CN109856657A - A kind of path recording method based on image transformation - Google Patents
A kind of path recording method based on image transformation Download PDFInfo
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- CN109856657A CN109856657A CN201910160973.4A CN201910160973A CN109856657A CN 109856657 A CN109856657 A CN 109856657A CN 201910160973 A CN201910160973 A CN 201910160973A CN 109856657 A CN109856657 A CN 109856657A
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Abstract
The invention discloses a kind of path recording methods based on image transformation, comprising the following steps: 1) acquires the path image data containing GPS data；2) GPS data is separated with image data, obtains the image data of the corresponding path image of each GPS data；3) map image coordinate is converted by GPS data, each map image coordinate pair answers the image array of a path image；4) convert simultaneously additional background image relative to the image of correspondence image coordinate to the image data of path image；5) it by additional background image and completes transformed image and prints, obtain path and record image.The present invention can not only record path whole track, and the local message in path can be described, have the characteristics that at low cost, speed is fast, high reliablity.
Description
Technical field
The present invention relates to a kind of path recording methods, and in particular to a kind of path recording method based on image transformation.
Background technique
Path, which is recorded, can facilitate the more suitable path of selection in subsequent planning path, summarize recorded road
The advantage and disadvantage of diameter.Existing path recording method includes in place of using trajectory diagram and video recording, these modes all to come with some shortcomings.
Specifically, trajectory diagram is merely able to the whole track of simple record path, the local message in path cannot be retouched
It states, and the local message in path can be described using the recording method of video recording, but cannot reflect the entirety in path
Trace information, and a large amount of storage volume is needed, difficulty is searched for routing information, needs to check by time shaft.
Summary of the invention
It is an object of the invention to be directed to above-mentioned the problems of the prior art, a kind of path note based on image transformation is provided
Recording method, is able to record the whole track in path, and can describe the local message in path, and at low cost, speed is fast, reliability
It is high.
To achieve the goals above, the technical solution adopted by the present invention the following steps are included:
1) the path image data containing GPS data are acquired；
2) GPS data is separated with image data, obtains the picture number of the corresponding path image of each GPS data
According to；
3) map image coordinate is converted by GPS data, each map image coordinate pair answers the image of a path image
Data；
4) convert simultaneously additional background image relative to the image of correspondence image coordinate to the image data of path image；
5) it by additional background image and completes transformed image and prints, obtain path and record image.
Fusion described in step 1) has the path image data of GPS data to obtain by mobile phone or digital camera shooting.
The initial data function of image is read when separating GPS data with image data in step 2) by JavaScript
Extend GPS geographic position data.When converting map image coordinate for GPS data using image coordinate system and world coordinate system it
Between transformational relation, the api interface of invocation map realizes.Additional background image first in the step 4), then to image
Two-dimensional array carry out relative to correspondence image coordinate image convert, with each coordinate of this circular treatment and corresponding figure
Picture；Alternatively, first the two-dimensional array of image convert relative to the image of correspondence image coordinate, it is each with this circular treatment
A coordinate and corresponding image, then additional background image.The background image is according to GPS data maximum and minimum value institute
The default plane map drawn is added.By the map reference (x of path imagei, yi) determine path image in background image
Position x=p*xi/(xmax-xmin), y=q*yi/(ymax-ymin), in formula, xmin, xmax, ymin, ymaxFor the maximum of map reference
And minimum value, Pixel Dimensions size are p*q；(x is changed by the map reference of path image againi-xi-1, yi-yi-1) reduce path profile
Picture, pixel size is p after diminutioni=p* (xi-xi-1)/(xmax-xmin), qi=q* (yi-yi-1)/(ymax-ymin), by road
The map reference slope variation of diameter image judges straight line path image and bend path image, and the expression formula of slope is ki=(yi-
yi-1)/(xi-xi-1), the variation of slope is a=| ki-ki+1|, when parameter a>0.08 is judged as bend path image, when parameter a<
0.08 is judged as straight line path image.
The concrete operations of described image transformation are as follows: straight line path carries out rotation translation variation to image, and bend path is to figure
As carrying out bending change.Rotationally-varying expression formula is X0=Xcos θ+Ysin θ+x, Y0=-Xsin θ+Ycos θ+y, θ=
tanki, to (x when bending changei-1, yi-1), (xi, yi), (xi+1, yi+1) 3 points the fitting center of circle (x is obtained by circle fitting0, y0)
And fitting radius of circle r0, (xi-1, yi-1), (xi+1, yi+1) with the center of circle composition central angle be θ0, the expression formula of bending change are as follows:Y0=q*atan2 ((Y-y), (X-x))/θ0；In formula,
X0Be it is rotationally-varying after image abscissa, X be path image data pixels abscissa, x be path image in background image
In abscissa, Y0Be it is rotationally-varying after image ordinate, Y be path image data pixels ordinate, y is path image
Ordinate in background image.
Compared with prior art, the present invention has following the utility model has the advantages that by converting image coordinate for GPS data,
So that the two-dimensional array of the corresponding image of each image coordinate, sit relative to correspondence image to the two-dimensional array of image
The transformation of target image and additional background image, since track is made of straight line and curve, straight line path rotates image
Translation variation, curved path carry out bending change to image, and then to the details in all paths and overall track description.This
Kind mode is more at low cost than video recorder, writing speed is fast, also than simple track app high reliablity.
Detailed description of the invention
Fig. 1 merges 1 image data of example for having GPS data；
Fig. 2 merges 2 image data of example for having GPS data；
The video image of Fig. 3 record path；
The effect picture that Fig. 4 path recording method of the present invention obtains.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
Referring to Fig. 1,2, existing track record product is merely able to the whole track of simple record path on the market, cannot be right
The local message in path is described, and referring to Fig. 3, the mode in videograph path cannot reflect whole track.
The present invention is based on the path recording methods of image transformation, and pavement image information is placed on map by image transformation
On, thus there are the details on whole track and road surface.The present invention is based on the path recording methods of image transformation, including with
Lower step:
1) it is shot by mobile phone or digital camera, acquisition fusion has the image data of GPS data；
2) GPS data is separated with image data, obtains the two-dimemsional number of the corresponding image data of each GPS data
Group；The initial data Function Extension GPS geographic position data of image is read when separation by JavaScript.
3) image coordinate is converted by GPS data, using the transformational relation between image coordinate system and world coordinate system, adjusted
It is realized with the api interface of map.Make the two-dimensional array of the corresponding image of each image coordinate.
4) the image transformation and additional background image relative to correspondence image coordinate are carried out to the two-dimensional array of image:
Straight line path carries out rotation translation variation to image when image converts, and bend path carries out bending change to image.
Background image is maximum according to GPS data and minimum value is preset the plane map drawn and added, can be first
Then additional background image convert relative to the image of correspondence image coordinate to the two-dimensional array of image, recycles place with this
Manage each coordinate and corresponding image；Alternatively, first carrying out the two-dimensional array of image relative to correspondence image coordinate
Image transformation, with each coordinate of this circular treatment and corresponding image, then additional background image.
5) it by additional background image and completes transformed image and prints, obtain path and record image.
Since track is made of straight line and curve, the present invention carries out rotation translation variation to image for straight line path,
Bending change is carried out to image for curved path, and then to the details in all paths and overall track description.
This mode is more at low cost than video recorder, writing speed is fast, also than simple track app high reliablity.
, it can be seen that the existing whole routing information of effect picture that the present invention obtains also has local path information from Fig. 4.
The foregoing is merely presently preferred embodiments of the present invention, not to do restriction in any form to the present invention, this
Field technical staff is not it should be understood that under conditions of departing from spirit of that invention and principle, if the present invention can also carry out
Modification and simple replacement in dry form, these modifications and replacement also fall within the protection scope delimited by submitted claim
Within.
Claims (9)
1. a kind of path recording method based on image transformation, which comprises the following steps:
1) the path image data containing GPS data are acquired；
2) GPS data is separated with image data, obtains the image data of the corresponding path image of each GPS data；
3) map image coordinate is converted by GPS data, each map image coordinate pair answers the image data of a path image；
4) correspond to the image data of path image image transformation and the additional background image of image coordinate；
5) it by additional background image and completes transformed image and prints, obtain path and record image.
2. the path recording method according to claim 1 based on image transformation, it is characterised in that: melt described in step 1)
Closing has the path image data of GPS data to obtain by mobile phone or digital camera shooting.
3. the path recording method according to claim 1 based on image transformation, it is characterised in that: by GPS in step 2)
The initial data Function Extension GPS geographic position data of image is read when data are separated with image data by JavaScript.
4. the path recording method according to claim 1 based on image transformation, it is characterised in that: convert GPS data
To utilize the transformational relation between image coordinate system and world coordinate system, the api interface reality of invocation map when map image coordinate
It is existing.
5. the path recording method according to claim 1 based on image transformation, it is characterised in that: in the step 4)
Then additional background image first become relative to the image of corresponding map image coordinate to the image data of path image
It changes, with each coordinate of this circular treatment and corresponding image；Alternatively, being carried out first to the image data of path image opposite
It is converted in the image of correspondence image coordinate, with each coordinate of this circular treatment and corresponding image, then additional background figure
Picture.
6. the path recording method according to claim 1 or 5 based on image transformation, which is characterized in that the background
Image is maximum according to GPS data and minimum value is preset the plane map drawn and added.
7. the path recording method according to claim 6 based on image transformation, it is characterised in that: by the ground of path image
Figure coordinate (xi, yi) determine position x=p*x of the path image in background imagei/(xmax-xmin), y=q*yi/(ymax-
ymin), in formula, xmin, xmax, ymin, ymaxFor the maximum and minimum value of map reference, Pixel Dimensions size is p*q；
(x is changed by the map reference of path image againi-xi-1, yi-yi-1) path image is reduced, pixel size is after diminution
pi=p* (xi-xi-1)/(xmax-xmin), qi=q* (yi-yi-1)/(ymax-ymin), by the map reference slope variation of path image
Judge straight line path image and bend path image, wherein the expression formula of slope is ki=(yi-yi-1)/(xi-xi-1), slope
Variation is a=| ki-ki+1|, when parameter a>0.08 is judged as bend path image, when parameter a<0.08 is judged as straight line path figure
Picture.
8. the path recording method according to claim 1 or 5 based on image transformation, which is characterized in that described image becomes
The concrete operations changed are as follows: straight line path carries out rotation translation variation to image, and bend path carries out bending change to image.
9. the path recording method according to claim 8 based on image transformation, it is characterised in that: rotationally-varying expression
Formula is X0=Xcos θ+Ysin θ+x, Y0=-Xsin θ+Ycos θ+y, θ=tanki, to (x when bending changei-1, yi-1), (xi,
yi), (xi+1, yi+1) 3 points the fitting center of circle (x is obtained by circle fitting0, y0) and fitting radius of circle r0, (xi-1, yi-1), (xi+1,
yi+1) with the center of circle composition central angle be θ0, the expression formula of bending change are as follows:Y0=q*atan2 ((Y-y), (X-x))/θ0；In formula,
X0Be it is rotationally-varying after image abscissa, X be path image data pixels abscissa, x be path image in background image
In abscissa, Y0Be it is rotationally-varying after image ordinate, Y be path image data pixels ordinate, y is path image
Ordinate in background image.
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