CN111524230A - Linkage browsing method for three-dimensional model and unfolded panoramic image and computer system - Google Patents

Linkage browsing method for three-dimensional model and unfolded panoramic image and computer system Download PDF

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CN111524230A
CN111524230A CN202010249333.3A CN202010249333A CN111524230A CN 111524230 A CN111524230 A CN 111524230A CN 202010249333 A CN202010249333 A CN 202010249333A CN 111524230 A CN111524230 A CN 111524230A
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dimensional model
panorama
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CN111524230B (en
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祝志恒
阳军生
傅金阳
张聪
赵炼恒
李林毅
王树英
巢凌彦
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Guangzhou Ramtil Technology Co ltd
Central South University
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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Abstract

The invention provides a linkage browsing method of a three-dimensional model and an expanded panoramic image, which comprises the steps of establishing two image windows, namely a three-dimensional window VDOne is a panorama window VP(ii) a Three-dimensional window VDThe three-dimensional models can be roamed, such as rotated and moved; panorama window VPA number of expanded panoramas associated with the three-dimensional model may be browsed, such as translated, zoomed; linkage browsing is realized by establishing an incidence relation between the space coordinate of the three-dimensional model and the plane coordinate of the unfolded panoramic image. The invention establishes the mapping relation between the plane position of the expanded panoramic image and the space position of the three-dimensional model through the virtual grid, and can realize linkage browsing of the three-dimensional model and the expanded panoramic image, thereby solving the problems that the apparent details of the three-dimensional model are not clear and the expanded panoramic image has no spaceThe problem of position feeling. The invention also provides a computer system, which has the beneficial effects as described above.

Description

Linkage browsing method for three-dimensional model and unfolded panoramic image and computer system
Technical Field
The invention relates to the field of three-dimensional model and panorama visualization, in particular to a linkage browsing method of a three-dimensional model and an expanded panorama. The invention also provides a computer system.
Background
The three-dimensional roaming technology can intuitively display the spatial shape and the position relation of an object, and particularly, the three-dimensional real scene model has excellent experience on reflecting the geometric form of a terrain or a structure. However, due to the computer performance, the three-dimensional model cannot perform oversized texture mapping at present, and therefore very fine surface information cannot be displayed during three-dimensional roaming. If the structural appearance inspection requires that the resolution of the image is in a submillimeter level, the details can not be displayed in a three-dimensional model in a mapping mode at present. The panoramic image splicing technology is developed, the photos can be subjected to orthographic projection according to the appearance of the structure, the correction splicing of multi-viewpoint images is realized, a complete high-definition expanded image is obtained, and the extraction of information such as the length, the width, the area and the like of the surface defect of the structure is realized. However, the spatial position relationship of the objects in the map cannot be intuitively reflected when the high-definition expanded map is browsed. Therefore, in patent application CN108665536A [ three-dimensional and live-action data visualization method, device and computer readable storage medium ], the oblique three-dimensional image data, live-action image data and point cloud data of the target area are collected, and the fusion of the oblique three-dimensional environment and the live-action image is realized by means of coordinate transformation image fusion and the like, so as to increase the diversity of the visual reference information. Patent application CN110458871A [ registration method, system, device and medium of model and panorama and map ] proposes a method for performing virtual panorama and real panoramic registration on a three-dimensional model, and provides a method for making high-definition texture of a three-dimensional model using a panorama. However, the above-mentioned techniques mainly solve the problem of constructing real-scene textures, and can increase the reality of textures, but still cannot solve the problem that the three-dimensional model cannot be subjected to hyperfine texture mapping. In addition, the above techniques all use a spherical panorama, which has a large distortion and is not favorable for showing the structural object appearance details. The need to view refined surface information during three-dimensional roaming is therefore not met.
Therefore, the invention realizes linkage browsing of the three-dimensional model and the expanded panoramic image by establishing a mapping relation between the plane position of the expanded panoramic image and the space position of the three-dimensional model, thereby solving the problems that the apparent details of the three-dimensional model are not clear and the expanded panoramic image has no space position sense.
Disclosure of Invention
The invention provides a linkage browsing method of a three-dimensional model and an expanded panoramic image, which comprises the steps of establishing two image windows, namely a three-dimensional window VDOne is a panorama window VPThree-dimensional viewing window VDThe three-dimensional virtual models or the three-dimensional real scene models can be roamed, such as rotated and moved, and the panorama window VPA number of expanded panoramas associated with the three-dimensional model may be browsed, such as translated, zoomed;
in the three-dimensional view window VDWhen the three-dimensional model is roamed, if the surface of the three-dimensional model displayed in the window has the information of the expanded panoramic image, the three-dimensional window V is calculated according to the incidence relation between the three-dimensional model and the expanded panoramic imageDMiddle cursor point VD(x, y) corresponding panorama coordinates I (u, V), in which case the panorama window V may be viewedPIs set to I (u, V), or a panorama window VPThe cursor in the three-dimensional model is set to be I (u, v), so that linkage browsing from the three-dimensional model to the expanded panoramic image is realized;
in the panorama window VPWhen browsing, according toPanorama window VPMiddle cursor point VP(x, y), calculating a coordinate point S (x, y, z) in the three-dimensional space by expanding the incidence relation between the panoramic image and the three-dimensional model, and at the moment, adjusting a cursor in the three-dimensional space to the space point S (x, y, z) or directing a three-dimensional sight line to the space point S (x, y, z), thereby realizing linkage browsing from the expanded panoramic image to the three-dimensional model;
the browsing method can place a plurality of three-dimensional models M in the same scenei(i∈[1,n]) Each three-dimensional model may contain several surfaces P with information of the unfolded panoramai-j(i∈[1,n],j∈[1,mi]) N denotes the number of models contained in the scene, miRepresenting the number of surfaces containing the panoramic view on the ith model;
in order to realize linkage browsing of the three-dimensional model and the expanded panoramic image, the incidence relation is established by the following steps:
the method comprises the following steps: constructing a virtual grid which can be described by longitude and latitude coordinates, and respectively establishing conversion relations between the longitude and latitude coordinates and the space coordinates of the three-dimensional model and between the longitude and latitude coordinates and the plane coordinates of the unfolded panoramic image;
specifically, a virtual grid W is constructed at the position where the panoramic view is unfolded on the surface of the three-dimensional modeli-j(i∈[1,n],j∈[1,mi]) Each virtual grid Wi-jCorresponding to an expansion diagram Pi-jThe virtual grid is composed of longitude and latitude lines, the coordinates of the longitude and latitude lines are (ξ), and the virtual grid W corresponds toi-jThe coordinate point (c) is (x, y, z), and a mapping relation can be established:
Figure BDA0002434915050000021
Figure BDA0002434915050000031
at the same time, in the panorama development picture Pi-jThe incidence relation between the coordinates (u, v) of the pixel points and the coordinates (ξ) of the latitude and longitude of the virtual grid is as follows:
Figure BDA0002434915050000032
Figure BDA0002434915050000033
step two: through the virtual grid, a three-dimensional window V is establishedDScreen cursor coordinate VD(x, y) to the unfolded panorama plane coordinates I (u, v);
particularly, when three-dimensional roaming is carried out, the coordinate V of a screen cursor is usedD(xd,yd) A detection ray R can be established, intersection point detection is carried out on the virtual grid in the three-dimensional view by using the R, and a virtual grid model W closest to the roaming viewpoint is obtainedi-j(i∈[1,n]，j∈[1,mi]) And the coordinates C (x) of the intersection of the model and the R-rayc,yc,zc)，
C (x) can be calculated by the formula (10)c,yc,zc) The corresponding longitude and latitude coordinates are as follows:
Figure BDA0002434915050000034
further, C (x) can be calculated by the formula (12)c,yc,zc) Corresponding panorama coordinates Ic(uc,vc)：
Figure BDA0002434915050000035
Step three: through the virtual grid, a panorama window V is establishedPScreen cursor coordinate VP(x, y) to three-dimensional model space coordinates S (x, y, z);
particularly, when browsing a panoramic image, the coordinate V of a screen cursor is usedP(xp,yp) And offset (x) of current panorama view windowoffset,yoffset) And the scaling ratio s can calculate the corresponding panoramic image number i and the panoramic image coordinate P corresponding to the cursor pointi-j(up,vp)：
Figure BDA0002434915050000041
The panorama coordinate P can be calculated by the formula (13)i-j(up,vp) The corresponding longitude and latitude coordinates are as follows:
Figure BDA0002434915050000042
further, the panorama coordinate P can be calculated by the equation (11)i-j(up,vp) Corresponding three-dimensional model space coordinates Sp(xp,yp,zp)：
Figure BDA0002434915050000043
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a linkage browsing method of a three-dimensional model and an unfolded panoramic image, which can realize linkage browsing of three-dimensional roaming and the unfolded panoramic image by establishing an incidence relation between the three-dimensional model and the unfolded panoramic image, can enable a user to see apparent details of the model in a three-dimensional view in an unfolded panoramic image window during the three-dimensional roaming, and can enable the user to see the spatial position of an interest point of a current unfolded image in the three-dimensional view during browsing the unfolded panoramic image, thereby solving the problems that the apparent details of the three-dimensional model are not clearly seen during visual display and the unfolded panoramic image has no spatial position sense.
The invention also provides a computer system, which has the beneficial effects as described above.
Drawings
FIG. 1 is a schematic diagram of the principles of the present invention;
fig. 2 is a schematic view of linked browsing effects of a three-dimensional live view of a left side slope and a right side slope of a certain expressway and a slope surface unfolding panorama according to an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
Unmanned aerial vehicle aerial photography is carried out on a certain expressway DK66+ 100-300 pile number range for slope detection, aerial photographs are three-dimensionally reconstructed by using a multi-view geometric method, a three-dimensional live-action model M1 of the road section is constructed, two unfolding planes are constructed by utilizing slope information, projection correction splicing is carried out on the photographs of the DK66+ 35-130 left side slope and the DK66+ 100-300 right side slope, and unfolding panoramic views P1-1 and P1-2 of two slopes are obtained. Referring to the schematic diagram of FIG. 1, a three-dimensional live-action model M1 is placed in a three-dimensional window VDDisplaying, putting the expanded panoramas P1-1 and P1-2 into the panoramas window VPThe display is performed as in fig. 2.
Taking the expansion planes for making the expansion diagrams of the two slopes as virtual grids W1-1 and W1-2, and establishing the relationship between a three-dimensional real-scene model M1 and the expansion diagrams P1-1 and P1-2:
TABLE 1
Figure BDA0002434915050000051
If the user is in the three-dimensional window VDWhen the cursor is moved to the point S1 on the model, the mapping relationship established in table 1 can be passed through the coordinates (x) of the point S11,y1,z1) Calculating to obtain the coordinate (u) of the corresponding G1 point in the panorama1,v1)：
Figure BDA0002434915050000052
If the user is in the panorama window VPWhen the cursor is moved to the point G2 on the expanded graph P1-2, the mapping relation established by the table 1 can pass the coordinate (u) of the point G22,v2) The coordinates (x) of the corresponding point S2 on the model M1 are obtained through calculation2,y2,z2)：
Figure BDA0002434915050000053
At this point, the three-dimensional live-action and the expanded panoramic picture can establish linkage browsingRelations, technicians can be in three-dimensional window V during internal work processingDBrowsing three-dimensional live-action model synchronously in panorama window VPChecking the surface details of the side slope in the middle; or in a panorama window VPBrowsing the panoramic view synchronously in the three-dimensional window VDTo view the corresponding spatial location.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. A linkage browsing method for three-dimensional model and expanded panoramic picture is characterized by comprising the steps of establishing two image windows, namely a three-dimensional window VDOne is a panorama window VPThe three-dimensional window VDCan roam a plurality of three-dimensional models, and the panorama window VPA number of expanded panoramas associated with the three-dimensional model may be browsed;
in the three-dimensional view window VDWhen the three-dimensional model is roamed, if the surface of the three-dimensional model displayed in the window has the information of the expanded panoramic image, the three-dimensional window V is calculated according to the incidence relation between the three-dimensional model and the expanded panoramic imageDMiddle cursor point VD(x, y) corresponding panorama coordinates I (u, V), in which case the panorama window V may be viewedPIs set to I (u, V), or a panorama window VPThe cursor in the three-dimensional model is set to be I (u, v), so that linkage browsing from the three-dimensional model to the expanded panoramic image is realized;
in the panorama window VPDuring browsing, according to the panoramic view window VPMiddle cursor point VP(x, y), calculating a coordinate point S (x, y, z) in the three-dimensional space by expanding the incidence relation between the panoramic image and the three-dimensional model, and at the moment, adjusting a cursor in the three-dimensional space to the space point S (x, y, z) or directing the three-dimensional sight line to the space point S (x, y, z), thereby realizing linkage browsing from the expanded panoramic image to the three-dimensional model.
2. The linkage browsing method of the three-dimensional model and the expanded panoramic image according to claim 1, wherein the establishing step of the association relationship comprises the following steps:
the method comprises the following steps: constructing a virtual grid which can be described by longitude and latitude coordinates, and respectively establishing conversion relations between the longitude and latitude coordinates and the space coordinates of the three-dimensional model and between the longitude and latitude coordinates and the plane coordinates of the unfolded panoramic image;
step two: through the virtual grid, a three-dimensional window V is establishedDScreen cursor coordinate VD(x, y) to the unfolded panorama plane coordinates I (u, v);
step three: through the virtual grid, a panorama window V is establishedPScreen cursor coordinate VP(x, y) to three-dimensional model space coordinates S (x, y, z).
3. The method for browsing the three-dimensional model and the expanded panoramic view in a linkage manner according to claim 2, wherein the step one comprises the step of constructing a virtual grid W at the position where the expanded panoramic view is arranged on the surface of the three-dimensional modeli-j(i∈[1,n],j∈[1,mi]) Each virtual grid Wi-jCorresponding to an expansion diagram Pi-jThe virtual grid is composed of longitude and latitude lines, the coordinates of the longitude and latitude lines are (ξ), and the virtual grid W corresponds toi-jThe coordinate point (c) is (x, y, z), and a mapping relation can be established:
Figure FDA0002434915040000021
Figure FDA0002434915040000022
at the same time, in the panorama development picture Pi-jThe incidence relation between the coordinates (u, v) of the pixel points and the coordinates (ξ) of the latitude and longitude of the virtual grid is as follows:
Figure FDA0002434915040000023
Figure FDA0002434915040000024
4. the method for browsing the three-dimensional model and the expanded panorama in a linkage manner according to claim 2, wherein the second step comprises the step of browsing through a screen cursor coordinate V during three-dimensional roamingD(xd,yd) A detection ray R can be established, intersection point detection is carried out on the virtual grid in the three-dimensional view by using the R, and a virtual grid model W closest to the roaming viewpoint is obtainedi-j(i∈[1,n]，j∈[1,mi]) And the coordinates C (x) of the intersection of the model and the R-rayc,yc,zc)；
C (x) can be calculated by the formula (1)c,yc,zc) The corresponding longitude and latitude coordinates are as follows:
Figure FDA0002434915040000025
further, C (x) can be calculated by the formula (3)c,yc,zc) Corresponding panorama coordinates Ic(uc,vc)：
Figure FDA0002434915040000026
5. The linkage browsing method of the three-dimensional model and the expanded panorama according to claim 2, wherein the third step comprises that when browsing the panorama, the screen cursor coordinate V is usedP(xp,yp) And offset (x) of current panorama view windowoffset,yoffset) And the scaling ratio s can calculate the corresponding panoramic image number i and the panoramic image coordinate P corresponding to the cursor pointi-j(up,vp)：
Figure FDA0002434915040000031
The panorama coordinate P can be calculated by the formula (4)i-j(up,vp) The corresponding longitude and latitude coordinates are as follows:
Figure FDA0002434915040000032
further, the panorama coordinate P can be calculated by the equation (2)i-j(up,vp) Corresponding three-dimensional model space coordinates Sp(xp,yp,zp)：
Figure FDA0002434915040000033
6. The linkage browsing method of the three-dimensional model and the expanded panorama according to claim 1, characterized in that: multiple three-dimensional models M can be placed in the same three-dimensional scenei(i∈[1,n]) Each three-dimensional model may contain several surfaces P with information of the unfolded panoramai-j(i∈[1,n],j∈[1,mi]) N denotes the number of models contained in the scene, miRepresenting the number of surfaces containing the panorama on the ith model.
7. A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the linked browsing method of any one of claims 1 to 6 when executing the computer program.
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