CN113870429A - Web end three-dimensional scene posture self-adaptive path roaming method considering terrain fluctuation - Google Patents
Web end three-dimensional scene posture self-adaptive path roaming method considering terrain fluctuation Download PDFInfo
- Publication number
- CN113870429A CN113870429A CN202111151452.6A CN202111151452A CN113870429A CN 113870429 A CN113870429 A CN 113870429A CN 202111151452 A CN202111151452 A CN 202111151452A CN 113870429 A CN113870429 A CN 113870429A
- Authority
- CN
- China
- Prior art keywords
- roaming
- dimensional scene
- path
- dimensional
- terrain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/904—Browsing; Visualisation therefor
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/95—Retrieval from the web
- G06F16/957—Browsing optimisation, e.g. caching or content distillation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Databases & Information Systems (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Remote Sensing (AREA)
- Computer Graphics (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention provides a Web end three-dimensional scene posture self-adaptive path roaming method considering terrain fluctuation, which comprises the following steps: acquiring an existing element graph of the ecological space, wherein the existing element graph of the ecological space has continuous XY coordinate points; simplifying the existing element graph of the ecological space by using a Douglas node suction algorithm, and using the reserved nodes as automatic roaming path nodes; calculating roaming attitude parameters of each frame of three-dimensional scene in the roaming process in real time based on the automatic roaming path nodes and by combining topographic data in the three-dimensional scene; and rendering and refreshing the three-dimensional scene of each frame in real time in a Web end browser to finish the process of automatic roaming along the automatic roaming path node. The method does not depend on manual roaming records, can quickly perform automatic roaming browsing based on different ecological space factors, has normal, timely fluctuating and smooth turning of three-dimensional scene pictures in the whole process of traveling, and improves the path automatic roaming effect of the three-dimensional map at the Web end.
Description
Technical Field
The invention relates to the technical field of three-dimensional scenes, in particular to a Web end along-path automatic roaming method which is suitable for automatic roaming of common areas in different ecological spaces, integrates automatic roaming path extraction and considers the three-dimensional scene posture self-adaption technology of topographic relief.
Background
In the remote sensing monitoring work of the ecological environment, the demand of carrying out regional automatic roaming browsing based on a three-dimensional map is more. Three-dimensional automatic roaming and cruising browsing are often required to be carried out on an ecological protection red line area, a natural protection area, a national park, an important road and railway line, an important river line and the like. In the automatic roaming of the areas, the browsing key positions and the targets are different, the terrain features of the areas are also varied, and the terrain elevation intervals and the fluctuation intensity differences are large and even very different.
In a desktop or WEB three-dimensional map, the following two common automatic roaming methods are used:
first, automatic roaming is along the route. The method mainly comprises the steps of inputting a broken line comprising a plurality of nodes, setting roaming height, speed and depression angle of roaming, fixing the broken line at a certain height above sea level to browse by using a fixed depression angle according to the sequence of each node of the broken line as a starting point, each passing point and an end point, and turning to the fixed point when each node is reached.
Second, "scene snapshot + perspective transition" roaming. Firstly, manually roaming a target area, recording picture snapshots at a plurality of key positions, and storing three-dimensional scene parameters (including picture center point camera coordinates, height, pitch angle and azimuth angle) of each position in a system. And then, for each key position, using a three-dimensional rendering function based on parameters stored in the snapshot, restoring the snapshot scene one by one in sequence, and realizing scene transition and position advancing among the key positions through the rendering function of the three-dimensional platform, so that an automatic roaming process is formed in a continuous manner.
The two methods are applied to the remote sensing monitoring work of the ecological environment, and face respective problems:
under the method of setting automatic circuit roaming, because roaming areas such as ecological protection red lines and the like are mostly planar or linear elements with clear boundary lines, the number of nodes of elements in different areas is large in difference, and the density of nodes in different sections is different. Meanwhile, roaming areas such as ecological protection red lines and the like are mostly distributed nationwide, the average altitudes of different areas are greatly different, and the topographic relief intensity characteristics are different, and element nodes only have X/Y coordinates and do not contain elevation information.
In the 'scene snapshot + view transition' roaming method, although the height of a camera is recorded in the roaming and snapshot process of each key position, the terrain penetration phenomenon can be avoided at each key position, if the terrain occlusion exists between the front position and the rear position (even if the terrain occlusion exists in a small section, if the front point and the rear point are positioned on the front side and the back side of a certain mountain body in a certain natural protection area, or the front point and the rear point are positioned on two sides of a mountain body on the bank side of a certain river corner), the camera still penetrates the terrain and falls into a three-dimensional picture below the earth surface in the advancing browsing process. Secondly, in order to obtain better browsing experience of a target area, a professional familiar with the area needs to manually set a roaming area in advance and record a scene snapshot at a key position, and the operation effect is changed to be poor by other personnel or other random areas, and when an emergency situation occurs and a new area needs to be automatically roamed, the method cannot achieve both efficiency and effect.
In summary, the traditional automatic roaming according to the path and the roaming by the combination method of 'scene snapshot + view transition' cannot well meet the requirement that the ecological environment remote sensing monitoring work is convenient and fast to carry out the regional automatic roaming.
Therefore, how to provide a method for providing a Web-end three-dimensional scene pose adaptive path roaming considering terrain fluctuation is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a path roaming method for Web-end three-dimensional scene posture adaptation considering terrain relief, which combines the situations that the terrain features of roaming areas such as ecological protection red lines are diversified and most of the terrain features are surface and line elements, and provides a path automatic roaming method for a Web-end three-dimensional map, which can perform automatic roaming browsing quickly and conveniently based on different ecological space elements without depending on manual roaming record snapshots and severe stepping points in advance, and has normal, timely relief and smooth turning of a whole-course three-dimensional scene picture.
In order to achieve the purpose, the invention adopts the following technical scheme:
a Web end three-dimensional scene posture self-adaptive path roaming method for considering terrain fluctuation comprises the following steps:
s1, acquiring an existing element graph of the ecological space, wherein the existing element graph of the ecological space has continuous XY coordinate points, and nodes corresponding to the coordinate points have a sequence;
s2, simplifying the existing element graph of the ecological space by using a Douglas node suction algorithm, and using the reserved nodes as automatic roaming path nodes;
s3, based on the automatic roaming path node, when the automatic roaming is carried out in the three-dimensional scene corresponding to the existing element graph of the ecological space, the roaming attitude parameter of each frame of three-dimensional scene in the roaming process is calculated in real time by combining the terrain data in the three-dimensional scene;
and S4, rendering and refreshing the three-dimensional scene of each frame in the Web browser in real time by combining the roaming posture parameters, and completing the process of automatic roaming along the automatic roaming path node.
Preferably, in S1, the elements in the ecological space existing element graph include different ecological space roaming terrain areas, including: ecological protection red line region pattern spots, natural protection region boundaries, river and lake boundaries or traffic routes.
Preferably, the S2 includes: on the premise of reserving the shape skeleton of the existing element graph of the ecological space, removing redundant nodes, and sequentially connecting the rest nodes serving as nodes of the automatic roaming path in the sequence of the existing element graph of the ecological space to form a two-dimensional plane graph of the automatic roaming path.
Preferably, the roaming posture parameters include absolute position coordinates XYZ, a pitch angle parameter and an azimuth angle parameter of the roaming node in the three-dimensional scene.
Preferably, the real-time calculation step of absolute position coordinates XYZ of the roaming node includes:
calculating the position coordinates (X ', Y'), namely Cartesian coordinates, of the three-dimensional scene of the next frame of roaming progress in real time according to the coordinates (X, Y) of the current roaming position, the roaming speed and the three-dimensional scene refreshing time interval;
converting the Cartesian coordinates into longitude and latitude coordinates, and calculating a three-dimensional terrain elevation value H' at a position corresponding to the longitude and latitude coordinate point in the three-dimensional scene terrain;
and according to the terrain elevation value H 'and a preset distance value between the terrain elevation value H' and the terrain surface of the three-dimensional scene, obtaining an absolute elevation value Z 'of the longitude and latitude coordinates in the three-dimensional space, and obtaining three-dimensional coordinates (X', Y ', Z') of each frame of the three-dimensional scene in roaming progress.
Preferably, the pitch angle parameter real-time calculation step includes: and judging whether the next frame changes the pitch angle and adjusting the pitch angle degree according to the height difference between the three-dimensional height Z' of the position coordinate of the three-dimensional scene of the next frame and the three-dimensional height Z of the position coordinate of the three-dimensional scene of the current frame.
Preferably, the real-time calculation step of the azimuth angle parameter comprises the following steps: and arranging arc segment turning areas in the range of the front and rear fixed paths of the direction turning node of the automatic roaming path to gradually adjust the azimuth angle, thereby realizing smooth turning.
Through the technical scheme, compared with the prior art, the invention has the beneficial effects that:
in the remote sensing monitoring work of the ecological environment, aiming at common roaming areas such as ecological protection red lines, natural protection places, key rivers and lakes, important traffic elements and the like, necessary nodes can be directly and automatically extracted based on surface or line elements of the areas, and a roaming path which keeps the shape skeleton of the element area, is moderate in the number and density of graph nodes and is suitable for automatic roaming and browsing is directly generated.
And secondly, aiming at the condition that the path nodes of the roaming path extracted by element graphs such as ecological protection red lines and the like do not have elevation information, the method for calculating the roaming position by calculating the terrain elevation of the roaming current position in real time guarantees that the roaming path automatically adapts to terrain relief to realize lifting when passing any position of the path area, effectively avoids obstacles, avoids terrain collision, penetrates through mountains and other three-dimensional visualization problems.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts;
fig. 1 is a flowchart of a method for Web-end three-dimensional scene posture adaptive path roaming in consideration of terrain fluctuation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a Douglas graph simplification and roaming path extraction provided in an embodiment of the present invention;
FIG. 3 is a diagram illustrating an exemplary effect of an important river extracting roaming route according to an embodiment of the present invention;
fig. 4 is a diagram illustrating an exemplary effect of extracting a roaming path from an important road according to an embodiment of the present invention;
fig. 5 is a diagram illustrating an exemplary effect of extracting a roaming path from an eco-protected red line according to an embodiment of the present invention;
fig. 6 is a schematic diagram of calculating three-dimensional coordinates XYZ of a roaming real-time location with consideration of terrain according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a real-time calculation of a roaming pitch angle according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating a roaming azimuth adjustment calculation according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present embodiment discloses a path roaming method for Web-side three-dimensional scene pose adaptation in consideration of terrain fluctuation. Aiming at the defects of two traditional methods of path roaming and 'snapshot + view angle transition' roaming in regional automatic roaming in different ecological spaces, the method for automatically roaming the Web end along the path is provided, which is suitable for the automatic roaming in common regions in different ecological spaces and integrates the automatic roaming path extraction based on elements such as ecological protection red lines and the like and the three-dimensional scene posture self-adaption technology taking terrain relief into consideration.
First, an automatic roaming path is generated:
aiming at different ecological space roaming areas (such as ecological protection red line areas, natural protection areas and the like), based on a figure which is formed by elements per se in continuous XY coordinate point positions and has a sequence, a classical Douglas node rarefaction algorithm is introduced, the figure is simplified, necessary nodes are reserved on the premise of reserving element shape frameworks, the reserved nodes are connected in sequence, and XY coordinates of the nodes are used as plane position coordinates of passing points of a roaming path, so that the automatic roaming path is obtained.
Secondly, in the process of roaming according to the path, the roaming height is calculated in real time by combining terrain data, and the three-dimensional scene posture is automatically adjusted, wherein the method comprises the following two aspects:
on one hand, when the user travels along the connecting line of the roaming path nodes, the XY coordinates of the roaming position of each frame of the three-dimensional scene are calculated according to the roaming speed and the refreshing time interval of the three-dimensional scene; the elevation value H of the three-dimensional terrain is obtained based on the real-time XY coordinates, then the height Z of the real-time roaming position is calculated through the preset fixed distance value between the elevation value H and the earth surface, the value is combined with the XY coordinates, the absolute coordinates (XYZ) of the roaming position in the three-dimensional space at the moment are determined, and the automatic adaptation to terrain relief is realized to realize lifting when any position of a passing path area is ensured.
And on the other hand, the azimuth angle adjusting process of the front line segment and the rear line segment in the roaming process is optimized. Respectively calculating the coordinates of an azimuth angle adjusting starting point and an azimuth angle adjusting ending point on a front line segment and a rear line segment of the azimuth angle needing to be turned according to a fixed turning radius; and then, adjusting the azimuth point by adopting a spline interpolation algorithm and adjusting the interpolation of points on the starting point and the ending point arc section through the azimuth angle to realize the smooth turning effect.
The embodiment of the invention comprises the following specific implementation steps:
s1: the type of the selected roaming path is 'existing element graph', and relevant elements of the ecological space, such as ecological protection red line area graph spots, natural protection area boundaries and the like, are input.
S2: and (3) introducing a classic douglas node rarefaction algorithm to the input ecological space element graph based on a graph which is composed of self continuous XY coordinate points and has the nodes with the sequence, and simplifying the graph on a two-dimensional plane. On the premise of retaining element shape skeleton, processing redundant geometric points, retaining necessary geometric points as nodes of automatic roaming path, and connecting the retained nodes in sequence according to the order of each node in original element to form two-dimensional planar graph of automatic roaming path.
The following example explains how to adopt the douglas rarefaction algorithm to simplify and extract the two-dimensional plane graph of the roaming path for the ecology key graph. Referring to fig. 2, the ecological protection red line element X is a line element formed by connecting 9 points of P1, P2, P3, P4, P5, P6, P7, P8, and P9, and the points P1 to P9 are all represented by X/Y coordinates. The method comprises the following specific steps:
s21, connecting the starting point P1 and the end point P9 of the element to form a connecting line P1P9, and calculating the vertical distance from each point between P1 and P9 to the connecting line P1P9 through plane geometry based on the XY coordinates of each node of the element. Through analysis of calculation results, the farthest distance between the P6 point and the connecting line P1P9 is identified, at this time, the distance from P6 to P1P9 is taken as dmax, and whether dmax is larger than the rarefaction threshold set by the method is judged. By comparison, if dmax is greater than the rarefaction threshold, point P6 is retained according to the douglas algorithm.
S22, taking the point P6 remained in the previous round as a boundary, and dividing the graph from P1 to P9 into two intervals of P1 to P6 and P6 to P9. And in the two intervals, the next round of node screening is respectively carried out by adopting a Douglas algorithm.
Interval P1-P6: the connection P1 and P6 form a connection P1P6, and the perpendicular distance from each point to the connection P1P6 is calculated from the plane geometry based on the XY coordinates of each node in the section. Through analysis of calculation results, the farthest distance between the P2 point and the connecting line P1P6 is identified, at this time, the distance from P2 to P1P6 is defined as dmax, and whether dmax is larger than the rarefaction threshold set by the method is judged. By comparison, if dmax is greater than the rarefaction threshold, point P2 is retained according to the douglas algorithm.
Interval P6-P9: the connection P6 and P9 form a connection P6P9, and the perpendicular distance from each point to the connection P6P9 is calculated from the plane geometry based on the XY coordinates of each node in the section. Through analysis of calculation results, the farthest distance between the P7 point and the connecting line P6P9 is identified, at this time, the distance from P7 to P6P9 is defined as dmax, and whether dmax is greater than the rarefaction threshold set by the method is judged. Comparing, wherein dmax is less than the thinning threshold, so that the middle points of the interval P6-P9 are completely omitted, and the screening is finished.
S23, taking the point P2 newly reserved in the previous round as a boundary, and dividing the graph from P1 to P6 into two intervals of P1 to P2 and P2 to P6. And in the two intervals, the next round of node screening is respectively carried out by adopting a Douglas algorithm.
Interval P1-P2: no intermediate points and no screening.
Interval P2-P6: the distance between the P3 and the P2P6 is the farthest, and the distance is more than or equal to the thinning threshold, and a P3 point is reserved.
S24, taking the point P3 newly reserved in the previous round as a boundary, and dividing the graph from P2 to P6 into two intervals of P2 to P3 and P3 to P6. And in the two intervals, the next round of node screening is respectively carried out by adopting a Douglas algorithm.
Interval P2-P3: no intermediate points and no screening.
Interval P3-P6: the distance between the P4 and the P3P6 is the farthest, and the distance is more than or equal to the thinning threshold, and a P4 point is reserved.
S25, taking the point P4 newly reserved in the previous round as a boundary, and dividing the graph from P3 to P6 into two intervals of P3 to P4 and P4 to P6. And in the two intervals, the next round of node screening is respectively carried out by adopting a Douglas algorithm.
Interval P4-P6: the distance between the P5 and the P4P6 is the farthest and is less than the thinning threshold, so that all intermediate points in the interval of P4-P6 are omitted, and the screening is finished.
Interval P3-P4: no intermediate points and no screening.
By performing a multi-sample test on the elements of the various roaming areas of the ecological space oriented in the method, the thinning threshold value of the steps in the method is 100 meters. At this time, after multiple rounds of screening, the ecological protection red line element X illustrated in this example is subjected to graphic simplification on a two-dimensional plane by the douglas algorithm, and then the reserved points are sequentially connected with the P1-P2-P3-P4-P6-P9 connection line to serve as a subsequent roaming path, which is shown in an example effect diagram of different ecological space element extraction roaming paths illustrated in fig. 3-5.
S3: and setting an automatic roaming speed (default use is 30 m/s) based on the path generated in the step two, starting roaming, and jumping the three-dimensional scene to the first node P1 of the roaming path to start automatic roaming. And calculating the attitude parameters of each frame of the three-dimensional scene in the roaming process in real time according to the roaming speed and the three-dimensional scene refreshing time interval and by combining terrain data in the three-dimensional scene, wherein the attitude parameters comprise absolute position coordinates XYZ, a pitch angle parameter alpha and an azimuth angle parameter beta in the three-dimensional space.
Referring to fig. 6, the real-time calculation of the three-dimensional XYZ coordinates of the roaming position includes the following steps:
calculating the position coordinates (X ', Y') (Cartesian coordinates) of the three-dimensional scene of the next frame of roaming progress in real time according to the coordinates (X, Y) of the current roaming position, the roaming speed and the three-dimensional scene refreshing time interval;
converting the Cartesian coordinates of the position into longitude and latitude coordinates, and calculating a three-dimensional terrain elevation value H' at a position corresponding to the longitude and latitude coordinate point in the three-dimensional terrain;
and obtaining an absolute height value (Z ') of the roaming current position in the three-dimensional space according to the terrain height value H' and the preset fixed distance value (400 meters) from the three-dimensional terrain surface.
The three-dimensional coordinates (X ', Y ', Z ') of each frame of the three-dimensional scene in the roaming process are calculated.
Referring to fig. 7, the pitch angle parameter real-time calculation steps are as follows: judging whether the pitch angle and the adjustment degree of the next frame are changed according to the height difference between the three-dimensional height Z' of the next position and the three-dimensional height Z of the current position:
if Z' -Z is more than or equal to 50 m: the elevation angle of the roaming is increased, and the angle of the next frame is equal to the current angle +0.002 radian
Z' -Z is less than or equal to-50 m: the roaming depression angle is increased, and the angle of the next frame is equal to the current angle of-0.004 radian
-50 meters < Z' -Z < 50 meters: and keeping the roaming pitch angle unchanged, and keeping the next frame pitch angle at the current value.
In addition, to avoid having a view that is too skyward or diving into the ground during roaming, the maximum elevation angle is limited to ≦ +0.015 radians (about 0.8 °), and the maximum depression angle is ≧ 0.314 radians (about-17 °).
Referring to fig. 8, the real-time calculation of the roaming attitude azimuth angle parameter includes the following steps:
in the roaming process, when the current line segment is positioned in the roaming line segment and is not close to the tail point of the current line segment, the roaming azimuth angle is kept to be the included angle between the current line segment and the due north direction;
when the roaming approaches the end point of the current line segment, the azimuth angle is adjusted, and aiming at the defects that the azimuth angle adjustment in the traditional path roaming method is a fixed point turning after the navigation reaches the end point of the current line segment and the effect is sharp, the method gradually adjusts the azimuth angle by setting a turning area so as to realize smooth turning. The method comprises the following steps:
let PN-1, PN +1 be the starting point of the current roaming segment, the end point of the current roaming segment (and the starting point of the next roaming segment), and the end point of the next roaming segment, respectively.
1) Calculating and obtaining a position SR which is 300 meters away from the PN point on the current line segment as a point for starting adjustment of the azimuth angle; and calculating and acquiring a position ER 300 meters away from the PN point on the next line segment as a point for finishing the adjustment of the azimuth angle.
2) Drawing an inscribed circle with the O point as the center of the circle through an included angle of a connecting line of the SR, the PN and the ER, and intercepting an arc line segment of the circle between the SR and the ER.
3) And starting from the SR point, roaming along the SR-ER arc line segment, gradually adjusting the azimuth angle, realizing smooth turning, and adjusting the azimuth angle to the PN-PN + 1 line segment when reaching the ER point.
Step five: and combining all the parameters generated by the real-time calculation in the step four, realizing the rendering and refreshing of the three-dimensional scene of each frame in the roaming process through a real-time rendering function in a Web end browser, and finishing the automatic roaming process along the path.
Through the mode, in the subsequent ecological environment remote sensing monitoring common areas or the expansion of new roaming areas with corresponding element boundaries, professionals are not required to manually roam and browse the whole area in advance, snapshots (including parameters such as coordinates, viewpoint height, pitch angle and azimuth angle) of each key position in browsing are recorded, roaming and browsing can be directly started based on the selected boundary elements, the view field and the rendering effect of a three-dimensional scene in the whole roaming process are relatively proper, and a better automatic roaming experience is obtained.
The method for the path roaming of the Web-end three-dimensional scene posture self-adaptation considering the terrain relief provided by the invention is described in detail above, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the above embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A Web-end three-dimensional scene posture self-adaptive path roaming method for considering terrain fluctuation is characterized by comprising the following steps:
s1, acquiring an existing element graph of the ecological space, wherein the existing element graph of the ecological space has continuous XY coordinate points, and nodes corresponding to the coordinate points have a sequence;
s2, simplifying the existing element graph of the ecological space by using a Douglas node suction algorithm, and using the reserved nodes as automatic roaming path nodes;
s3, based on the automatic roaming path node, when the automatic roaming is carried out in the three-dimensional scene corresponding to the existing element graph of the ecological space, the roaming attitude parameter of each frame of three-dimensional scene in the roaming process is calculated in real time by combining the terrain data in the three-dimensional scene;
and S4, rendering and refreshing the three-dimensional scene of each frame in the Web browser in real time by combining the roaming posture parameters, and completing the process of automatic roaming along the automatic roaming path node.
2. The method for Web-side three-dimensional scene pose adaptation path roaming according to the terrain relief concerns of claim 1, wherein in S1, the elements in the existing element graph of the ecological space include different ecological space roaming terrain areas, including: ecological protection red line region pattern spots, natural protection region boundaries, river and lake boundaries or traffic routes.
3. The method for Web-side three-dimensional scene pose adaptation path roaming according to claim 1, wherein the S2 includes: on the premise of reserving the shape skeleton of the existing element graph of the ecological space, removing redundant nodes, and sequentially connecting the rest nodes serving as nodes of the automatic roaming path in the sequence of the existing element graph of the ecological space to form a two-dimensional plane graph of the automatic roaming path.
4. The Web-side three-dimensional scene pose adaptive path roaming method for accounting for terrain relief of claim 1, wherein the roaming pose parameters include absolute position coordinates XYZ, pitch angle parameters and azimuth angle parameters of a roaming node in the three-dimensional scene.
5. The method for Web-end three-dimensional scene pose adaptation path roaming according to claim 4, wherein the step of calculating XYZ absolute position coordinates of roaming nodes in real time comprises:
calculating the position coordinates (X ', Y'), namely Cartesian coordinates, of the three-dimensional scene of the next frame of roaming progress in real time according to the coordinates (X, Y) of the current roaming position, the roaming speed and the three-dimensional scene refreshing time interval;
converting the Cartesian coordinates into longitude and latitude coordinates, and calculating a three-dimensional terrain elevation value H' at a position corresponding to the longitude and latitude coordinate point in the three-dimensional scene terrain;
and according to the terrain elevation value H 'and a preset distance value between the terrain elevation value H' and the terrain surface of the three-dimensional scene, obtaining an absolute elevation value Z 'of the longitude and latitude coordinates in the three-dimensional space, and obtaining three-dimensional coordinates (X', Y ', Z') of each frame of the three-dimensional scene in roaming progress.
6. The method for Web-end three-dimensional scene pose adaptation path roaming according to claim 5, wherein the pitch angle parameter real-time calculating step comprises: and judging whether the next frame changes the pitch angle and adjusting the pitch angle degree according to the height difference between the three-dimensional height Z' of the position coordinate of the three-dimensional scene of the next frame and the three-dimensional height Z of the position coordinate of the three-dimensional scene of the current frame.
7. The method for Web-end three-dimensional scene pose adaptation path roaming according to claim 4, wherein the real-time calculation of azimuth parameters comprises: and arranging arc segment turning areas in the range of the front and rear fixed paths of the direction turning node of the automatic roaming path to gradually adjust the azimuth angle, thereby realizing smooth turning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111151452.6A CN113870429B (en) | 2021-09-29 | 2021-09-29 | Web end three-dimensional scene posture self-adaptive path roaming method considering terrain fluctuation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111151452.6A CN113870429B (en) | 2021-09-29 | 2021-09-29 | Web end three-dimensional scene posture self-adaptive path roaming method considering terrain fluctuation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113870429A true CN113870429A (en) | 2021-12-31 |
| CN113870429B CN113870429B (en) | 2022-04-26 |
Family
ID=78992760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111151452.6A Active CN113870429B (en) | 2021-09-29 | 2021-09-29 | Web end three-dimensional scene posture self-adaptive path roaming method considering terrain fluctuation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113870429B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116452718A (en) * | 2023-06-15 | 2023-07-18 | 山东捷瑞数字科技股份有限公司 | Path planning method, system, device and storage medium for scene roaming |
| CN116958201A (en) * | 2023-07-27 | 2023-10-27 | 中国人民解放军陆军工程大学 | Visual angle roaming synchronization method based on positions of all points of route |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102184570A (en) * | 2011-04-28 | 2011-09-14 | 广东省电力设计研究院 | Three-dimensional optimization and line selection system, method and device for roaming establishment in stereoscopic scenes of three-dimensional optimization and line selection system |
| CN107833284A (en) * | 2017-11-03 | 2018-03-23 | 浙江科澜信息技术有限公司 | A kind of method roamed in three-dimensional scenic along specified point |
| CN108257219A (en) * | 2018-01-31 | 2018-07-06 | 广东三维家信息科技有限公司 | A kind of method for realizing the roaming of panorama multiple spot |
| CN109919997A (en) * | 2019-03-12 | 2019-06-21 | 湖南科技大学 | Addressing air navigation aid in complex scene path in three-dimensional space based on sight center line |
| CN111652977A (en) * | 2020-04-17 | 2020-09-11 | 国网山西省电力公司晋中供电公司 | Intelligent roaming method for three-dimensional scene of transformer substation |
| CN113223130A (en) * | 2021-03-17 | 2021-08-06 | 浙江大华技术股份有限公司 | Path roaming method, terminal equipment and computer storage medium |
-
2021
- 2021-09-29 CN CN202111151452.6A patent/CN113870429B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102184570A (en) * | 2011-04-28 | 2011-09-14 | 广东省电力设计研究院 | Three-dimensional optimization and line selection system, method and device for roaming establishment in stereoscopic scenes of three-dimensional optimization and line selection system |
| CN107833284A (en) * | 2017-11-03 | 2018-03-23 | 浙江科澜信息技术有限公司 | A kind of method roamed in three-dimensional scenic along specified point |
| CN108257219A (en) * | 2018-01-31 | 2018-07-06 | 广东三维家信息科技有限公司 | A kind of method for realizing the roaming of panorama multiple spot |
| CN109919997A (en) * | 2019-03-12 | 2019-06-21 | 湖南科技大学 | Addressing air navigation aid in complex scene path in three-dimensional space based on sight center line |
| CN111652977A (en) * | 2020-04-17 | 2020-09-11 | 国网山西省电力公司晋中供电公司 | Intelligent roaming method for three-dimensional scene of transformer substation |
| CN113223130A (en) * | 2021-03-17 | 2021-08-06 | 浙江大华技术股份有限公司 | Path roaming method, terminal equipment and computer storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 赵晓东 等: "实时虚拟场景漫游路径的优化算法", 《高技术通讯》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116452718A (en) * | 2023-06-15 | 2023-07-18 | 山东捷瑞数字科技股份有限公司 | Path planning method, system, device and storage medium for scene roaming |
| CN116452718B (en) * | 2023-06-15 | 2023-09-12 | 山东捷瑞数字科技股份有限公司 | Path planning method, system, device and storage medium for scene roaming |
| CN116958201A (en) * | 2023-07-27 | 2023-10-27 | 中国人民解放军陆军工程大学 | Visual angle roaming synchronization method based on positions of all points of route |
| CN116958201B (en) * | 2023-07-27 | 2024-07-16 | 中国人民解放军陆军工程大学 | Visual angle roaming synchronization method based on positions of all points of route |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113870429B (en) | 2022-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113870429B (en) | Web end three-dimensional scene posture self-adaptive path roaming method considering terrain fluctuation | |
| JP4436186B2 (en) | Navigation device and map display method | |
| CN103886640B (en) | The acquisition methods of the threedimensional model of a kind of building and system | |
| Shen et al. | Area partitioning for channel network extraction using digital elevation models and remote sensing | |
| CN115077556B (en) | Unmanned vehicle field operation path planning method based on multi-dimensional map | |
| CN104331859B (en) | Inclined strip splicing imaging method of narrow and long object area of remote sensing satellite | |
| CN113296543B (en) | Method and system for planning aerial route | |
| CN106990845A (en) | A kind of rural tourism management system | |
| CN114494627A (en) | City model generation method, device, equipment and computer readable storage medium | |
| CN114359503A (en) | Oblique photography modeling method based on unmanned aerial vehicle | |
| CN114549956A (en) | Deep learning assisted inclined model building facade target recognition method | |
| CN109035365B (en) | Mosaic processing method of high-resolution image | |
| CN117808983A (en) | Multi-resolution sea-land digital elevation model fusion method and system | |
| CN107525507A (en) | The decision method and device of driftage | |
| CN117784815A (en) | Path planning and defect identification method and device for unmanned aerial vehicle inspection process | |
| CN117666610A (en) | Mountain photovoltaic unmanned aerial vehicle simulated ground flight planning method based on digital surface model | |
| CN111964682A (en) | Fast path planning method and device adapting to unknown dynamic space and storage medium | |
| CN112558638A (en) | Unmanned aerial vehicle aerial photography control system and working method thereof | |
| CN115235495B (en) | Scenic spot three-dimensional navigation method and system based on tourist interests | |
| CN112967360A (en) | Synthetic aperture radar image Voronoi polygon mosaic method considering multiple dimensions | |
| CN118640925B (en) | Method and device for planning path of automatic driving vehicle in off-road environment | |
| CN114708384B (en) | Visual SLAM mapping method based on linear guide feature extraction | |
| Mower | Automating landscape illustration with pen and ink style rendering | |
| CN117253232B (en) | Automatic annotation generation method, memory and storage medium for high-precision map | |
| CN117942562A (en) | Road generation method, device and equipment of game scene and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |