CN116363315B - Reconstruction method and device of plant three-dimensional structure, electronic equipment and storage medium - Google Patents
Reconstruction method and device of plant three-dimensional structure, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a reconstruction method and device of a three-dimensional structure of a plant, electronic equipment and a storage medium, wherein the reconstruction method comprises the following steps: obtaining geographic information of a region to be rebuilt; drawing a cross surrounding route of the area to be rebuilt according to the geographic information, so that the unmanned aerial vehicle executes an image acquisition task according to the cross surrounding route to obtain a plant multi-view image set at the area to be rebuilt; the cross surrounding route comprises a plurality of single-circle surrounding routes, and two adjacent single-circle surrounding routes are overlapped; and carrying out three-dimensional structure reconstruction processing on plants planted in the to-be-reconstructed area according to the plant multi-view image set to obtain a plant three-dimensional structure corresponding to the to-be-reconstructed area. The invention can construct the three-dimensional structure of the plant efficiently, flexibly, with low cost and accurately.
Description
Technical Field
The present invention relates to the field of plant three-dimensional reconstruction technology, and in particular, to a method, an apparatus, an electronic device, and a storage medium for reconstructing a plant three-dimensional structure.
Background
In order to improve the yield of grains, the improvement breeding of crops is important, the improvement breeding of crops needs to acquire three-dimensional structural information of large-area plants with high flux, the traditional three-dimensional structural data acquisition of plants is mostly completed manually, the time and the labor are wasted, the artificial subjective factors are overlarge, and the reliability of the acquired data is lower.
With the development of agricultural informatization, researchers at home and abroad use different types of sensors to acquire three-dimensional structures of plants, wherein the most common use is laser radar. The laser radar is an active three-dimensional technology, and can acquire a precise three-dimensional structure of a plant. The laser radars are divided into foundation laser radars and gantry laser radars according to the difference of carrying platforms: foundation lidar is a method of detecting a three-dimensional structure of a plant by mounting a lidar on a tripod, which has high accuracy, but for a large-area field plant, foundation lidar will be very time-consuming; the gantry laser radar is a method for acquiring a large-area plant three-dimensional structure by carrying the laser radar on a portal frame, has high precision and can acquire the large-area plant three-dimensional structure, but has high manufacturing cost and poor flexibility.
Disclosure of Invention
In view of the above, the present invention aims to provide a method, an apparatus, an electronic device and a storage medium for reconstructing a three-dimensional structure of a plant, which can construct the three-dimensional structure of the plant efficiently, flexibly, at low cost and accurately.
In a first aspect, an embodiment of the present invention provides a method for reconstructing a three-dimensional structure of a plant, including: obtaining geographic information of a region to be rebuilt; drawing a cross surrounding route of the area to be rebuilt according to the geographic information, so that the unmanned aerial vehicle executes an image acquisition task according to the cross surrounding route to obtain a plant multi-view image set at the area to be rebuilt; the cross surrounding route comprises a plurality of single-circle surrounding routes, and two adjacent single-circle surrounding routes are overlapped; and carrying out three-dimensional structure reconstruction processing on plants planted in the to-be-reconstructed area according to the plant multi-view image set to obtain a plant three-dimensional structure corresponding to the to-be-reconstructed area.
In one embodiment, the drawing the cross surrounding route of the area to be rebuilt according to the geographic information comprises: acquiring equipment parameters of image acquisition equipment carried by the unmanned aerial vehicle; determining the radius and the in-circle overlap ratio of a single circle surrounding route according to the equipment parameters; wherein the in-circle overlap ratio represents the number of waypoints contained in a single circle of surrounding route; drawing a cross surrounding route of the area to be rebuilt based on the geographic information, the radius, the in-circle overlapping rate and a preset inter-circle overlapping rate; wherein the inter-turn overlapping ratio represents an overlapping ratio between adjacent two of the single-turn surrounding wires.
In one embodiment, the device parameters include lens tilt angle, pixel size, and focal length; determining the radius of a single circle of surrounding route according to the equipment parameters, comprising: determining a quotient between the product of the focal length and a preset ground sampling distance and the product of the sine value of the lens inclination angle and the pixel size as a route height; wherein the geographic information comprises a digital surface model, the course height representing a height of the cross-over surrounding course relative to the digital surface model; and calculating the quotient between the height of the route and the tangent value of the inclination angle of the lens to obtain the radius of the single circle of surrounding route.
In one embodiment, the device parameters further include a lens field of view; determining the in-loop overlap ratio of the single-loop surrounding route according to the equipment parameters, wherein the method comprises the following steps: and determining the quotient between the difference value of the lens view field and the appointed numerical value and the product of the preset image acquisition quantity corresponding to the single-circle surrounding route and the lens view field as the intra-circle overlapping rate of the single-circle surrounding route.
In one embodiment, the geographic information further includes a location range corresponding to the region to be reconstructed; drawing a cross surrounding route of the area to be rebuilt based on the geographic information, the radius, the intra-circle overlapping rate and a preset inter-circle overlapping rate, wherein the cross surrounding route comprises the following steps: determining the center distance between two adjacent single-circle surrounding wires according to the preset overlap ratio between the circles; and drawing a plurality of single-circle surrounding routes in the position range based on the radius, the circle center distance and the in-circle overlapping rate so as to obtain the cross surrounding route of the area to be reconstructed.
In one embodiment, determining the center distance between two adjacent single-circle surrounding wires according to the preset overlap ratio between the circles includes: and determining the center distance between two adjacent single-circle surrounding wires according to the following formula:
wherein D is the center distance, H is the route height, θ is the lens inclination angle, y is the physical dimension of the imaging element of the image acquisition device in the y direction, f is the focal length, and ITO is the inter-circle overlap ratio.
In one embodiment, the three-dimensional structure reconstruction process includes a feature point extraction process, a feature point matching process, a sparse point cloud reconstruction process, and a dense point cloud reconstruction process.
In a second aspect, an embodiment of the present invention further provides a device for reconstructing a three-dimensional structure of a plant, including: the information acquisition module is used for acquiring geographic information of the area to be rebuilt; the route drawing module is used for drawing a cross surrounding route of the area to be rebuilt according to the geographic information so that the unmanned aerial vehicle can execute an image acquisition task according to the cross surrounding route to obtain a plant multi-view image set at the area to be rebuilt; the cross surrounding route comprises a plurality of single-circle surrounding routes, and two adjacent single-circle surrounding routes are overlapped; and the structure reconstruction module is used for carrying out three-dimensional structure reconstruction processing on plants planted in the to-be-reconstructed area according to the plant multi-view image set to obtain a plant three-dimensional structure corresponding to the to-be-reconstructed area.
In a third aspect, an embodiment of the present invention further provides an electronic device comprising a processor and a memory storing computer-executable instructions executable by the processor to implement the method of any one of the first aspects.
In a fourth aspect, an embodiment of the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement the method of any one of the first aspects.
According to the reconstruction method, the device, the electronic equipment and the storage medium for the three-dimensional structure of the plant, geographic information of the region to be reconstructed is firstly obtained, then cross surrounding routes of the region to be reconstructed are drawn according to the geographic information, so that an unmanned aerial vehicle executes an image acquisition task according to the cross surrounding routes to obtain a multi-view image set of the plant at the region to be reconstructed, the cross surrounding routes comprise a plurality of single-circle surrounding routes, two adjacent single-circle surrounding routes are overlapped, and finally three-dimensional structure reconstruction processing is carried out on the plant planted in the region to be reconstructed according to the multi-view image set of the plant to obtain the three-dimensional structure of the plant corresponding to the region to be reconstructed. According to the method, the unmanned aerial vehicle cross surrounding route is provided, so that the unmanned aerial vehicle collects the plant multi-view image set of the area to be reconstructed according to the cross surrounding route, and therefore the plant three-dimensional structure is reconstructed based on the plant multi-view image set.
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 schematic flow chart of a method for reconstructing a three-dimensional structure of a plant according to an embodiment of the present invention;
FIG. 2 is a side view of a cross-over surrounding route provided by an embodiment of the present invention;
FIG. 3 is a schematic illustration of a cross-over route according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of another cross-over route provided by an embodiment of the present invention;
FIG. 5 is a schematic view of a three-dimensional structure of a plant according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a plant three-dimensional structure reconstruction device according to an embodiment of the present invention;
fig. 7 is a schematic structural 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 in conjunction with the embodiments, 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.
At present, a series of problems exist in the process of obtaining the precise three-dimensional structure of the large-area plant by the laser radar, such as time consumption, inflexibility, high cost and the like, and how to efficiently, flexibly, low-cost and precisely construct the three-dimensional structure of the large-area plant is a key for restricting crop improvement breeding.
For the convenience of understanding the present embodiment, first, a method for reconstructing a three-dimensional structure of a plant disclosed in the present embodiment will be described in detail, referring to a schematic flow chart of a method for reconstructing a three-dimensional structure of a plant shown in fig. 1, the method mainly includes the following steps S102 to S106:
step S102, geographical information of the area to be rebuilt is obtained. Plants or crops and the like can be planted in the area to be rebuilt, the area of the area to be rebuilt can be larger than a preset area threshold, namely the area to be rebuilt is a large area, and the geographic information can comprise elevation information provided by a digital surface model (DSM, digital surface model) and a position range provided by a Keyhole markup language (KML, keyhole Markup Language) file.
In one embodiment, the digital surface model and the Keyhole markup language file may be stored in a designated storage area, so as to obtain elevation information and a position range of the area to be reconstructed from the designated storage area; in another embodiment, an upload channel may be provided for the user to facilitate the retrieval of the user's uploaded elevation information and location ranges from the upload channel.
And step S104, drawing a cross surrounding route of the area to be rebuilt according to the geographic information, so that the unmanned aerial vehicle executes an image acquisition task according to the cross surrounding route to obtain a plant multi-view image set at the area to be rebuilt. The cross surrounding route comprises a plurality of single-circle surrounding routes, two adjacent single-circle surrounding routes are overlapped, the cross surrounding route is controlled by two parameters of an intra-circle overlapping rate and an inter-circle overlapping rate, the intra-circle overlapping rate represents the number of waypoints of the single-circle surrounding route, and the inter-circle overlapping rate represents the overlapping rate between the two adjacent single-circle surrounding routes. In one embodiment, the unmanned aerial vehicle is provided with an image acquisition device, the radius and the in-circle overlapping rate of a single circle surrounding route can be determined based on the device parameters of the image acquisition device, and then a plurality of single circles surrounding routes are drawn in the position range by combining the preset inter-circle overlapping rate, so that the cross surrounding route corresponding to the to-be-reconstructed area can be obtained, the cross surrounding route is sent to the unmanned aerial vehicle, the unmanned aerial vehicle navigates according to the cross surrounding route, and the images of plants planted in the to-be-reconstructed area are acquired in the navigation process, so that the plant multi-view image set is obtained.
And S106, carrying out three-dimensional structure reconstruction processing on plants planted in the area to be reconstructed according to the multi-view image set of the plants to obtain a plant three-dimensional structure corresponding to the area to be reconstructed. The three-dimensional structure reconstruction processing may include feature point extraction processing, feature point matching processing, sparse point cloud reconstruction processing, and dense point cloud reconstruction processing. In one embodiment, feature point extraction processing, feature point matching processing, sparse point cloud reconstruction processing and dense point cloud processing are sequentially performed on the plant multi-view image set to obtain a corresponding plant three-dimensional structure.
According to the reconstruction method of the plant three-dimensional structure, provided by the embodiment of the invention, the cross surrounding route of the unmanned aerial vehicle is provided, so that the unmanned aerial vehicle acquires the plant multi-view image set of the area to be reconstructed according to the cross surrounding route, and the plant three-dimensional structure is reconstructed based on the plant multi-view image set.
For the convenience of understanding the foregoing embodiments, the embodiment of the present invention provides an implementation manner of drawing a cross-surrounding route of an area to be rebuilt according to geographic information, and specifically may refer to the following steps 1 to 3:
step 1, acquiring equipment parameters of image acquisition equipment carried by the unmanned aerial vehicle. The device parameters include a lens inclination angle, a pixel size and a focal length, and further include a lens field of view.
And 2, determining the radius and the in-circle overlap ratio of the single-circle surrounding route according to the equipment parameters. The overlap ratio in the circle represents the number of waypoints contained in a single circle of surrounding route, and for plants, the overlap ratio in the circle can be set to more than 18 circles.
In one embodiment, the determination of the radius of a single turn around the course may be determined as follows steps 2.1 to 2.2:
and 2.1, determining a quotient between a product of the focal length and a preset ground sampling distance and a product of a sine value of the lens inclination angle and a pixel size as a route height. Wherein the geographic information comprises a digital surface model and the course altitude represents the altitude of the cross-over surrounding course relative to the digital surface model. Specifically, the calculation formula of the route height H is as follows:
H＝(f*GSD)/(a*sinθ)；
wherein H is the route stiffness, f is the focal length, a is the pixel size, θ is the camera tilt angle, and GSD is the ground sampling distance required by the image acquisition task.
And 2.2, calculating a quotient between the height of the route and the tangent value of the inclination angle of the lens to obtain the radius of the single circle of surrounding route. Specifically, the calculation formula of the radius R is as follows: r=h/tan θ.
In one embodiment, when determining the in-loop overlap ratio of the single-loop surrounding route, the quotient between the product of the preset image acquisition number corresponding to the single-loop surrounding route and the lens field of view and the difference between the lens field of view and the specified value may be determined as the in-loop overlap ratio of the single-loop surrounding route. Wherein the value is designated 360. Specifically, the intra-coil overlap ratio IAO of a single-coil surrounding course may be determined according to the following formula:
IAO＝(FOV-360/IA)/FOV；
the FOV is a lens field of view, and the IA is the corresponding preset image acquisition number of the single-circle surrounding route, namely the number of the acquired images in the single-circle surrounding route.
Step 3, drawing a cross surrounding route of the area to be rebuilt based on geographic information, radius, in-circle overlapping rate and preset inter-circle overlapping rate; wherein the inter-turn overlapping ratio represents the overlapping ratio between two adjacent single-turn surrounding routes, and the inter-turn overlapping ratio may be set to be more than 50% by way of example, and the embodiment of the invention provides a side view of a cross-surrounding route as shown in fig. 2 by taking the inter-turn overlapping ratio as 50% as an example. In one embodiment, the circle center distance between two adjacent single-circle surrounding routes can be determined according to the preset inter-circle overlapping rate, and then a plurality of single-circle surrounding routes are drawn in a position range based on the radius, the circle center distance and the intra-circle overlapping rate so as to obtain the cross surrounding route of the area to be rebuilt.
Specifically, the center distance between two adjacent single-circle surrounding wires can be determined according to the following formula:
wherein D is the center of a circleThe distance H is the altitude of the route, θ is the inclination angle of the lens, y is the physical dimension of the imaging element of the image acquisition device in the y direction, f is the focal length, ITO is the overlap ratio between circles,is a half-shot field of view.
For ease of understanding, an embodiment of the present invention provides a cross-surrounding route, referring to a schematic diagram of a cross-surrounding route shown in fig. 3, fig. 3 illustrates a cross-surrounding route, an area to be rebuilt, and an inscribed square area of an unmanned aerial vehicle, where the cross-surrounding route covers an area larger than the area of the area to be rebuilt.
Further, an application example of a cross-surrounding route is provided in the embodiment of the present invention, and assuming that the area to be rebuilt is a large area of beet and corn field, referring to fig. 4, another schematic diagram of a cross-surrounding route is shown, in which the distance between the unmanned aerial vehicle and the plant canopy is greater than 4 meters, the inclination angle of the camera is 45 °, and fig. 4 illustrates that the cross-surrounding route includes a plurality of evenly distributed single-circle surrounding routes.
On the basis of the embodiment, the cross surrounding route is sent to the unmanned aerial vehicle, the unmanned aerial vehicle navigates around the area to be rebuilt according to the cross surrounding route, and images of plants planted in the area to be rebuilt are collected at different visual angles in the navigation process, so that a multi-visual angle image set of the plants is obtained.
Further, three-dimensional structure reconstruction processing is carried out on the plant multi-view image set, wherein the three-dimensional structure reconstruction processing comprises feature point extraction processing, feature point matching processing, sparse point cloud reconstruction processing and dense point cloud reconstruction processing. Alternatively, the metacope software can be used to reconstruct the precise three-dimensional structure of the large-area crops, and in addition, the noise points in the sparse point cloud and/or the dense point cloud can be removed by using the statistical filtering algorithm. In one embodiment, the flow of the three-dimensional structure reconstruction process is as follows: extracting image features (such as SIFT, SURF and the like) - > matching features between image calculation images by utilizing the features- > performing sparse reconstruction based on the matched features to obtain camera pose and sparse feature point cloud (SfM) - > performing dense reconstruction based on the camera pose of each image, and obtaining dense point cloud (PMVS/CMVS) - > reconstructing grid, voxel or texture based on the point cloud.
For example, referring to a schematic diagram of a three-dimensional plant structure shown in fig. 5, fig. 5 illustrates the three-dimensional cotton structure and the three-dimensional cotton structure in three periods, and the three-dimensional plant structure is completely reconstructed from the three-dimensional plant structure shown in fig. 5, so that texture color information is detailed, and the embodiment of the invention can be used for reconstructing an accurate three-dimensional model of a large-area plant.
In summary, the method for reconstructing a three-dimensional structure of a plant provided by the embodiment of the invention provides a cross surrounding route of an unmanned aerial vehicle, and a multi-view image of a large-area plant can be obtained based on the route, so that a precise three-dimensional structure of the large-area plant is reconstructed based on a multi-view geometric algorithm.
For the method for reconstructing a three-dimensional plant structure provided in the foregoing embodiment, the embodiment of the present invention provides a device for reconstructing a three-dimensional plant structure, referring to a schematic structural diagram of a device for reconstructing a three-dimensional plant structure shown in fig. 6, the device mainly includes the following parts:
the information acquisition module 602 is configured to acquire geographic information of an area to be reconstructed;
the route drawing module 604 is configured to draw a cross surrounding route of the area to be reconstructed according to the geographic information, so that the unmanned aerial vehicle performs an image acquisition task according to the cross surrounding route, and a plant multi-view image set at the area to be reconstructed is obtained; the cross surrounding route comprises a plurality of single-circle surrounding routes, and two adjacent single-circle surrounding routes are overlapped;
the structure reconstruction module 606 is configured to perform three-dimensional structure reconstruction processing on the plants planted in the to-be-reconstructed area according to the plant multi-view image set, so as to obtain a plant three-dimensional structure corresponding to the to-be-reconstructed area.
The reconstruction device of the plant three-dimensional structure provided by the embodiment of the invention provides the cross surrounding route of the unmanned aerial vehicle, so that the unmanned aerial vehicle acquires the plant multi-view image set of the area to be reconstructed according to the cross surrounding route, and the plant three-dimensional structure is reconstructed based on the plant multi-view image set.
In one embodiment, the route drawing module 604 is further configured to: acquiring equipment parameters of image acquisition equipment carried by the unmanned aerial vehicle; determining the radius and the in-circle overlapping rate of a single circle surrounding route according to the equipment parameters; wherein the in-circle overlap ratio represents the number of waypoints contained in a single circle of surrounding route; drawing a cross surrounding route of the area to be rebuilt based on geographic information, radius, in-circle overlapping rate and preset inter-circle overlapping rate; wherein the inter-turn overlap ratio represents the overlap ratio between two adjacent single-turn looped wires.
In one embodiment, the device parameters include lens tilt angle, pixel size, and focal length; the route drawing module 604 is also configured to: determining a quotient between a product of the focal length and a preset ground sampling distance and a product of a sine value of a lens inclination angle and a pixel size as a route height; wherein the geographic information comprises a digital surface model and the course altitude represents the altitude of the cross-over surrounding course relative to the digital surface model; and calculating the quotient between the height of the route and the tangent value of the inclination angle of the lens to obtain the radius of the single circle of surrounding route.
In one embodiment, the device parameters further include a lens field of view; the route drawing module 604 is also configured to: and determining the quotient between the difference value of the lens view field and the appointed numerical value and the product of the preset image acquisition quantity corresponding to the single-circle surrounding route and the lens view field as the in-circle overlapping rate of the single-circle surrounding route.
In one embodiment, the geographic information further includes a location range corresponding to the region to be reconstructed; the route drawing module 604 is also configured to: determining the center distance between two adjacent single-circle surrounding wires according to the preset overlap ratio between the circles; and drawing a plurality of single-circle surrounding routes in a position range based on the radius, the circle center distance and the in-circle overlapping rate so as to obtain the cross surrounding route of the area to be reconstructed.
In one embodiment, the route drawing module 604 is further configured to: the center distance between two adjacent single-circle surrounding wires is determined according to the following formula:
wherein D is the center distance, H is the route height, θ is the lens inclination angle, y is the physical dimension of the imaging element of the image acquisition device in the y direction, f is the focal length, and ITO is the inter-circle overlap ratio.
In one embodiment, the three-dimensional structure reconstruction process includes a feature point extraction process, a feature point matching process, a sparse point cloud reconstruction process, a dense point cloud reconstruction process.
The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned.
The embodiment of the invention provides electronic equipment, which comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the embodiments described above.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, where the electronic device 100 includes: a processor 70, a memory 71, a bus 72 and a communication interface 73, said processor 70, communication interface 73 and memory 71 being connected by bus 72; the processor 70 is arranged to execute executable modules, such as computer programs, stored in the memory 71.
The memory 71 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 the at least one other network element is achieved via at least one communication interface 73 (which may be wired or wireless), which may use the internet, a wide area network, a local network, a metropolitan area network, etc.
Bus 72 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. 7, but not only one bus or type of bus.
The memory 71 is configured to store a program, and the processor 70 executes the program after receiving an execution instruction, where 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 70 or implemented by the processor 70.
The processor 70 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in the processor 70. The processor 70 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; 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 71 and the processor 70 reads the information in the memory 71 and in combination with its hardware performs the steps of the method described above.
The computer program product of the readable storage medium provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the method described in the foregoing method embodiment, and the specific implementation may refer to the foregoing method embodiment and will not be described herein.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
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 (7)
1. The reconstruction method of the three-dimensional structure of the plant is characterized by comprising the following steps of:
obtaining geographic information of a region to be rebuilt;
drawing a cross surrounding route of the area to be rebuilt according to the geographic information, so that the unmanned aerial vehicle executes an image acquisition task according to the cross surrounding route to obtain a plant multi-view image set at the area to be rebuilt; the cross surrounding route comprises a plurality of single-circle surrounding routes, and two adjacent single-circle surrounding routes are overlapped;
carrying out three-dimensional structure reconstruction processing on plants planted in the to-be-reconstructed area according to the plant multi-view image set to obtain a plant three-dimensional structure corresponding to the to-be-reconstructed area;
drawing a cross surrounding route of the area to be rebuilt according to the geographic information, wherein the cross surrounding route comprises the following steps:
acquiring equipment parameters of image acquisition equipment carried by the unmanned aerial vehicle;
determining the radius and the in-circle overlap ratio of a single circle surrounding route according to the equipment parameters; wherein the in-circle overlap ratio represents the number of waypoints contained in a single circle of surrounding route;
drawing a cross surrounding route of the area to be rebuilt based on the geographic information, the radius, the in-circle overlapping rate and a preset inter-circle overlapping rate; wherein the inter-turn overlapping ratio represents an overlapping ratio between two adjacent single-turn surrounding wires;
the geographic information further comprises a position range corresponding to the area to be rebuilt; drawing a cross surrounding route of the area to be rebuilt based on the geographic information, the radius, the intra-circle overlapping rate and a preset inter-circle overlapping rate, wherein the cross surrounding route comprises the following steps:
determining the center distance between two adjacent single-circle surrounding wires according to the preset overlap ratio between the circles;
drawing a plurality of single-circle surrounding routes in the position range based on the radius, the circle center distance and the in-circle overlapping rate so as to obtain cross surrounding routes of the to-be-reconstructed area;
according to a preset inter-circle overlapping rate, determining a circle center distance between two adjacent single-circle surrounding wires comprises the following steps:
and determining the center distance between two adjacent single-circle surrounding wires according to the following formula:
wherein D is the center distance, H is the altitude of the route, θ is the inclination angle of the lens, ITO is the overlap ratio between circles,is a half-shot field of view.
2. The method for reconstructing a three-dimensional structure of a plant according to claim 1, wherein said device parameters include lens tilt angle, pixel size and focal length; determining the radius of a single circle of surrounding route according to the equipment parameters, comprising:
determining a quotient between the product of the focal length and a preset ground sampling distance and the product of the sine value of the lens inclination angle and the pixel size as a route height; wherein the geographic information comprises a digital surface model, the course height representing a height of the cross-over surrounding course relative to the digital surface model;
and calculating the quotient between the height of the route and the tangent value of the inclination angle of the lens to obtain the radius of the single circle of surrounding route.
3. The method for reconstructing a three-dimensional structure of a plant according to claim 1, wherein said device parameters further comprise a lens field of view; determining the in-loop overlap ratio of the single-loop surrounding route according to the equipment parameters, wherein the method comprises the following steps:
and determining the quotient between the difference value of the lens view field and the appointed numerical value and the product of the preset image acquisition quantity corresponding to the single-circle surrounding route and the lens view field as the intra-circle overlapping rate of the single-circle surrounding route.
4. The method according to claim 1, wherein the three-dimensional structure reconstruction process includes a feature point extraction process, a feature point matching process, a sparse point cloud reconstruction process, and a dense point cloud reconstruction process.
5. A plant three-dimensional structure reconstruction device, comprising:
the information acquisition module is used for acquiring geographic information of the area to be rebuilt;
the route drawing module is used for drawing a cross surrounding route of the area to be rebuilt according to the geographic information so that the unmanned aerial vehicle can execute an image acquisition task according to the cross surrounding route to obtain a plant multi-view image set at the area to be rebuilt; the cross surrounding route comprises a plurality of single-circle surrounding routes, and two adjacent single-circle surrounding routes are overlapped;
the structure reconstruction module is used for carrying out three-dimensional structure reconstruction processing on plants planted in the to-be-reconstructed area according to the plant multi-view image set to obtain a plant three-dimensional structure corresponding to the to-be-reconstructed area;
the route drawing module is also used for:
acquiring equipment parameters of image acquisition equipment carried by the unmanned aerial vehicle;
determining the radius and the in-circle overlap ratio of a single circle surrounding route according to the equipment parameters; wherein the in-circle overlap ratio represents the number of waypoints contained in a single circle of surrounding route;
drawing a cross surrounding route of the area to be rebuilt based on the geographic information, the radius, the in-circle overlapping rate and a preset inter-circle overlapping rate; wherein the inter-turn overlapping ratio represents an overlapping ratio between two adjacent single-turn surrounding wires;
the geographic information further comprises a position range corresponding to the area to be rebuilt; the route drawing module is also used for:
determining the center distance between two adjacent single-circle surrounding wires according to the preset overlap ratio between the circles;
drawing a plurality of single-circle surrounding routes in the position range based on the radius, the circle center distance and the in-circle overlapping rate so as to obtain cross surrounding routes of the to-be-reconstructed area;
the route drawing module is also used for:
and determining the center distance between two adjacent single-circle surrounding wires according to the following formula:
wherein D is the center distance, H is the altitude of the route, θ is the inclination angle of the lens, ITO is the overlap ratio between circles,is a half-shot field of view.
6. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 4.
7. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1 to 4.
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