CN117235299A - Quick indexing method, system, equipment and medium for oblique photographic pictures - Google Patents
Quick indexing method, system, equipment and medium for oblique photographic pictures Download PDFInfo
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Abstract
The application discloses a quick indexing method, a system, computer equipment and a medium for oblique photographic pictures, wherein the method constructs an initial image data set by using the names of the acquired oblique photographic pictures and internal and external azimuth elements, obtains the projection coverage of the oblique photographic pictures in the height range of a to-be-modeled area according to the internal and external azimuth elements of an image for a specific to-be-modeled area on the basis of the initial image data set, takes the projection coverage between the projection coverage and the to-be-modeled area as the association degree between the oblique photographic pictures and the to-be-modeled area, selects the oblique photographic pictures associated with the to-be-modeled area according to the association degree, and encodes the selected oblique photographic pictures by adopting an encoding mode combining the initial image data set and the association degree so as to generate the image data set of the to-be-modeled area. According to the method, the oblique photographic pictures related to the to-be-modeled region can be rapidly extracted without carrying out integral space calculation on the pictures, and the three-dimensional modeling efficiency is improved.
Description
Technical Field
The application relates to the technical field of photo indexing, in particular to a method, a system, computer equipment and a medium for rapidly indexing oblique photographic photos.
Background
The unmanned aerial vehicle oblique photography is to install a multi-head camera with a plurality of sensors on the unmanned aerial vehicle, and take the images of ground objects in a region by using 1 orthographic camera and 4 oblique cameras, so that the urban measurement effect is greatly improved.
Along with the continuous upgrading and popularization of unmanned aerial vehicle oblique photography technology, live-action three-dimensional technology also rapidly develops, and urban large-scene fine modeling forms a trend. In the process, a large amount of oblique photographic image data is accumulated in each industry, so that how to efficiently utilize the existing image data and extract the image data of the region to be modeled in the region quickly, and the corresponding image can be found quickly in the process of producing a three-dimensional model with fine textures, which is a problem to be solved in the process of developing three-dimensional fine modeling.
At present, a common unmanned aerial vehicle oblique photography process is to firstly define a region, then to develop unmanned aerial vehicle oblique photography, and finally to develop regional adjustment, multi-view matching, point cloud networking and multi-view texture mapping according to acquired oblique photography and corresponding airborne POS (Position and Orientation System) data, and finally to produce an oblique three-dimensional model. In this process, management and indexing of the oblique photographic image data is not considered, so that the generated oblique photographic image cannot be further extracted and utilized.
Disclosure of Invention
The application provides a quick indexing method, a quick indexing system, quick indexing computer equipment and quick indexing medium for oblique photographic pictures, which are used for solving the technical problem that a large number of oblique photographic pictures cannot be managed and indexed in the existing three-dimensional modeling process and realizing quick extraction and efficient utilization of the oblique photographic pictures.
To solve the above technical problem, in a first aspect, the present application provides a fast indexing method for oblique photography, the method comprising:
acquiring oblique photographic pictures and POS data corresponding to the oblique photographic pictures, and constructing an initial image data set;
according to the POS data corresponding to the oblique photographic images, calculating geographic space coordinates of image corner points of the oblique photographic images at different heights;
and acquiring the range of the to-be-modeled region, judging the association degree of all the oblique photographic pictures and the to-be-modeled region according to the range of the to-be-modeled region and the geospatial coordinates of the image points of all the oblique photographic pictures at different heights, and generating an image dataset of the to-be-modeled region according to the association degree based on the initial image dataset.
Preferably, the constructing the initial image dataset includes:
judging whether the oblique photographic film contains position data and posture data, if so, constructing an oblique photographic film posture data set according to the position data and the posture data;
if not, setting the posture data of the oblique photographic film only containing the position data to zero, and constructing an oblique photographic film posture data set according to the position data and the zero-set posture data;
constructing an azimuth element data set in the oblique photographic pictures according to the batch of the oblique photographic pictures;
and combining and encoding the position and pose data set of the oblique photographic image and the azimuth element data set in the oblique photographic image to construct an initial image data set.
Preferably, the calculating the geospatial coordinates of the image points of the oblique photographic film at different heights according to the POS data corresponding to the oblique photographic film includes:
solving an inverse perspective transformation matrix according to POS data corresponding to the oblique photographic images;
constructing a collinear equation of an image principal point and an image corner point of the oblique photographic film according to the inverse perspective transformation matrix;
and determining the geospatial coordinates of the image points of all the oblique photographic pictures at different heights according to the collinear equation of the image principal points and the image points of all the oblique photographic pictures.
Preferably, the solving the inverse perspective transformation matrix according to POS data corresponding to the oblique photographic film includes:
converting the oblique photographic image from a pixel coordinate system to an image coordinate system to obtain a first translation vector;
converting the oblique photographic image from the image coordinate system to a camera coordinate system based on the first translation vector to obtain a first rotation matrix and a second translation vector;
and converting the oblique photographic image from a camera coordinate system to a world coordinate system based on the first rotation matrix and the second translation vector to obtain a rotation matrix and a translation vector for acquiring an inverse perspective transformation matrix.
Preferably, the obtaining the range of the to-be-modeled region includes:
acquiring the height of a to-be-modeled region and continuous point coordinates of a ground plane corresponding to the to-be-modeled region;
and characterizing the range of the to-be-modeled region according to the height of the to-be-modeled region and the continuous point coordinates of the ground plane corresponding to the to-be-modeled region.
Preferably, the determining the association degree of all the oblique photographic pictures and the modeling-planned region includes:
determining the geospatial coordinates of the image points of the oblique photographic pictures at the height of the to-be-modeled region according to the geospatial coordinates of the image points of the oblique photographic pictures at different heights;
determining projection coverage of all the oblique photographic shots according to geospatial coordinates of the height of the region to be modeled;
and calculating the projection coverage rate according to the projection coverage rate and the ground plane corresponding to the to-be-modeled region, and taking the projection coverage rate as the association degree of the oblique photographic film and the to-be-modeled region.
Preferably, the generating the image dataset of the region to be modeled according to the association degree includes:
selecting oblique photographic pictures which are associated with the to-be-modeled region according to the association degree;
constructing a relevancy data set of the oblique photographic pictures according to the relevancy of the selected oblique photographic pictures with relevancy;
and combining and encoding the selected initial image data set with the association degree data set of the oblique photographic pictures to generate a region image data set to be modeled.
In a second aspect, the present application also provides a fast index system for oblique photographic prints, the system comprising: the device comprises a data acquisition unit, a calculation unit and a region image association unit to be modeled;
a data acquisition unit: the method comprises the steps of acquiring oblique photographic pictures and POS data corresponding to the oblique photographic pictures, and constructing an initial image data set;
a calculation unit: the method is used for calculating geographic space coordinates of image corners of the oblique photographic pictures at different heights according to POS data corresponding to the oblique photographic pictures;
the image association unit of the region to be modeled: and the method is used for acquiring the range of the to-be-modeled region, judging the association degree of all the oblique photographic pictures and the to-be-modeled region according to the range of the to-be-modeled region and the geospatial coordinates of the image points of all the oblique photographic pictures at different heights, and generating an image dataset of the to-be-modeled region according to the association degree based on the initial image dataset.
In a third aspect, the present application also provides a computer device comprising a memory, a processor and a transceiver, connected by a bus; the memory is used to store a set of computer program instructions and data and to transfer the stored data to the processor, which executes the program instructions stored in the memory to perform the method described above.
In a fourth aspect, the present application also provides a computer readable storage medium having a computer program stored therein, which when executed, implements the method described above.
The application provides a quick index method, a quick index system, computer equipment and a storage medium for oblique photographic pictures. The method comprises the steps of carrying out standardized management on oblique photographic pictures acquired in the aviation flight process, constructing an initial image data set by the name of the oblique photographic pictures and internal and external azimuth elements, obtaining projection coverage of the oblique photographic pictures in the height range of a to-be-modeled area according to the internal and external azimuth elements of an image aiming at a specific to-be-modeled area on the basis of the initial image data set, determining the association degree between the oblique photographic pictures and the to-be-modeled area according to the projection coverage and the projection coverage of the to-be-modeled area, selecting the oblique photographic pictures associated with the to-be-modeled area according to the association degree, and encoding the selected oblique photographic pictures by adopting an encoding mode combining the initial image data set and the association degree so as to generate the to-be-modeled area image data set. The quick index method for the oblique photographic pictures provided by the application can be used for quickly extracting the oblique photographic pictures related to the to-be-modeled region without carrying out integral space calculation on the pictures, and can be used for quickly reading the corresponding pictures aiming at the region needing to be modeled in a monomerized way, so that the three-dimensional modeling efficiency is improved.
Drawings
FIG. 1 is a schematic view of unmanned aerial vehicle oblique photography according to a preferred embodiment of the present application;
FIG. 2 is a flow chart of a method for fast indexing of oblique photographic prints in accordance with a preferred embodiment of the present application;
FIG. 3 is a schematic diagram of a method for constructing an initial image dataset according to a preferred embodiment of the present application;
FIG. 4 is a schematic diagram of a method for calculating geospatial coordinates of image points of oblique photographic images at different heights in accordance with a preferred embodiment of the present application;
FIG. 5 is a schematic diagram of a method for solving an inverse perspective transformation matrix according to a preferred embodiment of the present application;
FIG. 6 is a schematic diagram of a method for obtaining a region to be modeled according to a preferred embodiment of the present application;
FIG. 7 is a schematic diagram of a method for determining the relevance of all oblique photographic prints to a region to be modeled according to a preferred embodiment of the present application;
fig. 8 is a schematic diagram of a relationship between a ground plane actually corresponding to an image corner point and a projected coverage calculated according to a given height H according to a preferred embodiment of the present application;
FIG. 9 is a schematic representation of the projected coverage of a tilted photographic film as provided by a preferred embodiment of the present application in overlapping relation with a region to be modeled;
FIG. 10 is a schematic diagram of a method for generating a pseudo-modeling region image dataset according to a preferred embodiment of the present application;
FIG. 11 is a schematic diagram of a fast index system for oblique photography according to a preferred embodiment of the present application;
fig. 12 is a schematic diagram of a computer device according to a preferred embodiment of the present application.
Detailed Description
The following examples are given for illustrative purposes only and are not to be construed as limiting the application, as embodiments of the application are specifically illustrated by the accompanying drawings, which are included by reference and description only, and do not limit the scope 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.
In order to solve the technical problem that a large number of oblique photographic pictures cannot be managed and indexed in the existing three-dimensional modeling process, the embodiment of the application provides a method for quickly indexing oblique photographic pictures.
Referring to fig. 2, in an embodiment of the present application, the method includes the following steps;
s1, acquiring oblique photographic pictures and POS data corresponding to the oblique photographic pictures, and constructing an initial image data set.
S2, calculating geographic space coordinates of image corners of the oblique photographic pictures at different heights according to POS data corresponding to the oblique photographic pictures.
S3, acquiring the range of the to-be-modeled region, judging the association degree of all the oblique photographic pictures and the to-be-modeled region according to the range of the to-be-modeled region and the geospatial coordinates of the image points of all the oblique photographic pictures at different heights, and generating an image dataset of the to-be-modeled region according to the association degree based on the initial image dataset.
According to the application, based on the technical problem to be solved, the geospatial coordinates of the image points of the oblique photographic photo at different heights are obtained by calculating the oblique photographic photo, and the data set of the oblique photographic photo is updated according to the association degree by judging the association degree of the oblique photographic photo and the region to be modeled, so that the efficiency and the accuracy of extracting the oblique photographic photo in the three-dimensional modeling process of developing regional network adjustment, multi-view matching, point cloud networking, multi-view texture mapping and the like are improved.
In a preferred embodiment of the present application, a oblique photographic image is first acquired, and on-board POS data corresponding to the oblique photographic image is taken.
When the unmanned aerial vehicle is in flight operation, the acquired unmanned aerial vehicle image usually carries matched POS data, so that the image can be processed more conveniently in the processing process. POS data mainly includes GPS data and IMU data, i.e., external orientation elements in oblique photogrammetry: latitude, longitude, elevation, heading angle, pitch angle, and roll angle.
GPS data is generally indicated at X, Y, Z and represents the geographic location of the aircraft at the time of exposure in flight.
The IMU data mainly includes heading angle, pitch angle and roll angle.
In a preferred embodiment of the present application, as shown in fig. 3, the constructing an initial image dataset includes the steps of:
s101, judging whether the oblique photographic film contains position data and posture data, if so, constructing an oblique photographic film posture data set according to the position data and the posture data.
S102, if not, setting the gesture data to be zero, and constructing a tilted photographic image pose data set according to the position data and the zero-set gesture data.
S103, constructing an azimuth element data set in the oblique photographic pictures according to the batch of the oblique photographic pictures.
S104, combining and encoding the oblique photographic image pose data set and the oblique photographic image intra-azimuth element data set to construct an initial image data set.
According to unmanned aerial vehicle inclination measurement technical requirements, performing aerial photography in a simulated modeling area to generate inclined photographic images, and simultaneously extracting POS data of each image according to GPS and IMU sensors carried on the unmanned aerial vehicle.
The method includes the steps that information encoding is carried out on each oblique photographic image, firstly, the oblique photographic image is judged, whether the POS data contain position and posture image data or not is judged, if yes, the information of the oblique photographic image is complete, and a position data and posture data are adopted to construct an oblique photographic image pose data set, such as:(i=1, 2,3,4, … are photo numbers), X, Y, Z respectively represent latitude, longitude, and altitude of the aircraft at the moment of exposure in flight; />Omega, kappa represent course angle, pitch angle and roll angle, respectively, of the aircraft at the moment of exposure in flight.
If not, the information indicating that the oblique photographic film is incomplete is displayed, in the embodiment of the application, for the oblique photographic film with incomplete information, only the oblique photographic film containing the position data is selected, the posture data of the oblique photographic film containing only the position data is set to zero, and the image is displayed according to the position dataAnd the zeroed pose data to construct a tilted photographic pose data set. E.g. V i ＝{name i X, Y, Z, 0} (i=1, 2,3,4 … are photo numbers).
As table 1 is an example of a tilted photographic pose dataset.
In a preferred embodiment of the present application, further, the intra-azimuth element of the oblique photographic film is also used as the encoding element of the oblique image film. The tilt lens carried by the current unmanned aerial vehicle tilt photography is calibrated, the internal azimuth element is a known quantity, and for different batches of tilt photos, an azimuth element data set W in the tilt photography can be established by batch j ＝{p j ,x j ,y j ,f j Where p represents a tilted photographic print lot, x, y represent the image principal point coordinates in the camera coordinate system, f represents the print principal distance, j=1, 2,3,4 …, and represents the aerial print lot number.
Table 2 is an example of an orientation dataset within a oblique photographic image.
Encoding the ith photo of the jth lot as To construct an initial image dataset that corresponds one-to-one to the oblique photographic prints.
In the embodiment of the application, the pose data set of the oblique photographic image and the azimuth element data set in the oblique photographic image are combined and encoded to construct an initial image data set so as to represent the oblique photographic image by more comprehensive information and facilitate more comprehensive retrieval and extraction of the oblique photographic image.
In a preferred embodiment of the present application, the geospatial positions of the four image points of the oblique photographic film at different heights are calculated based on the POS data corresponding to the oblique photographic film. As shown in fig. 4, the calculating, according to POS data corresponding to the oblique photographic film, geospatial coordinates of image points of the oblique photographic film at different heights includes:
s201, solving an inverse perspective transformation matrix according to POS data corresponding to the oblique photographic film.
S202, constructing a collineation equation of an image principal point and an image corner point of the oblique photographic image according to the inverse perspective transformation matrix.
S203, determining the geographic space coordinates of the image corners of all the oblique photographic pictures at different heights according to the collinear equation of the image principal points and the image corners of all the oblique photographic pictures.
Based on the photo geospatial coordinate resolving method, a perspective transformation matrix of the oblique photographic photos needs to be solved, a collineation equation of each image point of the oblique photographic photos is determined, and then the geospatial coordinates of the image points of the oblique photographic photos at different heights are determined, so that the conversion of the oblique photographic photos from pixel coordinates to geospatial coordinates is realized.
For solving an inverse perspective transformation matrix, the transformation of four coordinate systems is involved, and the four coordinate systems are respectively: world coordinate system, camera coordinate system, image coordinate system and pixel coordinate system.
World coordinate system: represented by Ow-XwYwZw, the location of the object and the location of the camera can be noted in the world coordinate system. The world coordinate system generally shows the positional relationship between the camera and the object, representing the coordinates in the real world.
Camera coordinate system: represented by Oc-XcYcZc, the optical center of the camera, i.e., the center position of the camera aperture, is taken as the origin, the z-axis coincides with the optical axis, pointing to the front of the camera, and the positive directions of the Xc axis and Yc axis are parallel to the object coordinate system. The position of the object relative to the camera may be defined in a camera coordinate system, where the origin of the coordinate system is the camera aperture center position.
Image coordinate system: represented by O-xy, the pixel location is represented by a physical unit, and the origin of coordinates is the position of the intersection of the camera optical axis and the image plane. The x-axis and the y-axis are parallel to the Yc-axis, respectively, and represent the actual position of the real object on the camera's photosensitive element.
Pixel coordinate system: an image exists in a computer in a form of pixels arranged in rows and columns, so that in a pixel coordinate system, a row number and a column number of each pixel are recorded. The origin of coordinates is in the upper left corner in pixels, for example, the coordinates (u, v) of one pixel point represent u columns v rows in the image array, respectively.
Wherein the pixel coordinate system and the image coordinate system are defined on a plane, and the pixel coordinate system and the image coordinate system can be converted by translation. The image coordinate system is converted into the camera coordinate system, which belongs to perspective projection relation, and the image coordinate system is from 2D to 3D. The camera coordinate system is converted into the world coordinate system, and belongs to rigid transformation, namely the object cannot deform and only needs to be converted through a rotation matrix and a translation vector.
In an embodiment of the present application, as shown in fig. 5, the solving the inverse perspective transformation matrix according to POS data corresponding to the oblique photographic film includes:
s2011, converting the oblique photographic film from a pixel coordinate system to an image coordinate system, and acquiring a first translation vector.
And S2012, converting the oblique photographic image from the image coordinate system to a camera coordinate system based on the first translation vector, and acquiring a first rotation matrix and a second translation vector.
S2013, converting the oblique photographic image from a camera coordinate system to a world coordinate system based on the first rotation matrix and the second translation vector, and obtaining a rotation matrix and a translation vector for obtaining an inverse perspective transformation matrix.
The conversion relation between the world coordinate system and the pixel coordinate system is obtained through the above conversion:
wherein R represents a rotation matrix of the inverse perspective transformation matrix, T represents a translation vector of the inverse perspective transformation matrix, u 0 、v 0 The coordinates of the principal point of the image in the pixel coordinate system are represented, dx and dy represent the length of one pixel, and f represents the principal distance of the image.
The rotation matrix of the inverse perspective transformation matrix is expressed as:
the translation vector of the inverse perspective transformation matrix is expressed as:
wherein Δx, Δy, Δz denote the translational distances of the principal point of the image from the pixel coordinate system to the world coordinate system in the X-axis direction, Y-axis direction, and Z-axis direction.
Constructing a collineation equation of the principal image point and four image corner points of the oblique photographic film according to the inverse perspective transformation matrix,
according to the collineation equation, the geospatial coordinates of the image points of the oblique photographic film at different heights are calculated as follows:
wherein a is i 、b i 、c i (i=1, 2, 3) represents the element represented by the external azimuthOmega, k, and 3 x 3 orthogonal rotation matrix R. X and y represent coordinates of image points with principal points as origins, X, Y, Z are coordinates of corresponding ground points of the image points, f is principal distance of the image, and X S 、Y S 、Z S 、/>Omega, kappa represent oblique photographic film pose datasets.
In the embodiment of the application, based on the inverse transformation matrix, the image corner collineation equation of the oblique photographic image is reversely pushed according to the internal and external azimuth elements of the oblique photographic image, so that the projection plane coordinates corresponding to the image corners at different heights are solved, and the projection coverage range of the oblique photographic image at a given height is determined.
In the embodiment of the present application, a range of a to-be-modeled region is obtained, where the range includes a height of the to-be-modeled region and a region formed by a ground plane corresponding to the to-be-modeled region, and includes, as shown in fig. 6, the obtaining a range of the to-be-modeled region includes the following steps:
s301, acquiring the height of a to-be-modeled region and continuous point coordinates of a ground plane corresponding to the to-be-modeled region.
S302, representing the range of the to-be-modeled region according to the height of the to-be-modeled region and the continuous point coordinates of the ground plane corresponding to the to-be-modeled region.
The region to be modeled should be a solid range of a plane close to the ground and a corresponding height, preferably the average height of the region to be modeled, characterized as H.
The plane of the region to be modeled close to the ground should be represented in a set of consecutive points, characterized by:
wherein m represents the number of points constituting the pseudo-modeling prefetch, X m 、Y m Representing the position of a point in the plane of the region to be modeled close to the ground in the world coordinate system.
Further, in an embodiment of the present application, as shown in fig. 7, the determining the association degree between all the oblique photographic images and the to-be-modeled region includes the following steps:
s303, determining the geospatial coordinates of the image points of the oblique photographic pictures at the height of the to-be-modeled region according to the geospatial coordinates of the image points of the oblique photographic pictures at different heights.
S304, determining the projection coverage range of all the oblique photographic pictures according to the geospatial coordinates of the height of the to-be-modeled region.
And S305, calculating projection coverage according to the projection coverage and the ground plane corresponding to the to-be-modeled region, and taking the projection coverage as the association degree of the oblique photographic film and the to-be-modeled region.
And substituting the height into a geospatial coordinate equation of the image points of the oblique photographic image at different heights according to the height H determined by the to-be-modeled region to obtain the plane point coordinates corresponding to the four image points of the oblique photographic image, and further determining the projection coverage of the oblique photographic image on the ground plane according to the plane point coordinates corresponding to the four image points. As shown in fig. 8, the actually corresponding ground points of the image corner point (a, B, C, D) are a ', B', C ', D', which do not completely coincide with the projected point A, B, C, D estimated from the given height H.
In a preferred embodiment of the present application, for the determination of the degree of association of the oblique photographic film with the region to be modeled, by comparing the size of the overlapping range between the projection coverage and the ground plane corresponding to the region to be modeled, a large overlapping range indicates a large degree of association and a small overlapping range indicates a small degree of association.
As shown in fig. 9, the overlapping range of the projection coverage of the oblique photographic image and the modeling-planned region is classified into non-overlapping, partially overlapping, and fully overlapping, and the projection coverage is regarded as the degree of association of the oblique photographic image and the modeling-planned region for more specific representation of the degree of association.
The calculation formula of the projection coverage rate is as follows:
wherein S is 0 Representing the area of the overlapping range of the projection coverage of the oblique photographic film and the modeling-planned region, S ABCD The projected coverage area of the oblique photographic film at height H is shown.
Further, in an embodiment of the present application, as shown in fig. 10, the generating a pseudo-modeling area image dataset according to the association degree includes the following steps:
s306, selecting oblique photographic pictures which are associated with the to-be-modeled region according to the association degree.
S307, constructing a relevancy data set of the oblique photographic pictures according to the relevancy of the selected oblique photographic pictures with relevancy.
S308, combining and encoding the selected initial image data set of the oblique photographic pictures with the association and the association degree data set to generate a region image data set to be modeled.
In the embodiment of the application, the oblique photographic pictures related to the to-be-modeled area are selected, and the initial image data set and the association degree of the selected oblique photographic pictures are combined and encoded to be used as the codes of each oblique photographic picture, and the specific representation is as follows:
where i represents the photo number and j represents the aviation lot number.
In the preferred embodiment of the application, the oblique photographic pictures are sequenced according to the degree of association, so that the retrieval and extraction of the oblique photographic pictures are facilitated, and the picture retrieval and extraction efficiency is improved.
In summary, for the oblique photographic images acquired in the aviation flight process, standardized management is performed, the names of the oblique photographic images and the inside and outside azimuth elements are combined to construct an initial image data set, on the basis of the initial image data set, a projection coverage of the oblique photographic images in a height range of a to-be-modeled area is obtained according to the inside and outside azimuth elements of a specific to-be-modeled area, a degree of association between the oblique photographic images and the to-be-modeled area is determined according to the projection coverage and the projection coverage of the to-be-modeled area, the oblique photographic images associated with the to-be-modeled area are selected according to the degree of association, and the selected oblique photographic images are encoded by adopting an encoding mode combining the initial image data set and the degree of association to generate the to-be-modeled area image data set. The quick index method for the oblique photographic pictures provided by the application can be used for quickly extracting the oblique photographic pictures related to the to-be-modeled region without carrying out integral space calculation on the pictures, and can be used for quickly reading the corresponding pictures aiming at the region needing to be modeled in a monomerized way, so that the three-dimensional modeling speed is improved.
Accordingly, as shown in fig. 11, based on a fast index method for oblique photography, the embodiment of the present application further provides a fast index system for oblique photography, which includes: the device comprises a data acquisition unit 1, a calculation unit 2 and a region image association unit 3 to be modeled;
data acquisition unit 1: and the initial image data set is constructed by acquiring the oblique photographic pictures and POS data corresponding to the oblique photographic pictures.
The calculation unit 2: and the geographic space coordinates of the image points of the oblique photographic pictures at different heights are calculated according to the POS data corresponding to the oblique photographic pictures.
The region image correlation unit 3 to be modeled: and the method is used for acquiring the range of the to-be-modeled region, judging the association degree of all the oblique photographic pictures and the to-be-modeled region according to the range of the to-be-modeled region and the geospatial coordinates of the image points of all the oblique photographic pictures at different heights, and generating an image dataset of the to-be-modeled region according to the association degree based on the initial image dataset.
For specific limitations regarding a fast index system for oblique photographs, reference may be made to the above-mentioned limitations for a fast index method for oblique photographs, and details thereof will not be repeated herein. Those of ordinary skill in the art will appreciate that the various modules and steps described in connection with the disclosed embodiments of the application may be implemented in hardware, software, or a combination of both. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
As shown in fig. 12, a computer device provided in an embodiment of the present application includes a memory, a processor, and a transceiver, which are connected by a bus; the memory is used for storing a set of computer program instructions and data and transmitting the stored data to the processor, and the processor executes the program instructions stored in the memory to perform the steps of the above-mentioned oblique photographic film quick indexing method.
Wherein the memory may comprise volatile memory or nonvolatile memory, or may comprise both volatile and nonvolatile memory; the processor may be a central processing unit, a microprocessor, an application specific integrated circuit, a programmable logic device, or a combination thereof. By way of example and not limitation, the programmable logic device described above may be a complex programmable logic device, a field programmable gate array, general purpose array logic, or any combination thereof.
In addition, the memory may be a physically separate unit or may be integrated with the processor.
It will be appreciated by those of ordinary skill in the art that the structure shown in FIG. 12 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be implemented, and that a particular computer device may include more or fewer components than those shown, or may combine some of the components, or have the same arrangement of components.
In one embodiment, a computer readable storage medium is provided for storing one or more computer programs, the one or more computer programs comprising program code for performing the steps of fast indexing of oblique photographic shots described above when the computer program is run on a computer.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, e.g., from one website, computer, server, or data center, via a wired (e.g., coaxial cable, fiber optic, digital subscriber line, or wireless (e.g., infrared, wireless, microwave, etc.) connection to another website, computer, server, or data center.
Those skilled in the art will appreciate that implementing all or part of the above described embodiment methods may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed, may comprise the steps of embodiments of the methods described above.
The embodiment provides a quick index method, a quick index system, computer equipment and a quick index storage medium for a plurality of oblique photographic pictures, which aim at the technical problem that a large number of oblique photographic pictures cannot be managed and indexed in the existing three-dimensional modeling process. The method comprises the steps of carrying out standardized management on oblique photographic pictures acquired in the aviation process, constructing an initial image data set by the name of the oblique photographic pictures and internal and external azimuth elements, obtaining projection coverage of the oblique photographic pictures in a height range of a to-be-modeled area according to the internal and external azimuth elements of an image on the basis of the initial image data set, determining association degree between the oblique photographic pictures and the to-be-modeled area according to the projection coverage and the projection coverage of the to-be-modeled area, selecting the oblique photographic pictures associated with the to-be-modeled area according to the association degree, and encoding the selected oblique photographic pictures by adopting an encoding mode combining the initial image data set and the association degree so as to generate the to-be-modeled area image data set. The quick index method for the oblique photographic pictures provided by the application can be used for quickly extracting the oblique photographic pictures related to the to-be-modeled region without carrying out integral space calculation on the pictures, and can be used for quickly reading the corresponding pictures aiming at the region needing to be modeled in a monomerized way, so that the three-dimensional modeling speed is improved.
The foregoing examples represent only a few preferred embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the application. It should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present application, and such modifications and substitutions should also be considered to be within the scope of the present application. Therefore, the protection scope of the patent of the application is subject to the protection scope of the claims.
Claims (10)
1. A method for fast indexing of oblique photographic prints, the method comprising:
acquiring oblique photographic pictures and POS data corresponding to the oblique photographic pictures, and constructing an initial image data set;
according to the POS data corresponding to the oblique photographic images, calculating geographic space coordinates of image corner points of the oblique photographic images at different heights;
and acquiring the range of the to-be-modeled region, judging the association degree of all the oblique photographic pictures and the to-be-modeled region according to the range of the to-be-modeled region and the geospatial coordinates of the image points of all the oblique photographic pictures at different heights, and generating an image dataset of the to-be-modeled region according to the association degree based on the initial image dataset.
2. The method of claim 1, wherein constructing an initial image dataset comprises:
judging whether the oblique photographic film contains position data and posture data, if so, constructing an oblique photographic film posture data set according to the position data and the posture data;
if not, setting the posture data of the oblique photographic film only containing the position data to zero, and constructing an oblique photographic film posture data set according to the position data and the zero-set posture data;
constructing an azimuth element data set in the oblique photographic pictures according to the batch of the oblique photographic pictures;
and combining and encoding the position and pose data set of the oblique photographic image and the azimuth element data set in the oblique photographic image to construct an initial image data set.
3. The fast indexing method of oblique photographic pictures according to claim 1, wherein the calculating the geospatial coordinates of the image points of the oblique photographic pictures at different heights according to POS data corresponding to the oblique photographic pictures comprises:
solving an inverse perspective transformation matrix according to POS data corresponding to the oblique photographic images;
constructing a collinear equation of an image principal point and an image corner point of the oblique photographic film according to the inverse perspective transformation matrix;
and determining the geospatial coordinates of the image points of all the oblique photographic pictures at different heights according to the collinear equation of the image principal points and the image points of all the oblique photographic pictures.
4. The fast indexing method of oblique photographic prints according to claim 3, wherein the solving the inverse perspective transformation matrix according to POS data corresponding to the oblique photographic prints comprises:
converting the oblique photographic image from a pixel coordinate system to an image coordinate system to obtain a first translation vector;
converting the oblique photographic image from the image coordinate system to a camera coordinate system based on the first translation vector to obtain a first rotation matrix and a second translation vector;
and converting the oblique photographic image from a camera coordinate system to a world coordinate system based on the first rotation matrix and the second translation vector to obtain a rotation matrix and a translation vector for acquiring an inverse perspective transformation matrix.
5. The oblique photographic quick indexing method of claim 2, wherein the acquiring the range of the region to be modeled comprises:
acquiring the height of a to-be-modeled region and continuous point coordinates of a ground plane corresponding to the to-be-modeled region;
and characterizing the range of the to-be-modeled region according to the height of the to-be-modeled region and the continuous point coordinates of the ground plane corresponding to the to-be-modeled region.
6. The method of claim 5, wherein said determining the degree of association of all of said oblique photographic shots with said region to be modeled comprises:
determining the geospatial coordinates of the image points of the oblique photographic pictures at the height of the to-be-modeled region according to the geospatial coordinates of the image points of the oblique photographic pictures at different heights;
determining projection coverage of all the oblique photographic shots according to geospatial coordinates of the height of the region to be modeled;
and calculating the projection coverage rate according to the projection coverage rate and the ground plane corresponding to the to-be-modeled region, and taking the projection coverage rate as the association degree of the oblique photographic film and the to-be-modeled region.
7. The method of claim 6, wherein generating a pseudo-modeled region visual dataset from the degree of association comprises:
selecting oblique photographic pictures which are associated with the to-be-modeled region according to the association degree;
constructing a relevancy data set of the oblique photographic pictures according to the relevancy of the selected oblique photographic pictures with relevancy;
and combining and encoding the selected initial image data set with the association degree data set of the oblique photographic pictures to generate a region image data set to be modeled.
8. A fast index system for oblique photography, the system comprising: the device comprises a data acquisition unit, a calculation unit and a region image association unit to be modeled;
a data acquisition unit: the method comprises the steps of acquiring oblique photographic pictures and POS data corresponding to the oblique photographic pictures, and constructing an initial image data set;
a calculation unit: the method is used for calculating geographic space coordinates of image corners of the oblique photographic pictures at different heights according to POS data corresponding to the oblique photographic pictures;
the image association unit of the region to be modeled: and the method is used for acquiring the range of the to-be-modeled region, judging the association degree of all the oblique photographic pictures and the to-be-modeled region according to the range of the to-be-modeled region and the geospatial coordinates of the image points of all the oblique photographic pictures at different heights, and generating an image dataset of the to-be-modeled region according to the association degree based on the initial image dataset.
9. A computer device, characterized by: the computer device comprises a memory, a processor and a transceiver, which are connected through a bus; the memory is used to store a set of computer program instructions and data and to transfer the stored data to the processor, which executes the program instructions stored in the memory to perform the method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized by: the computer readable storage medium having stored therein a computer program which, when executed, implements the method of any of claims 1 to 7.
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