CN113449021B - Space coordinate conversion method, apparatus, computer device, and readable storage medium - Google Patents
Space coordinate conversion method, apparatus, computer device, and readable storage medium Download PDFInfo
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Abstract
The invention provides a space coordinate conversion method, a device, computer equipment and a readable storage medium, wherein the method comprises the following steps: acquiring a two-dimensional space map to be converted; constructing a three-dimensional scene map according to the two-dimensional space map; acquiring two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map; according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining a space coordinate conversion relation between the two-dimensional space map and the three-dimensional scene map; the invention solves the problem that the prior art can not convert the two-dimensional space coordinates into the three-dimensional space coordinates, and can convert the coordinate system in the two-dimensional space map into the corresponding three-dimensional space coordinate system by the conversion relation of the invention, thereby improving the interconnection relation of the two space coordinate systems.
Description
Technical Field
The present invention relates to the field of coordinate transformation technologies, and in particular, to a spatial coordinate transformation method, a spatial coordinate transformation device, a computer device, and a readable storage medium.
Background
With the improvement of living standard, the position-based service has become an indispensable part of the daily life of the masses, and the electronic map is used as a base stone based on the position service to provide visual position information for the masses; the electronic map comprises a two-dimensional space map and a three-dimensional space map, but the coordinate system of the two-dimensional space map has only X coordinates and Y coordinates, and the three-dimensional space map has Z coordinates, so that the coordinates of the two-dimensional space map cannot be combined into the three-dimensional space for use.
Therefore, how to convert two-dimensional space coordinates into three-dimensional space coordinates is a problem that needs to be solved at present.
Disclosure of Invention
Aiming at the defects in the prior art, the space coordinate conversion method, the device, the computer equipment and the readable storage medium provided by the invention solve the problem that the prior art can not convert two-dimensional space coordinates into three-dimensional space coordinates, and through the conversion relation of the invention, the coordinate system in the two-dimensional space map can be converted into the corresponding three-dimensional space coordinate system, so that the interconnection relation of the two space coordinate systems is improved.
In a first aspect, the present invention provides a spatial coordinate transformation method, the method comprising: acquiring a two-dimensional space map to be converted; constructing a three-dimensional scene map according to the two-dimensional space map; acquiring two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map; and according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining the space coordinate conversion relation between the two-dimensional space map and the three-dimensional scene map.
Optionally, constructing a three-dimensional scene map according to the two-dimensional space map includes: acquiring modeling basic data in the two-dimensional space map; carrying out three-dimensional object marking on the modeling basic data according to the live-action graph of the two-dimensional space map to obtain the vertical height of each three-dimensional object; and constructing the three-dimensional scene map through modeling software according to the modeling basic data and the vertical height of each three-dimensional object.
Optionally, according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining a spatial coordinate conversion relationship between the two-dimensional spatial map and the three-dimensional scene map includes: acquiring a fitting zero point of a three-dimensional zero point in the three-dimensional scene map in the two-dimensional space map according to the two-dimensional coordinates and the three-dimensional coordinates; and obtaining a target three-dimensional coordinate corresponding to the two-dimensional coordinate to be converted according to the fitting zero point and the two-dimensional coordinate to be converted.
Optionally, according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining a fitting zero point of a three-dimensional zero point in the three-dimensional scene map in the two-dimensional space map includes: according to the two-dimensional coordinates and the three-dimensional coordinates, a first difference of two different target points on a two-dimensional space map and a second difference of the two different target points on a three-dimensional scene map are obtained; according to the second gap, a gap ratio from the target point to a three-dimensional zero point in the three-dimensional scene map is obtained; acquiring a fitting distance from the target point to a two-dimensional zero point in a two-dimensional space map according to the gap ratio and the first gap; and acquiring the fitting zero point of the three-dimensional zero point in the two-dimensional space map according to the fitting distance.
Optionally, according to the fitting zero point and the two-dimensional coordinate to be converted, obtaining the target three-dimensional coordinate corresponding to the two-dimensional coordinate to be converted includes: acquiring a two-dimensional distance difference from the two-dimensional coordinate to be converted to the fitting zero point; obtaining a conversion coordinate corresponding to the two-dimensional coordinate to be converted in the three-dimensional scene map according to the two-dimensional distance difference, the first difference and the second difference; and adding the vertical height into the converted coordinates according to a preset rule to obtain the target three-dimensional coordinates.
Optionally, when the two different target points are a first target point and a second target point, the two-dimensional coordinates of the two different target points in the two-dimensional space map include the two-dimensional coordinates of the first target point and the two-dimensional coordinates of the second target point; the three-dimensional coordinates of the two different target points in the three-dimensional scene map include the three-dimensional coordinates of the first target point and the three-dimensional coordinates of the second target point.
Optionally, the spatial coordinate conversion formula of the two-dimensional spatial map and the three-dimensional scene map is:
wherein P represents a two-dimensional coordinate to be converted, P ' represents a three-dimensional coordinate after spatial conversion, M represents a two-dimensional coordinate of the first target point, M ' represents a three-dimensional coordinate of the first target point, N represents a two-dimensional coordinate of the second target point, and N ' represents a three-dimensional coordinate of the second target point.
In a second aspect, the present invention provides a spatial coordinate conversion device, the device comprising: the two-dimensional map acquisition module is used for acquiring a two-dimensional space map to be converted; the three-dimensional map construction module is used for constructing a three-dimensional scene map according to the two-dimensional space map; the coordinate acquisition module is used for acquiring two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map; and the conversion module is used for obtaining the space coordinate conversion relation between the two-dimensional space map and the three-dimensional scene map according to the two-dimensional coordinates and the three-dimensional coordinates.
In a third aspect, the present invention provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring a two-dimensional space map to be converted; constructing a three-dimensional scene map according to the two-dimensional space map; acquiring two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map; and according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining the space coordinate conversion relation between the two-dimensional space map and the three-dimensional scene map.
In a fourth aspect, the present invention provides a readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of: acquiring a two-dimensional space map to be converted; constructing a three-dimensional scene map according to the two-dimensional space map; acquiring two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map; and according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining the space coordinate conversion relation between the two-dimensional space map and the three-dimensional scene map.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, a three-dimensional scene map is constructed according to the two-dimensional space map in proportion, the two-dimensional coordinates of two different target points in the two-dimensional space map and the corresponding three-dimensional coordinates in the three-dimensional scene map are subjected to coordinate conversion, and then equal proportion elevation information is added, so that the space conversion relation from the two-dimensional coordinates to the three-dimensional coordinates is finally obtained, the problem that the two-dimensional space coordinates cannot be converted into the three-dimensional space coordinates in the prior art is solved, and the coordinate system in the two-dimensional space map can be converted into the corresponding three-dimensional space coordinate system through the conversion relation of the invention, so that the interconnection relation of the two space coordinate systems is improved.
Drawings
Fig. 1 is a schematic flow chart of a spatial coordinate transformation method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart showing the specific process of step S102 in fig. 1;
fig. 3 is a schematic flow chart of another spatial coordinate transformation method according to an embodiment of the present invention;
fig. 4 is a block diagram of a spatial coordinate transformation device according to an embodiment of the present invention.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Fig. 1 is a schematic flow chart of a spatial coordinate transformation method according to an embodiment of the present invention; as shown in fig. 1, the spatial coordinate transformation method specifically includes the following steps:
step S101, a two-dimensional space map to be converted is acquired.
In this embodiment, the two-dimensional space map may be a hundred-degree map or a high-altitude map in the prior art, or may be a two-dimensional plane map generated according to a plane drawing of a specific scene; the two-dimensional planar map may be configured to have a map range according to a preset boundary, that is, the two-dimensional spatial map to be converted is a map with a boundary.
And step S102, constructing a three-dimensional scene map according to the two-dimensional space map.
In this embodiment, as shown in fig. 2, the construction of the three-dimensional scene map from the two-dimensional space map includes the following steps:
step S201, collecting modeling basic data in the two-dimensional space map;
step S202, carrying out three-dimensional object marking on the modeling basic data according to a live-action diagram of the two-dimensional space map to obtain the vertical height of each three-dimensional object;
and step S203, constructing the three-dimensional scene map through modeling software according to the modeling basic data and the vertical height of each three-dimensional object.
In this embodiment, the modeling basic data includes longitude and latitude data of roads and buildings, and a two-dimensional plane unit is proportionally generated in three-dimensional modeling software according to the modeling basic data; and then, carrying out three-dimensional object marking according to a real scene corresponding to the two-dimensional space map to obtain a set vertical height of each three-dimensional object, generating a vertical height of a two-dimensional plane unit, and superposing the vertical heights of the two-dimensional plane unit and the two-dimensional plane unit to construct the three-dimensional scene map.
Step S103, two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map are obtained.
The three-dimensional scene map is constructed according to a certain proportion of the two-dimensional space map, and the three-dimensional zero point of the three-dimensional scene map is different from the two-dimensional zero point of the two-dimensional space map; setting the two different target points as a first target point and a second target point, wherein the two-dimensional coordinates of the two different target points in the two-dimensional space map comprise the two-dimensional coordinates of the first target point and the two-dimensional coordinates of the second target point; the three-dimensional coordinates of the two different target points in the three-dimensional scene map comprise the three-dimensional coordinates of a first target point and the three-dimensional coordinates of a second target point; the two-dimensional coordinates and the three-dimensional coordinates of the two different target points can be acquired in an artificially defined manner.
And step S104, according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining the space coordinate conversion relation between the two-dimensional space map and the three-dimensional scene map.
In this embodiment, according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining a spatial coordinate conversion relationship between the two-dimensional spatial map and the three-dimensional scene map includes: acquiring a fitting zero point of a three-dimensional zero point in the three-dimensional scene map in the two-dimensional space map according to the two-dimensional coordinates and the three-dimensional coordinates; and obtaining a target three-dimensional coordinate corresponding to the two-dimensional coordinate to be converted according to the fitting zero point and the two-dimensional coordinate to be converted.
In this embodiment, according to the two-dimensional coordinates and the three-dimensional coordinates, the obtaining the fitting zero point of the three-dimensional zero point in the three-dimensional scene map in the two-dimensional space map specifically includes the following steps:
step S301, according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining a first gap of two different target points on a two-dimensional space map and a second gap of the two different target points on a three-dimensional scene map;
step S302, according to the second gap, a gap ratio from the target point to a three-dimensional zero point in the three-dimensional scene map is obtained;
step S303, obtaining the fitting distance between the target point and a two-dimensional zero point in a two-dimensional space map according to the gap ratio and the first gap;
and step S304, acquiring the fitting zero point of the three-dimensional zero point in the two-dimensional space map according to the fitting distance.
In this embodiment, according to the fitting zero point and the two-dimensional coordinate to be converted, obtaining the target three-dimensional coordinate corresponding to the two-dimensional coordinate to be converted includes obtaining a two-dimensional distance difference from the two-dimensional coordinate to be converted to the fitting zero point; obtaining a conversion coordinate corresponding to the two-dimensional coordinate to be converted in the three-dimensional scene map according to the two-dimensional distance difference, the first difference and the second difference; and adding the vertical height into the converted coordinates according to a preset rule to obtain the target three-dimensional coordinates.
It should be noted that, the two-dimensional coordinates of the first target point are (jfb _real_x, jfb _real_y), the three-dimensional coordinates of the first target point are (jfb _ue_x, jfb _ue_y, jfb _ue_z), the two-dimensional coordinates of the second target point are (lfs _real_x, lfs _real_y), the three-dimensional coordinates of the second target point are (lfs _ue_x, lfs _ue_y, lfs _ue_z), the two-dimensional coordinates to be converted are (lat_x, lat_y), and the three-dimensional coordinates of the target obtained by spatially converting the two-dimensional coordinates to be converted are (hat_t_x, hat_t_y, hat_t_z).
In this embodiment, the conversion relationship between the X coordinate and the Y coordinate in the three-dimensional coordinate of the target is the same, and in this embodiment, the distance description is performed by taking the Y coordinate of the three-dimensional coordinate of the target as an example, and the specific conversion steps are as follows:
(1) Acquiring a first difference dis_real_y of a first target point and a second target point on a two-dimensional space map, wherein the calculation formula is as follows:
dis_real_y＝lfs_real_y-jfb_real_y
obtaining a second difference dis_ue_y of the first target point and the second target point on the three-dimensional space map, wherein the calculation formula is as follows:
dis_ue_y＝lfs_ue_y-jfb_ue_y
(2) The method comprises the steps of obtaining a difference ratio rate_ue_y from a first target point to a three-dimensional zero point in a three-dimensional scene map, wherein the calculation formula is as follows:
(3) Obtaining a fitting distance dis_ jfb from the first target point to a two-dimensional zero point in a two-dimensional space map, wherein the calculating formula is as follows:
dis_jfb_ue＝rate_ue_y*dis_real_y
(4) Obtaining a fitting zero_real_y of the three-dimensional zero point in the two-dimensional space map, wherein the calculating formula is as follows:
zero_real_y＝jfb_real_y-dis_jfb_ue
(5) The two-dimensional distance difference dis_to_zero_y from the two-dimensional coordinates to be converted to the fitting zero point is obtained, and the calculation formula is as follows:
dis_to_zero_y＝lat_y-zero_real_y
(6) The calculation formula of the conversion coordinate hat_t_y corresponding to the two-dimensional coordinate to be converted in the three-dimensional scene map is as follows:
therefore, the Y coordinate of the three-dimensional coordinate of the target is obtained through the steps, the X coordinate of the three-dimensional coordinate of the target can be obtained according to the same conversion process, plane positioning can be carried out in the three-dimensional scene map according to the X coordinate and the Y coordinate of the three-dimensional coordinate of the target, and the Z coordinate of the three-dimensional coordinate of the target can be obtained according to the vertical height of the target point in plane positioning, so that the three-dimensional coordinate of the target of the two-dimensional coordinate to be converted can be obtained according to the X coordinate, the Y coordinate and the Z coordinate.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, a three-dimensional scene map is constructed according to the two-dimensional space map in proportion, the two-dimensional coordinates of two different target points in the two-dimensional space map and the corresponding three-dimensional coordinates in the three-dimensional scene map are subjected to coordinate conversion, and then equal proportion elevation information is added, so that the space conversion relation from the two-dimensional coordinates to the three-dimensional coordinates is finally obtained, the problem that the two-dimensional space coordinates cannot be converted into the three-dimensional space coordinates in the prior art is solved, and the coordinate system in the two-dimensional space map can be converted into the corresponding three-dimensional space coordinate system through the conversion relation of the invention, so that the interconnection relation of the two space coordinate systems is improved.
In an embodiment of the present invention, a spatial coordinate conversion formula of the two-dimensional spatial map and the three-dimensional scene map is:
wherein P represents a two-dimensional coordinate to be converted, P ' represents a three-dimensional coordinate after spatial conversion, M represents a two-dimensional coordinate of the first target point, M ' represents a three-dimensional coordinate of the first target point, N represents a two-dimensional coordinate of the second target point, and N ' represents a three-dimensional coordinate of the second target point.
It should be noted that the two-dimensional coordinates and the three-dimensional coordinates referred to in the above formula include only the X-axis coordinates or the Y-axis coordinates, and the calculation of the X-axis coordinates and the Y-axis coordinates is performed by the above formula, respectively.
In the embodiment of the invention, the two-dimensional coordinates of a third target point and the corresponding calibration three-dimensional coordinates in the three-dimensional scene map are obtained in the two-dimensional space map, the two-dimensional coordinates of the third target point are brought into the formula and converted into target three-dimensional coordinates, the error value of the target three-dimensional coordinates and the calibration three-dimensional coordinates is obtained, and when the error value is larger than a preset error, the coordinates of the two different target points are calibrated until the error value is smaller than or equal to the preset error.
In this embodiment, the step of spatial coordinate transformation further includes: (1) acquiring a map range of coordinates to be converted: predesigned boundaries of a scene to be constructed correspond to real map boundaries according to equal proportion; (2) transmitting to a server through algorithm conversion: coordinates of the same place of the real scene and the construction scene are taken, three different places are taken, three-point coordinates corresponding to the real scene and the construction scene are obtained, two points are converted, one point is verified, a construction scene coordinate tool is obtained through conversion of the coordinates corresponding to the two points, and the converted XYZ coordinates are obtained after elevation information of the monitored topography is added; (3) Verifying the converted coordinates and sending the converted coordinates to a large-screen three-dimensional map system; (4) After the three-dimensional coordinate system is received by the large-screen three-dimensional map to obtain the coordinates, the coordinates of the constructed scene can be corresponding to the coordinates of the real scene.
In this embodiment, the boundary of the constructed scene corresponds to the real map boundary according to an equal proportion, three common corresponding points (two points are used for conversion and the other point is used for testing) are searched through the map proportion and the corresponding boundary, a corresponding coordinate formula is converted by using the known boundary and proportion corresponding points, equal proportion elevation information is added, and then a third point personal book is tested by using the formula, so that accuracy and a converted result are obtained.
Fig. 4 is a block diagram of a spatial coordinate conversion device according to an embodiment of the present invention; as shown in fig. 4, the spatial coordinate conversion device includes:
the two-dimensional map acquisition module 110 acquires a two-dimensional space map to be converted;
the three-dimensional map construction module 120 is configured to construct a three-dimensional scene map according to the two-dimensional space map;
a coordinate acquiring module 130, configured to acquire two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map;
and the conversion module 140 is configured to obtain a spatial coordinate conversion relationship between the two-dimensional spatial map and the three-dimensional scene map according to the two-dimensional coordinates and the three-dimensional coordinates.
In another embodiment of the invention, a computer device is provided comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of: acquiring a two-dimensional space map to be converted; constructing a three-dimensional scene map according to the two-dimensional space map; acquiring two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map; and according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining the space coordinate conversion relation between the two-dimensional space map and the three-dimensional scene map.
In yet another embodiment of the present invention, there is provided a readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of: acquiring a two-dimensional space map to be converted; constructing a three-dimensional scene map according to the two-dimensional space map; acquiring two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map; and according to the two-dimensional coordinates and the three-dimensional coordinates, obtaining the space coordinate conversion relation between the two-dimensional space map and the three-dimensional scene map.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (7)
1. A method of spatial coordinate conversion, the method comprising:
acquiring a two-dimensional space map to be converted;
constructing a three-dimensional scene map according to the two-dimensional space map;
acquiring two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map;
according to the two-dimensional coordinates and the three-dimensional coordinates, a first difference of two different target points on a two-dimensional space map and a second difference of the two different target points on a three-dimensional scene map are obtained;
according to the second gap, a gap ratio from the target point to a three-dimensional zero point in the three-dimensional scene map is obtained;
acquiring a fitting distance from the target point to a two-dimensional zero point in a two-dimensional space map according to the gap ratio and the first gap;
acquiring a fitting zero point of the three-dimensional zero point in the two-dimensional space map according to the fitting distance;
acquiring a two-dimensional distance difference from the two-dimensional coordinate to be converted to the fitting zero point;
obtaining a conversion coordinate corresponding to the two-dimensional coordinate to be converted in the three-dimensional scene map according to the two-dimensional distance difference, the first difference and the second difference;
adding vertical height into the converted coordinates according to a preset rule to obtain target three-dimensional coordinates;
the two-dimensional zero point is the zero point of the two-dimensional space map, the three-dimensional zero point is the zero point of the three-dimensional scene map, the fitting zero point is the zero point corresponding to the three-dimensional zero point in the two-dimensional space map, the difference ratio is the ratio of the coordinates of the target point to the second difference, and the two-dimensional difference is the distance from the two-dimensional coordinates to be converted to the fitting zero point.
2. The space coordinate conversion method according to claim 1, wherein constructing a three-dimensional scene map from the two-dimensional space map comprises:
acquiring modeling basic data in the two-dimensional space map;
carrying out three-dimensional object marking on the modeling basic data according to the live-action graph of the two-dimensional space map to obtain the vertical height of each three-dimensional object;
and constructing the three-dimensional scene map through modeling software according to the modeling basic data and the vertical height of each three-dimensional object.
3. The spatial coordinate conversion method according to claim 1, wherein when the two different target points are a first target point and a second target point, two-dimensional coordinates of the two different target points in the two-dimensional spatial map include two-dimensional coordinates of the first target point and two-dimensional coordinates of the second target point;
the three-dimensional coordinates of the two different target points in the three-dimensional scene map include the three-dimensional coordinates of the first target point and the three-dimensional coordinates of the second target point.
4. The method of claim 3, wherein the spatial coordinate transformation formula of the two-dimensional spatial map and the three-dimensional scene map is:
wherein P represents a two-dimensional coordinate to be converted, P ' represents a three-dimensional coordinate after spatial conversion, M represents a two-dimensional coordinate of the first target point, M ' represents a three-dimensional coordinate of the first target point, N represents a two-dimensional coordinate of the second target point, and N ' represents a three-dimensional coordinate of the second target point.
5. A spatial coordinate conversion apparatus based on the spatial coordinate conversion method according to claim 1, characterized in that the apparatus comprises:
the two-dimensional map acquisition module is used for acquiring a two-dimensional space map to be converted;
the three-dimensional map construction module is used for constructing a three-dimensional scene map according to the two-dimensional space map;
the coordinate acquisition module is used for acquiring two-dimensional coordinates of two different target points in the two-dimensional space map and corresponding three-dimensional coordinates in the three-dimensional scene map;
and the conversion module is used for obtaining the space coordinate conversion relation between the two-dimensional space map and the three-dimensional scene map according to the two-dimensional coordinates and the three-dimensional coordinates.
6. A computer 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 any one of claims 1 to 4 when the computer program is executed.
7. A 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 any of claims 1 to 4.
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| CN107402569B (en) * | 2016-05-19 | 2020-01-21 | 科沃斯机器人股份有限公司 | Self-moving robot, map construction method and combined robot map calling method |
| CN110378965B (en) * | 2019-05-21 | 2022-04-15 | 北京百度网讯科技有限公司 | Method, device and equipment for determining coordinate system conversion parameters of road side imaging equipment |
| CN110779479B (en) * | 2019-09-02 | 2022-01-14 | 腾讯科技（深圳）有限公司 | Object processing method applied to indoor map |
| CN110610540B (en) * | 2019-09-05 | 2023-05-02 | 广州图测智能科技有限公司 | Quick rendering and plotting method of urban live-action three-dimensional model based on BIM and GIS |
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| JP2012177808A (en) * | 2011-02-25 | 2012-09-13 | Geo Technical Laboratory Co Ltd | Map data generation system |
| CN109146775A (en) * | 2018-08-20 | 2019-01-04 | 广州视源电子科技股份有限公司 | Two-dimensional picture conversion method, device and equipment and storage medium |
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