CN111197993B - Map rendering method and device, computer equipment and storage medium - Google Patents
Map rendering method and device, computer equipment and storage medium Download PDFInfo
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- CN111197993B CN111197993B CN201911367154.3A CN201911367154A CN111197993B CN 111197993 B CN111197993 B CN 111197993B CN 201911367154 A CN201911367154 A CN 201911367154A CN 111197993 B CN111197993 B CN 111197993B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Abstract
The invention relates to a map rendering method, a map rendering device, computer equipment and a storage medium. The method comprises the following steps: the method comprises the steps of obtaining non-lane lines and navigation points in a target map, dividing the target map into a plurality of map blocks, generating polygons corresponding to non-lane area boundaries in the map blocks according to the non-lane lines, the navigation points and the map blocks, and rendering the non-lane areas on the target map according to the polygons corresponding to the non-lane area boundaries in the map blocks. According to the method, the polygon corresponding to the boundary of the non-lane area can be calculated only by means of the non-lane lines and the navigation points contained in the target map, and then the non-lane area on the target map can be rendered based on the polygon corresponding to the boundary of the non-lane area, so that the non-lane area on the target map is rendered more easily at a later stage.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a map rendering method and apparatus, a computer device, and a storage medium.
Background
With the development of visual media technology, the display modes of three-dimensional maps are more and more diversified. Particularly in the field of vehicle navigation applications, people need to acquire not only lane area information on a three-dimensional navigation map, but also non-lane area information on the three-dimensional navigation map, so that a vehicle can normally run at a geographic position indicated by the map.
At present, when a three-dimensional navigation map is rendered, lane area information on the three-dimensional navigation map is usually rendered, for example, a lane line, a navigation point on the lane line, a lane area where the lane line is located, and the like, so that when the map is drawn later, the lane area information can be obviously marked on the three-dimensional navigation map, which is convenient for a vehicle user to use when driving on the lane area.
However, in the conventional rendering method of the three-dimensional navigation map, rendering of a non-lane area is not realized, so that the non-lane area is difficult to mark on the three-dimensional map, and the display diversity of the three-dimensional navigation map is reduced.
Disclosure of Invention
Based on this, it is necessary to provide a rendering method, an apparatus, a computer device, and a storage medium capable of rendering a map of a non-lane area in view of the above technical problems.
In a first aspect, a method of rendering a map, the method comprising:
acquiring a non-lane line and a navigation point in a target map;
dividing the target map into a plurality of map tiles;
generating a polygon corresponding to a non-lane region boundary in each map block according to each non-lane line, each navigation point and each map block;
and rendering the non-lane area on the target map according to the polygon corresponding to the non-lane area boundary in each map block.
In one embodiment, the generating a polygon corresponding to a boundary of a non-lane area in each map block according to each non-lane line, each navigation point, and each map block includes:
determining a target non-lane line segment in each map block according to each non-lane line, each navigation point and each map block;
and connecting the target non-lane line segments to generate the polygon.
In one embodiment, the determining a target non-lane segment in each map block according to each non-lane line, each navigation point, and each map block includes:
determining a target line segment and a first point set contained in each map block according to the position relation between adjacent points in the pre-marked points on each non-lane line and each map block; the first point set comprises a first intersection point between a line segment obtained by connecting the adjacent points and each map block boundary line; the target line segment is a line segment between the adjacent point and the corresponding first intersection point;
determining a second point set contained in each map block according to the position relationship between the adjacent navigation points and each map block; the second point set comprises a second intersection point between a line segment obtained by connecting the adjacent navigation points and each map block boundary line;
and determining a target non-lane line segment in each map block according to each map block, the target line segment, the first point set and the second point set.
In one embodiment, the determining, according to a positional relationship between adjacent points of the pre-marked points on the non-lane lines and the map blocks, a target line segment and a first point set included in each map block includes:
if two adjacent points on the non-lane line belong to the same map block respectively, determining the two adjacent points as elements in the first point set, and determining a line segment connecting the two adjacent points as the target line segment;
and if two adjacent points on the non-lane line belong to different map blocks respectively, determining the two adjacent points and a first intersection point of a connecting boundary line between a line segment of the two adjacent points and the different map blocks as elements in the first point set, and determining a line segment formed by connecting the two adjacent points and the first intersection point as the target line segment.
In one embodiment, the determining the second point set included in each map block according to the position relationship between the adjacent navigation points and each map block includes:
and if the navigation points in the adjacent navigation points belong to different map blocks respectively, determining a second intersection point of a connecting boundary line between the line segment of the adjacent navigation points and the different map blocks as an element in the second point set.
In one embodiment, the determining a target non-lane segment in each of the map blocks according to each of the map blocks, the target segment, the first point set and the second point set includes:
generating a third point set according to the corner points of the map blocks and the first intersection point of the first point set;
and if the line segments between all the adjacent points in the third point set do not contain the second intersection points in the second point set, determining the line segments between all the adjacent points in the third point set and the target line segment as the target non-lane line segment.
In one embodiment, the connecting the target non-lane line segments to generate the polygon includes:
and if the distance between the starting point and the tail end point of the target non-lane line segment is smaller than a preset threshold value, connecting the starting point and the tail end point to generate the polygon.
In one embodiment, the connecting the target non-lane line segments to generate the polygon includes:
and if the distance between the starting point of the target non-lane line segment and the end point of the other target non-lane line segment is smaller than a preset threshold value, connecting the starting point of the target non-lane line segment and the end point of the other target non-lane line segment to generate the polygon.
In one embodiment, before the connecting the target non-lane line segments and generating the polygon, the method further includes:
determining the direction of the target non-lane line segment according to the position relation between the target non-lane line segment and the navigation point closest to the target non-lane line segment;
and determining a starting point and a tail end point of the target non-lane line segment according to the direction of the target non-lane line segment.
In one embodiment, the determining the direction of the target non-lane segment according to the position relationship between the target non-lane segment and the navigation point closest to the target non-lane segment includes:
if the tail end point of the target non-lane line segment in the preset direction is positioned on the left side of the line segment between the target navigation point and the starting point of the target non-lane line segment in the preset direction, determining the preset direction as the direction of the target non-lane line segment; the target navigation point is the navigation point which is closest to the target non-lane line segment;
and if the tail end point of the target non-lane line segment in the preset direction is positioned on the right side of the line segment between the target navigation point and the starting point of the target non-lane line segment in the preset direction, determining the opposite direction of the preset direction as the direction of the target non-lane line segment.
In one embodiment, the rendering the non-lane area on the target map according to the polygon corresponding to the non-lane area boundary in each map block includes:
storing the polygons contained in the map blocks in block files corresponding to the map blocks;
and loading each block file to render the non-lane area on the target map.
In a second aspect, an apparatus for rendering a map, the apparatus comprising:
the acquisition module is used for acquiring non-lane lines and navigation points in the target map;
a splitting module for splitting the target map into a plurality of map tiles;
the generating module is used for generating a polygon corresponding to a non-lane area boundary in each map block according to each non-lane line, each navigation point and each map block;
and the rendering module is used for rendering the non-lane area on the target map according to the polygon corresponding to the non-lane area boundary in each map block.
In a third aspect, a computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the rendering method of the map according to any one of the embodiments of the first aspect when executing the computer program.
In a fourth aspect, a computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method of rendering a map as set forth in any one of the embodiments of the first aspect.
The application provides a map rendering method, a map rendering device, computer equipment and a storage medium, wherein the map rendering method comprises the following steps: the method comprises the steps of obtaining non-lane lines and navigation points in a target map, dividing the target map into a plurality of map blocks, generating polygons corresponding to non-lane area boundaries in the map blocks according to the non-lane lines, the navigation points and the map blocks, and rendering the non-lane areas on the target map according to the polygons corresponding to the non-lane area boundaries in the map blocks. According to the method, the polygon corresponding to the boundary of the non-lane area can be calculated only by means of the non-lane lines and the navigation points contained in the target map, and then the non-lane area on the target map can be rendered based on the polygon corresponding to the boundary of the non-lane area, so that the non-lane area on the target map is rendered more easily at a later stage.
Drawings
FIG. 1 is a schematic diagram illustrating an internal structure of a computer device according to an embodiment;
FIG. 2 is a flow diagram of a method for rendering a map, according to an embodiment;
FIG. 2A is a schematic diagram illustrating one embodiment of a segmentation;
FIG. 3 is a flowchart of one implementation of S103 in the embodiment of FIG. 2;
FIG. 4 is a flowchart of one implementation of S201 in the embodiment of FIG. 3;
FIG. 5 is a flowchart of one implementation of S301 in the embodiment of FIG. 4;
FIG. 5A is a diagram illustrating an embodiment of determining a target line segment;
FIG. 6 is a flowchart of one implementation of S303 in the embodiment of FIG. 4;
FIG. 6A is a schematic diagram illustrating a determination of a target non-lane segment, according to an exemplary embodiment;
FIG. 7 is a flowchart of one implementation of S202 in the embodiment of FIG. 3;
FIG. 8 is a flowchart of one implementation of S601 in the embodiment of FIG. 7;
FIG. 8A is a schematic diagram illustrating an embodiment of determining a direction of a target non-lane segment;
FIG. 9 is a flowchart of one implementation of S104 in the embodiment of FIG. 2;
fig. 10 is a schematic structural diagram of a map rendering apparatus according to an embodiment;
fig. 11 is a schematic structural diagram of a map rendering apparatus according to an embodiment;
fig. 12 is a schematic structural diagram of a map rendering apparatus according to an embodiment;
fig. 13 is a schematic structural diagram of a map rendering apparatus according to an embodiment;
fig. 14 is a schematic structural diagram of a map rendering apparatus according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The map rendering method provided by the application can be applied to the computer equipment shown in FIG. 1. The computer device may be a server or a terminal, and its internal structure diagram may be as shown in fig. 1. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of rendering a map. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 1 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The following describes in detail the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems by embodiments and with reference to the drawings. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a flowchart of a map rendering method according to an embodiment, where an execution subject of the method is the computer device in fig. 1, and the method relates to a specific process of rendering a non-lane area on an acquired target map by the computer device. As shown in fig. 2, the method specifically includes the following steps:
s101, acquiring a non-lane line and a navigation point in a target map.
The target map may include various types of maps such as a two-dimensional map, a three-dimensional map, and a semantic map, and the target map may be a map used for navigation, or may also be a map used in a game, an animation, or other application fields, which is not limited in this embodiment. The non-lane line, also known as a Curb line, generally represents several line segments on a map representing the non-lane area. The navigation point represents a coordinate point on the map for indicating a lane route direction. In this embodiment, when the computer device needs to render the target map, all information included in the target map may be acquired first, and then all non-lane lines and navigation points on the target map are extracted from all the information, so as to be used later.
And S102, dividing the target map into a plurality of map blocks.
When the computer equipment acquires the target map, the target map can be further divided into a plurality of map blocks, so that the later calculation is conveniently carried out by taking the map blocks as units, and the calculation time and the calculation amount are reduced. The specific number of partitions and the size of the map blocks can be determined according to the actual application requirement, which is not limited in this embodiment.
Optionally, the present application provides a specific segmentation method, which is as follows:
assuming that the size of each map block after segmentation is Sblock×SblockThe size of the target map is, Widthmap×HeightmapThen, after the segmentation process, the number of blocks into which the target map is segmented is,
s aboveblockIndicates the length or Width, Width, of each map blockmapRepresenting the width, Height, of the object mapmapIndicating the length of the target map. The target map segmented by the method can be seen in a segmentation schematic diagram as shown in fig. 2A.
And S103, generating polygons corresponding to the non-lane region boundaries in each map block according to each non-lane line, each navigation point and each map block.
When the computer device divides the target map into blocks and obtains all non-lane lines and navigation points on the target map, a plurality of line segments representing non-lane area boundaries in each block can be further calculated by utilizing the position relationship between each block and the non-lane lines, the position relationship between each block and the navigation points and the position relationship between each navigation point and the non-lane lines, and then the plurality of line segments representing the non-lane area boundaries in each block are further connected, so that polygons corresponding to the non-lane area boundaries in each block can be formed.
And S104, rendering the non-lane area on the target map according to the polygon corresponding to the non-lane area boundary in each map block.
When the computer device calculates polygons corresponding to the non-lane area boundaries in each map block, the polygons contained in all the map blocks are added to obtain polygons corresponding to all the non-lane area boundaries on the target map, and then the polygons are rendered by adopting corresponding rendering colors. It should be noted that, in the rendering process, the computer device may sequentially render polygons corresponding to non-lane area boundaries in each map block, and optionally, the computer device may also render polygons corresponding to non-lane area boundaries in the entire target map, which is not limited in this embodiment.
The map rendering method provided by the embodiment comprises the following steps: the method comprises the steps of obtaining all non-lane lines and navigation points contained in a target map, dividing the target map into a plurality of map blocks, generating polygons corresponding to non-lane area boundaries in the map blocks according to the non-lane lines, the navigation points and the map blocks, and rendering the non-lane areas on the target map according to the polygons corresponding to the non-lane area boundaries in the map blocks. According to the method, the polygon corresponding to the boundary of the non-lane area can be calculated only by means of the non-lane lines and the navigation points contained in the target map, and then the non-lane area on the target map can be rendered based on the polygon corresponding to the boundary of the non-lane area, so that the non-lane area on the target map is rendered more easily at a later stage.
Fig. 3 is a flowchart of an implementation manner of S103 in the embodiment of fig. 2, where, as shown in fig. 3, the step S103 "generates a polygon corresponding to a boundary of a non-lane area in each map block according to each non-lane line, each navigation point, and each map block" includes:
s201, determining target non-lane line segments in each map block according to each non-lane line, each navigation point and each map block.
The target non-lane line segment is a line segment of a polygon corresponding to the boundary of the non-lane area. In this embodiment, when the computer device partitions the target map and obtains all the non-lane lines and the navigation points on the target map, the position relationship between each map block and the non-lane line, the position relationship between each map block and the navigation points, and the position relationship between each navigation point and the non-lane line may be further used to calculate the line segments forming the polygons corresponding to the non-lane area boundaries in each map block, that is, the target non-lane line segments, so as to generate the polygons corresponding to the non-lane area boundaries using the target non-lane line segments.
And S202, connecting the target non-lane line segments to generate a polygon.
When the computer device obtains a plurality of target non-lane line segments in each map block, the computer device may further search out line segments to be connected from the plurality of target non-lane line segments according to a preset connection condition to connect, so that the searched line segments may be connected into a closed polygon, where the closed polygon is a polygon corresponding to a non-lane area boundary. The specific search method may be implemented by using an existing search algorithm, and the like, which is not limited in this embodiment as long as the preset connection condition is met. The preset connection condition may be determined according to an actual application, and this embodiment is not limited thereto.
Optionally, the present application provides a specific implementation manner of the above S201, as shown in fig. 4, the above S201 "determining target non-lane segments in each map block according to each non-lane line, each navigation point, and each map block" includes:
s301, determining a target line segment and a first point set contained in each map block according to the position relation between adjacent points in the pre-marked points on each non-lane line and each map block; the first point set comprises a first intersection point between a line segment obtained by connecting adjacent points and boundary lines of all the map blocks; the target line segment is a line segment between the adjacent point and the corresponding first intersection point.
Wherein, a plurality of points are marked on the non-lane line by the computer equipment in advance. In this embodiment, when the computer device partitions the target map and obtains all the non-lane lines on the target map, the computer device may further determine which map block each non-lane line belongs to, which map block each pre-marked point on each non-lane line belongs to, and which map block each intersection point of the boundary line between each non-lane line and each map block belongs to, by using a positional relationship between each map block and an adjacent point of the pre-marked point on the non-lane line. The essence of this embodiment is to divide all the non-lane lines and the points on the non-lane lines included in the target map, so as to correctly place the points on the non-lane lines and the non-lane lines in the corresponding map blocks, so that when the polygons of the non-lane area boundaries are calculated later, the calculation is performed by taking each map block as a unit. By the method, the line segment finally contained in each map block is the target line segment, and the points on all the contained line segments, or the points on the non-lane line, and the intersection points of the non-lane line and the boundaries of each map block are the elements in the first point set.
S302, determining a second point set contained in each map block according to the position relation between the adjacent navigation points and each map block; the second point set comprises a second intersection point between a line segment obtained by connecting adjacent navigation points and boundary lines of all map blocks.
In this embodiment, when the computer device partitions the target map and obtains all the navigation points on the target map, the position relationship between every two adjacent navigation points in the navigation points and each map block may be further used to determine intersection points between line segments obtained by connecting adjacent navigation points and boundary lines of each map block, a second point set is formed according to the intersection points determined by all the adjacent navigation points, and then the second point set is placed in the corresponding map block, so that polygons of non-lane area boundaries included in each map block are determined according to the second point set.
And S303, determining target non-lane line segments in the map blocks according to the map blocks, the target line segments, the first point set and the second point set.
When the computer device divides the target map into blocks to obtain a plurality of map blocks and obtains target line segments, a first point set and a second point set which are contained in each map block, the computer device can firstly determine line segments which are possibly added in each map block and represent the boundary of the non-lane area according to the corner points, or boundary points and the like of each map block and combining the first point set and the second point set, and then add the target line segments on the basis of the newly added line segments to obtain the target non-lane line segments in each map block.
Alternatively, as shown in fig. 5, another method of the above S301 "determining the target line segment and the first point set included in each map block according to the position relationship between the adjacent point of the pre-marked points on each non-lane line and each map block" may specifically include:
s401, if two adjacent points on the non-lane line belong to the same map block respectively, determining the two adjacent points as elements in a first point set, and determining a line segment connecting the two adjacent points as a target line segment.
In this application, when the computer device determines the target line segment and the first point set included in each map block by using the position relationship between the adjacent points among the pre-marked points on each non-lane line and each map block, on one hand, the two adjacent points can be directly placed into the map block corresponding to the adjacent point, and then the two adjacent points placed before are combined to become the elements in the first point set included in the map block; on the other hand, a line segment connecting the two adjacent points may be placed in the map block corresponding to the adjacent point, and become a target line segment included in the map block.
S402, if two adjacent points on the non-lane line belong to different map blocks respectively, determining the two adjacent points and a first intersection point of a connecting boundary line between a line segment of the two adjacent points and the different map blocks as elements in a first point set, and determining a line segment formed by connecting the two adjacent points and the first intersection point as a target line segment.
In this embodiment, when determining a target line segment and a first point set included in each map block by using a positional relationship between adjacent points among pre-marked points on each non-lane line and each map block, on one hand, a computer device may put first intersections of a boundary line connecting the line segments of the two adjacent points and the non-identical map blocks into different map blocks, respectively, to become elements in the first point set included in each map block, so as to be used when calculating polygons corresponding to non-lane line region boundaries in different map blocks later; on the other hand, line segments formed by connecting two adjacent points with the first intersection point can be respectively placed into different map blocks to form target line segments contained in each map block, so that the target line segments can be used when polygons corresponding to non-lane line region boundaries in the different map blocks are calculated later.
For example, as shown in fig. 5A, assuming that a non-lane line L spans two map blocks # 1 and #2, points a and B are two adjacent points on the non-lane line L, and the points a and B belong to different map blocks, respectively, and a line segment AB connecting the points a and B intersects a connected boundary line between the two map blocks # 1 and #2 to obtain an intersection point C, the points a and C become elements in the first point set included in the map block # 1, the line segment AC becomes a target line segment included in the map block # 1, the points B and C become elements in the first point set included in the map block # 2, and the line segment BC becomes a target line segment included in the map block # 2.
Optionally, another method of the step S302 "determining the second point sets included in the map blocks according to the position relationship between the adjacent navigation points and the map blocks" may specifically include: and if the navigation points in the adjacent navigation points belong to different map blocks respectively, determining a second intersection point of the connecting boundary line between the line segment of the adjacent navigation point and the different map blocks as an element in the second point set.
In this embodiment, when determining the second point sets included in each map block by using the position relationship between the adjacent navigation points and each map block, the computer device may place second intersection points of the connecting boundary lines between the line segments connecting the two adjacent navigation points and the different map blocks into the different map blocks, respectively, to become elements in the second point sets included in each map block, so as to be used when calculating polygons corresponding to non-lane line region boundaries in the different map blocks.
Alternatively, as shown in fig. 6, another method of the above S303 "determining a target non-lane segment in each map block according to each map block, the target segment, the first point set, and the second point set" may specifically include:
s501, generating a third point set according to the corner points of the map blocks and the first intersection point of the first point set.
When the computer device needs to determine a target non-lane segment in each map block according to each map block, a target segment, a first point set and a second point set, angular points (generally four angular points) of each map block may be obtained first, a first intersection point is extracted from the first point set included in each map block, and then a new point set, that is, a third point set, is generated according to all the angular points and the first intersection points included in each map block.
And S502, if the line segments between all adjacent points in the third point set do not contain the second intersection points in the second point set, determining the line segments between all adjacent points in the third point set and the target line segment as the target non-lane line segment.
When the computer device obtains the third point set, it may first determine adjacent points included in the third point set, and then may determine whether line segments between the adjacent points include the second intersection point in the second point set, and if the line segments between some adjacent points do not include the second intersection point in the second point set, connect the adjacent points to obtain line segments of the adjacent points, and determine the line segments of the adjacent points as the target non-lane line segments. If the line segment between some adjacent points contains the second intersection point in the second point set, the adjacent points are not connected.
For example, as shown in fig. 6A, for map block # 2, P1, P2, P3 and P4 are corner points of map block # 2, F and G are adjacent navigation points, a and B are adjacent points on non-lane line L1, E and F are adjacent points on non-lane line L2, C1, C2, C3 and C4 are first intersection points, and D is an intersection point between the EG line segment and the boundary line connecting map block # 2 and map block # 1, that is, a second intersection point in the second set of points. Then P1, P2, P3, P4, C1, C2, C3, and C4 are points in the third point set, and when the graph is applied to determine a target non-lane line segment included in the map block # 2, if the line segment between adjacent points P1 and C1 in the third point set does not include the second intersection point D, then the P1 point and the C1 point are connected to form a new non-lane line P1C1 in the map block # 2, and if the line segment between adjacent points C1 and C2 includes the second intersection point D, then the P1 point and the C1 point are not connected, and so on, the new non-lane line in the map block # 2 can be obtained by the above method includes: a line segment P1C1, a line segment P1C3, a line segment C3P2, a line segment P2P3, a line segment P3C4, a line segment C4P4, and a line segment P4C 2. These new lane lines are added to the target line segments C1B, BC3, C2F, and FC4 stored in the map block to determine target non-lane segments.
Optionally, in an application, that is, when the target non-lane line segment is a line segment, a method of the S202 "connecting the target non-lane line segments to generate a polygon" may specifically include: and if the distance between the starting point and the tail end point of the target non-lane line segment is smaller than a preset threshold value, connecting the starting point and the tail end point to generate a polygon.
When the computer device obtains the target non-lane line segments contained in each map block, for each target non-lane line segment, if the distance between the starting point and the end point of the existing target non-lane line segment is smaller than a preset threshold value, the starting point and the end point of the target non-lane line segment can be connected to generate a polygon surrounded by the target non-lane line segments. The preset threshold may be determined by the computer device in advance according to an actual application requirement, which is not limited in this embodiment. The start point and the end point of the above-described target non-lane segment may be determined by the computer device in advance according to the direction of the target non-lane segment, and the following embodiments will be referred to with respect to the determination method of the direction of the target non-lane segment.
Optionally, in another application, that is, when the target non-lane line segment includes a plurality of line segments, another method of the S202 "connecting the target non-lane line segments and generating a polygon" may specifically include: and if the distance between the starting point of the target non-lane line segment and the tail end point of the other target non-lane line segment is smaller than a preset threshold value, connecting the starting point of the target non-lane line segment and the tail end point of the other target non-lane line segment to generate a polygon.
When the computer device obtains target non-lane line segments contained in each map block, the computer device can further perform depth-first search on a plurality of target non-lane line segments, in the search process, the tail end point of each target non-lane line segment is searched for the start end points of other target non-lane line segments, if the distance between the two points is smaller than a preset threshold value, the two points are connected, the process is repeated, if depth-first search is performed, a closed ring is found, then the closed ring is connected end to end, and a polygon formed by the target non-lane line segments can be obtained.
In an embodiment, the present application further provides a method for determining a start point and an end point of the target non-lane line segment, before the step S202 "connect the target non-lane line segment to generate a polygon", as shown in fig. 7, the method further includes:
s601, determining the direction of the target non-lane line segment according to the position relation between the target non-lane line segment and the navigation point closest to the target non-lane line segment.
When the computer device obtains the target non-lane line segment, the navigation point closest to the target non-lane line segment can be found according to the target non-lane line segment, and then the navigation point closest to the target non-lane line segment and the relative position between the target non-lane line segment are utilized to determine the direction of the target non-lane line segment, so that the starting point and the end point of the target non-lane line segment can be determined according to the direction of the target non-lane line segment. Optionally, when the target map and all the non-lane lines and the navigation points included in the target map are acquired, the computer device may also determine the direction of each non-lane line according to the relative position relationship between each non-lane line and the navigation point closest to each non-lane line. Then, when the computer device obtains the target non-lane line segment, the direction of the target non-lane line segment may be determined according to the direction of the non-lane line where the target non-lane line segment originally exists.
S602, determining a starting point and a tail end point of the target non-lane line segment according to the direction of the target non-lane line segment.
When the computer device determines the direction of the target non-lane segment, the starting point and the ending point of the target non-lane segment may be determined.
Alternatively, as shown in fig. 8, another method of the step S601 "determining the direction of the target non-lane segment according to the position relationship between the target non-lane segment and the navigation point closest to the target non-lane segment" may specifically include:
s701, if the tail end point of the target non-lane line segment in the preset direction is positioned on the left side of the line segment between the target navigation point and the starting point of the target non-lane line segment in the preset direction, determining the preset direction as the direction of the target non-lane line segment; the target navigation point is the navigation point closest to the target non-lane segment.
When the computer device determines the direction of the target non-lane segment, a preset direction may be assumed as the direction of the target non-lane segment in advance, and then the end point and the start point of the target non-lane segment are determined according to the preset direction, and the navigation point closest to the target non-lane segment is found from the navigation points included in the map block. Then, the found navigation point is connected with the starting point of the target non-lane line segment to form a middle line segment, then the relative position of the tail end point of the target non-lane line segment and the middle line segment is judged by the computer equipment, and if the tail end point of the target non-lane line segment is positioned on the left side of the middle line segment, the pre-assumed preset direction is determined as the real direction of the target non-lane line segment, even if the direction of the target line segment is clockwise.
S702, if the tail end point of the target non-lane line segment in the preset direction is positioned at the right side of the line segment between the target navigation point and the starting point of the target non-lane line segment in the preset direction, determining the opposite direction of the preset direction as the direction of the target non-lane line segment.
Based on the above-described embodiments, the present embodiment relates to a scenario in which the end point of the target non-lane segment is located on the right of the above-described middle segment, and in this scenario, the computer device determines the opposite direction of the above-described pre-assumed preset direction as the true direction of the target non-lane segment, even if the direction of the target segment is always the clockwise direction.
For example, as shown in fig. 8A, if the preset direction of the target non-lane segment L is a direction from a to B, the point a on the target non-lane segment L is a starting point in the preset direction, the point B is a terminal point in the preset direction, the point W is a navigation point closest to the target non-lane segment L, and the terminal point B in the drawing is located at the right of the segment WA, the opposite direction from a to B, that is, the direction from B to a, is determined as the direction of the target non-lane segment.
Fig. 9 is a flowchart of an implementation manner of S104 in the embodiment of fig. 2, where, as shown in fig. 9, the S104 "rendering the non-lane area on the target map according to the polygon corresponding to the non-lane area boundary in each map block" includes:
s801, storing polygons contained in each map block in a block file corresponding to each map block.
When the computer device calculates the polygons contained in the map blocks, the polygons contained in the map blocks can be further stored in the block files corresponding to the map blocks, which is equivalent to placing the polygons corresponding to the non-lane area boundaries contained in the calculated map blocks in different files, so as to be used in rendering the map later.
S802, loading each block file to render a non-lane area on the target map.
When the computer equipment obtains the block files corresponding to the map blocks of each region and further needs to render and draw the non-lane area on the target map, the block files can be directly loaded, and the non-lane area on the target map can be rendered and drawn efficiently. In the loading process, the block files corresponding to the map blocks can be sequentially loaded, optionally, the block files can be fused to form a whole file, and then the whole file is loaded to realize rendering and drawing of the non-lane area on the whole target map.
It should be understood that although the various steps in the flow charts of fig. 2-9 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-9 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential.
In one embodiment, as shown in fig. 10, there is provided a rendering apparatus of a map, including:
the acquisition module 11 is used for acquiring non-lane lines and navigation points in the target map;
a splitting module 12 for splitting the target map into a plurality of map tiles;
a generating module 13, configured to generate a polygon corresponding to a boundary of a non-lane area in each map block according to each non-lane line, each navigation point, and each map block;
and the rendering module 14 is configured to render the non-lane area on the target map according to a polygon corresponding to the non-lane area boundary in each map block.
In an embodiment, as shown in fig. 11, the generating module 13 includes:
a first determining unit 131, configured to determine a target non-lane segment in each map block according to each non-lane line, each navigation point, and each map block;
a generating unit 132, configured to connect the target non-lane line segments to generate the polygon.
In one embodiment, the first determining unit 131, as shown in fig. 12, includes:
a first determining subunit 1311, configured to determine, according to a positional relationship between adjacent points among the pre-marked points on each of the non-lane lines and each of the map blocks, a target line segment and a first point set included in each of the map blocks; the first point set comprises a first intersection point between a line segment obtained by connecting the adjacent points and each map block boundary line; the target line segment is a line segment between the adjacent point and the corresponding first intersection point;
a second determining subunit 1312, configured to determine a second point set included in each map block according to a position relationship between an adjacent navigation point and each map block; the second point set comprises a second intersection point between a line segment obtained by connecting the adjacent navigation points and each map block boundary line;
a third determining subunit 1313, configured to determine a target non-lane segment in each map block according to each map block, the target line segment, the first point set, and the second point set.
In one embodiment, the first determining subunit 1311 is specifically configured to, when two adjacent points on the non-lane line belong to the same map tile respectively, determine the two adjacent points as elements in the first point set, determine a line segment connecting the two adjacent points as the target line segment, and when two adjacent points on the non-lane line belong to different map tiles respectively, determine a first intersection point of the two adjacent points and a boundary line connecting the line segment of the two adjacent points and the different map tile as elements in the first point set, and determine a line segment connecting the two adjacent points and the first intersection point as the target line segment.
In an embodiment, the second determining subunit 1312 is specifically configured to determine, as an element in the second point set, a second intersection point of the boundary line connecting the line segment of the adjacent navigation point and the different map block when each of the adjacent navigation points belongs to the different map blocks.
In an embodiment, the third determining subunit 1313 is specifically configured to generate a third point set according to the corner points of each map tile and the first intersection of the first point set; and if the line segments between all the adjacent points in the third point set do not contain the second intersection points in the second point set, determining the line segments between all the adjacent points in the third point set and the target line segment as the target non-lane line segment.
In an embodiment, the generating unit 132 is specifically configured to generate the polygon by connecting the starting point and the ending point when a distance between the starting point and the ending point of the target non-lane line segment is smaller than a preset threshold.
In an embodiment, the generating unit 132 is further specifically configured to generate the polygon by connecting the starting point of the target non-lane line segment and the end point of another target non-lane line segment when a distance between the starting point of the target non-lane line segment and the end point of another target non-lane line segment is smaller than a preset threshold.
In an embodiment, before the generating unit 132, as shown in fig. 13, the generating module 13 further includes:
a second determining unit 133, configured to determine a direction of the target non-lane segment according to a position relationship between the target non-lane segment and a navigation point closest to the target non-lane segment;
a third determining unit 134 for determining a starting point and a ending point of the target non-lane line segment according to the direction of the target non-lane line segment.
In one embodiment, the second determining unit 133 is specifically configured to determine the preset direction as the direction of the target non-lane line segment when a terminal point of the target non-lane line segment in the preset direction is located on the left side of a line segment between a target navigation point and a starting point of the target non-lane line segment in the preset direction; the target navigation point is the navigation point which is closest to the target non-lane line segment; and when the tail end point of the target non-lane line segment in the preset direction is positioned on the right side of the line segment between the target navigation point and the starting point of the target non-lane line segment in the preset direction, determining the opposite direction of the preset direction as the direction of the target non-lane line segment.
In an embodiment, the rendering module 14, as shown in fig. 14, includes:
a storage unit 141, configured to store the polygon included in each map block in a block file corresponding to each map block;
a loading unit 142, configured to load each of the block files to render a non-lane area on the target map.
For specific limitations of the map rendering device, reference may be made to the above limitations of a map rendering method, which are not described herein again. The modules in the map rendering device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a non-lane line and a navigation point in a target map;
dividing the target map into a plurality of map tiles;
generating a polygon corresponding to a non-lane region boundary in each map block according to each non-lane line, each navigation point and each map block;
and rendering the non-lane area on the target map according to the polygon corresponding to the non-lane area boundary in each map block.
The implementation principle and technical effect of the computer device provided by the above embodiment are similar to those of the above method embodiment, and are not described herein again.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, the computer program, when executed by a processor, further implementing the steps of:
acquiring a non-lane line and a navigation point in a target map;
dividing the target map into a plurality of map tiles;
generating a polygon corresponding to a non-lane region boundary in each map block according to each non-lane line, each navigation point and each map block;
and rendering the non-lane area on the target map according to the polygon corresponding to the non-lane area boundary in each map block.
The implementation principle and technical effect of the computer-readable storage medium provided by the above embodiments are similar to those of the above method embodiments, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A method of rendering a map, the method comprising:
acquiring a non-lane line and a navigation point in a target map;
dividing the target map into a plurality of map tiles;
generating a polygon corresponding to a non-lane region boundary in each map block according to each non-lane line, each navigation point and each map block; the method specifically comprises the following steps: determining a target line segment and a first point set contained in each map block according to the position relation between adjacent points in the pre-marked points on each non-lane line and each map block; the first point set comprises a first intersection point between a line segment obtained by connecting the adjacent points and each map block boundary line; the target line segment is a line segment between the adjacent point and the corresponding first intersection point; determining a second point set contained in each map block according to the position relationship between the adjacent navigation points and each map block; the second point set comprises a second intersection point between a line segment obtained by connecting the adjacent navigation points and each map block boundary line; generating a third point set according to the corner points of the map blocks and the first intersection point of the first point set; if the line segments between all the adjacent points in the third point set do not contain the second intersection points in the second point set, determining the line segments between all the adjacent points in the third point set and the target line segment as the target non-lane line segment; connecting the target non-lane line segments to generate the polygon;
and rendering the non-lane area on the target map according to the polygon corresponding to the non-lane area boundary in each map block.
2. The method according to claim 1, wherein determining the target line segment and the first point set included in each map block according to the position relationship between the adjacent points in the pre-marked points on each non-lane line and each map block comprises:
if two adjacent points on the non-lane line belong to the same map block respectively, determining the two adjacent points as elements in the first point set, and determining a line segment connecting the two adjacent points as the target line segment;
and if two adjacent points on the non-lane line belong to different map blocks respectively, determining the two adjacent points and a first intersection point of a connecting boundary line between a line segment of the two adjacent points and the different map blocks as elements in the first point set, and determining a line segment formed by connecting the two adjacent points and the first intersection point as the target line segment.
3. The method according to claim 1 or 2, wherein determining the second point set included in each map block according to the position relationship between the adjacent navigation points and each map block comprises:
and if the navigation points in the adjacent navigation points belong to different map blocks respectively, determining a second intersection point of a connecting boundary line between the line segment of the adjacent navigation points and the different map blocks as an element in the second point set.
4. The method of claim 1, wherein said connecting the target off-lane line segments, generating the polygon, comprises:
and if the distance between the starting point and the tail end point of the target non-lane line segment is smaller than a preset threshold value, connecting the starting point and the tail end point to generate the polygon.
5. The method of claim 1, wherein said connecting the target off-lane line segments, generating the polygon, comprises:
and if the distance between the starting point of the target non-lane line segment and the end point of the other target non-lane line segment is smaller than a preset threshold value, connecting the starting point of the target non-lane line segment and the end point of the other target non-lane line segment to generate the polygon.
6. The method of claim 5, wherein prior to said connecting said target off-lane line segments to generate said polygon, said method further comprises:
determining the direction of the target non-lane line segment according to the position relation between the target non-lane line segment and the navigation point closest to the target non-lane line segment;
and determining a starting point and a tail end point of the target non-lane line segment according to the direction of the target non-lane line segment.
7. The method of claim 6, wherein determining the direction of the target non-lane segment based on the positional relationship between the target non-lane segment and the closest navigation point to the target non-lane segment comprises:
if the tail end point of the target non-lane line segment in the preset direction is positioned on the left side of the line segment between the target navigation point and the starting point of the target non-lane line segment in the preset direction, determining the preset direction as the direction of the target non-lane line segment; the target navigation point is the navigation point which is closest to the target non-lane line segment;
and if the tail end point of the target non-lane line segment in the preset direction is positioned on the right side of the line segment between the target navigation point and the starting point of the target non-lane line segment in the preset direction, determining the opposite direction of the preset direction as the direction of the target non-lane line segment.
8. The method of claim 1, wherein rendering the non-lane area on the target map according to the polygon corresponding to the non-lane area boundary in each map block comprises:
storing the polygons contained in the map blocks in block files corresponding to the map blocks;
and loading each block file to render the non-lane area on the target map.
9. An apparatus for rendering a map, the apparatus comprising:
the acquisition module is used for acquiring non-lane lines and navigation points in the target map;
a splitting module for splitting the target map into a plurality of map tiles;
the generating module is used for generating a polygon corresponding to a non-lane area boundary in each map block according to each non-lane line, each navigation point and each map block; the method specifically comprises the following steps: determining a target line segment and a first point set contained in each map block according to the position relation between adjacent points in the pre-marked points on each non-lane line and each map block; the first point set comprises a first intersection point between a line segment obtained by connecting the adjacent points and each map block boundary line; the target line segment is a line segment between the adjacent point and the corresponding first intersection point; determining a second point set contained in each map block according to the position relationship between the adjacent navigation points and each map block; the second point set comprises a second intersection point between a line segment obtained by connecting the adjacent navigation points and each map block boundary line; generating a third point set according to the corner points of the map blocks and the first intersection point of the first point set; if the line segments between all the adjacent points in the third point set do not contain the second intersection points in the second point set, determining the line segments between all the adjacent points in the third point set and the target line segment as the target non-lane line segment; connecting the target non-lane line segments to generate the polygon;
and the rendering module is used for rendering the non-lane area on the target map according to the polygon corresponding to the non-lane area boundary in each map block.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
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| CN114088107A (en) * | 2021-11-25 | 2022-02-25 | 北京百度网讯科技有限公司 | Data processing method, device, equipment and medium |
| CN114485716A (en) * | 2021-12-28 | 2022-05-13 | 北京百度网讯科技有限公司 | Lane rendering method and device, electronic equipment and storage medium |
| CN115661394A (en) * | 2022-12-26 | 2023-01-31 | 安徽蔚来智驾科技有限公司 | Method for constructing lane line map, computer device and storage medium |
| CN115657973B (en) * | 2022-12-28 | 2023-03-14 | 江苏龙威中科技术有限公司 | Navigation data display method and device |
| CN117576255A (en) * | 2024-01-16 | 2024-02-20 | 腾讯科技（深圳）有限公司 | Method, device, computer equipment and storage medium for determining working area |
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| CN107220264A (en) * | 2016-03-22 | 2017-09-29 | 高德软件有限公司 | A kind of map rendering intent and device |
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| CN108961146B (en) * | 2018-07-19 | 2023-07-21 | 深圳地平线机器人科技有限公司 | Method and device for rendering perception map |
| CN110059151B (en) * | 2019-04-26 | 2022-10-25 | 北京百度网讯科技有限公司 | Map rendering method, map rendering device, map server, and storage medium |
| CN111197993B (en) * | 2019-12-26 | 2021-11-23 | 广州文远知行科技有限公司 | Map rendering method and device, computer equipment and storage medium |
| CN111192352B (en) * | 2019-12-26 | 2023-07-04 | 广州文远知行科技有限公司 | Map rendering method, map rendering device, computer equipment and storage medium |
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