WO2020156273A1 - 一种园林空间数字化测绘和三维可视化方法 - Google Patents

一种园林空间数字化测绘和三维可视化方法 Download PDF

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WO2020156273A1
WO2020156273A1 PCT/CN2020/072956 CN2020072956W WO2020156273A1 WO 2020156273 A1 WO2020156273 A1 WO 2020156273A1 CN 2020072956 W CN2020072956 W CN 2020072956W WO 2020156273 A1 WO2020156273 A1 WO 2020156273A1
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point cloud
data
model
dimensional
mapping
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French (fr)
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张青萍
丁明静
梁慧琳
张浪
季益文
刘洋洋
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南京林业大学
上海市园林科学规划研究院
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation

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  • the invention relates to the technical field of cultural heritage inheritance and innovation protection, and is specifically a garden space digital surveying and mapping and three-dimensional visualization method for digital surveying and mapping and three-dimensional visualization of garden cultural heritage based on multi-view image and three-dimensional laser scanning technology based on drone close-range measurement .
  • Chinese gardens are an important part of our country’s historical and cultural heritage.
  • the existing records of classical garden drawings and materials are based on the principles of garden drawing and set a certain proportion of drawings to record the spatial structure and overall layout of Chinese gardens by hand. Measure and record the layout of garden space and garden elements.
  • the recording and display methods are mainly hand-drawn flat, vertical, cross-sectional views and hand-drawn perspective renderings combined with photo and video recording.
  • the horizontal, vertical, and cross-sectional views of the drawing materials of this kind of garden are mainly made by measuring with a tape.
  • the perspective view is a manual drawing by the painter based on the perspective principle and art quality. Although it has certain spatial attributes, the accuracy is generally not high. . Can not directly reflect the texture and material of the drawn object.
  • the photographs and images taken generally do not have the characteristics of spatial attributes. Moreover, there is no record of the coordinate information of the shooting angle and positioning, so the photo record cannot objectively reflect the spatial layout and spatial structure of the garden. Moreover, the image materials are mostly fragmented materials, which cannot fully reflect the overall characteristics of Chinese gardens and the accurate relationship between various elements when disseminated. Therefore, the hand-painted horizontal, vertical, and cross-sectional views of the garden space combined with photos are not intuitive enough to record and display, and it also provides a lot of inconvenience for subsequent research and protection.
  • Three-dimensional laser scanning is a three-dimensional fine measurement technology developed in recent years, and it is also known as a real-world copy technology. It transmits and receives laser signals through a laser rangefinder, and performs distance measurement according to the speed of light and the time difference of the laser back and forth. Each scan is obtained by the coordinates of the center point of the device, the slope distance of each measuring point, the horizontal and vertical angle and the direction angle. The spatial coordinates of the point. Through the three-dimensional coordinates, reflectivity and texture information of the dense points on the surface of the measured object, the three-dimensional model of the measured target and various graphic data such as lines, surfaces, and volumes can be quickly reconstructed.
  • Three-dimensional laser scanning has the advantages of long-distance non-contact measurement, high data density, fast speed, spontaneous laser, high precision, and can be used in conjunction with conventional measurement equipment. It is widely used in various fields of social development.
  • the 3D laser scanning technology usually obtains the point cloud data of the object. Although it can obtain the accurate 3D spatial information of the object and display it in 3D in the form of a point cloud model, this method is not intuitive enough and cannot reflect the surface characteristics of the object. And texture features, so it usually needs to be combined with other imaging techniques.
  • Multi-view reconstruction is a set of advanced imaging technology. It refers to the process of using a camera to obtain and collect multiple images of a scene from multiple viewpoints, and to estimate the corresponding three-dimensional structure from a two-dimensional image sequence that may be combined with local motion signals .
  • the combination of 3D laser scanning and multi-view reconstruction technology by registering the multi-view images acquired by 3D laser scanning equipment to a unified coordinate system, combined with operations such as depth data fusion, network construction, and texture mapping, not only can it obtain accurate three-dimensional space of the object Information, construct a realistic three-dimensional geometric model, and can intuitively reflect the basic surface characteristics and texture characteristics of the object, and provide a more intuitive effect for the object display.
  • UAV surveying and mapping includes orthophoto and oblique photography.
  • UAV as an aerial photography platform can quickly and efficiently obtain high-quality and high-resolution images. Through automated data processing methods, it greatly accelerates the generation of fine 3D models of large scenes.
  • the drone tilt photogrammetry can meet the data acquisition requirements of tilt photogrammetry and fast three-dimensional modeling, overturning the limitation that traditional low-altitude photogrammetry can only obtain data from a vertical angle.
  • the original point cloud data is obtained by scanning the buildings from different viewpoints by the scanner, and the point cloud data of these multi-view points are spliced and filtered to obtain the point cloud data of the building surface required for 3D modeling. Then the processed point cloud data is modeled separately according to the various components of the building. Through the error comparison, a three-dimensional model of the building with a higher accuracy than the real estate measurement specification is obtained.
  • a multi-scale data fusion method is proposed for data registration and filtering of different scales and separated 3D data.
  • the point projection algorithm is used with point cloud slicing tools for fine measurement to generate all types of architectural drawings.
  • Yu Fangqiang et al. (2018) used BIM technology, FARO Focus 3D ground 3D laser scanning, aerial tilt measurement and other multi-source digital modeling technology of ancient buildings in the reconstruction and expansion project of Shanghai Jade Buddha Temple. This technology can quickly establish a digital model of an existing ancient building and support its application in the reconstruction of existing buildings.
  • the above-mentioned research can be roughly divided into four categories: the first one is to perform three-dimensional visualization based on engineering data. Represented by the practical research of Yang Baoli et al. (2017), Yu Mengzhe et al. (2017), and Zhang Ya (2011), the main goal of this type of research is to reconstruct three-dimensional engineering models and obtain more accurate engineering data and line drawings. However, the digital drawing display of real materials and textures is not considered. At the same time, the separate three-dimensional data scanning and engineering modeling of the stacked rockery and buildings for the classical gardens did not consider the overall characteristics of the garden space, and did not obtain and process data based on the overall spatial characteristics of the classical gardens, and the completeness could not be obtained.
  • the purpose of the present invention is to provide a method for digital surveying and mapping and three-dimensional visualization of garden space in view of the shortcomings of the prior art. It aims to solve the problems of cumbersome acquisition of spatial data of garden vertical high-rises and garden components, poor accuracy, single display form and not intuitive enough. It takes each element of the garden as the target object, and under the premise of fully considering the requirements of the garden recording process and subsequent results, using three-dimensional laser scanning and multi-view image reconstruction technology, the vertical high-rise structure of the garden and the various landscape elements of the garden are based on the spatial structure relationship Carry out holographic collection and visualization of 3D data with precise spatial attributes.
  • the unified construction of multi-level and different granularity 3D models is completed, and the automatic layering, segmentation and extraction of various elements of the 3D model are realized.
  • the dynamic tour method of the garden path it has the multi-dimensional characteristics including dynamic time and displacement attributes.
  • the results can not only meet the need for accurate and rapid generation of subsequent garden cultural heritage digital smart landscape results such as the horizontal section of the garden, the layout of the garden space, the distribution map of the landscape elements, etc., but also facilitate the shifting of different landscape spatial effects on different tourist routes.
  • the experience comparative study and visual display of landscape space analysis from different perspectives at the same node it provides a scientific, reasonable, fast and convenient method system for the holographic collection and three-dimensional visualization of the garden path tour space.
  • a method for digital surveying and mapping and three-dimensional visualization of garden space includes the following steps:
  • Root control point measurement work to calculate the plane coordinates and elevation of each root point
  • the scanning station and control the number and position of the target measure the coordinate information of the scanning station and control the target; set the 3D laser scanner at the scanning station and use 3D laser scanning
  • the instrument obtains the holographic data of the surveying and mapping research object and the holographic data of the control target therein; the holographic data obtained by the three-dimensional laser scanner is the coordinate data;
  • the drone is used to perform close-range and multi-view photogrammetry of the surveying and mapping research object, and obtain the holographic data of the surveying and mapping research object and the holographic data of the control target.
  • the holographic data obtained by the drone is the image data;
  • the first is to remove noise. Import the original laser point cloud data from the holographic data scanned by the 3D laser scanner into the denoising software for denoising processing, and remove the surrounding vegetation points, building points but not only surrounding vegetation points, Noise of building points, get denoising laser point cloud data;
  • the nearest neighbor point method is adopted to iteratively, by selecting the common points in the coordinate matching laser point cloud data to carry out precise registration between the scanning stations, splicing and constructing a large number of triangular faces and laser point clouds to form the three-dimensional laser of the entire surveying and mapping research object Point cloud; At the same time, the laser point cloud close to the scanning station is sampled and thinned to reduce the redundancy of the laser point cloud;
  • the three-dimensional model of close-range multi-view images is spatially matched and data fused to realize high-precision fusion of multi-source three-dimensional model data, and realize garden digital mapping and three-dimensional visualization based on multi-view images and laser scanning of close-range shooting;
  • the 3D laser scanned point cloud model is sliced horizontally and vertically, and then the plane and section data files output after the slice are imported into the software AutoCAD (2010, Autodesk) to extract the characteristic lines and contours of each garden element Lines, through the graphics editing functions of software AutoCAD and Photoshop, use the line shapes and symbols of garden drawing to draw the detailed features of terrain, plants, rockeries, buildings, water bodies and other elements, and finally edit them into maps.
  • AutoCAD 2010, Autodesk
  • the coordinate system of the ground 3D laser scanning collection point cloud is WGS-84 coordinate system but not limited to WGS-84 coordinate system
  • the layout and measurement of map root control points use GNSS RTK system but not limited to GNSS
  • GPS is used to fit the height of the control point of the map root, but not limited to GPS; the control target selects a place with a large control range in the surveying and mapping research object as a control target and sets a reflector at a place with a large control range.
  • the denoising software is Cyclone (V8.0, Leica) but not limited to Cyclone (V8.0, Leica) software
  • the point cloud processing software is Riscan pro software but not limited to Riscan pro software.
  • the software for generating the three-dimensional model based on the image is Agisoft PhotoScan Pro software but not limited to Agisoft PhotoScan Pro software.
  • the made garden digital three-dimensional model not only has an intuitive display effect, but also has high spatial attribute accuracy.
  • the three-dimensional model can be conveniently and quickly used for garden layout, spatial structure, and leveling.
  • the production and production of garden construction information and achievement data such as vertical section diagrams and landscape component distribution maps, and facilitate the comparison and analysis of different spatial perspectives, different landscape elements and their construction methods.
  • the entire production process is based on computers, 3D laser scanners, drone measurements, and digital shooting equipment. Not only is the data acquisition and processing process scientific and accurate, but compared with conventional methods, it greatly reduces the work of recording cultural heritage resources.
  • Figure 1 Flow chart of the method of the present invention
  • Figure 2 Arrangement of station numbers and target numbers and UAV route distribution map
  • FIG. 3 Suiyuan point cloud data model (a) and after stitching (b) texture mapping model diagram;
  • Figure 4 UAV photogrammetry image and 3D real scene model of Suiyuan and surrounding environment
  • Figure 5 The slice diagram of the 3D laser scanning measurement point cloud data model
  • Figure 8 Separate layering, segmentation and extraction of the garden elements of the three-dimensional model of Huanxiu Villa.
  • the digital surveying and mapping and three-dimensional visualization method of garden space of the present invention includes the following steps:
  • Suiyuan also known as Yinlu
  • Yinlu is now located at No. 303, Mujia Garden, No. 303, Jingde Road, Suzhou City.
  • the inpatient department of the Children's Hospital of Soochow University covers an area of about 3310m 2.
  • the main elements of the garden include water bodies, stacked mountains, plants, and buildings.
  • the governor of the Qing Dynasty bought the Shenshi Garden before Shenya, which was later renamed "Mujia Garden”.
  • Taoist Dong Guohua bought the western part after he was old, planted flowers and decorated stones, and slightly repaired it.
  • Shangshu Biyuan Bishi is in the east.
  • the old house of the Dong family was renamed "Suiyuan” from the Liu family in Anhui.
  • the descendants of the Liu family were sold to the Wu family of Shanghai merchants around 20 years ago.
  • the Ye clan of Dongshan built a garden villa "Shadow Cottage” in this garden. It was rebuilt around 1937 and a western-style building was built in the north.
  • Suiyuan Garden is located in Suzhou City.
  • the change of ownership in the history has caused this garden to be rebuilt and built repeatedly, and it has been damaged and rebuilt several times. Its appearance has been different from its original appearance. This is also the reality of many existing garden cultural heritages.
  • the rapid development of urbanization has had a great impact on the protection of similar traditional spaces.
  • Early landscapes and surrounding environments are difficult to find. According to traditional written records, it is difficult to visually compare and research the space of the gardens, making the gardens of ancient and modern spaces Comparison and analysis are difficult to carry out.
  • the experiment used ground-based 3D laser scanning measurement to obtain landscape information in the park and drone close-range photogrammetry to obtain measurement methods for the overall garden and surrounding environment information.
  • the purpose of the work includes two aspects. One is to give the measured area a universal standard spatial coordinate system to facilitate the spatial comparison of the archaeological excavation work in the entire Suiyuan area; the other is to make accurate and scientific analysis of the garden components and path landscape of the Suiyuan. , Holographic recording and display to facilitate subsequent research and visual display of the garden.
  • the coordinate system needs to be determined first. This time, the WGS-84 coordinate system is adopted. After the coordinate system is determined, the layout and measurement of the map root control points are carried out. This time, using GNSS RTK technology, 6 two-way view map root points are set up in Suiyuan. Based on the D-level GPS control points near the Suiyuan area, the CORS station based on Jiangsu province (established using multi-base station network RTK technology) is adopted.
  • GNSS RTK positioning technology is a real-time dynamic positioning technology based on carrier phase observations, which can provide real-time measurement sites at designated coordinates The three-dimensional positioning results in the system, and achieve centimeter-level accuracy).
  • the number and positions of scanning and measuring stations and targets are reasonably arranged.
  • a total of 13 scanning stations were set up to obtain the holographic data of Suiyuan.
  • the laser intensity is set to the default setting, the scanning resolution is set to medium; the camera shooting resolution is set to 18 million pixels (5184*3456).
  • the ground 3D laser scanner used in the experiment is Leica ScanStation C10, the central axis external panoramic camera Canon 60D, the lens is Sigma 8mm fisheye lens, and it is equipped with about 18 million pixel CMOS image sensor APS-C and DIGIC4 high-performance digital imaging processor.
  • the instrument After the instrument is set up, it is turned on to scan the space of Suiyuan at each site. Since the main elements of the garden include water, stacked mountains, plants, pavilions, etc., according to the main items such as the layout, elevation, and topography of the garden, and Specific content such as the location, space range, and structure of each garden element are scanned in a targeted manner, and scanned data of the garden space and garden components are collected. At the same time pay attention to the fine scanning of the control target.
  • the experiment uses DJI's drone Phantom3 Advanced flight platform.
  • the camera on the platform is an integrated camera, 30 frames/s 2.7K high-definition video, 12 million pixel still photo shooting.
  • the composed measurement system is used to obtain information on the overall environment and surrounding conditions of Suiyuan.
  • Design 10 flight routes (6 verticals and 4 horizontals) ( Figure 2), set the average ground resolution for image acquisition to 3cm, the actual shooting height is about 30m, and a total of 1 sortie is flown. Oblique image data acquisition is completed in about 10 minutes. 130 ground images.
  • the first step is to remove noise.
  • the laser point cloud data contains noises such as surrounding vegetation points and building points, which need to be removed and separated.
  • the original point cloud data obtained by the three-dimensional laser scanning of each station is imported into the software Cyclone (V8.0, Leica) for denoising.
  • the coordinate matching of the point cloud data acquired by the three-dimensional laser scanner is performed in the Riscan pro software configured on the scanner.
  • calculate the conversion accuracy and error When the accuracy meets the requirements, the coordinate system conversion can be confirmed to complete the coordinate matching of the laser point cloud.
  • the automatic stitching method is used to stitch the stations.
  • select representative public points such as sharp corners of buildings, etc.
  • the specific method is to select the common laser point cloud between each station, and build a large number of triangle faces and laser point clouds, and use the nearest neighbor point method to iterate to perform accurate registration between the stations, and output each measurement station. The stitching accuracy of the station.
  • a point cloud data model (Fig. 3a) and a texture mapping model after stitching (Fig. 3b) were built, and the basis for digital mapping and visual display of the point cloud model of Suiyuan was built.
  • the point cloud model obtained by the three-dimensional laser scanning measurement is measured and information extracted, etc., and the related information of the garden space and garden elements of the Suiyuan can be obtained.
  • the Suiyuan covers an area of about 1400m2, and the north-south is the longest.
  • the longest from east to west is about 41.703m
  • the terrain height difference is about 3.537m
  • the water area is about 365.748m2
  • the length of the two small bridges is about 8.506m and 6.200m respectively
  • the main stacked mountain covers an area of about 240.739m2 and the volume is about 719.720m3
  • the height difference between the pavilion and the water is about 2.501m).
  • Agisoft PhotoScan Pro a software that automatically generates high-quality three-dimensional models based on images
  • a rough point cloud is generated.
  • the rough stitched image has an independent coordinate system, and the multi-view image and the laser point cloud collected by the ground laser scanner need to be matched to the same coordinate system.
  • image matching the ground 3D laser scanning collection point cloud coordinate system is used as the target coordinate system to perform coordinate matching on multi-view images.
  • the details are as follows: use the rough point cloud generated by image stitching to generate a rough surface model; collect laser point clouds on the ground Select a number of points with the same name from the multi-view image (this time, 13 points) as the control points for coordinate matching; read the coordinate information of the control point from the laser point cloud collected on the ground; select the image where the control point is located and check the control point Mark; import the coordinate information of the control point, carry out the coordinate conversion calculation, and complete the coordinate matching of the multi-view photographic image.
  • a dense point cloud based on multi-view images is generated. Edit the generated dense point cloud. After removing the noise points, construct a 3D model based on the dense point cloud. The specific method is to select the point cloud, dense point cloud or sparse point cloud of the generated model; select the accuracy of the generated model; execute the 3D model building command. Finally, based on the generated high-precision three-dimensional model and the acquired multi-view image information, the texture information of the model is generated, and the true color image of Suiyuan is mapped to the starting point cloud model through the texture mapping function to obtain the point cloud data according to the actual color model.
  • the data model obtained by the drone tilt photogrammetry is measured and information extracted.
  • the remote sensing image of Suiyuan and surrounding environment processed by software Pix4Dmapper is shown in Figure 4b.
  • the point cloud model scanned by the 3D laser was sliced horizontally and vertically in Cyclone ( Figure 5), and then the plane and section data files output after the slice were imported into the software AutoCAD ( 2010, Autodek), extract the feature lines and contour lines of each garden element, use the graphics editing functions of software AutoCAD and Photoshop, and use the line shapes and symbols of the garden drawing to analyze the detailed features of the terrain, plants, rockeries, buildings, water bodies and other elements Draw it and finally edit it into a picture ( Figure 6).
  • the 3D visualization of Suiyuan Garden based on multi-view images and 3D laser scanning technology not only provides accurate spatial attributes for transformation and comparison for the digital protection of gardens and subsequent research, but also provides scientific and accurate information for the restoration and dissemination of cultural heritage. Recording method and intuitive display effect.
  • different garden styles and garden construction techniques are compared and classified to facilitate research.
  • the data obtained by ground three-dimensional laser scanning can fully reflect the spatial hierarchy and the characteristics of various landscape elements in the park, while the data obtained by drone close-range photogrammetry can be viewed from the air. It fully reflects the overall situation of the research area and the surrounding environment, and the two complement each other, which can optimally and completely express and display the landscape characteristics of special space areas such as gardens and their surrounding environments.
  • 3S GPS, RS, GIS
  • the garden spatial data and attribute information obtained by digital surveying and mapping can be processed, stored, inquired, retrieved, graphic interactive display, intelligent analysis and other operations can be completed. Management of garden-related information. It plays an important role in promoting the scientific, digital, informatized and visualized recording and display of gardens and their construction results.

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Abstract

本发明公开了一种园林空间数字化测绘和三维可视化方法，包括如下步骤：S1、数据采集，利用三维激光扫描仪获取测绘研究对象的全息数据以及其中控制标靶的全息数据；同时进行近景多视角摄影测量，获取测绘研究对象的全息数据以及其中控制标靶的全息数据；S2、基于三维激光扫描的点云模型构建，在去除噪声、坐标匹配、采样抽稀、降低冗余度后，实现基于三维激光扫描的测绘研究对象空间点云模型构建；S3、基于近景多视角影像的三维模型构建，在拼接后获得据实景颜色的点云数据模型，完成基于近景多视角影像的三维模型构建；S4、多源数据融合及模型生成，实现多源三维模型数据融合；S5，基于三维激光扫描全息数据二维线图画的生成。

Description

一种园林空间数字化测绘和三维可视化方法 技术领域
本发明涉及文化遗产传承与创新保护技术领域，具体为一种基于无人机近景测量的多视角影像与三维激光扫描技术对园林文化遗产进行数字化测绘和三维可视化的园林空间数字化测绘和三维可视化方法。
背景技术
中国园林是我国历史文化遗存的重要组成部分，目前留存的记录古典园林图纸资料，是根据园林制图原理，设定一定的图纸比例以手绘的方式记录中国园林的空间结构和总体布局，并根据人工测量进行园林空间布局和园林要素的记录。记录与展示的方式以手绘平、立、剖面图和手绘透视效果图的方式结合照片视频影像记录为主。其中，这类园林的图纸资料的平、立、剖面图主要通过皮尺测量进行制作，透视图是绘制者根据透视原理和美术素养进行的手工制图，尽管具备一定的空间属性，但精度普遍不高。不能直观的反映所绘对象的纹理与材质。而拍摄的照片影像普遍不具备空间属性特征。而且没有拍摄角度和定位的坐标信息记录，因此照片记录不能客观反应园林的空间布局与空间结构。且图像资料多为片段性资料，传播时不能完整反映中国园林的整体性特征及各要素之间的准确关系。因而，园林空间的手绘平、立、剖面图结合照片的记录和展示形式不够直观，也为后续研究和保护提供了诸多不便。
随着计算机和测绘技术的不断发展，测绘行业逐渐由传统人工测绘向数字化测绘发展。相较于人工测绘而言，数字化测绘不但大大提高了测绘精度，还使所获信息更加全面、所测绘成果更加多样化，具有精确、便捷、多样化的优点。近年来，全站仪、差分GPS等精密测量设备相继被引入文化遗产的记录工作，从而有效的解决了空间属性的精度问题。由于园林在形态上具有复杂、多 变、不规则等特点，尤其需要采用数字化测绘技术和方法，为园林的保护、管理、修缮和研究等提供更适宜、高效和先进的途径。然而，利用全站仪、差分GPS进行的文化遗产记录和展示工作仍然不能解决园林这类小型园林空间内的高差、空间感、深度和文化遗产展示不直观的问题，中国园林的三维立体形态和复杂特征呈现及后期研究的不便利仍然存在。
三维激光扫描是近年来发展起来的三维精细化测量技术，又被称为实景复制技术。其通过激光测距仪发射和接收激光信号，根据光速和激光来回时间差进行距离测量，通过设备中心点坐标、每个测点的斜距、水平垂直角和方向角三个要素求得每个扫描点的空间坐标。通过被测物表面体密集点的三维坐标、反射率和纹理等信息，可快速复建出被测目标的三维模型及线、面、体等各种图件数据。三维激光扫描具有远距离非接触测量、数据密度大、速度快、自发激光、精度高并且可与常规测量设备联合使用等优势，被广泛应用于社会发展的各个领域。三维激光扫描技术通常获取的是对象的点云数据，尽管其能够获取对象的精确三维空间信息，并以点云模型的形式进行三维展示，但这一方式不够直观，不能反映出对象的表面特征和纹理特征，因此通常需要同其它成像技术相结合。
多视角重建是一整套先进的成像技术，它是指利用相机对一个场景从多个视角获取和采集的多幅影像，从可能结合局部运动信号的二维图像序列中估计出相应三维结构的过程。三维激光扫描与多视角重建技术的结合，通过将三维激光扫描设备获取的多视角图像配准至统一坐标系，结合深度数据融合、建网和纹理映射等操作，不仅能够获取对象精准的三维空间信息，构建逼真三维立体几何模型，并能够直观的反映出对象的基本表面特征和纹理特征，为对象展示提供更为直观的效果。
无人机测绘包含正射和倾斜摄影，以无人机作为航空摄影平台能够快速高效地获取高质量、高分辨率的影像，通过自动化的数据处理手段大大加快了大场景精细三维模型的生成速度。而无人机倾斜摄影测量，可以满足倾斜摄影测量与快速三维建模对数据获取的要求，颠覆了传统低空摄影测量只能从垂直角度获取数据的局限。目前国内外尚无类似微型倾斜摄影产品平台，弥补了微型超低空低成本获取倾斜摄影测量高分辨率数据的空白。结合敏捷自动建模系统和多源数据融合技术，可为测绘、可视化、文化遗产保护等研究领域提供低廉、高效、敏捷的数据支持与服务，提高了精细三维数据灵活快速获取的能力。实现三维场景的快速、高效、低成本的真实还原。
三维可视化技术的快速发展为解决中国园林文化遗产整体记录不完整，细部数据记录不精细，展示不直观等问题带来契机，并被迅速应用于古建筑古迹、文化遗产的保护测量、资料保存、文物修复等研究领域。杨宝利等(2017)利用三维激光扫描技术在北海进行的假山叠石三维激光扫描，完成了静心斋大假山、琼华岛山洞的完全尊重实物的三维数字化建模，获得用于重建建筑物的数字化档案，目的为将来的叠石修复、文物重建及理论研究提供依据。喻梦哲等(2017)以苏州环秀山庄与耦园假山的池山叠石部分为例，就所测对象外观轮廓难以精确测量和清晰表达的问题，以三维激光扫描与近景摄影测量技术与传统手工量取方法进行比较，验证了前者在数据获取效率与全面性方面的优势，并就该技术在园林信息采集和图纸成果表达等环节中的具体操作方法作了初步讨论，评测了此类测量技术手段在古典园林测绘和研究中的适宜性问题。张亚(2011)三维激光扫描技术在三维景观重建中的应用研究，探讨了三维激光扫描技术在三维建筑物重建应用中的有关问题。通过扫描仪对不同视点的建筑物扫描得到原始的点云数据，并将这些多视点的点云数据进行拼接、滤波处理， 得到了用于三维建模所需的建筑物表面的点云数据，再将这些处理后的点云数据根据建筑物的各个组成部分进行单独建模。通过误差比对，得到了高于房产测量规范要求精度的建筑物三维模型。胡庆武等(2013)针对武当山古建筑两仪殿的精细测量和三维建模，提出了一种地面三维激光扫描和全景测量的古建筑精细测绘的技术流程方法，提供具有可扩展测量距离和精度的三维数据收集，以补偿由于相互遮挡和扫描视图限制而丢失的数据。提出了一种多尺度数据融合方法，用于不同尺度和分离的3D数据的数据配准和过滤。点投影算法与点云切片工具一起用于精细测量，以生成所有类型的建筑图。李宝瑞(2012)对地面三维激光扫描技术在古建筑测绘中的应用进行研究，探讨古建筑的三维建模问题，研究了具体的建模过程，对建好的三维模型进行了纹理贴图，并对三维模型进行了特征线的提取，绘制出古建筑的立、剖、俯和平面图，然后对三维模型进行了精度分析，最后对古建筑测绘在古建筑保护、修缮和重建等方面的重要性进行了论述。论证了三维激光扫描技术在古建筑测绘方面比传统的测绘方法，有着更快的数据获取速度和更高的数据处理精度。侯飞等(2013)以徐州市狮子山楚王陵为例，基于Leica HDS公司的Leica ScanStationC10三维激光扫描系统，用Cyclone软件的TIN多边形算法，生成TIN。导入Google SketchUp软件构建模型，通过数码相机照片进行纹理贴图，后期导人到可视化软件Lumion中进行三维可视化展示。但是该技术不足在于，通过数码相机照片进行纹理贴图受景观高度、拍摄距离等因素的影响所拍摄出的斜拍图片，后期要通过仿射变换处理将斜拍图片变换成直拍图片，贴出时会出现比例误差，不适用于结构复杂的对象。张洪吉(2016)三维激光扫描构建了文物三维数字化档案，并乐山文庙的大成殿为例开展三维重建和信息提取。，由于其获取数据的全面性和无接触式，在文化遗产保护上提高了保护的科学性和安全性。但 是不同材质目标物反射率不同而带来的数据缺失或失真，缺少面向复杂结构目标物的数据精度验证。程钢等(2010)提出开发利用文物景观的同时，采取有效方式进行保护和修复，并对其档案信息永久保存。以大型文物景观数字化保护为目的，提出将GPS、全站仪等单点测量方式与三维激光扫描技术相结合，以局域控制的方式将景观模型纳入空间坐标系统，研究其分布和演化规律；利用三维激光扫描仪获取文物景观的全方位空间信息，建立可量测的三维可视化模型和二维线画模型。将其用于中山纪念馆的数字化工程，证明了该方法的有效性。胡少兴等(2006)提出了一种以三维激光扫描技术和高分辨率彩CCD摄像技术为主要数据获取手段，利用改进的ICP算法，获得真三维、真尺寸、真纹理的古文物数字化工程模型。并在云冈石窟和古石雕数字化工程实践进行了验证。实现了二维纹理与三维激光扫描数据的准确映射。但是因为所测对象为单一表面的纹理测绘，未对不同元素有机组合的复杂空间的测量技术与数据处理给出实践验证。丁志广等(2016)将无人机倾斜摄影用于江门市快速三维建模，实践发现无人机倾斜摄影快速三维建模速度快，效率高，能更好的表达建筑结构和色彩。但也存在一些问题，在200米高空的摄影条件下，会出现地面至15m高度，三维建模效果较差，植被及树荫下遮盖部分建模效果较差，大面积水体可能会有空洞等问题。张平等(2014)在“数字资阳”项目中，利用倾斜摄影测量技术结合街景工厂软件进行数据的处理，建立资阳城区4.5km2的街景模型，并对其进行精度评定。尽管街景工厂快速地生成了高精度的实景三维模型，但这个模型是通过整体构网，并为每个三角网选择最佳视角贴纹理而生成，是一个整体的大场景模型，并不是面向对象的分层数据。因此，在三维模型数据更新，模型的完整性研究、对象分层研究上有明显不足。限制了其相关的应用推广。余芳强等(2018)在上海玉佛禅寺改扩建工程中，采用BIM技术、 FARO Focus 3D地面三维激光扫描、航拍倾斜测量等多源数据的古建筑数字化建模技术。该技术可快速地建立既有古建筑的数字化模型，并支持在既有建筑改建过程中的应用。
上述研究大致可以分为四类：第一种，一是基于工程数据进行三维可视化。以杨宝利等(2017)，喻梦哲等(2017)，张亚(2011)的实践研究为代表，这类研究主要目标是对三维工程模型的重建，能获得较为精准的工程数据与线画图。但是，未考虑真实材质和纹理的数字化图纸展示。同时，对针对古典园林的叠石假山、建筑物的单独三维数据扫描和工程建模，没有考虑园林空间的整体特征，没有依据古典园林的整体性空间特征进行数据获取与处理，不能获得完整的景观空间工程图纸和实景数字化模型，不能促进园林的整体性景观空间和各组成要素的保护研究，不能直观展示景观整体；第二种是利用三维激光扫描测量技术进行古建筑的三维可视化。以胡庆武等(2013)，李宝瑞(2012)，侯飞等(2013)，张洪吉(2016)的相关研究为代表。这类研究的基于三维激光扫描、全景测量等多尺度数据，数据较为精细，同时也能够满足平面图、剖面图等图纸数据快速生成的需求。纹理映射的方式，在可视化展示上缺少与数字摄影测量相结合的直观实景效果。程钢等(2010)建立可量测的三维可视化模型和二维线画模型，在利用GPS、全站仪等单点测量方式与三维激光扫描技术相结合研究其分布和演化规律；没有利用倾斜摄影测量在大范围空间低成本、真实性高、高效率的优势与三维激光扫描在小尺度空间高精度的优势结合。缺少多源数据相互结合，获得高效、高精度的数字化模型；第三种是利用数字摄影测量技术进行场景的三维可视化。丁志广等(2016)利用无人机倾斜摄影测量快速生成的三维实景模型，张平等(2014)利用倾斜摄影测量技术结合街景工厂软件进行数据的处理，这类研究突出了倾斜摄影测量在大场景三维模型构 建中成本低、范围广、效率高等优点，同时精度也能满足三维模型和大比例尺DOM制作的精度要求。但由于硬件，远景拍摄等因素，对地面上高度较低且不规则物体的真实还原还不够。目前只能实现模型“单体化”，只是在利用外包围合将模型特定部分进行高亮显示而已，并没有真正意义上实现三维模型各要素的自动分层、分割和提取。且模型单体化和数据的融合是倾斜摄影测量的最大问题。远景拍摄和模型成果不适合小尺度空间模型完整性和对象分层的数据提取；第四种是利用三维激光扫描与数字摄影测量技术进行场景的三维可视化。胡少兴等(2006)的研究实现了二维纹理与三维激光扫描数据的准确映射。但是因为所测对象为单一空间和表面的复杂纹理测绘，未对不同元素有机组合的复杂空间的测量技术与数据处理给出实践验证。园林空间要素多组成关系与空间布局复杂，具有数据获取与处理的特殊性，同时，单一摄像技术不能满足园林三维模型整体空间布局和局部细节的完整展示需求。余芳强等(2018)基于多源数据对既有古建筑进行数字化建模，该方法可快速地建立既有古建筑的数字化模型，并支持在既有建筑改建过程中的应用，但采用三维激光扫描与航拍倾斜测量建模技术，会出现模型精度不够的问题。对于文化遗产完整性保护和小尺度的空间范围，近景倾斜测量更具备技术优势。
发明内容
本发明目的是针对现有技术的不足，提供一种园林空间数字化测绘和三维可视化方法。旨在解决园林竖向高层及园林组成要素的空间数据获取繁琐，精度较差、展示形式单一且不够直观等问题。其以园林各要素为目标对象，在充分考虑园林记录过程和后续成果相关需求的前提下，利用三维激光扫描与多视角影像重建技术，对园林竖向高层结构与园林各景观要素按照空间结构关系进行空间属性精确的三维数据全息采集与可视化，通过多源数据融合，完成多层 次不同粒度三维模型的统一构建，实现三维模型各要素的自动分层、分割和提取。并按照园林路径的动态游览方式使其具备包含动态时间和位移属性的多维特征。成果不仅能够满足园林平立剖面图、园林空间布局图，景观要素分布图等后续园林文化遗产数字化智慧景观成果的精准快速生成的需要，而且便于不同游览线路下步移景异的园林景观空间效果以及同一节点不同视角方向的景观空间分析的体验对比研究与直观展示，为园林路径游览空间的全息采集与三维可视化提供一套科学合理、快速便捷的方法体系。
为了实现上述目的，本发明的技术方案是：
一种园林空间数字化测绘和三维可视化方法，包括如下步骤：
S1、数据采集
以园林为测绘研究对象，首先在测绘研究对象的区域确定目标地面三维激光扫描采集点云坐标系，在确定的地面三维激光扫描采集点云坐标系基础上进行图根控制点的布设并完成图根控制点的测量工作，解算出每个图根点的平面坐标和高程；
根据测绘研究对象的布局和要素构成，布置扫描测站点和控制标靶的数量、位置，测量扫描测站点、控制标靶的坐标信息；将三维激光扫描仪设置在扫描测站点，利用三维激光扫描仪获取测绘研究对象的全息数据以及其中控制标靶的全息数据；三维激光扫描仪获得的全息数据为坐标数据；
同时利用无人机对测绘研究对象进行近景多视角摄影测量，获取测绘研究对象的全息数据以及其中控制标靶的全息数据，无人机获得的全息数据为影像数据；
S2、基于三维激光扫描的点云模型构建
首先是去除噪声，将三维激光扫描仪扫描获得的全息数据中的原始激光点云数据导入去噪软件中进行去噪处理，去除其中包含的周围植被点、建筑物点但不仅限周围植被点、建筑物点的噪声，得到去噪激光点云数据；
将三维激光扫描仪测量的控制标靶坐标信息导出，并转换为点云处理软件需要的控制点格式，利用点云处理软件，完成去噪激光点云数据的坐标匹配，得到坐标匹激光点云数据；
采用最邻近点法迭代，通过选取坐标匹配激光点云数据中的共同点来进行扫描测站点间的精确配准，拼接构建大量的三角面片和激光点云，形成整个测绘研究对象的三维激光点云；同时对靠近扫描测站点的激光点云进行采样抽稀，降低激光点云的冗余度；
采用三角面片构建精细三维模型，利用激光点云的空间平面坐标和高程信息，通过构建参考平面，计算激光点到参考平面的体积并构建表面三角网模型，实现基于三维激光扫描的测绘研究对象空间点云模型构建；
S3、基于近景多视角影像的三维模型构建
将近景多视角采集的影像数据导入基于影像生成三维模型的软件中进行影像粗略拼接处理，并生成近景多视角坐标系统下的粗略点云；以地面三维激光扫描采集点云坐标系为目标坐标系，将近景多视角坐标系统下的粗略点云匹配为目标坐标系的粗略点云，生成多视角影像的密集点云并基于密集点云进行三维模型构建，获得据实景颜色的点云数据模型；
用软件Cyclone处理所得的园内三维实景点云模型，以及将无人机摄影测量获取的原始全息数据导入软件Pix4Dmapper(2.0，Pix4D)中进行特征点的校正及影像拼接和点云加密等参数的设置后进行运算，获得测绘研究对象及周围 环境的遥感影像和三维点云模型，并生成模型的纹理信息；实现模型的真实、直观展示效果，最终完成基于近景多视角影像的三维模型构建；
S4、多源数据融合及模型生成
将近景多视角影像的三维模型型转换为换obj格式，然后，将obj格式数据导入到基于三维激光扫描全息数据的点云模型中，利用坐标匹配将基于三维激光扫描全息数据的点云模型与近景多视角影像的三维模型进行空间匹配与数据融合，实现多源三维模型数据高精度融合，实现基于近景拍摄的多视角影像与激光扫描的园林数字化测绘和三维可视化；
S5，基于三维激光扫描全息数据二维线图画的生成
在Cyclone中对三维激光扫描的点云模型分别进行水平和垂直方向切片，然后将切片后输出的平面和剖面等数据文件导入软件AutoCAD(2010，Autodesk)中，提取各园林要素的特征线和轮廓线，通过软件AutoCAD和Photoshop的图形编辑功能，利用园林绘图的线形和符号，对地形、植物、假山、建筑、水体等要素的细部特征进行绘制，最终编辑成图。
进一步的，在所述步骤S1中，地面三维激光扫描采集点云坐标系选用WGS-84坐标系但不仅限于WGS-84坐标系，图根控制点的布设与测量采用GNSS RTK系统但不仅限于GNSS RTK系统，图根控制点高程的拟合采用GPS但不仅限于GPS；控制标靶选取测绘研究对象中控制范围大的地点作为控制标靶并在控制范围大的地点设置反光片。
进一步的，在步骤2中，去噪软件为软件Cyclone(V8.0，Leica)但不仅限于Cyclone(V8.0，Leica)软件，点云处理软件为Riscan pro软件但不仅限于Riscan pro软件。
进一步的，在步骤3中，基于影像生成三维模型的软件为Agisoft  PhotoScan Pro软件但不仅限于Agisoft PhotoScan Pro软件。
与现有技术相比，本发明具有的优点和积极效果是：
本发明的园林空间数字化测绘和三维可视化方法，制作的园林数字化三维模型不仅具有直观的展示效果，而且空间属性精度较高，可方便快捷的利用三维模型进行园林平面布局图、空间结构图、平立剖面图、景观构成要素分布图等园林营造信息与成果数据的制作与生产，并便于不同空间视角、不同景观要素及其营造手法的对比与分析。同时，整个制作过程基于计算机、三维激光扫描仪、无人机测量、数码拍摄设备进行，不仅数据获取与处理过程科学精准，而且与常规方法相比，大大缩减取了文化遗产资源信息记录的工作时间，提高了工作效率，获得风景园林学、工程测量学、建筑学、文化遗产保护等相关领域工作人员的一致好评。业内人士认为，基于近景多视角影像和三维激光扫描技术的园林空间三维可视化方法科学有效、直观精确，不仅有助于园林空间及游览过程的直观展示，同时对于园林营造信息的相关分析与研究具有很好的促进与帮助作用，相信该方法的推广与应用对于园林文化遗产保护工作的信息化、科学化、数字化与可视化及虚拟现实技术具有重要的推动作用。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1：本发明的方法流程图；
图2：测站点和标靶编号布置及无人机航线分布图；
图3：遂园点云数据模型(a)和拼接后(b)纹理映射模型图；
图4：遂园及周围环境无人机摄影测量影像图及三维实景模型图；
图5：三维激光扫描测量点云数据模型切片图；
图6：遂园线画图；
图7：遂园造园要素-亭子线画图；
图8：对环秀山庄三维模型各园林要素的单独分层、分割和提取图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
如图1至图8所示，本发明的园林空间数字化测绘和三维可视化方法，其包括以下步骤：
下面结合附图和具体的操作实例来详细表述本发明的基于无人机近景测量的多视角影像与激光扫描的园林文化遗产数字化测绘和三维可视化保护方法空间数字化测绘和三维可视化方法：
遂园，亦称荫庐，现位于苏州市景德路303号，慕家花园16号。苏州大学附属儿童医院住院部内，占地面积约3310m 2，主要构园要素包括水体、叠山、植物、建筑等。清康熙年间巡抚慕天颜购得申衙前申氏花园，后改称“慕家花园”。之后又多次易主，再后来至道光年间，道员董国华告老后购得西部，种花缀石，略加修葺。尚书毕沅毕氏则居东偏。至清宣统年间，董氏旧宅归由安徽刘氏改名“遂园”。刘氏后裔于民国20年左右售与沪商吴氏。1934年东山人叶氏以此园建花园别墅“荫庐”，1937年左右重修，北部建西式楼房。1940 年遂园曾一度被日本侵略军占为宪兵队队部。解放后，遂园先后为制药厂、工艺美术局、儿童医院使用，此园几经损坏和重修，直到1959年划归苏州市儿童医院。1983年医院又在园东部新建楼房，园貌大改。中国园林的测绘难度较高，因其面积有限，构成要素丰富，整体风格自然、灵活多变、景观层次复杂，景观在竖向上层次丰富、富于变化，园林要素彼此间的遮挡、交错等情况严重。因此在遂园工程测量上的一些问题逐渐显现。首先，遂园位于苏州市内，历史上的易主导致此园屡经改建增建，又几经损坏和重修，园貌已有别于原貌。这也是现存很多园林文化遗产的现实状况。同时，城市化建设的快速发展对于类似传统空间的保护造成很大影响，早期园貌及周边环境难以找寻，根据传统文字记载很难对园林的空间进行直观对比和研究参考，使得园林的古今空间对比与分析工作难以进行。其次，传统测量与记录方法在对园林的记录、描述、分析与展示存在数据获取复杂、精度不高、展示效果不直观等问题，不利于园林的后续研究与宣传工作。因此，急需要对园林的文化遗产数字化测绘和记录工作进行改进与完善。
由于遂园规模较小，地形和景观要素形态复杂，实验选用地面三维激光扫描测量获得园内景观信息和无人机近景摄影测量获取园林整体及周边环境信息的测量方法。工作的目的包括两个方面，一是将所测区域给予通用标准的空间坐标体系，便于整个遂园区域考古发掘工作的空间对比；二是对遂园的园林构成要素及路径景观进行准确、科学、全息的记录与展示，以便于园林的后续研究与直观展示。
1、数据获取
1)准备工作
为便于后续补测和对比研究具有可供转换与对比的空间信息，首先需要确定坐标系统。本次采用WGS-84坐标系，坐标系统确定后，进行图根控制点的布设与测量工作。本次采用GNSS RTK技术,在遂园内设两两通视的图根点6个，基于遂园区域附近的D级GPS控制点，采用基于江苏省CORS站(利用多基站网络RTK技术建立的连续运行(卫星定位服务)参考站(Continuously Operating Reference Stations)，利用GNSS RTK方式平滑测量图根控制点，即自动观测图根点的观测值并取平均值作为定位结果，解算出每个图根点的平面坐标，并采用GPS拟合高程。(高精度的GPS测量必须采用载波相位观测值，RTK定位技术就是基于载波相位观测值的实时动态定位技术，它能够实时地提供测站点在指定坐标系中的三维定位结果，并达到厘米级精度)。在遂园区域通视条件后、控制范围大的地点布设扫描反光片作为控制标靶，并利用全站仪测量各个控制标靶的坐标信息。
2)三维激光扫描数据获取
根据遂园的布局和园林要素构成特点，合理布设扫描测站点和标靶的数量和位置。扫描共设扫描测站点13个，以获取遂园的全息数据。每个测站点设置4-6个标靶，标靶编号共计13个(图2)。激光强度设置为默认设置，扫描分辨率设置为中等；相机拍摄分辨率设置为1800万像素(5184*3456)。实验中所采用的地面三维激光扫描仪为Leica ScanStation C10，中轴外置全景相机Canon 60D，镜头为Sigma 8mm鱼眼镜头，搭载约1800万像素CMOS图像感应器APS-C和DIGIC4高性能数字影像处理器。仪器架设完毕后，开机在各个站点对遂园空间进行扫描，由于遂园主要构园要素包括水体、叠山、植物、亭子等，即根据遂园空间的布局、高程、地形等主要项目，以及各园林要素的位置、 空间范围、结构等具体内容进行针对性扫描，采集遂园空间及园林构成要素的扫描数据。同时注重对控制标靶的精细扫描。
3)近景多视角影像数据采集
实验采用DJI的无人机Phantom3 Advanced飞行平台,其平台上搭载的相机为一体化集成相机,30帧/s的2.7K高清录像，1200万像素的静态照片拍摄。所组成的测量系统进行遂园整体环境及周围情况的信息获取。设计飞行航线10条(6纵4横)(图2)，设定获取影像的地面平均分辨率为3cm，实际拍摄高度约30m，共飞行1个架次，约10min时间完成倾斜影像数据获取，获取地面影像130张。
通过近景正射获得研究区域和周围环境的整体情况，同时注重控制标靶数据的获取。在拍摄过程中，影像的重叠度要求在50％以上，以保证后续影像拼接的需要。通过无人机倾斜影像数据获取遂园的多视角影像全息数据，以保证遂园数字化模型的建立。
(2)基于三维激光扫描技术的点云模型构建
首先，首先是去除噪声，从激光点云数据中包含周围植被点、建筑物点等噪声，需要将其去除分离。将三维激光扫描各测站点所获取的原始点云数据导入软件Cyclone(V8.0，Leica)进行去噪。
第二，对利用三维激光扫描仪获取的点云数据进行坐标匹配，其在在扫描仪配置的件Riscan pro软件中进行。将全站仪测量的控制点标靶坐标信息导出，并转换为点云处理软件需要的控制点格式。然后，将控制点标靶坐标信息表导入点云处理软件的全局控制点坐标表内，以控制点标靶名称命名其对应的反射标靶的名称，通过同名点匹配将各测站坐标匹配到平面坐标系中。最后， 计算转换精度和误差。当精度满足要求的时候，可以确认坐标系转换，从而完成激光点云的坐标匹配。
第三，将各测站数据拼接到一起，形成整个测区的三维激光点云。由于本次所有测站坐标都已经利用控制点标靶进行坐标匹配，所以选用自动拼接的方式进行站点拼接。对于标靶数量低于4的测站点，选取代表性公共点(如建筑物尖角等)进行公共点云配准。具体的做法是，通过选取各测站之间共同的激光点云，并构建大量的三角面片和激光点云，通过最邻近点法迭代来进行测站间的精确配准，并输出各测站的拼接精度。
第四，由于利用地面三维激光扫描获取的点云数据时，距离扫描站点越近，其点云越密集。因此需要在保证后续建模的精度的前提下，对点云数据进行采样抽稀，降低点云的冗余度，减少点云建模的工作量。本次主要对遂园的点云数据进行了1厘米的抽样，以提供建模的工作效率。
最后，对遂园进行基于三维激光扫描技术的点云模型构建。本次仍采样在软件Cyclone中，对三维激光扫描测量获得的点云模型进行测量和信息提取等操作。采用三角面片构建精细三维模型，其基本思路是利用点云的空间平面坐标和高程信息，通过构建参考平面，计算点云到参考平面的体积并构建表面三角网模型，实现基于三维激光扫描技术的园林空间点云模型构建。
根据遂园的实际情况，建成遂园点云数据模型(图3a)和拼接后(图3b)纹理映射模型，并以此构建遂园的点云模型数字化测绘和可视化展示的基础。(在软件Cyclone中，对三维激光扫描测量获得的点云模型进行测量和信息提取等操作，可获得遂园园林空间及园林要素相关信息。如:遂园占地面积约1400m2，南北最长约37.565m，东西最长约41.703m，地形高差约3.537m，水体面积约 365.748m2，两处小桥长度分别约8.506m和6.200m，主体叠山占地面积约240.739m2、体积约719.720m3，亭子与水面的高差约2.501m)。
(3)基于近景多视角影像的三维模型构建
首先，将近景采集的多视角影像导入Agisoft PhotoScan Pro(是一款基于影像自动生成高质量三维模型的软件)软件内进行影像粗略拼接处理，并生成粗略点云。经过粗略拼接的影像具有独立的坐标系统，需要将多视角影像与地面激光扫描仪采集激光点云匹配到相同的坐标系统。在影像匹配中，以地面三维激光扫描采集点云坐标系为目标坐标系，对多视角影像进行坐标匹配，具体如下：利用影像拼接生成的粗略点云生成粗略地表模型；在地面采集激光点云与多视角影像中选择若干同名点(本次为13个)，作为坐标匹配的控制点；在地面采集的激光点云中读取控制点的坐标信息；选择控制点所在的影像并对控制点进行标记；导入控制点的坐标信息，进行坐标转换计算，完成多视角摄影像坐标匹配。
坐标匹配后，进行基于多视角影像的密集点云生成。对生成密集点云进行点云的编辑，剔除噪音点之后，进行基于密集点云的三维模型构建。具体做法为，选择生成模型的点云，密集点云或稀疏点云；选择生成模型的精度；执行三维模型构建命令。最后，基于生成的高精度三维模型和获取的多视角影像信息，生成模型的纹理信息，通过纹理映射功能，将遂园真彩色图像映射至起点云模型上，即获得据实景颜色的点云数据模型。
用软件Cyclone处理所得的园内三维实景点云模型(图3b)，以及将无人机摄影测量获取的原始数据导入软件Pix4Dmapper(2.0，Pix4D)中进行特征点的校正及影像拼接和点云加密等参数的设置后进行运算，即可获得园林及周围环境的遥感影像和三维点云模型，并生成模型的纹理信息。实现模型的真实、直 观展示效果，最终完成基于多视角影像的三维模型构建。此次建成多视角影像三维模型，如图4a所示，并以此构建遂园的多视角影像三维模型在软件Pix4Dmapper中，对无人机倾斜摄影测量获得的数据模型进行测量和信息提取等操作，可获得遂园园林空间和要素及其周边环境的相关信息(如:遂园中高大乔木约26棵，冠径最大的约11.35m、最小的约3.02m；树高最大的约15.42m、最小的约3.75m)。
(4)多源数据融合及模型生成
将基于多视角生成的三维模型转换转换obj格式。由于已经进行坐标匹配与转换，生成的模型保护空间坐标信息、纹理信息等。然后，将obj格式数据导入到点云模型中，利用坐标匹配将点云模型与多视角三维模型进行空间匹配与数据融合，实现多源三维模型数据高精度融合，实现基于近景拍摄的多视角影像与激光扫描的园林数字化测绘和三维可视化。
(5)基于数字测绘对二维线画图的生成
由软件Pix4Dmapper处理所得的遂园及周围环境遥感影像如图4b所示。为进一步表达和分析园内的景观特征，在Cyclone中对三维激光扫描的点云模型分别进行水平和垂直方向切片(图5)，然后将切片后输出的平面和剖面等数据文件导入软件AutoCAD(2010，Autodek)中，提取各园林要素的特征线和轮廓线，通过软件AutoCAD和Photoshop的图形编辑功能，利用园林绘图的线形和符号，对地形、植物、假山、建筑、水体等要素的细部特征进行绘制，最终编辑成图(图6)。依据同样方法进行亭子的点云数据模型切片，并进行亭子的线画图绘制，可分别得出亭子的底层平面图、俯视图、仰视图、正立面图、侧立面、剖面图(图7)的线画图。对环秀山庄三维模型各园林要素的单独分层、分割和提取可见图8所示。
基于多视角影像和三维激光扫描技术的遂园三维可视化不仅为园林数字化保护及其后续研究提供了可供转化和对比的精确的空间属性，同时也为文化遗产修缮和传播提供可科学、精准的记录方式和直观的展示效果。利用所构建三维可视化模型，可以精确便捷的生成园林的平立剖面图、景观要素分布，遂园园林空间的布局、高程、空间结构、地形等工程测绘学、风景园林学、园林文化遗产所必须的相关成果，同时也不同园林风格和园林营造手法相互对比和归类研究提供便利。从获得的遂园及周围环境三维实景模型可以看出:地面三维激光扫描所获数据能够充分反映园内的空间层次和各景观要素特点，而无人机近景摄影测量所获数据能够从空中角度充分反映研究区域和周围环境的整体情况，两者相互补充，能最优化完整表达和展示园林这类特殊空间区域及其周围环境的景观特征。另外，可基于3S(GPS、RS、GIS)技术和三维仿真等技术将数字化测绘所获取的园林空间数据与属性信息进行处理、存储、查询、检索、图文交互显示、智能分析等操作，完成园林相关信息的管理。对于园林及其营造成果的记录与展示的科学化、数字化、信息化、可视化具有重要的推动作用。

Claims (4)

  1. 一种园林空间数字化测绘和三维可视化方法，其特征在于：
    包括如下步骤：
    S1、数据采集
    以园林为测绘研究对象，首先在测绘研究对象的区域确定目标地面三维激光扫描采集点云坐标系，在确定的地面三维激光扫描采集点云坐标系基础上进行图根控制点的布设并完成图根控制点的测量工作，解算出每个图根点的平面坐标和高程；
    根据测绘研究对象的布局和要素构成，布置扫描测站点和控制标靶的数量、位置，测量扫描测站点、控制标靶的坐标信息；将三维激光扫描仪设置在扫描测站点，利用三维激光扫描仪获取测绘研究对象的全息数据以及其中控制标靶的全息数据；三维激光扫描仪获得的全息数据为坐标数据；
    同时利用无人机对测绘研究对象进行近景多视角摄影测量，获取测绘研究对象的全息数据以及其中控制标靶的全息数据，无人机获得的全息数据为影像数据；
    S2、基于三维激光扫描的点云模型构建
    首先是去除噪声，将三维激光扫描仪扫描获得的全息数据中的原始激光点云数据导入去噪软件中进行去噪处理，去除其中包含的周围植被点、建筑物点但不仅限周围植被点、建筑物点的噪声，得到去噪激光点云数据；
    将三维激光扫描仪测量的控制标靶坐标信息导出，并转换为点云处理软件需要的控制点格式，利用点云处理软件，完成去噪激光点云数据的坐标匹配，得到坐标匹激光点云数据；
    采用最邻近点法迭代，通过选取坐标匹配激光点云数据中的共同点来进行扫描测站点间的精确配准，拼接构建大量的三角面片和激光点云，形成整个测 绘研究对象的三维激光点云；同时对靠近扫描测站点的激光点云进行采样抽稀，降低激光点云的冗余度；
    采用三角面片构建精细三维模型，利用激光点云的空间平面坐标和高程信息，通过构建参考平面，计算激光点到参考平面的体积并构建表面三角网模型，实现基于三维激光扫描的测绘研究对象空间点云模型构建；
    S3、基于近景多视角影像的三维模型构建
    将近景多视角采集的影像数据导入基于影像生成三维模型的软件中进行影像粗略拼接处理，并生成近景多视角坐标系统下的粗略点云；以地面三维激光扫描采集点云坐标系为目标坐标系，将近景多视角坐标系统下的粗略点云匹配为目标坐标系的粗略点云，生成多视角影像的密集点云并基于密集点云进行三维模型构建，获得据实景颜色的点云数据模型；
    用软件Cyclone处理所得的园内三维实景点云模型，以及将无人机摄影测量获取的原始全息数据导入软件Pix4Dmapper(2.0，Pix4D)中进行特征点的校正及影像拼接和点云加密等参数的设置后进行运算，获得测绘研究对象及周围环境的遥感影像和三维点云模型，并生成模型的纹理信息。实现模型的真实、直观展示效果，最终完成基于近景多视角影像的三维模型构建；
    S4、多源数据融合及模型生成
    将近景多视角影像的三维模型型转换为换obj格式，然后，将obj格式数据导入到基于三维激光扫描全息数据的点云模型中，利用坐标匹配将基于三维激光扫描全息数据的点云模型与近景多视角影像的三维模型进行空间匹配与数据融合，实现多源三维模型数据高精度融合，实现基于近景拍摄的多视角影像与激光扫描的园林数字化测绘和三维可视化；
    S5，基于三维激光扫描全息数据二维线图画的生成
    在Cyclone中对三维激光扫描的点云模型分别进行水平和垂直方向切片，然后将切片后输出的平面和剖面等数据文件导入软件AutoCAD(2010，Autodesk)中，提取各园林要素的特征线和轮廓线，通过软件AutoCAD和Photoshop的图形编辑功能，利用园林绘图的线形和符号，对地形、植物、假山、建筑、水体等要素的细部特征进行绘制，最终编辑成图。
  2. 如权利要求1所述的园林空间数字化测绘和三维可视化方法，其特征在于：在所述步骤S1中，地面三维激光扫描采集点云坐标系选用WGS-84坐标系但不仅限于WGS-84坐标系，图根控制点的布设与测量采用GNSS RTK系统但不仅限于GNSS RTK系统，图根控制点高程的拟合采用GPS但不仅限于GPS；控制标靶选取测绘研究对象中控制范围大的地点作为控制标靶并在控制范围大的地点设置反光片。
  3. 如权利要求1所述的园林空间数字化测绘和三维可视化方法，其特征在于：在步骤2中，去噪软件为软件Cyclone(V8.0，Leica)但不仅限于Cyclone(V8.0，Leica)软件，点云处理软件为Riscan pro软件但不仅限于Riscan pro软件。
  4. 如权利要求1所述的园林空间数字化测绘和三维可视化方法，其特征在于：在步骤3中，基于影像生成三维模型的软件为Agisoft PhotoScan Pro软件但不仅限于Agisoft PhotoScan Pro软件。
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