CN109059864A - Unmanned plane large scale topographical map house alien invasion mapping method, device and medium - Google Patents
Unmanned plane large scale topographical map house alien invasion mapping method, device and medium Download PDFInfo
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- CN109059864A CN109059864A CN201810895889.2A CN201810895889A CN109059864A CN 109059864 A CN109059864 A CN 109059864A CN 201810895889 A CN201810895889 A CN 201810895889A CN 109059864 A CN109059864 A CN 109059864A
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- alien invasion
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- intersection point
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The invention discloses a kind of unmanned plane large scale topographical map house alien invasion mapping method, device and medium, this method, comprising: according to more apparent dip images, constructs the outdoor scene threedimensional model of specified building；Two o'clock is respectively chosen from alien invasion adjacent in the outdoor scene threedimensional model, and is projected on preset measurement perspective plane, subpoint of the two o'clock for obtaining choosing in the adjacent alien invasion on the projection plane；According to the corresponding subpoint of same alien invasion, the projection line of the alien invasion and the projection intersection point of the adjacent alien invasion are calculated；According to the topological relation between the projection line, the projection intersection point, the projection line, the projection intersection point are connected, the profile of the specified building is obtained.The above method can be according to more apparent dip images, and the accurate profile for extracting building improves the mapping precision and efficiency of building.
Description
Technical field
The present invention relates to architectural mapping technical fields, and in particular to a kind of unmanned plane large scale topographical map house alien invasion
Mapping method, device and medium.
Background technique
Topographic map is a kind of important versatility map, it is atural object and landforms position, shape etc. on specified level face
Projection.Specifically, be exactly by ground atural object and landforms along plumb line direction projection to perspective plane, and by certain
Scale bar contracting is drawn.House is the key element in various topographic maps as important atural object, the convenience of mapping and accurate
Property is most important for topographic map.
In recent years, the large scale topographical map mapping of 1:2000 or even 1:500 scale bar range has been carried out using unmanned plane
As the hot research in global fields of measurement.Compared to traditional topographic map mapping method, unmanned plane large-scale mapping has
The advantages that high degree of automation, image resolution are high, visual angle is abundant, has significant advantage in terms of operating efficiency, also drops significantly
Low field operation intensity.
House line is made of the projection line of facade on the projection surface in large scale topographical map, thus house
Mapping precision directly depend on the determination precision in its alien invasion and house sideline.However, manually directly being drawn on stereopsis
When house sideline processed, biggish deviation is chosen since linear goal wedge angle is presented in the view is also easy to produce；Simultaneously as trees are planted
Quilt is blocked with other atural objects, and the feature locations such as substrate, sideline and the angle point in a large amount of houses also can not directly be presented on image
On, lead to not be surveyed and drawn.The precision that above-mentioned variety of problems causes house to be surveyed and drawn is insufficient, inefficient, and largely
On limit the promotion and application that unmanned plane surveys large scale topographical map processed.
Summary of the invention
Based on this, the present invention provides a kind of unmanned plane large scale topographical map house alien invasion mapping method, device with
Medium, can be according to more apparent dip images, and the accurate profile for extracting building improves the mapping precision and efficiency of building.
The embodiment of the present invention provides a kind of unmanned plane large scale topographical map house alien invasion mapping method, comprising:
According to more apparent dip images, the outdoor scene threedimensional model of specified building is constructed；
Two o'clock is respectively chosen from alien invasion adjacent in the outdoor scene threedimensional model, and projects to preset measurement perspective plane
On, subpoint of the two o'clock for obtaining choosing in the adjacent alien invasion on the projection plane；
According to the corresponding subpoint of same alien invasion, the projection line and the adjacent alien invasion of the alien invasion are calculated
Projection intersection point；
According to the topological relation between the projection line, the projection intersection point, the projection line is connected, the projection is handed over
Point obtains the profile of the specified building.
Preferably, described according to the corresponding subpoint of same alien invasion, calculate the projection line of the alien invasion and adjacent
The alien invasion projection intersection point, specifically include:
Calculate the projection straight line for connecting the corresponding subpoint of same alien invasion；
The intersection point for calculating the adjacent corresponding projection straight line of the alien invasion, as the projection intersection point；
The corresponding two projections intersection point of same alien invasion is connected, the projection line of the alien invasion is obtained.
Preferably, described according to more apparent dip images, before the outdoor scene threedimensional model for constructing specified building further include:
According to the position data and attitude data of more apparent dip images, aerial three are carried out to more apparent dip images
Angular measurement, geometric correction, coordinate conversion and image joint.
Preferably, described to calculate the projection straight line for connecting the corresponding subpoint of same alien invasion, it specifically includes:
According to the neighbouring relations of the alien invasion of the outdoor scene threedimensional model, the alien invasion of the outdoor scene threedimensional model is carried out
Number；
According to the number order of the alien invasion of the outdoor scene threedimensional model, successively calculates and connect the corresponding throwing of same alien invasion
The projection straight line of shadow point.
Preferably, described to calculate the projection straight line for connecting the corresponding subpoint of same alien invasion, it specifically includes:
According to formulaCalculate the projection straight line of the corresponding subpoint of i-th of alien invasion；
Wherein, the linear equation parameter of projection straight line(x1, y1)、(x2, y2)
For the coordinate of the corresponding subpoint of i-th of alien invasion.
Preferably, the intersection point for calculating the adjacent corresponding projection straight line of the alien invasion, as the projection intersection point,
It specifically includes:
According to formulaCalculate the intersection point of the adjacent corresponding projection straight line of the alien invasion；
Wherein,
(x3,
y3)、(x4, y4) be the corresponding subpoint of i+1 alien invasion coordinate.
Preferably, unmanned plane large scale topographical map house alien invasion mapping method further include:
According to the plane where regional area earth's surface in more apparent dip images after image joint, using urban
Coordinate system or gauss projection plane coordinate system establish the measurement perspective plane relative to the outdoor scene threedimensional model.
The embodiment of the invention also provides a kind of unmanned plane large scale topographical map house alien invasion plotting boards, comprising:
Threedimensional model constructs module, for constructing the outdoor scene threedimensional model of specified building according to more apparent dip images；
Projection module for respectively choosing two o'clock from alien invasion adjacent in the outdoor scene threedimensional model, and projects to pre-
If measurement perspective plane on, subpoint of the two o'clock for obtaining choosing in the adjacent alien invasion on the projection plane；
Intersection point calculation module is projected, for calculating the projection of the alien invasion according to the corresponding subpoint of same alien invasion
The projection intersection point of line and the adjacent alien invasion；
Profile extraction module, for connecting the throwing according to the topological relation between the projection line, the projection intersection point
Hachure, the projection intersection point, obtain the profile of the specified building.
The embodiment of the invention also provides a kind of unmanned plane large scale topographical map house alien invasion plotting boards, including place
It manages device, memory and storage in the memory and is configured as the computer program executed by the processor, it is described
Processor realizes such as above-mentioned unmanned plane large scale topographical map house alien invasion mapping method when executing the computer program.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer readable storage medium includes
The computer program of storage, wherein control in computer program operation and set where the computer readable storage medium
It is standby to execute such as above-mentioned unmanned plane large scale topographical map house alien invasion mapping method.
Compared with the existing technology, a kind of unmanned plane large scale topographical map house alien invasion provided in an embodiment of the present invention is surveyed
The beneficial effect for drawing method is: unmanned plane large scale topographical map house alien invasion mapping method, comprising: according to more views
Image is tilted, the outdoor scene threedimensional model of specified building is constructed；It is respectively chosen from alien invasion adjacent in the outdoor scene threedimensional model
Two o'clock, and project on preset measurement perspective plane, it is flat in the projection to obtain the two o'clock chosen in the adjacent alien invasion
Subpoint on face；According to the corresponding subpoint of same alien invasion, the projection line of the alien invasion and adjacent described is calculated
The projection intersection point of alien invasion；According to the topological relation between the projection line, the projection intersection point, the projection line, institute are connected
Projection intersection point is stated, the profile of the specified building is obtained.The above method can accurately extract building according to more apparent dip images
Profile improves the mapping precision and efficiency of building.
Detailed description of the invention
Fig. 1 is a kind of stream of unmanned plane large scale topographical map house provided in an embodiment of the present invention alien invasion mapping method
Cheng Tu；
Fig. 2 is facade perspective view；
Fig. 3 is the projection intersection point schematic diagram of facade；
Fig. 4 is a kind of showing for unmanned plane large scale topographical map house alien invasion plotting board provided in an embodiment of the present invention
It is intended to.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, it is a kind of unmanned plane large scale topographical map house alien invasion provided by the embodiment of the present invention
The flow chart of mapping method, unmanned plane large scale topographical map house alien invasion mapping method, comprising:
S100: according to more apparent dip images, the outdoor scene threedimensional model of specified building is constructed；
S200: two o'clock is respectively chosen from alien invasion adjacent in the outdoor scene threedimensional model, and projects to preset measurement
On perspective plane, subpoint of the two o'clock for obtaining choosing in the adjacent alien invasion on the projection plane；
S300: according to the corresponding subpoint of same alien invasion, the projection line of the alien invasion and adjacent described is calculated
The projection intersection point of alien invasion；
S400: according to the topological relation between the projection line, the projection intersection point, the projection line, the throwing are connected
Shadow intersection point obtains the profile of the specified building.
In the present embodiment, in alien invasion two o'clock choose can according to the feature locations in the outdoor scene threedimensional model into
Row is specified, can also directly acquire and input position coordinate via modes such as design drawing, in-site measurements.The choosing of two o'clock in alien invasion
The principle taken is to be located on corresponding alien invasion, and have higher image identification degree, convenient for clicking.Meanwhile to improve facade meter
Calculate precision, it is proposed that the distance of point-to-point transmission is as far as possible.Preferably, it is wide that the line for the point-to-point transmission chosen in alien invasion is greater than alien invasion
The half of degree, and the line of point-to-point transmission is in level.Further, the difference in height for the point-to-point transmission chosen in alien invasion is less than alien invasion
The half of height.
The wheel for being formed as the specified building can be connected according to topological relation between the projection line, the projection intersection point
Profile obtains the profile of the specified building.As shown in Fig. 2, building profile is generally closed figure, and can be in building profile
The information such as attribute and the number of plies are built in upper filling.
The above method directly carries out outer edge structure based on the characteristic of alien invasion in the corresponding outdoor scene threedimensional model of specified building
It makes and projects, the accuracy, tightness and robustness in sideline are ensured by the constraint in multiple faces.And this method technological adaptability
By force, even for due to blocking, visual angle the problems such as and the construction characteristic line that cannot be directly viewed on image, can also accurately into
Row extracts, and realizes the accurate profile for extracting building, improves the efficiency, convenience and precision of architectural mapping.It navigates in unmanned plane low latitude
It surveys, ground or side oblique air photograph measurement, large scale topographical map quickly survey the related fieldss such as system and is with a wide range of applications.
In an alternative embodiment, as shown in figure 3, S300: according to the corresponding subpoint of same alien invasion, calculating institute
The projection line of alien invasion and the projection intersection point of the adjacent alien invasion are stated, is specifically included:
Calculate the projection straight line for connecting the corresponding subpoint of same alien invasion；
The intersection point for calculating the adjacent corresponding projection straight line of the alien invasion, as the projection intersection point；
The corresponding two projections intersection point of same alien invasion is connected, the projection line of the alien invasion is obtained.
In an alternative embodiment, S100: according to more apparent dip images, the outdoor scene threedimensional model of specified building is constructed
Before further include:
According to the position data and attitude data of more apparent dip images, aerial three are carried out to more apparent dip images
Angular measurement, geometric correction, coordinate conversion and image joint.
It since unmanned plane flying height is lower, resolution ratio is very high, is limited by visual angle, the mapping for heavy constructions such as houses need to lead to
The multi-angle image collection for crossing multiple survey stations could be covered completely, therefore, it is necessary to acquire more apparent dip images of specified building, and
Position (GPS) data and posture (POS) data according to more apparent dip images carry out aerial triangulation, several using universal method
Pretreatment, the generations such as what correction, coordinate conversion and image joint have the characteristics that data volume is big, degree of overlapping is high and visual angle is abundant
Image data, so that the point cloud and outdoor scene threedimensional model of building, which are in, is in the same space rectangular coordinate system with measurement perspective plane
In, it is uniformly processed convenient for subsequent.
In an alternative embodiment, unmanned plane large scale topographical map house alien invasion mapping method also wraps
It includes:
According to the plane where regional area earth's surface in more apparent dip images after image joint, using urban
Coordinate system or gauss projection plane coordinate system establish the measurement perspective plane relative to the outdoor scene threedimensional model.Wherein, the survey
Measuring the corresponding elevation datum in perspective plane is quasigeoid.
The form that the coordinate system of large scale topographical map uses plane mutually to separate with elevation.In the present embodiment, using shadow
As regional area earth's surface regards plane as in spliced more apparent dip images, sat using plane coordinates, such as urban
Mark system or gauss projection plane coordinate system, establish the measurement perspective plane relative to the outdoor scene threedimensional model.And large scale is surveyed
City geodetic datum or state height benchmark can be used in the elevation datum of figure.Preferably, in the present embodiment using like greatly
Level surface as elevation datum, z coordinate axis be along the direction of ground plumb line it is upward due to the alien invasion of building be can be with
Multiple planes of building outer profile are characterized, and these alien invasions are all consistent with plumb line direction, namely are with z coordinate axis
Parallel.
In an alternative embodiment, described to calculate the projection straight line for connecting the corresponding subpoint of same alien invasion, tool
Body includes:
According to the neighbouring relations of the alien invasion of the outdoor scene threedimensional model, the alien invasion of the outdoor scene threedimensional model is carried out
Number；
According to the number order of the alien invasion of the outdoor scene threedimensional model, successively calculates and connect the corresponding throwing of same alien invasion
The projection straight line of shadow point.
In an alternative embodiment, described to calculate the projection straight line for connecting the corresponding subpoint of same alien invasion, tool
Body includes:
According to formulaCalculate the projection straight line of the corresponding subpoint of i-th of alien invasion；
Wherein, the linear equation parameter of projection straight line(x1, y1)、(x2, y2)
For the coordinate of the corresponding subpoint of i-th of alien invasion.
The alien invasion sideline of building is the straight line formed by alien invasion alien invasion adjacent with two.In the present embodiment
In, according to the neighbouring relations of alien invasion, the two o'clock on alien invasion is successively chosen, and all with wheel to building using above-mentioned formula
The alien invasion of wide feature seeks the projection straight line of alien invasion, and by the constraint of two planes, the accurate of architectural mapping can be improved
Property, tightness and robustness.All alien invasions to be treated are numbered according to the neighbouring relations between them, and according to
Number order successively calculates, can be to avoid mistakes and omissions.
In an alternative embodiment, S400: calculating the intersection point of the adjacent corresponding projection straight line of the alien invasion, makees
For the projection intersection point, specifically include:
According to formulaCalculate the intersection point of the adjacent corresponding projection straight line of the alien invasion；
Wherein,
(x3,
y3)、(x4, y4) be the corresponding subpoint of i+1 alien invasion coordinate.
As shown in figure 3, for example: the two o'clock of two adjacent alien invasions is respectively P1(x1, y1)、P2(x2, y2)；p′1(x3, y3)、
p′2(x4, y4)；Then, point P is acquired1、P2The projection straight line of the corresponding measurement perspective plane M is l1: y=k1x+b1；Point p '1、p′2It is right
The projection straight line for answering the measurement perspective plane M is l2: y=k2x+b2；And the intersection point for acquiring two projection straight lines is P0。
Referring to Fig. 4, it is that a kind of unmanned plane large scale topographical map house alien invasion provided in an embodiment of the present invention is surveyed
Draw the schematic diagram of device, unmanned plane large scale topographical map house alien invasion plotting board, comprising:
Threedimensional model constructs module 1, for constructing the outdoor scene threedimensional model of specified building according to more apparent dip images；
Projection module 2 for respectively choosing two o'clock from alien invasion adjacent in the outdoor scene threedimensional model, and projects to pre-
If measurement perspective plane on, subpoint of the two o'clock for obtaining choosing in the adjacent alien invasion on the projection plane；
Intersection point calculation module 3 is projected, for calculating the projection of the alien invasion according to the corresponding subpoint of same alien invasion
The projection intersection point of line and the adjacent alien invasion；
Profile extraction module 4, for according to the topological relation between the projection line, the projection intersection point, described in connection
Projection line, the projection intersection point, obtain the profile of the specified building.
In the present embodiment, in alien invasion two o'clock choose can according to the feature locations in the outdoor scene threedimensional model into
Row is specified, can also directly acquire and input position coordinate via modes such as design drawing, in-site measurements.The choosing of two o'clock in alien invasion
The principle taken is to be located on corresponding alien invasion, and have higher image identification degree, convenient for clicking.Meanwhile to improve facade meter
Calculate precision, it is proposed that the distance of point-to-point transmission is as far as possible.Preferably, it is wide that the line for the point-to-point transmission chosen in alien invasion is greater than alien invasion
The half of degree, and the line of point-to-point transmission is in level.Further, the difference in height for the point-to-point transmission chosen in alien invasion is less than alien invasion
The half of height.
The wheel for being formed as the specified building can be connected according to topological relation between the projection line, the projection intersection point
Profile obtains the profile of the specified building.As shown in Fig. 2, building profile is generally closed figure, and can be in building profile
The information such as attribute and the number of plies are built in upper filling.
Above-mentioned apparatus directly carries out outer edge structure based on the characteristic of alien invasion in the corresponding outdoor scene threedimensional model of specified building
It makes and projects, the accuracy, tightness and robustness in sideline are ensured by the constraint in multiple faces.And present apparatus technological adaptability
By force, even for due to blocking, visual angle the problems such as and the construction characteristic line that cannot be directly viewed on image, can also accurately into
Row extracts, and realizes the accurate profile for extracting building, improves the efficiency, convenience and precision of architectural mapping.It navigates in unmanned plane low latitude
It surveys, ground or side oblique air photograph measurement, large scale topographical map quickly survey the related fieldss such as system and is with a wide range of applications.
In an alternative embodiment, projection module 4 includes:
Projection straight line computing unit, for calculating the projection straight line for connecting the corresponding subpoint of same alien invasion；
Intersection point calculation unit is projected, for calculating the intersection point of the adjacent corresponding projection straight line of the alien invasion, as institute
State projection intersection point；
Projection line connection unit obtains the alien invasion for connecting the corresponding two projections intersection point of same alien invasion
Projection line.
In an alternative embodiment, unmanned plane large scale topographical map house alien invasion plotting board also wraps
It includes:
Data preprocessing module, for the position data and attitude data according to more apparent dip images, to described more
Apparent dip image carries out aerial triangulation, geometric correction, coordinate conversion and image joint.
It since unmanned plane flying height is lower, resolution ratio is very high, is limited by visual angle, the mapping for heavy constructions such as houses need to lead to
The multi-angle image collection for crossing multiple survey stations could be covered completely, therefore, it is necessary to acquire more apparent dip images of specified building, and
Position (GPS) data and posture (POS) data according to more apparent dip images carry out aerial triangulation, several using fexible unit
Pretreatment, the generations such as what correction, coordinate conversion and image joint have the characteristics that data volume is big, degree of overlapping is high and visual angle is abundant
Image data, so that the point cloud and outdoor scene threedimensional model of building, which are in, is in the same space rectangular coordinate system with measurement perspective plane
In, it is uniformly processed convenient for subsequent.
In an alternative embodiment, unmanned plane large scale topographical map house alien invasion plotting board includes:
Module is established on perspective plane, for according to where regional area earth's surface in more apparent dip images after image joint
Plane, the measurement relative to the outdoor scene threedimensional model is established using Plane Coordinate System In Cities or gauss projection plane coordinate system
Perspective plane.Wherein, the corresponding elevation datum in the measurement perspective plane is quasigeoid.
The form that the coordinate system of large scale topographical map uses plane mutually to separate with elevation.In the present embodiment, using shadow
As regional area earth's surface regards plane as in spliced more apparent dip images, sat using plane coordinates, such as urban
Mark system or gauss projection plane coordinate system, establish the measurement perspective plane relative to the outdoor scene threedimensional model.And large scale is surveyed
City geodetic datum or state height benchmark can be used in the elevation datum of figure.Preferably, in the present embodiment using like greatly
For level surface as elevation datum, z coordinate axis is upward along the direction of ground plumb line.Due to the alien invasion of building be can be with
Multiple planes of building outer profile are characterized, and these alien invasions are all consistent with plumb line direction, namely are with z coordinate axis
Parallel.
In an alternative embodiment, the projection straight line computing unit includes:
Numbered cell, for the neighbouring relations according to the alien invasion of the outdoor scene threedimensional model, to the outdoor scene three-dimensional mould
The alien invasion of type is numbered；
Straight line computing unit successively calculates connection for the number order according to the alien invasion of the outdoor scene threedimensional model
The projection straight line of the corresponding subpoint of same alien invasion.
In an alternative embodiment, the straight line computing unit, for according to formulaMeter
Calculate the projection straight line of the corresponding subpoint of i-th of alien invasion；
Wherein, the linear equation parameter of projection straight line(x1, y1)、(x2, y2)
For the coordinate of the corresponding subpoint of i-th of alien invasion.
The alien invasion sideline of building is the straight line formed by alien invasion alien invasion adjacent with two.In the present embodiment
In, according to the neighbouring relations of alien invasion, the two o'clock on alien invasion is successively chosen, and all with wheel to building using above-mentioned formula
The alien invasion of wide feature seeks the projection straight line of alien invasion, and by the constraint of two planes, the accurate of architectural mapping can be improved
Property, tightness and robustness.All alien invasions to be treated are numbered according to the neighbouring relations between them, and according to
Number order successively calculates, can be to avoid mistakes and omissions.
In an alternative embodiment, the projection intersection point calculation module 4, for according to formulaCalculate the intersection point of the adjacent corresponding projection straight line of the alien invasion；
Wherein,
(x3,
y3)、(x4, y4) be the corresponding subpoint of i+1 alien invasion coordinate.
The embodiment of the invention also provides a kind of unmanned plane large scale topographical map house alien invasion plotting boards, including place
It manages device, memory and storage in the memory and is configured as the computer program executed by the processor, it is described
Processor realizes such as above-mentioned unmanned plane large scale topographical map house alien invasion mapping method when executing the computer program.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module/unit is stored in the memory, and is executed by the processor, to complete the present invention.It is one or more
A module/unit can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing institute
State implementation procedure of the computer program in unmanned plane large scale topographical map house alien invasion plotting board.For example, institute
State the function mould that computer program can be divided into unmanned plane large scale topographical map house alien invasion plotting board described in Fig. 4
Block.
Unmanned plane large scale topographical map house alien invasion plotting board can be mobile phone, desktop PC, pen
Note sheet, palm PC and cloud server etc. calculate equipment.Unmanned plane large scale topographical map house alien invasion mapping dress
It sets and may include, but be not limited only to, processor, memory.Such as unmanned plane large scale topographical map house alien invasion mapping
Device can also include input-output equipment, network access equipment, bus etc..
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of unmanned plane large scale topographical map house alien invasion plotting board, and utilization is various
The various pieces of interface and connection entire unmanned plane large scale topographical map house alien invasion plotting board.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions of unmanned plane large scale topographical map house alien invasion plotting board.The memory can mainly include storage program
Area and storage data area, wherein storing program area can application program needed for storage program area, at least one function (such as
Sound-playing function, image player function etc.) etc.；Storage data area, which can be stored, uses created data (ratio according to mobile phone
Such as audio data, phone directory) etc..In addition, memory may include high-speed random access memory, it can also include non-volatile
Property memory, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) card, flash card (Flash Card), at least one disk memory, flush memory device or other
Volatile solid-state part.
Wherein, if the integrated module/unit of unmanned plane large scale topographical map house alien invasion plotting board with
The form of SFU software functional unit is realized and when sold or used as an independent product, can store computer-readable at one
In storage medium.Based on this understanding, the present invention realizes all or part of the process in above-described embodiment method, can also lead to
Computer program is crossed to instruct relevant hardware and complete, the computer program can be stored in a computer-readable storage medium
In matter, the computer program is when being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the meter
Calculation machine program includes computer program code, the computer program code can for source code form, object identification code form, can
Execute file or certain intermediate forms etc..The computer-readable medium may include: that can carry the computer program generation
Any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory of code
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, electricity
Believe signal and software distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according to department
Make laws in method administrative area and the requirement of patent practice carry out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and
Patent practice, computer-readable medium do not include electric carrier signal and telecommunication signal.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer readable storage medium includes
The computer program of storage, wherein control in computer program operation and set where the computer readable storage medium
It is standby to execute such as above-mentioned unmanned plane large scale topographical map house alien invasion mapping method.
Compared with the existing technology, a kind of unmanned plane large scale topographical map house alien invasion provided in an embodiment of the present invention is surveyed
The beneficial effect for drawing method is: unmanned plane large scale topographical map house alien invasion mapping method, comprising: according to more views
Image is tilted, the outdoor scene threedimensional model of specified building is constructed；It is respectively chosen from alien invasion adjacent in the outdoor scene threedimensional model
Two o'clock, and project on preset measurement perspective plane, it is flat in the projection to obtain the two o'clock chosen in the adjacent alien invasion
Subpoint on face；According to the corresponding subpoint of same alien invasion, the projection line of the alien invasion and adjacent described is calculated
The projection intersection point of alien invasion；According to the topological relation between the projection line, the projection intersection point, the projection line, institute are connected
Projection intersection point is stated, the profile of the specified building is obtained.The above method can accurately extract building according to more apparent dip images
Profile improves the mapping precision and efficiency of building.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relationship between module indicate between them have communication connection, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can understand
And implement.
It is the preferred embodiment of the present invention above, it is noted that for those skilled in the art,
Various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as this hair
Bright protection scope.
Claims (10)
1. a kind of unmanned plane large scale topographical map house alien invasion mapping method characterized by comprising
According to more apparent dip images, the outdoor scene threedimensional model of specified building is constructed；
Two o'clock is respectively chosen from alien invasion adjacent in the outdoor scene threedimensional model, and is projected on preset measurement perspective plane,
Subpoint of the two o'clock for obtaining choosing in the adjacent alien invasion on the projection plane；
According to the corresponding subpoint of same alien invasion, the throwing of the projection line and the adjacent alien invasion of the alien invasion is calculated
Shadow intersection point；
According to the topological relation between the projection line, the projection intersection point, the projection line, the projection intersection point are connected, is obtained
To the profile of the specified building.
2. unmanned plane large scale topographical map as described in claim 1 house alien invasion mapping method, which is characterized in that described
According to the corresponding subpoint of same alien invasion, the projection for calculating the projection line and the adjacent alien invasion of the alien invasion is handed over
Point, specifically includes:
Calculate the projection straight line for connecting the corresponding subpoint of same alien invasion；
The intersection point for calculating the adjacent corresponding projection straight line of the alien invasion, as the projection intersection point；
The corresponding two projections intersection point of same alien invasion is connected, the projection line of the alien invasion is obtained.
3. unmanned plane large scale topographical map as described in claim 1 house alien invasion mapping method, which is characterized in that described
According to more apparent dip images, before the outdoor scene threedimensional model for constructing specified building further include:
According to the position data and attitude data of more apparent dip images, aerial triangle survey is carried out to more apparent dip images
Amount, geometric correction, coordinate conversion and image joint.
4. unmanned plane large scale topographical map as claimed in claim 2 house alien invasion mapping method, which is characterized in that described
The projection straight line for connecting the corresponding subpoint of same alien invasion is calculated, is specifically included:
According to the neighbouring relations of the alien invasion of the outdoor scene threedimensional model, the alien invasion of the outdoor scene threedimensional model is compiled
Number；
According to the number order of the alien invasion of the outdoor scene threedimensional model, successively calculates and connect the corresponding subpoint of same alien invasion
Projection straight line.
5. unmanned plane large scale topographical map as claimed in claim 4 house alien invasion mapping method, which is characterized in that described
The projection straight line for connecting the corresponding subpoint of same alien invasion is calculated, is specifically included:
According to formulaCalculate the projection straight line of the corresponding subpoint of i-th of alien invasion；
Wherein, the linear equation parameter of projection straight line(x1, y1)、(x2, y2) it is i-th
The coordinate of the corresponding subpoint of a alien invasion.
6. unmanned plane large scale topographical map as claimed in claim 5 house alien invasion mapping method, which is characterized in that described
The intersection point for calculating the adjacent corresponding projection straight line of the alien invasion is specifically included as the projection intersection point:
According to formulaCalculate the intersection point of the adjacent corresponding projection straight line of the alien invasion；
Wherein, the intersecting point coordinate is
(x3, y3)、
(x4, y4) be the corresponding subpoint of i+1 alien invasion coordinate.
7. unmanned plane large scale topographical map as claimed in claim 3 house alien invasion mapping method, which is characterized in that described
Unmanned plane large scale topographical map house alien invasion mapping method further include:
According to the plane where regional area earth's surface in more apparent dip images after image joint, using urban coordinate
System or gauss projection plane coordinate system establish the measurement perspective plane relative to the outdoor scene threedimensional model.
8. a kind of unmanned plane large scale topographical map house alien invasion plotting board characterized by comprising
Threedimensional model constructs module, for constructing the outdoor scene threedimensional model of specified building according to more apparent dip images；
Projection module for respectively choosing two o'clock from alien invasion adjacent in the outdoor scene threedimensional model, and projects to preset
It measures on perspective plane, subpoint of the two o'clock for obtaining choosing in the adjacent alien invasion on the projection plane；
Project intersection point calculation module, for according to the corresponding subpoint of same alien invasion, calculate the projection line of the alien invasion with
And the projection intersection point of the adjacent alien invasion；
Profile extraction module, for connecting the projection according to the topological relation between the projection line, the projection intersection point
Line, the projection intersection point, obtain the profile of the specified building.
9. a kind of unmanned plane large scale topographical map house alien invasion plotting board, which is characterized in that including processor, memory
And the computer program executed by the processor is stored in the memory and is configured as, the processor executes institute
It realizes when stating computer program and is stood outside unmanned plane large scale topographical map as claimed in any of claims 1 to 7 in one of claims house
Face mapping method.
10. a kind of computer readable storage medium, which is characterized in that the computer readable storage medium includes the calculating of storage
Machine program, wherein equipment where controlling the computer readable storage medium in computer program operation is executed as weighed
Benefit require any one of 1 to 7 described in unmanned plane large scale topographical map house alien invasion mapping method.
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