CN111932446B - Method and device for constructing three-dimensional panoramic map - Google Patents
Method and device for constructing three-dimensional panoramic map Download PDFInfo
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- CN111932446B CN111932446B CN202010749853.0A CN202010749853A CN111932446B CN 111932446 B CN111932446 B CN 111932446B CN 202010749853 A CN202010749853 A CN 202010749853A CN 111932446 B CN111932446 B CN 111932446B
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Abstract
The embodiment of the invention provides a method and a device for constructing a three-dimensional panoramic map. The method comprises the following steps: mapping the panoramic image of the target scene to the surface of the three-dimensional sphere to generate a panoramic sphere corresponding to the target scene; and acquiring the position coordinates of each ground feature in the target scene in the panoramic sphere, and correlating the attribute information of each ground feature with the position coordinates of the ground feature in the panoramic sphere to obtain a three-dimensional panoramic map after the position of the ground feature is correlated and articulated with the attribute of the ground feature. According to the method and the device provided by the embodiment of the invention, the three-dimensional panoramic map corresponding to the target scene is generated by acquiring the position coordinates of each ground object in the panoramic sphere and associating the attribute information of each ground object with the position coordinates of the ground object in the panoramic sphere. Therefore, the user can watch the ground objects in the target scene in an omnibearing manner, the user can know the attribute information of each ground object in the target scene, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of three-dimensional panoramic maps, in particular to a method and a device for constructing a three-dimensional panoramic map.
Background
In current daily map data, three-dimensional panoramic maps are becoming common and important increasingly, and more visual map display effects are provided for users mainly through three-dimensional panoramic pictures, so that the users can view real scene conditions without going out, and the content and expressive force of the map are greatly enriched. However, the three-dimensional panoramic map in the current stage can only enable the user to see the appearance of the ground feature in the three-dimensional panoramic picture, namely, the displayed content of the three-dimensional panoramic map is limited, so that the user experience is reduced.
Disclosure of Invention
Aiming at the problems existing in the prior art, the embodiment of the invention provides a method and a device for constructing a three-dimensional panoramic map.
In a first aspect, an embodiment of the present invention provides a method for constructing a three-dimensional panoramic map, including:
mapping a panoramic image of a target scene to the surface of a three-dimensional sphere to generate a panoramic sphere corresponding to the target scene;
and acquiring the position coordinates of each ground feature in the panoramic sphere in the target scene, and associating the attribute information of each ground feature with the position coordinates of the ground feature in the panoramic sphere to obtain a three-dimensional panoramic map after the ground feature position is associated with the ground feature attribute.
Further, before associating the attribute information of each feature with its position coordinates in the panoramic sphere, the method further comprises:
and determining a first position coordinate of each ground feature in the target scene in a ground feature coordinate system.
Further, before mapping the panorama of the target scene to the surface of the three-dimensional sphere, the method further comprises:
and shooting a panoramic image of the acquired target scene, and recording second position coordinates of shooting points.
Further, after capturing a panoramic view of the acquisition target scene, the method further comprises:
and constructing the three-dimensional sphere by taking the shooting point as a sphere center.
Further, acquiring the position coordinates of each feature in the target scene in the panoramic sphere includes:
judging whether the second position coordinates of the shooting points belong to the ground object coordinate system or not;
if not, acquiring a first position coordinate of the shooting point in the ground object coordinate system based on a coordinate system conversion rule and a second position coordinate of the shooting point;
acquiring a difference coordinate between each ground object and the shooting point based on a first position coordinate of each ground object in the ground object coordinate system and a first position coordinate of the shooting point in the ground object coordinate system;
and determining the position coordinates of each ground feature in the panoramic sphere based on the sphere center, the difference coordinates between each ground feature and the shooting point and the panoramic sphere.
Further, determining the position coordinates of each feature in the panoramic sphere based on the sphere center, the difference coordinates between each feature and the shooting point, and the panoramic sphere, including:
for any ground object, connecting the sphere center with the difference coordinates between the ground object and the shooting point to form a connecting line;
and taking the intersection point of the connecting line and the panoramic sphere as the position coordinate of the ground feature in the panoramic sphere.
Further, the attribute information of the ground object includes any one or more of POI data, traffic sign data and street lamp data of the ground object.
In a second aspect, an embodiment of the present invention provides a device for constructing a three-dimensional panoramic map, including:
the panoramic sphere generation module is used for mapping the panoramic image of the target scene to the surface of the three-dimensional sphere to generate a panoramic sphere corresponding to the target scene;
the association and hanging module is used for acquiring the position coordinate of each ground object in the panoramic sphere in the target scene, associating the attribute information of each ground object with the position coordinate of the ground object in the panoramic sphere, and acquiring a three-dimensional panoramic map after associating and hanging the position of the ground object with the attribute of the ground object.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method for constructing a three-dimensional panoramic map as provided in the first aspect when the program is executed.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of constructing a three-dimensional panoramic map as provided in the first aspect.
According to the method and the device for constructing the three-dimensional panoramic map, provided by the embodiment of the invention, the three-dimensional panoramic map after the connection between the ground object position and the ground object attribute is obtained by acquiring the position coordinate of each ground object in the panoramic sphere and correlating the attribute information of each ground object with the position coordinate of each ground object in the panoramic sphere. Therefore, the user can watch the ground objects in the target scene in an omnibearing manner, the user can know the attribute information of each ground object, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for constructing a three-dimensional panoramic map according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of coordinate transformation according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a position coordinate of a ground object in a panoramic sphere according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a three-dimensional panoramic map construction device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an entity structure of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a flowchart of a method for constructing a three-dimensional panoramic map according to an embodiment of the present invention, as shown in fig. 1, where the method includes:
and step 101, mapping the panorama of the target scene to the surface of a three-dimensional sphere, and generating a panorama sphere corresponding to the target scene.
Step 102, obtaining the position coordinates of each ground feature in the panoramic sphere in the target scene, and associating the attribute information of each ground feature with the position coordinates of the ground feature in the panoramic sphere, so as to obtain the three-dimensional panoramic map after the ground feature position is associated with the ground feature attribute.
In particular, a panorama generally refers to a photograph taken to fit a normal effective viewing angle of both eyes of a person (about 90 degrees horizontal, 70 degrees vertical) or to include a full scene range of both eyes beyond viewing angles (about 180 degrees horizontal, 90 degrees vertical), or even 360 degrees. In the embodiment of the present invention, before executing step 101, a panoramic image corresponding to a target scene including a plurality of features is generated by first capturing the target scene. It should be noted that the target scene may be any scene such as a school, a market, or a street, which is not particularly limited in the embodiment of the present invention. The features in the target scene refer to various physical objects in the scene, for example, if the target scene is a school, the features in the scene may be a teaching building, a canteen, a dormitory, or the like, which is not particularly limited in the embodiment of the present invention. Since there are various photographing and post-processing means in the prior art to generate a panorama, this process will not be specifically described herein.
After obtaining the panorama corresponding to the target scene, mapping the panorama to the surface of a three-dimensional sphere to generate the panorama corresponding to the target scene. Therefore, the two-dimensional plan view is simulated into a real three-dimensional space to form a panoramic ball for presentation to a user, and various functions for manipulating the panoramic ball are provided for the user, so that a target scene presented by the panoramic ball can be enlarged, reduced and moved from all directions for viewing, and the effect of simulating and reproducing the real environment of the target scene is achieved.
In the embodiment of the invention, in order to improve user experience, the position coordinates of each ground feature in the panoramic sphere are acquired, and the attribute information of each ground feature is associated with the position coordinates of the ground feature in the panoramic sphere, so that a three-dimensional panoramic map corresponding to a target scene is generated. Therefore, the user can watch the ground objects in the target scene in an omnibearing manner, the user can know the attribute information of each ground object in the target scene, and the user experience is improved.
As an optional embodiment, before associating the attribute information of each feature with the position coordinates of the feature in the panoramic sphere in step 102, the method for constructing the three-dimensional panoramic map further includes:
and determining a first position coordinate of each ground feature in the target scene in a ground feature coordinate system.
As an alternative embodiment, before mapping the panorama of the target scene to the surface of the three-dimensional sphere in step 101, the method for constructing a three-dimensional panorama further comprises:
and shooting a panoramic image of the acquired target scene, and recording second position coordinates of shooting points.
On the basis of the foregoing embodiments, as an optional embodiment, after shooting a panoramic view of an acquisition target scene, the method for constructing a three-dimensional panoramic map further includes:
and constructing the three-dimensional sphere by taking the shooting point as a sphere center.
As an optional embodiment, acquiring the position coordinates of each feature in the target scene in the panoramic sphere includes:
first, it is determined whether the second position coordinates of the photographing point belong to the ground object coordinate system. If not, acquiring a first position coordinate of the shooting point in the ground object coordinate system based on a coordinate system conversion rule and a second position coordinate of the shooting point. And acquiring a difference coordinate between each ground feature and the shooting point based on the first position coordinate of each ground feature in the ground feature coordinate system and the first position coordinate of the shooting point in the ground feature coordinate system. And determining the position coordinates of each ground feature in the panoramic sphere based on the sphere center, the difference coordinates between each ground feature and the shooting point and the panoramic sphere.
As an optional embodiment, in the foregoing embodiment, determining, based on the center of sphere, the coordinates of a difference between each feature and the shooting point, and the panoramic sphere, the position coordinates of each feature in the panoramic sphere includes: and for any ground object, connecting the sphere center with the coordinate of the difference between the ground object and the shooting point to form a connecting line. And taking the intersection point of the connecting line and the panoramic sphere as the position coordinate of the ground feature in the panoramic sphere.
Specifically, referring to fig. 2, the position coordinates C (X0, Y0, Z0) of the photographing point are synchronously acquired when photographing the target scene, and are referred to as second position coordinates for convenience of description hereinafter. For the feature in the target scene, it has corresponding position coordinates P (XP, YP, ZP) in the feature coordinate system, and for convenience of description hereinafter, the position coordinates are referred to as first position coordinates of the feature in the feature coordinate system.
Whether the second position coordinate C (X0, Y0, Z0) of the photographing point is in the ground object coordinate system is determined, and if not, the second position coordinate C (X0, Y0, Z0) of the photographing point is converted into a position coordinate C1 (X1, Y1, Z1) in the ground object coordinate system based on a coordinate system conversion rule, and for convenience of description, the position coordinate is referred to as a first position coordinate of the photographing point in the ground object coordinate system. Thus, the position coordinates of the shooting point and the ground object are unified in a coordinate system.
Since the panoramic sphere is a three-dimensional sphere constructed with a shooting point as a sphere center, referring to fig. 3, if the shooting point is regarded as an origin (0, 0), a position coordinate of each ground object with respect to the shooting point is (X, Y, Z), where x=xp-X1, y=yp-Y1, and z=zp-Z1, and for convenience of description hereinafter, the position coordinate is referred to as a difference coordinate.
Because the display principle of the panoramic sphere is to construct a three-dimensional sphere by taking shooting points as sphere centers, and render each ground feature in the panoramic image to the surface of the three-dimensional sphere, the visual angle is seen outwards through the sphere centers, so that target scenes with different angles are seen. Therefore, referring to fig. 3, for each feature, the point where the origin (0, 0) intersects the panoramic sphere can be used as the position coordinates Pg (Xg, yg, zg) of the feature in the panoramic sphere by connecting the origin (0, 0) with the coordinates (X, Y, Z) of the difference between each feature and the shooting point.
After the position coordinates of each ground object in the panoramic sphere are obtained, the attribute information of each ground object is associated with the position coordinates of the ground object in the panoramic sphere, so that the associated hanging of the two ground objects is realized, and the universality and the consistency of position matching are realized. Therefore, the user can watch the ground objects in the target scene in an omnibearing manner, the user can know the attribute information of each ground object in the target scene, and the user experience is improved.
Exemplary, the attribute information of the ground object includes any one or more of POI data, traffic sign data, and street lamp data of the ground object, which is not particularly limited in the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a three-dimensional panoramic map construction device according to an embodiment of the present invention, as shown in fig. 4, where the device includes:
the panorama generating module 401 is configured to map a panorama of a target scene to a surface of a three-dimensional sphere, and generate a panorama corresponding to the target scene;
the association and hooking module 402 is configured to obtain a position coordinate of each feature in the panoramic sphere in the target scene, associate attribute information of each feature with a position coordinate of the feature in the panoramic sphere, and obtain a three-dimensional panoramic map after associating and hooking the feature position and the feature attribute.
Specifically, the device provided in the embodiment of the present invention is specifically configured to execute the above method for constructing a three-dimensional panoramic map, which is not described in detail in the embodiment of the present invention. According to the device provided by the embodiment of the invention, the three-dimensional panoramic map after the association and hanging of the ground object position and the ground object attribute is obtained by acquiring the position coordinate of each ground object in the panoramic sphere and associating the attribute information of each ground object with the position coordinate of each ground object in the panoramic sphere. Therefore, the user can watch the ground objects in the target scene in an omnibearing manner, the user can know the attribute information of each ground object, and the user experience is improved.
Fig. 5 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, where, as shown in fig. 5, the electronic device may include: a processor (processor) 501, a communication interface (Communications Interface) 502, a memory (memory) 503 and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 communicate with each other via the communication bus 504. The processor 501 may invoke a computer program stored in the memory 503 and executable on the processor 501 to perform the methods provided by the above embodiments, for example, including: mapping a panoramic image of a target scene to the surface of a three-dimensional sphere to generate a panoramic sphere corresponding to the target scene; and acquiring the position coordinates of each ground feature in the panoramic sphere in the target scene, and associating the attribute information of each ground feature with the position coordinates of the ground feature in the panoramic sphere to obtain a three-dimensional panoramic map after the ground feature position is associated with the ground feature attribute.
Embodiments of the present invention also provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the methods provided by the above embodiments, for example, comprising: mapping a panoramic image of a target scene to the surface of a three-dimensional sphere to generate a panoramic sphere corresponding to the target scene; and acquiring the position coordinates of each ground feature in the panoramic sphere in the target scene, and associating the attribute information of each ground feature with the position coordinates of the ground feature in the panoramic sphere to obtain a three-dimensional panoramic map after the ground feature position is associated with the ground feature attribute.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The construction method of the three-dimensional panoramic map is characterized by comprising the following steps of:
mapping a panoramic image of a target scene to the surface of a three-dimensional sphere to generate a panoramic sphere corresponding to the target scene;
acquiring the position coordinates of each ground object in the panoramic sphere in a target scene, and associating the attribute information of each ground object with the position coordinates of the ground object in the panoramic sphere to obtain a three-dimensional panoramic map after the position of the ground object is associated with the attribute of the ground object;
before associating the attribute information of each feature with its position coordinates in the panoramic sphere, the method further comprises:
determining a first position coordinate of each ground feature in a ground feature coordinate system in a target scene;
before mapping the panorama of the target scene to the surface of the three-dimensional sphere, the method further comprises:
shooting and collecting a panoramic image of a target scene, and recording second position coordinates of shooting points;
after capturing a panoramic view of the acquisition target scene, the method further comprises:
constructing the three-dimensional sphere by taking the shooting point as a sphere center;
the method for acquiring the position coordinates of each ground feature in the target scene in the panoramic sphere comprises the following steps:
judging whether the second position coordinates of the shooting points belong to the ground object coordinate system or not;
if not, acquiring a first position coordinate of the shooting point in the ground object coordinate system based on a coordinate system conversion rule and a second position coordinate of the shooting point;
acquiring a difference coordinate between each ground object and the shooting point based on a first position coordinate of each ground object in the ground object coordinate system and a first position coordinate of the shooting point in the ground object coordinate system;
determining the position coordinates of each ground feature in the panoramic sphere based on the sphere center, the difference coordinates between each ground feature and the shooting point and the panoramic sphere;
determining the position coordinates of each ground feature in the panoramic sphere based on the sphere center, the difference coordinates between each ground feature and the shooting point and the panoramic sphere, including:
for any ground object, connecting the sphere center with the difference coordinates between the ground object and the shooting point to form a connecting line;
and taking the intersection point of the connecting line and the panoramic sphere as the position coordinate of the ground feature in the panoramic sphere.
2. The method of claim 1, wherein the attribute information of the ground object includes any one or more of POI data, traffic sign data, and street lamp data of the ground object.
3. The device for constructing the three-dimensional panoramic map is characterized by comprising the following components:
the panoramic image generation module is used for shooting a target scene containing a plurality of ground objects and generating a panoramic image corresponding to the target scene;
the panoramic sphere generation module is used for mapping the panoramic image of the target scene to the surface of the three-dimensional sphere to generate a panoramic sphere corresponding to the target scene;
the association and hanging module is used for acquiring the position coordinate of each ground object in the panoramic sphere in the target scene, associating the attribute information of each ground object with the position coordinate of the ground object in the panoramic sphere, and acquiring a three-dimensional panoramic map after associating and hanging the position of the ground object with the attribute of the ground object;
the associated hitching module is used for the purposes of,
determining a first position coordinate of each ground feature in a ground feature coordinate system in a target scene;
shooting and collecting a panoramic image of a target scene, and recording second position coordinates of shooting points;
constructing the three-dimensional sphere by taking the shooting point as a sphere center;
judging whether the second position coordinates of the shooting points belong to the ground object coordinate system or not;
if not, acquiring a first position coordinate of the shooting point in the ground object coordinate system based on a coordinate system conversion rule and a second position coordinate of the shooting point;
acquiring a difference coordinate between each ground object and the shooting point based on a first position coordinate of each ground object in the ground object coordinate system and a first position coordinate of the shooting point in the ground object coordinate system;
determining the position coordinates of each ground feature in the panoramic sphere based on the sphere center, the difference coordinates between each ground feature and the shooting point and the panoramic sphere;
for any ground object, connecting the sphere center with the difference coordinates between the ground object and the shooting point to form a connecting line;
and taking the intersection point of the connecting line and the panoramic sphere as the position coordinate of the ground feature in the panoramic sphere.
4. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of constructing a three-dimensional panoramic map as defined in any one of claims 1 to 2 when said program is executed by said processor.
5. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor realizes the steps of the method of constructing a three-dimensional panoramic map as defined in any one of claims 1 to 2.
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