CN117274063B - Working method for building central line layer construction of building - Google Patents
Working method for building central line layer construction of building Download PDFInfo
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Abstract
The invention provides a working method for constructing a line layer in a building, which comprises the following steps: s1, shooting image data of a line layer in a building by using an unmanned aerial vehicle; s2, uploading the line layer image data of the building shot by the unmanned aerial vehicle to a three-dimensional cadastre management platform; and S3, carrying out panoramic generation of the central line layer of the building by the three-dimensional cadastral management platform according to the uploaded central line layer image data of the building. According to the method and the device, panoramic data of building floors can be generated according to image data shot by the unmanned aerial vehicle camera.
Description
Technical Field
The invention relates to the technical field of cadastral information, in particular to a working method for constructing a line layer in a building.
Background
The building is an artificial, fixed object relative to the ground, and the center line layer (Mid-SPAN LAYER) refers to the layer that is located at the center line position in the horizontal direction of the floor. Patent application number 2019100864410, entitled "panoramic unmanned aerial vehicle image stitching method", discloses including image input, image feature extraction, image feature matching, image stitching, stitched image output. The image input is an image shot by a plurality of unmanned aerial vehicles at the same time, the image feature extraction utilizes an improved geometric algebra-scale invariant feature conversion algorithm, the image feature matching adopts a self-adaptive threshold algorithm, and the image matching adopts a random sampling consistency to carry out a robust homography estimation algorithm. The invention adopts an optimized geometric algebra scale invariant feature transformation algorithm to realize rapid feature extraction and feature matching; the limitation problems of large calculated amount and high splicing time cost are solved by using a self-adaptive threshold method through larger feature point extraction and splicing work; a random sample consistency method is used to estimate the image transformation parameters and determine the solution that is best consistent with the data. This patent application greatly increases the alignment speed of the images and produces satisfactory image stitching results. But the method adopted is too complex and is not beneficial to realization.
Disclosure of Invention
The invention aims at least solving the technical problems in the prior art, and particularly creatively provides a working method for constructing a line layer in a building.
In order to achieve the above object, the present invention provides a working method for constructing a line layer in a building, comprising the steps of:
S1, shooting image data of a line layer in a building by using an unmanned aerial vehicle;
s2, uploading the line layer image data of the building shot by the unmanned aerial vehicle to a three-dimensional cadastre management platform;
and S3, carrying out panoramic generation of the central line layer of the building by the three-dimensional cadastral management platform according to the uploaded central line layer image data of the building.
In a preferred embodiment of the present invention, the method of photographing line image data of a building using a drone in step S1 includes the steps of:
S11, determining the height of the building from the ground, and recording as h, wherein h represents the height value of the building from the ground; the floor corresponding to the h/2 height of the unmanned aerial vehicle from the ground is a neutral layer;
S12, when the unmanned aerial vehicle is in the middle line layer, the unmanned aerial vehicle stays at different positions to shoot the building overall view of the middle line layer.
In a preferred embodiment of the invention, the cameras of the unmanned aerial vehicle are panoramic cameras, the panoramic cameras being 1 or more panoramic cameras.
In a preferred embodiment of the present invention, the method for generating a line panorama of a building from line image data of the building in step S3 comprises:
And detecting the same parts among the images to be spliced according to the building characteristic points, deleting the same parts, and splicing the images to be spliced in pairs to obtain a panoramic image.
In a preferred embodiment of the present invention, the method for detecting the same portion between the images to be stitched is:
Converting the color image into a gray image using a gray conversion formula:
Gray(x,y)＝r*Red(x,y)+g*Green(x,y)+b*Blue(x,y),r+g+b＝1，
wherein Gray (x, y) represents the Gray value at the image pixel point (x, y);
red (x, y) represents the Red value at an image pixel (x, y);
green (x, y) represents the Green value at the image pixel point (x, y);
blue (x, y) represents the Blue value at the image pixel point (x, y);
r, g, b represent coefficients of red, blue and green values, respectively;
wherein Q represents the identity of the selected region between the two images to be stitched;
q i represents a judgment value;
Green (x i,yi) represents the gray value of the image to be stitched at the pixel point (x i,yi);
Green' (x i,yi) represents the gray value of another image to be stitched at the pixel point (x i,yi);
i represents the number of pixel points in a selected area between two images to be spliced;
if Q is less than or equal to Q 0, the selected area is the same part between the images to be spliced, and Q 0 represents a preset gray threshold.
In a preferred embodiment of the present invention, the method for uploading the line layer image data of the building photographed by the unmanned aerial vehicle to the three-dimensional cadastral management platform in step S2 includes:
S21, placing all image data of a line layer in a certain building shot by an unmanned aerial vehicle in the same folder; compressing the folder to obtain a line layer image data packet; carrying out data number calculation on the middle layer image data packet to obtain a data number;
s22, acquiring a link mark and a key, and encrypting the middle line layer image data packet by using the acquired key to obtain a middle line layer image data security packet after processing;
s23, uploading the center line layer image data security package, the link mark and the data number to a three-dimensional cadastre management platform;
S24, after the three-dimensional cadastral management platform receives the central line layer image data security package, the link mark and the data number sent by the unmanned aerial vehicle, the three-dimensional cadastral management platform acquires a key corresponding to the link mark from the search database through the link mark;
S25, the three-dimensional cadastral management platform decrypts the line layer image data security packet according to the key obtained in the step S24, and obtains the line layer image data packet after the decryption;
s26, carrying out platform data number calculation on the center line layer image data packet obtained in the step S25 to obtain a platform data number; judging whether the platform data number is consistent with the data number in the step S23:
If the platform data number is consistent with the data number in the step S23, the center line layer image data packet obtained in the step S25 is the uploaded center line layer image data packet in one of the steps S21 to S23; decompressing the middle layer image data packet to obtain middle layer image data; at the moment, the three-dimensional cadastral management platform obtains the line layer data of the building shot by the unmanned aerial vehicle;
If the platform data number is not consistent with the data number in step S23, the unmanned aerial vehicle is re-requested to transmit the middle layer image data packet in one of steps S21 to S23, and step S21 is executed.
In a preferred embodiment of the present invention, the method of obtaining the link flag and key in step S22 includes the steps of:
s221, the unmanned aerial vehicle requests a public key from a three-dimensional cadastral management platform, at least one pair of public and private pairs is stored on the three-dimensional cadastral management platform, and each public and private pair comprises a public key (the public key is an asymmetric public key) and a private key (the private key is an asymmetric private key);
s222, after receiving a public key request sent by the unmanned aerial vehicle, the three-dimensional cadastral management platform sends the public key to the unmanned aerial vehicle;
S223, after receiving a public key sent by the three-dimensional cadastre management platform, the unmanned aerial vehicle generates a key (the key is a symmetric key) and stores the generated key on the unmanned aerial vehicle;
s224, encrypting the key through the public key, obtaining the security key of the key after the encryption, and sending the security key to the three-dimensional cadastral management platform;
S225, after receiving the security key sent by the unmanned aerial vehicle, the three-dimensional cadastral management platform decrypts the received security key through the private key to obtain the key, and meanwhile, a link mark is generated;
S226, forming a search pair by the link mark and the key and storing the search pair in a search database; the link mark is encrypted through a key, a safe link mark is obtained after the encryption, and the safe link mark is sent to the unmanned aerial vehicle;
S227, after receiving the security link mark sent by the three-dimensional cadastre management platform, the unmanned aerial vehicle decrypts the received security link mark through a key, obtains a link mark after the decryption, and stores the link mark on the unmanned aerial vehicle.
In a preferred embodiment of the present invention, the method for calculating the data number in step S21 is as follows:
Datacode＝Datacodecalculationway<Packetsdata>，
Wherein Datacode represents a data number obtained by performing data number calculation on the middle layer image data packet;
datacodecalculationway </SUB > represents a data number calculation method; preferably adopting an MD5 digest calculation method;
PACKETSDATA denotes a mid-line layer image data packet;
in step S26, the method for calculating the platform data number is as follows:
DataPlatformcode＝DataPlatformcodecalculationway<PlatformPacketsdata>，
Wherein DataPlatformcode represents a platform data number obtained by performing platform data number calculation on the middle line layer image data packet obtained in the step S25;
DataPlatformcodecalculationway </SUB > represents a platform data number calculation method; preferably adopting an MD5 digest calculation method;
PlatformPacketsdata denotes the middle layer image packet in step S25.
In summary, by adopting the technical scheme, the panoramic data of the building floor can be generated according to the image data shot by the unmanned aerial vehicle camera.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
Fig. 1 is a schematic block diagram of a flow of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
The invention provides a working method for constructing a line layer in a building, which is shown in figure 1 and comprises the following steps:
S1, shooting image data of a line layer in a building by using an unmanned aerial vehicle;
s2, uploading the line layer image data of the building shot by the unmanned aerial vehicle to a three-dimensional cadastre management platform;
and S3, carrying out panoramic generation of the central line layer of the building by the three-dimensional cadastral management platform according to the uploaded central line layer image data of the building.
In a preferred embodiment of the present invention, the method of photographing line image data of a building using a drone in step S1 includes the steps of:
S11, determining the height of the building from the ground, and recording as h, wherein h represents the height value of the building from the ground; the floor corresponding to the h/2 height of the unmanned aerial vehicle from the ground is a neutral layer;
S12, when the unmanned aerial vehicle is in the middle line layer, the unmanned aerial vehicle stays at different positions to shoot the building overall view of the middle line layer.
In a preferred embodiment of the invention, the cameras of the unmanned aerial vehicle are panoramic cameras, the panoramic cameras being 1 or more panoramic cameras.
In a preferred embodiment of the present invention, the method for generating a line panorama of a building from line image data of the building in step S3 comprises:
And detecting the same parts among the images to be spliced according to the building characteristic points, deleting the same parts, and splicing the images to be spliced in pairs to obtain a panoramic image.
In a preferred embodiment of the present invention, the method for detecting the same portion between the images to be stitched is:
Converting the color image into a gray image using a gray conversion formula:
Gray(x,y)＝r*Red(x,y)+g*Green(x,y)+b*Blue(x,y),r+g+b＝1，
wherein Gray (x, y) represents the Gray value at the image pixel point (x, y);
red (x, y) represents the Red value at an image pixel (x, y);
green (x, y) represents the Green value at the image pixel point (x, y);
blue (x, y) represents the Blue value at the image pixel point (x, y);
r, g, b represent coefficients of red, blue and green values, respectively;
wherein Q represents the identity of the selected region between the two images to be stitched;
q i represents a judgment value;
Green (x i,yi) represents the gray value of the image to be stitched at the pixel point (x i,yi);
Green' (x i,yi) represents the gray value of another image to be stitched at the pixel point (x i,yi);
i represents the number of pixel points in a selection area (building feature points are in the selection area) between two images to be spliced;
if Q is less than or equal to Q 0, the selected area is the same part between the images to be spliced, and Q 0 represents a preset gray threshold.
In a preferred embodiment of the present invention, the method for uploading the line layer image data of the building photographed by the unmanned aerial vehicle to the three-dimensional cadastral management platform in step S2 includes:
S21, placing all image data of a line layer in a certain building shot by an unmanned aerial vehicle in the same folder; compressing the folder to obtain a line layer image data packet; carrying out data number calculation on the middle layer image data packet to obtain a data number;
s22, acquiring a link mark and a key, and encrypting the middle line layer image data packet by using the acquired key to obtain a middle line layer image data security packet after processing;
s23, uploading the center line layer image data security package, the link mark and the data number to a three-dimensional cadastre management platform;
S24, after the three-dimensional cadastral management platform receives the central line layer image data security package, the link mark and the data number sent by the unmanned aerial vehicle, the three-dimensional cadastral management platform acquires a key corresponding to the link mark from the search database through the link mark;
S25, the three-dimensional cadastral management platform decrypts the line layer image data security packet according to the key obtained in the step S24, and obtains the line layer image data packet after the decryption;
s26, carrying out platform data number calculation on the center line layer image data packet obtained in the step S25 to obtain a platform data number; judging whether the platform data number is consistent with the data number in the step S23:
If the platform data number is consistent with the data number in the step S23, the center line layer image data packet obtained in the step S25 is the uploaded center line layer image data packet in one of the steps S21 to S23; decompressing the middle layer image data packet to obtain middle layer image data; at the moment, the three-dimensional cadastral management platform obtains the line layer data of the building shot by the unmanned aerial vehicle;
If the platform data number is not consistent with the data number in step S23, the unmanned aerial vehicle is re-requested to transmit the middle layer image data packet in one of steps S21 to S23, and step S21 is executed.
In a preferred embodiment of the present invention, the method of obtaining the link flag and key in step S22 includes the steps of:
s221, the unmanned aerial vehicle requests a public key from a three-dimensional cadastral management platform, at least one pair of public and private pairs is stored on the three-dimensional cadastral management platform, and each public and private pair comprises a public key (the public key is an asymmetric public key) and a private key (the private key is an asymmetric private key);
s222, after receiving a public key request sent by the unmanned aerial vehicle, the three-dimensional cadastral management platform sends the public key to the unmanned aerial vehicle;
S223, after receiving a public key sent by the three-dimensional cadastre management platform, the unmanned aerial vehicle generates a key (the key is a symmetric key) and stores the generated key on the unmanned aerial vehicle;
s224, encrypting the key through the public key, obtaining the security key of the key after the encryption, and sending the security key to the three-dimensional cadastral management platform;
S225, after receiving the security key sent by the unmanned aerial vehicle, the three-dimensional cadastral management platform decrypts the received security key through the private key to obtain the key, and meanwhile, a link mark is generated;
S226, forming a search pair by the link mark and the key and storing the search pair in a search database; the link mark is encrypted through a key, a safe link mark is obtained after the encryption, and the safe link mark is sent to the unmanned aerial vehicle;
S227, after receiving the security link mark sent by the three-dimensional cadastre management platform, the unmanned aerial vehicle decrypts the received security link mark through a key, obtains a link mark after the decryption, and stores the link mark on the unmanned aerial vehicle.
In a preferred embodiment of the present invention, the method for calculating the data number in step S21 is as follows:
Datacode＝Datacodecalculationway<Packetsdata>，
Wherein Datacode represents a data number obtained by performing data number calculation on the middle layer image data packet;
datacodecalculationway </SUB > represents a data number calculation method; preferably adopting an MD5 digest calculation method;
PACKETSDATA denotes a mid-line layer image data packet;
in step S26, the method for calculating the platform data number is as follows:
DataPlatformcode＝DataPlatformcodecalculationway<PlatformPacketsdata>，
Wherein DataPlatformcode represents a platform data number obtained by performing platform data number calculation on the middle line layer image data packet obtained in the step S25;
DataPlatformcodecalculationway </SUB > represents a platform data number calculation method; preferably adopting an MD5 digest calculation method;
PlatformPacketsdata denotes the middle layer image packet in step S25.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (3)
1. The working method for constructing the line layer of the building is characterized by comprising the following steps of:
S1, shooting image data of a line layer in a building by using an unmanned aerial vehicle; the method for shooting the line layer image data in the building by using the unmanned aerial vehicle comprises the following steps of:
S11, determining the height of the building from the ground, and recording as ，/>A height value representing a building from the ground; unmanned aerial vehicle flies off ground/>The floor corresponding to the height is a middle line layer;
s12, when the unmanned aerial vehicle is in the middle line layer, the unmanned aerial vehicle stays at different positions to shoot the building overall view of the middle line layer;
s2, uploading the line layer image data of the building shot by the unmanned aerial vehicle to a three-dimensional cadastre management platform;
S3, the three-dimensional cadastral management platform generates a building center line layer panorama according to the uploaded building center line layer image data, and the method for generating the building center line layer panorama according to the building center line layer image data comprises the following steps:
Detecting the same parts among the images to be spliced according to the building feature points, deleting the same parts, and splicing the images to be spliced in pairs to obtain a frame of panoramic image; the method for detecting the same part between the images to be spliced comprises the following steps:
Converting the color image into a gray image using a gray conversion formula:
，
Wherein, Expressed in image pixel points/>Gray values at;
Expressed in image pixel points/> Red value at;
Expressed in image pixel points/> Green value at;
Expressed in image pixel points/> Blue value at;
、/>、/> Coefficients representing red, blue and green values, respectively;
，
，
Wherein, Representing the identity of a selected region between two images to be stitched;
Representing the judgment value;
Representing the image to be spliced at pixel points/> Gray values at;
representing that another image to be spliced is at pixel points/> Gray values at;
representing the number of pixel points in a selection area between two images to be spliced;
If it is ≤/>Then the selected region is the same part between the images to be stitched,/>Representing a preset gray threshold.
2. The method of claim 1, wherein the cameras of the unmanned aerial vehicle are panoramic cameras, and wherein the panoramic cameras are 1 or more panoramic cameras.
3. The working method for building a line layer according to claim 1, wherein the method for uploading the line layer image data of the building photographed by the unmanned aerial vehicle to the three-dimensional cadastral management platform in step S2 is as follows:
S21, placing all image data of a line layer in a certain building shot by an unmanned aerial vehicle in the same folder; compressing the folder to obtain a line layer image data packet; carrying out data number calculation on the middle layer image data packet to obtain a data number;
s22, acquiring a link mark and a key, and encrypting the middle line layer image data packet by using the acquired key to obtain a middle line layer image data security packet after processing;
s23, uploading the center line layer image data security package, the link mark and the data number to a three-dimensional cadastre management platform;
S24, after the three-dimensional cadastral management platform receives the central line layer image data security package, the link mark and the data number sent by the unmanned aerial vehicle, the three-dimensional cadastral management platform acquires a key corresponding to the link mark from the search database through the link mark;
S25, the three-dimensional cadastral management platform decrypts the line layer image data security packet according to the key obtained in the step S24, and obtains the line layer image data packet after the decryption;
s26, carrying out platform data number calculation on the center line layer image data packet obtained in the step S25 to obtain a platform data number; judging whether the platform data number is consistent with the data number in the step S23:
If the platform data number is consistent with the data number in the step S23, the center line layer image data packet obtained in the step S25 is the uploaded center line layer image data packet in one of the steps S21 to S23; decompressing the middle layer image data packet to obtain middle layer image data; at the moment, the three-dimensional cadastral management platform obtains the line layer data of the building shot by the unmanned aerial vehicle;
If the platform data number is not consistent with the data number in step S23, the unmanned aerial vehicle is re-requested to transmit the middle layer image data packet in one of steps S21 to S23, and step S21 is executed.
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