CN116168300B - Nuclear line resampling method and device for GSDs (global navigation satellite system) such as high-resolution remote sensing images - Google Patents
Nuclear line resampling method and device for GSDs (global navigation satellite system) such as high-resolution remote sensing images Download PDFInfo
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Abstract
The invention provides a nuclear line resampling method and device of GSD (global system for mobile communication) such as high-resolution remote sensing images, and relates to the technical field of image nuclear line acquisition, comprising the following steps: acquiring target data of a region to be processed, and constructing a epipolar line image of the region to be processed based on the target data; according to a preset size, carrying out grid division on the epipolar line image to obtain a grid image, and determining coordinates of seed points in the grid image; based on coordinates of the seed points, affine transformation coefficients between original high-resolution remote sensing images and epipolar line images corresponding to the high-resolution remote sensing image pairs are determined; resampling is carried out on the epipolar line image based on affine transformation coefficients and original high-resolution remote sensing images to obtain a resampled epipolar line image, and the technical problems of poor sampling efficiency and poor sampling result of the existing epipolar line sampling method are solved.
Description
Technical Field
The invention relates to the technical field of image epipolar line acquisition, in particular to a epipolar line resampling method and device for GSDs (global system for mobile communication) such as high-resolution remote sensing images and the like.
Background
In the prior art, the nuclear line acquisition of the high-resolution optical remote sensing image is carried out by acquiring homonymous points between the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image and the nuclear line image by adopting a sparse matching method, solving a nuclear line equation by utilizing the homonymous points, and generating the nuclear line image pixel by pixel based on the nuclear line equation. In the process of generating the epipolar line image, certain requirements are imposed on the image texture, if the texture is difficult in areas, the phenomenon that the same-name points are not matched or the same-name points are unevenly distributed and have low precision can occur, so that the generated epipolar line image has parallax and cannot meet the production application; meanwhile, the epipolar line equation is calculated pixel by pixel to collect epipolar lines, so that the efficiency is low, and the phenomenon that the single-view data volume of the current high-resolution remote sensing image is large cannot be met.
An effective solution to the above-mentioned problems has not been proposed yet.
Disclosure of Invention
In view of the above, the present invention aims to provide a method and a device for resampling epipolar line of GSD such as high resolution remote sensing image, so as to alleviate the technical problems of poor sampling efficiency and poor sampling result of the existing epipolar line sampling method.
In a first aspect, an embodiment of the present invention provides a epipolar line resampling method for GSD such as a high resolution remote sensing image, including: acquiring target data of a region to be processed, and constructing a epipolar line image of the region to be processed based on the target data, wherein the target data comprises: a high-resolution remote sensing image stereo pair, an RPC file of the high-resolution remote sensing image pair, a maximum elevation value of the region to be processed and a minimum elevation value of the region to be processed; according to a preset size, carrying out grid division on the epipolar line image to obtain a grid image, and determining coordinates of seed points in the grid image; based on the coordinates of the seed points, determining affine transformation coefficients between the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image pair; and resampling the epipolar line image based on the affine transformation coefficient and the high-resolution remote sensing image to the corresponding original high-resolution remote sensing image to obtain a resampled epipolar line image.
Further, the high resolution remote sensing image stereopair includes a left image and a right image, and constructing a epipolar line image of the region to be processed based on the target data includes: determining the image side coordinates of the left image horizontal direction central point in the right image based on the image side coordinates of the left image horizontal direction central point and the average elevation value of the to-be-processed area; layering the elevation difference according to a preset elevation, wherein the elevation difference is the difference between the maximum elevation value of the area to be processed and the minimum elevation value of the area to be processed; determining the object space coordinates of each layering of the left image horizontal direction central point in the right image based on the layering number, the minimum elevation value of the to-be-processed area and the image space coordinates of the left image horizontal direction central point in the right image; determining tangential plane coordinates of each layering of the left image horizontal direction central point in the right image based on the object space coordinates of each layering of the left image horizontal direction central point in the right image and the heights of anchor points; and determining a epipolar line equation of each layering based on the tangential plane coordinates of the horizontal direction central point of the left image in each layering in the right image based on the RPC file, and constructing the epipolar line image of the region to be processed based on the epipolar line equation.
Further, determining the image side coordinates of the left image horizontal direction center point in the right image based on the image side coordinates of the left image horizontal direction center point and the average elevation value of the to-be-processed area, includes: calculating the object space coordinate of the left image horizontal direction central point based on the image space coordinate of the left image horizontal direction central point and the average elevation value; and determining the image side coordinates of the left image horizontal direction central point in the right image based on the object side coordinates of the left image horizontal direction central point.
Further, determining affine transformation coefficients between the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image pair based on the coordinates of the seed points comprises: determining tangential plane coordinates of the seed points based on the coordinates of the seed points; determining the coordinates of the seed points in a geocentric coordinate system based on the tangential plane coordinates of the seed points; determining the coordinates of the seed points in the original high-resolution remote sensing images corresponding to the high-resolution remote sensing image pairs based on the coordinates of the seed points in a geocentric coordinate system; and determining affine transformation coefficients between the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair and the epipolar line image based on the coordinates of the seed points and the coordinates of the seed points in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair.
Further, resampling the epipolar line image based on the affine transformation coefficient and the high-resolution remote sensing image pair corresponding to the original high-resolution remote sensing image to obtain a resampled epipolar line image, including: based on the affine transformation coefficient and the coordinates of all the image points in the epipolar line image, calculating the coordinates of all the image points in the epipolar line image in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair; resampling the corresponding original high-resolution remote sensing image of the high-resolution remote sensing image pair based on the coordinates of all image points in the epipolar line image in the corresponding original high-resolution remote sensing image of the high-resolution remote sensing image pair to obtain target parameters, wherein the target parameters are RGB values or G values; and assigning the target parameters to the corresponding epipolar line positions to obtain the resampled epipolar line image.
In a second aspect, an embodiment of the present invention further provides a epipolar resampling apparatus for GSD such as a high resolution remote sensing image, including: the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring target data of a region to be processed and constructing a epipolar line image of the region to be processed based on the target data, and the target data comprises: a high-resolution remote sensing image stereo pair, an RPC file of the high-resolution remote sensing image pair, a maximum elevation value of the region to be processed and a minimum elevation value of the region to be processed; the first determining unit is used for carrying out grid division on the epipolar line image according to a preset size to obtain a grid image, and determining coordinates of seed points in the grid image; the second determining unit is used for determining affine transformation coefficients between the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair and the epipolar line image based on the coordinates of the seed points; and the resampling unit is used for resampling the epipolar line image based on the affine transformation coefficient and the high-resolution remote sensing image to the corresponding original high-resolution remote sensing image to obtain a resampled epipolar line image.
Further, the high resolution remote sensing image stereopair includes a left image and a right image, and the acquiring unit is configured to: determining the image side coordinates of the left image horizontal direction central point in the right image based on the image side coordinates of the left image horizontal direction central point and the average elevation value of the to-be-processed area; layering the elevation difference according to a preset elevation, wherein the elevation difference is the difference between the maximum elevation value of the area to be processed and the minimum elevation value of the area to be processed; determining the object space coordinates of each layering of the left image horizontal direction central point in the right image based on the layering number, the minimum elevation value of the to-be-processed area and the image space coordinates of the left image horizontal direction central point in the right image; determining tangential plane coordinates of each layering of the left image horizontal direction central point in the right image based on the object space coordinates of each layering of the left image horizontal direction central point in the right image and the heights of anchor points; and determining a epipolar line equation of each layering based on the tangential plane coordinates of the horizontal direction central point of the left image in each layering in the right image based on the RPC file, and constructing the epipolar line image of the region to be processed based on the epipolar line equation.
Further, the acquiring unit is further configured to: calculating the object space coordinate of the left image horizontal direction central point based on the image space coordinate of the left image horizontal direction central point and the average elevation value; and determining the image side coordinates of the left image horizontal direction central point in the right image based on the object side coordinates of the left image horizontal direction central point.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory is configured to store a program for supporting the processor to execute the method described in the first aspect, and the processor is configured to execute the program stored in the memory.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon.
In the embodiment of the invention, the object data of the area to be processed is obtained, and the epipolar line image of the area to be processed is constructed based on the object data, wherein the object data comprises: a high-resolution remote sensing image stereo pair, an RPC file of the high-resolution remote sensing image pair, a maximum elevation value of the region to be processed and a minimum elevation value of the region to be processed; according to a preset size, carrying out grid division on the epipolar line image to obtain a grid image, and determining coordinates of seed points in the grid image; based on the coordinates of the seed points, determining affine transformation coefficients between the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image pair; and resampling the epipolar line image based on the affine transformation coefficient and the high-resolution remote sensing image to obtain a resampled epipolar line image, thereby achieving the aim of efficiently and accurately acquiring the epipolar line image, further solving the technical problems of poor sampling efficiency and poor sampling result of the traditional epipolar line sampling method, and further realizing the technical effects of improving the efficiency and accuracy of epipolar line acquisition.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for resampling epipolar lines of GSDs such as high resolution remote sensing images provided by an embodiment of the invention;
fig. 2 is a schematic diagram of a epipolar resampling apparatus for GSD such as a high resolution remote sensing image according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
in accordance with an embodiment of the present invention, there is provided an embodiment of a epipolar resampling method for a GSD such as a high resolution telemetry image, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
Fig. 1 is a flowchart of a method for resampling epipolar lines of GSDs such as high resolution remote sensing images according to an embodiment of the present invention, as shown in fig. 1, the method includes the steps of:
step S102, obtaining target data of a region to be processed, and constructing a epipolar line image of the region to be processed based on the target data, wherein the target data comprises: a high-resolution remote sensing image stereo pair, an RPC file of the high-resolution remote sensing image pair, a maximum elevation value of the region to be processed and a minimum elevation value of the region to be processed;
step S104, carrying out grid division on the epipolar line image according to a preset size to obtain a grid image, and determining coordinates of seed points in the grid image;
step S106, determining affine transformation coefficients between the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair and the epipolar line image based on the coordinates of the seed points;
step S108, resampling the epipolar line image based on the affine transformation coefficient and the high-resolution remote sensing image pair corresponding to the original high-resolution remote sensing image, to obtain a resampled epipolar line image.
In the embodiment of the invention, the object data of the area to be processed is obtained, and the epipolar line image of the area to be processed is constructed based on the object data, wherein the object data comprises: a high-resolution remote sensing image stereo pair, an RPC file of the high-resolution remote sensing image pair, a maximum elevation value of the region to be processed and a minimum elevation value of the region to be processed; according to a preset size, carrying out grid division on the epipolar line image to obtain a grid image, and determining coordinates of seed points in the grid image; based on the coordinates of the seed points, determining affine transformation coefficients between the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image pair; and resampling the epipolar line image based on the affine transformation coefficient and the high-resolution remote sensing image to obtain a resampled epipolar line image, thereby achieving the aim of efficiently and accurately acquiring the epipolar line image, further solving the technical problems of poor sampling efficiency and poor sampling result of the traditional epipolar line sampling method, and further realizing the technical effects of improving the efficiency and accuracy of epipolar line acquisition.
In the embodiment of the present invention, the high resolution remote sensing image stereopair includes a left image and a right image, and step S104 includes the following steps:
determining the image side coordinates of the left image horizontal direction central point in the right image based on the image side coordinates of the left image horizontal direction central point and the average elevation value of the to-be-processed area;
layering the elevation difference according to a preset elevation, wherein the elevation difference is the difference between the maximum elevation value of the area to be processed and the minimum elevation value of the area to be processed;
determining the object space coordinates of each layering of the left image horizontal direction central point in the right image based on the layering number, the minimum elevation value of the to-be-processed area and the image space coordinates of the left image horizontal direction central point in the right image;
determining the tangential plane coordinates of each layering of the left image horizontal direction central point in the right image based on the RPC file and the heights of each layering of the left image horizontal direction central point in the right image;
and determining a epipolar line equation of each layering based on the tangential plane coordinates of the horizontal direction central point of the left image in each layering in the right image, and constructing the epipolar line image of the region to be processed based on the epipolar line equation.
In the embodiment of the invention, firstly, the image side coordinates (xl, yl) and the average elevation value Ha of the center point of the left image in the horizontal direction are determined.
Then, the object coordinates (X, Y, ha) of the left image horizontal direction center point are calculated according to the image space coordinates (xl, yl) and the average elevation value Ha of the left image horizontal direction center point.
，/>
The specific parameters are explained as follows:
(P, L, H) is normalized ground coordinates, and (x, y) is normalized image coordinates, and the normalization formula is as follows:
wherein the method comprises the steps of(i=1...20),/>(i=1...20),/>(i=1...20),/>(i=1..20), which is a rational polynomial coefficient, ++>、/>、/>、/>、/>、/>、/>、/>Is a normalized coefficient.
Then, the image side coordinates (xr, yr) of the horizontal direction center point of the left image in the right image are calculated according to the object side coordinates (X, Y, ha) of the horizontal direction center point of the left image.
After the image side coordinates (xr, yr) of the horizontal direction central point of the left image in the right image are determined, layering is carried out on the difference value between the maximum elevation value of the area to be processed and the minimum elevation value of the area to be processed according to a preset elevation, so that the number of elevation difference layering is obtained.
Next, the object coordinates (xc, yc) of each layer in the right image of the horizontal direction center point of the left image are calculated according to the image coordinates of the horizontal direction center point of the left image in the right image and the height of each layer.
Then, according to the object coordinates (xc, yc) of each layer of the horizontal direction central point of the left image in the right image and the elevation of the anchor point, the tangential plane coordinates (x, y) of each layer of the horizontal direction central point of the left image in the right image are determined.
And finally, determining a epipolar line equation of each layering according to the tangential plane coordinates of each layering of the horizontal direction central point of the left image in the right image, and constructing the epipolar line image of the region to be processed based on the epipolar line equation.
The method is based on object space tangent plane projection calculation epipolar line equation, and can generate a epipolar line three-dimensional model which is horizontal to the object space and has consistent ground resolution. Under the condition of higher precision of image orientation parameters, the method can generate near-strict epipolar line images.
In the embodiment of the invention, before the affine transformation coefficients of the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image are calculated, the anchor point position is firstly determined, and the coordinate origin is generally selected as the anchor point. Setting a epipolar line image GSD parameter value, wherein the epipolar line image GSD value can be automatically obtained according to the corresponding original high-resolution remote sensing image GSD of the high-resolution remote sensing image, and the GSD value can also be manually set. And setting the grid row and column numbers of the epipolar line image, for example, setting the grid row and column as 100 x 100.
In the embodiment of the present invention, step S106 includes the following steps:
determining tangential plane coordinates of the seed points based on the coordinates of the seed points;
determining the coordinates of the seed points in a geocentric coordinate system based on the tangential plane coordinates of the seed points;
determining the coordinates of the seed points in the original high-resolution remote sensing images corresponding to the high-resolution remote sensing image pairs based on the coordinates of the seed points in a geocentric coordinate system;
and determining affine transformation coefficients between the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair and the epipolar line image based on the coordinates of the seed points and the coordinates of the seed points in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair.
In the embodiment of the invention, according to the set grid row and column numbers, the image point coordinates of the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair on the grid are calculated and converted into the epipolar line image. If the grid lines and columns are set to be 100 x 100, 100 seed point coordinates are obtained through calculation, and affine transformation coefficients between the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image pair are calculated.
Specifically, first, the P coordinate of the seed point in the epipolar line image grid is obtained,/>) The slope of the straight line equation corresponding to the point is rotated to obtain a tangential plane coordinate P1 (x 1, y 1), the tangential plane coordinate P1 is converted into a geocentric coordinate system to obtain P2 (L, B, H), and the original high-resolution remote sensing image coordinate (namely, the coordinate of the seed point in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair) P3 (the coordinate of the seed point in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair) corresponding to the high-resolution remote sensing image pair is obtained through calculation according to the geocentric coordinate P2>,/>). At this time, a pair of homonymous points P and P3 on the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image pair are obtained. And obtaining the coordinates of the same name point of all the seed points in the grid according to the method.
And then, bringing the coordinates of the seed points and the coordinates of the seed points in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair into the following formula to obtain an equation set.
Solving and calculating affine transformation coefficients between the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image pair according to an equation set、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>、/>。
In the embodiment of the present invention, step S110 includes the following steps:
based on the affine transformation coefficient and the coordinates of all the image points in the epipolar line image, calculating the coordinates of all the image points in the epipolar line image in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair;
resampling the corresponding original high-resolution remote sensing image of the high-resolution remote sensing image pair based on the coordinates of all image points in the epipolar line image in the corresponding original high-resolution remote sensing image of the high-resolution remote sensing image pair to obtain target parameters, wherein the target parameters are RGB values or G values;
and assigning the target parameters to the corresponding epipolar line positions to obtain the resampled epipolar line image.
In the embodiment of the invention, firstly, a epipolar image is created according to the width and the height of the epipolar image, and each image point in the epipolar image is traversed from the coordinates of the image point at the upper left corner of the epipolar image.
And then, according to the coordinates of each image point and affine transformation coefficients, determining the coordinates of each image point in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image pair.
And finally, resampling the original to obtain an RGB value or a G value according to the coordinates of each image point in the corresponding original high-resolution remote sensing image of the high-resolution remote sensing image, and assigning the RGB value or the G value to the corresponding epipolar line position, so as to obtain the resampled epipolar line image.
The embodiment of the invention provides a method for obtaining homonymous points on an original high-resolution remote sensing image and a epipolar line image corresponding to the high-resolution remote sensing image pair based on a tangent plane, and provides a method for obtaining uniformly distributed seed points by uniformly dividing the epipolar line image pair by using grids, and a method for calculating affine transformation coefficients between the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image pair by using the seed points.
Embodiment two:
the embodiment of the invention also provides a epipolar resampling device for GSDs such as high-resolution remote sensing images, which is used for executing the epipolar resampling method for GSDs such as high-resolution remote sensing images provided by the embodiment of the invention, and the following is a specific introduction of the epipolar resampling device for GSDs such as high-resolution remote sensing images provided by the embodiment of the invention.
As shown in fig. 2, fig. 2 is a schematic diagram of a epipolar resampling apparatus for GSD such as the above-mentioned high-resolution remote sensing image, and the epipolar resampling apparatus for GSD such as the high-resolution remote sensing image includes:
an obtaining unit 10, configured to obtain target data of an area to be processed, and construct a epipolar line image of the area to be processed based on the target data, where the target data includes: a high-resolution remote sensing image stereo pair, an RPC file of the high-resolution remote sensing image pair, a maximum elevation value of the region to be processed and a minimum elevation value of the region to be processed;
the first determining unit 20 is configured to grid-divide the epipolar line image according to a preset size to obtain a grid image, and determine coordinates of seed points in the grid image;
a second determining unit 30, configured to determine affine transformation coefficients between the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image pair, based on the coordinates of the seed points;
and the resampling unit 40 is configured to resample the epipolar line image based on the affine transformation coefficient and the high-resolution remote sensing image pair corresponding to the original high-resolution remote sensing image pair, to obtain a resampled epipolar line image.
In the embodiment of the invention, the object data of the area to be processed is obtained, and the epipolar line image of the area to be processed is constructed based on the object data, wherein the object data comprises: a high-resolution remote sensing image stereo pair, an RPC file of the high-resolution remote sensing image pair, a maximum elevation value of the region to be processed and a minimum elevation value of the region to be processed; according to a preset size, carrying out grid division on the epipolar line image to obtain a grid image, and determining coordinates of seed points in the grid image; based on the coordinates of the seed points, determining affine transformation coefficients between the original high-resolution remote sensing image and the epipolar line image corresponding to the high-resolution remote sensing image pair; and resampling the epipolar line image based on the affine transformation coefficient and the high-resolution remote sensing image to obtain a resampled epipolar line image, thereby achieving the aim of efficiently and accurately acquiring the epipolar line image, further solving the technical problems of poor sampling efficiency and poor sampling result of the traditional epipolar line sampling method, and further realizing the technical effects of improving the efficiency and accuracy of epipolar line acquisition.
Embodiment III:
an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory is configured to store a program that supports the processor to execute the method described in the first embodiment, and the processor is configured to execute the program stored in the memory.
Referring to fig. 3, an embodiment of the present invention further provides an electronic device 100, including: a processor 50, a memory 51, a bus 52 and a communication interface 53, the processor 50, the communication interface 53 and the memory 51 being connected by the bus 52; the processor 50 is arranged to execute executable modules, such as computer programs, stored in the memory 51.
The memory 51 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is achieved via at least one communication interface 53 (which may be wired or wireless), and the internet, wide area network, local network, metropolitan area network, etc. may be used.
Bus 52 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 3, but not only one bus or type of bus.
The memory 51 is configured to store a program, and the processor 50 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 50 or implemented by the processor 50.
The processor 50 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware in the processor 50 or by instructions in the form of software. The processor 50 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 51 and the processor 50 reads the information in the memory 51 and in combination with its hardware performs the steps of the above method.
Embodiment four:
the embodiment of the invention also provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the method in the first embodiment are executed.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A nuclear line resampling method of GSD (global positioning system) such as high-resolution remote sensing images and the like is characterized by comprising the following steps:
acquiring target data of a region to be processed, and constructing a epipolar line image of the region to be processed based on the target data, wherein the target data comprises: a high-resolution remote sensing image stereopair, an RPC file of the high-resolution remote sensing image stereopair, a maximum elevation value of the region to be processed and a minimum elevation value of the region to be processed;
according to a preset size, carrying out grid division on the epipolar line image to obtain a grid image, and determining coordinates of seed points in the grid image;
determining affine transformation coefficients between the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair and the epipolar line image based on the coordinates of the seed points;
resampling the epipolar line image based on the affine transformation coefficient and an original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair to obtain a resampled epipolar line image;
the high-resolution remote sensing image stereopair comprises a left image and a right image, and the epipolar line image of the area to be processed is constructed based on the target data, and the method comprises the following steps: determining the image side coordinates of the left image horizontal direction central point in the right image based on the image side coordinates of the left image horizontal direction central point and the average elevation value of the to-be-processed area; layering the elevation difference according to a preset elevation, wherein the elevation difference is the difference between the maximum elevation value of the area to be processed and the minimum elevation value of the area to be processed; determining the object space coordinates of each layering of the left image horizontal direction central point in the right image based on the layering number, the minimum elevation value of the to-be-processed area and the image space coordinates of the left image horizontal direction central point in the right image; determining tangential plane coordinates of each layering of the left image horizontal direction central point in the right image based on the object space coordinates of each layering of the left image horizontal direction central point in the right image and the heights of anchor points; based on the RPC file, determining a epipolar line equation of each layering in each layered tangential plane coordinate of the horizontal direction central point of the left image in the right image, and constructing the epipolar line image of the region to be processed based on the epipolar line equation;
based on the coordinates of the seed points, determining affine transformation coefficients between the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair and the epipolar line image comprises the following steps: determining tangential plane coordinates of the seed points based on the coordinates of the seed points; determining the coordinates of the seed points in a geocentric coordinate system based on the tangential plane coordinates of the seed points; determining the coordinates of the seed points in the original high-resolution remote sensing images corresponding to the high-resolution remote sensing image stereopair based on the coordinates of the seed points in a geocentric coordinate system; determining affine transformation coefficients between the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair and the epipolar line image based on the coordinates of the seed points and the coordinates of the seed points in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair;
resampling the epipolar line image based on the affine transformation coefficient and the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair, to obtain a resampled epipolar line image, comprising: based on the affine transformation coefficient and the coordinates of all the image points in the epipolar line image, calculating the coordinates of all the image points in the epipolar line image in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair; resampling the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereo pair based on coordinates of all image points in the epipolar line image in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereo pair to obtain target parameters, wherein the target parameters are RGB values or G values; and assigning the target parameters to the corresponding epipolar line positions to obtain the resampled epipolar line image.
2. The method of claim 1, wherein determining the image side coordinates of the left image horizontal direction center point in the right image based on the image side coordinates of the left image horizontal direction center point and the average elevation value of the region to be processed comprises:
calculating the object space coordinate of the left image horizontal direction central point based on the image space coordinate of the left image horizontal direction central point and the average elevation value;
and determining the image side coordinates of the left image horizontal direction central point in the right image based on the object side coordinates of the left image horizontal direction central point.
3. A epipolar resampling apparatus for GSD such as high resolution remote sensing image, comprising:
the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring target data of a region to be processed and constructing a epipolar line image of the region to be processed based on the target data, and the target data comprises: a high-resolution remote sensing image stereopair, an RPC file of the high-resolution remote sensing image stereopair, a maximum elevation value of the region to be processed and a minimum elevation value of the region to be processed;
the first determining unit is used for carrying out grid division on the epipolar line image according to a preset size to obtain a grid image, and determining coordinates of seed points in the grid image;
the second determining unit is used for determining affine transformation coefficients between the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair and the epipolar line image based on the coordinates of the seed points;
the resampling unit is used for resampling the epipolar line image based on the affine transformation coefficient and the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair to obtain a resampled epipolar line image;
the high-resolution remote sensing image stereopair comprises a left image and a right image, and the acquisition unit is used for: determining the image side coordinates of the left image horizontal direction central point in the right image based on the image side coordinates of the left image horizontal direction central point and the average elevation value of the to-be-processed area; layering the elevation difference according to a preset elevation, wherein the elevation difference is the difference between the maximum elevation value of the area to be processed and the minimum elevation value of the area to be processed; determining the object space coordinates of each layering of the left image horizontal direction central point in the right image based on the layering number, the minimum elevation value of the to-be-processed area and the image space coordinates of the left image horizontal direction central point in the right image; determining tangential plane coordinates of each layering of the left image horizontal direction central point in the right image based on the object space coordinates of each layering of the left image horizontal direction central point in the right image and the heights of anchor points; based on the RPC file, determining a epipolar line equation of each layering in each layered tangential plane coordinate of the horizontal direction central point of the left image in the right image, and constructing the epipolar line image of the region to be processed based on the epipolar line equation;
the second determining unit is further configured to determine a tangential plane coordinate of the seed point based on the coordinate of the seed point; determining the coordinates of the seed points in a geocentric coordinate system based on the tangential plane coordinates of the seed points; determining the coordinates of the seed points in the original high-resolution remote sensing images corresponding to the high-resolution remote sensing image stereopair based on the coordinates of the seed points in a geocentric coordinate system; determining affine transformation coefficients between the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair and the epipolar line image based on the coordinates of the seed points and the coordinates of the seed points in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair;
the resampling unit is further configured to calculate coordinates of all image points in the epipolar line image in an original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereopair based on the affine transformation coefficient and coordinates of all image points in the epipolar line image; resampling the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereo pair based on coordinates of all image points in the epipolar line image in the original high-resolution remote sensing image corresponding to the high-resolution remote sensing image stereo pair to obtain target parameters, wherein the target parameters are RGB values or G values; and assigning the target parameters to the corresponding epipolar line positions to obtain the resampled epipolar line image.
4. The apparatus of claim 3, wherein the acquisition unit is further configured to:
calculating the object space coordinate of the left image horizontal direction central point based on the image space coordinate of the left image horizontal direction central point and the average elevation value;
and determining the image side coordinates of the left image horizontal direction central point in the right image based on the object side coordinates of the left image horizontal direction central point.
5. An electronic device comprising a memory for storing a program supporting the processor to perform the method of claim 1 or 2, and a processor configured to execute the program stored in the memory.
6. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program is executed by a processor to perform the steps of the method according to claim 1 or 2.
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