WO2021120389A1 - 一种用于空中全景漫游数据的坐标转换方法及装置 - Google Patents
一种用于空中全景漫游数据的坐标转换方法及装置 Download PDFInfo
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 68
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- 238000000605 extraction Methods 0.000 claims description 4
- 238000013500 data storage Methods 0.000 abstract description 6
- 230000009466 transformation Effects 0.000 abstract 1
- 239000000284 extract Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000004590 computer program Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/60—Rotation of whole images or parts thereof
- G06T3/604—Rotation of whole images or parts thereof using coordinate rotation digital computer [CORDIC] devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/04—Context-preserving transformations, e.g. by using an importance map
Definitions
- the invention relates to the field of computer data processing, in particular to a coordinate conversion method and device for aerial panoramic roaming data.
- the Mercator projection method is used to convert GPS coordinates of longitude and latitude into plane coordinates.
- the main principle is to project a spherical surface onto a cylindrical surface, and then expand the cylindrical surface.
- the Mercator projection method is mainly used in the military and surveying and mapping fields. Its characteristic is that it can accurately express any position in the world, so that the Mercator projection method needs to obtain a large amount of parameter information, and then Increase the coordinate conversion time; among them, the parameter information includes the semi-major axis of the ellipsoid, the semi-minor axis of the ellipsoid, the eccentricity, and the oblateness.
- the embodiment of the present invention provides a coordinate conversion method for aerial panoramic roaming data, which can convert longitude and latitude coordinates into plane coordinates without acquiring a large amount of parameter information, thereby improving coordinate conversion efficiency and reducing data storage space.
- an embodiment of the present invention provides a coordinate conversion method for aerial panoramic roaming data, including:
- the converted longitude and latitude information corresponding to the i-th aerial panoramic roaming photo is obtained; where N ⁇ i>1;
- the method further includes:
- the method further includes:
- the horizontal axis coordinate value, the vertical axis coordinate value, and the vertical axis coordinate value corresponding to the i-th aerial panoramic roaming photo are stored in a binary manner.
- the latitude and longitude information of the i-th aerial panoramic roaming photo and the longitude and latitude information of the first aerial panoramic roaming photo are combined with a preset conversion method to obtain the converted latitude and longitude corresponding to the i-th aerial panoramic roaming photo Information, specifically:
- the i-th is obtained based on the first conversion method and according to the longitude in the latitude and longitude information of the i-th aerial panoramic roaming photo and the longitude in the longitude and latitude information of the first aerial panoramic roaming photo.
- the converted longitude corresponding to the panoramic roaming photos in the sky specifically:
- the converted longitude corresponding to the i-th aerial panoramic roaming photo is the difference between the second threshold and the longitude in the longitude and latitude information of the i-th aerial panoramic roaming photo plus The longitude in the longitude and latitude information of the first aerial panoramic roaming photo;
- the converted longitude corresponding to the i aerial panoramic roaming photos is the longitude difference.
- the i-th is obtained based on the second conversion method and according to the latitude in the longitude and latitude information of the i-th aerial panoramic roaming photo and the latitude in the longitude and latitude information of the first aerial panoramic roaming photo.
- the converted latitude corresponding to the panoramic roaming photos in the sky specifically:
- the converted latitude corresponding to the i-th aerial panoramic roaming photo is the difference between the second threshold and the latitude in the longitude and latitude information of the i-th aerial panoramic roaming photo plus The latitude in the latitude and longitude information of the first aerial panoramic roaming photo;
- the converted latitude corresponding to the i aerial panoramic roaming photos is the latitude difference.
- the obtaining the horizontal axis coordinate value and the vertical axis coordinate value corresponding to the i-th aerial panoramic roaming photo according to the converted latitude and longitude information, the radius of the earth, and the circumference ratio is specifically:
- the converted longitude and latitude information includes converted longitude and converted latitude
- the vertical axis coordinate value corresponding to the i-th aerial panoramic roaming photo is obtained.
- the first preset formula is specifically:
- rx is the coordinate value of the horizontal axis corresponding to the i-th aerial panoramic roaming photo
- M_PI is the circle rate
- L is the radius of the earth
- orign_lat is the latitude in the longitude and latitude information of the first aerial panoramic roaming photo
- d_lon is expressed as Convert longitude.
- the second preset formula is specifically:
- ry represents the coordinate value of the vertical axis corresponding to the i-th aerial panoramic roaming photo
- M_PI represents the circumference of the circle
- L represents the radius of the earth
- d_lat represents the converted latitude
- the present invention also provides a coordinate conversion device for aerial panoramic roaming data, including:
- An information extraction module for obtaining N aerial panoramic roaming photos taken in the aerial photography area, and extracting the latitude and longitude information of the N aerial panoramic roaming photos;
- the data acquisition module is used to obtain the converted longitude and latitude corresponding to the i-th aerial panoramic roaming photo based on the longitude and latitude information of the i-th aerial panoramic roaming photo and the longitude and latitude information of the first aerial panoramic roaming photo in combination with a preset conversion method Information; where N ⁇ i>1;
- the conversion module is configured to obtain the horizontal axis coordinate value and the vertical axis coordinate value corresponding to the i-th aerial panoramic roaming photo according to the converted latitude and longitude information, the radius of the earth, and the circumference ratio.
- the embodiment of the present invention provides a coordinate conversion method for aerial panoramic roaming data.
- the method first obtains N aerial panoramic roaming photos taken in an aerial photography area, and extracts the longitude and latitude information of the N aerial panoramic roaming photos;
- the longitude and latitude information of the panoramic roaming photo and the longitude and latitude information of the first aerial panoramic roaming photo are combined with the preset conversion method to obtain the converted longitude and latitude information corresponding to the i-th aerial panoramic roaming photo; where N ⁇ i>1; according to the converted longitude and latitude Information, the radius of the earth and the pi, obtain the horizontal axis coordinate value and the vertical axis coordinate value corresponding to the i-th aerial panoramic roaming photo.
- the technical solution of the present invention does not need to obtain a large amount of parameter information, but only needs to obtain the longitude and latitude information of the picture, and select the first full set of photos.
- the relative coordinates of each photo are calculated for the origin, and the relative coordinate value of the photo is obtained, so as to realize the coordinate conversion; the technical solution of the present invention can effectively improve the conversion efficiency of coordinate information and reduce the data storage space.
- Fig. 1 is a schematic flowchart of a first embodiment of a coordinate conversion method for aerial panoramic roaming data provided by the present invention
- Fig. 2 is a schematic structural diagram of a second embodiment of a coordinate conversion device for aerial panoramic roaming data provided by the present invention.
- FIG. 1 is a schematic flowchart of an embodiment of a coordinate conversion method for aerial panoramic roaming data provided by the present invention. As shown in Figure 1, the method includes step 101 to step 103, and each step is specifically as follows:
- Step 101 Obtain N aerial panoramic roaming photos taken in the aerial photography area, and extract the latitude and longitude information of the N aerial panoramic roaming photos.
- N aerial panoramic roaming photos are taken by the drone, and the aerial panoramic roaming photos are arranged in time order to form an aerial panoramic roaming photo collection, and secondly, the aerial panoramic roaming photo collection is sent to the computer system.
- Step 102 According to the longitude and latitude information of the i-th aerial panoramic roaming photo and the longitude and latitude information of the first aerial panoramic roaming photo, combined with the preset conversion method, obtain the converted longitude and latitude information corresponding to the i-th aerial panoramic roaming photo; where N ⁇ i>1.
- the latitude and longitude information includes longitude and latitude; therefore, the longitude information in the longitude and latitude information of the i-th aerial panoramic roaming photo includes the longitude and the i-th aerial panoramic roaming in the longitude and latitude information of the i-th aerial panoramic roaming photo.
- Converted longitude information includes converted longitude and converted latitude.
- step 102 is specifically: based on the first conversion method and based on the longitude in the longitude and latitude information of the i-th aerial panoramic roaming photo and the longitude in the longitude and latitude information of the first aerial panoramic roaming photo, obtaining the i-th image The converted longitude corresponding to the aerial panoramic roaming photo; based on the second conversion method and according to the latitude in the longitude and latitude information of the i-th aerial panoramic roaming photo and the latitude in the longitude and latitude information of the first aerial panoramic roaming photo, the i-th aerial panorama is obtained The converted latitude corresponding to the roaming photo.
- the conversion longitude is specifically: Calculate the longitude difference between the longitude in the longitude and latitude information of the i-th aerial panoramic roaming photo and the longitude and latitude information in the first aerial panoramic roaming photo, and determine whether the longitude difference is less than 180 ;
- the converted longitude of the i-th aerial panoramic roaming photo is the difference between 360 and the longitude and latitude information of the i-th aerial panoramic roaming photo plus the longitude and latitude information of the first aerial panoramic roaming photo Longitude in
- the converted longitude corresponding to i aerial panoramic roaming photos is the longitude difference.
- the conversion latitude is specifically: Calculate the latitude difference between the latitude in the longitude and latitude information of the i-th aerial panoramic roaming photo and the latitude in the longitude and latitude information of the first aerial panoramic roaming photo, and determine whether the latitude difference is less than 180 ;
- the converted latitude corresponding to the i-th aerial panoramic roaming photo is the difference between 360 and the latitude in the longitude and latitude information of the i-th aerial panoramic roaming photo plus the longitude and latitude information of the first aerial panoramic roaming photo Mid-latitude
- the converted latitude corresponding to i aerial panoramic roaming photos is the latitude difference.
- Step 103 Obtain the horizontal axis coordinate value and the vertical axis coordinate value corresponding to the i-th aerial panoramic roaming photo according to the converted latitude and longitude information, the radius of the earth and the circumference ratio.
- step 103 is specifically: according to the converted longitude, earth radius and pi, combined with the first preset formula to obtain the horizontal axis coordinate value corresponding to the i-th aerial panoramic roaming photo; according to the converted latitude, earth radius and pi , Combined with the second preset formula, obtain the vertical axis coordinate value corresponding to the i-th aerial panoramic roaming photo.
- the first preset formula is specifically:
- rx is the coordinate value of the horizontal axis corresponding to the i-th aerial panoramic roaming photo
- M_PI is the circle rate
- L is the radius of the earth
- orign_lat is the latitude in the longitude and latitude information of the first aerial panoramic roaming photo
- d_lon is expressed as Convert longitude.
- the second preset formula is specifically:
- ry represents the coordinate value of the vertical axis corresponding to the i-th aerial panoramic roaming photo
- M_PI represents the circumference of the circle
- L represents the radius of the earth
- d_lat represents the converted latitude
- the radius of the earth is used to calculate the distance represented by each longitude and latitude per unit of longitude/latitude, so as to calculate the relative coordinates of the GPS point.
- the different circumferences at different latitudes are considered. , So that the accuracy of the obtained relative position is higher.
- the method further includes: obtaining the height data of the i-th aerial panoramic roaming photo, and obtaining the vertical axis coordinate value corresponding to the i-th aerial panoramic roaming photo according to the height data, and adding the The horizontal axis coordinate value, the vertical axis coordinate value and the vertical axis coordinate value corresponding to i aerial panoramic roaming photos are stored in a binary manner, so as to reduce the storage space. It should be noted that storing the conversion result in binary form is beneficial to further reducing the data storage space.
- the latitude and longitude information and the altitude data are respectively converted into horizontal axis coordinate values, vertical axis coordinate values, and vertical axis coordinate values, so as to better adapt to the computer three-dimensional rendering process.
- an embodiment of the present invention provides a coordinate conversion method for aerial panoramic roaming data.
- the method first obtains N aerial panoramic roaming photos taken in the aerial photography area, and extracts the longitude and latitude information of the N aerial panoramic roaming photos ; According to the longitude and latitude information of the i-th aerial panoramic roaming photo and the longitude and latitude information of the first aerial panoramic roaming photo, combined with the preset conversion method, obtain the converted longitude and latitude information corresponding to the i-th aerial panoramic roaming photo; where N ⁇ i >1; According to the converted latitude and longitude information, the radius of the earth and the circumference of the circumference, the horizontal axis coordinate value and the vertical axis coordinate value corresponding to the i-th aerial panoramic roaming photo are obtained.
- the technical solution of the present invention does not need to obtain a large amount of parameter information, but only needs to obtain the longitude and latitude information of the picture, and select the first full set of photos.
- the relative coordinates of each photo are calculated for the origin, and the relative coordinate value of the photo is obtained, so as to realize the coordinate conversion; the technical solution of the present invention can effectively improve the conversion efficiency of coordinate information and reduce the data storage space.
- FIG. 2 is a schematic structural diagram of a second embodiment of a coordinate conversion device for aerial panoramic roaming data provided by the present invention.
- the system includes an information extraction module 101, a data acquisition module 102, and a conversion module 103.
- the information extraction module 101 is configured to obtain N aerial panoramic roaming photos taken in the aerial photography area, and extract the latitude and longitude information of the N aerial panoramic roaming photos;
- the data acquisition module 102 is used to obtain the converted latitude and longitude information corresponding to the i-th aerial panoramic roaming photo according to the longitude and latitude information of the i-th aerial panoramic roaming photo and the longitude and latitude information of the first aerial panoramic roaming photo in combination with a preset conversion method ; Among them, N ⁇ i>1;
- the conversion module 103 is configured to obtain the horizontal axis coordinate value and the vertical axis coordinate value corresponding to the i-th aerial panoramic roaming photo according to the converted latitude and longitude information, the radius of the earth, and the circumference ratio.
- the technical solution of the present invention does not need to obtain a large amount of parameter information, but only needs to obtain the longitude and latitude information of the picture, and the longitude and latitude coordinates can be converted into plane coordinates, thereby improving the conversion efficiency of coordinates and reducing the data storage space.
- the program can be stored in a computer readable storage medium. At this time, it may include the procedures of the embodiments of the above-mentioned methods.
- the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.
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Abstract
Description
Claims (10)
- 一种用于空中全景漫游数据的坐标转换方法,其特征在于,包括:获取航拍区域拍摄到的N张空中全景漫游照片,并提取N张所述空中全景漫游照片的经纬度信息;根据第i张空中全景漫游照片的经纬度信息和第一张空中全景漫游照片的经纬度信息,结合预设转换方法,获得与所述第i张空中全景漫游照片对应的转换经纬度信息;其中,N≥i>1;根据所述转换经纬度信息、地球半径和圆周率,获得所述第i张空中全景漫游照片对应的横轴坐标值和纵轴坐标值。
- 如权利要求1所述的用于空中全景漫游数据的坐标转换方法,其特征在于,所述方法还包括:获取所述第i张空中全景漫游照片的高度数据,并根据所述高度数据获得所述第i张空中全景漫游照片对应的竖轴坐标值。
- 如权利要求2所述的用于空中全景漫游数据的坐标转换方法,其特征在于,所述方法还包括:将所述第i张空中全景漫游照片对应的横轴坐标值、纵轴坐标值和竖轴坐标值以二进制的方式进行存储。
- 如权利要求1所述的用于空中全景漫游数据的坐标转换方法,其特征在于,所述根据第i张空中全景漫游照片的经纬度信息和第一张空中全景漫游照片的经纬度信息,结合预设转换方法,获得与所述第i张空中全景漫游照片对应的转换经纬度信息,具体为:基于第一转换方法并根据所述第i张空中全景漫游照片的经纬度信息中的经度和所述第一张空中全景漫游照片的经纬度信息中的经度,获得所述第i张空中全景漫游照片对应的转换经度;基于第二转换方法并根据所述第i张空中全景漫游照片的经纬度信息中的纬度和所述第一张空中全景漫游照片的经纬度信息中的纬度,获得所述第i张空中全景漫游照片对应的转换纬度。
- 如权利要求4所述的用于空中全景漫游数据的坐标转换方法,其特征在于,所述基于第一转换方法并根据所述第i张空中全景漫游照片的经纬度信息中的经度和所述第一张空中全景漫游照片的经纬度信息中的经度,获得所述第i张空中全景漫游照片对应的转换经度,具体为:计算所述第i张空中全景漫游照片的经纬度信息中的经度与所述第一张空中全景漫游照片的经纬度信息中的经度之间的经度差值,并判断所述经度差值是否小于第一阈值;若所述经度差值小于第一阈值时,则所述第i张空中全景漫游照片对应的转换经度为第二阈值与所述第i张空中全景漫游照片的经纬度信息中的经度的差加上所述第一张空中全景漫游照片的经纬度信息中的经度;若所述经度差值大于或等于第一阈值时,则所述i张空中全景漫游照片对应的转换经度为所述经度差值。
- 如权利要求4所述的用于空中全景漫游数据的坐标转换方法,其特征在于,所述基于第二转换方法并根据所述第i张空中全景漫游照片的经纬度信息中的纬度和所述第一张空中全景漫游照片的经纬度信息中的纬度,获得所述第i张空中全景漫游照片对应的转换纬度,具体为:计算所述第i张空中全景漫游照片的经纬度信息中的纬度与所述第一张空中全景漫游照片的经纬度信息中的纬度之间的纬度差值,并判断所述纬度差值是否小于第一阈值;若所述纬度差值小于第一阈值时,则所述第i张空中全景漫游照片对应的转换纬度为第二阈值与所述第i张空中全景漫游照片的经纬度信息中的纬度的差加上所述第一张空中全景漫游照片的经纬度信息中的纬度;若所述纬度差值大于或等于第一阈值时,则所述i张空中全景漫游照片对应的转换纬度为所述纬度差值。
- 如权利要求4所述的用于空中全景漫游数据的坐标转换方法,其特征在于,所述根据所述转换经纬度信息、地球半径和圆周率,获得所述第i张空中全景漫游照片对应的横轴坐标值和纵轴坐标值,具体为:所述转换经纬度信息包括转换经度和转换纬度;根据所述转换经度、地球半径和圆周率,结合第一预设公式,获得所述第i张空中全景漫游照片对应的横轴坐标值;根据所述转换纬度、地球半径和圆周率,结合第二预设公式,获得所述第i张空中全景漫游照片对应的纵轴坐标值。
- 一种用于空中全景漫游数据的坐标转换装置,其特征在于,包括:信息提取模块,用于获取航拍区域拍摄到的N张空中全景漫游照片,并提取N张所述空中全景漫游照片的经纬度信息;数据获取模块,用于根据第i张空中全景漫游照片的经纬度信息和第一张空中全景漫游照片的经纬度信息,结合预设转换方法,获得与所述第i张空中全景漫游照片对应的转换经纬度信息;其中,N≥i>1;转换模块,用于根据所述转换经纬度信息、地球半径和圆周率,获得所述第i张空中全景漫游照片对应的横轴坐标值和纵轴坐标值。
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