CN112506217A - Method for rapidly generating cluster unmanned aerial vehicle performance three-dimensional picture by using three-dimensional model - Google Patents
Method for rapidly generating cluster unmanned aerial vehicle performance three-dimensional picture by using three-dimensional model Download PDFInfo
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention belongs to the technical field of cluster unmanned aerial vehicle performance formation manufacturing, and discloses a method for quickly generating a cluster unmanned aerial vehicle performance three-dimensional picture by using a three-dimensional model, which comprises the following steps: determining a 3D model file related to a performance picture; determining parameters such as the number of the unmanned aerial vehicles for cluster performance, the minimum safe distance, the position of the display of the performance picture and the like; acquiring information of all vertexes and surfaces of a three-dimensional model file by using a three-dimensional model related processing algorithm; deleting and reconstructing the top point and the surface of the three-dimensional model according to the obtained parameters; and calculating the three-dimensional world coordinates of all unmanned aerial vehicles. According to the invention, some persons with zero animation profession related foundations can quickly make the three-dimensional picture formation of the cluster unmanned aerial vehicle performance, so that the making period of the whole unmanned aerial vehicle performance project is shortened; the cluster unmanned aerial vehicle performance three-dimensional picture meeting the actual setting requirement and the spacing requirement can be quickly manufactured.
Description
Technical Field
The invention belongs to the technical field of cluster unmanned aerial vehicle performance formation manufacturing, and particularly relates to a method for quickly generating a cluster unmanned aerial vehicle performance three-dimensional picture by using a three-dimensional model.
Background
At present, performance pictures of the cluster unmanned aerial vehicle are generally divided into two types, namely 2D plane pictures and 3D stereo pictures, and the three-dimensional stereo pictures have stronger picture expressive force compared with the general plane pictures, are richer in picture level and have a three-dimensional effect.
Before the cluster unmanned aerial vehicle performs light performance, related personnel are required to create a picture designed to complete the performance, then the actual presenting position of each unmanned aerial vehicle participating in the performance is determined point by point according to the content of the performance picture and the number of frames of the unmanned aerial vehicles, and finally the three-dimensional world coordinates of all cluster unmanned aerial vehicles during hovering performance are obtained. In the process, a technician related to the animation profession can spend several days to complete the design and creation of a three-dimensional picture. This work has higher technical requirement to the designer, needs it to be skilled to master a series of 3D design software, and this type of design software does not have the function of making unmanned aerial vehicle performance three-dimensional picture specially moreover, and the process of making is loaded down with trivial details, and efficiency is lower relatively. Therefore, designing a method for rapidly generating a stereoscopic picture of a cluster unmanned aerial vehicle performance is an urgent problem to be solved in the field.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the existing unmanned aerial vehicle performance formation manufacturing method has high professional threshold, and non-animation related professionals cannot effectively manufacture the unmanned aerial vehicle performance formation;
(2) the existing unmanned aerial vehicle performance formation manufacturing method uses professional animation software to manufacture the unmanned aerial vehicle performance formation, and has the disadvantages of complicated process, long time consumption and low efficiency.
The difficulty in solving the above problems and defects is:
the three-dimensional model must be understood deeply and familiar with the associated processing algorithms.
The significance of solving the problems and the defects is as follows:
the difficulty in making the cluster unmanned aerial vehicle performance stereo pictures can be greatly reduced, and the efficiency is improved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method for quickly generating a cluster unmanned aerial vehicle performance stereo picture by using a three-dimensional model.
The invention is realized in such a way that a method for rapidly generating a stereoscopic picture for the performance of a cluster unmanned aerial vehicle by using a three-dimensional model comprises the following steps:
step one, a user selects and determines a 3D model file related to a performance picture;
selecting and determining parameters such as the number N of the unmanned aerial vehicles for the cluster performance, the minimum safe distance D between the unmanned aerial vehicles, the height H of the displayed performance picture and the like by a user;
reading the 3D model file to obtain all vertex information V and surface information F of the three-dimensional model file;
and step four, according to the vertex V and the surface F obtained in the step three, carrying out deletion processing and reconstruction on the vertex V and the surface F of the three-dimensional model. As shown in FIG. 6(a), for two vertices u, v and an edge uv of the three-dimensional model, one of the vertices u is selected, moved towards the vertex v until the two vertices coincide, all triangles with uv as an edge are removed, all places used for the vertex u are replaced by the vertex v, and finally the vertex u is removed, as shown in FIG. 6 (b). Thus, the elimination of one vertex is completed, and by analogy, the deletion of more vertices and the reconstruction of a triangle can be completed.
And step five, acquiring vertex V coordinates of the processed three-dimensional model according to the parameters determined in the step two and the three-dimensional model subjected to the deletion processing in the step four, continuously deleting points with too close distance between vertexes, and amplifying or reducing the vertex coordinates by a proper proportion F to calculate the three-dimensional world coordinates D of all unmanned aerial vehicles.
Further, in step one, the 3D model files related to the performance pictures are sourced from a 3D model file library.
Further, in step four, the performing the pruning and the reconstructing on the vertices and the faces of the three-dimensional model includes: and deleting tens of thousands of vertexes and reconstructing a surface by utilizing a three-dimensional model deleting and reconstructing algorithm, so that the distance between all vertexes can meet the requirement.
Further, in the fourth step, the vertex information includes vertex coordinates, and the three-dimensional coordinates of the unmanned aerial vehicle in the actual world are calculated through the vertex coordinates.
Another object of the present invention is to provide a computer-readable storage medium storing instructions which, when executed on a computer, cause the computer to execute the method for rapidly generating a stereoscopic picture of a clustered drone performance using a three-dimensional model.
Another object of the present invention is to provide a system for rapidly generating stereoscopic pictures for a performance by using a three-dimensional model, where the system for rapidly generating stereoscopic pictures for a performance by using a three-dimensional model includes:
the model file and parameter acquisition module is used for determining a 3D model file related to a performance picture; the system is also used for determining parameters such as the number of the unmanned aerial vehicles for the cluster performance, the minimum safe distance, the display position of the performance pictures and the like;
the vertex and face information acquisition module is used for acquiring information of all vertexes and faces of the three-dimensional model file by using a three-dimensional model related processing algorithm;
the three-dimensional model processing module is used for deleting and reconstructing the vertexes and the surfaces of the three-dimensional model according to the obtained information of the vertexes and the surfaces;
and the three-dimensional world coordinate acquisition module is used for calculating the three-dimensional world coordinates of all unmanned aerial vehicles according to the determined parameters and the three-dimensional model after the deletion processing.
Another object of the present invention is to provide a drone equipped with the system for fast generation of stereoscopic pictures for performance by clustered drones using three-dimensional models as claimed in claim 4, and implementing the method for fast generation of stereoscopic pictures for performance by clustered drones using three-dimensional models.
It is another object of the present invention to provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform a method for rapidly generating a stereoscopic picture of a clustered drone performance using a three-dimensional model as described.
Another object of the present invention is to provide a computer apparatus, which includes a memory and a processor, the memory storing a computer program, which when executed by the processor, causes the processor to execute the method for rapidly generating a stereoscopic picture of a clustered drone performance using a three-dimensional model.
Another object of the present invention is to provide an information data processing terminal, which is used for implementing the method for rapidly generating the stereoscopic pictures of the cluster unmanned aerial vehicle performance by using the three-dimensional model.
The invention also aims to provide application of the method for rapidly generating the stereoscopic pictures of the cluster unmanned aerial vehicle performance by utilizing the three-dimensional model in public service activities, commercial activities and advertising performances.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention can enable some persons with zero animation profession related bases to quickly make the three-dimensional picture formation of the cluster unmanned aerial vehicle performance, and shorten the making period of the whole unmanned aerial vehicle performance project.
The method provided by the invention can quickly manufacture the stereoscopic pictures for the performance of the cluster unmanned aerial vehicle, which meet the actual setting requirements and spacing requirements, is convenient and simple to use, and greatly improves the efficiency of manufacturing the formation for the performance of the cluster unmanned aerial vehicle; the technical threshold of the cluster unmanned aerial vehicle for making the performance three-dimensional picture is reduced.
The technical effect or experimental effect of comparison comprises the following steps:
the experimental effects are shown in fig. 3, 4 and 5.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic diagram of a method for rapidly generating a stereoscopic picture of a cluster unmanned aerial vehicle performance by using a three-dimensional model according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for rapidly generating a stereoscopic picture of a cluster unmanned aerial vehicle performance by using a three-dimensional model according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a three-dimensional model file of a deer provided by an embodiment of the invention.
Fig. 4 is a schematic view of a stereoscopic picture of a drone performance provided by an embodiment of the present invention.
Fig. 5 is a schematic three-dimensional world coordinate diagram of each drone in the performance picture provided by the embodiment of the invention.
FIG. 6(a) shows two vertices u, v and an edge uv of the three-dimensional model provided in the embodiment of the present invention, wherein one vertex u is selected and moved toward the vertex v until the two vertices coincide, all triangles with uv as an edge are removed, all the points used for the vertex u are replaced by the vertex v, and finally the vertex u is removed.
Fig. 6(b) is a diagram illustrating that the elimination of one vertex is completed, and so on, the deletion of more vertices and the reconstruction of a triangle can be completed according to the embodiment of the present invention.
Fig. 7(a) is a file diagram of a three-dimensional model of a deer provided by an embodiment of the present invention.
Fig. 7(b) is a diagram of vertex information and face information of a three-dimensional model file of a deer provided by an embodiment of the present invention.
Fig. 8(a) is a schematic diagram illustrating a method for pruning and reconstructing vertices and faces of a three-dimensional model to obtain a more sparse three-dimensional model file according to an embodiment of the present invention.
Fig. 8(b) shows vertex information and surface information of fig. 8(a) according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a method for quickly generating a cluster unmanned aerial vehicle performance stereo picture by using a three-dimensional model, and the invention is described in detail below with reference to the attached drawings.
As shown in fig. 1, it is a principle of a method for rapidly generating a stereoscopic picture of a cluster unmanned aerial vehicle performance by using a three-dimensional model according to an embodiment of the present invention
As shown in fig. 2, the method for quickly generating a stereoscopic picture of a cluster unmanned aerial vehicle performance by using a three-dimensional model according to an embodiment of the present invention includes the following steps:
s101, determining a 3D model file related to a performance picture;
s102, determining parameters such as the number of the unmanned aerial vehicles for the cluster performance, the minimum safe distance, the display position of the performance pictures and the like;
s103, acquiring information of all vertexes and surfaces of the three-dimensional model file by using a three-dimensional model related processing algorithm;
s104, deleting and reconstructing the vertex and the surface of the three-dimensional model according to the information of the vertex and the surface obtained in the step S103;
and S105, calculating the three-dimensional world coordinates of all the unmanned aerial vehicles according to the parameters determined in the step S102 and the three-dimensional model subjected to the deleting processing in the step S104.
In step S101, the 3D model file related to the performance picture is sourced from a 3D model file library.
In step S104, the pruning and reconstructing the vertices and faces of the three-dimensional model includes: and deleting tens of thousands of vertexes and reconstructing a surface by utilizing a three-dimensional model deleting and reconstructing algorithm, so that the distance between all vertexes can meet the requirement.
In step S104, the vertex information includes vertex coordinates, and three-dimensional coordinates of the unmanned aerial vehicle in the actual world are calculated through the vertex coordinates.
The present invention will be further described with reference to the following examples.
Example 1:
a method for rapidly generating a cluster unmanned aerial vehicle performance stereo picture by using a three-dimensional model comprises the following specific steps:
step 1: 3D model files related to the performance pictures are determined.
Step 2: and determining parameters such as the number of the unmanned aerial vehicles for cluster performance, the minimum safe distance, the position of the performance picture presentation and the like.
And step 3: and acquiring information of all vertexes and surfaces of the three-dimensional model file by using a three-dimensional model related processing algorithm.
And 4, step 4: and (4) deleting and reconstructing the vertexes and the surfaces of the three-dimensional model according to the information of the vertexes and the surfaces obtained in the step (3).
And 5: and (4) calculating the three-dimensional world coordinates of all unmanned aerial vehicles according to the parameters determined in the step (2) and the three-dimensional model subjected to the deletion processing in the step (4).
The 3D model files related to the demonstration pictures in the step 1 can be easily obtained from a 3D model file library, and the difficulty of model file design is reduced.
And 3, the three-dimensional model correlation processing algorithm can quickly read the information of all vertexes and surfaces of the three-dimensional model file.
In the step 4, the three-dimensional model deleting processing and reconstructing algorithm can finish deleting of tens of thousands of vertexes and reconstructing of surfaces in tens of seconds, and the distance between all vertexes is ensured to meet the requirement.
And 4, calculating the three-dimensional coordinates of the unmanned aerial vehicle in the actual world according to the vertex coordinates obtained in the step 4.
Example 2:
as shown in fig. 3, a three-dimensional model file of a deer is input, the number of the clustered drones is set to 500, the distance between the drones is set to 2.5m, and the drone performance stereograph after the processing is finished is shown in fig. 4.
Meanwhile, the three-dimensional world coordinates of each drone in the obtained performance picture are shown in fig. 5.
The present invention is further described below with reference to application examples.
A three-dimensional model file of a deer (see fig. 7(a)), whose vertex information and plane information are shown in fig. 7 (b).
Then, the user determines that the number of the unmanned stands to be performed is 1000, the safety distance is 2m, the method disclosed by the patent is used for deleting and reconstructing the vertexes and the faces of the three-dimensional model to obtain a more sparse three-dimensional model file as shown in fig. 8(a), the total number of the vertexes is 1000, and the vertex information and the face information are shown in fig. 8 (b).
According to the obtained vertex coordinates, a proportion F is properly enlarged or reduced to meet the condition that the minimum safe distance is 2m, and then the three-dimensional coordinates of 1000 unmanned aerial vehicles in the real world can be obtained, as shown in fig. 5.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for rapidly generating a stereoscopic picture of a cluster unmanned aerial vehicle performance by using a three-dimensional model is characterized by comprising the following steps of:
acquiring information of all vertexes and surfaces of a three-dimensional model file of the cluster performance unmanned aerial vehicle by using a three-dimensional model related processing algorithm;
according to the obtained information of the vertexes and the surfaces, deleting and reconstructing the vertexes and the surfaces of the three-dimensional model;
and calculating the three-dimensional world coordinates of all cluster performance unmanned aerial vehicles according to the three-dimensional models subjected to the deletion processing and the reconstruction.
2. The method for rapidly generating the stereoscopic pictures for the unmanned aerial vehicle performance cluster by using the three-dimensional model as claimed in claim 1, wherein before the information of all the vertexes and faces of the file of the three-dimensional model of the unmanned aerial vehicle performance cluster is obtained by using the three-dimensional model correlation processing algorithm, the following steps are carried out:
determining a 3D model file related to a performance picture; the 3D model files related to the performance pictures are sourced from a 3D model file library;
and determining the number of the unmanned aerial vehicles for cluster performance, the minimum safe distance and the position parameters of the performance picture presentation.
3. The method for rapidly generating the stereoscopic pictures for the unmanned aerial vehicle performance cluster by using the three-dimensional model as claimed in claim 1, wherein the deleting and reconstructing the vertices and faces of the three-dimensional model comprises: deleting a plurality of vertexes and reconstructing a surface by using a three-dimensional model deleting processing and reconstructing algorithm so that the distance between all vertexes meets the requirement;
the vertex information comprises vertex coordinates, and the three-dimensional coordinates of the unmanned aerial vehicle in the actual world are calculated through the vertex coordinates.
4. A method as claimed in claim 3, wherein the three-dimensional model is used to rapidly generate a stereoscopic picture of a cluster unmanned aerial vehicle performance, wherein the three-dimensional model comprises two vertexes u, v and an edge uv, one of the vertexes u is selected and moved towards the vertex v until the two vertexes coincide, all triangles with uv as an edge are removed, all places used for the vertex u are replaced by the vertex v, and finally the vertex u is removed; and by analogy, deleting more vertexes and reconstructing the triangle.
5. A system for rapidly generating stereoscopic pictures for the performance of clustered unmanned aerial vehicles by using three-dimensional models is characterized by comprising the following steps:
the model file and parameter acquisition module is used for determining a 3D model file related to a performance picture; the system is also used for determining parameters such as the number of the unmanned aerial vehicles for the cluster performance, the minimum safe distance, the display position of the performance pictures and the like;
the vertex and face information acquisition module is used for acquiring information of all vertexes and faces of the three-dimensional model file by using a three-dimensional model related processing algorithm;
the three-dimensional model processing module is used for deleting and reconstructing the vertexes and the surfaces of the three-dimensional model according to the obtained information of the vertexes and the surfaces;
and the three-dimensional world coordinate acquisition module is used for calculating the three-dimensional world coordinates of all unmanned aerial vehicles according to the determined parameters and the three-dimensional model after the deletion processing.
6. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle carries the system for rapidly generating stereoscopic pictures for the performance of the cluster unmanned aerial vehicle by using the three-dimensional model as claimed in claim 5, and implements the method for rapidly generating stereoscopic pictures for the performance of the cluster unmanned aerial vehicle by using the three-dimensional model as claimed in any one of claims 1 to 4.
7. A computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method of rapidly generating clustered drone performance stereograms using three-dimensional models as claimed in any one of claims 1 to 4.
8. A computer device, characterized in that the computer device comprises a memory and a processor, the memory stores a computer program, and the computer program when executed by the processor causes the processor to execute the method for fast generation of stereoscopic pictures for the performance of clustered drones using three-dimensional models as claimed in any one of claims 1 to 4.
9. An information data processing terminal, characterized in that the information data processing terminal is used for implementing the method for rapidly generating the stereoscopic pictures of the clustered unmanned aerial vehicle performance by using the three-dimensional model as claimed in any one of claims 1 to 4.
10. Use of the method for fast generation of stereoscopic pictures of a cluster drone performance using three-dimensional models according to any one of claims 1 to 4 in public welfare, commercial campaigns, advertising performances.
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