the line segment;
2.4) based on the rectangular buffer area, acquiring a laser point set PC in the plane range by using a space query method;
traversing points in the laser point set to obtain an alternative point set with a distance l' less than a threshold value; further screening out a point closest to the panoramic shooting point in the set, and taking the coordinate of the point as a laser point coordinate corresponding to the pixel coordinate of the panoramic image; the method specifically comprises the following steps:
3.1) traverse each point pep (X) in the set of laser points PCpcp,Ypcp,Zpcp) Calculating its spatial straight-line distance L to the straight line Lpcp(ii) a If L ispcp<LnPutting the point cloud point into a spare point set PC'; wherein L isnIs a distance threshold from the point cloud point to L, LnD is the thinning interval of the point cloud data;
3.2) traverse each point pep 'in the set of point cloud points PC', calculate it to o1A spatial linear distance of (1) is then from o1The point with the closest distance is the final point, and the coordinate of the point is the mapping coordinate;
the reverse interaction steps are as follows:
firstly, interactively acquiring three-dimensional local coordinates and time attributes of laser points, and then determining corresponding panoramic images and space posture information thereof according to time attribute values; the method specifically comprises the following steps:
1.1) interactively acquiring a local two-dimensional coordinate plCreating a square buffer area which takes the point as the center and has the side length of d x 4, and carrying out space query on the laser point cloud based on the buffer area to obtain a laser point set C in the range; wherein d is the thinning interval of the laser point cloud data;
1.2) traversing each cloud point P in the seti(1<i<N), calculating the sum of p and N) respectivelylThe laser point P with the smallest distance value is obtained. Reading time information contained in the P point, and acquiring a panoramic image containing the time and information thereof from an inertial navigation information file, wherein the information comprises a GPS coordinate of a panoramic shooting point and space attitude information;
secondly, converting the three-dimensional local coordinates of the laser points into space rectangular coordinates by using coordinate conversion parameters;
thirdly, converting the spatial rectangular coordinate into a panoramic pixel coordinate by using the panoramic GPS coordinate panoramic image and the spatial attitude information, wherein the coordinate is an image pixel coordinate corresponding to the laser point coordinate; the method specifically comprises the following steps:
3.1) converting the space rectangular coordinate into the coordinate of the integrated navigation system
Performing inverse operation according to a calculation formula of 1.1.4 steps of a forward interaction step of the technical scheme based on matrix operation by using a roll angle R, a pitch angle P, a yaw angle H and longitude L and latitude B under a spatial rectangular coordinate of a shooting point in inertial navigation data corresponding to the current panorama and combining a common earth surface coordinate system, and converting the spatial rectangular coordinate into a combined navigation system coordinate;
3.2) converting the coordinates of the integrated navigation system into the space coordinates of the panoramic ball
Using the spatial calibration parameters DeltaX, DeltaY, DeltaZ of the integrated navigation system,Based on the inverse operation of the matrix in the step 1.1.3, the conversion relation between the integrated navigation system and the panoramic ball space coordinate system is constructed, and the integrated navigation system coordinate is converted into the panoramic ball space coordinate;
3.3) converting the space coordinate of the panoramic ball into the pixel coordinate of the panoramic image
Let the radius of the panorama sphere space coordinate be R and the panorama sphere space coordinate be (X)sp,Ysp,Zsp) Then, then
If X issp>0, with Lon ═ π + arccos (Y)sp/R)
If X isspLess than or equal to 0, there is Lon ═ pi-arccos (Y)sp/R)
Lat＝arcsin(Zsp/R)
Then (Lon, Lat) is converted into (X, Y):
X＝Lon/(π*2)
Y＝(lat+π/2)/π
and (X w, Y h) is the pixel coordinate of the panoramic image, wherein w is the width of the panoramic image, i.e. the number of horizontal pixels, and h is the height of the panoramic image, i.e. the number of vertical pixels.
The invention has the following advantages:
the invention introduces the technical ideas of pixel coordinate and space rectangular coordinate transformation and space line segment construction based on respective characteristics of laser point cloud and panoramic image. When the method is used for forward interaction, the mapping object is confirmed from the panoramic image, and the method has the characteristics of intuition, clearness and definition. Calculating space rectangular coordinates of interaction points and shooting points in the panoramic image and converting the space rectangular coordinates into three-dimensional local coordinates based on space calibration parameters, the GPS coordinates of the panoramic points and space attitude information; and constructing a real three-dimensional line segment for carrying out spatial relationship calculation with the point cloud to obtain an appointed laser point, thereby finally determining a three-dimensional local coordinate. And during reverse interaction, a designated laser point is obtained by utilizing a buffer method, a coordinate conversion parameter is converted into a spatial rectangular coordinate, and a panoramic image pixel coordinate is calculated by utilizing a spatial calibration parameter, a panoramic point GPS coordinate and spatial attitude information, so that the corresponding direction of the laser point is displayed in the panoramic image.
Drawings
FIG. 1 is a schematic flow chart of an interactive mapping method based on a laser point cloud and a panoramic image according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of pixel coordinates of a panoramic image according to an embodiment of the present invention;
FIG. 2.1 is a schematic diagram of interactively acquiring panoramic images, wherein the images are panoramic images of courtyards of certain office buildings, according to the embodiment of the invention;
FIG. 2.2 is a coordinate diagram of a certain mark point on the flagpole of the panoramic image Chinese flag;
FIG. 2.3 is a schematic diagram of a panoramic ball spatial coordinate system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of spatial three-dimensional segment construction and projection buffer range calculation according to an embodiment of the present invention;
FIG. 3.1 is a diagram of mapping coordinate conditions corresponding to pixel coordinates of an image of a flagpole obtained according to the embodiment;
fig. 4 is a diagram showing the situation of a flagpole laser spot which is interactively searched on a two-dimensional map.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description: the embodiment takes the example of calculating the coordinates of a flagpole of a national flag in a panoramic image of a yard of an office building.
Fig. 1 shows a flow diagram of the method, wherein the flow diagram for positioning from panoramic image pixel coordinates to laser point coordinates in forward interaction is shown on the left; the right side shows a schematic flow chart from laser point coordinate positioning to panoramic image pixel coordinate during reverse interaction; as seen from the figure, the forward interaction steps are as follows:
first, a spatial coordinate system of the panoramic image shown in fig. 2 is established, and the panoramic pixel coordinate P is calculatedr(X, Y) conversion to image space coordinates Pr' (X, Y, 0); wherein P isrThe (X, Y) coordinate system is a Cartesian rectangular coordinate system taking the lower left corner of the panoramic image as an origin;
as can be seen from FIGS. 2.1 and 2.2, 0 is shown in the panoramic image of the courtyard of an office building<X<8000, 8000 is the horizontal pixel number of the panoramic image; 0<Y<4000, 4000 is the longitudinal pixel number of the panoramic image; the pixel coordinate of the mast panoramic image obtained by interaction is Pr(1843,1971)；
Defining a panoramic ball space coordinate system as shown in figure 2.3, taking the center of a ball as an origin, setting the radius of the ball as R, establishing a conversion relation between an image space coordinate system and the panoramic ball space coordinate system, referring to a conversion formula in the step 1.1.2 of the forward interaction step of the technical scheme, and converting the image space coordinate P according to the conversion formular' (X, Y,0) into panorama sphere space coordinates Psp(Xsp,Ysp,Zsp)；
Acquiring space calibration parameters of the panoramic camera and the integrated navigation system, taking the anticlockwise direction as positive, and setting a rotation matrix corresponding to an axis X, Y, Z as RZ,RX,RY6 exterior orientation elements of the ball in an object space coordinate system areω, κ, Δ X, Δ Y, Δ Z, where Δ X, Δ Y, Δ Z represent three offsets from the X, Y, Z axis,ω, κ denote three rotational angles around axis Z, X, Y, respectively; the transformation relation between the panoramic ball space coordinate and the coordinate of the integrated navigation system is shown as step 1.1.3 of the forward interaction step of the technical scheme, and the panoramic ball space coordinate P is transformed according to the transformation relation in step 1.1.3sp(Xsp,Ysp,Zsp) Conversion to combined navigation system coordinates Pimu(Ximu,Yimu,Zimu)；
Acquiring inertial navigation information of a current panorama measured by an IMU, wherein the inertial navigation information comprises a space attitude angle roll angle R, a pitch angle P, a yaw angle H during panorama shooting and longitude L and latitude B under a shooting point space rectangular coordinate; wherein R is 1.5546, P is-8.0363, H is 70.2002; l-120.102415, B-35.999260; converting the coordinate of the integrated navigation system into a space rectangular coordinate (-2591047.759,4469354.956,3728163.821) according to the operation of the calculation formula of step 1.1.4 of the forward interaction step of the technical scheme;
converting the space rectangular coordinate (-2591047.759,4469354.956,3728163.821) into a three-dimensional local coordinate p by using the coordinate conversion parameters in step 1.1.5 of the forward interaction step of the technical scheme1(509235.608,3985461.338, 71.230); the conversion parameters are as follows: WGS84 coordinate system 3 degree band, central meridian L0＝120。
If the width of the current panoramic image is 8000 and the height is 4000 (the unit of width and height is pixel), the image of the center point of the panoramic image is obtainedThe pixel coordinates are (w/2, h/2), that is, (4000,2000), according to the processing procedure of converting the pixel coordinates of the panoramic image into the spatial rectangular coordinates described in the steps 1.1.1 to 1.1.4 of the forward interaction step of the technical scheme, the pixel coordinates of the panoramic center (4000,2000) are converted into the spatial rectangular coordinates (-2591045.072,4469353.617,3728167.027), and then according to the step 1.1.5 of the forward interaction step of the technical scheme, the coordinate conversion parameters are utilized to finally convert into the three-dimensional local coordinates o1(509233.95,3985465.40,71.092)；
Step two, as shown in fig. 3, the steps described in steps 2.1, 2.2, 2.3, 2.4 are interacted in the forward direction according to the technical scheme, and the step is performed by o1、p1Constructing a spatial three-dimensional straight line segment l', and calculating a plane projection buffer area based on the line segment; acquiring a laser point set PC in the buffer range;
step three, according to the steps of the forward interaction steps 3.1 and 3.2 of the technical scheme, traversing points in the laser point set, and acquiring a candidate point set of which the distance from l' is less than a threshold value; further screening out the point closest to the panoramic shooting point in the set, as shown in fig. 3.1, using the coordinates (509239.109,3985452.509,71.463) of the point as the laser point coordinates corresponding to the pixel coordinates of the panoramic image;
the reverse interaction steps are as follows:
firstly, interactively acquiring a two-dimensional local coordinate plAs indicated by arrows in fig. 4, the three-dimensional local coordinates of the flagpole laser point, which are alternately searched on the two-dimensional map, are (509239.109,3985452.509, 71.463); creating a square buffer area which takes the point as the center and has the side length of d x 4, wherein d is the thinning interval of the laser point cloud data of 8 cm; carrying out space query of laser point cloud based on the buffer area to obtain a laser point set C in the range;
traversing each cloud point P in the seti(1<i<N), calculating the sum of p and N) respectivelylObtaining the laser point P with the minimum distance value; reading time information contained in the P point, and acquiring a panoramic image containing the time and information thereof from an inertial navigation information file, wherein the information comprises a GPS coordinate of a panoramic shooting point and a null positionAnd (4) inter-pose information.
Secondly, the coordinate conversion parameters in the step 1.1.5 are reversely interacted by the technical scheme to convert the three-dimensional local coordinate p1(509239.109,3985452.509,71.463) into spatial rectangular coordinates (-2591047.759,4469354.956,3728163.821);
thirdly, converting the spatial rectangular coordinate into a panoramic pixel coordinate by using the panoramic GPS coordinate and the spatial attitude information, wherein the coordinate is an image pixel coordinate corresponding to the laser point coordinate; the method specifically comprises the following steps:
performing inverse operation according to a calculation formula of 1.1.4 steps of the forward interaction step of the technical scheme by using a roll angle R, a pitch angle P, a yaw angle H, longitude L and latitude B under a space rectangular coordinate of a shooting point in inertial navigation data corresponding to the current panorama and combining a common earth surface coordinate system, and converting the space rectangular coordinate (-2591047.759,4469354.956,3728163.821) into a combined navigation system coordinate;
using the spatial calibration parameters DeltaX, DeltaY, DeltaZ of the integrated navigation system,Based on the inverse operation of the matrix in the step 1.1.3, the conversion relation between the integrated navigation system and the panoramic ball space coordinate system is constructed, and the integrated navigation system coordinate is converted into the panoramic ball space coordinate; then the space coordinate of the panoramic ball is converted into the pixel coordinate of the panoramic image as follows:
let the radius of the panorama sphere space coordinate be R and the panorama sphere space coordinate be (X)sp,Ysp,Zsp) Then, then
If X issp>0, with Lon ═ π + arccos (Y)sp/R)
If X isspLess than or equal to 0, there is Lon ═ pi-arccos (Y)sp/R)
Lat＝arcsin(Zsp/R)，
Calculating to obtain (Lon, Lat) as (1.4476, -0.0225)
Then (Lon, Lat) is converted into (X, Y):
X＝Lon/(π*2)＝0.2304
Y＝(lat+π/2)/π＝0.4928
(X w, Y h) namely panoramic image pixel coordinates corresponding to the laser point coordinates; wherein w is an image width 8000 and h is an image height 4000; the calculation shows that:
0.2304*8000＝1843.2，0.4928*4000＝1971.2
therefore, the pixel coordinates of the flagpole panoramic image are (1843, 1971)
Claims (1)
1. An interactive mapping method based on laser point cloud and panoramic image is characterized by comprising a forward interactive or/and backward interactive mapping step, wherein the forward interactive step is to locate the pixel coordinate of the panoramic image to the coordinate of the laser point; the reverse interaction step is to locate the pixel coordinates of the panoramic image from the coordinates of the laser points; wherein:
the forward interaction steps are as follows:
firstly, using the space attitude information and coordinate conversion parameter of the panoramic image to convert the pixel coordinate of the image into a three-dimensional local coordinate p1(ii) a Simultaneously calculating the three-dimensional local coordinate o of the panoramic shooting point1(ii) a The method specifically comprises the following steps:
step 1.1: acquiring pixel coordinates of the panoramic image, and establishing a conversion relation between the pixel coordinates of the image and spatial rectangular coordinates:
step 1.1.1: coordinate P of panoramic pixelr(X, Y) conversion to image space coordinates Pr' (X, Y,0) wherein PrThe (X, Y) coordinate system is a Cartesian rectangular coordinate system taking the lower left corner of the panoramic image as an origin; x is more than 0 and less than w, and w is the number of horizontal pixels of the panoramic image; y is more than 0 and less than h, and h is the longitudinal pixel number of the panoramic image;
step 1.1.2: will image space coordinate Pr' (X, Y,0) into panorama sphere space coordinates Psp(Xsp，Ysp，Zsp)
Defining a panoramic ball space coordinate system, taking the center of a ball as an origin, setting the radius of the ball as R, and establishing a conversion relation between an image space coordinate system and the panoramic ball space coordinate system, wherein the conversion formula is as follows:
ψ＝X/R；
θ＝Y/R；
Xsp＝R*sin(θ)*cos(ψ)；
Ysp＝R*sin(θ)*sin(ψ)；
Zsp＝R*cos(θ)；
converting the image space coordinate P by the above formular' (X, Y,0) into panorama sphere space coordinates Psp(Xsp，Ysp，Zsp)；
Step 1.1.3: the space coordinate P of the panoramic ballsp(Xsp，Ysp，Zsp) Conversion to combined navigation system coordinates
Acquiring space calibration parameters of the panoramic camera and the integrated navigation system, taking the anticlockwise direction as positive, and setting a rotation matrix corresponding to an axis X, Y, Z as RZ，RX，RY6 exterior orientation elements of the ball in an object space coordinate system areOmega, kappa, delta X, delta Y and delta Z, wherein the delta X, the delta Y and the delta Z are respectively shown in the tableThree offsets of the X, Y, Z axis are shown,ω, κ denote three rotational angles around axis Z, X, Y, respectively;
the conversion relationship between the panoramic ball space coordinate and the integrated navigation system coordinate is as follows:
wherein,
the panoramic ball space coordinate P is converted through the conversion relationsp(Xsp，Ysp，Zsp) Conversion to combined navigation system coordinates Pimu(Ximu，Yimu，Zimu)；
Step 1.1.4: will combine navigation system coordinates Pimu(Ximu，Yimu，Zimu) Conversion to spatial rectangular coordinates
Acquiring inertial navigation information of a current panorama measured by an IMU, wherein the inertial navigation information comprises a space attitude angle roll angle R, a pitch angle P, a yaw angle H during panorama shooting and longitude L and latitude B under a shooting point space rectangular coordinate; wherein R represents an included angle between an inertial navigation x axis and the horizontal direction, P represents an included angle between an inertial navigation y axis and the horizontal direction, and H represents an included angle between an inertial navigation advancing direction and the due north direction;
then R, P, H is set as r, p, y respectively, and y is rotated around the Z axis; rotating p around the x axis; finally, rotating r around the y axis; then there are:
wherein
The coordinates of the point under a common earth surface coordinate system are set asRecording the coordinate value in the inertial navigation information; rotate around the x-axis firstRotate again around the z-axisThen there are:
wherein:
wherein,a is a major half axis of WGS84 ellipsoid parameters, and is 6378137 meters; b is the minor half axis of WGS84 ellipsoid parameter, 6356752.314 m;
thenThe space rectangular coordinate obtained by conversion;
step 1.1.5: finally, converting the space rectangular coordinate into a three-dimensional local coordinate by using a coordinate conversion parameter;
step 1.2: obtaining the width of the current panoramic image as w, the height as h, the unit of w and h as pixel, the pixel coordinate of the panoramic central point as (w/2, h/2), according to the processing procedure of converting the pixel coordinate of the panoramic image into space rectangular coordinate described in the steps 1.1.1-1.1.4, firstly converting the pixel coordinate of the panoramic image into space rectangular coordinate, and then converting the pixel coordinate into three-dimensional local coordinate o according to the step 1.1.5 by using coordinate conversion parameter1；
Second step of1、p1Constructing a spatial three-dimensional straight line segment l', and calculating a plane projection buffer area based on the line segment; acquiring a laser point set PC in the buffer range; the method specifically comprises the following steps:
step 2.1: using two or three dimensional spatial points o1(Xo1，Yo1，Zo1) And p1(Xp1，Yp1，Zp1) Constructing a space straight line l; processing in vector mode with o1Is the initial point of the vector, p1Is a pointing point, and therefore its unit direction vector v is calculated as:
wherein Lo1p1Is o1And p1The three-dimensional spatial distance of (a);
step 2.2: calculating according to different conditions based on the Z component of the vector of l to obtain a specified line segment; for a point P' on l:
if there is Zp1≥Zo1And then:
P′＝(Xo1+v[0]*Lv，Yo1+v[1]*Lv，Zo1+v[2]*Lv)
wherein L isvIs the maximum search length;
if there is Zp1＜Zo1And then:
firstly, calculating the ground elevation of a panoramic shooting point: zg＝Zo1-HcIn which H iscIs the camera height of the device; let plane PgThe order of the passage of (0,0，Zg) The horizontal plane of the dots, P' is then l and PgThe intersection point of (a); further calculate the current P' and o1Is a spatial distance LP′o1If L isP′O1＞LvThen, then
P′＝(Xo1+v[0]*Lv，Yo1+v[1]*Lv，Zo1+v[2]*Lv)
From o1And P 'as two vertices to form a line segment l';
step 2.3: carrying out projection processing on the three-dimensional line segment l 'to obtain a two-dimensional plane line segment l'; obtaining a line segment l passing through one end of l 'and perpendicular to l'v1The length of the laser point cloud data is d x 4, and d is the thinning interval of the laser point cloud data and is divided equally by the end points;
the perpendicular segment l passing through the other end of l' is obtained using the same methodv2；
Is prepared fromv1And lv2A rectangle formed by four end points is used as a plane projection buffer area of the line segment;
step 2.4: based on the rectangular buffer area, acquiring a laser point set PC in the plane range by using a space query method;
traversing points in the laser point set to obtain an alternative point set with a distance l' less than a threshold value; further screening out a point closest to the panoramic shooting point in the set, and taking the coordinate of the point as a laser point coordinate corresponding to the pixel coordinate of the panoramic image; the method specifically comprises the following steps:
step 3.1: traversing each point pep (X) in the set of laser points PCpcp，Ypcp，Zpcp) Calculating its spatial straight-line distance L to the straight line Lpcp(ii) a If L ispcp＜LnPutting the point cloud point into a spare point set PC'; wherein L isnIs a distance threshold from the point cloud point to L, LnD is the thinning interval of the point cloud data;
step 3.2: traversing each point pcp 'in the point cloud point set PC', and calculating the point to o1A spatial linear distance of (1) is then from o1The point with the closest distance is the final point, and the coordinate of the point is the mapping coordinate;
the reverse interaction steps are as follows:
firstly, interactively acquiring three-dimensional local coordinates and time attributes of laser points, and then determining corresponding panoramic images and space posture information thereof according to time attribute values; the method specifically comprises the following steps:
step 1.1: interactive acquisition of local two-dimensional coordinates plCreating a square buffer area which takes the point as the center and has the side length of d x 4, and carrying out space query on the laser point cloud based on the buffer area to obtain a laser point set C in the range; wherein d is the thinning interval of the laser point cloud data;
step 1.2: traversing each cloud point P in the seti(1 < i < N), and calculating the sum of the sum and plThe laser point P with the smallest distance value is obtained. Reading time information contained in the P point, and acquiring a panoramic image containing the time and information thereof from an inertial navigation information file, wherein the information comprises a GPS coordinate of a panoramic shooting point and space attitude information;
secondly, converting the three-dimensional local coordinates of the laser points into space rectangular coordinates by using coordinate conversion parameters;
thirdly, converting the spatial rectangular coordinate into a panoramic pixel coordinate by using the panoramic GPS coordinate panoramic image and the spatial attitude information, wherein the coordinate is an image pixel coordinate corresponding to the laser point coordinate; the method specifically comprises the following steps:
step 3.1: converting spatial rectangular coordinates into integrated navigation system coordinates
Performing inverse operation according to a calculation formula of 1.1.4 steps of a forward interaction step of the technical scheme based on matrix operation by using a roll angle R, a pitch angle P, a yaw angle H and longitude L and latitude B under a spatial rectangular coordinate of a shooting point in inertial navigation data corresponding to the current panorama and combining a common earth surface coordinate system, and converting the spatial rectangular coordinate into a combined navigation system coordinate;
step 3.2: converting integrated navigation system coordinates into panorama space coordinates
Using the spatial calibration parameters DeltaX, DeltaY, DeltaZ of the integrated navigation system,Six parameters of omega and kappa are adopted,based on the inverse operation of the matrix in the step 1.1.3, constructing a conversion relation between the integrated navigation system and a panoramic ball space coordinate system, and converting the coordinates of the integrated navigation system into the panoramic ball space coordinates;
step 3.3: converting the space coordinate of the panoramic ball into the pixel coordinate of the panoramic image
Let the radius of the panorama sphere space coordinate be R and the panorama sphere space coordinate be (X)sp，Ysp，Zsp) Then, then
If X isspGreater than 0, with Lon ═ π + arccos (Y)sp/R)
If X isspLess than or equal to 0, there is Lon ═ pi-arccos (Y)sp/R)
Lat＝arcsin(Zsp/R)
Then (Lon, Lat) is converted into (X, Y):
X＝Lon/(π*2)
Y＝(lat+π/2)/π
and (X w, Y h) is the pixel coordinate of the panoramic image, wherein w is the width of the panoramic image, i.e. the number of horizontal pixels, and h is the height of the panoramic image, i.e. the number of vertical pixels.
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