CN108955715A - navigation video generation method, video navigation method and system - Google Patents
navigation video generation method, video navigation method and system Download PDFInfo
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- CN108955715A CN108955715A CN201810837139.XA CN201810837139A CN108955715A CN 108955715 A CN108955715 A CN 108955715A CN 201810837139 A CN201810837139 A CN 201810837139A CN 108955715 A CN108955715 A CN 108955715A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3647—Guidance involving output of stored or live camera images or video streams
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Abstract
The present invention relates to a kind of navigation video generation methods, device, video navigation method, device and system, and the video generation method that navigates is the following steps are included: send location information to server；Receive outdoor scene three-dimensional model map corresponding with location information；Outdoor scene three-dimensional model map is handled according to preset parameter and preset algorithm, generates navigation routine；Simulation roaming is carried out to navigation routine according to preset roam mode, generates Roam Path；According to planed path generation navigation video.Above-mentioned navigation video generation method, user loads when needing video navigation or download navigation video, it does not need first to load outdoor scene three-dimensional simulation map and outdoor scene three-dimensional simulation map is operated again, reduce mass data transmission and the operating process of complexity, provide efficiency.
Description
Technical field
The present invention relates to video navigation technical fields, more particularly to a kind of navigation video generation method, device, video guide
Navigate methods, devices and systems.
Background technique
With the development of science and technology and the communication technology, intelligent terminal (such as mobile phone) has become in people's daily life must can not
Few equipment；For intelligent terminal other than meeting basic communication, function is also stronger and stronger, such as is carried out using intelligent terminal
Navigation.
Currently used navigation mode mainly includes two kinds of planar relief-maps and outdoor scene three-dimensional map.Planar
Relief-map experience sense is poor；Outdoor scene three-dimensional model map be it is a kind of with digital camera or laser acquisition and measurement (i.e.
LiDAR) sensor to existing scene carry out multi-angle look around, tilt, then added by photogrammetric, computer vision etc.
Work fusion treatment simultaneously loads browser to a kind of based on wireless network grid (i.e. mesh) outdoor scene three-dimensional model map.It is real
Scape three-dimensional model map may be implemented to roam, and the roaming of outdoor scene three-dimensional model map refers to that the outdoor scene on three-dimensional simulation map is three-dimensional
Roaming switch is carried out in space, achievees the purpose that each different scenes of browsing, user is with only need to clicking or double-click threedimensional model
Ground in figure achieves that scene switching, i.e., video navigation may be implemented using roaming technology.Use is facilitated using video navigation
Family is watched and has true Flow experience.
However when carrying out video navigation using outdoor scene three-dimensional map, user needs three-dimensional using intelligent terminal load outdoor scene
Analog map, the huge speed of transmitted data amount is slow, and user is needed to carry out relevant treatment to three-dimensional simulation map, and operating process is multiple
It is miscellaneous.
Summary of the invention
Based on this, it is necessary to need to load outdoor scene three-dimensional mould using intelligent terminal for user during current video navigation
Intend map and three-dimensional simulation map is handled, the slow and complicated for operation problem of loading velocity, it is raw to provide a kind of navigation video
At method, apparatus, video navigation method, device and system.
A kind of navigation video generation method, comprising the following steps:
Location information is sent to server；
Receive outdoor scene three-dimensional model map corresponding with the location information；
The outdoor scene three-dimensional model map is handled according to preset parameter and preset algorithm, generates navigation road
Line；
Simulation roaming is carried out to the navigation routine according to preset roam mode, generates Roam Path；
According to planed path generation navigation video.
Above-mentioned navigation video generation method can receive outdoor scene three-dimensional model map corresponding with location information, so
Processing analysis carried out according to preset parameter and preset algorithm to outdoor scene three-dimensional model map afterwards, generates navigation routine, to leading
Air route line carries out simulation roaming and generates Roam Path, and according to planed path generation navigation video, user is needing video navigation
When load or download navigation video, do not need first to load outdoor scene three-dimensional simulation map and outdoor scene three-dimensional simulation map carried out again
Operation reduces mass data transmission and the operating process of complexity, provides efficiency.
In one of the embodiments, in generating the step of navigating video, further includes:
The video frame number of the navigation video is extracted, and establishes the video frame number and coordinate information, Viewing-angle information, time
The relevance of information and GPS information generates metadata.
In one of the embodiments, further include:
Editing carried out to the navigation video and the metadata, and by after editing the navigation video and
The metadata is transmitted to server.
Location information is being sent to server in one of the embodiments, receives the outdoor scene three-dimensional model map
Before step, further includes:
Receive the live-action data of acquisition equipment acquisition；
Multi-source fusion processing is carried out to the live-action data；
To the live-action data unified coordinate system after multi-source fusion, and pyramid tile processing is carried out, generates outdoor scene three
Dimension module；
The outdoor scene threedimensional model is overlapped with two-dimensional vector navigation map, with generating the outdoor scene threedimensional model
Figure, wherein the outdoor scene threedimensional model includes the location information；
The outdoor scene three-dimensional model map is uploaded to the server.
The preset parameter includes key frame in one of the embodiments,；The preset algorithm includes optimal road
Diameter algorithm；The outdoor scene three-dimensional model map is handled according to preset parameter and preset algorithm, generates navigation road
In the step of line, comprising:
It is raw in the outdoor scene three-dimensional model map using the optimal path algorithm using the key frame as key node
At the navigation routine.
The preset roam mode includes linear roam mode, discrete roam mode, sample in one of the embodiments,
The gentle dynamic roam mode of roam mode, the Roam Path include linear Roam Path, discrete Roam Path, batten roaming road
Diameter and slow-action Roam Path；Simulation roaming is carried out to the navigation routine according to preset roam mode, generates Roam Path
The step of in, comprising:
It carries out uniformly simulating roaming between the key frame of the navigation routine using the linear roam mode, it is raw
Linear Roam Path；
Or
Mutation simulation roaming is carried out between the key frame of the navigation routine using the discrete roam mode, it is raw
At discrete Roam Path；
Or
It is carried out between the key frame of the navigation routine according to Bessel function using the batten roam mode
Accelerate and/or slow down simulation roaming, generates batten Roam Path；
Or
Mould is carried out according to slow-action function between the key frame of the navigation routine using the slow-action roam mode
Quasi- roaming, generates slow-action Roam Path.
Based on above-mentioned navigation video generation method, a kind of navigation video-generating device is additionally provided.
A kind of navigation video-generating device, comprising:
Location information sending module, for sending location information to server；
Map receiving module, for receiving outdoor scene three-dimensional model map corresponding with the location information；
Navigation routine generation module is used for according to preset parameter and preset algorithm to the outdoor scene three-dimensional model map
It is handled, generates navigation routine；
Planed path generation module, it is raw for carrying out simulation roaming to the navigation routine according to preset roam mode
At Roam Path；
Navigate video generation module, for according to planed path generation navigation video.
The navigation video generation module in one of the embodiments, further include:
Metadata generation module for extracting the video frame number of the navigation video, and is established the video frame number and is sat
The relevance of information, Viewing-angle information, temporal information and GPS information is marked, metadata is generated.
In one of the embodiments, further include:
Video and data editing module, for carrying out editing to the navigation video and the metadata；
Video and data transmission module, for by after editing the navigation video and the metadata be transmitted to clothes
Business device.
In one of the embodiments, further include:
Live-action data receiving module, for receiving the live-action data of acquisition equipment acquisition；
Live-action data processing module, for carrying out multi-source fusion processing to the live-action data；
Threedimensional model generation module for the live-action data unified coordinate system after multi-source fusion, and carries out golden word
The processing of Tahoua piece, generates outdoor scene threedimensional model；
Three-dimensional model map generation module, for folding the outdoor scene threedimensional model with two-dimensional vector navigation map
Add, generate the outdoor scene three-dimensional model map, wherein the outdoor scene threedimensional model includes the location information；
Three-dimensional model map uploading module, for the outdoor scene three-dimensional model map to be uploaded to the server.
The preset parameter includes key frame in one of the embodiments,；The preset algorithm includes optimal road
Diameter algorithm；
The navigation routine generation module is also used to calculate using the key frame as key node using the optimal path
Method generates the navigation routine in the outdoor scene three-dimensional model map.
The preset roam mode includes linear roam mode, discrete roam mode, sample in one of the embodiments,
The gentle dynamic roam mode of roam mode, the Roam Path include linear Roam Path, discrete Roam Path, batten roaming road
Diameter and slow-action Roam Path；The planed path generation module includes linear planed path generation module, discrete Roam Path
Generation module, batten planed path generation module or slow-action planed path generation module；
The linear planed path generation module, for using the linear roam mode described in the navigation routine
Uniformly simulation roaming is carried out between key frame, generates linear Roam Path；
Or
The discrete planed path generation module, for using the discrete roam mode described in the navigation routine
Mutation simulation roaming is carried out between key frame, generates discrete Roam Path；
Or
The batten planed path generation module, for using the batten roam mode described in the navigation routine
Accelerated and/or slowed down according to Bessel function between key frame simulation roaming, generates batten Roam Path；
Or
The slow-action planed path generation module, for using the slow-action roam mode described in the navigation routine
Simulation roaming is carried out according to slow-action function between key frame, generates slow-action Roam Path.
Above-mentioned navigation video-generating device is because using above-mentioned navigation video generation method, and therefore, navigate video-unit
User can be made to load when needing video navigation or download navigation video, do not needed with first loading outdoor scene three-dimensional simulation
Figure again operates outdoor scene three-dimensional simulation map, reduces mass data transmission and the operating process of complexity, provides effect
Rate.
Based on above-mentioned navigation video generation method, a kind of video navigation side using the navigation video is additionally provided
Method.
A kind of video navigation method using the navigation video, comprising the following steps:
Navigation video identification information is sent to the server；
Receive navigation video corresponding with the navigation video identification information and metadata；
Obtain current GPS information；
The relevance of the current GPS information and the navigation video is established according to the metadata；
The navigation video after association is played according to preset playback rate.
Above-mentioned video navigation method can make due to using the navigation video in above-mentioned navigation video generation method
User loads or download navigation video when needing video navigation, it is right again not need first to load outdoor scene three-dimensional simulation map
Outdoor scene three-dimensional simulation map is operated, and is reduced mass data transmission and the operating process of complexity, is provided efficiency.
Based on the above-mentioned video navigation method using the navigation video, a kind of utilization navigation video is additionally provided
Video navigation device.
A kind of video navigation device using the navigation video, comprising:
Identification information sending module, for sending navigation video identification information to the server；
Video, metadata receiving module, for receive corresponding with navigation video identification information navigation video and
Metadata；
GPS information obtains module, for obtaining current GPS information；
Relevance establishes module, for establishing the current GPS information and the navigation video according to the metadata
Relevance；
Navigate video playback module, for playing the navigation video after association according to preset playback rate.
Above-mentioned video navigation device can make due to using the navigation video in above-mentioned navigation video generation method
User loads or download navigation video when needing video navigation, it is right again not need first to load outdoor scene three-dimensional simulation map
Outdoor scene three-dimensional simulation map is operated, and is reduced mass data transmission and the operating process of complexity, is provided efficiency.
Based on above-mentioned video navigation method, navigation device, using it is described navigation video video navigation method and device,
It additionally provides a kind of using video navigation system.
A kind of video navigation system, comprising: acquisition equipment, first terminal, second terminal and server, wherein the acquisition
Equipment and the first terminal communicate to connect, and the first terminal, the second terminal are connect with the server communication respectively；
The acquisition equipment is used for live-action data, and the live-action data is sent to the first terminal；
The navigation video generation method can be performed in the first terminal；
The video navigation method can be performed in the second terminal；
The server is used to receive and store the outdoor scene three-dimensional model map of first terminal transmission；Receive described first eventually
The location information that end is sent, transmission outdoor scene three-dimensional model map corresponding with the location information to the first terminal, and
Receive the navigation video and metadata that first terminal is sent；Receive second terminal send navigation video identification information, send with
The corresponding navigation video of the navigation video identification information and metadata are to the second terminal.
Above-mentioned video navigation system, including equipment, first terminal, second terminal and server are acquired, phase between each equipment
Mutually cooperation can execute above-mentioned navigation video generation method and video navigation method, greatly facilitate user and carry out video guide
Boat.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of video navigation system of the invention in one of the embodiments；
Fig. 2 is the structural schematic diagram of navigation video generation method of the invention in one of the embodiments；
Fig. 3 is the structural schematic diagram of navigation video generation method of the invention in one of the embodiments；
Fig. 4 is the flow diagram of navigation video generation method of the invention in one of the embodiments；
Fig. 5 be it is of the invention using batten roam mode generate batten Roam Path schematic diagram；
Fig. 6 be it is of the invention using batten roam mode generate batten Roam Path schematic diagram；
Fig. 7 is the flow diagram of navigation video-generating device of the invention in one of the embodiments；
Fig. 8 is the flow diagram of video navigation method of the invention in one of the embodiments；
Fig. 9 is the structural schematic diagram of video navigation device of the invention in one of the embodiments.
Specific embodiment
The contents of the present invention are described in further detail below in conjunction with preferred embodiment and attached drawing.Obviously, hereafter institute
The examples are only for explaining the invention for description, rather than limitation of the invention.Based on the embodiments of the present invention, this field is general
Logical technical staff every other embodiment obtained without making creative work belongs to what the present invention protected
Range.It should be noted that for ease of description, only some but not all contents related to the present invention are shown in the drawings.
The term " includes " of the embodiment of the present invention and " having " and their any deformations, it is intended that cover non-exclusive
Include.Such as contain series of steps or the process, method, system, product or equipment of (module) unit are not limited to
The step of listing or unit, but optionally further comprising the step of not listing or unit, or optionally further comprising for these
The intrinsic other step or units of process, method, product or equipment.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Referenced herein " multiple " refer to two or more."and/or", the association for describing affiliated partner are closed
System indicates may exist three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, individualism
These three situations of B.Character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Fig. 1 is video navigation system structural schematic diagram in the embodiment of the present invention, and navigation video generation method of the invention can
To be executed by the video navigation system in Fig. 1.As shown in Figure 1, the video navigation system mainly includes four parts, adopt respectively
Collect equipment 110, first terminal 120, second terminal 130 and server 140.Wherein acquisition equipment 110 and first terminal 120, the
Information exchange can be carried out between one terminal 120, second terminal 130 and server 140.In addition, the structure of the video navigation system
Be not unique at mode, can also be other constituted modes, such as further include cloud platform, wherein cloud platform can respectively with letter
First terminal 120, second terminal 130 and server 140 are communicated.In addition, the video navigation system can also be other
Mode, herein without limiting.
Fig. 2 is the flow diagram of navigation video generation method of the invention in one embodiment, as shown in Fig. 2, one
Kind navigation video generation method, comprising the following steps:
Step S110 sends location information to server.
Step S120 receives outdoor scene three-dimensional model map corresponding with location information.
It in the present embodiment, is described from first terminal angle 120.Wherein first terminal 120 be can be from clothes
Business device 140 can carry out the interaction of information (such as data), and first terminal 120 is usually intelligent terminal, including smart phone, intelligence
Energy plate, computer etc..First terminal 120 can first login service device 140 verified, after being verified, first terminal 120
Information exchange is carried out with server 140.First terminal 120 can be got by modes such as GPS positioning, search, browse orientations
Then location information is sent to server 140 by the location information of required position.Specifically, mouse or touch-control can be passed through
It obtains location information (i.e. position location and visual angle etc.).First terminal 120 is loaded from server 140 according to location information and institute
Need the corresponding outdoor scene three-dimensional model map in position, i.e. first terminal 120 with receiving outdoor scene threedimensional model corresponding with location information
Figure.Outdoor scene three-dimensional model map be exactly based on electronic three-dimensional map database, according to a certain percentage to real world or its
Its essence of three-dimensional, the abstract description of the one or more aspects of middle a part, i.e. outdoor scene three-dimensional model map is exactly similar one
The dummy model of a clone's real world.Outdoor scene three-dimensional model map be exactly for make or produce navigation video data source or
Data basis.
Step S130 is handled outdoor scene three-dimensional model map according to preset parameter and preset algorithm, and generation is led
Air route line.
First terminal 120 is after load obtains outdoor scene three-dimensional model map, based on outdoor scene three-dimensional model map, generates
The navigation circuit of customized or personalized (i.e. personal customization).Specifically, according to preset parameter and preset algorithm in outdoor scene
Navigation routine is generated in three-dimensional model map.The preset parameter refers to some key parameters for generating navigation routine, wherein
Visual angle etc. is stopped including initial point position, final position, key frame (key point), key point coordinate, key point；Preset algorithm
Refer to algorithm used when generating navigation routine, wherein algorithm includes optimal path algorithm, shortest distance algorithm etc..In addition, logical
Frequently with the navigation routine generation method of key frame, i.e., key frame refer to specified some frame that will generate navigation video or certain
Several frames are as key frame, and specified view angle, using these key frames are key node generation road when video is navigated in creation
Line.
Step S140 carries out simulation roaming to navigation routine according to preset roam mode, generates Roam Path.
Simulation roaming refers to be roamed in virtual three-dimensional model map, and simulation is relative to unrestrained in real world
It is for trip, corresponding with the roaming in real world.It is simulated on the navigation routine of generation it can be seen that simulation roaming refers to
Operation, wherein simulating there are many modes of roaming, each middle roaming mode all corresponds to a kind of roam mode.The preset roaming
Mode is the roam mode that the roaming mode liked according to the actual demand of user or individual subscriber generates, preset roam mode
Including linear roam mode, discrete roam mode, curve roam mode etc., user can select according to their own needs it is a kind of or
Various modes generate Roam Path.
Step S150, according to planed path generation navigation video.
Specifically, Roam Path is saved and generates navigation video.
Above-mentioned navigation video generation method can receive outdoor scene three-dimensional model map corresponding with location information, so
Processing analysis carried out according to preset parameter and preset algorithm to outdoor scene three-dimensional model map afterwards, generates navigation routine, to leading
Air route line carries out simulation roaming and generates Roam Path, and according to planed path generation navigation video, user is needing video navigation
When load or download navigation video, do not need first to load outdoor scene three-dimensional simulation map and outdoor scene three-dimensional simulation map carried out again
Operation reduces mass data transmission and the operating process of complexity, provides efficiency.
In one of the embodiments, as shown in figure 3, in generating the step of navigating video, further includes:
Step S152, extracts the video frame number of navigation video, and establish video frame number and coordinate information, Viewing-angle information, when
Between the relevance of information and GPS information, generate metadata.
It is to be described from 120 angle of first terminal in the present embodiment.Specifically, metadata be also known as broker data,
Data are relayed, for the data for describing data, mainly describe the information of data attribute, for supporting such as instruction storage location, going through
The functions such as history data, resource lookup, file record.Metadata a kind of electronic type catalogue at last, in order to reach the mesh of scheduling
, it is necessary to it is describing and is collecting in data perhaps characteristic, and then reaching the purpose for assisting data retrieval.Metadata can be one
The information of kind customized description explanation to certain things, for example, a picture metadata may include resolution ratio, size,
Place, focal length, photographing device, the people that takes pictures etc.；The content that can also be similar to that description is the file of text, can pass through metadata
Information compression encryption is carried out to file decompress decrypt again.In the present embodiment, when generating navigation video, navigation is extracted
The video frame number of video, and the relevance of video frame number and other information is established, and video frame number and other information are denoted as
Metadata.In addition, other data mainly include coordinate information, Viewing-angle information, temporal information and GPS information.In the present embodiment
In, during generating navigation, extract the phase of video frame number, coordinate information, Viewing-angle information, temporal information and GPS information
Closing property (i.e. corresponding relationship) can be adjusted navigation video, avoid and lead according to this corresponding relationship according to any parameter
Navigating, there are deviations, such as the F.F. of video projection etc. between each information when playing for video.Detailed process includes: according to roaming road
Diameter and preset roam mode realize 3D roaming and in the above grabgrafs of specific frame value；Sequence picture generates video file and compresses guarantor
It deposits；It records every frame coordinate, time and visual angle and generates metadata.Wherein specific frame value can select accordingly according to the demand of user
Frame value, specific frame value can be 25.
In one of the embodiments, further include: editing is carried out to navigation video and metadata, and by editing
Navigation video and metadata afterwards is transmitted to server.
It is to be described from first terminal angle 120 in the present embodiment.It is right after generating navigation video and metadata
Video and the metadata of navigating carry out editing, will be by the navigation video and first number after editing after the completion of editing
According to server 140 is transmitted to, to facilitate other desired user to download using navigation video.Detailed process includes: to regard to navigation
Frequency is cut；To navigation video editing special efficacy beautification (such as toning, skin makeup, sharpening and other effects)；Navigation video addition label is wanted
Element (such as add some illustrate item etc.)；To navigation video addition audio, voice and background sound；Generate final navigation video
(such as 2D plane or 3D stereo format).
In one of the embodiments, as shown in figure 4, receiving outdoor scene threedimensional model sending location information to server
Before the step of map, further includes:
Step S210 receives the live-action data of acquisition equipment acquisition；
Step S220 carries out multi-source fusion processing to live-action data；
Step S230 to the live-action data unified coordinate system after multi-source fusion, and carries out pyramid tile processing, generates real
Scape threedimensional model；
Outdoor scene threedimensional model and two-dimensional vector navigation map are overlapped by step S240, with generating outdoor scene threedimensional model
Figure, wherein outdoor scene threedimensional model includes location information；
Outdoor scene three-dimensional model map is uploaded to server by step S250.
It is to be described from first terminal angle 120 in the present embodiment.The video that navigates is being generated, i.e. load outdoor scene is three-dimensional
It further include generating outdoor scene three-dimensional model map before relief-map.Detailed process are as follows: (1) first terminal 120 receives acquisition equipment
The live-action data (wherein live-action data is corresponding with location information, i.e., each location information is corresponding with live-action data) of acquisition,
The live-action data includes three-dimensional point cloud or image data on the spot；The acquisition equipment includes that all can acquire live-action data
Device, equipment, including manned aircraft, unmanned vehicle, vehicle-mounted/airborne equipment and bear handheld device etc..(2) to adopting
Live-action data after collection is handled, and is individually handled including to data, and then to individually treated, data are carried out
Multi-source fusion processing (carries out convergence analysis to single data).(3) to fused live-action data unified coordinate system, gold is carried out
The processing of word Tahoua piece；Wherein pyramid tile processing is a kind of in the form of similar pyramid structure, according to content from thick
To carefully successively progress data differentiation and calculating from top to bottom.(4) outdoor scene threedimensional model and two-dimensional vector navigation map into
Row superposition, outdoor scene three-dimensional model map；(5) outdoor scene threedimensional model is uploaded to server, realizes spatial database management.
In addition, the live-action data includes aerial, ground, interior (underground) data, wherein data can be by the following method
Acquisition: air-data is acquired using LiDAR and inclined camera loaded in unmanned vehicle or manned aircraft etc.；Using vehicle
It carries LiDAR, ground LiDAR, SLAM, panorama camera etc. and obtains ground data；Using ground LiDAR, interior SLAM, panorama camera
Deng acquisition house data.The data of acquisition can be effectively ensured more comprehensively and collection process is quick in manner just described by adopting, from
And the outdoor scene three-dimensional model map generated is more accurate.
Preset parameter includes key frame in one of the embodiments,；Preset algorithm includes optimal path algorithm；?
In the step of being handled according to preset parameter and preset algorithm outdoor scene three-dimensional model map, generating navigation routine, packet
It includes:
Using key frame as key node, navigation routine is generated in outdoor scene three-dimensional model map using optimal path algorithm.
Specifically, frame is the single width image frame of minimum unit in animation, each lattice camera lens being equivalent on cinefilm.
Frame shows as a lattice or a label on the time shaft of animation software.Key frame is equivalent to the original painting in 2 D animation, refers to angle
That frame locating for key operations in color or object of which movement or variation.In the present embodiment, using key frame as key node,
Navigation routine is generated using optimal path algorithm.Navigation routine is generated using aforesaid way, the navigation routine of generation compares optimization.
Preset roam mode includes that linear roam mode, discrete roam mode, batten are unrestrained in one of the embodiments,
The gentle dynamic roam mode of trip mode, Roam Path include linear Roam Path, discrete Roam Path, batten Roam Path and delay
Dynamic Roam Path；In the step of carrying out simulation roaming to navigation routine according to preset roam mode, generate Roam Path, packet
It includes:
It carries out uniformly simulating roaming between the key frame of navigation routine using linear roam mode, generates linear roaming road
Diameter；
Or
Mutation simulation roaming is carried out between the key frame of navigation routine using discrete roam mode, generates discrete roaming road
Diameter；
Or
Accelerated and/or slowed down according to Bessel function between the key frame of navigation routine using batten roam mode
Simulation roaming, generates batten Roam Path；
Or
Simulation roaming is carried out according to slow-action function between the key frame of navigation routine using slow-action roam mode, is generated slow
Dynamic Roam Path.
Specifically, preset roam mode includes linear roam mode, discrete roam mode, batten roam mode and slow-action
Roam mode.Wherein linear roam mode refers to that simulating the Roam Path generated when roaming be linear Roam Path, specific mistake
Journey is uniformly to roam (i.e. the speed of service is uniform) between each key frame of navigation routine, provides one in order to facilitate understanding in detail
Embodiment, it is assumed that be denoted as A and B respectively there are two key frame on navigation routine, linear roam mode is exactly to be simulated
When roaming, from A to B during travel at the uniform speed.
Discrete roam mode refers to that when simulating roaming, the Roam Path that generates is discrete Roam Path, detailed process be
Velocity jump roaming (i.e. the speed of service mutates, uneven) is carried out between each key frame of navigation routine, for the ease of reason
Solution provides a detailed embodiment, it is assumed that is denoted as C and D, discrete roam mode respectively there are two key frame on navigation routine
Exactly carry out simulation roaming when, from C to D during speed mutate.
Batten roam mode refers to that simulating the Roam Path generated when roaming be that (its process is Fig. 5 to batten Roam Path
It is shown), detailed process is to realize to accelerate or subtract using Bessel function when being roamed between each key frame of navigation routine
Speed；Bessel function is the general name of a kind of special function mathematically.The Bessel function usually concentrated the talk of refers to first kind Bezier
The concrete form of function Bessel function changes with real number α any in above-mentioned equation and changes that (correspondingly, α is referred to as its correspondence
The order of Bessel function.Acceleration or deceleration process is realized using Bessel function are as follows: by the setting P point specified time, so
It is controlled afterwards according to time and distance in command speed to reach the acceleration between each P point and slow down.In addition, its spline curve
Roam Path is expressed asThat S (t) is indicated is uaua+1Section curve, the k B-spline that k is indicated
Curve, so S (t) is exactly the sum of products of control point and basic function, wherein control point is from PjPoint arrives PiPoint, a shared i-j+1
A, wherein the schematic diagram of spline curve Roam Path is as shown in fig. 6, in conjunction with the u in Fig. 61u2For section curve, Su1u2(t)=
P0N0,3(t)+P1N1,3(t)+P2N2,3(t)+P3N3,3(t)；In addition B-spline curves (bezier) refer to the sub- subject number in mathematics
A kind of special representation in value analysis.It is the linear combination of B-spline base curves.
Slow-action roam mode refers to that simulating the Roam Path generated when roaming be slow-action roam mode path, detailed process
To use slow-action function to be roamed between each key frame of navigation routine, a detailed implementation is provided in order to facilitate understanding
Example, it is assumed that there are two key frames to be denoted as E and F respectively on navigation routine, and discrete roam mode is exactly when carrying out simulation roaming
Slow-action function is used during from E to F.Slow-action function, which refers to, to be allowed customized mathematical formulae being applied to animation or video
Function, i.e., introduced in animation or video according to the demand of animation play one influence animation or video characteristic it is crucial because
Element, this crucial factor are denoted as slow-action function.It can choose using different roam modes and generate different Roam Paths, according to
The different navigation video of different planed path generations, to meet the use of user in varied situations.
Based on above-mentioned navigation video generation method, a kind of navigation video-generating device is additionally provided.
As shown in fig. 7, a kind of navigation video-generating device, comprising:
Location information sending module 710, for sending location information to server；
Map receiving module 720, for receiving outdoor scene three-dimensional model map corresponding with location information；
Navigation routine generation module 730 is used for according to preset parameter and preset algorithm to outdoor scene three-dimensional model map
It is handled, generates navigation routine；
Planed path generation module 740 is generated for carrying out simulation roaming to navigation routine according to preset roam mode
Roam Path；
Navigate video generation module 750, for according to planed path generation navigation video.
Navigate video generation module in one of the embodiments, further include:
Metadata generation module for extracting the video frame number of navigation video, and establishes video frame number and coordinate information, view
The relevance of angle information, temporal information and GPS information generates metadata.
In one of the embodiments, further include:
Video and data editing module, for carrying out editing to navigation video and metadata；
Video and data transmission module, for by after editing navigation video and metadata be transmitted to server.
In one of the embodiments, further include:
Live-action data receiving module, for receiving the live-action data of acquisition equipment acquisition；
Live-action data processing module, for carrying out multi-source fusion processing to live-action data；
Threedimensional model generation module for the live-action data unified coordinate system after multi-source fusion, and carries out pyramid watt
Piece processing, generates outdoor scene threedimensional model；
Three-dimensional model map generation module, it is raw for outdoor scene threedimensional model and two-dimensional vector navigation map to be overlapped
At outdoor scene three-dimensional model map, wherein outdoor scene threedimensional model includes location information；
Three-dimensional model map uploading module, for outdoor scene three-dimensional model map to be uploaded to server.
Preset parameter includes key frame in one of the embodiments,；Preset algorithm includes optimal path algorithm；
Navigation routine generation module is also used to using key frame as key node, using optimal path algorithm in outdoor scene three-dimensional
Navigation routine is generated on relief-map.
Preset roam mode includes that linear roam mode, discrete roam mode, batten are unrestrained in one of the embodiments,
The gentle dynamic roam mode of trip mode, Roam Path include linear Roam Path, discrete Roam Path, batten Roam Path and delay
Dynamic Roam Path；Planed path generation module includes linear planed path generation module, discrete planed path generation module, batten
Planed path generation module or slow-action planed path generation module；
Linear planed path generation module, for being carried out between the key frame of navigation routine using linear roam mode
Even simulation roaming, generates linear Roam Path；
Or
Discrete planed path generation module, for being dashed forward between the key frame of navigation routine using discrete roam mode
Become simulation roaming, generates discrete Roam Path；
Or
Batten planed path generation module, for using batten roam mode between the key frame of navigation routine according to shellfish
Sai Er function, which is accelerated and/or slowed down, simulates roaming, generates batten Roam Path；
Or
Slow-action planed path generation module, for basis to be slow between the key frame of navigation routine using slow-action roam mode
Dynamic function carries out simulation roaming, generates slow-action Roam Path.
Above-mentioned navigation video-generating device is because using above-mentioned navigation video generation method, and therefore, navigate video-unit
User can be made to load when needing video navigation or download navigation video, do not needed with first loading outdoor scene three-dimensional simulation
Figure again operates outdoor scene three-dimensional simulation map, reduces mass data transmission and the operating process of complexity, provides effect
Rate.
Based on above-mentioned navigation video generation method, a kind of video navigation method using navigation video is additionally provided.
As shown in figure 8, a kind of video navigation method using navigation video, comprising the following steps:
Step S810 sends navigation video identification information to server；
Step S820 receives navigation video corresponding with navigation video identification information and metadata；
Step S830 obtains current GPS information；
Step S840 establishes the relevance of current GPS information and the video that navigates according to metadata；
Step S850 plays the navigation video after association according to preset playback rate.
It is to be described from 130 angle of second terminal in the present embodiment.Second terminal 130 when needing video navigation,
Navigation video identification information is sent to server 140, after server 140 receives navigation video identification information, finds and leads
It navigates the corresponding navigation video of identification information and metadata, then will navigate video and metadata is sent to second terminal 130, the
Two terminals 130 obtain current GPS information, according to metadata set up GPS with navigate video relevance (wherein metadata is
Some key messages in navigation video), then navigation video is played according to preset playback rate.In addition, navigating playing
The rate of adjustable navigation video playing, play mode etc. (such as VR or MR mode playback can be used) during video.
The navigation video identification information is the information that can uniquely mark with navigation by recognition video, can distinguish other navigation videos,
Its form is varied, for example, be made of pure digi-tal coding identification information, be made of number and letter etc. identification information, by
Identification informations of compositions such as image character etc..The metadata includes frequency frame number and coordinate information, Viewing-angle information, temporal information
And the relationship information of GPS information, it is seen that as long as knowing that one of information sets up this information and other
The relationship of information.
Above-mentioned video navigation method can make due to using the navigation video in above-mentioned navigation video generation method
User loads or download navigation video when needing video navigation, it is right again not need first to load outdoor scene three-dimensional simulation map
Outdoor scene three-dimensional simulation map is operated, and is reduced mass data transmission and the operating process of complexity, is provided efficiency.
Based on the above-mentioned video navigation method using navigation video, a kind of video guide using navigation video is additionally provided
Navigate device.
As shown in figure 9, a kind of video navigation device using navigation video, comprising:
Identification information sending module 910, for sending navigation video identification information to server；
Video, metadata receiving module 920, for receiving navigation video corresponding with video identification information of navigating and member
Data；
GPS information obtains module 930, for obtaining current GPS information；
Relevance establishes module 940, for establishing the relevance of current GPS information and the video that navigates according to metadata；
Navigate video playback module 950, for playing the navigation video after association according to preset playback rate.
Above-mentioned video navigation device can make due to using the navigation video in above-mentioned navigation video generation method
User loads or download navigation video when needing video navigation, it is right again not need first to load outdoor scene three-dimensional simulation map
Outdoor scene three-dimensional simulation map is operated, and is reduced mass data transmission and the operating process of complexity, is provided efficiency.
Based on above-mentioned video navigation method, navigation device, using navigation video video navigation method and device, also mention
It has supplied a kind of using video navigation system.
A kind of video navigation system, as shown in Figure 1, comprising: acquisition equipment 110, first terminal 120,130 and of second terminal
Server 140, wherein acquisition equipment 110 and first terminal 120 communicate to connect, first terminal 120, second terminal 130 respectively with
Server communication 140 connects；It acquires equipment 110 and is used for live-action data, and live-action data is sent to first terminal 120；First
The executable above-mentioned navigation video generation method of terminal 120；The executable above-mentioned video navigation method of second terminal 130；Service
Device 140 is used to receive and store the outdoor scene three-dimensional model map of the transmission of first terminal 120；Receive the position that first terminal 120 is sent
Confidence breath, transmission outdoor scene three-dimensional model map corresponding with location information to first terminal 120, and receive first terminal 120
The navigation video and metadata of transmission；The navigation video identification information that second terminal 130 is sent is received, is sent and navigation video mark
The corresponding navigation video of information and metadata are known to second terminal 130.
Specifically, acquiring acquisition equipment described in equipment 110 includes that all can acquire the device of live-action data, equipment, packet
It includes manned aircraft, unmanned vehicle, vehicle-mounted/airborne equipment and bears handheld device etc..It acquires equipment 110 and acquires outdoor scene number
According to live-action data being then sent to first terminal 120,120 years old live-action data of first terminal is handled, and it is three-dimensional to generate outdoor scene
Outdoor scene three-dimensional map model, is then uploaded to server 140 by cartographic model, and server 140 stores outdoor scene three-dimensional map model；
First terminal 120 sends location information to server 140, and server 140 sends outdoor scene three-dimensional mould corresponding with location information
Type map to first terminal 120, first terminal 120 generates navigation video and metadata according to outdoor scene three-dimensional model map, then
Navigation video and metadata are uploaded to server 140, server 140 can audit navigation video and metadata (main
Audit navigation video be suitble to meet citation form, for example whether meeting the agreement of law and folk custom), and store navigation video and
Metadata；Second terminal 130 sends navigation identification information to server 140, and server 140 is led according to navigation identification information searching
Navigation video and metadata, are then sent to second terminal 130 by boat video and metadata, and second terminal 130 is led by playing
Navigate video, to realize video navigation.Wherein first terminal 110 is intelligent terminal, and second terminal 120 all can play
The terminal device of video.
Above-mentioned video navigation system, including acquisition equipment 110, first terminal 120, second terminal 130 and server 140,
Above-mentioned navigation video generation method and video navigation method can be executed by cooperating between each equipment, greatly facilitate use
Family carries out video navigation.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
Only several embodiments of the present invention are expressed for above embodiments, and the description thereof is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.
Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of navigation video generation method, which comprises the following steps:
Location information is sent to server；
Receive outdoor scene three-dimensional model map corresponding with the location information；
The outdoor scene three-dimensional model map is handled according to preset parameter and preset algorithm, generates navigation routine；
Simulation roaming is carried out to the navigation routine according to preset roam mode, generates Roam Path；
According to planed path generation navigation video.
2. navigation video generation method according to claim 1, which is characterized in that in generating the step of navigating video,
Further include:
The video frame number of the navigation video is extracted, and establishes the video frame number and coordinate information, Viewing-angle information, temporal information
And the relevance of GPS information, generate metadata.
3. navigation video generation method according to claim 2, which is characterized in that further include:
Editing carried out to the navigation video and the metadata, and by the navigation video after editing and described
Metadata is transmitted to server.
4. navigation video generation method according to claim 1-3, which is characterized in that sending location information extremely
Server, before the step of receiving the outdoor scene three-dimensional model map, further includes:
Receive the live-action data of acquisition equipment acquisition；
Multi-source fusion processing is carried out to the live-action data；
To the live-action data unified coordinate system after multi-source fusion, and pyramid tile processing is carried out, generates outdoor scene three-dimensional mould
Type；
The outdoor scene threedimensional model is overlapped with two-dimensional vector navigation map, generates the outdoor scene three-dimensional model map,
Described in outdoor scene threedimensional model include the location information；
The outdoor scene three-dimensional model map is uploaded to the server.
5. navigation video generation method according to claim 1, which is characterized in that the preset parameter includes key
Frame；The preset algorithm includes optimal path algorithm；Three-dimensional to the outdoor scene according to preset parameter and preset algorithm
In the step of relief-map is handled, and navigation routine is generated, comprising:
Using the key frame as key node, institute is generated in the outdoor scene three-dimensional model map using the optimal path algorithm
State navigation routine.
6. navigate video generation method according to claim 1 or 5, which is characterized in that the preset roam mode packet
The gentle dynamic roam mode of linear roam mode, discrete roam mode, batten roam mode is included, the Roam Path linearly roams road
Diameter, discrete Roam Path, batten Roam Path and slow-action Roam Path；According to preset roam mode to the navigation routine
In the step of carrying out simulation roaming, generating Roam Path, comprising:
It carries out uniformly simulating roaming between the key frame of the navigation routine using the linear roam mode, generates line
Property Roam Path；
Or
Carried out between the key frame of the navigation routine using the discrete roam mode mutation simulation roaming, generate from
Dissipate Roam Path；
Or
Accelerated between the key frame of the navigation routine according to Bessel function using the batten roam mode
And/or simulation roaming of slowing down, generate batten Roam Path；
Or
It is unrestrained that simulation is carried out according to slow-action function between the key frame of the navigation routine using the slow-action roam mode
Trip generates slow-action Roam Path.
7. a kind of navigation video-generating device characterized by comprising
Location information sending module, for sending location information to server；
Map receiving module, for receiving outdoor scene three-dimensional model map corresponding with the location information；
Navigation routine generation module, for being carried out according to preset parameter and preset algorithm to the outdoor scene three-dimensional model map
Processing generates navigation routine；
Planed path generation module generates unrestrained for carrying out simulation roaming to the navigation routine according to preset roam mode
Swim path；
Navigate video generation module, for according to planed path generation navigation video.
8. a kind of video navigation method using any one of the claim 1-6 navigation video, which is characterized in that including following
Step:
Navigation video identification information is sent to the server；
Receive navigation video corresponding with the navigation video identification information and metadata；
Obtain current GPS information；
The relevance of the current GPS information and the navigation video is established according to the metadata；
The navigation video after association is played according to preset playback rate.
9. a kind of video navigation device using any one of the claim 1-6 navigation video characterized by comprising
Identification information sending module, for sending navigation video identification information to the server；
Video, metadata receiving module, for receiving navigation video corresponding with the navigation video identification information and first number
According to；
GPS information obtains module, for obtaining current GPS information；
Relevance establishes module, is associated with for establishing the current GPS information according to the metadata with the navigation video
Property；
Navigate video playback module, for playing the navigation video after association according to preset playback rate.
10. a kind of video navigation system characterized by comprising acquisition equipment, first terminal, second terminal and server,
Described in acquisition equipment and the first terminal communicate to connect, the first terminal, the second terminal respectively with the service
Device communication connection；
The acquisition equipment is used for live-action data, and the live-action data is sent to the first terminal；
Navigation video generation method described in any one of claims 1-6 can be performed in the first terminal；
Video navigation method according to any one of claims 8 can be performed in the second terminal；
The server is used to receive and store the outdoor scene three-dimensional model map of first terminal transmission；Receive the first terminal hair
The location information sent, transmission outdoor scene three-dimensional model map corresponding with the location information to the first terminal, and receive
The navigation video and metadata that first terminal is sent；Receive second terminal send navigation video identification information, send with it is described
The corresponding navigation video of video identification information of navigating and metadata are to the second terminal.
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