CN113137955A - Unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography - Google Patents
Unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses an unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography, which aims to realize the basic operation of simulating the aerial survey of an unmanned aerial vehicle on a computer, obtains a three-dimensional fine model of a real scene in various modes such as oblique photogrammetry, close photogrammetry, laser scanning data three-dimensional reconstruction, artificial modeling and the like, or obtains a three-dimensional scene model of a non-real scene in an artificial modeling mode, judges whether a set unmanned aerial vehicle flight path is intersected with the three-dimensional scene model, the virtual unmanned aerial vehicle flies along the flight path, displays a corresponding virtual photographic image on the computer at a first visual angle of the virtual unmanned aerial vehicle or at a third visual angle at a viewpoint near the virtual unmanned aerial vehicle, carries out virtual photography at each hovering photographic point on the flight path, obtains the corresponding virtual photographic image of the three-dimensional scene model under the illumination model of different weather, and carries out control point arrangement of the virtual photographic image, and generating the virtual photographic image into a geographic information product of a virtual simulation system by using aerial survey interior software.
Description
Technical Field
The invention relates to the technical field of aerial survey virtual simulation of unmanned aerial vehicles, in particular to an aerial survey virtual simulation method of an unmanned aerial vehicle based on scene modeling and virtual photography.
Background
The unmanned aerial vehicle aerial survey field operation has certain risks, and under the condition that the actual terrain of aerial survey is unfamiliar, the ground station airline is used for improper planning, or weather such as strong wind is met, so that the danger of explosion is easily caused; weather conditions such as illumination produce direct image to unmanned aerial vehicle aerial survey field image capture effect, produce important influence to aerial survey interior data generating effect promptly, need select suitable illumination condition to carry out unmanned aerial vehicle aerial survey field shooting.
The virtual simulation experiment platform for the photogrammetry of the unmanned aerial vehicle is based on a surveying and mapping unmanned aerial vehicle, an indoor terrain and landform sand table and a digital photogrammetry workstation, simulates actual aerial photogrammetry and 4D product production, and designs experiment contents such as air route planning, flight simulation, camera control, data processing software use and 4D data product production.
According to a topographic map, an aerial photo or a field topography, the indoor topographic and geomorphic sand table is a model piled by silt, wood and other materials according to a certain proportional relation, is of a hardware structure, is difficult to manufacture, is inconvenient to update and has few varieties; the three-dimensional live-action model has multiple modeling modes, including oblique photogrammetry, close photogrammetry, three-dimensional reconstruction of laser scanning data, artificial modeling and the like, and the three-dimensional modeling mode is flexible and high in precision.
Proximity photogrammetry is a third type of photogrammetry that is different from vertical aerial photogrammetry, oblique photogrammetry. The close-up photogrammetry mainly solves the problem that in the prior art, sub-centimeter or even millimeter-scale ultrahigh resolution images on the ground (such as landslides, dams, high slopes and the like) or the surfaces of artificial objects (such as tall ancient buildings, landmark buildings and the like) cannot be efficiently acquired, and further refined three-dimensional reconstruction is difficult to realize.
The existing unmanned aerial vehicle aerial survey virtual simulation software does not support three-dimensional fine modeling of a real scene, virtual photography of a three-dimensional scene model under illumination models of different weathers, three-dimensional modeling based on a virtual photographic image, airline collision detection based on the three-dimensional scene model and the like.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography aiming at the defects of the prior art.
The technical scheme for solving the problems comprises the following steps: an unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography comprises the following steps:
s1, acquiring a three-dimensional scene model through rotor unmanned aerial vehicle oblique photogrammetry, close photogrammetry, laser scanning data three-dimensional reconstruction or artificial modeling, generating a three-dimensional model of a virtual unmanned aerial vehicle, and determining internal parameters of virtual cameras A and B;
s2, interactive operation is carried out on the system through a simulation control device equipped in the virtual simulation system, the unmanned aerial vehicle route type and aerial survey parameters of the ground station are set, the flight range, the flight speed, the flight altitude, the course overlapping degree and the side overlapping degree are included, the space positions of each equal time interval point and each hovering shooting point of the unmanned aerial vehicle route and the postures of the virtual unmanned aerial vehicle and the virtual camera A in the space positions can be determined;
s3, taking the set route as an axis, taking the radius of the surrounding sphere of the virtual unmanned aerial vehicle as a radius to form a space cylinder, detecting whether the space cylinder is intersected with the three-dimensional scene model in the flight range, if so, colliding the virtual unmanned aerial vehicle with the three-dimensional scene model, displaying the collided space position by the computer, and if not, switching to S2 to execute the step S4, otherwise, executing the step S4;
s4, the virtual unmanned aerial vehicle flies along the flight path set in the step S2, the position and the posture of the virtual unmanned aerial vehicle can be corrected by selecting or not selecting natural conditions such as weather, corresponding virtual photographic images are displayed on the computer at a first visual angle of the virtual unmanned aerial vehicle or a third visual angle at a viewpoint near the virtual unmanned aerial vehicle at intervals of a certain time, each hovering photographic point on the flight path is subjected to virtual photography to obtain virtual photographic images of the three-dimensional scene model under the illumination model of different weather, and the geographic information coordinates of the hovering photographic points are recorded in pos files;
and S5, based on the virtual photographic images of all hovering photographic points on the flight route, laying image control points of the virtual photographic images, and generating geographic information products of the virtual simulation system by using the aerial survey internal business software, wherein the geographic information products comprise a digital elevation model, a digital orthophoto map, a three-dimensional model and the like.
Specifically, step S1 includes the following steps:
s1a, acquiring a three-dimensional fine model of a working area in a real scene by using a rotor unmanned aerial vehicle oblique photogrammetry, a close photogrammetry and a laser scanning data three-dimensional reconstruction mode, acquiring three-dimensional scene models of a plurality of different areas, or acquiring a three-dimensional scene model of a non-real scene by using an artificial modeling mode, and storing the three-dimensional scene model in a computer external memory;
step S1b, generating a corresponding three-dimensional model of a virtual unmanned aerial vehicle through the actual three-dimensional modeling of the aerial survey unmanned aerial vehicle, or obtaining the three-dimensional model of the virtual unmanned aerial vehicle through a manual modeling mode, wherein the three-dimensional model of the virtual unmanned aerial vehicle comprises a virtual holder and a virtual camera A;
step S1c, determining internal parameters of a virtual camera A through actual camera calibration of the aerial survey unmanned aerial vehicle, wherein the internal parameters comprise focal length, image principal point coordinates, distortion parameters and the like, or manually setting the internal parameters of the virtual camera A; the virtual camera B is a virtual camera for virtual photography at the third view angle of the virtual drone, and internal parameters of the virtual camera B are set manually.
In step S1, the internal parameters of the virtual cameras a and B include an input of camera calibration, image coordinates of all internal corner points on the calibration image, spatial three-dimensional coordinates of all internal corner points on the calibration board image, an output of camera calibration, internal reference and external reference coefficients of the video camera.
In step S2, the simulation control device provided by the system includes a flight control system simulation module and a camera system simulation module carried by the aerial survey model machine, and the simulation control device is subjected to parameter setting by using simulation debugging software, installed back to the aerial survey model machine after debugging, and synchronized to the unmanned aerial vehicle aerial survey virtual simulation system in real time through the 2.4G wireless module.
The unmanned aerial vehicle air route can be set into a two-dimensional air route, a three-dimensional air route, an interest point surrounding air route and the like.
Step S4, specifically including the steps of:
s4a, the virtual simulation system can or does not select natural conditions such as set wind speed, air pressure and temperature, the positions and postures of the virtual unmanned aerial vehicle and the virtual camera A are corrected at each equal time interval point and each hovering shooting point, if the operation is not selected, the next step is executed, whether the virtual unmanned aerial vehicle with the corrected positions and directions collides with the three-dimensional scene model or not is judged, if the collision occurs, the computer displays the space position where the collision occurs, and the step is executed in the S2, and if the collision does not occur, the next step is executed;
step S4b, calculating the photographing center and the posture of a virtual camera A at each equal time interval point of the virtual unmanned aerial vehicle on the air route, further obtaining the space range of the view pyramid of the virtual camera A, loading the three-dimensional scene model in the range into a computer memory, calculating the virtual photographic image of the three-dimensional scene model by using the illumination model, taking the posture of the virtual camera A as the first visual angle of the virtual unmanned aerial vehicle, and displaying the virtual photographic image on the computer at the current position by the virtual unmanned aerial vehicle at the first visual angle; or taking the position near the virtual unmanned aerial vehicle as a viewpoint B, and taking the direction from the viewpoint B to the center of the virtual unmanned aerial vehicle as a projection direction to obtain the spatial range of the view pyramid of the virtual camera B, loading the three-dimensional scene model and the virtual unmanned aerial vehicle in the range into a memory of a computer, calculating a virtual photographic image comprising the three-dimensional scene model and the three-dimensional model of the virtual unmanned aerial vehicle by using an illumination model, and displaying the virtual photographic image on the computer at the viewpoint B by using the virtual unmanned aerial vehicle at a third visual angle;
and S4c, calculating the photographing center and the posture of the virtual camera A at each hovering shooting point of the virtual unmanned aerial vehicle on the aerial route, further obtaining the spatial range of the view pyramid of the virtual camera A, loading the three-dimensional scene model in the range into a computer memory, calculating the virtual photographic image of the three-dimensional scene model by using the illumination model, and recording the geographic information coordinates of the hovering shooting points in a pos file.
The invention has the following beneficial effects:
the invention provides an unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography, three-dimensional fine models of real scenes are obtained through various modes such as oblique photogrammetry, close photogrammetry, three-dimensional reconstruction of laser scanning data, artificial modeling and the like, or obtaining a three-dimensional scene model of the non-real scene in a manual modeling mode, judging whether the set unmanned aerial vehicle air route is intersected with the three-dimensional scene model or not, enabling the virtual unmanned aerial vehicle to fly along the air route so as to simulate a first visual angle of the virtual unmanned aerial vehicle, or a corresponding virtual photographic image is displayed on the computer at a third viewing angle from a viewpoint in the vicinity thereof, and performing virtual photography at each hovering shooting point on the airline, acquiring virtual photographic images corresponding to the three-dimensional scene model under the illumination model of different weather, performing image control point layout of the virtual photographic images, and generating the virtual photographic images into geographic information products of the virtual simulation system by using the aerial survey internal business software.
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FIG. 1 is a flow chart of the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
As shown in fig. 1, an unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography specifically includes the following steps:
s1, acquiring a three-dimensional scene model through rotor unmanned aerial vehicle oblique photogrammetry, close photogrammetry, laser scanning data three-dimensional reconstruction or artificial modeling, generating a three-dimensional model of a virtual unmanned aerial vehicle, and determining internal parameters of virtual cameras A and B, wherein the internal parameters of the virtual cameras comprise camera calibration input, image coordinates of all internal corner points on a calibration image, space three-dimensional coordinates of all internal corner points on a calibration plate image, camera calibration output, internal parameters and external parameters of a video camera. The method comprises the following specific steps:
s1a, acquiring a three-dimensional fine model of a working area in a real scene by using a rotor unmanned aerial vehicle oblique photogrammetry, a close photogrammetry and a laser scanning data three-dimensional reconstruction mode, acquiring three-dimensional scene models of a plurality of different areas, or acquiring a three-dimensional scene model of a non-real scene by using an artificial modeling mode, and storing the three-dimensional scene model in a computer external memory;
step S1b, generating a corresponding three-dimensional model of a virtual unmanned aerial vehicle through the actual three-dimensional modeling of the aerial survey unmanned aerial vehicle, or obtaining the three-dimensional model of the virtual unmanned aerial vehicle through a manual modeling mode, wherein the three-dimensional model of the virtual unmanned aerial vehicle comprises a virtual holder and a virtual camera A;
step S1c, determining internal parameters of a virtual camera A through actual camera calibration of the aerial survey unmanned aerial vehicle, wherein the internal parameters comprise focal length, image principal point coordinates, distortion parameters and the like, or manually setting the internal parameters of the virtual camera A; the virtual camera B is a virtual camera for virtual photography at the third view angle of the virtual drone, and internal parameters of the virtual camera B are set manually.
S2, interactive operation is carried out on the simulation control equipment and the system through the virtual simulation system, the unmanned aerial vehicle airline type and the aerial survey parameters of the ground station are set, the space positions of each equal time interval point and each hovering shooting point of the unmanned aerial vehicle airline can be determined, the postures of the virtual unmanned aerial vehicle and the virtual camera A on the space positions are determined, the simulation control equipment provided by the system comprises an aerial survey model machine carrying flight control system simulation module and a camera system simulation module, the simulation control equipment is subjected to parameter setting by using simulation debugging software, and is installed back to the aerial survey model machine after debugging, and the parameters are synchronized into the unmanned aerial vehicle aerial survey virtual simulation system in real time through the 2.4G wireless module;
specifically, the unmanned aerial vehicle route may be set to a two-dimensional route, a three-dimensional route, a point-of-interest surrounding route, and the like.
S3, taking the set route as an axis, taking the radius of the surrounding sphere of the virtual unmanned aerial vehicle as a radius to form a space cylinder, detecting whether the space cylinder is intersected with the three-dimensional scene model in the flight range, if so, colliding the virtual unmanned aerial vehicle with the three-dimensional scene model, displaying the collided space position by the computer, and if not, switching to S2 to execute the step S4, otherwise, executing the step S4;
s4, the virtual unmanned aerial vehicle flies along the flight path set in the step S2, the position and the posture of the virtual unmanned aerial vehicle can be corrected by selecting or not selecting natural conditions such as weather, corresponding virtual photographic images are displayed on the computer at a first visual angle of the virtual unmanned aerial vehicle or a third visual angle at a viewpoint near the virtual unmanned aerial vehicle at intervals of a certain time, each hovering photographic point on the flight path is subjected to virtual photography, virtual photographic images of the three-dimensional scene model under the illumination model of different weather are obtained, and the geographic information coordinates of the hovering photographic points are recorded in a pos file. The method comprises the following specific steps:
s4a, the virtual simulation system can or does not select natural conditions such as set wind speed, air pressure and temperature, the positions and postures of the virtual unmanned aerial vehicle and the virtual camera A are corrected at each equal time interval point and each hovering shooting point, if the operation is not selected, the next step is executed, whether the virtual unmanned aerial vehicle with the corrected positions and directions collides with the three-dimensional scene model or not is judged, if the collision occurs, the computer displays the space position where the collision occurs, and the step is executed in the S2, and if the collision does not occur, the next step is executed;
step S4b, calculating the photographing center and the posture of a virtual camera A at each equal time interval point of the virtual unmanned aerial vehicle on the air route, further obtaining the space range of the view pyramid of the virtual camera A, loading the three-dimensional scene model in the range into a computer memory, calculating the virtual photographic image of the three-dimensional scene model by using the illumination model, taking the posture of the virtual camera A as the first visual angle of the virtual unmanned aerial vehicle, and displaying the virtual photographic image on the computer at the current position by the virtual unmanned aerial vehicle at the first visual angle; or taking the position near the virtual unmanned aerial vehicle as a viewpoint B, and taking the direction from the viewpoint B to the center of the virtual unmanned aerial vehicle as a projection direction to obtain the spatial range of the view pyramid of the virtual camera B, loading the three-dimensional scene model and the virtual unmanned aerial vehicle in the range into a memory of a computer, calculating a virtual photographic image comprising the three-dimensional scene model and the three-dimensional model of the virtual unmanned aerial vehicle by using an illumination model, and displaying the virtual photographic image on the computer at the viewpoint B by using the virtual unmanned aerial vehicle at a third visual angle;
step S4c, calculating the photographing center and the posture of a virtual camera A at each hovering shooting point of a virtual unmanned aerial vehicle on an aerial route, further obtaining the spatial range of a view pyramid of the virtual camera A, loading a three-dimensional scene model in the range into a computer memory, calculating a virtual photographic image of the three-dimensional scene model by using an illumination model, and recording the geographic information coordinates of the hovering shooting points in a pos file;
specifically, the illumination model may be set to an illumination model in sunny days, cloudy days, and other different weather conditions, and the illumination model in sunny days, cloudy days, and other weather conditions may be set to an illumination model in different angle conditions of the sun.
S5, based on the virtual photographic images of all hovering photographic points on the flight route, laying image control points of the virtual photographic images, and generating geographic information products of the virtual simulation system by using aerial survey internal business software, wherein the geographic information products comprise a digital elevation model, a digital orthophoto map, a three-dimensional model and the like;
specifically, an orthographic image map preset by the system is used as an aerial survey operation map, image control point marking can be carried out on the virtual photographic image according to the aerial survey operation map, measurement software can be entered after the image control point marking, RTK analog differential positioning is carried out on the image control point, and coordinate information of the image control point is obtained.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (6)
1. An unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography is characterized in that: the method comprises the following steps:
s1, acquiring a three-dimensional scene model through rotor unmanned aerial vehicle oblique photogrammetry, close photogrammetry, laser scanning data three-dimensional reconstruction or artificial modeling, generating a three-dimensional model of a virtual unmanned aerial vehicle, and determining internal parameters of virtual cameras A and B;
s2, interactive operation is carried out on the system through a simulation control device equipped in the virtual simulation system, the unmanned aerial vehicle route type and aerial survey parameters of the ground station are set, the flight range, the flight speed, the flight altitude, the course overlapping degree and the side overlapping degree are included, the space positions of each equal time interval point and each hovering shooting point of the unmanned aerial vehicle route and the postures of the virtual unmanned aerial vehicle and the virtual camera A in the space positions can be determined;
s3, taking the set route as an axis, taking the radius of the surrounding sphere of the virtual unmanned aerial vehicle as a radius to form a space cylinder, detecting whether the space cylinder is intersected with the three-dimensional scene model in the flight range, if so, colliding the virtual unmanned aerial vehicle with the three-dimensional scene model, displaying the collided space position by the computer, and if not, switching to S2 to execute the step S4, otherwise, executing the step S4;
s4, the virtual unmanned aerial vehicle flies along the flight path set in the step S2, the position and the posture of the virtual unmanned aerial vehicle can be corrected by selecting or not selecting natural conditions such as weather, corresponding virtual photographic images are displayed on the computer at a first visual angle of the virtual unmanned aerial vehicle or a third visual angle at a viewpoint near the virtual unmanned aerial vehicle at intervals of a certain time, each hovering photographic point on the flight path is subjected to virtual photography to obtain virtual photographic images of the three-dimensional scene model under the illumination model of different weather, and the geographic information coordinates of the hovering photographic points are recorded in pos files;
and S5, based on the virtual photographic images of all hovering photographic points on the flight route, laying image control points of the virtual photographic images, and generating geographic information products of the virtual simulation system by using aerial survey internal business software, wherein the geographic information products comprise a digital elevation model, a digital orthophoto map and a three-dimensional model.
2. The unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography of claim 1, characterized in that: step S1, specifically including the steps of:
s1a, acquiring a three-dimensional fine model of a working area in a real scene by using a rotor unmanned aerial vehicle oblique photogrammetry, a close photogrammetry and a laser scanning data three-dimensional reconstruction mode, acquiring three-dimensional scene models of a plurality of different areas, or acquiring a three-dimensional scene model of a non-real scene by using an artificial modeling mode, and storing the three-dimensional scene model in a computer external memory;
step S1b, generating a corresponding three-dimensional model of a virtual unmanned aerial vehicle through the actual three-dimensional modeling of the aerial survey unmanned aerial vehicle, or obtaining the three-dimensional model of the virtual unmanned aerial vehicle through a manual modeling mode, wherein the three-dimensional model of the virtual unmanned aerial vehicle comprises a virtual holder and a virtual camera A;
step S1c, determining internal parameters of a virtual camera A through actual camera calibration of the aerial survey unmanned aerial vehicle, wherein the internal parameters comprise focal length, image principal point coordinates, distortion parameters and the like, or manually setting the internal parameters of the virtual camera A; the virtual camera B is a virtual camera for virtual photography at the third view angle of the virtual drone, and internal parameters of the virtual camera B are set manually.
3. The unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography of claim 1 or 2, characterized in that: in step S1, the internal parameters of the virtual cameras a and B include an input of camera calibration, image coordinates of all internal corner points on the calibration image, spatial three-dimensional coordinates of all internal corner points on the calibration board image, an output of camera calibration, internal reference and external reference coefficients of the video camera.
4. The unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography of claim 1, characterized in that: in step S2, the simulation control device provided by the system includes a flight control system simulation module and a camera system simulation module carried by the aerial survey model machine, and the simulation control device is subjected to parameter setting by using simulation debugging software, installed back to the aerial survey model machine after debugging, and synchronized to the unmanned aerial vehicle aerial survey virtual simulation system in real time through the 2.4G wireless module.
5. The unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography of claim 1 or 4, characterized in that: the unmanned aerial vehicle air route can be set into a two-dimensional air route, a three-dimensional air route, an interest point surrounding air route and the like.
6. The unmanned aerial vehicle aerial survey virtual simulation method based on scene modeling and virtual photography of claim 1, characterized in that: step S4, specifically including the steps of:
s4a, the virtual simulation system can or does not select natural conditions such as set wind speed, air pressure and temperature, the positions and postures of the virtual unmanned aerial vehicle and the virtual camera A are corrected at each equal time interval point and each hovering shooting point, if the operation is not selected, the next step is executed, whether the virtual unmanned aerial vehicle with the corrected positions and directions collides with the three-dimensional scene model or not is judged, if the collision occurs, the computer displays the space position where the collision occurs, and the step is executed in the S2, and if the collision does not occur, the next step is executed;
step S4b, calculating the photographing center and the posture of a virtual camera A at each equal time interval point of the virtual unmanned aerial vehicle on the air route, further obtaining the space range of the view pyramid of the virtual camera A, loading the three-dimensional scene model in the range into a computer memory, calculating the virtual photographic image of the three-dimensional scene model by using the illumination model, taking the posture of the virtual camera A as the first visual angle of the virtual unmanned aerial vehicle, and displaying the virtual photographic image on the computer at the current position by the virtual unmanned aerial vehicle at the first visual angle; or taking the position near the virtual unmanned aerial vehicle as a viewpoint B, and taking the direction from the viewpoint B to the center of the virtual unmanned aerial vehicle as a projection direction to obtain the spatial range of the view pyramid of the virtual camera B, loading the three-dimensional scene model and the virtual unmanned aerial vehicle in the range into a memory of a computer, calculating a virtual photographic image comprising the three-dimensional scene model and the three-dimensional model of the virtual unmanned aerial vehicle by using an illumination model, and displaying the virtual photographic image on the computer at the viewpoint B by using the virtual unmanned aerial vehicle at a third visual angle;
and S4c, calculating the photographing center and the posture of the virtual camera A at each hovering shooting point of the virtual unmanned aerial vehicle on the aerial route, further obtaining the spatial range of the view pyramid of the virtual camera A, loading the three-dimensional scene model in the range into a computer memory, calculating the virtual photographic image of the three-dimensional scene model by using the illumination model, and recording the geographic information coordinates of the hovering shooting points in a pos file.
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| CN114397631A (en) * | 2021-12-20 | 2022-04-26 | 中国电子科技集团公司第三十八研究所 | Large radar antenna array surface precision measuring method and system |
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| CN117979168A (en) * | 2024-04-01 | 2024-05-03 | 佳木斯大学 | Intelligent camera management system for aerobics competition video shooting |
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