CN111664859B - Data acquisition method and system in high-precision map production process - Google Patents
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06F3/04845—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
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- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06F3/0486—Drag-and-drop
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
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- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2016—Rotation, translation, scaling
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Abstract
The invention relates to a data acquisition method and a system in a high-precision map production process, which comprises the following steps: setting a visual angle corresponding to the main view, and adding the selected auxiliary view and the visual angle corresponding to the auxiliary view; constructing a refreshing logic and a central refreshing logic which are related to the display page of each visual angle, wherein the refreshing logic is the corresponding relation of parameters of the main view and the auxiliary view in the display page, and the central refreshing logic is the corresponding relation of the central point positions of the main view and the auxiliary view; and acquiring data based on the main view and the auxiliary view. The operator can add various view windows according to different actual scenes, select the main view and the auxiliary view of each view angle, construct the incidence relation between the main view and the auxiliary view, and the multi-view display is favorable for ensuring the accuracy and convenience of acquisition in a three-dimensional space and ensuring that the acquisition can be adjusted in place in one operation process.
Description
Technical Field
The invention relates to the technical field of high-precision map data generation and automatic driving, in particular to a data acquisition method and system in a high-precision map production process.
Background
Many sensors, such as image sensors, lidar sensors, etc., are provided on an autonomous high-precision map data collection vehicle, and each sensor uses a separate and distributed system to complete data collection.
The laser radar occupies a core position in the field of automatic driving by virtue of the advantages of high precision, strong anti-interference performance, good low-altitude detection performance and the like, a laser radar (LiDAR) sensor is a part of a laser measurement system, the detection of the three-dimensional contour of a target area is realized by emitting laser beams and scanning in the horizontal direction, and the laser radar is divided into a single-line laser radar sensor and a multi-line laser radar sensor according to the number of the emitted laser beams (lines). The current collection method is to equip a single-line or multi-line laser radar sensor on the collection vehicle, and the point data set of the appearance surface obtained by scanning the laser radar sensor is also called point cloud.
In the existing high-precision map production process, production personnel need to acquire points on the actually rendered and displayed point cloud by means of a tool to generate corresponding data, so that the acquisition deviation inevitably exists in the process of acquiring and editing the point cloud based on three-dimensional stereo under a single view, the correction error possibly needs to be repeatedly verified by operating personnel under different viewing angles, and the actual production efficiency is reduced.
Disclosure of Invention
The invention provides a data acquisition method in a high-precision map production process, aiming at the technical problems in the prior art, and solves the problem of low acquisition efficiency in the prior art.
The technical scheme for solving the technical problems is as follows: a data acquisition method in a high-precision map production process comprises the following steps:
step 1, setting a visual angle corresponding to a main view, and adding a selected auxiliary view and a visual angle corresponding to the auxiliary view;
step 2, constructing a refreshing logic and a central refreshing logic which are related to the display page of each visual angle, wherein the refreshing logic is the corresponding relation of parameters of the main view and the auxiliary view in the display page, and the central refreshing logic is the corresponding relation of the central point positions of the main view and the auxiliary view;
and 3, acquiring data based on the main view and the auxiliary view.
A data acquisition system in a high-precision map production process comprises: the device comprises a view selection module, a refreshing logic construction module and a central refreshing logic construction module;
the view selection module is used for setting a visual angle corresponding to the main view and adding the selected auxiliary view and the visual angle corresponding to the auxiliary view;
the refreshing logic construction module is used for constructing refreshing logic and central refreshing logic which are related to display pages of all the visual angles, and the refreshing logic is the corresponding relation of parameters of the main view and the auxiliary view in the display pages;
the central refreshing logic construction module is used for constructing a central refreshing logic associated with each visual angle, and the central refreshing logic is a corresponding relation of central point positions of the main view and the auxiliary view.
The invention has the beneficial effects that: the operator can add various view windows according to different actual scenes, select the main view and the auxiliary view of each view angle, construct the incidence relation between the main view and the auxiliary view, and the multi-view display is favorable for ensuring the accuracy and convenience of acquisition in a three-dimensional space and ensuring that the acquisition can be adjusted in place in one operation process.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, in the step 1, when data acquisition is performed in a road network scene, a view angle corresponding to the main view is set as an orthographic view angle, and a view angle of the auxiliary view is set as a two-side view angle; when data acquisition is carried out in a high-rise ground feature scene, the visual angle of the main view is set as a side view angle, and the visual angle of the auxiliary view is set as an orthographic visual angle.
Further, the auxiliary view further includes a partially enlarged view of the main view.
Further, the parameters in the presentation page in the step 2 include a scaling and a rotation axis of a three-dimensional space.
Further, the corresponding relationship between the central point positions of the main view and the auxiliary view in the step 2 is as follows:
the main view and the auxiliary view center are kept consistent or the auxiliary view center is refreshed in real time according to the mouse movement of the main view.
Furthermore, in the process of data acquisition, the center of the auxiliary view is refreshed in real time according to the mouse movement of the main view; and in the process of carrying out confirmation check editing, the centers of the main view and the auxiliary view are kept consistent.
Further, the step 1 is followed by: drawing an elevation value display curve which is in bidirectional association with the view according to the elevation value of the acquisition point in the acquired data;
when the acquisition points in the view are dragged, displaying the magnitude of the elevation value and the change of the curve on the elevation value display curve in real time, and dragging the display points in the elevation value display curve to the acquisition points synchronously.
The beneficial effect of adopting the further scheme is that: the number and the selection of the visual angles corresponding to the main view and other visual angles are set according to the scene of data acquisition, and the multi-view use strategy under different scenes is more beneficial to improving the efficiency and the accuracy in actual operation; the corresponding relation between the scaling and the rotating shaft between the main view and each auxiliary view can be flexibly set according to a specific application scene, a plurality of auxiliary views can be newly added under the condition of complex scenes, and different refreshing strategies can be sequentially used to achieve the required display, help production personnel and improve the accuracy in the process of three-dimensional point acquisition; the central refreshing logic can have two strategies, different strategies can assist production personnel in improving the accuracy in the process of carrying out three-dimensional point acquisition, and when the main view mouse moves to a noise point or a cavity area, problems can be quickly shown on the auxiliary view; the switching of the central synchronization strategy is carried out in the data acquisition and inspection editing processes, so that the accuracy of the acquisition points before confirmation and after editing is ensured; the elevation value precision can be synchronously mastered in real time in the visual process of acquisition, the adjustment purpose without actual reference can be achieved by pulling the points which are shot at the wrong level to the elevation value range of the front point and the rear point through an elevation value curve graph under the condition of a point cloud cavity or under the scene without proper target point acquisition, namely the variation trend of the elevation value in the whole acquisition process can be known by means of a real-time elevation value display curve, the acquisition work under special conditions can be assisted, and the adjustment precision and smoothness are ensured.
Drawings
FIG. 1 is a flow chart of a data acquisition method in a high-precision map production process according to the present invention;
FIG. 2 is a flowchart of an embodiment of a data collection method in a high-precision map production process according to the present invention;
FIG. 3 is a block diagram of an embodiment of a data acquisition system in a high-precision map production process according to the present invention;
fig. 4 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
101. the system comprises a view selection module 102, a refresh logic construction module 103, a central refresh logic construction module 201, a processor 202, a communication interface 203, a memory 204 and a communication bus.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a data acquisition method in a high-precision map production process according to the present invention, and as can be seen from fig. 1, the method includes:
step 1, setting a visual angle corresponding to the main view, and adding the selected auxiliary view and the visual angle corresponding to the auxiliary view.
And 2, constructing a refreshing logic and a central refreshing logic which are related to the display page of each visual angle, wherein the refreshing logic is the corresponding relation of the parameters of the main view and the auxiliary view in the display page, and the central refreshing logic is the corresponding relation of the central point positions of the main view and the auxiliary view.
The parameters of the display page of the added auxiliary view are kept consistent with the main view in the default condition, and the operator can manually adjust the view angle and the zoom scale of the newly added view, for example, the operator can newly add two side view angles for local enlarged display.
And 3, acquiring data based on the main view and the auxiliary view.
According to the data acquisition method in the high-precision map production process, provided by the invention, operators can add various view windows according to different actual scenes, select the main view and the auxiliary view of each visual angle, and establish the incidence relation between the main view and the auxiliary view, and the multi-view display is favorable for ensuring the accuracy and convenience of acquisition in a three-dimensional space and ensuring that the acquisition can be adjusted in place in one operation process.
Example 1
Embodiment 1 provided by the present invention is an embodiment of a data acquisition method in a high-precision map production process provided by the present invention, and as shown in fig. 2, is a flowchart of an embodiment of a data acquisition method in a high-precision map production process provided by the present invention, as can be seen from fig. 2, the method includes:
step 1, setting a visual angle corresponding to the main view, and adding the selected auxiliary view and the visual angle corresponding to the auxiliary view.
Specifically, when data acquisition is performed in a road network scene, a view angle corresponding to the main view may be set as an orthographic view angle, and a view angle of the auxiliary view may be set as two side view angles; when data acquisition is carried out in a high-rise ground feature scene, the view angle of the main view can be set as a side view angle, and the view angle of the auxiliary view is an orthographic view angle. The auxiliary view also includes a partial enlarged view of the main view.
The number and selection of the view angle corresponding to the main view and other view angles are set according to the scene of data acquisition. For example, in a road network scene, data acquisition is mostly performed at an ortho-view angle, so that in the road network scene, the ortho-view angle is generally set as a main view, and two side views are auxiliary views; in a high-rise ground object scene, a front view can be used as a side view angle, and an auxiliary view can be used as an orthographic view angle; meanwhile, the duplication of the locally enlarged main view can be synchronously added, and the multi-view use strategy in different scenes is more beneficial to improving the efficiency and the accuracy in actual operation.
And 2, constructing a refreshing logic and a central refreshing logic which are related to the display page of each visual angle, wherein the refreshing logic is the corresponding relation of the parameters of the main view and the auxiliary view in the display page, and the central refreshing logic is the corresponding relation of the central point positions of the main view and the auxiliary view.
Specifically, the parameters in the presentation page include the scale and the rotation axis of the three-dimensional space. The view displayed by the page is a three-dimensional view, and the rotating shaft of the three-dimensional space is the rotating shaft of the three-dimensional view.
The corresponding relationship between the scaling and the rotation axis between the main view and each auxiliary view can be flexibly set according to a specific application scene, for example, the auxiliary view can be set to synchronize only the rotation axis of the main view under the condition of fixing the scaling, or the rotation axis of the auxiliary view can be fixed to synchronize only the scaling of the main view; under the condition of complex scene, a plurality of auxiliary views can be added and different refreshing strategies can be used in sequence to achieve the required display.
Specifically, the corresponding relationship between the central point positions of the main view and the auxiliary view is as follows:
the main view and the auxiliary view center are kept consistent or the auxiliary view center is refreshed in real time according to the mouse movement of the main view.
Specifically, in the process of data acquisition, the center of the auxiliary view can be refreshed in real time according to the mouse movement of the main view; the primary view and the secondary view may be centered on the same during the validation check editing.
The central refreshing logic can have two strategies, one strategy is to keep the central point positions of the main view and the auxiliary view consistent in real time, when the central point coordinate of the main view is changed, the main view and the auxiliary view are synchronized immediately, the strategy is convenient for synchronously updating and displaying the actual collecting effect in a three-dimensional space under multiple visual angles, and the central points of all the views are ensured to be consistent. The other strategy is that the central point of the auxiliary view is refreshed in real time according to the movement of the mouse under the main view, when the mouse moves under the view, the screen coordinate is firstly converted into the three-dimensional coordinate of the point cloud under the mouse position, and then the central position of the auxiliary view is moved under the three-dimensional coordinate, so that the moving process of the mouse on the point cloud can be monitored in real time. The strategy can assist production personnel, improve the accuracy in the process of three-dimensional point acquisition, and quickly show problems in the auxiliary view when the main view mouse moves to a noise point or a cavity area.
The switching of the central synchronization strategy is carried out in the data acquisition and inspection editing process, so that the accuracy of the acquisition points before confirmation and after editing is ensured.
And 3, acquiring data based on the main view and the auxiliary view.
Preferably, step 1 is followed by: and drawing an elevation value display curve which is in bidirectional association with the view according to the elevation values of the acquisition points in the acquired data.
When the acquisition points in the view are dragged, the magnitude of the elevation value and the change of the curve are displayed on the elevation value display curve in real time, and the display points in the elevation value display curve are dragged to be synchronous with the acquisition points.
The elevation value precision can be synchronously mastered in real time in the visual process of acquisition, the adjustment purpose without actual reference can be achieved by pulling the points which are shot at the wrong level to the elevation value range of the front point and the rear point through an elevation value curve graph under the condition of a point cloud cavity or under the scene without proper target point acquisition, namely the variation trend of the elevation value in the whole acquisition process can be known by means of a real-time elevation value display curve, the acquisition work under special conditions can be assisted, and the adjustment precision and smoothness are ensured.
Example 2
Embodiment 2 provided by the present invention is an embodiment of a data acquisition system in a high-precision map production process provided by the present invention, and as shown in fig. 3, is a structural block diagram of an embodiment of a data acquisition system in a high-precision map production process provided by the present invention, as can be seen from fig. 3, the system includes: view selection module 101, refresh logic construction module 102, and central refresh logic construction module 103.
And the view selection module 101 is configured to set a view angle corresponding to the primary view, and add the selected secondary view and the view angle corresponding to the secondary view.
The refresh logic construction module 102 is configured to construct a refresh logic and a central refresh logic associated with each view display page, where the refresh logic is a corresponding relationship between parameters of the main view and the auxiliary view in the display page.
And the central refreshing logic building module 103 is used for building central refreshing logic associated with each view angle, wherein the central refreshing logic is a corresponding relation between the central point positions of the main view and the auxiliary view.
Fig. 4 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the electronic device may include: the system comprises a processor 201, a communication interface 202, a memory 203 and a communication bus 204, wherein the processor 201, the communication interface 202 and the memory 203 are communicated with each other through the communication bus 204. The processor 201 may call a computer program stored on the memory 203 and operable on the processor 201 to execute the data collection method in the high-precision map production process provided by the above embodiments, for example, the method includes: step 1, setting a visual angle corresponding to a main view, and adding a selected auxiliary view and a visual angle corresponding to the auxiliary view; step 2, constructing a refreshing logic and a central refreshing logic which are related to the display page of each visual angle, wherein the refreshing logic is the corresponding relation of parameters of the main view and the auxiliary view in the display page, and the central refreshing logic is the corresponding relation of the central point positions of the main view and the auxiliary view; and 3, acquiring data based on the main view and the auxiliary view.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, is implemented to perform the data acquisition method in the high-precision map production process provided in the foregoing embodiments, for example, the method includes: step 1, setting a visual angle corresponding to a main view, and adding a selected auxiliary view and a visual angle corresponding to the auxiliary view; step 2, constructing a refreshing logic and a central refreshing logic which are related to the display page of each visual angle, wherein the refreshing logic is the corresponding relation of parameters of the main view and the auxiliary view in the display page, and the central refreshing logic is the corresponding relation of the central point positions of the main view and the auxiliary view; and 3, acquiring data based on the main view and the auxiliary view.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A data acquisition method in a high-precision map production process is characterized by comprising the following steps:
step 1, setting a visual angle corresponding to a main view, and adding a selected auxiliary view and a visual angle corresponding to the auxiliary view;
step 2, constructing a refreshing logic and a central refreshing logic which are related to the display page of each visual angle, wherein the refreshing logic is the corresponding relation of parameters of the main view and the auxiliary view in the display page, and the central refreshing logic is the corresponding relation of the central point positions of the main view and the auxiliary view;
step 3, collecting data based on the main view and the auxiliary view;
the parameters in the display page in the step 2 comprise scaling and a rotating shaft of a three-dimensional space;
the corresponding relation between the central point positions of the main view and the auxiliary view in the step 2 is as follows:
the main view and the auxiliary view center are kept consistent or the auxiliary view center is refreshed in real time according to the mouse movement of the main view;
in the process of data acquisition, the center of the auxiliary view is refreshed in real time according to the mouse movement of the main view; and in the process of carrying out confirmation check editing, the centers of the main view and the auxiliary view are kept consistent.
2. The method according to claim 1, wherein in step 1, when data acquisition is performed in a road network scene, the view angle corresponding to the main view is set as an ortho view angle, and the view angles of the auxiliary views are set as two side view angles; when data acquisition is carried out in a high-rise ground feature scene, the visual angle of the main view is set as a side view angle, and the visual angle of the auxiliary view is set as an orthographic visual angle.
3. The method of claim 1 or 2, wherein the auxiliary view further comprises a partial magnified view of the main view.
4. The method of claim 1, further comprising, after step 1: drawing an elevation value display curve which is bidirectionally associated with the main view and the auxiliary view according to the elevation value of the acquisition point in the acquired data;
when the acquisition points in the main view and the auxiliary view are dragged, the magnitude of the elevation value and the change of the curve are displayed on the elevation value display curve in real time, and the display points in the elevation value display curve are dragged to be synchronous with the acquisition points.
5. A data acquisition system in a high precision map production process, the system comprising: the system comprises a view selection module, a refreshing logic construction module, a central refreshing logic construction module and a data acquisition module;
the view selection module is used for setting a visual angle corresponding to the main view and adding the selected auxiliary view and the visual angle corresponding to the auxiliary view;
the refreshing logic construction module is used for constructing refreshing logic associated with display pages of all the visual angles, and the refreshing logic is the corresponding relation of parameters of the main view and the auxiliary view in the display pages;
the central refreshing logic construction module is used for constructing central refreshing logic associated with each visual angle, and the central refreshing logic is a corresponding relation of central point positions of the main view and the auxiliary view;
the data acquisition module is used for acquiring data based on the main view and the auxiliary view;
parameters in the presentation page in the refresh logic building block include scaling and a rotation axis of a three-dimensional space;
the corresponding relation between the central point positions of the main view and the auxiliary view in the refreshing logic building module is as follows:
the main view and the auxiliary view center are kept consistent or the auxiliary view center is refreshed in real time according to the mouse movement of the main view;
in the process of data acquisition, the center of the auxiliary view is refreshed in real time according to the mouse movement of the main view; and in the process of carrying out confirmation check editing, the centers of the main view and the auxiliary view are kept consistent.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the data collection method in the high-precision map production process according to any one of claims 1 to 4.
7. A non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the data acquisition method in the high-precision map production process according to any one of claims 1 to 4.
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| CN111664859A (en) | 2020-09-15 |
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