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 PDF

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CN117235299A
CN117235299A CN202311353990.2A CN202311353990A CN117235299A CN 117235299 A CN117235299 A CN 117235299A CN 202311353990 A CN202311353990 A CN 202311353990A CN 117235299 A CN117235299 A CN 117235299A
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oblique
image
oblique photography
photos
data set
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甘元亮
张郁
余锐
郝旦
王清泉
喻永平
祁芳
高勇强
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Guangzhou Urban Planning Survey and Design Institute
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Guangzhou Urban Planning Survey and Design Institute
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Abstract

本申请公开了一种倾斜摄影像片快速索引方法、系统、计算机设备及介质,所述方法将采集的倾斜摄影像片的名称与内外方位元素一起构建初始影像数据集,在初始影像数据集的基础上,针对特定的拟建模区域,根据影像内外方位元素得到在拟建模区域的高度范围内倾斜摄影像片的投影覆盖范围,将投影覆盖范围与拟建模区域之间的投影覆盖率作为倾斜摄影像片与拟建模区域之间的关联度,根据关联度的大小选取与拟建模区域相关联的倾斜摄影像片,采用初始影像数据集与关联度组合的编码方式对选取的倾斜摄影像片进行编码,以生成拟建模区域影像数据集。所述方法无需对像片进行整体空间解算,即可快速提取与拟建模区域相关联的倾斜摄影像片,提升三维建模效率。

This application discloses a method, system, computer equipment and media for rapid indexing of oblique photography photos. The method constructs an initial image data set by combining the names of the collected oblique photography photos with internal and external orientation elements. In the initial image data set, Basically, for a specific simulated modeling area, the projection coverage of the oblique photographic image within the height range of the simulated modeling area is obtained according to the internal and external azimuth elements of the image, and the projection coverage and the projection coverage ratio between the simulated modeling area are As the correlation between the oblique photographic image and the proposed modeling area, the oblique photographic photograph associated with the proposed modeling area is selected according to the degree of correlation, and the selected image is encoded using a combination of the initial image data set and the correlation degree. Oblique photography images are encoded to generate a simulated area image data set. The method described above can quickly extract oblique photography photos associated with the proposed modeling area without performing overall spatial calculation of the photos, thereby improving the efficiency of three-dimensional modeling.

Description

一种倾斜摄影像片快速索引方法、系统、设备及介质A fast indexing method, system, equipment and medium for oblique photography images

技术领域Technical field

本申请涉及像片索引技术领域,尤其涉及一种倾斜摄影像片快速索引方法、系统、计算机设备及介质。The present application relates to the technical field of photo indexing, and in particular to a method, system, computer equipment and media for rapid indexing of oblique photography photos.

背景技术Background technique

无人机倾斜摄影,如图1所示,指的是将具有多个传感器的多头摄像机安装到无人机上,利用1个正射摄像头和4个倾斜摄像头,进行测区内地物的拍摄,使城市测量效果得到大幅度提高。UAV oblique photography, as shown in Figure 1, refers to installing a multi-head camera with multiple sensors on the UAV, using 1 orthophoto camera and 4 oblique cameras to photograph the ground objects in the survey area, so that The urban measurement effect has been greatly improved.

随着无人机倾斜摄影技术不断升级与普及,实景三维技术也迎来飞速发展,城市大场景精细化建模形成趋势。在此过程中各行各业积累了大量的倾斜摄影像片数据,如何高效利用已有影像数据,并快速提取测区内拟建模区域影像数据,从而在生产具有精细纹理的三维模型过程中快速找到对应像片,是开展三维精细建模过程中亟需解决的问题。With the continuous upgrading and popularization of drone oblique photography technology, real-life 3D technology has also ushered in rapid development, and refined modeling of large urban scenes has formed a trend. In this process, various industries have accumulated a large amount of oblique photography data. How to efficiently utilize the existing image data and quickly extract the image data of the proposed modeling area in the survey area, so as to quickly produce three-dimensional models with fine textures? Finding the corresponding photos is an urgent problem that needs to be solved in the process of three-dimensional precision modeling.

目前常见的无人机倾斜摄影流程是先划定测区,再开展无人机倾斜摄影,最后根据采集得到的倾斜摄影像片和对应的机载POS(Position and Orientation System)数据,开展区域网平差、多视匹配、点云构网以及多视纹理映射,最终生产倾斜三维模型。在此过程中,并未考虑对倾斜摄影像片数据的管理与索引,从而导致产生的倾斜摄影像片无法得到进一步的提取利用。The current common UAV oblique photography process is to first delineate the survey area, then carry out UAV oblique photography, and finally carry out regional network based on the collected oblique photography photos and corresponding airborne POS (Position and Orientation System) data. Adjustment, multi-view matching, point cloud meshing and multi-view texture mapping are used to finally produce an oblique 3D model. In this process, the management and indexing of oblique photography photo data were not considered, resulting in the resulting oblique photography photos being unable to be further extracted and utilized.

发明内容Contents of the invention

本申请提供了一种倾斜摄影像片快速索引方法、系统、计算机设备及介质,以解决现有三维建模过程中无法对大量倾斜摄影像片进行管理和索引的技术问题,能够实现倾斜摄影像片的快速提取和高效利用。This application provides a method, system, computer equipment and media for fast indexing of oblique photographic images, to solve the technical problem of being unable to manage and index a large number of oblique photographic images in the existing three-dimensional modeling process, and to realize oblique photographic images. Rapid extraction and efficient utilization of slices.

为解决上述技术问题,第一方面,本申请提供了一种倾斜摄影像片快速索引方法,所述方法包括:In order to solve the above technical problems, in the first aspect, this application provides a quick indexing method for oblique photography photos, which method includes:

获取倾斜摄影像片和所述倾斜摄影像片所对应的POS数据,构建初始影像数据集;Obtain oblique photography photos and POS data corresponding to the oblique photography photos, and construct an initial image data set;

根据所述倾斜摄影像片所对应的POS数据,计算所述倾斜摄影像片的像角点在不同高度的地理空间坐标;According to the POS data corresponding to the oblique photographic image, calculate the geographical spatial coordinates of the image corner points of the oblique photographic image at different heights;

获取拟建模区域的范围,并根据所述拟建模区域的范围,以及所有所述倾斜摄影像片的像角点在不同高度的地理空间坐标,判断所有所述倾斜摄影像片与所述拟建模区域的关联度,基于所述初始影像数据集,根据所述关联度生成拟建模区域影像数据集。Obtain the range of the simulated modeling area, and determine the relationship between all the oblique photography images and the The correlation degree of the simulated modeling area is based on the initial image data set, and the simulated modeling area image data set is generated according to the correlation degree.

优选的,所述构建初始影像数据集,包括:Preferably, the construction of the initial image data set includes:

判断所述倾斜摄影像片是否包含位置数据和姿态数据,若是,则根据所述位置数据和姿态数据构建倾斜摄影像片位姿数据集;Determine whether the oblique photography photo contains position data and attitude data, and if so, construct an oblique photography photo pose data set based on the position data and attitude data;

若否,则将仅含有位置数据的倾斜摄影像片的姿态数据置零,根据所述位置数据和所述置零的姿态数据构建倾斜摄影像片位姿数据集;If not, then set the posture data of the oblique photographic photos containing only position data to zero, and construct an oblique photographic photograph pose data set based on the position data and the zeroed posture data;

按照所述倾斜摄影像片的批次构建倾斜摄影像片内方位元素数据集;Construct a data set of orientation elements in the oblique photography photos according to the batch of oblique photography photos;

将所述倾斜摄影像片位姿数据集和所述倾斜摄影像片内方位元素数据集组合编码,构建初始影像数据集。The oblique photographic photo pose data set and the oblique photographic photo internal orientation element data set are combined and coded to construct an initial image data set.

优选的,所述根据所述倾斜摄影像片所对应的POS数据,计算所述倾斜摄影像片的像角点在不同高度的地理空间坐标,包括:Preferably, calculating the geographical spatial coordinates of the image corner points of the oblique photography photos at different heights based on the POS data corresponding to the oblique photography photos includes:

根据所述倾斜摄影像片所对应的POS数据,求解逆透视变换矩阵;Solve the inverse perspective transformation matrix according to the POS data corresponding to the oblique photography image;

根据所述逆透视变换矩阵构建所述倾斜摄影像片的像主点和像角点的共线方程;Construct the collinear equation of the principal image point and the image corner point of the oblique photographic image according to the inverse perspective transformation matrix;

根据所有所述倾斜摄影像片的像主点和像角点的共线方程,确定所有所述倾斜摄影像片的像角点在不同高度的地理空间坐标。According to the collinear equations of the image principal points and image corner points of all the oblique photography photos, the geographical spatial coordinates of the image corner points at different heights of all the oblique photography photos are determined.

优选的,所述根据所述倾斜摄影像片所对应的POS数据,求解逆透视变换矩阵,包括:Preferably, solving the inverse perspective transformation matrix based on the POS data corresponding to the oblique photograph includes:

将所述倾斜摄影像片从像素坐标系转换为图像坐标系,获取第一平移向量;Convert the oblique photography photograph from the pixel coordinate system to the image coordinate system, and obtain the first translation vector;

基于所述第一平移向量,将所述倾斜摄影像片从所述图像坐标系转换为相机坐标系,获取第一旋转矩阵和第二平移向量;Based on the first translation vector, convert the oblique photographic image from the image coordinate system to a camera coordinate system, and obtain a first rotation matrix and a second translation vector;

基于所述第一旋转矩阵和第二平移向量,将所述倾斜摄影像片从相机坐标系转换为世界坐标系,获得获取逆透视变换矩阵的旋转矩阵和平移向量。Based on the first rotation matrix and the second translation vector, the oblique photographic image is converted from the camera coordinate system to the world coordinate system to obtain the rotation matrix and translation vector for obtaining the inverse perspective transformation matrix.

优选的,所述获取拟建模区域的范围,包括:Preferably, obtaining the range of the simulated modeling area includes:

获取拟建模区域的高度、以及所述拟建模区域对应的地平面的连续点坐标;Obtain the height of the simulated modeling area and the continuous point coordinates of the ground plane corresponding to the simulated modeling area;

根据所述拟建模区域的高度、以及所述拟建模区域对应的地平面的连续点坐标表征所述拟建模区域的范围。The range of the pseudo-modelling area is characterized according to the height of the pseudo-modelling area and the continuous point coordinates of the ground plane corresponding to the pseudo-modelling area.

优选的,所述判断所有所述倾斜摄影像片与所述拟建模区域的关联度,包括:Preferably, the determination of the correlation between all oblique photography images and the simulated modeling area includes:

根据所述倾斜摄影像片的像角点在不同高度的地理空间坐标,确定所述倾斜摄影像片的像角点在所述拟建模区域的高度的地理空间坐标;Determine the geospatial coordinates of the image corner point of the oblique photographic image at the height of the simulated modeling area based on the geographical spatial coordinates of the image corner point of the oblique photographic image at different heights;

根据在所述拟建模区域的高度的地理空间坐标确定所有所述倾斜摄影像片的投影覆盖范围;Determine the projection coverage of all said oblique photographic images based on geospatial coordinates at the height of said simulated modeling area;

根据所述投影覆盖范围和所述拟建模区域对应的地平面,计算投影覆盖率,并将所述投影覆盖率作为所述倾斜摄影像片与所述拟建模区域的关联度。According to the projection coverage range and the ground plane corresponding to the pseudo-modelling area, the projection coverage rate is calculated, and the projection coverage rate is used as the correlation degree between the oblique photographic image and the pseudo-modelling area.

优选的,所述根据所述关联度生成拟建模区域影像数据集,包括:Preferably, generating a simulated modeling area image data set based on the degree of correlation includes:

根据所述关联度选取与所述拟建模区域存在关联的倾斜摄影像片;Select oblique photography images that are related to the simulated modeling area according to the degree of correlation;

根据选取的存在关联的倾斜摄影像片的关联度,构建所述倾斜摄影像片的关联度数据集;Construct a correlation data set of the oblique photography photos according to the correlation degree of the selected oblique photography photos that are related;

将所选取的存在关联的倾斜摄影像片的初始影像数据集和关联度数据集组合编码,生成拟建模区域影像数据集。The selected initial image data set and the correlation data set of the associated oblique photography photos are combined and coded to generate a simulated regional image data set.

第二方面,本申请还提供了一种倾斜摄影像片快速索引系统,所述系统包括:数据获取单元、计算单元和拟建模区域影像关联单元;In a second aspect, this application also provides a rapid indexing system for oblique photography images, which system includes: a data acquisition unit, a calculation unit, and a simulated modeling area image association unit;

数据获取单元:用于获取倾斜摄影像片和所述倾斜摄影像片所对应的POS数据,构建初始影像数据集;Data acquisition unit: used to acquire oblique photography photos and POS data corresponding to the oblique photography photos, and construct an initial image data set;

计算单元:用于根据所述倾斜摄影像片所对应的POS数据,计算所述倾斜摄影像片的像角点在不同高度的地理空间坐标;Calculation unit: configured to calculate the geographical spatial coordinates of the image corner points of the oblique photography photos at different heights based on the POS data corresponding to the oblique photography photos;

拟建模区域影像关联单元:用于获取拟建模区域的范围,并根据所述拟建模区域的范围,以及所有所述倾斜摄影像片的像角点在不同高度的地理空间坐标,判断所有所述倾斜摄影像片与所述拟建模区域的关联度,基于所述初始影像数据集,根据所述关联度生成拟建模区域影像数据集。Simulated modeling area image correlation unit: used to obtain the range of the simulated modeling area, and determine based on the range of the simulated modeling area and the geographical spatial coordinates of the image corner points of all the oblique photography photos at different heights. The degree of correlation between all oblique photography photos and the simulated modeling area is based on the initial image data set, and a simulated modeling area image data set is generated according to the correlation degree.

第三方面,本申请还提供一种计算机设备,所述计算机设备包括存储器、处理器和收发器,它们之间通过总线连接;存储器用于存储一组计算机程序指令和数据,并将存储的数据传输给处理器,处理器执行存储器存储的程序指令,以执行上述所述的方法。In a third aspect, this application also provides a computer device. The computer device includes 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 store the stored data. Transmitted to the processor, the processor executes the program instructions stored in the memory to perform the above-mentioned method.

第四方面,本申请还提供一种计算机可读存储介质,述计算机可读存储介质中存储有计算机程序,当所述计算机程序被运行时,实现上述所述的方法。In a fourth aspect, the present application also provides a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program is run, the above-mentioned method is implemented.

本申请提供了一种倾斜摄影像片快速索引方法、系统、计算机设备及存储介质。所述方法对航飞过程中采集得到的倾斜摄影像片,进行标准化管理,将倾斜摄影像片名称与内外方位元素一起构建初始影像数据集,在初始影像数据集的基础上,针对特定的拟建模区域,根据影像内外方位元素得到在拟建模区域的高度范围内倾斜摄影像片的投影覆盖范围,根据投影覆盖范围与拟建模区域之间的投影覆盖率,确定倾斜摄影像片与拟建模区域之间的关联度,根据关联度的大小选取与拟建模区域相关联的倾斜摄影像片,采用初始影像数据集与关联度组合的编码方式对选取的倾斜摄影像片进行编码,以生成拟建模区域影像数据集。本申请提供的倾斜摄影像片快速索引方法无需对像片进行整体空间解算,即可快速提取出与拟建模区域相关联的倾斜摄影像片,针对需要单体化建模的区域,可快速读取相应的像片,提升三维建模效率。This application provides a quick indexing method, system, computer equipment and storage medium for oblique photography photos. The method described carries out standardized management on oblique photography photos collected during the flight, and constructs an initial image data set by combining the names of the oblique photography photos with the internal and external orientation elements. For the modeling area, the projection coverage of the oblique photographic image within the height range of the simulated modeling area is obtained based on the internal and external azimuth elements of the image. Based on the projection coverage ratio between the projection coverage and the simulated modeling area, the relationship between the oblique photographic image and the simulated modeling area is determined. According to the degree of correlation between the simulated modeling areas, select the oblique photographic images associated with the simulated modeling area according to the degree of correlation, and use the encoding method of the combination of the initial image data set and the correlation degree to encode the selected oblique photographic images. , to generate a simulated modeling area image data set. The fast indexing method for oblique photography photos provided by this application can quickly extract the oblique photography photos associated with the simulated modeling area without the need to solve the overall space of the photos. For areas that require single modeling, it can Quickly read the corresponding photos to improve the efficiency of 3D modeling.

附图说明Description of drawings

图1是本申请一个优选实施例所提供的无人机倾斜摄影示意图;Figure 1 is a schematic diagram of UAV oblique photography provided by a preferred embodiment of the present application;

图2是本申请一个优选实施例所提供的一种倾斜摄影像片快速索引方法流程图;Figure 2 is a flow chart of a method for fast indexing of oblique photography images provided by a preferred embodiment of the present application;

图3是本申请一个优选实施例所提供的构建初始的影像数据集方法示意图;Figure 3 is a schematic diagram of a method for constructing an initial image data set provided by a preferred embodiment of the present application;

图4是本申请一个优选实施例所提供的计算倾斜摄影像片的像角点在不同高度的地理空间坐标方法示意图;Figure 4 is a schematic diagram of a method for calculating the geospatial coordinates of image angle points at different heights of oblique photography images provided by a preferred embodiment of the present application;

图5是本申请一个优选实施例所提供的求解逆透视变换矩阵方法示意图;Figure 5 is a schematic diagram of a method for solving the inverse perspective transformation matrix provided by a preferred embodiment of the present application;

图6是本申请一个优选实施例所提供的获取拟建模区域的范围方法示意图;Figure 6 is a schematic diagram of a method for obtaining the range of a simulated modeling area provided by a preferred embodiment of the present application;

图7是本申请一个优选实施例所提供的判断所有倾斜摄影像片与拟建模区域的关联度方法示意图;Figure 7 is a schematic diagram of a method for determining the correlation between all oblique photography images and the simulated modeling area provided by a preferred embodiment of the present application;

图8是本申请一个优选实施例所提供的像角点实际对应的地平面与根据给定高度H推算得到投影覆盖面关系示意图;Figure 8 is a schematic diagram of the relationship between the ground plane actually corresponding to the image corner point and the projection coverage calculated according to the given height H provided by a preferred embodiment of the present application;

图9是本申请一个优选实施例所提供的倾斜摄影像片的投影覆盖面与拟建模区域重叠关系示意图;Figure 9 is a schematic diagram of the overlapping relationship between the projection coverage and the simulated modeling area of the oblique photography image provided by a preferred embodiment of the present application;

图10是本申请一个优选实施例所提供的拟建模区域影像数据集生成方法示意图;Figure 10 is a schematic diagram of a method for generating a simulated modeling area image data set provided by a preferred embodiment of the present application;

图11是本申请一个优选实施例所提供的一种倾斜摄影像片快速索引系统示意图;Figure 11 is a schematic diagram of a rapid indexing system for oblique photography provided by a preferred embodiment of the present application;

图12是本申请一个优选实施例所提供的一种计算机设备示意图。Figure 12 is a schematic diagram of a computer device provided by a preferred embodiment of the present application.

具体实施方式Detailed ways

下面结合附图具体阐明本申请的实施方式,实施例的给出仅仅是为了说明目的,并不能理解为对本申请的限定,包括附图仅供参考和说明使用,不构成对本申请专利保护范围的限制。基于本申请中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。The embodiments of the present application are specifically explained below with reference to the accompanying drawings. The examples are given for illustrative purposes only and cannot be understood as limiting the present application. The accompanying drawings are only for reference and illustration and do not constitute a limitation on the patent protection scope of the present application. limit. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

为解决现有三维建模过程中无法对大量倾斜摄影像片进行管理和索引的技术问题,本申请实施例提供了一种倾斜摄影像片快速索引方法。In order to solve the technical problem of being unable to manage and index a large number of oblique photography photos in the existing three-dimensional modeling process, embodiments of the present application provide a quick indexing method for oblique photography photos.

请参阅图2,在本申请的实施例中,所述方法包括以下步骤;Please refer to Figure 2. In the embodiment of the present application, the method includes the following steps;

S1、获取倾斜摄影像片和所述倾斜摄影像片所对应的POS数据,构建初始影像数据集。S1. Obtain oblique photography photos and POS data corresponding to the oblique photography photos, and construct an initial image data set.

S2、根据所述倾斜摄影像片所对应的POS数据,计算所述倾斜摄影像片的像角点在不同高度的地理空间坐标。S2. Calculate the geographical spatial coordinates of the image corner points of the oblique photography photo at different heights based on the POS data corresponding to the oblique photography photo.

S3、获取拟建模区域的范围,并根据所述拟建模区域的范围,以及所有所述倾斜摄影像片的像角点在不同高度的地理空间坐标,判断所有所述倾斜摄影像片与所述拟建模区域的关联度,基于所述初始影像数据集,根据所述关联度生成拟建模区域影像数据集。S3. Obtain the range of the simulated modeling area, and based on the range of the simulated modeling area and the geographical spatial coordinates of the image angle points of all the oblique photography images at different heights, determine the relationship between all the oblique photography images and The correlation degree of the pseudo-modelling area is based on the initial image data set, and an image data set of the pseudo-modelling area is generated according to the correlation degree.

在本申请中,基于要解决的技术问题,通过对倾斜摄影像片进行计算,获取倾斜摄影像片的像角点在不同高度的地理空间坐标,通过判断倾斜摄像像片与拟建模区域的关联度,根据关联度对倾斜摄影像片进行数据集的更新,以提升在开展区域网平差、多视匹配、点云构网以及多视纹理映射等三维建模过程中对倾斜摄影像片提取的效率和准确度。In this application, based on the technical problem to be solved, by calculating the oblique photographic images, the geographical spatial coordinates of the image angle points of the oblique photographic images at different heights are obtained, and by judging the distance between the oblique photographic images and the simulated modeling area Correlation, the oblique photographic images are updated according to the correlation degree to improve the accuracy of the oblique photographic images in the three-dimensional modeling process such as area network adjustment, multi-view matching, point cloud network construction and multi-view texture mapping. Extraction efficiency and accuracy.

在本申请优选实施例中,首先获取倾斜摄影像片,以及在拍摄倾斜摄影像片对应的机载POS数据。In the preferred embodiment of the present application, the oblique photography image is first obtained, and the airborne POS data corresponding to the oblique photography image is taken.

无人机在飞行作业时,获取的无人机影像通常会携带配套的POS数据,从而在处理中可以更加方便的处理影像。POS数据主要包括GPS数据和IMU数据,即倾斜摄影测量中的外方位元素:维度、经度、高程、航向角、俯仰角及翻滚角。When the drone is flying, the drone images acquired usually carry supporting POS data, so that the images can be processed more conveniently. POS data mainly includes GPS data and IMU data, that is, the external orientation elements in oblique photogrammetry: latitude, longitude, elevation, heading angle, pitch angle and roll angle.

GPS数据一般用X、Y、Z表示,代表了飞机在飞行中曝光点时刻的地理位置。GPS data is generally represented by X, Y, and Z, which represents the geographical location of the aircraft at the time of exposure during flight.

IMU数据主要包含航向角、俯仰角及翻滚角。IMU data mainly includes heading angle, pitch angle and roll angle.

在本申请优选实施例中,如图3所示,所述构建初始的影像数据集,包括以下步骤:In a preferred embodiment of the present application, as shown in Figure 3, constructing an initial image data set includes the following steps:

S101、判断所述倾斜摄影像片是否包含位置数据和姿态数据,若是,则根据所述位置数据和姿态数据构建倾斜摄影像片位姿数据集。S101. Determine whether the oblique photography photo contains position data and attitude data. If so, construct an oblique photography photo pose data set based on the position data and attitude data.

S102、若否,则将所述姿态数据置零,根据所述位置数据和所述置零的姿态数据构建倾斜摄影像片位姿数据集。S102. If not, set the posture data to zero, and construct an oblique photography photo pose data set based on the position data and the zeroed posture data.

S103、按照所述倾斜摄影像片的批次构建倾斜摄影像片内方位元素数据集。S103. Construct a data set of orientation elements in the oblique photography photos according to the batch of oblique photography photos.

S104、将所述倾斜摄影像片位姿数据集和所述倾斜摄影像片内方位元素数据集组合编码,构建初始影像数据集。S104. Combine and encode the oblique photographic image pose data set and the oblique photographic image internal orientation element data set to construct an initial image data set.

按照无人机倾斜测量技术要求,开展拟建模区域航摄,生成倾斜摄影像片,同时根据无人机上搭载的GPS与IMU传感器,提取每张像片的POS数据。According to the technical requirements of UAV tilt measurement, aerial photography of the simulated model area is carried out to generate oblique photography photos. At the same time, the POS data of each photo is extracted based on the GPS and IMU sensors mounted on the UAV.

对每张倾斜摄影像片进行信息编码,首先,对倾斜摄影像片进行判断,判断POS数据中是否包含位置和姿态的影像数据,若是,则表明倾斜摄影像片的信息是完整的,采用位置数据和姿态数据构建倾斜摄影像片位姿数据集,如:(i=1,2,3,4…均为像片编号),X,Y,Z分别表示飞机在飞行中曝光点时刻的维度、经度和高程;/>ω,κ分别表示飞机在飞行中曝光点时刻的航向角、俯仰角及翻滚角。Information encoding is performed on each oblique photographic image. First, the oblique photographic photograph is judged to determine whether the POS data contains image data of position and attitude. If so, it indicates that the information of the oblique photographic photograph is complete, and the position is used. Data and posture data are used to construct an oblique photography pose data set, such as: (i=1, 2, 3, 4... are all photo numbers), X, Y, Z respectively represent the latitude, longitude and altitude of the aircraft at the exposure point during flight;/> ω and κ respectively represent the heading angle, pitch angle and roll angle of the aircraft at the exposure point in flight.

若否,则表明倾斜摄影像片的信息是不完整的,在本申请实施例中,对于信息不完整的倾斜摄影像片,仅选取包含位置数据的倾斜摄影像片,将仅含有位置数据的倾斜摄影像片的姿态数据置零,根据位置数据和置零的姿态数据构建倾斜摄影像片位姿数据集。如,Vi={namei,X,Y,Z,0,0,0}(i=1,2,3,4…均为像片编号)。If not, it indicates that the information of the oblique photographic images is incomplete. In the embodiment of the present application, for the oblique photographic images with incomplete information, only the oblique photographic images containing position data are selected, and the oblique photographic images containing only position data are selected. The posture data of the oblique photography photos is set to zero, and a posture data set of the oblique photography photos is constructed based on the position data and the zeroed posture data. For example, V i = {name i , X, Y, Z, 0, 0, 0} (i = 1, 2, 3, 4... are all photo numbers).

如表1为倾斜摄影像片位姿数据集示例。Table 1 is an example of the oblique photography pose data set.

在本申请优选实施例中,进一步的,将倾斜摄影像片的内方位元素也作为倾斜影像像片的编码元素。目前无人机倾斜摄影所搭载的倾斜镜头一般均已经过标定,其内方位元素为已知量,针对于不同批次倾斜像片,可按批次建立倾斜摄影像片内方位元素数据集Wj={pj,xj,yj,fj},其中,p表示倾斜摄影像片批次,x、y表示相机坐标系中像主点坐标,f表示相片主距,j=1,2,3,4…,表示航飞批次编号。In the preferred embodiment of the present application, further, the inner orientation element of the oblique image is also used as the encoding element of the oblique image. At present, the tilt lenses used in oblique photography of UAVs have generally been calibrated, and the internal orientation elements are known quantities. For different batches of oblique photos, a data set W of the internal orientation elements of oblique photography photos can be established according to batches. j = {p j ,x j ,y j ,f j }, where p represents the batch of oblique photography photos, x and y represent the coordinates of the principal point of the image in the camera coordinate system, f represents the principal distance of the photo, j=1, 2, 3, 4…, represents the flight batch number.

如表2为倾斜摄影像片内方位数据集示例。Table 2 is an example of the orientation data set in oblique photography images.

针对第j批次的第i张像片,将其编码为 以构建与倾斜摄影像片一一对应的初始影像数据集。For the i-th photo of the j-th batch, encode it as To construct an initial image data set that corresponds one-to-one with oblique photography photos.

在本申请实施例中,将倾斜摄影像片位姿数据集和倾斜摄影像片内方位元素数据集组合编码,构建初始影像数据集,以更加全面的信息表征倾斜摄影像片,方便对倾斜摄影像片进行更加全面的检索和提取。In the embodiment of the present application, the oblique photographic image pose data set and the oblique photographic image internal orientation element data set are combined and coded to construct an initial image data set, which represents the oblique photographic image with more comprehensive information and facilitates the oblique photography. Photos for more comprehensive retrieval and extraction.

在本申请优选实施例中,根据倾斜摄影像片所对应的POS数据,计算倾斜摄影像片的四个像角点在不同高度的地理空间位置。如图4所示,所述根据所述倾斜摄影像片所对应的POS数据,计算所述倾斜摄影像片的像角点在不同高度的地理空间坐标,包括:In a preferred embodiment of the present application, the geographical spatial positions of the four image corner points of the oblique photography image at different heights are calculated based on the POS data corresponding to the oblique photography image. As shown in Figure 4, calculating the geographical spatial coordinates of the image corner points of the oblique photography photos at different heights based on the POS data corresponding to the oblique photography photos includes:

S201、根据所述倾斜摄影像片所对应的POS数据,求解逆透视变换矩阵。S201. Solve the inverse perspective transformation matrix according to the POS data corresponding to the oblique photographic image.

S202、根据所述逆透视变换矩阵构建所述倾斜摄影像片的像主点和像角点的共线方程。S202. Construct a collinear equation of the principal image point and the image corner point of the oblique photographic image according to the inverse perspective transformation matrix.

S203、根据所有所述倾斜摄影像片的像主点和像角点的共线方程,确定所有所述倾斜摄影像片的像角点在不同高度的地理空间坐标。S203. Determine the geographical spatial coordinates of the image corner points at different heights of all the oblique photography photos based on the collinear equations of the image principal points and image corner points of all the oblique photography photos.

基于像片地理空间坐标解算方法,需要求解倾斜摄影像片的透视变换矩阵,确定每张倾斜摄影像片像角点共线方程,进而确定倾斜摄影像片的像角点在不同高度的地理空间坐标,实现倾斜摄影像片从像素坐标到地理空间坐标的转换。Based on the photo geospatial coordinate solution method, it is necessary to solve the perspective transformation matrix of the oblique photography image, determine the collinear equation of the image corner point of each oblique photography image, and then determine the geographical location of the image corner point of the oblique photography image at different heights. Spatial coordinates realize the conversion of oblique photography images from pixel coordinates to geographical spatial coordinates.

对于逆透视变换矩阵的求解,涉及四个坐标系的转换,四个坐标系分别为:世界坐标系、相机坐标系、图像坐标系和像素坐标系。Solving the inverse perspective transformation matrix involves the transformation of four coordinate systems: world coordinate system, camera coordinate system, image coordinate system and pixel coordinate system.

世界坐标系:用Ow-XwYwZw表示,在世界坐标系中可以标注出物体所在的位置和相机所在的位置。世界坐标系一般展示的是相机与物体之间的位置关系,体现的是真实世界中的坐标。World coordinate system: represented by Ow-XwYwZw. In the world coordinate system, the location of the object and the location of the camera can be marked. The world coordinate system generally shows the positional relationship between the camera and the object, and reflects the coordinates in the real world.

相机坐标系:用Oc-XcYcZc表示,以摄像机光心,即相机小孔中心位置为原点,z轴与光轴重合,指向相机的前方,Xc轴与Yc轴的正方向与物体坐标系平行。在相机坐标系中可以定义物体相对于相机的位置,其中坐标系原点为相机小孔中心位置。Camera coordinate system: represented by Oc-XcYcZc, with the camera optical center, that is, the center of the camera hole as the origin, the z-axis coincides with the optical axis and points in 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 can be defined in the camera coordinate system, where the origin of the coordinate system is the center of the camera hole.

图像坐标系:用O-xy表示,用物理单位表示像素的位置,坐标原点为摄像机光轴与图像平面的交叉点位置。x轴和y轴分别Xc轴与Yc轴平行,表示真实物体在相机感光元件上的实际位置。Image coordinate system: represented by O-xy, using physical units to represent the position of the pixel, and the origin of the coordinates is the intersection position of the camera optical axis and the image plane. The x-axis and y-axis are respectively parallel to the Xc-axis and Yc-axis, indicating the actual position of the real object on the camera sensor.

像素坐标系:一张图像在计算机中会以像素点的形式按行列排列的方式存在,因此在像素坐标系中,记录的是每个像素点的行号和列号。坐标原点在左上角,以像素为单位,例如,一个像素点的坐标(u,v)分别表示在图像数组中的u列v行。Pixel coordinate system: An image exists in the computer in the form of pixels arranged in rows and columns. Therefore, in the pixel coordinate system, the row number and column number of each pixel are recorded. The origin of the coordinates is in the upper left corner, in pixels. For example, the coordinates (u, v) of a pixel point represent the u column and v row in the image array respectively.

其中,像素坐标系和图像坐标系是定义在平面上的,它们之间可以通过平移进行转换。图像坐标系转换至相机坐标系属于透视投影关系,从2D到3D。相机坐标系转换至世界坐标系,属于刚体变换,即物体不会发生形变,只需要通过旋转矩阵和平移向量进行转换。Among them, the pixel coordinate system and the image coordinate system are defined on the plane, and they can be converted through translation. The conversion of the image coordinate system to the camera coordinate system belongs to the perspective projection relationship, from 2D to 3D. The transformation from the camera coordinate system to the world coordinate system is a rigid body transformation, that is, the object will not deform and only needs to be transformed through a rotation matrix and a translation vector.

在本申请实施例中,如图5所示,所述根据所述倾斜摄影像片所对应的POS数据,求解逆透视变换矩阵,包括:In the embodiment of the present application, as shown in Figure 5, solving the inverse perspective transformation matrix based on the POS data corresponding to the oblique photography includes:

S2011、将所述倾斜摄影像片从像素坐标系转换为图像坐标系,获取第一平移向量。S2011. Convert the oblique photographic image from the pixel coordinate system to the image coordinate system, and obtain the first translation vector.

S2012、基于所述第一平移向量,将所述倾斜摄影像片从所述图像坐标系转换为相机坐标系,获取第一旋转矩阵和第二平移向量。S2012. Based on the first translation vector, convert the oblique photography photograph from the image coordinate system to a camera coordinate system, and obtain a first rotation matrix and a second translation vector.

S2013、基于所述第一旋转矩阵和第二平移向量,将所述倾斜摄影像片从相机坐标系转换为世界坐标系,获得获取逆透视变换矩阵的旋转矩阵和平移向量。S2013. Based on the first rotation matrix and the second translation vector, convert the oblique photographic image from the camera coordinate system to the world coordinate system, and obtain the rotation matrix and translation vector for obtaining the inverse perspective transformation matrix.

其中,经过以上变换,得到世界坐标系与像素坐标系的转换关系为:Among them, after the above transformation, the conversion relationship between the world coordinate system and the pixel coordinate system is:

其中,R表示逆透视变换矩阵的旋转矩阵,T表示逆透视变换矩阵的平移向量,u0、v0表示像素坐标系中像主点的坐标,dx、dy表示一个像素的长度,f表示像片主距。Among them, R represents the rotation matrix of the inverse perspective transformation matrix, T represents the translation vector of the inverse perspective transformation matrix, u 0 and v 0 represent the coordinates of the main point of the image in the pixel coordinate system, dx and dy represent the length of a pixel, and f represents the image Film main distance.

逆透视变换矩阵的旋转矩阵表示为:The rotation matrix of the inverse perspective transformation matrix is expressed as:

逆透视变换矩阵的平移向量表示为:The translation vector of the inverse perspective transformation matrix is expressed as:

其中,ΔX、ΔY、ΔZ表示像主点从像素坐标系转换到世界坐标系在X轴方向、Y轴方向和Z轴方向的平移距离。Among them, ΔX, ΔY, and ΔZ represent the translation distance of the main image point from the pixel coordinate system to the world coordinate system in the X-axis direction, the Y-axis direction, and the Z-axis direction.

根据逆透视变换矩阵构建倾斜摄影像片的像主点和四个像角点的共线方程,Construct the collinear equation of the main image point and four image corner points of the oblique photographic image based on the inverse perspective transformation matrix,

根据共线方程,计算倾斜摄影像片的像角点在不同高度的地理空间坐标,表示如下:According to the collinear equation, the geographical spatial coordinates of the image corner points of the oblique photographic images at different heights are calculated as follows:

其中,ai、bi、ci(i=1,2,3)表示由外方位元素ω、κ所生成的3×3正交旋转矩阵R的一个元素。x,y表示以像主点为原点的像角点坐标,X、Y、Z是像角点相应地面点坐标,f为像片主距,XS、YS、ZS、/>ω、κ表示倾斜摄影像片位姿数据集。Among them, a i , b i , c i (i=1,2,3) represent the outer orientation elements An element of the 3×3 orthogonal rotation matrix R generated by ω and κ. x, y represent the coordinates of the image corner point with the principal point of the image as the origin, X, Y, Z are the coordinates of the corresponding ground point of the image corner point, f is the principal distance of the image, X S , Y S , Z S ,/> ω and κ represent the oblique photography pose data set.

在本申请实施例中,基于逆变换矩阵,根据倾斜摄影像片的内外方位元素反推倾斜摄影像片的像角点共线方程,进而求解出不同高度下像角点对应的投影平面坐标,从而确定倾斜摄影像片在给定高度的投影覆盖范围。In the embodiment of the present application, based on the inverse transformation matrix, the collinear equation of the image corner point of the oblique photographic image is deduced according to the internal and external orientation elements of the oblique photographic image, and then the projection plane coordinates corresponding to the image corner point at different heights are solved. This determines the projection coverage of an oblique photographic image at a given height.

在本申请实施例中,获取拟建模区域的范围,所述范围包括拟建模区域的高度、以及所述拟建模区域对应的地平面构成的区域,包括如图6所示,所述获取拟建模区域的范围,包括以下步骤:In this embodiment of the present application, the range of the proposed modeling area is obtained. The range includes the height of the proposed modeling area and the area formed by the ground plane corresponding to the simulated modeling area, including, as shown in Figure 6, the Obtaining the scope of the proposed modeling area includes the following steps:

S301、获取拟建模区域的高度、以及所述拟建模区域对应的地平面的连续点坐标。S301. Obtain the height of the simulated modeling area and the continuous point coordinates of the ground plane corresponding to the simulated modeling area.

S302、根据所述拟建模区域的高度、以及所述拟建模区域对应的地平面的连续点坐标表征所述拟建模区域的范围。S302. Characterize the range of the pseudo-modelling area according to the height of the pseudo-modelling area and the continuous point coordinates of the ground plane corresponding to the pseudo-modelling area.

拟建模区域应为靠近地面的平面与相应的高度组成的立体范围,其高度应以拟建模区域的平均高度为宜,表征为H。The area to be modeled should be a three-dimensional range consisting of a plane close to the ground and a corresponding height. The height should be the average height of the area to be modeled, represented by H.

拟建模区域靠近地面的平面应以连续的点的集合表示,表征为:The plane close to the ground in the proposed modeling area should be represented by a set of continuous points, characterized as:

其中,m表示组成拟建模预取的点的个数,Xm、Ym表示拟建模区域靠近地面的平面内的点在世界坐标系的位置。Among them, m represents the number of points that make up the prefetched simulation model, and X m and Y m represent the positions of the points in the plane close to the ground in the simulated modeling area in the world coordinate system.

进一步的,在本申请实施例中,如图7所示,所述判断所有所述倾斜摄影像片与所述拟建模区域的关联度,包括以下步骤:Further, in the embodiment of the present application, as shown in Figure 7, determining the correlation between all the oblique photography images and the simulated modeling area includes the following steps:

S303、根据所述倾斜摄影像片的像角点在不同高度的地理空间坐标,确定所述倾斜摄影像片的像角点在所述拟建模区域的高度的地理空间坐标。S303. Determine the geospatial coordinates of the image corner point of the oblique photographic image at the height of the simulated modeling area based on the geospatial coordinates of the image corner point of the oblique photographic image at different heights.

S304、根据在所述拟建模区域的高度的地理空间坐标确定所有所述倾斜摄影像片的投影覆盖范围。S304. Determine the projection coverage of all oblique photography images based on the geospatial coordinates of the height of the proposed modeling area.

S305、根据所述投影覆盖范围和所述拟建模区域对应的地平面,计算投影覆盖率,并将所述投影覆盖率作为所述倾斜摄影像片与所述拟建模区域的关联度。S305: Calculate the projection coverage rate according to the projection coverage range and the ground plane corresponding to the simulated modeling area, and use the projection coverage rate as the correlation between the oblique photographic image and the simulated modeling area.

根据拟建模区域确定的高度H,将高度代入倾斜摄影像片的像角点在不同高度的地理空间坐标方程,得到倾斜摄影像片四个像角点对应的地平面点坐标,进而根据四个像角点对应的地平面点坐标确定倾斜摄影像片在地平面的投影覆盖面。如图8所示,像角点(a、b、c、d)实际对应的地平面点为A'、B'、C'、D',其与根据给定高度H推算得到投影点A、B、C、D并不完全重合。According to the height H determined in the proposed modeling area, the height is substituted into the geographical space coordinate equation of the image corner points of the oblique photography image at different heights, and the coordinates of the ground plane points corresponding to the four image corner points of the oblique photography image are obtained, and then according to the four The ground plane point coordinates corresponding to each image corner point determine the projection coverage of the oblique photographic image on the ground plane. As shown in Figure 8, the actual ground plane points corresponding to the image corner points (a, b, c, d) are A', B', C', D', which are calculated based on the given height H to obtain the projection points A, B, C, and D do not completely overlap.

在本申请优选实施例中,对于倾斜摄影像片与拟建模区域的关联度的判断,通过比较投影覆盖范围和拟建模区域对应的地平面之间的重叠范围的大小,重叠范围大表示关联度大,重叠范围小表示关联度小。In the preferred embodiment of the present application, the correlation degree between the oblique photographic image and the simulated modeling area is determined by comparing the overlap range between the projection coverage and the ground plane corresponding to the simulated modeling area. A large overlap range indicates A large degree of correlation and a small overlap range indicate a small degree of correlation.

如图9所示,倾斜摄影像片的投影覆盖面与拟建模区域重叠范围,分为不重叠、部分重叠和完全覆盖,为了更具体的表示关联度,将投影覆盖率作为倾斜摄影像片与拟建模区域的关联度。As shown in Figure 9, the overlap range of the projection coverage of the oblique photographic image and the simulated modeling area is divided into non-overlapping, partial overlap and complete coverage. In order to express the correlation more specifically, the projection coverage is regarded as the relationship between the oblique photographic image and the simulated modeling area. The correlation degree of the proposed modeling area.

投影覆盖率的计算公式为:The calculation formula for projection coverage is:

其中,S0表示倾斜摄影像片的投影覆盖面与拟建模区域重叠范围的面积,SABCD表示倾斜摄影像片的在高度H的投影覆盖面的面积。Among them, S 0 represents the area of the overlap range between the projection coverage of the oblique photographic image and the simulated modeling area, and S ABCD represents the area of the projection coverage of the oblique photographic image at height H.

进一步的,在本申请实施例中,如图10所示,所述根据所述关联度生成拟建模区域影像数据集,包括以下步骤:Further, in this embodiment of the present application, as shown in Figure 10, generating a simulated modeling area image data set based on the correlation includes the following steps:

S306、根据所述关联度选取与所述拟建模区域存在关联的倾斜摄影像片。S306: Select oblique photography images that are related to the simulated modeling area according to the degree of correlation.

S307、根据选取的存在关联的倾斜摄影像片的关联度,构建所述倾斜摄影像片的关联度数据集。S307: Construct a correlation data set of the oblique photography photos according to the correlation degree of the selected oblique photography photos that are related.

S308、将所选取的存在关联的倾斜摄影像片的初始影像数据集和关联度数据集组合编码,生成拟建模区域影像数据集。S308: Combine and code the selected initial image data set and the correlation data set of the associated oblique photography photos to generate a simulated modeling area image data set.

在本申请实施例中,将与拟建模区域存在关联的倾斜摄影像片选取出来,并将选取出的倾斜摄影像片的初始影像数据集和关联度组合编码,作为每一张倾斜摄影像片的编码,具体表示如下:In the embodiment of the present application, the oblique photography images associated with the simulated modeling area are selected, and the initial image data set and correlation degree of the selected oblique photography images are combined and coded as each oblique photography image. The encoding of the slice is specifically expressed as follows:

其中,i表示像片编号,j表示航飞批次编号。Among them, i represents the photo number, and j represents the flight batch number.

在本申请优选实施例中,根据关联度的大小对倾斜摄像像片进行排序,以便于倾斜摄影图片的检索和提取,提升图片检索和提取效率。In the preferred embodiment of the present application, the oblique photographic images are sorted according to the degree of correlation, so as to facilitate the retrieval and extraction of oblique photographic images and improve the efficiency of image retrieval and extraction.

综上所述,针对航飞过程中采集得到的倾斜摄影像片,进行标准化管理,将倾斜摄影像片名称与内外方位元素一起构建初始影像数据集,在初始影像数据集的基础上,针对特定的拟建模建模区域,根据影像内外方位元素得到在拟建模区域的高度范围内倾斜摄影像片的投影覆盖范围,根据投影覆盖范围与拟建模区域之间的投影覆盖率,确定倾斜摄影像片与拟建模区域之间的关联度,根据关联度的大小选取与拟建模区域相关联的倾斜摄影像片,采用初始影像数据集与关联度组合的编码方式对选取的倾斜摄影像片进行编码,以生成拟建模区域影像数据集。本申请提供的倾斜摄影像片快速索引方法无需对像片进行整体空间解算,即可快速提取出与拟建模区域相关联的倾斜摄影像片,针对需要单体化建模的区域,可快速读取相应的像片,提升三维建模速度。To sum up, the oblique photography photos collected during the flight are standardized and managed, and the names of the oblique photography photos and the internal and external orientation elements are combined to construct an initial image data set. Based on the initial image data set, specific of the simulated modeling area. According to the internal and external orientation elements of the image, the projection coverage of the oblique photographic image within the height range of the simulated modeling area is obtained. According to the projection coverage rate between the projection coverage and the simulated modeling area, the tilt is determined. According to the degree of correlation between the photographic image and the proposed modeling area, select the oblique photographic photograph associated with the proposed modeling area according to the degree of correlation, and use the encoding method of the combination of the initial image data set and the correlation degree to encode the selected oblique photography The images are encoded to generate a simulated area image data set. The fast indexing method for oblique photography photos provided by this application can quickly extract the oblique photography photos associated with the simulated modeling area without the need to solve the overall space of the photos. For areas that require single modeling, it can Quickly read the corresponding photos to increase the speed of 3D modeling.

相应地,如图11所示,基于一种倾斜摄影像片快速索引方法,本发明实施例还提供一种倾斜摄影像片快速索引系统,所述系统包括:数据获取单元1、计算单元2和拟建模区域影像关联单元3;Correspondingly, as shown in Figure 11, based on a quick indexing method for oblique photography photos, embodiments of the present invention also provide a quick indexing system for oblique photography photos. The system includes: a data acquisition unit 1, a computing unit 2 and Simulated modeling area image correlation unit 3;

数据获取单元1:用于获取倾斜摄影像片和所述倾斜摄影像片所对应的POS数据,构建初始影像数据集。Data acquisition unit 1: used to acquire oblique photography photos and POS data corresponding to the oblique photography photos, and construct an initial image data set.

计算单元2:用于根据所述倾斜摄影像片所对应的POS数据,计算所述倾斜摄影像片的像角点在不同高度的地理空间坐标。Calculation unit 2: configured to calculate the geographical spatial coordinates of the image corner points of the oblique photography photos at different heights based on the POS data corresponding to the oblique photography photos.

拟建模区域影像关联单元3:用于获取拟建模区域的范围,并根据所述拟建模区域的范围,以及所有所述倾斜摄影像片的像角点在不同高度的地理空间坐标,判断所有所述倾斜摄影像片与所述拟建模区域的关联度,基于所述初始影像数据集,根据所述关联度生成拟建模区域影像数据集。Simulated modeling area image association unit 3: used to obtain the range of the pseudo modeling area, and based on the range of the pseudo modeling area and the geographical spatial coordinates of the image corner points of all the oblique photography photos at different heights, Determine the correlation between all oblique photography photos and the simulated modeling area, and generate a simulated modeling area image data set based on the correlation based on the initial image data set.

关于一种倾斜摄影像片快速索引系统的具体限定可以参见上述对于一种倾斜摄影像片快速索引方法的限定,此处不再赘述。本领域普通技术人员可以意识到,结合本申请所公开的实施例描述的各个模块和步骤,能够以硬件、软件或者两者结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请的范围。For specific limitations on a quick indexing system for oblique photography photos, please refer to the above-mentioned limitations on a quick indexing method for oblique photography photos, which will not be described again here. Those of ordinary skill in the art will appreciate that the various modules and steps described in conjunction with the embodiments disclosed in this application can be implemented in hardware, software, or a combination of both. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

如图12所示,本发明实施例提供的一种计算机设备,包括存储器、处理器和收发器,它们之间通过总线连接;存储器用于存储一组计算机程序指令和数据,并将存储的数据传输给处理器,处理器执行存储器存储的程序指令,以执行上述倾斜摄影像片快速索引方法的步骤。As shown in Figure 12, a computer device provided by an embodiment of the present invention includes 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 store the stored data Transmitted to the processor, the processor executes the program instructions stored in the memory to perform the steps of the above-mentioned fast indexing method for oblique photography photos.

其中,存储器可以包括易失性存储器或非易失性存储器,或可包括易失性和非易失性存储器两者;处理器可以是中央处理器、微处理器、特定应用集成电路、可编程逻辑器件或其组合。通过示例性但不是限制性说明,上述可编程逻辑器件可以是复杂可编程逻辑器件、现场可编程逻辑门阵列、通用阵列逻辑或其任意组合。Wherein, the memory may include volatile memory or non-volatile memory, or may include both volatile and non-volatile memory; the processor may be a central processing unit, a microprocessor, an application-specific integrated circuit, a programmable Logic devices or combinations thereof. By way of illustration but not limitation, the above-mentioned programmable logic device may be a complex programmable logic device, a field programmable logic gate array, a general array logic or any combination thereof.

另外,存储器可以是物理上独立的单元,也可以与处理器集成在一起。In addition, memory can be a physically separate unit or integrated with the processor.

本领域普通技术人员可以理解,图12中示出的结构,仅仅是与本申请方案相关的部分结构的框图,并不构成对本申请方案所应用于其上的计算机设备的限定,具体的计算机设备可以包括比图中所示更多或更少的部件,或者组合某些部件,或者具有相同的部件布置。Those of ordinary skill in the art can understand that the structure shown in Figure 12 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Specific computer equipment It is possible to include more or fewer components than shown in the figures, or to combine certain components, or to have the same arrangement of components.

在一个实施例中,提供了一种计算机可读存储介质,所述存储介质用于存储一个或多个计算机程序,所述一个或多个计算机程序包括程序代码,当所述计算机程序在计算机上运行时,所述程序代码用于执行上述倾斜摄影像片快速索引的步骤。In one embodiment, a computer-readable storage medium is provided for storing one or more computer programs, the one or more computer programs including program code, and when the computer program is run on a computer When running, the program code is used to perform the above-mentioned steps of rapid indexing of oblique photography images.

在上述实施例中,可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时,可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时,全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中,或者从一个计算机可读存储介质向另一个计算机可读存储介质传输,例如,所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质,(例如,软盘、硬盘、磁带)、光介质(例如,DVD)、或者半导体介质(例如SSD)等。In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it 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 the computer program instructions are loaded and executed on a computer, the processes or functions described in accordance with the embodiments of the present invention are generated in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, e.g., the computer instructions may be transferred from a website, computer, server, or data center Transmit to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be a computer Any available media that can be accessed or a data storage device such as a server or data center integrated with one or more available media. The available media can be magnetic media, (for example, floppy disks, hard disks, tapes), optical media (for example, , DVD), or semiconductor media (such as SSD), etc.

本领域技术人员可以理解实现上述实施例方法中的全部或部分流程,是可以通过计算机程序来指令相关的硬件来完成,所述的计算机程序可存储于计算机可读取存储介质中,该计算机程序在执行时,可包括如上述各方法的实施例的流程。Those skilled in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. The computer program During execution, the process may include the processes of the embodiments of each of the above methods.

本实施例中提供的一种倾斜摄影像片快速索引方法、系统、计算机设备及存储介质,针对现有三维建模过程中无法对大量倾斜摄影像片进行管理和索引的技术问题。对航飞过程中采集得到的倾斜摄影像片,进行标准化管理,将倾斜摄影像片名称与内外方位元素一起构建初始影像数据集,在初始影像数据集的基础上,针对特定的拟建模建模区域,根据影像内外方位元素得到在拟建模区域的高度范围内倾斜摄影像片的投影覆盖范围,根据投影覆盖范围与拟建模区域之间的投影覆盖率,确定倾斜摄影像片与拟建模区域之间的关联度,根据关联度的大小选取与拟建模区域相关联的倾斜摄影像片,采用初始影像数据集与关联度组合的编码方式对选取的倾斜摄影像片进行编码,以生成拟建模区域影像数据集。本申请提供的倾斜摄影像片快速索引方法无需对像片进行整体空间解算,即可快速提取出与拟建模区域相关联的倾斜摄影像片,针对需要单体化建模的区域,可快速读取相应的像片,提升三维建模速度。This embodiment provides a method, system, computer equipment and storage medium for fast indexing of oblique photography photos, aiming at the technical problem of being unable to manage and index a large number of oblique photography photos in the existing three-dimensional modeling process. Standardize the management of oblique photography photos collected during the flight. The names of the oblique photography photos and the internal and external orientation elements are used to construct an initial image data set. Based on the initial image data set, specific simulation models are built. Model area, according to the internal and external orientation elements of the image, obtain the projection coverage of the oblique photographic image within the height range of the simulated modeling area, and determine the relationship between the oblique photographic image and the simulated modeling area based on the projection coverage ratio between the projection coverage range and the simulated modeling area. According to the degree of correlation between the modeling areas, select the oblique photography photos associated with the proposed modeling area according to the degree of correlation, and use the coding method of the combination of the initial image data set and the correlation degree to encode the selected oblique photography photos. To generate a simulated modeling area image data set. The fast indexing method for oblique photography photos provided by this application can quickly extract the oblique photography photos associated with the simulated modeling area without the need to solve the overall space of the photos. For areas that require single modeling, it can Quickly read the corresponding photos to increase the speed of 3D modeling.

以上所述实施例仅表达了本申请的几种优选实施方式,其描述较为具体和详细,但并不能因此而理解为对发明专利范围的限制。应当指出的是,对于本技术领域的普通技术人员来说,在不脱离本发明技术原理的前提下,还可以做出若干改进和替换,这些改进和替换也应视为本申请的保护范围。因此,本申请专利的保护范围应以所述权利要求的保护范围为准。The above-described embodiments only express several preferred embodiments of the present application. The descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those of ordinary skill in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be regarded as the protection scope of the present application. Therefore, the protection scope of the patent of this application shall be subject to the protection scope of the claims.

Claims (10)

1.一种倾斜摄影像片快速索引方法,其特征在于,所述方法包括:1. A quick indexing method for oblique photography photos, characterized in that the method includes: 获取倾斜摄影像片和所述倾斜摄影像片所对应的POS数据,构建初始影像数据集;Obtain oblique photography photos and POS data corresponding to the oblique photography photos, and construct an initial image data set; 根据所述倾斜摄影像片所对应的POS数据,计算所述倾斜摄影像片的像角点在不同高度的地理空间坐标;According to the POS data corresponding to the oblique photographic image, calculate the geographical spatial coordinates of the image corner points of the oblique photographic image at different heights; 获取拟建模区域的范围,并根据所述拟建模区域的范围,以及所有所述倾斜摄影像片的像角点在不同高度的地理空间坐标,判断所有所述倾斜摄影像片与所述拟建模区域的关联度,基于所述初始影像数据集,根据所述关联度生成拟建模区域影像数据集。Obtain the range of the simulated modeling area, and determine the relationship between all the oblique photography images and the The correlation degree of the simulated modeling area is based on the initial image data set, and the simulated modeling area image data set is generated according to the correlation degree. 2.如权利要求1所述的倾斜摄影像片快速索引方法,其特征在于,所述构建初始影像数据集,包括:2. The method for fast indexing of oblique photography photos as claimed in claim 1, wherein said constructing an initial image data set includes: 判断所述倾斜摄影像片是否包含位置数据和姿态数据,若是,则根据所述位置数据和姿态数据构建倾斜摄影像片位姿数据集;Determine whether the oblique photography photo contains position data and attitude data, and if so, construct an oblique photography photo pose data set based on the position data and attitude data; 若否,则将仅含有位置数据的倾斜摄影像片的姿态数据置零,根据所述位置数据和所述置零的姿态数据构建倾斜摄影像片位姿数据集;If not, then set the posture data of the oblique photographic photos containing only position data to zero, and construct an oblique photographic photograph pose data set based on the position data and the zeroed posture data; 按照所述倾斜摄影像片的批次构建倾斜摄影像片内方位元素数据集;Construct a data set of orientation elements in the oblique photography photos according to the batch of oblique photography photos; 将所述倾斜摄影像片位姿数据集和所述倾斜摄影像片内方位元素数据集组合编码,构建初始影像数据集。The oblique photographic photo pose data set and the oblique photographic photo internal orientation element data set are combined and coded to construct an initial image data set. 3.如权利要求1所述的倾斜摄影像片快速索引方法,其特征在于,所述根据所述倾斜摄影像片所对应的POS数据,计算所述倾斜摄影像片的像角点在不同高度的地理空间坐标,包括:3. The method for fast indexing of oblique photography photos as claimed in claim 1, characterized in that, according to the POS data corresponding to the oblique photography photos, the image angle points of the oblique photography photos are calculated at different heights. The geospatial coordinates include: 根据所述倾斜摄影像片所对应的POS数据,求解逆透视变换矩阵;Solve the inverse perspective transformation matrix according to the POS data corresponding to the oblique photography image; 根据所述逆透视变换矩阵构建所述倾斜摄影像片的像主点和像角点的共线方程;Construct the collinear equation of the principal image point and the image corner point of the oblique photographic image according to the inverse perspective transformation matrix; 根据所有所述倾斜摄影像片的像主点和像角点的共线方程,确定所有所述倾斜摄影像片的像角点在不同高度的地理空间坐标。According to the collinear equations of the image principal points and image corner points of all the oblique photography photos, the geographical spatial coordinates of the image corner points at different heights of all the oblique photography photos are determined. 4.如权利要求3所述的倾斜摄影像片快速索引方法,其特征在于,所述根据所述倾斜摄影像片所对应的POS数据,求解逆透视变换矩阵,包括:4. The method for fast indexing of oblique photography photos as claimed in claim 3, wherein the step of solving the inverse perspective transformation matrix according to the POS data corresponding to the oblique photography photos includes: 将所述倾斜摄影像片从像素坐标系转换为图像坐标系,获取第一平移向量;Convert the oblique photography photograph from the pixel coordinate system to the image coordinate system, and obtain the first translation vector; 基于所述第一平移向量,将所述倾斜摄影像片从所述图像坐标系转换为相机坐标系,获取第一旋转矩阵和第二平移向量;Based on the first translation vector, convert the oblique photographic image from the image coordinate system to a camera coordinate system, and obtain a first rotation matrix and a second translation vector; 基于所述第一旋转矩阵和第二平移向量,将所述倾斜摄影像片从相机坐标系转换为世界坐标系,获得获取逆透视变换矩阵的旋转矩阵和平移向量。Based on the first rotation matrix and the second translation vector, the oblique photographic image is converted from the camera coordinate system to the world coordinate system to obtain the rotation matrix and translation vector for obtaining the inverse perspective transformation matrix. 5.如权利要求2所述的倾斜摄影像片快速索引方法,其特征在于,所述获取拟建模区域的范围,包括:5. The method for fast indexing of oblique photography photos as claimed in claim 2, wherein said obtaining the range of the simulated modeling area includes: 获取拟建模区域的高度、以及所述拟建模区域对应的地平面的连续点坐标;Obtain the height of the simulated modeling area and the continuous point coordinates of the ground plane corresponding to the simulated modeling area; 根据所述拟建模区域的高度、以及所述拟建模区域对应的地平面的连续点坐标表征所述拟建模区域的范围。The range of the pseudo-modelling area is characterized according to the height of the pseudo-modelling area and the continuous point coordinates of the ground plane corresponding to the pseudo-modelling area. 6.如权利要求5所述的倾斜摄影像片快速索引方法,其特征在于,所述判断所有所述倾斜摄影像片与所述拟建模区域的关联度,包括:6. The method for fast indexing of oblique photography photos as claimed in claim 5, wherein determining the correlation between all oblique photography photos and the simulated modeling area includes: 根据所述倾斜摄影像片的像角点在不同高度的地理空间坐标,确定所述倾斜摄影像片的像角点在所述拟建模区域的高度的地理空间坐标;Determine the geospatial coordinates of the image corner point of the oblique photographic image at the height of the simulated modeling area based on the geographical spatial coordinates of the image corner point of the oblique photographic image at different heights; 根据在所述拟建模区域的高度的地理空间坐标确定所有所述倾斜摄影像片的投影覆盖范围;Determine the projection coverage of all said oblique photographic images based on geospatial coordinates at the height of said simulated modeling area; 根据所述投影覆盖范围和所述拟建模区域对应的地平面,计算投影覆盖率,并将所述投影覆盖率作为所述倾斜摄影像片与所述拟建模区域的关联度。According to the projection coverage range and the ground plane corresponding to the pseudo-modelling area, the projection coverage rate is calculated, and the projection coverage rate is used as the correlation degree between the oblique photographic image and the pseudo-modelling area. 7.如权利要求6所述的倾斜摄影像片快速索引方法,其特征在于,所述根据所述关联度生成拟建模区域影像数据集,包括:7. The method for fast indexing of oblique photography photos as claimed in claim 6, wherein generating a simulated area image data set according to the degree of correlation includes: 根据所述关联度选取与所述拟建模区域存在关联的倾斜摄影像片;Select oblique photography images that are related to the simulated modeling area according to the degree of correlation; 根据选取的存在关联的倾斜摄影像片的关联度,构建所述倾斜摄影像片的关联度数据集;Construct a correlation data set of the oblique photography photos according to the correlation degree of the selected oblique photography photos that are related; 将所选取的存在关联的倾斜摄影像片的初始影像数据集和关联度数据集组合编码,生成拟建模区域影像数据集。The selected initial image data set and the correlation data set of the associated oblique photography photos are combined and coded to generate a simulated regional image data set. 8.一种倾斜摄影像片快速索引系统,其特征在于,所述系统包括:数据获取单元、计算单元和拟建模区域影像关联单元;8. A rapid indexing system for oblique photography photos, characterized in that the system includes: a data acquisition unit, a calculation unit and a simulated modeling area image association unit; 数据获取单元:用于获取倾斜摄影像片和所述倾斜摄影像片所对应的POS数据,构建初始影像数据集;Data acquisition unit: used to acquire oblique photography photos and POS data corresponding to the oblique photography photos, and construct an initial image data set; 计算单元:用于根据所述倾斜摄影像片所对应的POS数据,计算所述倾斜摄影像片的像角点在不同高度的地理空间坐标;Calculation unit: configured to calculate the geographical spatial coordinates of the image corner points of the oblique photography photos at different heights based on the POS data corresponding to the oblique photography photos; 拟建模区域影像关联单元:用于获取拟建模区域的范围,并根据所述拟建模区域的范围,以及所有所述倾斜摄影像片的像角点在不同高度的地理空间坐标,判断所有所述倾斜摄影像片与所述拟建模区域的关联度,基于所述初始影像数据集,根据所述关联度生成拟建模区域影像数据集。Simulated modeling area image correlation unit: used to obtain the range of the simulated modeling area, and determine based on the range of the simulated modeling area and the geographical spatial coordinates of the image corner points of all the oblique photography photos at different heights. The degree of correlation between all oblique photography photos and the simulated modeling area is based on the initial image data set, and a simulated modeling area image data set is generated according to the correlation degree. 9.一种计算机设备,其特征在于:所述计算机设备包括存储器、处理器和收发器,它们之间通过总线连接;存储器用于存储一组计算机程序指令和数据,并将存储的数据传输给处理器,处理器执行存储器存储的程序指令,以执行如权利要求1至7中任一项所述的方法。9. A computer device, characterized in that: the computer device includes 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 transmit the stored data to A processor executes program instructions stored in the memory to perform the method according to any one of claims 1 to 7. 10.一种计算机可读存储介质,其特征在于:所述计算机可读存储介质中存储有计算机程序,当所述计算机程序被运行时,实现如权利要求1至7任一项所述的方法。10. A computer-readable storage medium, characterized in that: a computer program is stored in the computer-readable storage medium, and when the computer program is run, the method according to any one of claims 1 to 7 is implemented. .
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