CN108055456B - Texture acquisition method and device - Google Patents
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- CN108055456B CN108055456B CN201711306595.3A CN201711306595A CN108055456B CN 108055456 B CN108055456 B CN 108055456B CN 201711306595 A CN201711306595 A CN 201711306595A CN 108055456 B CN108055456 B CN 108055456B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
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Abstract
The invention relates to the technical field of three-dimensional geographic information, in particular to a texture acquisition method and a texture acquisition device. The texture acquisition method is applied to texture acquisition equipment, the texture acquisition equipment comprises a camera and a scanner, and the method comprises the following steps: obtaining a building plan, and planning a texture acquisition route according to the building plan; responding to an acquisition starting command triggered by a user, controlling the texture acquisition equipment to travel along the texture acquisition route, and starting the camera to acquire and store texture images through the camera; and judging whether the current acquisition area is a preset area, if so, starting a panoramic camera carried by the scanner to acquire and store texture images through the panoramic camera. The texture acquisition method and the texture acquisition device can ensure that the acquired texture image has higher pixels while improving the acquisition efficiency of the texture image by combining the camera shooting mode and the panoramic camera shooting mode carried by the scanner.
Description
Technical Field
The invention relates to the technical field of three-dimensional geographic information, in particular to a texture acquisition method and a texture acquisition device.
Background
At present, the mode of acquiring indoor texture acquisition mainly adopts a mobile platform loading single lens reflex camera to continuously shoot according to a certain overlapping degree, or adopts a tripod-mounted scanner to shoot at a fixed point through a self-contained panoramic camera. The former is generally applicable to the indoor outer texture of small area and gathers, and the advantage lies in can adjusting parameter such as exposure at any time, and is more accurate to indoor light degree grasp, and the shortcoming is for needing professional's participation to the work load is great, and the shooting time is longer, inefficiency. The latter is also only suitable for texture collection of small-area areas, the shooting efficiency is high, manual participation is basically not needed, but the photos need to be spliced and selected in the later period, the workload is high, in addition, because the resolution ratio of a panoramic camera carried by a common scanner in the market is generally low and is basically below 1000 ten thousand pixels, the obtained texture pixels are not high, and the texture pixels can only be used for color point cloud, and have certain limitation.
Disclosure of Invention
It is therefore an objective of the claimed invention to provide a texture acquisition method to solve the above problems.
The texture acquisition method is applied to texture acquisition equipment, the texture acquisition equipment comprises a camera and a scanner, and the method comprises the following steps:
obtaining a building plan, and planning a texture acquisition route according to the building plan;
responding to an acquisition starting command triggered by a user, controlling the texture acquisition equipment to travel along the texture acquisition route, and starting the camera to acquire and store texture images through the camera;
and judging whether the current acquisition area is a preset area, if so, starting a panoramic camera carried by the scanner to acquire and store texture images through the panoramic camera.
Further, after obtaining a building plan and planning a texture acquisition route according to the building plan, the method further includes:
setting a plurality of acquisition positions on the texture acquisition route;
and dividing the building into a plurality of acquisition areas according to the building plan, and establishing the corresponding relation between the plurality of acquisition areas and the plurality of acquisition positions.
Further, the step of texture acquisition and storage by the camera comprises:
acquiring an acquisition area corresponding to each acquisition position, acquiring texture images of the acquisition area and storing the texture images;
the acquisition location is marked in the building plan.
Further, the step of acquiring and storing the texture image by the camera further comprises:
judging whether the texture image of the acquisition area has an image of a marker or not;
if so, performing separate texture acquisition on the marker and storing the marker.
Further, the texture capturing device stores therein a correspondence between an ambient light brightness value and a sensitivity parameter value of the camera, and before the step of capturing and storing the texture by the camera, the method further includes:
acquiring an ambient light brightness value of each acquisition area;
finding out the sensitivity parameter value corresponding to the environment light brightness value, and setting the sensitivity parameter of the camera as the sensitivity parameter value.
The embodiment of the invention also provides a texture acquisition device, which is applied to texture acquisition equipment, wherein the texture acquisition equipment comprises a camera and a scanner, and the device comprises:
the acquisition route planning module is used for acquiring a building plan and planning a texture acquisition route according to the building plan;
the first texture acquisition module is used for responding to an acquisition starting command triggered by a user, controlling the texture acquisition equipment to travel along the texture acquisition route, and starting the camera so as to acquire and store texture images through the camera;
and the second texture acquisition module is used for judging whether the current acquisition area is a preset area or not, and if so, starting a panoramic camera carried by the scanner so as to acquire and store texture images through the panoramic camera.
Further, the apparatus further comprises:
the acquisition position setting module is used for setting a plurality of acquisition positions on the texture acquisition route;
and the acquisition area dividing module is used for dividing the building into a plurality of acquisition areas according to the building plan and establishing the corresponding relation between the plurality of acquisition areas and the plurality of acquisition positions.
Further, the first texture acquisition module comprises:
the texture acquisition unit is used for acquiring an acquisition area corresponding to each acquisition position, acquiring a texture image of the acquisition area and storing the texture image;
and the acquisition position marking unit is used for marking the acquisition position in the building plan.
Further, the first texture acquisition module further comprises:
the marker judging unit is used for judging whether the texture image of the acquisition area has an image of a marker or not;
and the marker texture acquisition unit is used for acquiring and storing the single texture of the marker when the image of the marker exists in the texture image of the acquisition area.
Further, the texture capturing device stores therein a correspondence between an ambient light brightness value and a sensitivity parameter value of the camera, and the apparatus further includes:
the environment light brightness value acquisition module is used for acquiring the environment light brightness value of each acquisition area;
the camera sensitivity setting module is used for finding out a sensitivity parameter value corresponding to the environment light brightness value and setting the sensitivity parameter of the camera as the sensitivity parameter value.
The texture acquisition method and the device provided by the embodiment of the invention are applied to texture acquisition equipment comprising a camera and a scanner, firstly, a building plan is obtained, a texture acquisition route is planned according to the building plan, controlling the texture acquisition equipment to travel along the texture acquisition route when an acquisition starting command triggered by a user is received, and starting the camera to acquire and store texture images through the camera, and judging whether the current acquisition area is a preset area, if so, starting a panoramic camera carried by the scanner, the texture image acquisition method and the texture image acquisition device can ensure that the acquired texture image has higher pixels while improving the texture image acquisition efficiency by combining a camera shooting mode and a panoramic camera shooting mode carried by a scanner.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural block diagram of a texture acquisition device according to an embodiment of the present invention.
Fig. 2 is a flowchart of a texture acquisition method according to an embodiment of the present invention.
Fig. 3 is a plan view of a mall for acquiring a texture image by using the texture acquisition method according to the embodiment of the present invention.
Fig. 4 is a flowchart illustrating sub-steps of step S200 in fig. 2.
Fig. 5 is a flowchart illustrating sub-steps of step S200 in fig. 2.
Fig. 6 is a schematic structural block diagram of a texture acquisition device according to an embodiment of the present invention.
Icon: 100-texture acquisition equipment; 110-a texture acquisition device; 111-collection route planning module; 112-a first texture capture module; 113-a second texture acquisition module; 120-a processor; 130-memory.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, a schematic structural block diagram of a texture acquisition device 100 applying the texture acquisition method and apparatus according to an embodiment of the present invention is shown, wherein the texture acquisition device 100 is provided with a camera and a scanner. The camera may be a single lens reflex camera with high pixels, for example, more than 2000 ten thousand, and can acquire a high-quality texture image, and the scanner may be a three-dimensional laser scanner with a panoramic camera.
The texture capture device 100 further comprises a texture capture means 110, a processor 120 and a memory 130. The processor 120 is electrically connected, directly or indirectly, to the memory 130, the camera, and the scanner to enable the transfer or interaction of data. The texture capturing device 110 includes at least one software module which can be stored in the memory 130 in the form of software or Firmware (Firmware) or solidified in an Operating System (OS) of the texture capturing apparatus 100. The processor 120 is used for executing executable modules stored in the memory 130, such as software functional modules and computer programs included in the texture acquisition device 110. The processor 120 may execute the computer program to control the operating state of the camera and scanner upon receiving execution instructions.
The processor 120 may be an integrated circuit chip having signal processing capabilities. The processor 120 may also be a general-purpose processor, such as a Central Processing Unit (CPU), a Network Processor (NP), etc., a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a discrete gate or transistor logic device, or a discrete hardware component. Wherein the general purpose processor may be a microprocessor or any conventional processor.
The Memory 130 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
It should be understood that the configuration shown in FIG. 1 is merely illustrative, and that the texture acquisition device 100 may have fewer or more components than shown in FIG. 1, or may have a different configuration than shown in FIG. 1. Further, the components shown in fig. 1 may be implemented by software, hardware, or a combination thereof.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a texture capturing method according to an embodiment of the present invention, where the texture capturing method is applied to the texture capturing apparatus 100 shown in fig. 1. It should be noted that the method provided by the present invention is not limited by the specific sequence shown in fig. 2 and the following, and the specific flow and steps of the texture acquisition method are described in detail below with reference to fig. 2.
And S100, acquiring a building plan, and planning a texture acquisition route according to the building plan.
The building plan can be obtained by modes such as providing by a building owner or aerial photographing by a user on site, and after the building plan is obtained, a texture acquisition route is planned according to the building plan.
In the texture collecting route process, firstly, a passageway for the path of the texture collecting device 100 in the building is determined according to a building plan, and a certain location point is selected as a starting point of the path of the texture collecting device 100, and another location point is selected as an end point of the path of the texture collecting device 100, preferably, the starting point and the end point are the same point, for example, an entrance of the building. The channel for the texture capturing device 100 to travel may be a channel with a width greater than a preset width, and the preset width may be determined according to the width of the texture capturing device 100, for example, if the width of the texture capturing device 100 is 0.4m, the preset width may be 1 m. Thereafter, the texture acquisition route is planned along the channel, and the texture acquisition route is ensured to cover the channel.
Taking the mall shown in fig. 3 as an example, after the plan view of the mall is obtained, a channel for the texture acquisition device 100 to travel in the mall is determined, an entrance of the mall is selected as a start point and an end point, and then a texture acquisition route (shown by a dotted arrow in fig. 3) starting from the start point, passing through the channel, and returning to the end point is planned.
And step S200, responding to an acquisition starting command triggered by a user, controlling the texture acquisition equipment 100 to travel along the texture acquisition route, and starting the camera to acquire and store texture images through the camera.
After the collection path is successfully planned, the user may place the texture collection device 100 at the starting point of the texture collection path, and start the texture collection device 100 by clicking an open button provided in the texture collection device 100, or by remote control or the like. After that, the texture acquisition device 100 follows the planned texture acquisition route, turns on the camera, and acquires and stores the texture image through the camera.
In order to ensure that the indoor texture picture of the building can be comprehensively acquired and some areas are prevented from being omitted, optionally, in this embodiment, after the step S100 and before the step S200, the method further includes setting a plurality of acquisition positions on the texture acquisition route, dividing the building into a plurality of acquisition areas according to the building plan, and establishing correspondence between the plurality of acquisition areas and the plurality of acquisition positions.
Taking the mall shown in fig. 3 as an example again, for example, a plurality of collecting positions are arranged on the texture collecting route included in the dashed line frame in fig. 3, including a first collecting position, a second collecting position and a third collecting position, where the first collecting position corresponds to the first collecting area, the second collecting position corresponds to the second collecting area, and the third collecting position corresponds to the third collecting area. Each of the capturing positions may be determined according to the effective field range of the camera, that is, the size of each of the capturing regions may be determined according to the effective field range of the camera.
With reference to fig. 4, based on the above setting, optionally, in the above step S200 of this embodiment, the texture image is collected and stored by the camera, and specifically, the texture image collecting method may include two substeps, that is, step S210 and step S220.
Step S210, for each acquisition position, acquiring an acquisition region corresponding to the acquisition position, acquiring a texture image of the acquisition region, and storing the texture image.
In order to ensure that the texture picture in the building room can be acquired more comprehensively, optionally, for each acquisition region, the acquisition region may be further divided into a plurality of acquisition sub-regions, and a corresponding relationship between the plurality of acquisition sub-regions and the camera shooting angle is established. When the texture acquisition device 100 travels to a certain acquisition position, the shooting position is sequentially adjusted to respectively acquire and store texture images of a plurality of acquisition sub-regions included in an acquisition region corresponding to the acquisition position. In addition, in this embodiment, the camera is preferably configured to shoot at a front-view shooting angle, and when the camera cannot shoot at the front-view shooting angle due to a spatial limitation, for example, when a distance between a shooting area and the camera is smaller than a preset distance threshold, the first capturing position may be adjusted twice to select shooting with an angle in order to ensure the completeness of shooting, but it should be ensured that a lens of the camera is within 45 ° of a horizontal angle and within ± 25 ° of a vertical angle. In the following, the texture acquisition apparatus 100 is taken as an example to acquire the texture image of the first acquisition region when moving to the first acquisition position.
In this embodiment, the first collection area only includes a bottom, a top, a left side wall and a right side wall, and thus, in combination with the determination of the effective field range of the camera, the first collection area may be divided into a first collection sub-area, a second collection sub-area, a third collection sub-area and a fourth collection sub-area, where the first collection sub-area is the bottom of the first collection area, the second collection sub-area is the left side wall of the first collection area, the third collection sub-area is the top of the first collection area, and the fourth collection sub-area is the right side wall of the first collection area. In addition, in this embodiment, the first collecting sub-region corresponds to a first shooting position, the second collecting sub-region corresponds to a second shooting position, the third collecting sub-region corresponds to a third shooting position, and the fourth collecting sub-region corresponds to a fourth shooting position. When the texture collecting device 100 travels to the first collecting position, first, the shooting position of the camera is adjusted to the first shooting position to collect and store the texture image of the first shooting sub-region, then the shooting angle of the camera is adjusted to the second shooting position to collect and store the texture image of the second shooting sub-region, then the shooting angle of the camera is adjusted to the third shooting position to collect and store the texture image of the third shooting sub-region, and finally the shooting angle of the camera is adjusted to the fourth shooting position to collect and store the texture image of the fourth shooting sub-region.
It is to be understood that when the photographing position of the camera is adjusted to the first photographing position, the lens of the camera is looked at and corresponds to the center position of the first acquisition sub-area, when the photographing position of the camera is adjusted to the second photographing position, the lens of the camera is looked at and corresponds to the center position of the second acquisition sub-area, when the photographing position of the camera is adjusted to the third photographing position, the lens of the camera is looked at and corresponds to the center position of the third acquisition sub-area, and when the photographing position of the camera is adjusted to the fourth photographing position, the lens of the camera is looked at and corresponds to the center position of the fourth acquisition sub-area.
Optionally, in this embodiment, the texture images of the two adjacent sub-shooting regions are compared, and when the comparison result indicates that the texture images of the two adjacent sub-shooting regions are different, the camera is controlled to adjust the shooting position again to collect and store a plurality of texture images at different angles at a joint of the two adjacent sub-shooting regions, where the plurality of texture images at different angles have a certain degree of overlap. In addition, it should be further noted that, in this embodiment, the texture images of the top and the bottom of the building room may also be acquired separately, which is not limited in this embodiment.
Step S220, marking the collection position in the building plan.
Optionally, in this embodiment, after acquiring, for each acquisition position, a texture image of an acquisition area corresponding to the acquisition position, the texture image is stored and an identification tag is added, where the identification tag may be a name of the texture image or a name of a folder used for storing the texture image. Thereafter, the acquisition location is marked in the building plan, which may be a coded number. In this embodiment, the corresponding relationship between the mark and the identification tag is also established, so that after the building model is established in the later stage, each texture image is attached to the corresponding acquisition area.
Referring to fig. 5, optionally, in the above step S200 of this embodiment, the texture image is collected and stored by the camera, and specifically, the step S200 may include two substeps, i.e., step S230 and step S240.
Step S230, determining whether the texture image of the acquisition region includes an image of the marker.
And step S230, if so, carrying out single texture acquisition on the marker and storing the marker.
Optionally, in this embodiment, after acquiring, for each acquisition position, a texture image of an acquisition area corresponding to the acquisition position, the texture image is further analyzed to determine whether there is an image of a marker in the texture image, where the marker may be various indication markers, an alarm device, a fire fighting device, or the like. If the texture image of the acquisition area is judged to have the image of the marker, carrying out single texture acquisition on the marker and storing the image, meanwhile, adding an identification label to the texture image of the marker and marking the position of the marker in the building plan to establish the corresponding relation between the label and the identification label.
In addition, when the texture image of the acquisition region is judged to have the image of the stand column, the stand column is subjected to independent omnibearing texture acquisition and storage.
Optionally, in this embodiment, the texture capturing device 100 stores a corresponding relationship between an ambient light brightness value and a sensitivity parameter value of the camera, and in order to ensure that a color of the captured texture image is bright, in step S200 of this embodiment, before the texture image is captured and stored by the camera, the method further includes, for each capturing region, acquiring the ambient light brightness value of the capturing region, finding out the sensitivity parameter value corresponding to the ambient light brightness value, and setting the sensitivity parameter of the camera as the sensitivity parameter value.
And step S300, judging whether the current acquisition area is a preset area, if so, starting a panoramic camera of the scanner to acquire and store texture images through the panoramic camera.
In this embodiment, the preset area may be a place where a camera is inconvenient to collect texture images, and may be a place at an indoor corner, a narrow space, a place where a shop floor is butted, a commodity display stand, or the like, taking the mall shown in fig. 3 as an example. The preset area may be determined in advance according to the building plan, or may be determined by real-time judgment, which is not limited in this embodiment.
Referring to fig. 6, an embodiment of the present invention further provides a texture collecting apparatus 110, which is applied to the texture collecting device 100, where the texture collecting device 100 includes a camera and a scanner, and the apparatus includes:
and the acquisition route planning module 111 is used for acquiring a building plan and planning a texture acquisition route according to the building plan. The description of the collected route planning module 111 may refer to the detailed description of step S100 shown in fig. 2, that is, step S100 may be performed by the collected route planning module 111.
And a first texture acquisition module 112, configured to respond to an acquisition start command triggered by a user, control the texture acquisition device 100 to travel along the texture acquisition route, and turn on the camera, so as to acquire and store a texture image through the camera. The description of the first texture capturing module 112 may refer to the detailed description of step S200 shown in fig. 2, that is, step S200 may be performed by the first texture capturing module 112.
And a second texture acquisition module 113, configured to determine whether the current acquisition area is a preset area, and if so, start a panoramic camera of the scanner, so as to acquire and store a texture image through the panoramic camera. The description of the second texture capturing module 113 may refer to the detailed description of step S300 shown in fig. 2, that is, step S300 may be performed by the second texture capturing module 113.
Optionally, in this embodiment, the texture collecting device 110 further includes a collecting position setting module and a collecting area dividing module, where the collecting position setting module is configured to set a plurality of collecting positions on the texture collecting route, and the collecting area dividing module is configured to divide the building into a plurality of collecting areas according to the building plan, and establish a corresponding relationship between the plurality of collecting areas and the plurality of collecting positions.
Further, in this embodiment, the first texture capturing module 112 includes:
and the texture acquisition unit is used for acquiring an acquisition area corresponding to each acquisition position, acquiring the texture image of the acquisition area and storing the texture image. The description of the texture capturing unit may refer to the detailed description of step S210 shown in fig. 4, that is, step S210 may be performed by the texture capturing unit.
And the acquisition position marking unit is used for marking the acquisition position in the building plan. The description of the capturing position marking unit may refer to the detailed description of step S220 shown in fig. 4, that is, step S220 may be performed by the capturing position marking unit.
Optionally, in this embodiment, the first texture acquiring module 112 further includes:
and the marker judging unit is used for judging whether the texture image of the acquisition area has the image of the marker or not. The description of the marker determination unit may refer to the detailed description of step S230 shown in fig. 5, that is, step S230 may be performed by the marker determination unit.
And the marker texture acquisition unit is used for acquiring and storing the single texture of the marker when the image of the marker exists in the texture image of the acquisition area. The description of the marker texture acquisition unit may refer to the detailed description of step S240 shown in fig. 5, that is, step S240 may be performed by the marker texture acquisition unit.
In this embodiment, the texture capturing device 100 stores a corresponding relationship between an ambient brightness value and a sensitivity parameter value of the camera, and optionally, the texture capturing device 110 further includes an ambient brightness value capturing module and a camera sensitivity setting module, the ambient brightness value capturing module is configured to obtain an ambient brightness value of each capturing region, and the camera sensitivity setting module is configured to find out a sensitivity parameter value corresponding to the ambient brightness value and set the sensitivity parameter of the camera as the sensitivity parameter value.
To sum up, the texture acquisition method and apparatus provided by the embodiment of the present invention are applied to the texture acquisition device 100 comprising a camera and a scanner, and first, a building plan is obtained, and a texture acquisition route is planned according to the building plan, when receiving an acquisition start command triggered by a user, controlling the texture acquisition equipment 100 to travel along the texture acquisition route, starting the camera to acquire and store texture images through the camera, and judging whether the current acquisition area is a preset area, if so, starting a panoramic camera carried by the scanner, the texture image acquisition method and the texture image acquisition device can ensure that the acquired texture image has higher pixels while improving the texture image acquisition efficiency by combining a camera shooting mode and a panoramic camera shooting mode carried by a scanner.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It should be noted that, in this document, 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 identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. A texture acquisition method applied to a texture acquisition device including a camera and a scanner, the method comprising:
obtaining a building plan, and planning a texture acquisition route according to the building plan;
responding to an acquisition starting command triggered by a user, controlling the texture acquisition equipment to travel along the texture acquisition route, and starting the camera to acquire and store texture images through the camera;
judging whether the current acquisition area is a preset area, if so, starting a panoramic camera carried by a scanner to acquire and store texture images through the panoramic camera, wherein the preset area is an indoor corner, a narrow space, a shop floor butt joint or a commodity display stand;
after obtaining the building plan and planning the texture acquisition route according to the building plan, the method further comprises:
setting a plurality of acquisition positions on the texture acquisition route;
dividing the building into a plurality of acquisition areas according to the building plan, and establishing the corresponding relation between the plurality of acquisition areas and the plurality of acquisition positions;
the step of texture acquisition and storage by the camera comprises:
acquiring an acquisition region corresponding to each acquisition position, acquiring and storing texture images of the acquisition region, dividing the acquisition region into a plurality of acquisition sub-regions and establishing a corresponding relation between the plurality of acquisition sub-regions and the camera shooting angle;
the acquisition location is marked in the building plan.
2. The texture capturing method according to claim 1, wherein the step of capturing and storing the texture image by the camera further comprises:
judging whether the texture image of the acquisition area has an image of a marker or not;
if so, performing separate texture acquisition on the marker and storing the marker.
3. The texture sampling method according to claim 1, wherein the texture sampling device stores therein a correspondence between an ambient light brightness value and a sensitivity parameter value of the camera, and before the step of performing texture sampling and storing by the camera, the method further comprises:
acquiring an ambient light brightness value of each acquisition area;
finding out the sensitivity parameter value corresponding to the environment light brightness value, and setting the sensitivity parameter of the camera as the sensitivity parameter value.
4. A texture acquisition device, characterized in that, be applied to texture acquisition equipment, texture acquisition equipment includes camera and scanner, the device includes:
the acquisition route planning module is used for acquiring a building plan and planning a texture acquisition route according to the building plan;
the first texture acquisition module is used for responding to an acquisition starting command triggered by a user, controlling the texture acquisition equipment to travel along the texture acquisition route, and starting the camera so as to acquire and store texture images through the camera;
the second texture acquisition module is used for judging whether the current acquisition area is a preset area or not, if so, starting a panoramic camera carried by the scanner to acquire and store texture images through the panoramic camera, wherein the preset area is an indoor corner, a narrow space, a shop floor butt joint or a commodity display table;
the device further comprises:
the acquisition position setting module is used for setting a plurality of acquisition positions on the texture acquisition route;
the acquisition area dividing module is used for dividing the building into a plurality of acquisition areas according to the building plan and establishing the corresponding relation between the plurality of acquisition areas and the plurality of acquisition positions;
the first texture acquisition module comprises:
the texture acquisition unit is used for acquiring an acquisition area corresponding to each acquisition position, acquiring and storing texture images of the acquisition area, dividing the acquisition area into a plurality of acquisition sub-areas and establishing the corresponding relation between the plurality of acquisition sub-areas and the camera shooting angle;
and the acquisition position marking unit is used for marking the acquisition position in the building plan.
5. The texture capture device of claim 4 wherein the first texture capture module further comprises:
the marker judging unit is used for judging whether the texture image of the acquisition area has an image of a marker or not;
and the marker texture acquisition unit is used for acquiring and storing the single texture of the marker when the image of the marker exists in the texture image of the acquisition area.
6. The texture capturing apparatus according to claim 4, wherein the texture capturing device stores therein a correspondence between an ambient light brightness value and a sensitivity parameter value of the camera, the apparatus further comprising:
the environment light brightness value acquisition module is used for acquiring the environment light brightness value of each acquisition area;
the camera sensitivity setting module is used for finding out a sensitivity parameter value corresponding to the environment light brightness value and setting the sensitivity parameter of the camera as the sensitivity parameter value.
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| CN112923865A (en) * | 2019-12-06 | 2021-06-08 | 广州方舆科技有限公司 | Method and system for acquiring, transmitting and processing building three-dimensional laser mapping data |
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