CN116934986A - Three-dimensional road map optimization method and device and electronic equipment - Google Patents
Three-dimensional road map optimization method and device and electronic equipment Download PDFInfo
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Abstract
The application discloses a three-dimensional road map optimization method, a device and electronic equipment, belonging to the technical field of three-dimensional maps, wherein the method comprises the following steps: acquiring an initial three-dimensional road map and acquiring a road characteristic line of a target road, wherein the initial three-dimensional road map comprises terrain tile data related to the target road; determining optimization parameters of the terrain tile data according to the road characteristic lines; optimizing the terrain tile data according to the optimization parameters to obtain target terrain tile data; and generating a target three-dimensional road map of the target road according to the target terrain tile data. The method and the device can accurately and efficiently optimize the three-dimensional virtual terrain of the road, and the three-dimensional virtual terrain of the road after optimization can accurately represent the three-dimensional state of the road.
Description
Technical Field
The application belongs to the technical field of three-dimensional maps, and particularly relates to a three-dimensional road map optimization method, a three-dimensional road map optimization device and electronic equipment.
Background
With the development of computer hardware and three-dimensional visualization technology, software and hardware support is provided for three-dimensional road map visualization, so that the three-dimensional road map visualization technology becomes a hot spot problem for research. The road three-dimensional virtual topography is a base for three-dimensional road map visualization, and how to efficiently optimize the topography data along the road, so that the topography data can accurately represent the actual road three-dimensional state becomes a problem to be solved urgently.
In the related art, in the process of realizing the visualization of the three-dimensional virtual terrain, terrain tile data is usually obtained by slicing the terrain data in a pyramid mode after processing the terrain data in advance, analyzing and rendering the corresponding terrain tile data according to the view state, obtaining the three-dimensional virtual terrain after overlaying textures, and obtaining the three-dimensional road map by overlaying road elements on the three-dimensional virtual terrain of the road. The terrain data is mainly divided into grid terrain data and irregular triangular network terrain data according to a data structure, wherein grid tile modeling is simple and high in processing efficiency, but is not suitable for representing complex terrain; the irregular triangular network topographic data modeling is complex, the data can be processed only at the desktop end, the efficiency is low, and the modified topographic data cannot be directly used for a network (Web) map scene.
As can be seen from the above, the three-dimensional road map in the related art has a problem of a narrow application range.
Disclosure of Invention
The application aims to provide a three-dimensional road map optimization method, a device and electronic equipment, which are used for processing irregular triangular network topography tile data according to road characteristic lines, and realizing accurate and efficient optimization of three-dimensional virtual topography of a road by utilizing the high-accuracy characteristic of the irregular triangular network and the high-efficiency characteristic of the tile data, wherein the optimized three-dimensional virtual topography of the road can be suitable for accurately representing the three-dimensional state of a road with complex topography.
In order to solve the technical problems, the application is realized as follows:
in a first aspect, the present application provides a three-dimensional road map optimization method, including:
acquiring an initial three-dimensional road map and acquiring a road characteristic line of a target road, wherein the initial three-dimensional road map comprises terrain tile data related to the target road;
determining optimization parameters of the terrain tile data according to the road characteristic lines;
optimizing the terrain tile data according to the optimization parameters to obtain target terrain tile data;
and generating a target three-dimensional road map of the target road according to the target terrain tile data.
In a second aspect, the present application also provides a three-dimensional road map optimizing apparatus, including:
the acquisition module is used for acquiring an initial three-dimensional road map and acquiring a road characteristic line of a target road, wherein the initial three-dimensional road map comprises terrain tile data related to the target road;
the determining module is used for determining optimization parameters of the terrain tile data according to the road characteristic line;
the optimizing module is used for optimizing the terrain tile data according to the optimizing parameters to obtain target terrain tile data;
and the generation module is used for generating a target three-dimensional road map of the target road according to the target terrain tile data.
In a third aspect, the present application also provides an electronic device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, the program or instruction when executed by the processor implementing the steps of the method according to the first aspect.
In a fourth aspect, the present application also provides a computer readable storage medium having stored thereon a program or instructions which when executed by a processor performs the steps of the method according to the first aspect.
In the embodiment of the application, an initial three-dimensional road map is acquired, and a road characteristic line of a target road is acquired, wherein the initial three-dimensional road map comprises terrain tile data related to the target road; determining optimization parameters of the terrain tile data according to the road characteristic lines; optimizing the terrain tile data according to the optimization parameters to obtain target terrain tile data; and generating a target three-dimensional road map of the target road according to the target terrain tile data. Therefore, the construction method based on the tile data optimization parameters can achieve the effect of improving the terrain optimization efficiency, and the target three-dimensional road map of the target road is generated based on the target terrain tile data, so that the effect of reducing the tile data storage space can be achieved.
Drawings
FIG. 1 is a flow chart of a three-dimensional road map optimization method provided by the application;
FIG. 2a is one of the schematic diagrams of target terrain tile data;
FIG. 2b is a second schematic representation of target terrain tile data;
FIG. 2c is a third schematic representation of target terrain tile data;
FIG. 2d is a fourth schematic illustration of target terrain tile data;
FIG. 2e is a fifth schematic illustration of target terrain tile data;
FIG. 2f is a sixth schematic illustration of target terrain tile data;
FIG. 2g is a schematic diagram of target terrain tile data;
FIG. 2h is an eighth schematic illustration of target terrain tile data;
FIG. 2i is a diagram of a target terrain tile data;
FIG. 3 is a schematic illustration of a constrained Delaunay triangle network;
fig. 4 is a schematic structural diagram of a three-dimensional road map optimizing apparatus provided by the present application;
fig. 5 is a block diagram of an electronic device according to the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more.
In the related art, the optimization method of the three-dimensional virtual road topography is mainly divided into two types of optimization of grid topography data and optimization of irregular triangular network topography data according to the data structure of an optimization object:
1) The method for optimizing the grid topographic data is realized by the following ideas: according to the three-dimensional state parameters along the road, modifying the three-dimensional terrain data along the road, and modifying the elevation values of the corresponding grid meshes in the three-dimensional terrain data along the road, so that the modified three-dimensional terrain data can represent the three-dimensional virtual terrain of the road, thereby realizing the optimization of the three-dimensional terrain of the road. The grid topographic data optimizing method has the advantages that the algorithm is simple and high in efficiency, but the method is difficult to adapt to optimizing the three-dimensional topography of the multi-scale complex road, obvious saw tooth effect can appear at the characteristic line of the road boundary, the optimizing effect is poor, and the requirement of the three-dimensional map of the high-precision road on the three-dimensional virtual topography can not be met;
2) The method for optimizing the irregular triangular network topographic data is realized by the following ideas: and adding the road along the characteristic line to carry out local modification or reconstruction of the triangular network on the irregular triangular network topographic data, generating topographic data with the road characteristic line, and representing the three-dimensional virtual topography of the road by using the modified three-dimensional topographic data so as to realize the optimization of the three-dimensional virtual topography of the road. The irregular triangular network topographic data optimizing method has the advantages of good optimizing effect, but has the disadvantages of low efficiency because the data can be processed only at the desktop end and the modified topographic data cannot be directly used for Web map scenes.
In the embodiment of the application, the optimization parameters of the terrain tile data related to the terrain of the target road are determined according to the road characteristic line of the target road, so that the three-dimensional virtual terrain of the target road is optimized, and then the target three-dimensional road map is generated according to the optimized target terrain tile data of the target road, so that the accuracy of the three-dimensional road map of the target road can be improved, the terrain tile data related to the terrain of the target road is optimized, the data volume of the optimized tile data can be reduced, and the efficiency of generating the target three-dimensional road map of the target road is improved.
In order to facilitate understanding of the three-dimensional road map optimizing method, the three-dimensional road map optimizing device and the electronic equipment provided by the application, the application is described below with reference to the accompanying drawings:
referring to fig. 1, the method for optimizing a three-dimensional road map provided by the embodiment of the application may include the following steps:
step 101, acquiring an initial three-dimensional road map, and acquiring a road characteristic line of a target road, wherein the initial three-dimensional road map comprises terrain tile data related to the target road.
In practice, the initial three-dimensional road map may be any three-dimensional map having roads therein.
The road characteristic line of the target road may include roadbed constraint lines on both sides of the target road, and in the case where the side of the target road has a slope, the road characteristic line of the target road may further include a slope constraint. Based on the road characteristic line of the target road, the range of the target road on the map, the related topographic tile data on the map and the like can be clearly defined.
Step 102, determining optimization parameters of the terrain tile data according to the road characteristic line.
In practice, for a target road that is located in the middle of the target road, at the edge of the target road, or outside the target road, different optimization parameters may be used for optimization, such as: assuming that the road feature line includes boundary lines on both sides of the target road, the terrain tiles are rectangular in shape, the terrain tiles in the initial three-dimensional road map may be located between the two boundary lines (i.e., within the range of the target road), or intersect one boundary line (i.e., at the boundary of the target road), or be located outside the two boundary lines (i.e., not within the range of the target road). In this way, feature lines may be deleted for a terrain tile that is within range of the target link and/or the elevation of the terrain tile may be modified based on the elevation of the target link; for a terrain tile located at the boundary of a target road, it may be divided into a portion located within the range of the target road and another portion located outside the range of the target road, and operations such as deleting a feature line from a portion located within the range of the target road and/or modifying the elevation of the portion of the terrain tile according to the elevation of the target road may be performed.
In other words, in practical applications, it is possible to determine which terrain tile data is optimized, and which type of optimization is performed, based on the relative positional relationship between the terrain tile data and the road feature line.
And 103, optimizing the terrain tile data according to the optimization parameters to obtain target terrain tile data.
In implementation, the optimized target terrain tile data can reflect the three-dimensional virtual terrain of the target road more accurately.
And 104, generating a target three-dimensional road map of the target road according to the target terrain tile data.
In an implementation, the target three-dimensional road map of the target road is generated according to the target terrain tile data, and a triangle network can be generated (for example, a constraint Delaunay triangle network is generated in the target terrain tile) according to the optimized target terrain tile data, so that the advantage that the irregular triangle network can accurately represent complex terrains is utilized to obtain a more refined target three-dimensional road map.
As an optional implementation manner, the determining the optimization parameter of the terrain tile data according to the road feature line includes:
acquiring road feature points on the road feature line;
determining a target tile and an optimization type of the target tile according to the relative position condition of the road characteristic point and each tile in the terrain tile data, wherein the coverage area of the target tile comprises the road characteristic point, or the boundary line of the target tile is intersected with the road characteristic line, or the two opposite sides of the target tile are provided with the road characteristic points;
determining a tile angle vertex and an auxiliary constraint line of the target tile according to the intersection mode of the target tile and the road characteristic line;
determining optimization parameters of the terrain tile data based on at least one of the optimization type, the tile corner vertices, and the auxiliary constraint lines;
wherein the optimization parameters include at least one of: the optimization type, a set of road feature points in each of the target tiles, a set of tile corner vertices, the road feature points being points on the road feature line or the auxiliary constraint line.
In implementation, the road feature points can be obtained by discretizing the road feature lines, and then the target tile is determined from the terrain tile data according to the relative position relation between each road feature point and the tile, wherein the target tile comprises the following three types:
1) Tiles including the road feature points in the coverage range, namely tiles at the road edge;
2) The boundary line of the target tile is intersected with the road characteristic line, namely the tile closely attached to the road edge;
3) Opposite sides of the target tile have road feature points, i.e., tiles within the road.
And may correspond to respective optimization parameters for the above three categories of target tiles, for example: road feature points inside the 3 rd class of tiles can be deleted, and then the elevation of the 3 rd class of tiles can be adjusted according to the elevation of the target road. For another example: the tile of the 1 st type can be divided into two parts by taking the road characteristic line as a dividing line, the first part is positioned in the target road, the second part is positioned outside the target road, then the road characteristic point in the first part can be deleted, and then the elevation of the first part is adjusted according to the elevation of the target road, and the like.
The tile corner vertex 221 and the auxiliary constraint line 222 may be determined according to the intersection manner of the target tile and the road feature line, which may be as shown in fig. 2a to 2i, provided that various road feature lines intersect with the target tile 22.
Optionally, the optimizing the terrain tile data according to the optimization parameter includes:
and optimizing the target tile according to the optimization parameters, wherein the target terrain tile data comprises the optimized target tile.
In this embodiment, only the target tile is optimized, so that the data volume of the tile to be optimized can be reduced, and the efficiency of optimizing the terrain tile is improved.
In this embodiment, the method is used for determining, according to the road feature points, the feature line types (a left roadbed constraint line, a right roadbed constraint line, a left slope constraint line, a right slope constraint line, and the like) corresponding to the road feature points, the range of the target tile to be optimized, and the optimization type of the target tile, and then determining the tile angle vertex and the auxiliary constraint line of the target tile according to the optimization type corresponding to the target tile.
For example: the process of obtaining the optimization parameters of the terrain tile comprises the following steps:
1. acquiring a road characteristic line;
2. discretizing the road characteristic line;
3. calculating the intersection point of the road characteristic line and the multi-scale tile boundary;
4. dividing road feature points in each tile and intersection points with the road feature lines by taking the tile as a unit;
5. determining the range and optimization type of the tile to be optimized according to the respective conditions of the road characteristic points in the tile and the intersection points with the road characteristic lines;
6. dividing the road characteristic points and the optimization types according to the tile indexes to obtain the optimization parameters of the target tiles.
In this way, the tile corner vertices and auxiliary constraint lines can be supplemented according to the intersection mode of the characteristic lines and the tiles; the type of tile data optimization, the feature point sets on the feature lines and auxiliary lines in the tile, and the tile corner vertex sets constitute tile data optimization parameters.
In implementation, after the optimization parameters of the target tile are acquired, the terrain tile can be optimized based on the optimization parameters, and then a triangle network is constructed on the virtual terrain corresponding to the optimized ground wire tile, so that a more accurate three-dimensional road image is generated by using the triangle network with higher accuracy. Briefly, the optimized ground wire tile can more accurately depict the three-dimensional virtual terrain of the target road, and then the triangular network is constructed on the three-dimensional virtual terrain, so that the accuracy of the three-dimensional virtual terrain of the target road can be improved, the triangular network is constructed only for the target road, but not for the whole three-dimensional map including roads, roadbeds, roadside houses and trees, the calculated amount for constructing the triangular network can be greatly reduced, and the construction of the road triangular network can be realized in the Web map.
As an optional implementation manner, the optimizing the target tile according to the optimization parameter includes:
acquiring first information of the target tile, wherein the first information comprises at least one of coordinates of the tile corner vertices and a triangle mesh index;
generating a first constrained triangulation (Delaunay) triangle network (collectively referred to as a first Delaunay triangle network in the embodiment of the application) according to at least one of a first vertex, the road characteristic line, the slope characteristic line of the target road and the auxiliary constraint line, wherein the first vertex comprises road characteristic points in the set of road characteristic points;
generating a second constrained triangulation (Delaunay) triangle network (collectively referred to as a second Delaunay triangle network in the embodiment of the application) according to at least one of a second vertex, the road characteristic line, the slope characteristic line of the target road and the auxiliary constraint line, wherein the second vertex comprises a road characteristic point in the set of road characteristic points and a tile angle vertex of the target tile;
performing first processing on a first triangle in the first constraint Delaunay triangulation network to obtain a third constraint Delaunay triangulation network, wherein the first triangle comprises a triangle positioned outside the slope characteristic line or the road characteristic line;
performing second processing on a second triangle in the second constraint Delaunay triangulation network to obtain a fourth constraint Delaunay triangulation network, wherein the second triangle comprises a triangle positioned in the slope characteristic line or the road characteristic line;
and determining a fifth constraint Delaunay triangulation network according to the third constraint Delaunay triangulation network and the fourth constraint Delaunay triangulation network, wherein the target terrain tile data comprises the fifth constraint Delaunay triangulation network.
In implementation, tile angular vertex coordinates, triangle mesh indexes and the like can be obtained by analyzing tile data, and then a constraint Delaunay triangle mesh is constructed according to optimization parameters, tile vertex data and the like.
The first constraint Delaunay triangle network can be understood as a triangle network of the target road constructed according to transformation characteristic points (such as coordinate positions of at least one of road characteristic points and tile angle vertexes) and constraint conditions (such as auxiliary constraint lines, left slope constraint lines, right slope constraint lines, left roadbed constraint lines, right roadbed constraint lines and the like), and can accurately depict the peripheral outline of the target road and the three-dimensional shape of the target road; the second constraint Delaunay triangulation network described above may be understood as a triangulation network of the entire three-dimensional map constructed from elevation feature points (e.g., elevations of at least one of road feature points and tile corner vertices) and constraint conditions (e.g., auxiliary constraint lines, left roadbed constraint lines, right roadbed constraint lines, etc.), which may include a triangulation network of the target road and other map elements in the vicinity.
In an implementation, the performing a first process on the first triangle in the first constraint Delaunay triangle network may be: deleting a first triangle in the first constraint Delaunay triangle network, reducing a layer and the like; the performing a second process on the second triangle in the second constraint Delaunay triangle network may be: and deleting and lowering layers and the like of a second triangle in the second constraint Delaunay triangulation network, so that according to the third constraint Delaunay triangulation network and the fourth constraint Delaunay triangulation network, the determined fifth constraint Delaunay triangulation network can reserve the triangulation network positioned outside the target road in the third constraint Delaunay triangulation network and reserve the triangulation network positioned inside the target road in the fourth constraint Delaunay triangulation network, and the boundary line of the target road is tidy and smooth, and the three-dimensional topography of the target road is more accurate.
For example: the first processing of the first triangle in the first constraint Delaunay triangle network includes:
deleting a first triangle in the first constraint Delaunay triangle network;
the second processing of the second triangle in the second constraint Delaunay triangle network includes:
deleting a second triangle in the second constraint Delaunay triangle network;
the determining a fifth constraint Delaunay triangulation based on the third constraint Delaunay triangulation and the fourth constraint Delaunay triangulation includes:
and merging the third constraint Delaunay triangulation network with the fourth constraint Delaunay triangulation network to obtain a fifth constraint Delaunay triangulation network.
In this embodiment, the optimized terrain tile acquisition procedure may further include the following steps:
1. obtaining optimization parameters of the terrain tiles;
2. constructing tile triangle net reconstruction constraint conditions based on the optimization parameters;
3. constructing a first constraint Delaunay triangulation network according to the reconstruction feature points and constraint conditions, for example: taking characteristic points in the tile data optimization parameters as vertexes, taking characteristic lines of roads, slopes and auxiliary lines as constraint lines, and constructing a first constraint Delaunay triangulation network by adopting an open-source cdt-2d algorithm;
4. constructing a second constrained Delaunay triangulation network based on the elevation feature points and constraint conditions, wherein the elevation feature points may be determined based on an analysis of the elevation of the terrain tile, for example: characteristic points and tile vertex data in the tile data optimization parameters are taken as vertexes, slope characteristic lines and auxiliary lines are taken as constraint lines, and an open-source cdt-2d algorithm is adopted to construct a second constraint Delaunay triangle network;
5. after redundant triangles in the first constraint Delaunay triangulation network and the second constraint Delaunay triangulation network are deleted, merging the first constraint Delaunay triangulation network and the second constraint Delaunay triangulation network based on the triangulation network index, namely deleting the triangles positioned outside the slope characteristic line in the first constraint Delaunay triangulation network, deleting the triangles positioned inside the slope characteristic line in the second constraint Delaunay triangulation network, and merging the two.
Optionally, after merging the third constraint Delaunay triangulation network and the fourth constraint Delaunay triangulation network to obtain a fifth constraint Delaunay triangulation network, the optimizing the target tile according to the optimization parameter further includes:
determining target vertices located on the boundary of the target tile according to vertices in the fifth constraint Delaunay triangle mesh;
updating a point index set on the group edge of the target tile according to the target vertex;
determining the maximum elevation of the target tile, the minimum elevation of the target tile and the center point coordinates of the target tile according to the indexes of the vertexes in the fifth constraint Delaunay triangle network;
updating a target attribute value of the target tile according to the maximum elevation, the minimum elevation and the center point coordinates, wherein the target attribute value comprises at least one of the following: maximum elevation, minimum elevation, and tile center point coordinates.
For example: merging the triangle mesh and updating the target attribute parameters of the tile may include: combining the triangle indexes according to the feature point combining sequence, and fusing the third constraint Delaunay triangle network and the fourth constraint Delaunay triangle network constructed twice; then, traversing the vertexes pointed by the merged fifth constraint Delaunay triangle network indexes, finding out indexes of vertexes positioned on four boundaries of the tile and maximum and minimum heights of all vertexes, simultaneously calculating and updating coordinates of a center point of the tile, respectively updating vertex index sets and maximum and minimum height value attributes on four edges, and updating heights of skirt edges of the tile according to the maximum and minimum height values.
6. And calculating the encoded vertex, the index and the related attribute data to obtain the optimized terrain tile.
In the step 6, the optimized tile data may be encoded and then output and stored; wherein the vertex data may be encoded in a zig-zag (zig-zag) manner and the index data may be encoded in a High-Water Mark (High-Water Mark) manner.
For example: as shown in fig. 3, the first vertex can describe the three-dimensional shape 31 of the target road, and the second vertex can describe the three-dimensional shape of the entire three-dimensional map and the elevation 32 of the target road, so that a three-dimensional model 33 of the road within the slope constraint line (in practice, within the roadbed constraint line when there is no slope feature line) can be generated based on the first vertex; a three-dimensional model 34 of the entire three-dimensional map may be generated based on the second vertices 31. In this way, the third constraint Delaunay triangle net 35 is obtained by deleting the part overlapping with the target road in the three-dimensional model 34 of the whole three-dimensional map, the part located outside the target road in the road three-dimensional model 33 is deleted to obtain the third four constraint Delaunay triangle net 36, and finally the third constraint Delaunay triangle net 35 and the fourth constraint Delaunay triangle net 36 are combined to obtain the fifth constraint Delaunay triangle net 37 of the final target three-dimensional road map.
According to the method, the optimization parameters are calculated from the road characteristic lines, and then the irregular triangular network of the road topography tiles is optimized, so that the optimization accuracy is guaranteed, and compared with the existing grid topography transformation data optimization method, the optimization effect is more accurate; compared with the existing irregular triangular network topographic data optimization method, the method has higher efficiency, and the optimized topographic data can be directly used for Web scenes; the three-dimensional virtual terrain optimization of the road only needs to input the road characteristic line and the virtual terrain tile data, the whole process is automatically processed, the three-dimensional virtual terrain of the road after optimization is completely consistent with the characteristic line, and the optimization processing efficiency is high.
Referring to fig. 4, a block diagram of a three-dimensional road map optimizing apparatus according to an embodiment of the present application, as shown in fig. 4, the three-dimensional road map optimizing apparatus 400 includes:
an obtaining module 401, configured to obtain an initial three-dimensional road map, and obtain a road feature line of a target road, where the initial three-dimensional road map includes terrain tile data related to the target road;
a determining module 402, configured to determine an optimization parameter of the terrain tile data according to the road feature line;
an optimizing module 403, configured to optimize the terrain tile data according to the optimizing parameter, to obtain target terrain tile data;
and the generating module 404 is configured to generate a target three-dimensional road map of the target road according to the target terrain tile data.
Optionally, the determining module 402 includes:
a first obtaining unit, configured to obtain a road feature point on the road feature line;
a first determining unit, configured to determine a target tile and an optimization type of the target tile according to a relative position condition of the road feature point and each tile in the terrain tile data, where a coverage area of the target tile includes the road feature point, or a boundary line of the target tile intersects the road feature line, or two opposite sides of the target tile have road feature points;
a second determining unit, configured to determine a tile angle vertex and an auxiliary constraint line of the target tile according to an intersection manner of the target tile and the road feature line;
a third determining unit configured to determine an optimization parameter of the terrain tile data based on at least one of the optimization type, the tile corner vertex, and the auxiliary constraint line;
wherein the optimization parameters include at least one of: the optimization type, a set of road feature points in each of the target tiles, a set of tile corner vertices, the road feature points being points on the road feature line or the auxiliary constraint line.
Optionally, the optimizing module 403 is specifically configured to: and optimizing the target tile according to the optimization parameters, wherein the target terrain tile data comprises the optimized target tile.
Optionally, the optimization module 403 includes:
a second obtaining unit, configured to obtain first information of the target tile, where the first information includes at least one of coordinates of the tile corner vertex and a triangle index;
a first generation unit, configured to generate a first constraint Delaunay triangle network according to at least one of a first vertex, the road feature line, a slope feature line of the target road, and the auxiliary constraint line, where the first vertex includes a road feature point in the set of road feature points;
a second generation unit, configured to generate a second constraint Delaunay triangle network according to at least one of a second vertex, the road feature line, a slope feature line of the target road, and the auxiliary constraint line, where the second vertex includes a road feature point in the set of road feature points and a tile angle vertex of the target tile;
the first processing unit is used for performing first processing on a first triangle in the first constraint Delaunay triangle network to obtain a third constraint Delaunay triangle network, wherein the first triangle comprises a triangle positioned outside the slope characteristic line or the road characteristic line;
the second processing unit is used for performing second processing on a second triangle in the second constraint Delaunay triangulation network to obtain a fourth constraint Delaunay triangulation network, wherein the second triangle comprises a triangle positioned in the slope characteristic line or the road characteristic line;
a fourth determining unit, configured to determine a fifth constraint Delaunay triangle net according to the third constraint Delaunay triangle net and the fourth constraint Delaunay triangle net, where the target terrain tile data includes the fifth constraint Delaunay triangle net.
Optionally, the first processing unit is specifically configured to: deleting a first triangle in the first constraint Delaunay triangle network;
the second processing unit is specifically configured to: deleting a second triangle in the second constraint Delaunay triangle network;
the fourth determining unit is specifically configured to: and merging the third constraint Delaunay triangulation network with the fourth constraint Delaunay triangulation network to obtain a fifth constraint Delaunay triangulation network.
Optionally, the optimization module 602 further includes:
a fifth determining unit, configured to determine a target vertex located on a boundary of the target tile according to a vertex in the fifth constraint Delaunay triangle network;
a sixth determining unit, configured to update a point index set on a group edge of the target tile according to the target vertex;
a seventh determining unit, configured to determine, according to the index of the vertex in the fifth constraint Delaunay triangle network, a maximum elevation of the target tile, a minimum elevation of the target tile, and a center point coordinate of the target tile;
an updating unit, configured to update a target attribute value of the target tile according to the maximum elevation, the minimum elevation, and the center point coordinate, where the target attribute value includes at least one of: maximum elevation, minimum elevation, and tile center point coordinates.
The three-dimensional road map optimizing apparatus 400 provided in the embodiment of the present application can implement each process implemented by the method embodiment shown in fig. 1, and can obtain the same beneficial effects, so that repetition is avoided, and no description is repeated here.
Optionally, as shown in fig. 5, an embodiment of the present application further provides an electronic device 500, including a processor 501, a memory 502, and a program or an instruction stored in the memory 502 and capable of being executed on the processor 501, where the program or the instruction implements each process of the embodiment of the method shown in fig. 1 when executed by the processor 501, and the process achieves the same technical effect, and for avoiding repetition, a description is omitted herein.
The embodiment of the present application further provides a computer readable storage medium, where a program or an instruction is stored, where the program or the instruction implements each process of the method embodiment shown in fig. 1 when executed by a processor, and the process can achieve the same technical effects, so that repetition is avoided, and no further description is given here.
Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium such as a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.
Claims (10)
1. A method for optimizing a three-dimensional road map, comprising:
acquiring an initial three-dimensional road map and acquiring a road characteristic line of a target road, wherein the initial three-dimensional road map comprises terrain tile data related to the target road;
determining optimization parameters of the terrain tile data according to the road characteristic lines;
optimizing the terrain tile data according to the optimization parameters to obtain target terrain tile data;
and generating a target three-dimensional road map of the target road according to the target terrain tile data.
2. The method of claim 1, wherein the determining the optimization parameters of the terrain tile data based on the road feature line comprises:
acquiring road feature points on the road feature line;
determining a target tile and an optimization type of the target tile according to the relative position condition of the road characteristic point and each tile in the terrain tile data, wherein the coverage area of the target tile comprises the road characteristic point, or the boundary line of the target tile is intersected with the road characteristic line, or the two opposite sides of the target tile are provided with the road characteristic points;
determining a tile angle vertex and an auxiliary constraint line of the target tile according to the intersection mode of the target tile and the road characteristic line;
determining optimization parameters of the terrain tile data based on at least one of the optimization type, the tile corner vertices, and the auxiliary constraint lines;
wherein the optimization parameters include at least one of: the optimization type, a set of road feature points in each of the target tiles, a set of tile corner vertices, the road feature points being points on the road feature line or the auxiliary constraint line.
3. The method of claim 2, wherein optimizing the terrain tile data according to the optimization parameters comprises:
and optimizing the target tile according to the optimization parameters, wherein the target terrain tile data comprises the optimized target tile.
4. The method of claim 3, wherein optimizing the target tile according to the optimization parameters comprises:
acquiring first information of the target tile, wherein the first information comprises at least one of coordinates of the tile corner vertices and a triangle mesh index;
generating a first constraint Delaunay triangle network according to at least one of a first vertex, the road characteristic line, a side slope characteristic line of the target road and the auxiliary constraint line, wherein the first vertex comprises road characteristic points in a set of the road characteristic points;
generating a second constraint Delaunay triangle network according to at least one of a second vertex, the road characteristic line, a side slope characteristic line of the target road and the auxiliary constraint line, wherein the second vertex comprises a road characteristic point in the set of road characteristic points and a tile angle vertex of the target tile;
performing first processing on a first triangle in the first constraint Delaunay triangulation network to obtain a third constraint Delaunay triangulation network, wherein the first triangle comprises a triangle positioned outside the slope characteristic line or the road characteristic line;
performing second processing on a second triangle in the second constraint Delaunay triangulation network to obtain a fourth constraint Delaunay triangulation network, wherein the second triangle comprises a triangle positioned in the slope characteristic line or the road characteristic line;
and determining a fifth constraint Delaunay triangulation network according to the third constraint Delaunay triangulation network and the fourth constraint Delaunay triangulation network, wherein the target terrain tile data comprises the fifth constraint Delaunay triangulation network.
5. The method of claim 4, wherein said first processing a first triangle in said first constraint Delaunay triangle network comprises:
deleting a first triangle in the first constraint Delaunay triangle network;
the second processing of the second triangle in the second constraint Delaunay triangle network includes:
deleting a second triangle in the second constraint Delaunay triangle network;
the determining a fifth constraint Delaunay triangulation based on the third constraint Delaunay triangulation and the fourth constraint Delaunay triangulation includes:
and merging the third constraint Delaunay triangulation network with the fourth constraint Delaunay triangulation network to obtain a fifth constraint Delaunay triangulation network.
6. The method of claim 5, wherein after said merging the third constrained Delaunay triangle mesh with the fourth constrained Delaunay triangle mesh to obtain a fifth constrained Delaunay triangle mesh, said optimizing the target tile according to the optimization parameters further comprises:
determining target vertices located on the boundary of the target tile according to vertices in the fifth constraint Delaunay triangle mesh;
updating a point index set on the group edge of the target tile according to the target vertex;
determining the maximum elevation of the target tile, the minimum elevation of the target tile and the center point coordinates of the target tile according to the indexes of the vertexes in the fifth constraint Delaunay triangle network;
updating a target attribute value of the target tile according to the maximum elevation, the minimum elevation and the center point coordinates, wherein the target attribute value comprises at least one of the following: maximum elevation, minimum elevation, and tile center point coordinates.
7. A three-dimensional road map optimizing apparatus, characterized by comprising:
the acquisition module is used for acquiring an initial three-dimensional road map and acquiring a road characteristic line of a target road, wherein the initial three-dimensional road map comprises terrain tile data related to the target road;
the determining module is used for determining optimization parameters of the terrain tile data according to the road characteristic line;
the optimizing module is used for optimizing the terrain tile data according to the optimizing parameters to obtain target terrain tile data;
and the generation module is used for generating a target three-dimensional road map of the target road according to the target terrain tile data.
8. The apparatus of claim 7, wherein the determining module comprises:
a first obtaining unit, configured to obtain a road feature point on the road feature line;
a first determining unit, configured to determine a target tile and an optimization type of the target tile according to a relative position condition of the road feature point and each tile in the terrain tile data, where a coverage area of the target tile includes the road feature point, or a boundary line of the target tile intersects the road feature line, or two opposite sides of the target tile have road feature points;
a second determining unit, configured to determine a tile angle vertex and an auxiliary constraint line of the target tile according to an intersection manner of the target tile and the road feature line;
a third determining unit configured to determine an optimization parameter of the terrain tile data based on at least one of the optimization type, the tile corner vertex, and the auxiliary constraint line;
wherein the optimization parameters include at least one of: the optimization type, a set of road feature points in each of the target tiles, a set of tile corner vertices, the road feature points being points on the road feature line or the auxiliary constraint line.
9. An electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the steps in the three-dimensional road map optimization method as claimed in any one of claims 1 to 6.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps in the three-dimensional road map optimization method according to any one of claims 1 to 6.
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