CN116758216A - Single tree modeling method based on aerial photographing data - Google Patents
Single tree modeling method based on aerial photographing data Download PDFInfo
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Abstract
The invention discloses a single tree modeling method based on aerial data, which comprises the following steps: acquiring peripheral information of a target tree and single tree information; wherein the single tree information comprises tree height, position and crown width; determining aerial photographing parameters based on the single tree information and the peripheral information; wherein, the aerial photographing parameters comprise photographing distance and overlapping rate; calculating a cylindrical route based on the acquired parameters of the unmanned aerial vehicle, the single tree information and the aerial photographing parameters; according to the cylindrical route, controlling the unmanned aerial vehicle to shoot the target tree, and acquiring shooting data; and constructing a single tree model of the target tree according to the aerial photographing data. The embodiment of the invention can construct a finer and more comprehensive single tree model.
Description
Technical Field
The invention relates to the field of tree modeling, in particular to a single tree modeling method based on aerial data.
Background
When ancient and famous tree protection and tree investigation are carried out, a three-dimensional model of a target tree is often required to be established so as to better acquire the surface shape information and ecological parameters of the tree. At present, the manufacturing modes of the single-wood three-dimensional model mainly comprise the following steps: 1) Ground laser scanning: and (3) arranging stations around the target tree by adopting a three-dimensional laser scanner, collecting point cloud data, taking pictures, registering and splicing the point cloud, and finally carrying out texture mapping according to the pictures. 2) Unmanned aerial vehicle oblique photogrammetry: and setting a route according to the region where the target tree is located, performing aerial oblique photography, performing aerial triangulation according to the photographed picture and the position information, and performing three-dimensional reconstruction.
It can be seen that in the prior art: 1) The scanner needs to be arranged in the field, stations are arranged in a flowing mode, the instrument is carried manually, the automation degree of data acquisition is low, and particularly, the efficiency is low when more trees to be detected are arranged; moreover, for trees with large canopy height, the information on the tops of the trees is difficult to acquire by ground laser scanning; 2) Unmanned aerial vehicle oblique photography measurement generally adopts "well" type or "bow" type route, can better cover the information at crown top, but because blind area restriction, crown bottom and trunk often can appear data hole or fuzzy deformation.
Disclosure of Invention
In order to solve the technical problems, the embodiment of the invention provides a single tree modeling method based on aerial photographing data, which is used for controlling an unmanned aerial vehicle to photograph a target tree based on a cylindrical route obtained by calculation so as to obtain more accurate and complete tree integral data, so that a finer and more comprehensive single tree model can be constructed.
In order to achieve the above object, an embodiment of the present invention provides a single tree modeling method based on aerial data, including:
acquiring peripheral information of a target tree and single tree information; wherein the single tree information comprises tree height, position and crown width;
determining aerial photographing parameters based on the single tree information and the peripheral information; wherein, the aerial photographing parameters comprise photographing distance and overlapping rate;
calculating a cylindrical route based on the acquired parameters of the unmanned aerial vehicle, the single tree information and the aerial photographing parameters;
according to the cylindrical route, controlling the unmanned aerial vehicle to shoot the target tree, and acquiring shooting data;
and constructing a single tree model of the target tree according to the aerial photographing data.
Further, the peripheral information comprises the distance between the target tree and the peripheral ground object;
the obtaining the peripheral information of the target tree and the single tree information specifically includes:
acquiring the position and the crown width of the target tree from a preset orthographic image; or, acquiring the tree height, the position and the crown width of the target tree acquired by a measuring instrument;
and acquiring the measured distance between the target tree and the surrounding ground object.
Further, the determining aerial photographing parameters based on the single tree information and the surrounding information specifically includes:
judging whether the surrounding environment of the target tree is clear or not according to the surrounding information;
if the shooting distance is clear, determining the shooting distance based on a preset first distance upper limit and a preset first distance lower limit;
and if the shooting distance is not clear, determining a second distance upper limit of the shooting distance according to the peripheral information.
Further, the overlap ratio includes a heading overlap ratio and a side overlap ratio.
Further, the cylindrical airlines comprise a plurality of circular airlines, and the circular airlines form a cylinder; the parameters of the unmanned aerial vehicle comprise a camera horizontal field angle, a camera vertical field angle and an unmanned aerial vehicle shooting pitch angle of the unmanned aerial vehicle;
then, calculating a cylindrical route based on the acquired parameters of the unmanned aerial vehicle, the single tree information and the aerial photographing parameters, specifically including:
calculating an exposure point arc distance based on the camera horizontal field angle, the shooting distance, the crown width and the overlapping rate;
determining a plurality of horizontal exposure point positions on each circular aviation line according to the exposure point arc line distance;
and calculating the route height distribution of the circular routes based on the unmanned aerial vehicle shooting pitch angle, the camera vertical field angle, the shooting distance, the overlapping rate and the tree height.
Further, the calculating the exposure point arc distance based on the camera horizontal angle of view, the shooting distance, the crown width and the overlapping rate specifically includes:
determining a first distance judgment formula based on the camera horizontal view angle and the crown width;
if the shooting distance is greater than or equal to the first distance judgment formula, then:
calculating a horizontal shooting range based on the shooting distance and the crown amplitude;
calculating the overlapping length of the horizontal images based on the overlapping rate and the horizontal shooting range;
calculating a first exposure point arc distance based on the horizontal image overlapping length, the shooting distance and the crown width;
if the shooting distance is smaller than the first distance judgment formula, then:
constructing a first equation based on the shooting distance, the crown amplitude and the camera horizontal field angle;
calculating the first equation to obtain a first distance; the first distance is obtained by subtracting the shooting distance from a linear distance between an image horizontal plane corresponding to the horizontal field angle of the camera and the unmanned aerial vehicle;
calculating an image horizontal coverage length of an image horizontal plane corresponding to the camera horizontal field angle based on the first interval and the crown width;
and calculating a second exposure point arc distance based on the image horizontal coverage length, the overlapping rate, the shooting distance and the crown width.
Further, the first distance judgment formula is obtained by formula (1):
calculating the horizontal photographing range by formula (2):
calculating the horizontal direction image overlap length by formula (3):
S 11 ＝L 1 *K； (3)
calculating the first exposure point arc distance by equation (4):
the first process is constructed by the following formula (5):
then, the first pitch is of formulas (6) and (7):
calculating the image horizontal coverage length by equation (8):
calculating the second exposure point arc distance by equations (9) and (10):
S 21 ＝L 2 *K； (9)
wherein R is half of the crown, d is the shooting distance, r=r+d, fovx is the horizontal angle of view of the camera, L 1 For the horizontal shooting range, K is the overlapping rate, S 11 Is the overlapping length of the images in the horizontal direction, delta S 1 For the first exposure point arc distance, L is the first spacing, k is the intermediate transition parameter of formula (6), L 2 For horizontally covering the length of the image S 21 For the second horizontal image overlapping length, ΔS 2 Is the arc distance of the second exposure point.
Further, the calculating the route height distribution of the plurality of circular routes based on the unmanned aerial vehicle shooting pitch angle, the camera vertical field angle, the shooting distance, the overlapping rate and the tree height specifically includes:
when the shooting pitch angle of the unmanned aerial vehicle is zero, calculating a vertical direction image range based on the vertical field angle of the camera and the shooting distance, and dividing the vertical direction image range by 2 to obtain the lowest route height in the route height distribution;
calculating the overlapping length of the vertical direction images based on the vertical direction image range and the overlapping rate;
subtracting the overlapping length of the vertical images from the vertical image range to obtain the height difference between every two adjacent circular airlines;
the number of circular routes is determined based on the height difference and the tree height.
Further, according to the cylindrical route, the unmanned aerial vehicle is controlled to shoot the target tree, and the shot aerial shooting data is obtained, which specifically includes:
when the unmanned aerial vehicle is located on the lowest circular route corresponding to the lowest route height, controlling the unmanned aerial vehicle to shoot a pitch angle of zero and a preset negative angle of the unmanned aerial vehicle on each horizontal exposure point position, and shooting the target tree to obtain first aerial shooting data corresponding to the lowest circular route;
when the unmanned aerial vehicle is located on the highest circular route corresponding to the highest route height in the route height distribution, judging whether the crown width is larger than or equal to a preset crown width threshold value;
if the position of the horizontal exposure point of the unmanned aerial vehicle is smaller than the threshold value of the crown width, controlling the unmanned aerial vehicle to shoot at the position of each horizontal exposure point and the center point of the crown width so as to acquire second aerial photographing data corresponding to the highest circular route;
if the crown amplitude threshold value is larger than or equal to the crown amplitude threshold value, controlling the unmanned aerial vehicle to shoot at each horizontal exposure point position and a plurality of cross-route exposure points in the highest circular route so as to acquire second aerial shooting data corresponding to the highest circular route.
Further, the vertical direction image range is calculated by the formula (11):
calculating the vertical direction image overlap length by formula (12):
r 3 ＝L y *K； (12)
wherein d is the shooting distance, fovy is the vertical field angle of the camera, L y For the image range in the vertical direction, K is the overlapping rate, S 3 Is the overlapping length of the images in the vertical direction.
In summary, the invention has the following beneficial effects:
by adopting the embodiment of the invention, the aerial photographing data of the target tree can be more efficiently photographed through the related calculation and design of the cylindrical route, and the data for modeling the target tree by taking the aerial photographing data as a carrier is more complete and accurate, so that a finer single tree model which reflects the growth state and the surface information of the tree in an omnibearing and multi-view way can be constructed.
Drawings
FIG. 1 is a flow diagram of one embodiment of a single tree modeling method based on aerial data provided by the present invention;
FIG. 2 is a schematic view of one embodiment of a columnar route provided by the present invention;
FIG. 3 is a schematic diagram of a judgment relationship between a shooting distance and a first distance judgment formula according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a calculation principle of an embodiment of the exposure point arc distance provided by the present invention;
FIG. 5 is a schematic diagram illustrating the calculation of an embodiment of the horizontal coverage length of an image according to the present invention;
FIG. 6 is a schematic diagram illustrating the calculation of an embodiment of a vertical image range according to the present invention;
FIG. 7 is a number schematic diagram of one embodiment of a circular course provided by the present invention;
FIG. 8 is a schematic diagram of one embodiment of a cross-hair exposure point provided by the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only 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.
Referring to fig. 1, a flow chart of an embodiment of a single tree modeling method based on aerial data provided by the present invention is shown, and the method includes steps S1 to S5, specifically as follows:
s1, obtaining peripheral information of a target tree and single tree information; wherein the single tree information comprises tree height, position and crown width;
s2, determining aerial photographing parameters based on the single tree information and the peripheral information; wherein, the aerial photographing parameters comprise photographing distance and overlapping rate;
s3, calculating a cylindrical route based on the acquired parameters of the unmanned aerial vehicle, the single tree information and the aerial photographing parameters;
s4, controlling the unmanned aerial vehicle to shoot the target tree according to the cylindrical route, and acquiring shot aerial shooting data;
s5, constructing a single tree model of the target tree according to the aerial photographing data.
Preferably, the peripheral information includes a distance between the target tree and a peripheral ground object;
the obtaining the peripheral information of the target tree and the single tree information specifically includes:
acquiring the position and the crown width of the target tree from a preset orthographic image; or, acquiring the tree height, the position and the crown width of the target tree acquired by a measuring instrument;
and acquiring the measured distance between the target tree and the surrounding ground object.
In this embodiment, the position and the crown information of the target tree are obtained through an orthophoto map, or the position of the target tree is collected by using an instrument such as an RTK (Real-time kinematic) or a total station in the field, the crown of the tree is measured through a range finder or a tape measure, the height of the tree is measured through a range finder telescope, and when other ground objects exist around the target tree, the distance between the tree and the other ground objects is measured.
Preferably, the determining aerial photographing parameters based on the single tree information and the surrounding information specifically includes:
judging whether the surrounding environment of the target tree is clear or not according to the surrounding information;
if the shooting distance is clear, determining the shooting distance based on a preset first distance upper limit and a preset first distance lower limit;
and if the shooting distance is not clear, determining a second distance upper limit of the shooting distance according to the peripheral information.
Illustratively, the first distance is up to 10m and the first distance is down to 8m; when the periphery of the target tree is not clear and a ground object which is possibly blocked exists, the upper limit of the second distance is the distance between the crown of the target tree and the ground object.
Preferably, the overlap ratio includes a heading overlap ratio and a side overlap ratio.
Preferably, the cylindrical course comprises a plurality of circular courses, and the circular courses form a cylinder; the parameters of the unmanned aerial vehicle comprise a camera horizontal field angle, a camera vertical field angle and an unmanned aerial vehicle shooting pitch angle of the unmanned aerial vehicle;
then, calculating a cylindrical route based on the acquired parameters of the unmanned aerial vehicle, the single tree information and the aerial photographing parameters, specifically including:
calculating an exposure point arc distance based on the camera horizontal field angle, the shooting distance, the crown width and the overlapping rate;
determining a plurality of horizontal exposure point positions on each circular aviation line according to the exposure point arc line distance;
and calculating the route height distribution of the circular routes based on the unmanned aerial vehicle shooting pitch angle, the camera vertical field angle, the shooting distance, the overlapping rate and the tree height.
Preferably, the calculating the exposure point arc distance based on the camera horizontal angle of view, the shooting distance, the crown width and the overlapping rate specifically includes:
determining a first distance judgment formula based on the camera horizontal view angle and the crown width;
if the shooting distance is greater than or equal to the first distance judgment formula, then:
calculating a horizontal shooting range based on the shooting distance and the crown amplitude;
calculating the overlapping length of the horizontal images based on the overlapping rate and the horizontal shooting range;
calculating a first exposure point arc distance based on the horizontal image overlapping length, the shooting distance and the crown width;
if the shooting distance is smaller than the first distance judgment formula, then:
constructing a first equation based on the shooting distance, the crown amplitude and the camera horizontal field angle;
calculating the first equation to obtain a first distance; the first distance is obtained by subtracting the shooting distance from a linear distance between an image horizontal plane corresponding to the horizontal field angle of the camera and the unmanned aerial vehicle;
calculating an image horizontal coverage length of an image horizontal plane corresponding to the camera horizontal field angle based on the first interval and the crown width;
and calculating a second exposure point arc distance based on the image horizontal coverage length, the overlapping rate, the shooting distance and the crown width.
Referring to fig. 3, the shooting distance is equal to or greater than the first distance judgment formula, and corresponds to (a) or (b) in fig. 3; the shooting distance is smaller than the first distance judgment formula, and corresponds to (c) in fig. 3.
It should be noted that, referring to fig. 4, Δs in the drawing may represent the first exposure point arc distance and the second exposure point arc distance, respectively; s1 in the figure may represent S respectively 11 And S is 21 。
It should be noted that, referring to fig. 5, l in the figure is the first pitch.
It should be noted that L in FIGS. 3, 4 and 5 may represent L, respectively 1 And L 2 。
Preferably, the first distance judgment formula is obtained by formula (1):
calculating the horizontal photographing range by formula (2):
calculating the horizontal direction image overlap length by formula (3):
S 11 ＝L 1 *K； (3)
calculating the first exposure point arc distance by equation (4):
the first process is constructed by the following formula (5):
then, the first pitch is of formulas (6) and (7):
calculating the image horizontal coverage length by equation (8):
calculating the second exposure point arc distance by equations (9) and (10):
S 21 ＝L 2 *K； (9)
wherein R is half of the crown, d is the shooting distance, r=r+d, fovx is the horizontal angle of view of the camera, L 1 For the horizontal shooting range, K is the overlapping rate, S 11 Is the overlapping length of the images in the horizontal direction, delta S 1 For the first exposure point arc distance, L is the first spacing, k is the intermediate transition parameter of formula (6), L 2 For horizontally covering the length of the image S 21 For the second horizontal image overlapping length, ΔS 2 Is the arc distance of the second exposure point.
Preferably, calculating the route height distribution of the plurality of circular routes based on the unmanned aerial vehicle shooting pitch angle, the camera vertical field angle, the shooting distance, the overlapping rate and the tree height specifically includes:
when the shooting pitch angle of the unmanned aerial vehicle is zero, calculating a vertical direction image range based on the vertical field angle of the camera and the shooting distance, and dividing the vertical direction image range by 2 to obtain the lowest route height in the route height distribution;
calculating the overlapping length of the vertical direction images based on the vertical direction image range and the overlapping rate;
subtracting the overlapping length of the vertical images from the vertical image range to obtain the height difference between every two adjacent circular airlines;
the number of circular routes is determined based on the height difference and the tree height.
Note that, referring to fig. 6, h0=ly/2 is the lowest route height, and Δh is the height difference.
For example, referring to fig. 7, the method for determining the number of circular routes is as follows: when the vertical overlap height of the nth horizontal course exceeds the tree height H, i.e.At that point, the route is not increased.
Preferably, the controlling the unmanned aerial vehicle to shoot the target tree according to the cylindrical route, and acquiring the shot aerial shooting data specifically includes:
when the unmanned aerial vehicle is located on the lowest circular route corresponding to the lowest route height, controlling the unmanned aerial vehicle to shoot a pitch angle of zero and a preset negative angle of the unmanned aerial vehicle on each horizontal exposure point position, and shooting the target tree to obtain first aerial shooting data corresponding to the lowest circular route;
when the unmanned aerial vehicle is located on the highest circular route corresponding to the highest route height in the route height distribution, judging whether the crown width is larger than or equal to a preset crown width threshold value;
if the position of the horizontal exposure point of the unmanned aerial vehicle is smaller than the threshold value of the crown width, controlling the unmanned aerial vehicle to shoot at the position of each horizontal exposure point and the center point of the crown width so as to acquire second aerial photographing data corresponding to the highest circular route;
if the crown amplitude threshold value is larger than or equal to the crown amplitude threshold value, controlling the unmanned aerial vehicle to shoot at each horizontal exposure point position and a plurality of cross-route exposure points in the highest circular route so as to acquire second aerial shooting data corresponding to the highest circular route.
As an alternative embodiment, the preset negative angle is-45 °.
When the crown top is too wide, a cross-shaped route is added above the crown top to perform supplementary shooting, so that information omission of the crown top is prevented, the height of the route exceeds the height of the tree by 5-10 meters, the pitch angle is-90 degrees, and the shooting position is the center point of the crown and the midpoint of the crown radius, see fig. 8. When the crown is smaller, the exposure can be carried out only at the center of the crown, and the conical crown can be free from adding a cross-shaped route.
Preferably, the vertical direction image range is calculated by the formula (11):
calculating the vertical direction image overlap length by formula (12):
S 3 ＝L y *K； (12)
wherein d is the shooting distance, fovy is the vertical field angle of the camera, L y For the image range in the vertical direction, K is the overlapping rate, S 3 Is the overlapping length of the images in the vertical direction.
In an exemplary embodiment, in step S4, the controlling, according to the cylindrical route, the unmanned aerial vehicle to shoot the target tree specifically includes: and storing the designed cylindrical route as a KML or KMZ format file, and importing the file into an unmanned aerial vehicle remote controller, wherein when data are acquired, the unmanned aerial vehicle remote controller executes the cylindrical route to realize automatic shooting of tree form information.
In step S5, the building the single tree model of the target tree according to the aerial data specifically includes: and importing the photo and pos data shot by the unmanned aerial vehicle into ContextCapture software (or other software such as a Dajiang intelligent map and a reconstruction master) for data processing. Firstly, performing aerial triangulation, and performing three-dimensional reconstruction after the aerial triangulation is completed to obtain three-dimensional model data of the target tree.
In summary, the invention has the following beneficial effects:
by adopting the embodiment of the invention, the aerial photographing data of the target tree can be more efficiently photographed through the related calculation and design of the cylindrical route, and the data for modeling the target tree by taking the aerial photographing data as a carrier is more complete and accurate, so that a finer single tree model which reflects the growth state and the surface information of the tree in an omnibearing and multi-view way can be constructed.
From the above description of the embodiments, it will be clear to those skilled in the art that the present invention may be implemented by means of software plus necessary hardware platforms, but may of course also be implemented entirely in hardware. With such understanding, all or part of the technical solution of the present invention contributing to the background art may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the embodiments or some parts of the embodiments of the present invention.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (10)
1. The single tree modeling method based on aerial data is characterized by comprising the following steps of:
acquiring peripheral information of a target tree and single tree information; wherein the single tree information comprises tree height, position and crown width;
determining aerial photographing parameters based on the single tree information and the peripheral information; wherein, the aerial photographing parameters comprise photographing distance and overlapping rate;
calculating a cylindrical route based on the acquired parameters of the unmanned aerial vehicle, the single tree information and the aerial photographing parameters;
according to the cylindrical route, controlling the unmanned aerial vehicle to shoot the target tree, and acquiring shooting data;
and constructing a single tree model of the target tree according to the aerial photographing data.
2. The aerial data based single tree modeling method of claim 1, wherein the perimeter information comprises a distance between the target tree and a perimeter ground feature;
the obtaining the peripheral information of the target tree and the single tree information specifically includes:
acquiring the position and the crown width of the target tree from a preset orthographic image; or, acquiring the tree height, the position and the crown width of the target tree acquired by a measuring instrument;
and acquiring the measured distance between the target tree and the surrounding ground object.
3. Single tree modeling method based on aerial data according to claim 1 or 2, wherein the determining aerial parameters based on the single tree information and the surrounding information specifically comprises:
judging whether the surrounding environment of the target tree is clear or not according to the surrounding information;
if the shooting distance is clear, determining the shooting distance based on a preset first distance upper limit and a preset first distance lower limit;
and if the shooting distance is not clear, determining a second distance upper limit of the shooting distance according to the peripheral information.
4. The aerial data based single tree modeling method of claim 1, wherein the overlap rate comprises a heading overlap rate and a side overlap rate.
5. The aerial data based single tree modeling method of claim 1, wherein the cylindrical course comprises a plurality of circular courses, and the circular courses form a cylinder; the parameters of the unmanned aerial vehicle comprise a camera horizontal field angle, a camera vertical field angle and an unmanned aerial vehicle shooting pitch angle of the unmanned aerial vehicle;
then, calculating a cylindrical route based on the acquired parameters of the unmanned aerial vehicle, the single tree information and the aerial photographing parameters, specifically including:
calculating an exposure point arc distance based on the camera horizontal field angle, the shooting distance, the crown width and the overlapping rate;
determining a plurality of horizontal exposure point positions on each circular aviation line according to the exposure point arc line distance;
and calculating the route height distribution of the circular routes based on the unmanned aerial vehicle shooting pitch angle, the camera vertical field angle, the shooting distance, the overlapping rate and the tree height.
6. The single tree modeling method based on aerial data of claim 5, wherein calculating the exposure point arc distance based on the camera horizontal field angle, the shooting distance, the crown width and the overlap ratio specifically comprises:
determining a first distance judgment formula based on the camera horizontal view angle and the crown width;
if the shooting distance is greater than or equal to the first distance judgment formula, then:
calculating a horizontal shooting range based on the shooting distance and the crown amplitude;
calculating the overlapping length of the horizontal images based on the overlapping rate and the horizontal shooting range;
calculating a first exposure point arc distance based on the horizontal image overlapping length, the shooting distance and the crown width;
if the shooting distance is smaller than the first distance judgment formula, then:
constructing a first equation based on the shooting distance, the crown amplitude and the camera horizontal field angle;
calculating the first equation to obtain a first distance; the first distance is obtained by subtracting the shooting distance from a linear distance between an image horizontal plane corresponding to the horizontal field angle of the camera and the unmanned aerial vehicle;
calculating an image horizontal coverage length of an image horizontal plane corresponding to the camera horizontal field angle based on the first interval and the crown width;
and calculating a second exposure point arc distance based on the image horizontal coverage length, the overlapping rate, the shooting distance and the crown width.
7. The aerial data based single tree modeling method of claim 6, wherein the first distance judgment formula is obtained by formula (1):
calculating the horizontal photographing range by formula (2):
calculating the horizontal direction image overlap length by formula (3):
S 11 ＝ 1 *；(3)
calculating the first exposure point arc distance by equation (4):
the first process is constructed by the following formula (5):
then, the first pitch is of formulas (6) and (7):
calculating the image horizontal coverage length by equation (8):
calculating the second exposure point arc distance by equations (9) and (10):
S 21 ＝ 2 *；(9)
wherein R is half of the crown, d is the shooting distance, r=r+d, fovx is the horizontal angle of view of the camera, L 1 For the horizontal shooting range, K is the overlapping rate, S 11 Is the overlapping length of the images in the horizontal direction, delta S 1 For the first exposure point arc distance, L is the first spacing, k is the intermediate transition parameter of formula (6), L 2 For horizontally covering the length of the image S 21 For the second horizontal image overlapping length, ΔS 2 Is the arc distance of the second exposure point.
8. The single tree modeling method based on aerial data according to claim 5, wherein calculating the route height distribution of the plurality of circular routes based on the unmanned aerial vehicle shooting pitch angle, the camera vertical field angle, the shooting distance, the overlap ratio and the tree height specifically comprises:
when the shooting pitch angle of the unmanned aerial vehicle is zero, calculating a vertical direction image range based on the vertical field angle of the camera and the shooting distance, and dividing the vertical direction image range by 2 to obtain the lowest route height in the route height distribution;
calculating the overlapping length of the vertical direction images based on the vertical direction image range and the overlapping rate;
subtracting the overlapping length of the vertical images from the vertical image range to obtain the height difference between every two adjacent circular airlines;
the number of circular routes is determined based on the height difference and the tree height.
9. The single tree modeling method based on aerial data according to claim 8, wherein the controlling the unmanned aerial vehicle to shoot the target tree according to the cylindrical route and acquiring the shot aerial data specifically comprises:
when the unmanned aerial vehicle is located on the lowest circular route corresponding to the lowest route height, controlling the unmanned aerial vehicle to shoot a pitch angle of zero and a preset negative angle of the unmanned aerial vehicle on each horizontal exposure point position, and shooting the target tree to obtain first aerial shooting data corresponding to the lowest circular route;
when the unmanned aerial vehicle is located on the highest circular route corresponding to the highest route height in the route height distribution, judging whether the crown width is larger than or equal to a preset crown width threshold value;
if the position of the horizontal exposure point of the unmanned aerial vehicle is smaller than the threshold value of the crown width, controlling the unmanned aerial vehicle to shoot at the position of each horizontal exposure point and the center point of the crown width so as to acquire second aerial photographing data corresponding to the highest circular route;
if the crown amplitude threshold value is larger than or equal to the crown amplitude threshold value, controlling the unmanned aerial vehicle to shoot at each horizontal exposure point position and a plurality of cross-route exposure points in the highest circular route so as to acquire second aerial shooting data corresponding to the highest circular route.
10. The aerial data based single tree modeling method of claim 8, wherein the vertical direction image range is calculated by equation (11):
calculating the vertical direction image overlap length by formula (12):
S 3 ＝ y *；(12)
wherein d is the shooting distance, fovy is the vertical field angle of the camera, L y For the image range in the vertical direction, K is the overlapping rate, S 3 Is verticalThe overlapping length of the straight direction images.
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