CN118096805B

CN118096805B - Full-scenic spot layout method and device, electronic equipment and medium

Info

Publication number: CN118096805B
Application number: CN202410495040.1A
Authority: CN
Inventors: 廖望成; 刘少杰
Original assignee: Guangzhou Kaidelian Software Technology Co ltd; Guangzhou Kaidelian Intelligent Technology Co ltd
Current assignee: Guangzhou Kaidelian Software Technology Co ltd; Guangzhou Kaidelian Intelligent Technology Co ltd
Priority date: 2024-04-24
Filing date: 2024-04-24
Publication date: 2024-07-16
Anticipated expiration: 2044-04-24
Also published as: CN118096805A

Abstract

The application discloses a method, a device, electronic equipment and a medium for arranging all scenic spots, and belongs to the technical field of new generation information. The method comprises the following steps: acquiring a contour map of an indoor contour of a building; dividing the outline map by adopting a grid with a preset side length to obtain available blocks; identifying edge blocks from available blocks, and adding the edge blocks into an edge block queue; selecting an edge block with the highest priority from the edge block queue as a detection block; starting to detect from the detection block to obtain a detection result that the circumscribed circle is smaller than a preset shooting distance and the circumscribed circle covers the most available blocks, and taking the center of the circumscribed circle as a panoramic point; determining available blocks covered by the circumscribed circle as covered blocks; and updating the edge block queue based on the covered blocks, and detecting again until the outline map is covered completely, so as to obtain all scenic spots in the building. Through this technical scheme, can be scientific, reasonable overall arrangement all-round point, improve panoramic camera's utilization efficiency, avoid the improper repeated dismouting that leads to of overall arrangement.

Description

Full-scenic spot layout method and device, electronic equipment and medium

Technical Field

The application belongs to the technical field of new generation information, and particularly relates to a method and a device for arranging all-scenic spots, electronic equipment and a medium.

Background

With the continuous popularization of digital twinning, AR (Augmented Reality ) and other technologies, the demand for capturing environmental images or pictures in a limited space is increasing.

The acquisition mode of the environmental images or pictures is often realized by arranging a plurality of panoramic cameras, so that the number of the panoramic cameras required to be arranged is large for scenes with complex environmental space, and the method is particularly important for the selection of all scenic spots. Currently, for scenes with complex space or huge space, panoramic points are often selected manually. Firstly, the panoramic point selection forms a higher technical threshold, namely, when manually selecting, a worker needs to clearly know the shooting range of each panoramic camera and the connection condition among the visual fields of a plurality of panoramic cameras. Secondly, under the too dense condition of panorama point setting, can cause the waste of equipment, but if too sparse of setting can lead to there being visual blind area again, can't realize full coverage to limited space. Moreover, if the situation of dense or sparse arrangement is found after the panoramic camera is installed, the panoramic spot needs to be redetermined and the panoramic camera needs to be reinstalled, so that the working efficiency is reduced.

Therefore, how to accurately arrange all-around points in a limited space is a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The application aims to provide a layout method, a device, electronic equipment and a medium for panoramic spots, which solve the problem of unreasonable arrangement of panoramic spots in the prior art, ensure the whole coverage of limited space in a building after a panoramic camera is installed according to the determined panoramic spots, avoid the increase of hardware cost caused by too dense arrangement of the panoramic camera, improve the utilization efficiency of the panoramic camera, avoid repeated disassembly and assembly after the problem of installation and improve the working timeliness of layout staff.

In a first aspect, an embodiment of the present application provides a method for laying out a full scenic spot, where the method includes:

Acquiring a contour map of an indoor contour of a building;

dividing the contour map by adopting grids with preset side lengths, and taking grids containing indoor contours as available blocks;

identifying an edge block from the available blocks, and adding the edge block into an edge block queue;

selecting an edge block with the highest priority from the edge block queue as a detection block according to a preset priority rule;

Generating an circumscribed circle of the detection block, expanding the circumscribed circle and moving the center of the circumscribed circle to enable the radius of the circumscribed circle to be smaller than a preset shooting distance and the coverage of available blocks to be the largest, and determining the center of the circumscribed circle as a panoramic point;

determining the available blocks covered by the circumscribed circle as covered blocks;

and updating an edge block queue based on the covered blocks, determining detection blocks and full-scenery spots again according to a preset priority rule until the contour map is completely covered, and obtaining all the full-scenery spots in the building.

The beneficial effect of this scheme lies in, can guarantee the global coverage to the building behind the panorama point installation panorama camera, can also avoid the purpose that unnecessary panorama point was arranged moreover, improves panorama camera's utilization efficiency, need not to install the repeated dismouting after having a problem, improves the work time efficiency of laying personnel.

Further, selecting the edge block with the highest priority from the edge block queue as a detection block according to a preset priority rule, including:

Screening all edge blocks in the edge block list according to a first priority rule, and taking a first-stage candidate edge block as a detection block if one first-stage candidate edge block is screened out;

Screening the at least two first-level candidate edge blocks according to a second priority rule if the at least two first-level candidate edge blocks are screened out, and taking the second-level candidate edge blocks as detection blocks if one second-level candidate edge block is screened out;

And screening the at least two secondary candidate edge blocks according to a third priority rule if the at least two secondary candidate edge blocks are screened out, and taking the edge block as a detection block if one tertiary candidate edge block is screened out.

The method has the beneficial effects that the edge block with the highest priority in the edge block queue can be detected according to a certain priority, so that the rationality of panoramic point layout is ensured.

Further:

The first priority rule is a principle that the adjacent available blocks of the edge blocks are the least; wherein the ortho-positions include an upper ortho-position, a lower ortho-position, a left ortho-position, and a right ortho-position of the current edge block;

The second priority rule is a principle that the position of the edge block is nearest to the first set boundary; wherein the first set boundary comprises an upper boundary of the profile;

The third priority rule is a principle that the position of the edge block is nearest to the second set boundary; wherein the second set boundary comprises a left boundary of the contour map.

The method has the beneficial effects that the least adjacent available blocks in the edge block queue can be selected, so that the arrangement of panoramic points in a building is ensured to take priority of narrow areas or corner areas, and the number of the panoramic points can be saved.

Further, generating an circumscribed circle of the detection block, expanding the circumscribed circle and moving a center of the circumscribed circle, so that a radius of the circumscribed circle is smaller than a preset shooting distance and a covered available block is the largest, and determining the center of the circumscribed circle as a panoramic point includes:

generating an external circle of the detection block by taking the center of the detection block as the circle center;

gradually expanding the circumscribing circle and moving the center of the circumscribing circle so that the circumscribing circle at least covers the detection block and gradually covers more available blocks;

Under the condition that the current circumscribed circle covers and is circumscribed with the current number of available blocks, and the current circumscribed circle is determined to be the most suitable circumscribed circle when the current circumscribed circle continues to expand and exceeds the preset shooting distance and cannot cover more available blocks;

Taking the center of the most suitable circumscribing circle as a full scenic spot.

The scheme has the beneficial effects that a circle which is large enough and can cover the detection block is generated according to the set rule, the center of the circle is used for determining a full scenic spot, and the utilization rate of the panoramic camera is improved.

Further, after taking the center of the most suitable circumscribing circle as a panoramic point, the method further comprises:

And carrying out association storage on the full scenic spot and the radius of the optimal circumscribing circle.

The panoramic camera has the beneficial effects that the shooting radius of the panoramic camera corresponding to the panoramic point can be clarified, and the panoramic cameras with different shooting radii can be set aiming at the centers of the most suitable circumscribed circles with different sizes.

Further, the moving step length of moving the circle center of the circumscribing circle is 0.5 times of the preset side length;

the moving direction of the circle center of the circumscribed circle is one direction of right upper, right lower and right left Fang Yiji.

The scheme has the beneficial effects that the moving mode of the circle center of the circumscribed circle can be definitely determined, the moving step length and the moving direction are included, and the quick searching of the whole scenic spot is facilitated.

Further, acquiring a contour map of an indoor contour of a building includes:

Acquiring radar point clouds of a building through a laser radar;

Performing projection processing on the radar point cloud to obtain a contour map of the indoor contour;

Or alternatively

Obtaining a structural design drawing of a building;

And determining the outline drawing of the indoor outline of the building according to the structural design drawing.

The indoor contour map acquisition method has the beneficial effects that two acquisition modes of the indoor contour map are provided, so that the contour map is easy, convenient and quick to acquire, accurate and easy to use.

Further, updating the edge block queue based on the covered block includes:

deleting the covered blocks;

The available block that adjoins the covered block is determined as an edge block.

The beneficial effect of this solution is that in each round of computation the influence of the available blocks already covered by the previous round on the subsequent calculations is avoided.

In a second aspect, an embodiment of the present application provides a layout apparatus for a full view point, where the apparatus includes:

the contour map acquisition module is used for acquiring a contour map of the indoor contour of the building;

the dividing module is used for dividing the contour map by adopting grids with preset side lengths, and taking the grids containing the indoor contour as available blocks;

the edge block identification module is used for identifying edge blocks from the available blocks and adding the edge blocks into an edge block queue;

the detection block selecting module is used for selecting an edge block with the highest priority from the edge block queue as a detection block according to a preset priority rule;

The detection module is used for:

Further, the detection block selecting module includes:

The first-level screening unit is used for screening each edge block in the edge block list according to a first priority rule, and if one first-level candidate edge block is screened out, the first-level candidate edge block is used as a detection block;

The second-level screening unit is used for screening the at least two first-level candidate edge blocks according to a second priority rule if at least two first-level candidate edge blocks are screened out, and taking the second-level candidate edge blocks as detection blocks if one second-level candidate edge block is screened out;

And the third-level screening unit is used for screening the at least two second-level candidate edge blocks according to a third priority rule if at least two second-level candidate edge blocks are screened, and taking the edge block as a detection block if one third-level candidate edge block is screened.

Further:

Further, the detection module includes:

an initial circumcircle generating unit, configured to generate a circumcircle of the detection block with a center of the detection block as a center of a circle;

The expansion unit is used for gradually expanding the circumscribing circle and moving the center of the circumscribing circle so that the circumscribing circle at least covers the detection block and gradually covers more available blocks;

the optimal circumscribed circle determining unit is used for determining that the current circumscribed circle is the optimal circumscribed circle when the current circumscribed circle covers and circumscribes the current number of available blocks and the current circumscribed circle is continuously enlarged and exceeds the preset shooting distance and cannot cover more available blocks;

And the full scenic spot determining unit is used for taking the center of the most suitable circumscribed circle as a full scenic spot.

Further, the detection module further includes:

And the storage unit is used for carrying out association storage on the full-scene points and the radius of the optimal circumscribed circle.

Further, the profile acquisition module includes:

the first acquisition unit is used for acquiring radar point clouds of the building through a laser radar;

Or alternatively

The second acquisition unit is used for acquiring a structural design drawing of the building;

Further, updating the edge block queue based on the covered block includes:

deleting the covered blocks;

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, and a program or instruction stored on the memory and executable on the processor, the program or instruction implementing the steps of the method according to the first aspect when executed by the processor.

In a fourth aspect, embodiments of the present application provide a readable storage medium having stored thereon a program or instructions which when executed by a processor perform the steps of the method according to the first aspect.

In a fifth aspect, an embodiment of the present application provides a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and where the processor is configured to execute a program or instructions to implement a method according to the first aspect.

In the embodiment of the application, the optimal circumscribed circle which tends to the shooting range of the panoramic camera is obtained by performing gridding processing on the indoor contour of the building and respectively performing circumscribed circle detection on each obtained image block, the image block in the circumscribed circle is the most, the circle center of the obtained optimal circumscribed circle is used as a full scenic spot, and other image blocks of the indoor contour of the building are traversed to obtain the final arrangement result of the full scenic spot. By adopting the technical scheme provided by the embodiment of the application, after the panoramic camera is installed according to the determined panoramic points, the whole coverage of the limited space in the building can be ensured, the hardware cost rise caused by too dense arrangement of the panoramic camera can be avoided, the utilization efficiency of the panoramic camera is improved, repeated disassembly and assembly after the problem of installation are not needed, and the working timeliness of layout staff is improved.

Drawings

Fig. 1 is a flow chart of a method for arranging all scenic spots according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a determination process of an circumscribed circle according to an embodiment of the present application;

FIG. 3 is a schematic diagram of edge block updating provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a second panoramic point determination process according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a third panoramic point determination process according to an embodiment of the present application;

FIG. 6 is a schematic flow chart of the circumscribed circle detection according to the embodiment of the present application;

fig. 7 is a schematic structural diagram of a layout device for all scenic spots according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the following detailed description of specific embodiments of the present application is provided with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present application are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which are obtained by a person skilled in the art based on the embodiments of the present application, fall within the scope of protection of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The following describes in detail, by means of specific embodiments and application scenarios thereof, a method, an apparatus, an electronic device, and a medium for arranging all scenic spots according to the embodiments of the present application.

In the prior art, aiming at the scene of data acquisition for indoor panoramic roaming in a digital twin project, the positions of all scenic spots are determined by manual experience, the quality is uneven, the panoramic spots are scattered irregularly, the coverage of all scenic spots is found to be insufficient in an acceptance stage, and the panoramic cameras are required to be installed in a supplementary mode or the installed cameras are dismounted again, so that the time and labor cost are wasted.

According to the embodiment of the invention, the indoor contour of the building is subjected to gridding treatment, and circumscribed circles are detected for each obtained image block respectively, so that the most suitable circumscribed circle which tends to the shooting range of the panoramic camera is obtained, the image block in the circumscribed circle is the most, the circle center of the obtained most suitable circumscribed circle is used as a full scenic spot, and other image blocks of the indoor contour of the building are traversed, so that the final arrangement result of the full scenic spot is obtained. Any area under the indoor plan is covered by at least one panoramic point, and the number of the whole panoramic point is reduced by ensuring that the coverage area of a single panoramic point is as large as possible, so that algorithm support is provided for a standardized acquisition scheme of seamless panoramic roaming and AR panoramic point layout.

Fig. 1 is a flow chart of a method for arranging all scenic spots according to an embodiment of the present application. As shown in fig. 1, the method specifically comprises the following steps:

S101, acquiring a contour map of an indoor contour of a building;

First, the usage scenario of the present solution may be a scenario in which a full view point is laid in a space of a building or other site to install a panorama or other type of camera.

Based on the above usage scenario, it may be appreciated that the execution body of the present solution may be an intelligent terminal with data reading, data processing and panorama point determining capabilities, for example: cell phones, tablet computers, desktop computers, etc., are not limited in this regard.

The building can be a factory building for production, a residential house, a commercial building, other building facilities and the like. The indoor outline of the building can be an outline range required to be shot, or a range required to be displayed in real time by pictures, videos and the like. The contour map of the indoor contour may be an overall contour image of the photographing region, and it is understood that the contour image may be stereoscopic, planar, or a planar image based on stereoscopic image projection.

As an example, the contour map of the indoor contour of the building may be a three-dimensional contour map obtained by spatial projection of radar points detected by a lidar provided in the indoor space, or may be a two-dimensional contour map obtained by planar projection based on the spatial projection.

In a possible embodiment, optionally, obtaining a profile of an indoor profile of a building includes:

Acquiring radar point clouds of a building through a laser radar;

Or alternatively

Obtaining a structural design drawing of a building;

The laser radar can be arranged in a building, can move to another position after detecting the radar point cloud, so as to acquire the radar point cloud of the position, and records the moving coordinates. Thus, the space point cloud of the wall, the roof and the ground of the whole building can be obtained. And then projection is carried out on a horizontal plane through the space point cloud, ping Miandian cloud can be obtained, and a contour map of the indoor contour is obtained.

Meanwhile, the embodiment also provides another scheme for obtaining the contour map of the indoor contour. For example, the structural design drawing, construction drawing and the like of the building can be obtained, and then the outline drawing of the indoor outline of the building can be obtained through identification according to the standard distance information on the structural design drawing or the construction drawing.

According to the technical scheme provided by the embodiment, the contour map of the indoor contour of the building can be rapidly and accurately determined through Lei Dadian clouds or structural design maps.

S102, dividing the contour map by adopting grids with preset side lengths, and taking grids containing indoor contours as available blocks;

the preset side length may be fixed, for example, a square grid with a side length of 0.5 m or 1m, and may be variable, for example, a smaller side length is adopted for a building with a smaller area, and a larger side length is adopted for a building with a larger area. Or according to the shooting range of the panoramic camera, if the panoramic camera with smaller shooting range is adopted, the panoramic camera with larger shooting range is adopted with smaller side length, and the panoramic camera with larger shooting range is adopted with larger side length.

The grid outline map is used for dividing, namely, a vertex at the upper left of the outline map is used as a starting position, grids which are arranged along the horizontal direction and the vertical direction are generated, and a plurality of image blocks are obtained. In the scheme, the minimum circumscribed rectangle of the outline drawing can be preferentially generated, and the grid is generated by starting with a certain corner point of the minimum circumscribed rectangle.

In the scheme, the obtained blocks which are coincident with the outline map can be defined as available blocks, and the blocks which are not coincident do not enter the subsequent calculation flow and can not be considered.

S103, identifying edge blocks from the available blocks, and adding the edge blocks into an edge block queue;

Wherein it can be appreciated that tiles that coincide with the contour edges of the contour map can be determined to have contour edge attributes. The contour edges of the contour map herein may be derived based on the manner of edge detection.

In this embodiment, the method of edge detection includes, but is not limited to, ALPHA SHAPES edge point extraction algorithm. The ALPHA SHAPES algorithm is a simple and effective algorithm for quickly extracting edge points. The method overcomes the defect of influence of the shape of the point cloud boundary point, and can rapidly and accurately extract the boundary point. For any shape of planar point cloud, if a circle with radius a, the plane point cloud rolls around the circle. If the rolling circle radius a is small enough, each point in the point cloud is a boundary point; if properly increased to a certain degree, the device only scrolls on the boundary points, and the track of the scrolling is a point cloud boundary.

In this scenario, after the identified edge block is added to the edge block queue, it may still be a member of the available blocks for subsequent computation.

S104, selecting an edge block with the highest priority from the edge block queue as a detection block according to a preset priority rule;

The preset priority rule may be a rule for determining the priority of each edge block. For example, the preset priority rule may include a rule with a gradually decreasing priority from top to bottom, a rule with a gradually decreasing priority from left to right, or a set of rules, to determine which one of the edge blocks is the highest in priority, and determine the edge block with the highest priority as the detection block.

S105, generating an circumscribed circle of the detection block, expanding the circumscribed circle and moving the center of the circumscribed circle to enable the radius of the circumscribed circle to be smaller than a preset shooting distance and the covered available blocks to be the largest, and determining the center of the circumscribed circle as a panoramic point;

the preset shooting distance can be determined according to parameters of the panoramic cameras to be arranged, for example, a panoramic camera is installed on a shed roof with the height of 3 meters, the distance which can be shot by the panoramic camera is a circular area with the radius of 5 meters, and then the preset shooting distance can be determined to be 5 meters.

It will be appreciated that while covering the most available blocks, it is necessary to ensure that the circumscribed circle can cover the detection block for starting detection.

How to determine the most coverage available blocks can be implemented by the following scheme:

fig. 2 is a schematic diagram of a determination process of an circumscribed circle according to an embodiment of the present application. As shown in fig. 2, the method specifically comprises the following 6 processes:

Process 1: assuming that the first block at the upper left corner is a detection block, generating a circumcircle of the detection block by taking the center of the detection block as the center of a circle; in fig. 2, the circle indicated by the dotted line is a circumscribed circle, and the circle indicated by the solid line is a preset shooting distance;

Process 2: expanding the radius of the circumscribed circle, and gradually moving the circle center of the circumscribed circle to enable the circumscribed circle to cover 2X 2 available blocks;

process 3: continuously expanding the radius of the circumscribed circle, and gradually moving the circle center of the circumscribed circle to enable the circumscribed circle to cover 3X 3 available blocks;

Process 4: the radius of the circumscribed circle is continuously enlarged, the center of the circumscribed circle is moved, more available blocks can be covered by the circumscribed circle, but the circumscribed circle exceeds the preset shooting distance;

process 5: continuing to move the center of the circumcircle, wherein the circumcircle can cover more available blocks, but the circumcircle exceeds a preset shooting distance and cannot cover other complete available blocks exceeding 3×3 available blocks;

process 6: the circumscribed circle covering 3×3 available blocks is determined as the final circumscribed circle, and the center of the circumscribed circle is determined as the first full scenery spot.

S106, determining the available blocks covered by the circumscribed circle as covered blocks;

after determining a panorama point, the available blocks covered by the circumscribed circle may be determined as covered blocks and the portion of the covered blocks may be removed from the available block queue.

And S107, updating an edge block queue based on the covered blocks, and determining detection blocks and all scenery spots again according to a preset priority rule until the profile map is completely covered, so as to obtain all scenery spots in the building.

It will be appreciated that after a round of detection has been completed, the covered blocks may be deleted, the edge blocks may be redetermined to update the edge block queue, and the detection blocks may be determined again according to the preset priority rules, as well as the full view points. After the round-by-round inspection, if all available blocks are found to be included in the covered blocks, it can be determined that the profile is fully covered, i.e. the inspection is completed. After detection, the center position of each finally determined circumscribing circle is the all-scenic spot in the outline.

In this scheme, the limit size of the grid of preset limit can be set according to actual demand. For example, if the same profile is set to a smaller side length, then more available blocks are obtained, and this arrangement increases the amount of calculation, but a circumscribed circle of the same size may cover a larger number of complete available blocks, for example, the number of available blocks covering a side length of 1 meter is assumed to be 12, and the number of available blocks covering a side length of 0.5 meter may exceed 48, for example, 52. The adjustment can be made according to the actual calculation accuracy requirements.

In a possible embodiment, optionally, selecting, according to a preset priority rule, an edge block with the highest priority from the edge block queue as a detection block includes:

Wherein the first priority rule may be a rule with the least available blocks in the neighborhood.

For example, the number of the adjacent available blocks of the three edge blocks is 1,2 and 3, the edge blocks with the adjacent available blocks of 1 can be used as first-stage candidate edge blocks, and the edge blocks can be determined to be detection blocks because only one first-stage candidate edge block exists;

For example, the number of the adjacent available blocks of the three edge blocks is 2, 2 and 3, the edge blocks with the adjacent available blocks of 2 can be used as first-stage candidate edge blocks, but the number of the first-stage candidate edge blocks is two, and then the next round of screening is performed;

the second priority rule may be a rule with a decreasing priority from left to right.

With the above example, if one of the two first-level candidate edge blocks is in the third column and the other is in the seventh column, the first-level candidate edge block in the third column is determined to be the second-level candidate edge block, and because only one of the second-level candidate edge blocks is provided, the second-level candidate edge block is taken as the detection block;

If the two first-level candidate edge blocks are in the third column, determining the first-level candidate edge blocks in the third column as second-level candidate edge blocks, and carrying out next-round screening because the second-level candidate edge blocks are two;

The third priority rule may be a rule with a decreasing priority from top to bottom.

With the above example, if one of the two secondary candidate edge blocks is in the fourth row and the other is in the fifth row, the secondary candidate edge block in the fourth row is determined as the tertiary candidate edge block, and because there is only one tertiary candidate edge block, the tertiary candidate edge block is taken as the detection block.

Making a reverse assumption that the number of adjacent available blocks of the three edge blocks is 2, 2 and 3 respectively, and taking the edge blocks with the number of adjacent available blocks of 2 respectively as first-stage candidate edge blocks, wherein the number of the first-stage candidate edge blocks is two, and then carrying out the next-stage screening;

Assuming that the two first-level candidate edge blocks are in the third column, determining the first-level candidate edge blocks in the third column as second-level candidate edge blocks, and performing the next round of screening because the two second-level candidate edge blocks are in two;

Assuming that two secondary candidate edge blocks are in the fourth row, the two secondary candidate edge blocks have the same column number and the same column number, and the two edge blocks should be one edge block, so the assumption is not satisfied, and after screening according to the three priority rules, the unique edge block with the highest priority can be determined and used as the detection block.

It is understood that the first, second, and third priority rules may include, but are not limited to, the several rules described above. Based on the above rules, the order of the priority may be adjusted according to actual situations or experience, for example, the first priority rule is a rule with gradually decreasing priority from left to right, the second priority rule is a rule with the least adjacent available blocks, and the third priority rule is a rule with gradually decreasing priority from top to bottom. It will be appreciated that, through different sequence adjustments, different edge blocks can be determined as detection blocks, and the determination result of the panoramic point will also change accordingly.

According to the technical scheme provided by the embodiment, the edge block with the highest priority in the edge blocks can be determined according to different set priority rules, and the edge block is used as a detection block to enter a detection link. Through the arrangement, the detection of the edge blocks can meet the arrangement requirement of the actual panoramic cameras, and the orderly performance of the detection links is ensured.

On the basis of the technical scheme, optionally, the first priority rule is a principle that the adjacent available blocks of the edge blocks are the least; wherein the ortho-positions include an upper ortho-position, a lower ortho-position, a left ortho-position, and a right ortho-position of the current edge block;

Wherein the ortho-available block may be an available block of four ortho-positions of a top ortho-position, a bottom ortho-position, a left ortho-position, and a right ortho-position of the current block, wherein the current block may be an available block or an edge block. The scheme can determine the edge block with the highest priority according to the number of adjacent available blocks of each edge block.

The first set boundary may be an upper boundary of the contour map, and the second priority rule is a rule with gradually decreasing priority from top to bottom.

The second set boundary may be a left boundary of the outline, and the third priority rule is a rule with gradually decreasing priority from left to right.

By such a setting, the present embodiment can determine the priority of each edge block, and it can be understood that, in the case that the edge blocks in the edge block queue change, the priority of each edge block needs to be redetermined according to the above rule, so as to select the edge block with the highest priority. The scheme can preferentially select the all-scenic spots which are preferentially distributed at the edge positions or the narrow positions in the building, so that the problems that the number of the distributed all-scenic spots is large and the hardware cost is increased because the central position is distributed and then each edge position is distributed are solved.

In one embodiment, optionally, updating the edge block queue based on the covered blocks includes:

deleting the covered blocks;

Wherein after the covered block is determined, deletion processing is required for the covered block, and the deletion processing may be deletion from available blocks. Then after deletion, the available block that originally was adjacent to the covered block needs to be determined to be an edge block to update the edge block queue. It will be appreciated that adjacency here may be any one of the eight positions up, down, left, right, upper left, lower left, upper right and lower right, and that the available block may be determined as an edge block.

According to the scheme, through the arrangement, the covered blocks can be eliminated, and in the subsequent process of determining the detection blocks, the factor of eliminating the covered blocks is considered, so that the subsequent process of determining the detection blocks is more accurate, and the actual layout requirements of the panoramic camera are met.

Fig. 3 is a schematic diagram of edge block update according to an embodiment of the present application. As shown in fig. 3, initially, 1-20 blocks may be determined to be available blocks after the meshing process. From the available blocks, the available blocks 1,2, 3, 4, 5, 10, 15, 20, 19, 18, 17, 16, 11, 6 can then be determined as edge blocks, based on whether there are other available blocks at the edges of the available blocks, and after the determination according to the first panorama point in connection with the example in fig. 2, the covered blocks 1,2, 3, 6, 7, 8, 11, 12 and 13 of the first panorama point can be deleted from the available blocks, and after the deletion, the edge blocks can be redetermined based on whether there are other available blocks at the edges of the respective available blocks, whereby the two available blocks 9, 14 that were not in the edge block queue are determined as edge blocks and the edge block queue is updated.

Fig. 4 is a schematic diagram of a second panoramic point determination procedure according to an embodiment of the present application. As shown in fig. 4, after determining the first panoramic point, the edge block 16 with the smallest adjacent available blocks may be determined to have the highest priority according to the first priority rule, the second priority rule, and the third priority rule, the edge block 16 is used as a detection block, the detection process of the circumscribing circle is re-performed, and after finally determining the second optimal circumscribing circle, the center of the second optimal circumscribing circle is used as the second panoramic point.

After deleting the available blocks covered by the second most suitable circumscribed circle, the edge block queue can be updated, and because all the available blocks remained at present are determined to be edge blocks, the result after the update is that all the available blocks remained at this time are edge blocks, and the covered blocks are deleted from the edge block queue, so that the updated edge block queue is obtained.

Fig. 5 is a schematic diagram of a third panoramic point determination procedure according to an embodiment of the present application. As shown in fig. 5, after the second panoramic point is determined, the edge block 20 with the smallest adjacent available blocks may be determined to have the highest priority according to the first priority rule, the second priority rule, and the third priority rule, the edge block 20 is used as a detection block, the detection process of the circumscribing circle is re-performed, and a third optimal circumscribing circle is finally determined, and the center of the third optimal circumscribing circle is used as the third panoramic point.

After the third panorama point is determined, the range may be fully covered, i.e. the panorama point layout of the range is completed.

Fig. 6 is a schematic flow chart of circumscribed circle detection according to an embodiment of the present application. As shown in fig. 6, a circumcircle of the detection block is generated, the circumcircle is enlarged, and the center of the circumcircle is moved, so that the radius of the circumcircle is smaller than a preset shooting distance and the covered available blocks are the most, and the center of the circumcircle is determined as a full scenic spot, specifically comprising the following steps:

S1051, taking the center of the detection block as the circle center, and generating an circumscribed circle of the detection block;

After the detection block is determined, the center of the detection block can be used as the initial circle center to generate a circumscribed circle of the detection block. It will be appreciated that the radius of the circumscribed circle of one detection block is often not greater than the preset shooting distance. As an additional solution, after the circumscribed circle of the detection block is generated, the radius of the circumscribed circle may be compared with the preset shooting distance, and if the radius is smaller than the preset shooting distance, the subsequent steps may be continued.

S1052, gradually expanding the circumscribing circle and moving the center of the circumscribing circle to enable the circumscribing circle to cover at least the detection block and gradually cover more available blocks;

It can be appreciated that the center of the circumscribing circle can be gradually moved in the process of gradually expanding the circumscribing circle. It is conceivable that when the center of the circumscribed circle moves to the lower right corner of the detection block and the radius of the circumscribed circle is gradually enlarged, a circumscribed circle similar to the four adjacent usable blocks of the process 2 in fig. 2 can be obtained.

According to the scheme, under the condition that the detection block is covered, the circle center of the circumscribed circle is gradually increased and moved, so that the circumscribed circle gradually covers more available blocks.

In this scheme, optionally, a moving step length of moving the center of the circumscribing circle is 0.5 times of a preset side length;

In the process of moving the center of the circumscribing circle, the center of the detection block can be started, each movement forms 0.5 times of the preset side length of each available block, and in the process of each movement, the moving direction is one direction of the right upper direction, the right lower direction and the right left Fang Yiji and the right direction. I.e. after movement, will fall at the centre of the detection block or other blocks, at the centre point of the edge and at the corner points.

In one embodiment, the number of available blocks covered by the circumscribing circle after each movement and expansion of the circumscribing circle radius can be recorded in association with the circle center position and radius size of the circumscribing circle, and after all the positions are moved, the circle center position and radius size with the largest number of available blocks covered can be selected as the final result.

Through such setting, the mobile mode of the circle center of the circumscribed circle can be definitely confirmed, and the mobile mode comprises a mobile step length and a mobile direction, so that the quick searching of the whole scenic spot is facilitated.

S1053, when the current circumscribed circle covers and is circumscribed with the current number of available blocks, and the current circumscribed circle is determined to be the most suitable circumscribed circle when the current circumscribed circle continues to expand and exceeds the preset shooting distance and cannot cover more available blocks;

When the current number of available blocks covered by the current circumscribed circle is 9 at a certain moment, if the current number of available blocks is enlarged again, a situation that more available blocks cannot be covered beyond a preset shooting distance occurs, and in this case, the current circumscribed circle can be determined to be the optimal circumscribed circle.

S1054, taking the center of the most suitable circumscribing circle as a full scenic spot.

After the optimal circumscribing circle is obtained, the circle center of the circumscribing circle can be used as a full scenic spot, and the radius of the circumscribing circle is recorded. Thus, detection of one panoramic point can be completed.

In a possible embodiment, optionally, after taking the center of the optimal circumscribing circle as a panoramic point, the method further includes:

The radius of the optimal circumscribing circle can be the minimum shooting range of the panoramic camera arranged at the panoramic point.

Under a scene, if the shooting range of the panoramic camera to be arranged comprises 7 meters and 6 meters, the radius of the optimal circumscribed circle corresponding to each panoramic point obtained through the algorithm of the scheme is 5 meters, 6 meters and 7 meters, the panoramic camera with the shooting range of 7 meters can be adopted aiming at the radius of the optimal circumscribed circle, and the panoramic camera with the shooting range of 6 meters can be adopted aiming at the radius of the optimal circumscribed circle, so that the flexible control of the subsequent panoramic camera arrangement process can be facilitated.

According to the scheme, the most suitable radius of the circumscribed circle is stored, panoramic cameras with different shooting capacities can be arranged according to different panoramic points, the use cost of hardware can be reduced, and the device is convenient and flexible to deploy.

According to the technical scheme provided by the embodiment, the optimal circumscribed circle can be determined for a certain detection block through gradual expansion and movement of the circumscribed circle, the circle center of the optimal circumscribed circle is used as a panoramic point, the rationality of the panoramic point determination process is improved, and the calculation process is simple and convenient.

It can be understood that the technical scheme provided by the application is a cyclic process aiming at the detection process, and the cyclic execution of the cyclic process is carried out after one operation is completed until the outline map is completely covered, so as to obtain all the scenic spots in the building.

In one embodiment, the technical scheme not only can ensure that the calculated panoramic point positions completely cover the designated area, but also can provide algorithm support for a standardized acquisition scheme of seamless panoramic roaming and AR (Augmented Reality ) panoramic point position layout.

Fig. 7 is a schematic structural diagram of a layout device for all scenic spots according to an embodiment of the present application. As shown in fig. 7, the method specifically includes the following steps:

A contour map obtaining module 701, configured to obtain a contour map of an indoor contour of a building;

The dividing module 702 is configured to divide the contour map by using a grid with a preset side length, and take the grid containing the indoor contour as an available block;

An edge block identifying module 703, configured to identify an edge block from the available blocks, and add the identified edge block to an edge block queue;

the detection block selecting module 704 is configured to select, according to a preset priority rule, an edge block with the highest priority from the edge block queue as a detection block;

A detection module 705 for:

Further, the detection block selecting module 704 includes:

Further:

Further, the detection module 705 includes:

Further, the detection module 705 further includes:

Further, the profile acquisition module 701 includes:

Or alternatively

Further, updating the edge block queue based on the covered block includes:

deleting the covered blocks;

According to the technical scheme provided by the embodiment of the application, through gridding the indoor contour of the building and detecting the circumscribed circles of all the obtained image blocks respectively, the optimal circumscribed circle which tends to the shooting range of the panoramic camera is obtained, the image blocks in the circumscribed circle are the most, the circle center of the obtained optimal circumscribed circle is used as a full scenic spot, and other image blocks of the indoor contour of the building are traversed, so that the final arrangement result of the full scenic spot is obtained. By adopting the technical scheme provided by the embodiment of the application, after the panoramic camera is installed according to the determined panoramic points, the whole coverage of the limited space in the building can be ensured, the hardware cost increase caused by too dense arrangement of the panoramic camera can be avoided, the utilization efficiency of the panoramic camera is improved, repeated disassembly and assembly after the problem of installation are not needed, and the working time of layout staff is improved.

The layout device of the all-scene point in the embodiment of the application can be a device, and can also be a component, an integrated circuit or a chip in the terminal. The device may be a mobile electronic device or a non-mobile electronic device. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), etc., and the non-mobile electronic device may be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a Television (TV), a teller machine, a self-service machine, etc., and the embodiments of the present application are not limited in particular.

The layout device of the all-scene point in the embodiment of the application can be a device with an operating system. The operating system may be an Android operating system, an ios operating system, or other possible operating systems, and the embodiment of the present application is not limited specifically.

The layout device for the all-scene points provided by the embodiment of the application can realize each process realized by each method embodiment, and is not repeated here for avoiding repetition.

Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 8, the embodiment of the present application further provides an electronic device 800, which includes a processor 801, a memory 802, and a program or an instruction stored in the memory 802 and capable of running on the processor 801, where the program or the instruction implements each process of the above-mentioned embodiment of the panoramic dot layout apparatus when executed by the processor 801, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.

The electronic device in the embodiment of the application includes the mobile electronic device and the non-mobile electronic device.

The embodiment of the application also provides a readable storage medium, on which a program or an instruction is stored, which when executed by a processor, implements each process of the above-mentioned embodiment of the panoramic dot layout device, and can achieve the same technical effects, so that repetition is avoided, and no further description is given here.

Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium such as a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.

The embodiment of the application further provides a chip, which comprises a processor and a communication interface, wherein the communication interface is coupled with the processor, and the processor is used for running programs or instructions to realize the processes of the embodiment of the panoramic dot layout device, and the same technical effects can be achieved, so that repetition is avoided, and the description is omitted here.

It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

The foregoing description is only of the preferred embodiments of the application and the technical principles employed. The present application is not limited to the specific embodiments described herein, but is capable of numerous modifications, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit of the application, the scope of which is set forth in the following claims.

Claims

1. A method for placement of a full sight, the method comprising:

Acquiring a contour map of an indoor contour of a building;

selecting an edge block with the highest priority from the edge block queue as a detection block according to a preset priority rule; wherein the preset priority rule comprises a principle that the adjacent available blocks of the edge blocks are the least;

2. The method according to claim 1, wherein selecting, as the detection block, an edge block with the highest priority from the edge block queue according to a preset priority rule, includes:

3. The method of claim 2, wherein:

4. The method according to claim 1, wherein generating a circumscribed circle of the detection block, expanding the circumscribed circle and moving a center of the circumscribed circle such that a radius of the circumscribed circle is smaller than a preset photographing distance and a covered available block is the largest, and determining the center of the circumscribed circle as a panoramic point, comprises:

5. The method according to claim 4, further comprising, after taking the center of the optimal circumscribing circle as a panoramic point:

6. The method according to claim 4, wherein the moving step length of moving the center of the circumscribing circle is 0.5 times of the preset side length;

7. The method of claim 1, wherein updating the edge block queue based on the covered blocks comprises:

deleting the covered blocks;

8. A layout device of panoramic points, the device comprising:

The detection block selecting module is used for selecting an edge block with the highest priority from the edge block queue as a detection block according to a preset priority rule; wherein the preset priority rule comprises a principle that the adjacent available blocks of the edge blocks are the least;

The detection module is used for:

9. An electronic device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the method of layout of scenic spots according to any one of claims 1-7.

10. A readable storage medium, wherein a program or instructions is stored on the readable storage medium, which when executed by a processor, implements the steps of the method for laying out a full view point according to any one of claims 1-7.