CN113470143B - Electronic map drawing method, device, equipment and automatic driving vehicle - Google Patents
Electronic map drawing method, device, equipment and automatic driving vehicle Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
Abstract
The disclosure provides an electronic map drawing method, device and equipment and an automatic driving vehicle, and relates to the technical field of intelligent traffic and automatic driving, in particular to the technical field of electronic map drawing. The specific implementation scheme is as follows: determining graphic data corresponding to the symmetrical graphic in a data set of the electronic map; generating key symmetrical data for drawing symmetrical patterns based on the pattern data, wherein the key symmetrical data at least comprises data of basic patterns in the symmetrical patterns, and the data volume of the key symmetrical data is smaller than that of the pattern data; and drawing the symmetrical graph based on the key symmetrical data under the scene needing to draw the symmetrical graph. The method generates the complete symmetrical image based on the key symmetrical data, and the data except the key symmetrical data in the symmetrical image can be abandoned, so that the data quantity required to be loaded in the drawing process of the electronic map can be obviously reduced, and the rendering efficiency and the instantaneity of the electronic map are improved.
Description
Technical Field
The disclosure relates to the technical field of intelligent transportation and automatic driving, in particular to the technical field of electronic map drawing.
Background
To enhance the rendering effect of electronic maps, it is often necessary to normalize and optimize the map data to ensure that smoother map graphics can be rendered based on the processed and optimized map data. However, the map data has a large data size, and after being processed and optimized, the map data has a rapid increase in data size, and a large amount of data needs to be loaded in the drawing process of the electronic map, so that the rendering efficiency of the electronic map is seriously affected.
Disclosure of Invention
The disclosure provides an electronic map drawing method, an electronic map drawing device, electronic map drawing equipment and an automatic driving vehicle.
According to an aspect of the present disclosure, there is provided an electronic map drawing method including:
determining graphic data corresponding to the symmetrical graphic in a data set of the electronic map;
generating key symmetrical data for drawing the symmetrical graph based on the graph data, wherein the key symmetrical data at least comprises data of basic graphs in the symmetrical graph, and the data volume of the key symmetrical data is smaller than that of the graph data;
during the time that the symmetrical graph in the electronic map needs to be rendered, the symmetrical graph is drawn based on the key symmetrical data.
According to another aspect of the present disclosure, there is provided an electronic map drawing apparatus including:
the graphic data determining module is used for determining graphic data corresponding to the symmetrical graphic in the data set of the electronic map;
a key symmetric data generation module, configured to generate key symmetric data for drawing the symmetric graphics based on the graphics data, where the key symmetric data at least includes data of a base graphic in the symmetric graphics, and a data amount of the key symmetric data is smaller than a data amount of the graphics data;
and the graph drawing module is used for drawing the symmetrical graph based on the key symmetrical data during the period of needing to render the symmetrical graph in the electronic map.
According to another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the electronic mapping methods described above.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform any one of the above-described electronic mapping methods.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements any of the above-described electronic mapping methods.
According to another aspect of the present disclosure, an autonomous vehicle is provided, including the electronic device provided by the present disclosure.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
The beneficial effects that this disclosure provided technical scheme brought are:
according to the scheme provided by the embodiment of the disclosure, for the symmetrical graph in the electronic map, key symmetrical data with smaller data volume can be generated based on the data of the symmetrical graph, a complete symmetrical image is generated based on the key symmetrical data, and the data except the key symmetrical data in the data of the symmetrical graph can be discarded, so that the data volume required to be loaded in the drawing process of the electronic map can be obviously reduced, and the rendering efficiency and instantaneity of the electronic map are improved.
In addition, the complete symmetrical graph is drawn based on the key symmetrical data containing the basic graph data, and the basic graph is actually symmetrical to obtain the complete symmetrical graph, so that the consistency of the part with the repetition rule in the symmetrical graph can be ensured, and the smoothness of the symmetrical graph is improved.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 shows a flow diagram of an electronic map drawing method provided in an embodiment of the present disclosure;
fig. 2 shows a flowchart of another electronic map drawing method provided by an embodiment of the present disclosure;
fig. 3 illustrates one of schematic structural diagrams of an electronic map rendering apparatus provided in an embodiment of the present disclosure;
fig. 4 illustrates a second schematic structural diagram of an electronic map rendering device according to an embodiment of the disclosure;
FIG. 5 illustrates a schematic block diagram of an example electronic device that may be used to implement the electronic mapping methods of embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In order to improve the rendering effect of an electronic map, regular processing and optimization, such as curve smoothing processing, bezier curve optimization, linear optimization and the like, are generally required to be performed on map data, and smoother map graphics can be rendered based on the processed and optimized map data. However, the map data itself has a large data size, and after being processed and optimized, the data size of the map data is increased rapidly, which seriously affects the rendering efficiency of the electronic map.
For example, in the unmanned field, it is required to render an electronic map on a man-machine interface of an unmanned vehicle, and in order to ensure driving safety, map rendering can be generally performed in high real-time during driving of the vehicle, so as to ensure that driving data can be provided in time. Under the condition that the hardware condition of the man-machine interaction equipment is limited, the larger the data volume of the map data is, the larger the rendering pressure born by the man-machine interaction equipment is, so that the rendering efficiency and the real-time performance of the electronic map can be seriously improved.
The embodiment of the disclosure provides an electronic map drawing method, an electronic map drawing device, electronic map drawing equipment and an automatic driving vehicle, and aims to solve at least one of the technical problems in the prior art.
Fig. 1 shows a flow chart of an electronic map drawing method provided by an embodiment of the disclosure, and as shown in fig. 1, the method mainly includes the following steps:
s110: and determining graphic data corresponding to the symmetrical graphic in the data set of the electronic map.
Here, the electronic map may be a map in any scene, such as a map shown by a man-machine interaction interface of an unmanned vehicle in an automatic driving scene, a navigation map in a navigation application, a game map in an electronic game, and the like. It is understood that an electronic map may contain a number of graphics that characterize objects or areas in the map, which may be buildings, natural landscapes (greens, rivers, mountains, etc.), roads, and the like. The data set of the electronic map contains graphic data of each graphic, and the corresponding graphic can be drawn by the graphic data.
Each graphic in the electronic map can be classified into a symmetrical graphic and an asymmetrical graphic according to whether the electronic map has symmetry. In this step, the symmetrical pattern may be identified in the electronic map, and then the pattern data corresponding to the symmetrical pattern may be screened out in the data set of the electronic map. The embodiment of the disclosure can determine the graphic data corresponding to the symmetrical graphic from the data set according to various preset rules, and two ways of determining the graphic data corresponding to the symmetrical graphic are described below.
The first way of determining the graphic data corresponding to the symmetrical graphic is: and determining a symmetrical graph which accords with the preset symmetrical graph type in the electronic map, and screening graph data corresponding to the symmetrical graph from a data set of the electronic map.
Some types of graphics have more pronounced symmetry features, such as rectangular, capsule-shaped, isosceles triangular, equilateral triangular, and circular types of symmetry graphics. It will be appreciated that the electronic map includes zebra stripes, roundabout areas, and road areas, and the graphics used to characterize these areas are generally symmetrical. For example, if it is determined in the electronic map that the graphics of a certain roundabout area conform to a circle, the graphics data of the roundabout area are screened out from the data set of the electronic map. And the symmetrical graph with obvious symmetrical characteristics can be automatically identified, so that the data processing speed is improved.
A second way of determining the graphic data corresponding to the symmetrical graphic: and responding to the selection operation of the graphics in the electronic map, determining the selected graphics as symmetrical graphics, and screening out graphic data corresponding to the symmetrical graphics from a data set of the electronic map.
In the embodiment of the disclosure, the symmetrical graph in the electronic map is allowed to be selected in a mode of judgment by the staff, and the graph data of the symmetrical graph selected by the staff can be screened out from the data set in response to the selection of a certain symmetrical graph by the staff. Specifically, the staff can judge which graphics in the electronic map are symmetrical graphics, for example, judge whether the graphics of the crossroad area or the flower bed are symmetrical graphics or not; if the certain graph is determined to be the symmetrical graph, the worker can label the graph, and the graph data of the labeled symmetrical graph is screened out from the data set in response to the labeling operation of the worker on the certain graph. The embodiment of the disclosure allows the symmetrical graph to be determined in a manual judgment mode, ensures that the symmetrical graph in the electronic map is not missed, and improves the integrity of the collected symmetrical graph data.
The embodiment of the disclosure may optimize at least part of the lines of the electronic map before step S110 so as to normalize the graphics in the electronic map, thereby normalizing the nearly symmetrical graphics into standard symmetrical graphics, thereby increasing the number of symmetrical graphics in the electronic map. Optionally, a line to be optimized which accords with a preset optimizing condition can be determined in the electronic map, and the line to be optimized is adjusted to be a standard line of a type corresponding to the preset optimizing condition.
S120: key symmetry data for drawing the symmetry figure is generated based on the figure data.
The key symmetric data in the embodiments of the present disclosure at least includes data of a base graphic in the symmetric graphic, and the data amount of the key symmetric data is smaller than the data amount of the graphic data. The basic pattern in the symmetrical pattern may refer to a repeating unit in the symmetrical pattern, and after at least one of the repeating units is symmetrical, a corresponding symmetrical pattern may be obtained. That is, a symmetrical pattern may be seen to be composed of a plurality of repeating units, and any one of the repeating units may be selected as the base pattern in the embodiments of the present disclosure.
Taking the case that the symmetric graph is a rectangle as an example, the graph on one side of the symmetry axis of the rectangle (such as the left half part of the rectangle) can be used as the basic graph of the rectangle, the key symmetric data at least comprises the data of the basic graph, the data of the graph on the other side of the symmetry axis of the rectangle (such as the right half part of the rectangle) can be discarded, so that the data volume of the key symmetric data of the rectangle is smaller than the data volume of the graph data of the rectangle, and it can be understood that the basic graph can obtain a complete rectangle after one-time symmetry.
Taking the example that the symmetrical pattern includes a plurality of sub-patterns, the symmetrical pattern can be regarded as a sub-pattern obtained after array or symmetry. One of the sub-graphics of the symmetrical graphics can be used as a basic graphics of the symmetrical graphics, key symmetrical data at least comprise data of the basic graphics, and the data of the rest sub-graphics in the symmetrical graphics can be discarded, so that the data size of the key symmetrical data of the symmetrical graphics is smaller than that of the graphics data of the symmetrical graphics, and it can be understood that the sub-graphics serving as the basic graphics can obtain a complete symmetrical graphics after being symmetrical or arrayed.
S130: during the time that the symmetrical graph in the electronic map needs to be rendered, the symmetrical graph is drawn based on the key symmetrical data.
During the time when the electronic map needs to be rendered, when the graphic needs to be rendered is a symmetrical graphic, the symmetrical graphic can be drawn based on the key symmetrical data obtained in step S110 and step S120. Alternatively, complete graphic data for drawing the symmetrical graphic may be generated by the key symmetrical data, and the symmetrical graphic may be drawn based on the complete graphic data.
According to the electronic map drawing method, for the symmetrical graph in the electronic map, key symmetrical data with smaller data volume can be generated based on the symmetrical graph data, a complete symmetrical image is generated based on the key symmetrical data, and data except the key symmetrical data in the symmetrical graph data can be discarded, so that the data volume required to be loaded in the drawing process of the electronic map can be remarkably reduced, and the rendering efficiency and instantaneity of the electronic map are improved.
In addition, the complete symmetrical graph is drawn based on the key symmetrical data containing the basic graph data, and the basic graph is actually symmetrical to obtain the complete symmetrical graph, so that the consistency of the part with the repetition rule in the symmetrical graph can be ensured, and the smoothness of the symmetrical graph is improved.
Fig. 2 shows a flow chart of an electronic map drawing method provided by an embodiment of the disclosure, and as shown in fig. 2, the method may mainly include the following steps:
s210: determining a line to be optimized which accords with a preset optimizing condition in the electronic map, and adjusting the line to be optimized into a standard line of a type corresponding to the preset optimizing condition.
The embodiment of the disclosure may define at least one standard line in advance, where the at least one standard line may be a standard straight line, a standard circular arc, a line with a repetition rule, or a line group with a preset relationship (such as two standard parallel lines, or two standard perpendicular lines), etc. Each standard line has a corresponding preset optimizing condition, and each standard line has at least one corresponding preset optimizing condition, and the preset optimizing conditions can be determined according to actual design requirements. For the lines in the electronic map, if one line accords with a preset optimization condition corresponding to a certain standard line, the line can be determined as the line to be optimized, and then the line to be optimized is optimized into the corresponding standard line.
Several ways of determining whether the line meets the preset optimization condition are described below:
taking the example that the standard line is a straight line, an optimization condition related to the difference or variance value of the slope may be set. For example, for a certain line in the electronic map, the slope between points on the line may be calculated, then the difference value cumulative sum of all slopes is calculated, and based on the difference value cumulative sum, it is determined whether the line is a line to be optimized that can be optimized as a standard straight line. Or, for a certain line in the electronic map, the slope between each point on the line can be calculated, then the variance value accumulation sum of all slopes is calculated, and whether the line is a line to be optimized which can be optimized into a standard straight line is determined based on the variance value accumulation sum.
Taking the example that the standard line is a circular arc line, an optimization condition related to the variance value of the slope can be set. For example, for a certain line in the electronic map, the slope between points on the line may be calculated, and then the variance value cumulative sum of all slopes is calculated, based on whether the variance value cumulative sum is the line to be optimized that can be optimized to the standard arc line.
Taking the example that the standard line is two parallel lines, an optimization condition related to the slope difference of the two lines may be set. For example, for two lines in an electronic map, the difference in slope of the two lines may be calculated, and based on the difference in slope, it is determined whether the two lines are standard parallel lines that can be optimized.
S220: and determining graphic data corresponding to the symmetrical graphic in the data set of the electronic map.
The description of step S220 may refer to the description of step S110, and may achieve the same technical effects, which are not described herein.
S230: and determining the symmetry mode of the symmetry graph.
The symmetrical manner of the disclosed embodiments includes at least one of the following: bilateral symmetry, vertical symmetry, quadrangle symmetry, point nine symmetry, flip symmetry, mirror symmetry, and center symmetry. After identifying the symmetric pattern, it may be determined to which symmetric mode the symmetric pattern specifically belongs.
Here, the patterns belonging to the left-right symmetry, the up-down symmetry, the quadrangle symmetry, the flip symmetry and the mirror symmetry can be regarded as axisymmetric patterns, and it is understood that if a plane pattern is folded along a straight line, the portions on both sides of the straight line can coincide with each other, and the two patterns can be referred to as axisymmetric patterns.
By point nine symmetrical pattern in the embodiments of the present disclosure, it is meant that the moth pattern is composed of a plurality of basic patterns (e.g., rectangles), for example, a pattern in which one basic pattern is obtained by a rectangular array or a circular array may be regarded as a point nine symmetrical pattern.
In the embodiment of the present disclosure, if a graphic is rotated 180 around a certain point in a plane, if the rotated graphic can be overlapped with the original graphic, the graphic may be a graphic belonging to a central symmetry mode.
S240: based on the pattern data and the symmetry pattern, the data of the base pattern in the symmetry pattern, the number of symmetries, and the data of the symmetry center on which each symmetry is based.
In the embodiment of the disclosure, the key symmetry data includes, in addition to the data of the basic graph in the symmetry graph, the symmetry times and the data of the symmetry center according to each symmetry, where the symmetry times are the times needed to make symmetry on the basic graph to obtain the symmetry graph. Here, the type of the symmetry center may be determined according to the symmetry manner to which the symmetry pattern belongs, for example, for a symmetry pattern of a bilateral symmetry manner, the symmetry center of the symmetry pattern is the symmetry axis thereof; for a symmetrical pattern in a central symmetry manner, the symmetry center of the symmetrical pattern is the symmetry point thereof.
Taking the example that the symmetrical graph is a rectangle, the graph on one side of the symmetrical axis of the rectangle (such as the left half part of the rectangle) can be used as the basic graph of the rectangle, the symmetrical center of the rectangle is the symmetrical axis, and the basic graph can obtain the rectangle through one-time symmetry based on the symmetrical axis, so that the symmetrical frequency is 1. For a rectangle, the key symmetry data includes the data of the graph on one side of the symmetry axis of the rectangle, the data of the symmetry axis, and the symmetry number of 1, and the data of the graph on the other side of the symmetry axis of the rectangle (such as the right half of the rectangle) can be discarded.
S250: during the period of needing to render the symmetrical graph in the electronic map, generating complete graph data for drawing the symmetrical graph through the key symmetrical data, and drawing the symmetrical graph based on the complete graph data.
As described above, the key symmetry data includes, in addition to the data of the base pattern in the symmetry pattern, the data of the symmetry number, the symmetry center on which each symmetry is based. During the time when the electronic map needs to be rendered, when the graphic needs to be rendered is a symmetrical graphic, the symmetrical graphic may be drawn based on the key symmetrical data obtained in steps S210 to S240.
Alternatively, the symmetric transformation matrix may be generated based on the data of the base pattern in the symmetric pattern, the number of symmetries, and the data of the symmetry center on which each symmetry is based; and obtaining complete graph data for drawing the symmetrical graph through the data of the basic graph and the symmetrical transformation matrix.
Specifically, the data of the basic graph is multiplied by the symmetric transformation matrix to obtain the data of other graphs which have symmetric relation with the basic graph and belong to one symmetric graph, and the data of the basic graph and the data of the other graphs are the set of the data of the basic graph, namely the complete graph data for drawing the symmetric graph, and the symmetric graph can be drawn based on the complete graph data.
Taking a rectangular symmetrical graph as an example, taking a rectangular left half part as a basic graph, multiplying the rectangular left half part by a symmetrical transformation matrix to obtain data of the rectangular left half part, and collecting the data of the rectangular left half part and the data of the rectangular right half part, namely, the complete graph data for drawing the rectangle, and drawing the rectangle based on the complete graph data.
Based on the same principle as the above-mentioned electronic map drawing method, fig. 3 shows one of the structural diagrams of an electronic map drawing device provided by the embodiment of the disclosure, and fig. 4 shows the second of the structural diagrams of an electronic map drawing device provided by the embodiment of the disclosure. As shown in fig. 3, the electronic map drawing apparatus 30 includes a graphic data determining module 310, a key symmetric data generating module 320, and a graphic drawing module 330.
The graphic data determining module 310 is configured to determine graphic data corresponding to the symmetrical graphic in the data set of the electronic map.
The key symmetric data generation module 320 is configured to generate key symmetric data for drawing symmetric graphics based on the graphics data, where the key symmetric data at least includes data of a base graphic in the symmetric graphics, and a data amount of the key symmetric data is smaller than a data amount of the graphics data.
The graphics drawing module 330 is used for drawing symmetrical graphics based on key symmetrical data during the period when the symmetrical graphics in the electronic map need to be rendered.
According to the electronic map drawing device, for the symmetrical graph in the electronic map, key symmetrical data with smaller data volume can be generated based on the data of the symmetrical graph, a complete symmetrical image is generated based on the key symmetrical data, and data except the key symmetrical data in the data of the symmetrical graph can be discarded, so that the data volume required to be loaded in the drawing process of the electronic map can be obviously reduced, and the rendering efficiency and instantaneity of the electronic map are improved.
In addition, the complete symmetrical graph is drawn based on the key symmetrical data containing the basic graph data, and the basic graph is actually symmetrical to obtain the complete symmetrical graph, so that the consistency of the part with the repetition rule in the symmetrical graph can be ensured, and the smoothness of the symmetrical graph is improved.
In the embodiment of the present disclosure, the graphic data determining module 310 is specifically configured to, when determining, in the data set of the electronic map, graphic data corresponding to the symmetrical graphic:
determining a symmetrical graph which accords with a preset symmetrical graph type in the electronic map;
and screening graphic data corresponding to the symmetrical graphic from the data set of the electronic map.
In the embodiment of the present disclosure, the graphic data determining module 310 is specifically configured to, when determining, in the data set of the electronic map, graphic data corresponding to the symmetrical graphic:
determining the selected graphic as a symmetrical graphic in response to a selection operation for the graphic in the electronic map;
and screening graphic data corresponding to the symmetrical graphic from the data set of the electronic map.
In the embodiment of the disclosure, the key symmetry data further includes symmetry times and data of symmetry centers according to which each symmetry is performed, where the symmetry times are times of symmetry of the basic graph required for obtaining the symmetric graph;
the key symmetric data generation module 320, when used for generating key symmetric data for drawing a symmetric graph based on graph data, is specifically used for:
determining the symmetry mode of the symmetry graph;
based on the pattern data and the symmetry pattern, the data of the base pattern in the symmetry pattern, the number of symmetries, and the data of the symmetry center on which each symmetry is based.
In an embodiment of the present disclosure, the symmetry comprises at least one of: bilateral symmetry, vertical symmetry, quadrangle symmetry, point nine symmetry, flip symmetry, mirror symmetry, and center symmetry.
In the embodiment of the present disclosure, the graphics drawing module 330, when used for drawing symmetric graphics based on key symmetric data, is specifically used for:
and generating complete graph data for drawing the symmetrical graph through the key symmetrical data, and drawing the symmetrical graph based on the complete graph data.
In the embodiment of the disclosure, the key symmetry data further includes symmetry times and data of symmetry centers according to which each symmetry is performed, where the symmetry times are times of symmetry of the basic graph required for obtaining the symmetric graph;
the graphics drawing module 330, when used to generate complete graphics data for drawing symmetric graphics from key symmetric data, is specifically configured to:
generating a symmetric transformation matrix based on data of a basic graph in the symmetric graph, the number of times of symmetry, and data of a symmetry center according to which each symmetry is based;
and obtaining complete graph data for drawing the symmetrical graph through the data of the basic graph and the symmetrical transformation matrix.
In the embodiment of the present disclosure, as shown in fig. 4, the electronic map drawing device 30 further includes a line optimization module 340, where the line optimization module 340 is configured to determine a line to be optimized that meets a preset optimization condition in the electronic map; and adjusting the line to be optimized into a standard line of a type corresponding to the preset optimizing condition.
It can be understood that the above modules of the electronic map drawing device in the embodiment of the disclosure have functions of implementing the corresponding steps of the map drawing method described above. The functions can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above. The modules may be software and/or hardware, and each module may be implemented separately or may be implemented by integrating multiple modules. For the functional description of each module of the map drawing apparatus, reference may be specifically made to the corresponding description of the map drawing method, which is not repeated herein.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
FIG. 5 illustrates a schematic block diagram of an example electronic device that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 5, the electronic device 500 includes a computing unit 501 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 may also be stored. The computing unit 501, ROM 502, and RAM 503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
A number of components in electronic device 500 are connected to I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, etc.; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508 such as a magnetic disk, an optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 501 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as an electronic mapping method. For example, in some embodiments, the electronic mapping method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into RAM 503 and executed by computing unit 501, one or more steps of the electronic mapping method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the electronic mapping method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
The disclosed embodiments also provide an autonomous vehicle that may include the electronic device 500 provided by the disclosed embodiments.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (13)
1. An electronic map drawing method, comprising:
determining graphic data corresponding to the symmetrical graphic in a data set of the electronic map;
generating key symmetrical data for drawing the symmetrical graph based on the graph data, wherein the key symmetrical data at least comprises data of basic graphs in the symmetrical graph, and the data volume of the key symmetrical data is smaller than that of the graph data;
drawing the symmetric graph based on the key symmetric data during the period of needing to render the symmetric graph in the electronic map;
the key symmetry data also comprises symmetry times and symmetry center data according to each symmetry, wherein the symmetry times are times for obtaining the symmetry graph, which need to be symmetrical to the basic graph;
the generating key symmetry data for drawing the symmetry graph based on the graph data comprises:
determining the symmetry mode of the symmetry graph;
generating data of a basic graph in the symmetrical graph, the number of times of symmetry and data of a symmetry center according to each symmetry based on the graph data and the symmetry mode;
the drawing the symmetrical graph based on the key symmetrical data comprises the following steps:
generating complete graph data for drawing the symmetrical graph through the key symmetrical data, and drawing the symmetrical graph based on the complete graph data;
the key symmetry data further comprise symmetry times and symmetry center data according to each symmetry, wherein the symmetry times are times for obtaining the symmetric graph, and the basic graph needs to be symmetric;
the generating complete graphic data for drawing the symmetrical graphic through the key symmetrical data comprises the following steps:
generating a symmetric transformation matrix based on the data of the basic graph in the symmetric graph, the symmetric times and the data of the symmetric center according to each symmetric;
and obtaining complete graph data for drawing the symmetrical graph through the data of the basic graph and the symmetrical transformation matrix.
2. The method of claim 1, wherein the determining graphic data corresponding to the symmetrical graphic in the data set of the electronic map comprises:
determining a symmetrical graph which accords with a preset symmetrical graph type in the electronic map;
and screening graphic data corresponding to the symmetrical graphic from the data set of the electronic map.
3. The method of claim 1, wherein the determining graphic data corresponding to the symmetrical graphic in the data set of the electronic map comprises:
determining the selected graphic as a symmetrical graphic in response to a selection operation for the graphic in the electronic map;
and screening graphic data corresponding to the symmetrical graphic from the data set of the electronic map.
4. The method of claim 1, wherein the symmetrical manner comprises at least one of: bilateral symmetry, vertical symmetry, quadrangle symmetry, point nine symmetry, flip symmetry, mirror symmetry, and center symmetry.
5. The method according to any one of claims 1 to 4, further comprising, before determining graphic data corresponding to a symmetrical graphic in the dataset of the electronic map:
determining lines to be optimized which accord with preset optimizing conditions in an electronic map;
and adjusting the line to be optimized into a standard line of a type corresponding to the preset optimization condition.
6. An electronic map drawing apparatus comprising:
the graphic data determining module is used for determining graphic data corresponding to the symmetrical graphic in the data set of the electronic map;
a key symmetric data generation module, configured to generate key symmetric data for drawing the symmetric graphics based on the graphics data, where the key symmetric data at least includes data of a base graphic in the symmetric graphics, and a data amount of the key symmetric data is smaller than a data amount of the graphics data;
a graph drawing module, configured to draw the symmetric graph based on the key symmetric data during a period when the symmetric graph in the electronic map needs to be rendered;
the key symmetry data also comprises symmetry times and symmetry center data according to each symmetry, wherein the symmetry times are times for obtaining the symmetry graph, which need to be symmetrical to the basic graph;
the key symmetric data generation module is used for generating key symmetric data for drawing the symmetric graph based on the graph data, and is specifically used for:
determining the symmetry mode of the symmetry graph;
generating data of a basic graph in the symmetrical graph, the number of times of symmetry and data of a symmetry center according to each symmetry based on the graph data and the symmetry mode;
the graphic drawing module is used for drawing the symmetrical graphic based on the key symmetrical data, and is specifically used for:
generating complete graph data for drawing the symmetrical graph through the key symmetrical data, and drawing the symmetrical graph based on the complete graph data;
the key symmetry data further comprise symmetry times and symmetry center data according to each symmetry, wherein the symmetry times are times for obtaining the symmetric graph, which are needed to be symmetric to the basic graph;
the graphic drawing module is used for generating complete graphic data for drawing the symmetrical graphic through the key symmetrical data, and is particularly used for:
generating a symmetric transformation matrix based on the data of the basic graph in the symmetric graph, the symmetric times and the data of the symmetric center according to each symmetric;
and obtaining complete graph data for drawing the symmetrical graph through the data of the basic graph and the symmetrical transformation matrix.
7. The apparatus of claim 6, wherein the graphic data determining module, when configured to determine graphic data corresponding to a symmetrical graphic in the data set of the electronic map, is specifically configured to:
determining a symmetrical graph which accords with a preset symmetrical graph type in the electronic map;
and screening graphic data corresponding to the symmetrical graphic from the data set of the electronic map.
8. The apparatus of claim 6, wherein the graphic data determining module, when configured to determine graphic data corresponding to a symmetrical graphic in the data set of the electronic map, is specifically configured to:
determining the selected graphic as a symmetrical graphic in response to a selection operation for the graphic in the electronic map;
and screening graphic data corresponding to the symmetrical graphic from the data set of the electronic map.
9. The apparatus of claim 6, wherein the symmetry comprises at least one of: bilateral symmetry, vertical symmetry, quadrangle symmetry, point nine symmetry, flip symmetry, mirror symmetry, and center symmetry.
10. The apparatus of any of claims 6 to 9, further comprising a line optimization module to:
determining lines to be optimized which accord with preset optimizing conditions in an electronic map;
and adjusting the line to be optimized into a standard line of a type corresponding to the preset optimization condition.
11. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-5.
13. An autonomous vehicle comprising the electronic device of claim 11.
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