JP4243386B2 - Photogrammetry image processing apparatus, photogrammetry image processing method, and storage medium storing photogrammetry image processing program - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to image processing in photogrammetry.
[0002]
[Prior art]
Photogrammetry is widely used to create maps, but it is also used as an extremely effective means for recording local situations such as on-site verification of traffic accidents. Conventional photogrammetry uses a stereo camera in which two cameras are fixed apart from each other, and calculates three-dimensional coordinates of each survey point from two images taken by both cameras. Here, the stereo camera is a heavy and large equipment, and it is necessary to record detailed information such as camera position information, tilt angle, and actual measured length of the subject for the calculation of 3D coordinates. Was cumbersome and hard work. In addition, there were many obstacles around the traffic accident scene, so a sufficiently wide shooting environment was often not secured, and it was often difficult to verify the field using a stereo camera.
[0003]
Accordingly, the applicant of the present application has proposed a photogrammetry method using a monocular camera (Japanese Patent Laid-Open Nos. 10-293026 and 10-2221072) and a pair of images (hereinafter referred to as “pair”) in order to improve the accuracy of the photogrammetry. Images ”) (see Japanese Patent Laid-Open Nos. 10-3007025, 10-293026, 10-185563, 10-185562, 10-170263, and 10-170263). No. 10-141951) has been proposed to achieve efficient photogrammetry using simple equipment.
[0004]
In such a photogrammetry method, a pair image obtained by photographing the same target and an object to be measured from arbitrarily different directions is obtained, and manual operation using an input means such as a mouse in a dedicated photogrammetry image processing apparatus. By specifying survey points (hereinafter referred to as “object points”) that are commonly captured in the pair images, a survey map in an arbitrary range is drawn based on these object points.
[0005]
When creating this survey map, a plurality of object points are connected by straight lines or curves, etc. Especially in the corner part, in order to realize a natural and easy-to-view expression as much as possible, two straight lines are crossed in advance and the angle is set. After forming the portion, a method called “corner cutting” is used in which the corner is changed to a curved line or an oblique line so as to cut the corner.
[0006]
In order to perform “corner cutting” in an arc shape, two end points of an arc joined to two line segments and one point on the arc are defined, and an arc defined by these three points is drawn in advance. It was replaced with the corners that had been drawn.
[0007]
[Problems to be solved by the invention]
However, once the corner is cut, the information of the line drawn before or the first corner is lost, so it is necessary to make fine adjustments to obtain the drawing line that matches the operator's image. When it occurs, it is necessary to start again from drawing a straight line, which is a very complicated operation.
[0008]
That is, in the conventional photogrammetry image processing apparatus, the corner cutting work in creating the survey map is complicated, which reduces the efficiency of the drawing work.
[0009]
The present invention was devised to solve such conventional problems, and the photogrammetry image processing apparatus, photogrammetry image processing method, and photogrammetry image that can greatly improve the efficiency of the drawing work in the photogrammetry image processing apparatus. It is an object to provide a recording medium storing a processing program.
[0010]
[Means for Solving the Problems]
The photogrammetric image processing apparatus according to the present invention defines a plurality of images that commonly include a target at a predetermined position in the same group, calculates the position of the camera for each image and the inclination of its optical axis, A survey map for generating a survey map in a photogrammetric image processing apparatus that designates a common object point for each image, calculates a three-dimensional coordinate of the object point, and generates a survey map based on the three-dimensional coordinate. The data includes vector data that is a coordinate value of a point connecting line segments having different directions, and corner cutting data that defines a shape near a vertex of a corner portion formed by two predetermined line segments. It is a feature. This makes it possible to express corner cuts while preserving vector data.
[0011]
In the photogrammetric image processing apparatus, the corner cutting data preferably includes a flag that defines the type of corner cutting and a parameter that defines the degree of corner cutting. Can be expressed.
[0012]
In the photogrammetric image processing apparatus, the flag may define that two line segments pass through the vertex of the corner portion. In this case, no parameter is defined. Thereby, a corner portion in which a corner portion is formed by two line segments that do not perform corner cutting can be expressed.
[0013]
In the photogrammetric image processing apparatus, a straight corner cut may be defined in which the flag is cut by a line segment orthogonal to the bisector of the corner corner. In this case, the parameter is a distance from the vertex to the line segment. . Thereby, a simple and natural straight-line corner cutting expression is possible.
[0014]
In the photogrammetric image processing apparatus, the flag is an arc inscribed in the two line segments at the intersection of the straight line perpendicular to the bisector of the corner of the corner and the two line segments forming the corner. May define a circular arc corner cut, where the parameter is the square of the distance from the vertex to the straight line. Thereby, a simple and natural rounding expression of an arc is possible.
[0015]
The photographic image processing apparatus may include display means for displaying a survey map, instruction means for moving a cursor displayed on the display means, and input means for designating a flag. In the corner portion to be designated, it is preferable that the type of corner cutting is determined when the flag is designated by the input means, and the parameter changes and the degree of corner cutting changes when the cursor is moved by the instruction means. As a result, dynamic and visual corner trimming can be adjusted with a simple operation.
[0016]
The photographic image processing apparatus may include display means for displaying a survey map. In this display means, a corner portion is displayed based on vector data and corner cut data. Thereby, the corner portion can be visually edited.
[0017]
The photogrammetry image processing method according to the present invention defines a plurality of images that are provided at predetermined positions and commonly include a target having a predetermined shape capable of outputting a movement amount and a rotation angle from an initial state in the same group. The camera position and the inclination of the optical axis of the camera are calculated, the common object point in the image is designated for each image, the three-dimensional coordinates of the object point are calculated, and the survey map is based on the three-dimensional coordinates. In the photogrammetric image processing method for generating the first step, in the survey map, a first step for defining vector data which is a coordinate value of a point connecting line segments having different orientations, and a corner formed by two predetermined line segments And a second step of defining corner cutting data that defines the shape of the vicinity of the vertex of the part. Thereby, the shape of the corner portion can be expressed in a deformable manner while storing the vector data as it is.
[0018]
The storage medium according to the present invention defines a plurality of images that are provided at a predetermined position and commonly include a target having a predetermined shape capable of outputting a movement amount and a rotation angle from an initial state in the same group, and photographed each image. The camera position and the inclination of the optical axis are calculated, a common object point in the image is designated for each image, the three-dimensional coordinates of the object point are calculated, and a survey map is generated based on the three-dimensional coordinates. A photogrammetry image processing program, in a survey map, a vector data generation routine for defining vector data as coordinate values of points connecting line segments having different orientations, and a corner formed by two predetermined line segments A photogrammetry image processing program including a corner cutting data generation routine for defining corner cutting data for defining the shape of the vicinity of the vertex of the section. Accordingly, the photogrammetry image processing program can be executed by a general-purpose personal computer, and a natural expression survey map can be easily created.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of a photogrammetry image processing apparatus, a photogrammetry image processing method, and a photogrammetry image processing program according to the present invention will be described with reference to the drawings.
[0020]
FIG. 1 is a diagram showing an embodiment of the present invention, in which a display screen of a display device (reference numeral 10, FIG. 2) in a photogrammetric image processing apparatus is shown. In the image display area IMA of this display screen, a pair of images IM1 and IM2 including a common target T placed on the ground are displayed in parallel. The images IM1 and IM2 are set as one group (pair 1). Although not shown in FIG. 1, a plurality of pair images are defined in addition to this.
[0021]
The pair images including the images IM1 and IM2 are obtained by photographing with a digital camera. Specifically, an optical image of a subject is formed on an image pickup device (not shown) such as a CCD, and digital pixel data As an image storage medium such as a memory card.
[0022]
The operation of selecting two images from a large number of images recorded on the image storage medium and defining them as one group is performed in advance by a manual operation of the operator. In the embodiment, two images are included in one group, but the number of images included in one group may be three or more.
[0023]
A pair image selection tag PIMT is provided above the image display area IMA. By clicking any one of the pair image selection tags PIMT, a pair image to be displayed in the image display area IMA is arbitrarily selected from a plurality of pairs. Can be selected. The number of pair image selection tags PIMT is displayed according to the number of pairs. Further, an auxiliary menu SM is provided in the upper part of the image display area IMA, and commands such as “change pair name”, “reset reference point”, “change user setting”, “install window”, and the like can be selected.
[0024]
A drawing area DRA is provided below the image display area IMA, and a survey map drawn based on all pairs of images (a solid line L indicating the outline of a road, a solid line WL indicating a white line, etc.) is drawn. . The survey map is a horizontal plan view of the road as viewed from above.
[0025]
In addition, the target position RP1 is displayed as a dot in the drawing area DRA. The target position RP1 is defined by a reference point (34) provided on the target T. In the images IM1 and IM2, the reference points (34) are respectively displayed as image points RP1 ′ and RP1 ″. When these images are set as one group, the correspondence between the two is defined by image processing. As a result, the three-dimensional coordinates of the reference point (34) are specified and displayed as the target position RP1 in the drawing area DRA.
[0026]
The target T is appropriately moved according to the range to be photographed, and is indicated by target positions RP2 and RP3 in the drawing area DRA. The target positions RP2 and RP3 are represented by relative coordinates with the target position RP1 as an initial value. The relative coordinates are measured by a sensor (not shown) built in the target T, transmitted from the target T to the camera, and digitally Recorded with pixel data. Thereby, different target positions RP1, RP2, and RP3 are displayed in the same drawing area DRA when all the pairs are associated.
[0027]
When drawing a survey map, a corresponding image point in a pair image is manually specified. More specifically, in the images IM1 and IM2, when the image points OP1 ′ and OP1 ″ at the corners of the road are manually designated by the mouse, the three-dimensional coordinates of the object point OP1 corresponding to the image points OP1 ′ and OP1 ″ are changed. While being calculated, the object point OP1 is displayed as a point in the drawing area DRA.
[0028]
In this way, the image display area IMA and the drawing area DRA are displayed on the same screen, and the pair image to be drawn is displayed in the image display area IMA, so that the image point designation in the pair image and the corresponding display are displayed. The correspondence with the object points can be easily confirmed.
[0029]
In the drawing area DRA, a menu DRM for drawing is provided. In this menu DRM, “straight line drawing”, “polygon drawing”, “diameter designation circle drawing”, “radius designation circle drawing”, “auxiliary point” Commands such as “draw” and “input complete” are selected. For example, when “straight line drawing” is selected, when the object points OP1 and OP2 are successively designated, a straight line L1 connecting the two points OP1 and OP2 is automatically created and displayed in the drawing area DRA. .
[0030]
A main menu MM is provided on the left side of the image area IMA and the drawing area DRA, and a command menu CM, a magnification setting unit MG, a rotation setting unit RT, and a display setting unit DT are provided in the main menu MM. In command menu CM, “Draw road outline”, “Draw party symbol”, “Draw graphic symbol”, “Draw symbol”, “Draw character”, “Measure”, “Edit symbol, graphic”, “Undo” Commands such as “”, “Erase”, “Save drawing”, “Print setting”, “Print drawing”, “Drawing proof” can be selected. In the magnification setting section MG, the display magnification can be set as appropriate in the drawing area DRA, and in the rotation setting section RT, the survey map displayed in the drawing area DRA can be appropriately rotated. In the display setting unit DT, changes in the line type, line width, color, and the like of the drawing lines such as the road outline L and the white line WL are set and changed as appropriate.
[0031]
FIG. 2 is a block diagram showing the overall configuration of the photogrammetry image processing apparatus. In addition to the display device 10 showing the display contents in FIG. 1, an input device 12 such as a keyboard and a mouse, a storage medium 13 such as a memory card, and the like A CPU 14 is connected to the bus 15 directly or indirectly.
[0032]
The CPU 14 is provided with an input state management unit 41, a display state management unit 42, a survey map data calculation control unit 43, and a data management unit 44, and executes necessary management, calculation, and processing. An input device control device 17 connected to the bus 15 is connected to the input device 12, whereby an input from the input device 12 is transferred to the bus 15 and an input mode of the input device 12 is set. The storage medium 13 is inserted into a storage medium control device 18 such as a memory card reader, whereby the photographic data (FIG. 3) stored in the storage medium 13 is read as appropriate.
[0033]
Further, a work memory 19 and a display memory 20 are connected to the bus 15, and the work memory 19 is used as a cache memory for calculation and processing by the CPU 14, and the display memory 20 displays contents to be displayed on the display device 10 (FIG. 1). Hold. A display device control device 16 connected to the bus 15 is connected to the display device 10 and converts digital data in the display memory 20 into analog RGB signals for the display device 10.
[0034]
The input state management unit 41 of the CPU 14 manages the settings of the input device 12 and converts input information such as mouse coordinates and characters input from the keyboard into predetermined digital data. The display state management unit 42 manages the contents to be displayed on the display device 10 and changes the display contents when there is a change in the setting related to the display. The survey map data calculation control unit 43 is used for generating a drawing line, which will be described later. The data management unit 44 manages the data content read from the storage medium 13, and also sets the pair image settings set on the screen of FIG. 1, various coordinate data created based on this, and drawn drawing lines. Manage data etc.
[0035]
FIG. 3 is a diagram showing the format of the survey photo data stored in the storage medium 13, and a plurality of photo data (n-2th to n + 1th photo data are shown in FIG. 3) are sequentially stored. . One piece of photo data (n-th) is composed of a header H and image data IMD, and a spare space SP is provided after the image data IMD in order to separate adjacent photo data. The image data IMD is a digital pixel data string.
[0036]
The header H includes an image name H1, an identification number H2, a shooting date / shooting condition H3, a rotation angle / movement amount H4, and the like. The shooting dates of the image names H1 and H3 are manually input on the camera. The identification number H2 includes, for example, a shooting position number that is incremented by 1 for each shooting, and a target position number that is incremented by 1 when the target T is moved. Used. The shooting conditions for H3 are input from the camera at the time of shooting, and include the focal length f of the camera, horizontal and vertical field angles Θh and Θv, CCD resolution rp, and the like. The rotation angle of H4 includes the rotation angle and direction of the target T with respect to the horizontal plane at the time of shooting, and the movement amount is the movement amount from the initial target position RP1 (FIG. 1) as described above. These rotation angles and movement amounts are transmitted from the target T included in the image to the camera.
[0037]
With reference to FIGS. 4 to 6, generation of a drawing line in the corner portion will be described. FIG. 4 is an enlarged view showing the corner portion TCR of the road outline L drawn in the drawing area DRA. First, when “straight line drawing” is selected in the menu DRM, the coordinates of the object point OP3 are calculated based on the pair image, and are displayed in the drawing area DRA. Subsequently, when the coordinates of the object point OP4 are calculated and displayed in the drawing area DRA, a line segment L2 connecting the object points OP3 and OP4 is generated and drawn in the drawing area DRA. Similarly, a line segment L3 is generated by specifying the object points OP5 and OP6.
[0038]
Here, the menu DRM is switched to “auxiliary point drawing”, and the line segment L2 and the line segment L3 are successively designated by the mouse. By this operation, the coordinates of a point Pc1 where the extension lines of the two line segments intersect (hereinafter referred to as auxiliary points) Pc1 are obtained and displayed as square points in the drawing area DRA. At the same time, a line segment L2 ′ is drawn between the object point OP4 and the auxiliary point Pc1, and a line segment L3 ′ is drawn between the object point OP5 and the auxiliary point Pc1. In this manner, the corner portion TCR can be drawn by the two line segments L2 and L3 without designating the object point to be the vertex of the corner.
[0039]
FIG. 5 is an enlarged view of the corner portion LCR drawn in the drawing area DRA. The corners of the corner portion LCR have a shape in which corners are cut off by oblique lines L6. The oblique line L6 is generated as follows. First, the auxiliary point Pc2 is obtained by the same method as the corner portion TCR of FIG. That is, the line segment L4 is determined by specifying the object points OP7 and OP8, and the line segment L5 is determined by specifying the object points OP9 and OP10. Thereby, the auxiliary points Pc2 and the line segments L4 ′ and L5 ′ that are the extension lines are calculated.
[0040]
Thereafter, “corner cutting” is performed as follows. First, a bisector BL of an angle formed by the line segments L4 ′ and L5 ′ is obtained, and the angle is defined by a straight line perpendicular to the bisector BL and separated from the auxiliary point Pc2 by an arbitrary length Lm. Cut off. Then, the portions of the line segments L4 ′ and L5 ′ indicated by the broken line in the drawing are deleted, and the line segment L6 that is a part of the cut-off straight line is drawn as a new drawing line in the drawing area DRA. Points A and B are end points of the line segment L6. Hereinafter, this corner cutting by a straight line is referred to as “straight corner cutting”.
[0041]
The distance Lm from the auxiliary point Pc2 can be changed as appropriate by operating the mouse, whereby the length of the line segment L6, that is, the degree of corner cutting can be visually changed. The coordinate data of the auxiliary point Pc2 is retained even after corner cutting, and the degree of corner cutting can be finely adjusted. Accordingly, a natural and easy-to-see drawing line is displayed in the corner portion LCR. In addition, the number of designated object points can be reduced.
[0042]
FIG. 6 is an enlarged view showing the corner portion RCR of the white line WL drawn in the drawing area DRA. Here, the processing is the same as in FIG. 5 except that the drawing line after the corner cut is not a straight line but an arc. A corner cut by an arc is called an “arc corner cut”.
[0043]
First, the line segment WL1 is determined by specifying the object points OP11 and OP12, and the line segment WL2 is determined by specifying the object points OP13 and OP14. As a result, the coordinates of the auxiliary point Pc3 and the line segments WL1 ′ and WL2 ′ which are extended lines are calculated.
[0044]
Further, a bisector BL having a corner formed by the line segments WL1 ′ and WL2 ′ is obtained, and a straight line perpendicular to the bisector BL and separated from the auxiliary point Pc3 by an arbitrary length Lm is a line segment WL1. Points A and B intersecting 'and WL2' are determined. Furthermore, an arc WL3 having a radius r centered on the point O on the bisector BL is obtained inscribed with the line segments WL1 ′ and WL2 ′ at the points A and B, and the corner is cut off by the arc WL3. Then, the portions of the line segments WL1 ′ and WL2 ′ indicated by the broken lines in the figure are deleted, and the cut-off arc WL3 is drawn as a new drawing line in the drawing area DRA. Points A and B coincide with the end points of the arc WL3.
[0045]
The distance Lm from the auxiliary point Pc3 can be appropriately changed by a mouse operation, whereby the radius r of the arc and the length of the arc WL3, that is, the degree of corner cutting can be visually changed. The coordinate data of the auxiliary point Pc3 is retained even after corner cutting, and the degree of corner cutting can be finely adjusted. Therefore, a natural and easy-to-see drawing line is displayed in the corner portion RCR. In addition, the number of designated object points can be reduced.
[0046]
7 to 9 are diagrams showing a process of “arc corner cutting” shown in FIG. 6. When the corner portion RCR to be cut in the drawing area DRA is designated by the mouse, a new work area WRA is set in the drawing area DRA, and the corner portion RCR is enlarged and displayed (FIG. 7). On the right side of the work area WRA, there are provided a start button STB and a stop button QTB for selecting start and stop of corner cutting, and an end button ETB for ending the processing of the corner portion RCR in the work area WRA. Furthermore, setting buttons SSB and RSB for selecting “straight line corner cutting” or “arc corner cutting” are provided. 7 to 9, the arc setting button SRB is selected.
[0047]
The corner cutting is realized by a click operation of left and right buttons provided on the mouse and a mouse movement operation. Hereinafter, the left button click operation is referred to as a left click, and the right button click operation is referred to as a right click. A mouse pointer MP that moves in response to a mouse operation is displayed on the screen.
[0048]
In the initial screen of FIG. 7, in the work area WRA, line segments WL1, WL1 ′, WL2 and WL2 ′ which are current drawing lines are displayed as solid lines, and auxiliary points Pc3 are displayed as square points. After instructing the start button STB, the mouse pointer MP is moved to the auxiliary point Pc3 and designated by a left click.
[0049]
When the mouse pointer MP is moved toward the lower left in the figure, an arc ARC that coincides with the tip of the mouse pointer MP is displayed with a broken line as shown in FIG. The arc ARC moves while changing its radius r as the mouse pointer MP moves. Thereby, the size of the arc ARC for corner cutting can be adjusted. At this time, the work area WRA shows a message area MRW indicating a numerical value of the radius r that is changed as appropriate. Note that the two end points A and B of the arc ARC are located closer to the auxiliary point Pc than the object point OP12 or the object point OP13. Further, what actually changes with the movement of the mouse pointer MP is the distance Lm from the auxiliary point Pc3, and the radius r is appropriately determined according to the distance Lm.
[0050]
When the left click is executed again in the state shown in FIG. 8, the arc ARC is displayed as a new drawing line WL3 as shown in FIG. 9, and the corners cut off by the corner cut are deleted. At this time, the auxiliary point Pc3 is displayed as it is.
[0051]
If a right click is performed in the state of FIG. 8, corner cutting is interrupted. That is, as shown in FIG. 10, the arc ARC is erased while the drawing line remains in the initial state.
[0052]
As shown in FIGS. 11 and 12, after the arc corner cutting shown in FIG. 9 is performed, the degree of corner cutting, that is, the size of the arc can be finely adjusted. In this case, the auxiliary point Pc3 is designated again to display the arc ARC, the mouse pointer MP is moved outside (FIG. 11) or inside (FIG. 12) the drawing line WL3, and left click is executed. Thereby, the drawing line WL3 is updated to a line including the arc ARC.
[0053]
As described above, since the corner cutting is defined and displayed only by the instruction of the auxiliary point and the mouse operation, the corner cutting processing can be performed very easily. Further, the auxiliary point data is retained after the corner cutting, and the once-defined corner cutting degree can be updated only by the instruction of the auxiliary point and the mouse operation, so that a drawing line matching the operator's image can be easily obtained.
[0054]
Although not shown, in the “straight line corner cutting”, the designation of the auxiliary point and the determination of the straight line by the mouse operation are performed similarly. In this case, a line segment is displayed instead of the arc ARC.
[0055]
13 is a diagram showing a data format of one continuous line including the corner portion TCR (white line WL in FIG. 6), and FIG. 14 is a diagram showing a drawing result based on the survey map data in FIG. In practice, the inner line (broken line) in FIG. 6 is also included in the survey map data, but here, only the outer line (solid line) of the survey map data is shown. The survey map data is expressed as vector data, can be expressed with a small amount of data, and can be easily edited and corrected.
[0056]
The survey map data starts with a continuous line drawing start declaration (Section Polyline). After the definition of the number of vector data, coordinate values that are continuous by the number of data are described, and ends with a description end declaration (End). This coordinate value is indicated by a value in a two-dimensional orthogonal coordinate system set in the drawing area DRA. The coordinate value part is vector data, and the part following the coordinate value, for example, “Start”, “End” and “corner Arc (Lm ² ) "Is called corner cutting data.
[0057]
“Start” and “End” indicate that the points (object point OP11 and object point OP14) indicated by the vector data described immediately before are the drawing start point and drawing end point, respectively. “Corner” indicates that the point (auxiliary point Pc3) indicated by the vector data described immediately before is the vertex of the corner portion, and “Arc” described subsequently indicates that the corner portion is an arc corner cut. Is a flag that defines “(Lm” described after “Arc” ² ) ”Is a parameter indicating the degree of corner cutting (hereinafter referred to as a distance parameter), which is the square of the distance Lm from the vertex.
[0058]
The survey map shown in FIG. 14 is a continuous line connecting points in accordance with the description order of the vector data in FIG. In the case of straight corner cutting, it is defined by describing a flag “Cut” instead of “Arc”, and “(Lm)” (FIG. 5) is described as a distance parameter.
[0059]
Thus, since the definition of the corner cutting is defined by the corner cutting data attached after the vector data, the vector data of Pc3 is not changed by the corner cutting processing. Therefore, it is very easy to delete and correct corner cuts.
[0060]
15 to 22 are flowcharts showing a corner cutting process routine executed by the CPU 14. This corner cutting processing routine is executed after an arbitrary corner portion is selected in the drawing area DRA shown in FIG.
[0061]
FIG. 15 shows a main routine of the corner cutting process. First, in step S102, the work area WRA is displayed, and an enlarged view of the corner portion selected in the drawing area DRA, that is, the current drawing line and the vertex of the corner portion are initially displayed (FIG. 7).
[0062]
When the end button ETB is instructed (step S104), the work area WRA is erased (step S106), the survey map in the drawing area DRA is displayed again, and the main routine ends.
[0063]
Next, it is determined whether one of the setting buttons SSB or RSB is selected. When the setting button SSB is instructed (step S108), the straight corner cutting is set (step S110), and when the setting button RSB is instructed (step S112), the arc corner cutting is set (step S114). .
[0064]
After the corner cutting type is set, a corner cutting start standby state is entered, and when the start button STB is designated (step S116), the presence or absence of a mouse pointer in the work area WRA is further determined (step S118). If it is, the corner cutting is executed in the corner cutting execution subroutine (step S200). After the start button STB is pressed and the mouse pointer is moved into the work area WRA, when the corner cutting is to be stopped, the mouse pointer is moved outside the work area WRA (step S204, FIG. 16), and the stop button QTB is pressed. (Step S120), the process returns to step S104.
[0065]
FIG. 16 is a flowchart showing details of the corner cutting execution subroutine (step S200).
First, the flag Flag indicating that the corner vertex of the corner to be cut is designated is set to an initial value 0 (step S202). If there is a mouse pointer in the work area WRA (step S204) and a certain mouse event is detected (step S206), the process branches depending on the value “0” or “1” of the flag. Here, the mouse event indicates left click, right click, or movement of the mouse pointer.
[0066]
In the case of Flag = 0, it is determined that the corner vertex to be cut is not designated, and the vertex designation subroutine (step S300) is executed. When Flag = 1, it is determined that the vertex has already been specified, and the display update subroutine (step S400) is executed. When the two branched processes (steps S300 and 400) are completed, the process returns to step S204.
[0067]
FIG. 17 is a flowchart showing details of the vertex designation subroutine (step S300).
When the corner portion vertex is left-clicked (steps S302 and S304), the vector data and the corner cutting data of the start point Ps, the vertex Pc, and the end point Pe forming the corner portion are read from the survey map data of the corner portion. Taking FIG. 13 as an example, the start point Ps is the object point OP11 (x11, y11), the vertex Pc is the auxiliary point Pc3 (xc, yc), and the end point Pe is the object point OP14 (x14, y14). In Pc, the arc corner cutting of the distance parameter Lm is set. Then, Flag is updated to 1 (step S308), and the vertex designation subroutine ends.
[0068]
18 and 19 are flowcharts showing details of the display update subroutine (step S400). This display update subroutine branches according to the mouse event.
[0069]
When movement of the mouse pointer is detected (step S414), a line data calculation subroutine (step S500) for calculating a drawing candidate line to be a drawing line after corner cutting is executed, and the drawing candidate line data is stored in the display memory 20. (FIG. 2) is stored (step S416), and the drawing candidate lines in the work area WRA are updated and displayed (step S418). Thereby, the drawing candidate line can be freely changed with the movement of the mouse pointer (FIG. 8).
[0070]
When a left click is detected (step S402), it is determined that the drawing candidate line currently set in the work area WRA has been determined as a new drawing line, and the survey map data is updated based on the drawing candidate line data. (Step S404) Based on the updated survey map data, a drawing line of the work area WRA is updated and displayed (Step S406, FIG. 9).
[0071]
When a right click is detected (step S408), it is determined that corner cutting has been stopped, the current drawing candidate line (broken line in FIG. 8) is deleted (step S410, FIG. 10), and Flag is set to an initial value of 0. Returned (step S412).
[0072]
20 to 22 are flowcharts showing details of the line data calculation subroutine (step S500), and FIG. 23 is a conceptual diagram of line data calculation.
First, the start point, vertex, and end point for drawing the corner portion C are set to initial values Ps (xs, ys), Pc (xc, yc), and Pe (xe, ye) (step S502). Based on the two-dimensional coordinate values of Ps, Pc, and Pe, the constants a0 and b0 of the bisector BL “y = a0x + b0” of the corner portion C are calculated (step S504), passing through the vertex Pc and the bisector BL Constants a1 and b1 of the orthogonal line OL “y = a1x + b1” orthogonal to are calculated (step S506).
[0073]
Here, it is determined whether or not the position (xm, ym) of the mouse pointer MP and the start point Ps are on the same side with respect to the orthogonal line OL (step S508). The subroutine ends and no drawing candidate line is generated. When they are on the same side, as described below, step S510 and subsequent steps are executed to generate drawing candidate lines.
[0074]
Subsequently, distances Ls, Le, and Lm of the start point Ps, end point Pe, and mouse pointer MS with respect to the orthogonal line OL are calculated (step S510), and it is determined whether or not Lm is greater than Ls or Le (step S510). Step S512). If Lm is larger than Ls or Le, the smaller value of Ls or Le is substituted for Lm (step S514). If Lm is smaller than both Ls and Le, the value is retained as it is.
[0075]
Constants a2 and b2 of the orthogonal line OL ′ “y = a2x + b2” separated by Lm are calculated (step S516), and the coordinates (xa, B) of the intersections A and B of the orthogonal line OL ′ with the line segment Lsc and the line segment Lce are calculated. ya) and (xb, yb) are obtained (step S518). The line segment Lsc is a line segment connecting the start point Ps and the vertex Pc, and the line segment Lce is a line segment connecting the vertex Pc and the end point Pe. The obtained two intersection points A and B are a corner cutting start point and a corner cutting end point. Thus, even if the mouse pointer is moved excessively, the intersections A and B are always located closer to the vertex Pc than the start point Ps and the end point Pe.
[0076]
Subsequently, it is determined whether the corner cutting is “straight line corner cutting” or “arc corner cutting” (step S520), and the processing branches based on the settings by the setting buttons SSB and RSB (FIG. 7), respectively.
[0077]
In the case of “straight line corner cutting”, the intersections A and B obtained in step S518 are set as the direction change points at the time of drawing, and the start point and vertex for drawing the corner portion C set in step S502. And the end point is changed to Ps, A, B, and Pe (step S522). That is, the line segment AB is determined as a drawing candidate line which is a corner line segment (line segment L6 in FIG. 5).
[0078]
In the case of “arc corner cutting”, the center O and the radius r of the inscribed circle of the corner portion C are further obtained (step S524). This inscribed circle is inscribed in line segments Lsc and Lce at intersections A and B, respectively. Further, the drawing direction dirc is determined to be either clockwise or counterclockwise so that the arc is convex toward the vertex Pc (step S526), and drawing is performed in the order of Ps, A, B, and Pe. The setting is changed (step S528). That is, the arc AB (not shown) is determined as a drawing candidate line which is a corner-cut arc (arc WL3 in FIG. 6).
[0079]
The lines determined in steps S522 and S528 are drawing candidate lines, and are indicated by broken lines that change as the mouse pointer MP moves as shown in FIG.
[0080]
【The invention's effect】
As described above, according to the present invention, the manual processing of corner cutting can be processed very efficiently, and the quality of the obtained survey map is high and can be easily corrected.
[Brief description of the drawings]
FIG. 1 is a conceptual diagram showing a display screen in an embodiment of a photogrammetric image processing apparatus according to the present invention.
FIG. 2 is a block diagram showing the overall configuration of a photogrammetric image processing apparatus.
3 is a conceptual diagram showing a format of photographic data stored in the storage medium shown in FIG.
4 is an enlarged view showing a corner portion TCR of the survey map shown in FIG. 1. FIG.
5 is an enlarged view showing a corner portion LCR of the survey map shown in FIG. 1. FIG.
6 is an enlarged view showing a corner portion RCR of the survey map shown in FIG. 1. FIG.
FIG. 7 is a diagram showing a work area set in a drawing area, and is a conceptual diagram showing arc corner cutting processing;
FIG. 8 is a conceptual diagram showing arc corner cutting processing continued from FIG. 7;
FIG. 9 is a conceptual diagram showing arc corner cutting processing continued from FIG. 8;
FIG. 10 is a conceptual diagram showing another part of the arc corner cutting process continued from FIG. 8;
FIG. 11 is a conceptual diagram showing a process for greatly changing the corner cutting degree.
FIG. 12 is a conceptual diagram illustrating a process of changing a corner cutting degree to be small.
FIG. 13 is a diagram showing a format of the survey map data of FIG. 6;
FIG. 14 is a conceptual diagram showing drawing based on the survey map data of FIG. 13;
FIG. 15 is a flowchart showing a main routine of corner cutting processing.
FIG. 16 is a flowchart showing a corner cutting execution subroutine of FIG. 15;
FIG. 17 is a flowchart showing a vertex designation subroutine of FIG. 16;
FIG. 18 is a flowchart showing a part of the display update subroutine of FIG. 16; It is a flowchart which shows another branch process.
FIG. 19 is a flowchart showing another part of the display update subroutine of FIG. 16;
FIG. 20 is a flowchart showing the first part of the line data calculation subroutine in FIG. 19;
FIG. 21 is a flowchart showing a second part of the line data calculation subroutine in FIG. 19;
FIG. 22 is a flowchart showing the last part of the line data calculation subroutine in FIG. 19;
FIG. 23 is a conceptual diagram of line data calculation processing.
[Explanation of symbols]
10 Display device
13 Image storage media
IM1, IM2 images
TCR, LCR, RCR, C Corner
L Road outline
WL white line
DRA drawing area
WRA work area

Claims (11)

A plurality of images including a target at a predetermined position in common are defined in the same group, the position of the camera photographed for each image and the inclination of its optical axis are calculated, and a common object point in the image is determined for each image. In the photogrammetric image processing apparatus for designating, calculating the three-dimensional coordinates of the object points, and generating a survey map based on the three-dimensional coordinates,
The survey map data for generating the survey map includes vector data as coordinate values of points connecting line segments having different directions, and a shape near the vertex of a corner portion formed by two predetermined line segments. A photogrammetric image processing apparatus, comprising: corner cutting data to be defined. 2. The photogrammetric image processing apparatus according to claim 1, wherein the corner cutting data includes a flag that defines a type of corner cutting and a parameter that defines a degree of corner cutting. 3. The photogrammetric image processing apparatus according to claim 2, wherein the flag defines that the two line segments pass through a vertex of the corner portion. The photogrammetric image processing apparatus according to claim 2, wherein the flag defines a straight corner cut by a line segment orthogonal to a bisector of a corner of the corner. The photogrammetric image processing apparatus according to claim 4, wherein the parameter is a distance from the vertex to the line segment. The flag is cut off by an arc inscribed in the two line segments at the intersection of a straight line perpendicular to the bisector of the corner of the corner part and the two line segments forming the corner part. The photogrammetric image processing apparatus according to claim 2, wherein an arc corner cut is defined. The photogrammetric image processing apparatus according to claim 6, wherein the parameter is a square of a distance from the vertex to the straight line. In a corner section that includes a display means for displaying the survey map, an instruction means for moving the cursor displayed on the display means, and an input means for specifying the flag, The type of corner cutting is determined based on a flag designated by the input means, and the degree of corner cutting is changed by moving the cursor and changing the parameter by the instruction means. The photogrammetric image processing apparatus according to claim 5 or 7. 2. The photogrammetric image processing apparatus according to claim 1, wherein in the display means for displaying the survey map, the corner portion is displayed based on the vector data and the corner cut data. A plurality of images that are provided at a predetermined position and that commonly include a target having a predetermined shape that can output a movement amount and a rotation angle from an initial state are defined in the same group, and the position of the camera that has captured each image and its optical axis Photogrammetric image processing method for calculating the inclination of the object, specifying a common object point in the image for each image, calculating the three-dimensional coordinates of the object point, and generating a survey map based on the three-dimensional coordinates In
In the survey map, a first step of defining vector data that are coordinate values of points connecting line segments having different directions;
A photogrammetric image processing method comprising: a second step of defining corner cutting data for defining a shape near a vertex of a corner portion formed by two predetermined line segments. A plurality of images that are provided at a predetermined position and that commonly include a target having a predetermined shape that can output a movement amount and a rotation angle from an initial state are defined in the same group, and the position of the camera that has captured each image and its optical axis Photogrammetric image processing program for calculating the inclination of the object, specifying a common object point in the image for each image, calculating the three-dimensional coordinates of the object point, and generating a survey map based on the three-dimensional coordinates Because
In the survey map, a vector data generation routine for defining vector data that is a coordinate value of points connecting line segments having different directions;
Storing a photogrammetry image processing program comprising a corner cutting data generating routine for defining corner cutting data for defining a shape near a vertex of a corner portion formed by two predetermined line segments. Storage medium.

Images