CN106649777B - Method for constructing intersection topological relation in panoramic vector data - Google Patents
Method for constructing intersection topological relation in panoramic vector data Download PDFInfo
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Abstract
The invention discloses a method for constructing a road junction topological relation in panoramic vector data, and relates to the technical field of panoramic vector data processing. According to the method, the connection relation of the actual path corresponding to the intersection to be processed is obtained through query and analysis of related data, the topological relation between corresponding point positions is manually added, and then the relative angle between the two points is calculated, so that the jumping relation of the intersection in the panoramic browsing process is realized, and the method has high accuracy. The accurate topological relation is accurately constructed for the intersection in the vector data in the panoramic data processing process. Therefore, the problem of the cross relationship of different route data in the panoramic data acquisition process is solved, and the panoramic view browsing condition is consistent with the actual street condition.
Description
Technical Field
The invention relates to the technical field of panoramic vector data processing, in particular to a method for constructing a topological relation of an intersection in panoramic vector data, which is applied to the topological connection relation of special positions such as a 360-street view two-dimensional vector data processing intersection, a crossroad, a T-shaped intersection and the like.
Background
The application of panoramic images is not only limited to internet street view service, but also covers a plurality of fields such as environmental protection, city planning, mapping, disaster emergency, traffic travel, cultural relic protection and the like due to the unique advantages of abundant information amount and high-efficiency and quick acquisition. The electronic map display mode is greatly enriched, and the visual, fine and detailed application functions are provided for the final user.
At present, the development of the panoramic field is relatively mature, a plurality of modes are available for processing two-dimensional vector data, the panoramic vector data is a point location route consisting of a plurality of shooting points, the processing of the topological relation of intersections after different vector data are overlapped belongs to a blank in the data processing process, so that the intersection relation of different route data cannot be obtained in the panoramic data acquisition process, and the experience feeling consistent with the actual street conditions when the panorama is browsed cannot be realized.
Disclosure of Invention
The invention aims to provide a method for constructing a crossing topological relation in panoramic vector data, so as to solve the problems in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a method for constructing intersection topological relation in panoramic vector data comprises the following steps:
s1, acquiring panoramic point location vector basic data;
s2, acquiring all visually crossed intersections in the panoramic point location vector basic data of two or more routes, selecting any one of the intersections as a current processing intersection, and sequentially executing the following steps until all the intersections are processed;
s3, acquiring longitude and latitude information of the current processing intersection from the panoramic point location vector basic data, and acquiring the actual topological relation of the current processing intersection according to the longitude and latitude information;
s4, according to the actual topological relation of the current processing intersection, selecting all point locations corresponding to the current processing intersection from the two or more routes connected with the current processing intersection, and establishing an associated jump relation between any two point locations to realize the topological association between the two or more routes connected with the current processing intersection.
Preferably, in S1, the panoramic point location vector basic data is acquired by an field 360 panoramic camera, and the longitude and latitude information is automatically calibrated, recorded and stored by the camera.
Preferably, in S2, the selecting any one of the intersections as the currently processed intersection specifically includes: and sequentially selecting the currently processed intersections from the panoramic point location vector basic data according to the ID numbers of the intersections or other self-defined sequencing modes.
Preferably, the actual topological relationship of the currently processed intersection includes a T-junction, an intersection or other types of intersections.
Preferably, in S4, the establishing of the associated jump relationship between any two point locations is specifically to set the two point locations as a starting point X1(begx, begy) and an end point Y1(endx, endy), respectively, record an ID and a direction angle of a point Y1 in a jump attribute list of the point X1, and record an ID and a direction angle of a point X1 in a jump attribute list of the point Y1;
the ID is unique identification information of each vector point location and is used for recording the relationship between the vector point locations and the relationship between the point locations and the actual position image;
the direction angle is used for representing the relative position relation between the starting point and the end point, and is calculated according to different relative positions according to the longitude and latitude values of the starting point and the end point.
Preferably, the direction angle α is calculated as follows:
when the start and end points are located at the first quadrant:
if endx is endy, the direction angle α is 0;
otherwise, it is calculated as follows:
wherein Atn represents an inverse tangent value, RAD represents a radian, and DEG represents an angle;
when the start and end points are located at the second quadrant:
if endx is endy, the direction angle α is 0;
otherwise, the calculation is performed according to the following formula:
when the start and end points are located at the third quadrant:
if endx is 180, direction angle α is 180;
otherwise, the calculation is performed according to the following formula:
when the start and end points are located at the fourth quadrant:
if endx is 180, direction angle α is 180;
otherwise, it is calculated as follows:
when endy > begx, the direction angle α is 90;
when endy is begy and endx is begx, the direction angle α is 270;
according to a conventional understanding mode in cartography, the direction angle α specifies an azimuth angle of 0 ° or 360 ° when a directional line segment in a plane coordinate system points to the true north direction, an azimuth angle of 90 ° when the directional line segment rotates clockwise to the true east direction, and so on, the azimuth angle of the true south direction is 180 °, the azimuth angle of the true west direction is 270 °, and a value range of the azimuth angle is α e [0 °,360 °).
Preferably, in S3, the obtaining of the actual topological relation of the currently processed intersection is specifically to obtain the actual topological relation of the currently processed intersection in the image data according to the longitude and latitude information.
The invention has the beneficial effects that: according to the method for constructing the intersection topological relation in the panoramic vector data, provided by the embodiment of the invention, the connection relation of the actual path corresponding to the intersection to be processed is obtained through query and analysis of the image data, the topological relation between corresponding point positions is manually added, and then the relative angle between the two points is calculated, so that the jump relation of the intersection in the panoramic browsing process is realized, and the method has high accuracy. The accurate topological relation is accurately constructed for the intersection in the vector data in the panoramic data processing process. Therefore, the problem of the cross relationship of different route data in the panoramic data acquisition process is solved, and the panoramic view browsing condition is consistent with the actual street condition.
Drawings
Fig. 1 is a schematic flow chart of a method for constructing an intersection topological relation in panoramic vector data according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an association relationship between two point locations corresponding to an intersection according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a method for constructing an intersection topological relation in panoramic vector data, including the following steps:
s1, acquiring panoramic point location vector basic data;
s2, acquiring all visually crossed intersections in the panoramic point location vector basic data of two or more routes, selecting any one of the intersections as a current processing intersection, and sequentially executing the following steps until all the intersections are processed;
s3, acquiring longitude and latitude information of the current processing intersection from the panoramic point location vector basic data, and acquiring the actual topological relation of the current processing intersection according to the longitude and latitude information;
s4, according to the actual topological relation of the current processing intersection, selecting all point locations corresponding to the current processing intersection from the two or more routes connected with the current processing intersection, and establishing an associated jump relation between any two point locations to realize the topological association between the two or more routes connected with the current processing intersection.
Because the panorama point vector basic data in any one line is data obtained by shooting in one direction according to a certain direction, even if a cross point exists between two lines or between multiple lines, the panorama point vector basic data cannot be reflected, and therefore, in an actual road topological relation, the panorama point vector basic data cannot be processed under the condition that the intersection turns. In the method provided by the embodiment of the invention, the point locations corresponding to the intersections are selected in the routes connected with the intersections, and the jump incidence relation between the two point locations is established, so that the jump from one route to the other route can be realized at the intersections, and the corresponding steering is realized.
S3 can be implemented as follows:
s301, respectively importing the vector data and the image data into application software;
s302, finding out a corresponding intersection position in the image data according to the longitude and latitude information of the current processing object determined in the vector data;
and S303, observing the image to obtain the actual connection relation of the intersection of the current processing object, and determining the point position needing to establish the connection relation in the vector data.
In S1, the panoramic point location vector basic data may be collected by an field 360 panoramic camera, and the longitude and latitude information is automatically calibrated, recorded and stored by the camera.
In actual operation, longitude and latitude information of a shooting position can be automatically calibrated and recorded through a camera, stored in a hard disk and then exported to a data processor.
In a preferred embodiment of the present invention, in S2, the selecting any one of the intersections as the current processing intersection specifically includes: and sequentially selecting the currently processed intersections from the panoramic point location vector basic data according to the ID numbers of the intersections or other self-defined sequencing modes.
In the embodiment of the present invention, the actual topological relation of the currently processed intersection includes a t-junction, an intersection, or other types of intersections.
When the association relationship between two point locations corresponding to an intersection is established, it is necessary to establish a correspondence relationship between adjacent point locations, for example, if the actual topology relationship is an intersection, it is necessary to establish a correspondence relationship between four point locations (a, B, C, D) closest to the intersection location of the intersection, for 4 groups (AB, BC, CD, DA); as shown in fig. 2.
In a preferred embodiment of the present invention, in S4, the establishing of the associative jump relationship between any two point locations is specifically to set the two point locations as a starting point X1(begx, begy) and an end point Y1(endx, endy), respectively, record an ID and a direction angle of a point Y1 in a jump attribute list of the point X1, and record an ID and a direction angle of a point X1 in a jump attribute list of a point Y1;
the ID is unique identification information of each vector point location and is used for recording the relationship between the vector point locations and the relationship between the point locations and the actual position image;
the direction angle is used for representing the relative position relation between the starting point and the end point, and is calculated according to different relative positions according to the longitude and latitude values of the starting point and the end point.
In a preferred embodiment of the present invention, the direction angle may be calculated as follows:
when the start and end points are located at the first quadrant:
if endx is endy, the direction angle α is 0;
otherwise, it is calculated as follows:
wherein Atn represents an inverse tangent value, RAD represents a radian, and DEG represents an angle;
when the start and end points are located at the second quadrant:
if endx is endy, the direction angle α is 0;
otherwise, the calculation is performed according to the following formula:
when the start and end points are located at the third quadrant:
if endx is 180, direction angle α is 180;
otherwise, the calculation is performed according to the following formula:
when the start and end points are located at the fourth quadrant:
if endx is 180, direction angle α is 180;
otherwise, it is calculated as follows:
when endy > begx, the direction angle α is 90;
when endy is begy and endx is begx, the direction angle α is 270;
according to a conventional understanding mode in cartography, the direction angle α specifies an azimuth angle of 0 ° or 360 ° when a directional line segment in a plane coordinate system points to the true north direction, an azimuth angle of 90 ° when the directional line segment rotates clockwise to the true east direction, and so on, the azimuth angle of the true south direction is 180 °, the azimuth angle of the true west direction is 270 °, and a value range of the azimuth angle is α e [0 °,360 °).
In a preferred embodiment of the present invention, in S3, the obtaining of the actual topological relation of the currently processed intersection may specifically be obtaining the actual topological relation of the currently processed intersection in image data according to the longitude and latitude information.
The image data can be downloaded or acquired by field data processing personnel according to the parameters of the acquisition area.
As can be understood by those skilled in the art, other related data may also be used to obtain the actual topological relation of the currently processed intersection, where the other related data refers to the communication information of the actual intersection for the acquired road segment.
In the embodiment of the invention, the image information is adopted, so that the method is more intuitive and accurate.
In the embodiment of the invention, the actual road information is obtained, the vector point location starting point and the vector point location end point which need to be correlated with each other are selected, the ID and the longitude and latitude information of the starting point and the end point are read, and the relative direction angle is calculated by using a formula, so that the topological relation between the vector point locations is established, the supplement of the panoramic vector data is further realized, and the jumping of the panoramic browsing is consistent with the actual scene.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained: according to the method for constructing the intersection topological relation in the panoramic vector data, provided by the embodiment of the invention, the connection relation of the actual path corresponding to the intersection to be processed is obtained through query and analysis of the image data, the topological relation between corresponding point positions is manually added, and then the relative angle between the two points is calculated, so that the jump relation of the intersection in the panoramic browsing process is realized, and the method has high accuracy. The accurate topological relation is accurately constructed for the intersection in the vector data in the panoramic data processing process. Therefore, the problem of the cross relationship of different route data in the panoramic data acquisition process is solved, and the panoramic view browsing condition is consistent with the actual street condition.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
It should be understood by those skilled in the art that the timing sequence of the method steps provided in the above embodiments may be adaptively adjusted according to actual situations, or may be concurrently performed according to actual situations.
All or part of the steps in the methods according to the above embodiments may be implemented by a program instructing related hardware, where the program may be stored in a storage medium readable by a computer device and used to execute all or part of the steps in the methods according to the above embodiments. The computer device, for example: personal computer, server, network equipment, intelligent mobile terminal, intelligent home equipment, wearable intelligent equipment, vehicle-mounted intelligent equipment and the like; the storage medium, for example: RAM, ROM, magnetic disk, magnetic tape, optical disk, flash memory, U disk, removable hard disk, memory card, memory stick, network server storage, network cloud storage, etc.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (7)
1. A method for constructing an intersection topological relation in panoramic vector data is characterized by comprising the following steps:
s1, acquiring panoramic point location vector basic data;
s2, acquiring all visually crossed intersections in the panoramic point location vector basic data of two or more routes, selecting any one of the intersections as a current processing intersection, and sequentially executing the following steps until all the intersections are processed;
s3, acquiring longitude and latitude information of the current processing intersection from the panoramic point location vector basic data, and acquiring the actual topological relation of the current processing intersection according to the longitude and latitude information;
s4, according to the actual topological relation of the current processing intersection, selecting all point locations corresponding to the current processing intersection from the two or more routes connected with the current processing intersection, and establishing an associated jump relation between any two point locations to realize the topological association between the two or more routes connected with the current processing intersection.
2. The method for constructing intersection topological relation in panoramic vector data according to claim 1, wherein in S1, the panoramic point location vector basic data is collected by an field 360 panoramic camera, and the longitude and latitude information is automatically calibrated, recorded and stored by the camera.
3. The method for constructing intersection topological relations in panoramic vector data according to claim 1, wherein in S2, the selecting any one of intersections as the current processing intersection specifically includes: and sequentially selecting the currently processed intersections from the panoramic point location vector basic data according to the ID numbers of the intersections or other self-defined sequencing modes.
4. The method for constructing intersection topological relation in panoramic vector data according to claim 1, wherein the actual topological relation of the currently processed intersection comprises a T-junction, an intersection or other types of intersections.
5. The method for constructing intersection topological relation in panoramic vector data according to claim 1, wherein in S4, the association jump relation is established between any two point locations, specifically, the two point locations are respectively set as a starting point X1(begx, begy) and an end point Y1(endx, endy), the ID and the direction angle of a point Y1 are recorded in a jump attribute list of the point X1, and the ID and the direction angle of a point X1 are recorded in a jump attribute list of the point Y1;
the ID is unique identification information of each vector point location and is used for recording the relationship between the vector point locations and the relationship between the point locations and the actual position image;
the direction angle is used for representing the relative position relation between the starting point and the end point, and is calculated according to different relative positions according to the longitude and latitude values of the starting point and the end point.
6. The method for constructing intersection topological relation in panoramic vector data according to claim 5, wherein the direction angle α is calculated according to the following method:
when the start and end points are located at the first quadrant:
if endx is endy, the direction angle α is 0;
otherwise, it is calculated as follows:
wherein Atn represents an inverse tangent value, RAD represents a radian, and DEG represents an angle;
when the start and end points are located at the second quadrant:
if endx is endy, the direction angle α is 0;
otherwise, the calculation is performed according to the following formula:
when the start and end points are located at the third quadrant:
if endx is 180, direction angle α is 180;
otherwise, the calculation is performed according to the following formula:
when the start and end points are located at the fourth quadrant:
if endx is 180, direction angle α is 180;
otherwise, it is calculated as follows:
when endy > begx, the direction angle α is 90;
when endy is begy and endx is begx, the direction angle α is 270;
according to a conventional understanding mode in cartography, the direction angle α specifies an azimuth angle of 0 ° or 360 ° when a directional line segment in a plane coordinate system points to the true north direction, an azimuth angle of 90 ° when the directional line segment rotates clockwise to the true east direction, and so on, the azimuth angle of the true south direction is 180 °, the azimuth angle of the true west direction is 270 °, and a value range of the azimuth angle is α e [0 °,360 °).
7. The method according to claim 1, wherein in S3, the obtaining of the actual topological relationship of the currently processed intersection is specifically to obtain the actual topological relationship of the currently processed intersection in image data according to the longitude and latitude information.
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| CN110379288B (en) * | 2018-11-13 | 2021-10-01 | 北京京东叁佰陆拾度电子商务有限公司 | Method and system for drawing topological link line of intersection |
| CN111061823B (en) * | 2019-11-26 | 2023-08-01 | 深圳震有科技股份有限公司 | Custom vector symbol generation method, intelligent terminal and storage medium |
| CN112100300B (en) * | 2020-08-22 | 2022-02-18 | 中国测绘科学研究院 | Method for quickly constructing space topological relation of vector earth surface coverage pattern spot and storage medium |
| CN112214624B (en) * | 2020-10-13 | 2024-04-12 | 北京百度网讯科技有限公司 | Method, apparatus, device and storage medium for processing image |
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