CN112802177A - Processing method and device of aerial survey data, electronic equipment and storage medium - Google Patents
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Abstract
The embodiment of the invention provides a processing method and device of aerial survey data, electronic equipment and a storage medium. The method comprises the following steps: acquiring an aerial survey data set, wherein the aerial survey data set comprises aerial images; acquiring an image coordinate of each aerial image; determining an outsourcing rectangle corresponding to the aerial survey data set according to the image coordinates; segmenting the outer-wrapping rectangle to obtain a segmentation subarea set; determining aerial images included by each sub-region in the segmented sub-region set; and processing the aerial image included in any subarea of the segmentation subarea set through any one server in a plurality of servers. The mode of carrying out one-to-one corresponding processing on the data corresponding to the sub-regions with less data by adopting the small server not only can reduce the cost of data processing, but also can improve the efficiency of data processing.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a processing method and device of aerial survey data, electronic equipment and a storage medium.
Background
The aerial survey data refers to data corresponding to aerial images obtained by shooting through aerial shooting tools such as an unmanned aerial vehicle. In the traditional technology, after image data or a plurality of survey area data collected by an aerial survey unmanned aerial vehicle are combined, a data set is very large and reaches thousands or tens of thousands of photos, the data scale processed by a common workstation (8-core 16 thread and 8G memory) once is basically within 1000, after the data volume exceeds, the data cannot be loaded into the memory once, a large number of exchange partitions (hard disks) are needed in the calculation process, and the calculation of the common workstation is very slow or the three-dimensional reconstruction application directly collapses due to the fact that the IO speed of the hard disks is very slow.
Disclosure of Invention
The invention aims to provide a processing method and device of aerial survey data, electronic equipment, a storage medium and a computer program product.
In order to achieve the above object, a first aspect of the present invention provides a method for processing aerial survey data, including:
acquiring an aerial survey data set, wherein the aerial survey data set comprises aerial images;
acquiring an image coordinate of each aerial image;
determining an outsourcing rectangle corresponding to the aerial survey data set according to the image coordinates;
segmenting the outer-wrapped rectangle to obtain a segmentation subarea set;
determining an aerial image included by each sub-region in the segmented sub-region set;
the aerial image included in any one of the sub-regions of the partitioned set of sub-regions is processed by any one of a plurality of servers.
In an embodiment, the segmenting the envelope rectangle into the set of segmentation sub-regions includes: acquiring the length and the width of the outer wrapping rectangle; determining the division number of the outsourcing rectangle according to the ratio of the length to the width; and determining a segmentation sub-region set obtained by outsourcing rectangular segmentation according to the number of segmentation parts, wherein the segmentation sub-region set comprises a plurality of sub-regions.
In one embodiment, the processing method further comprises: acquiring an image number and an image coordinate of each aerial image contained in the aerial survey data set; sequentially connecting coordinate points corresponding to the image coordinates of each aerial image according to the arrangement sequence of the image numbers; determining routes and route quantity corresponding to each image coordinate according to an included angle between straight lines obtained by connecting coordinate points; and determining the image number interval contained in each route.
In one embodiment, determining routes and the number of routes corresponding to coordinates of each image according to an included angle between straight lines obtained by connecting coordinate points comprises: and when the included angle between the straight line formed by any one coordinate point and the previous coordinate point and the straight line formed by the next coordinate point exceeds a preset angle, determining that the previous coordinate point and the next coordinate point are positioned on different routes.
In one embodiment, the processing method further comprises: and when the included angle between the straight line formed by any one coordinate point and the previous coordinate point and the straight line formed by the next coordinate point does not exceed the preset angle, determining that the coordinate point and the previous coordinate point and the next coordinate point are located on the same route so as to determine the number of routes.
In one embodiment, determining the aerial image included in each sub-region included in the set of segmented sub-regions comprises: acquiring a first image number of a first aerial image contained in each subregion; determining a first route corresponding to the first aerial image according to the image number interval and the first image number; determining an expanded image of the sub-area according to the first route; adding the expanded image to the dataset contained by the sub-region adds the expanded image to the dataset contained by the sub-region.
In an embodiment, determining an expanded image of the sub-region from the first course comprises: acquiring all image numbers of a first air route; acquiring a second image number which is not contained in the subarea and is adjacent to the first image number in all the image numbers; and taking the second aerial image corresponding to the second image number as an extended image.
In an embodiment, determining an expanded image of the sub-region from the first course comprises: determining the distance from a second air route except the first air route to the boundary of the subregion; taking a third air route which is respectively shortest from the boundaries at two sides of the sub-area as an extended air route of the first air route; determining a longitudinal axis coordinate interval of the first aerial image according to the image coordinate of the first aerial image; and taking the aerial image of which the longitudinal axis coordinate of the image coordinate in the extended route is positioned in the longitudinal axis coordinate interval as an extended image.
In one embodiment, the step of taking a third route respectively shortest from the boundaries at the two sides of the subregion as an extended route of the first route comprises the following steps: and when the two third routes closest to the sub-area are both positioned on the same side of the sub-area, taking the third route closest to the sub-area as an extended route.
In one embodiment, the processing method further comprises: acquiring an initial boundary of a sub-region; cutting the sub-area processed by the server according to the initial boundary; and merging the aerial images in the cut sub-regions to generate corresponding mapping images.
A second aspect of the invention provides a processor configured to perform the method of processing aerial survey data described above.
A third aspect of the present invention provides an apparatus for processing aerial survey data, including:
the data segmentation module is used for acquiring an aerial survey data set, and the aerial survey data set comprises aerial images;
the area segmentation module is used for acquiring the image coordinates of each aerial image; determining an outsourcing rectangle corresponding to the aerial survey data set according to the image coordinates; segmenting the outer-wrapped rectangle to obtain a segmentation subarea set;
the data processing module is used for determining aerial images included by each subarea in the subarea set; the aerial image included in any one of the sub-regions of the partitioned set of sub-regions is processed by any one of a plurality of servers.
A fourth aspect of the invention provides a machine-readable storage medium having stored thereon instructions which, when executed by a processor, cause the processor to be configured to perform the method of processing of aerial data described above.
A fifth aspect of the invention provides a computer program product comprising a computer program which, when executed by a processor, implements the method of processing aerial data described above.
According to the technical scheme, the outsourcing rectangle corresponding to the aerial survey data set is determined firstly, then the outsourcing rectangle corresponding to the aerial survey data set is split into the plurality of sub-regions, then the sub-regions are correspondingly processed through the small servers respectively, and after the servers complete calculation, the small data sets are combined into the complete large data integration result data according to the splitting rule. The mode of carrying out one-to-one corresponding processing on the data corresponding to the sub-regions with less data by adopting the small server not only can reduce the cost of data processing, but also can improve the efficiency of data processing.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a method of processing aerial survey data according to an embodiment of the invention;
FIG. 2 schematically illustrates a partitioning diagram of sub-regions according to an embodiment of the invention;
FIG. 3 schematically shows a schematic diagram of a boundary extension of a sub-region according to an embodiment of the invention;
FIG. 4 is a block diagram schematically illustrating an arrangement of a device for processing aerial survey data according to an embodiment of the invention;
fig. 5 schematically shows an internal structure diagram of a computer apparatus according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 schematically shows a flow chart of a method for processing aerial survey data according to an embodiment of the invention. As shown in fig. 1, in an embodiment of the present invention, a method for processing aerial survey data is provided, including the following steps:
And 102, acquiring the image coordinates of each aerial image.
And 103, determining an outsourcing rectangle corresponding to the aerial survey data set according to the image coordinates.
And 104, segmenting the outer package rectangle to obtain a segmentation sub-region set.
And 106, processing the aerial image included in any subarea of the subarea set by any server in the plurality of servers.
Firstly, aerial survey data obtained by aerial photography of the unmanned aerial vehicle can be obtained, and the aerial survey data comprises a plurality of aerial images. When each aerial image is obtained by aerial photography by the unmanned aerial vehicle, each aerial image has the image coordinate and the image number which correspond to each aerial image. The image coordinates of each aerial image can be acquired first, and then the outsourcing rectangle corresponding to the aerial data set can be determined according to the image coordinates of all aerial images contained in the aerial data set. Because the volume of the aerial survey data is usually large, the aerial survey data can be divided into a plurality of subdata sets to reduce the processing amount of the server, that is, the outsourced rectangle corresponding to the aerial survey data can be divided into a plurality of dividing sub-regions to obtain the corresponding dividing sub-region set.
Further, the number of photos each server is adapted to process may be determined according to the configuration of the server cluster. The configuration of the server cluster comprises performance parameters of a memory, a CPU and the like of the server. The processing power of the server may be determined based on performance parameters of the server. In this embodiment, the problem that a single server in a server cluster may have inconsistent performance with other servers can be ignored, and for such large data processing items, the server cluster may be purchased in the same batch, so that individual differences of the servers can be ignored. For example, the total number of aerial images included in the aerial survey data is s, and the number m of photos that can be processed by each server is determined according to the configuration information of the server cluster, so that the aerial survey data can be determined to be divided into n, where n is s/m, that is, the aerial survey data can be divided into n sub-data sets, that is, the outsourcing rectangle corresponding to the aerial survey data set can be divided into n sub-regions.
After the outsourcing rectangle corresponding to the aerial survey data is determined, the outsourcing rectangle can be divided into a plurality of sub-areas, each sub-area comprises a plurality of aerial images, and after the image coordinates of each aerial image are obtained, a plurality of image coordinates contained in each sub-area can be determined. The outsourced rectangle is an area formed by including all the image coordinates in the aerial image data set in a minimum rectangular area for all the aerial images in the aerial image data set. Further, the outsourcing rectangle corresponding to the aerial survey data set can be segmented to obtain a segmented sub-region set composed of a plurality of sub-regions. And further determining aerial images contained in each sub-region in the segmented sub-region set so as to process the aerial images contained in any sub-region of the segmented sub-region set through any one of the plurality of servers. That is, it is shown that data corresponding to one sub-area can be processed by using any one mini server in a mini server cluster.
The outsourcing rectangle corresponding to the aerial survey data set is firstly determined, then the outsourcing rectangle corresponding to the aerial survey data set is split into a plurality of sub-regions, then each small server respectively carries out corresponding processing on each sub-region, and after the server completes calculation, the plurality of small data sets are combined into complete large-scale data integration result data according to the splitting rule. The mode of carrying out one-to-one corresponding processing on the data corresponding to the sub-regions with less data by adopting the small server not only can reduce the cost of data processing, but also can improve the efficiency of data processing.
In one embodiment, segmenting the envelope rectangle into a set of segmentation sub-regions comprises: acquiring the length and the width of the outer wrapping rectangle; determining the division number of the outsourcing rectangle according to the ratio of the length to the width; and determining a segmentation sub-region set obtained by outsourcing rectangular segmentation according to the number of segmentation parts, wherein the segmentation sub-region set comprises a plurality of sub-regions.
After the outsourcing rectangle corresponding to the aerial survey data set is determined, the outsourcing rectangle can be segmented to obtain a sub-region with smaller data volume. First, the length and width of the outer-packed rectangle of the sub data set can be obtained, and then the number of split copies of the outer-packed rectangle can be determined according to the length and width of the rectangle. When the envelope rectangle is divided, the number of divided parts Xn and Yn in the X and Y directions should be determined according to the aspect ratio of the rectangle so that Xn/Yn is as close as possible to the width/length of the rectangle (Xn/Yn ≈ the width/length of the rectangle). And since it is determined that the aerial survey data can be divided into n parts according to the configuration information of the server cluster, that is, it means that at most n servers can be used, because Xn × Yn > n when the envelope rectangle is divided. As shown in fig. 2, the image contains a total of aerial images taken by 11 routes, where the origin point in the image refers to an aerial point, that is, the unmanned aerial vehicle can take an image at the position point. The outer rectangle in the figure can be divided into 4 sub-regions, of which 2 sub-regions 1 (black dashed box) and 2 (black solid box) are shown in the figure. In this way, each outsourced rectangle can be divided into corresponding divided sub-region sets, i.e. each outsourced rectangle is divided into a plurality of sub-regions.
In one embodiment, the processing method further includes: acquiring an image number and an image coordinate of each aerial image contained in the aerial survey data set; sequentially connecting coordinate points corresponding to the image coordinates of each aerial image according to the arrangement sequence of the image numbers; determining routes and route quantity corresponding to each image coordinate according to an included angle between straight lines obtained by connecting coordinate points; and determining the image number interval contained in each route.
In this embodiment, after the aerial survey data is acquired, it may be determined how many routes are used for shooting the aerial survey data. When the unmanned aerial vehicle takes an aerial photo, the unmanned aerial vehicle can fly to take photos by a plurality of air routes at one time, and when the unmanned aerial vehicle with the same frame takes an aerial photo by a plurality of air routes, the image numbers of the aerial photo images generated by the unmanned aerial vehicle are continuous. For example, when the unmanned aerial vehicle A executes the aerial photography task, the shooting work of 3 air routes is simultaneously carried out, the number of the images shot by each air route is 100, and after the unmanned aerial vehicle executes the shooting task of the 3 air routes, the number of the images of the aerial photography images obtained by the unmanned aerial vehicle A is 1-300. It can be understood that the image number of the unmanned aerial vehicle after the unmanned aerial vehicle executes the first route is 1-100, the image number of the second route is 101-200, and the image number of the third route is 201-300. Therefore, after a large amount of aerial survey data are obtained, the shooting routes corresponding to the aerial survey data can be determined firstly.
The image coordinates of the aerial images are determined according to a plurality of parameters such as the attitude of the plane, the shooting angle and the like when the unmanned aerial vehicle shoots. The image coordinates of the aerial images may also represent, to some extent, the flight status of the drone. For example, when the unmanned aerial vehicle turns around from the route a to the route B for shooting, the shooting angle of the unmanned aerial vehicle changes, and correspondingly, the image coordinates of the aerial image shot on the route B also changes. Thus, the image number and image coordinates of the aerial image can be combined to determine the course taken.
In one embodiment, determining routes and the number of routes corresponding to coordinates of each image according to an included angle between straight lines obtained by connecting coordinate points comprises: and when the included angle between the straight line formed by any one coordinate point and the previous coordinate point and the straight line formed by the next coordinate point exceeds a preset angle, determining the coordinate point as an inflection point, wherein the previous coordinate point and the next coordinate point are positioned on different routes. And when the included angle between the straight line formed by any one coordinate point and the previous coordinate point and the straight line formed by the next coordinate point does not exceed the preset angle, determining that the coordinate point and the previous coordinate point and the next coordinate point are located on the same route so as to determine the number of routes.
Further, an image number corresponding to each aerial image in the aerial survey data and an image coordinate of each aerial image may be acquired first. And then, sequentially connecting coordinate points corresponding to the image coordinates of each aerial image according to the arrangement sequence of the image numbers to determine an included angle between straight lines obtained by connecting the coordinate points, and determining the routes and the number of routes corresponding to the image coordinates according to the angle of the included angle. Specifically, according to the arrangement sequence of the image numbers, coordinate points corresponding to three image coordinates adjacent in number are sequentially selected to be connected, and every two adjacent coordinate points are connected to obtain two straight lines. For example, selecting the image coordinate points of image numbers 1,2, and 3 to be connected means that the image coordinate points of image numbers 1 and 2 are connected to obtain a straight line 1, the image coordinate points of image numbers 2 and 3 are connected to obtain a straight line 2, and then the angle of the included angle formed by the straight line 1 and the straight line 2 can be determined. And whether the three image coordinate points with the image numbers 1,2 and 3 are shot by the same route can be determined according to the included angle.
When an included angle between a straight line formed by any one coordinate point and a previous coordinate point and a straight line formed by the coordinate point and a subsequent coordinate point exceeds a preset angle, the coordinate point can be determined as an inflection point, and the previous coordinate point and the subsequent coordinate point of the coordinate point are located on different routes. Wherein the preset angle may be set to 30 degrees. As in the above example, assuming that the angle of the included angle formed by the straight line 1 and the straight line 2 exceeds the preset angle by 30 degrees, it can be determined that the coordinate point of the image coordinate of the image number 2 is an inflection point, and the former coordinate point of the image number 2 (image number 1) and the latter coordinate point of the image number 2 (image number 3) are not taken by the same aerial route. Similarly, assuming that the angle of the included angle formed by the straight line 1 and the straight line 2 does not exceed the preset angle of 30 degrees, it can be determined that the image number 2, the former coordinate point (the image number 1) of the image number 2, and the latter coordinate point (the image number 3) of the image number 2 belong to the same aerial route.
By analogy, the course taken by all aerial images in the aerial survey data, as well as the number of courses, may be determined in this manner. That is, the aerial image taken by each route and the image number interval of the taken aerial image can be determined. For example, the aerial survey data is determined, wherein the image numbers 1-100 are obtained by shooting through a flight line A, 101-200 are obtained by shooting through a flight line B, and the like, so that the image number interval of the aerial image shot by each flight line can be determined.
In one embodiment, determining the aerial image included in each sub-region included in the set of segmented sub-regions comprises: acquiring a first image number of a first aerial image contained in each subregion; determining a first route corresponding to the first aerial image according to the image number interval and the first image number; determining an expanded image of the sub-area according to the first route; the expanded image is added to the data set contained in the sub-region.
After the shooting routes corresponding to the aerial survey data and the image number intervals contained in each route are determined, the routes and the number of routes corresponding to the aerial images contained in each sub-area can be further determined. Specifically, for each sub-region, the aerial image included in each sub-region and the image number of each aerial image may be acquired first. For convenience of description, the aerial image initially included in the sub-region may be referred to as a first aerial image, and an image number corresponding to the first aerial image may be referred to as a first image number. The aerial image initially included in the subregion refers to an image included in the subregion before the extension image is not included. Then, according to the image number interval of each route and the first image number, a first route corresponding to the first aerial image contained in the sub-area can be determined. The number of the first routes may be multiple, and the number of the routes corresponding to the multiple first aerial images included in the sub-area may be multiple. Further, an expanded image of the sub-region may be determined according to the first course, so that the image contained in the sub-region may be expanded.
In one embodiment, determining an expanded image of the sub-region from the first course comprises: acquiring all image numbers of a first air route; acquiring a second image number which is not contained in the subarea and is adjacent to the first image number in all the image numbers; and taking the second aerial image corresponding to the second image number as an extended image of the subregion.
When determining the expanded image of the sub-region, there may be two expansion modes, one is expansion in the X-axis direction, and the other is expansion in the Y-axis direction, which may also be referred to as up-down expansion and left-right expansion. In the present embodiment, a manner of expanding up and down, i.e., expanding in the Y-axis direction, is provided. The first route corresponding to the first aerial image can be acquired first, and all aerial images shot by the route and corresponding all image numbers can be acquired. Then, a second image number that is not included in the sub-area but is adjacent to the first image number among all the image numbers captured by the first route may be acquired. As shown in fig. 3, the aerial images taken by the flight paths 1,2,3, 4, and 5 are not all divided into the sub-area 1, and only the partial images taken by the 5 flight paths are included in the sub-area, and at this time, the initial boundary of the sub-area is the boundary 1 in the figure. The image contained in sub-region 1 may then be expanded up and down first.
Specifically, all first aerial images included in the sub-area and a first image number corresponding to each image may be determined, and then the first image numbers may be sorted according to the routes corresponding to the first image numbers and the routes, so as to determine the number interval of the image shot by each route included in the sub-area. Then, the aerial image captured by the first route included in the sub-area is not included in the sub-area, and the image number adjacent to the first image number in the sub-area is set as the second image number. As shown in the lower boundary 1 of the subregion 1 in FIG. 3, assuming that the image number section of the route 1 included in the subregion is 1-100, and all the images photographed by the route 1 are 1-500, the second image number 101 adjacent to the image number section 1-100 of the route 1 included in the subregion, which is not included in all the image numbers 1-500 of the route 1, can be acquired, and the second aerial image corresponding to the second image number is determined as the extended image of the subregion, so that the data actually included in the subregion can be extended from the lower boundary 1 to the lower boundary 2, and the extension of the subregion data can be realized, as shown in FIG. 3.
In one embodiment, determining an expanded image of the sub-region from the first course comprises: determining the distance from a second air route except the first air route to the boundary of the subregion; taking a third air route which is respectively shortest from the boundaries at two sides of the sub-area as an extended air route of the first air route; determining a longitudinal axis coordinate interval of the first aerial image according to the image coordinate of the first aerial image; and taking the aerial image of which the longitudinal axis coordinate of the image coordinate in the extended route is positioned in the longitudinal axis coordinate interval as an extended image of the subregion.
In the present embodiment, a left-right expansion manner, i.e., expansion in the X-axis direction, is provided. The routes other than the first route among all routes may be referred to as second routes. That is, the lane not included in the sub-area is referred to as a second lane. Then, the Y-axis coordinate range, i.e., (Ymin, Ymax), may be determined from the image coordinates of the first aerial image contained in the sub-region, and then the aerial images in the extended route in which the Y-axis coordinates fall within this coordinate range may be taken as the extended images of the sub-region. As shown in fig. 3, the partial aerial images taken by the routes 1,2,3, 4, 5 are contained in the sub-area 1, whereas the aerial images taken by the routes 6, 7, 8, 9, 10, 11 are not contained in the sub-area 1. At this time, the right initial boundary of the sub-region is the right boundary 1 in the figure. Sub-region 1 may then be expanded left and right first.
In one embodiment, the step of taking a third route respectively shortest from the boundaries on both sides of the subregion as an extended route of the first route comprises: and when the two third routes closest to the sub-area are both positioned on the same side of the sub-area, taking the third route closest to the sub-area as an extended route.
Specifically, the distance between the second flight path and the boundary of the sub-area, that is, the distance between the second flight path and the nearest boundary of the sub-area, may be determined first, and then the third flight paths, which are nearest to the left and right sides of the sub-area, may be used as the extended flight paths. It is understood that the sub-region has two boundaries, i.e. left and right boundaries, so that when the sub-region is expanded left and right, the left and right boundaries can be expanded simultaneously. That is, the route closest to the left boundary of the sub-area and the route closest to the right boundary of the sub-area may be referred to as a third route, and the third route may be an extended route of the first route. At this time, the number of the third lanes is 2. When the left side or the right side of the sub-area is in the edge ground boundary and the left side or the right side of the sub-area has no air route, only the other side needs to be expanded. For example, as shown in fig. 3, if the left boundary of the sub-region 1 is located at the border, the data of the left boundary thereof does not need to be expanded, and only the data of the right boundary thereof needs to be expanded. In this case, the route shortest to the borders on both sides of the sub-area will be located on the same side of the sub-area, as shown in fig. 3, the route shortest to the borders on both left and right sides of the sub-area 1 is located on the right side of the sub-area, and at this time, only one route closest to the border of the sub-area needs to be selected as the extended route.
After the expansion route is determined, images and the number of the images which need to be expanded to the sub-area on the expansion route need to be determined. Specifically, the number of images of any first route included in the sub-region may be determined, and assuming that the number of all images taken by the route 1 is 500, the number of images divided into the sub-region is 50, and the sub-region corresponds to a rectangular region, the number of images of other routes included in the sub-region may also be determined as 50. Of course, there may be some difference in the actual process, but the number of images of each route contained in the sub-area is substantially the same, and this difference is negligible. Then, the Y-axis coordinate range, i.e., (Ymin, Ymax), may be determined from the image coordinates of the first aerial image contained in the sub-region, and then the aerial images in the extended route in which the Y-axis coordinates fall within this coordinate range may be taken as the extended images of the sub-region. . As shown in fig. 3, the data of the sub-region 1 can be expanded from the right boundary 1 to the right boundary 2, so as to expand the data of the sub-region.
In one embodiment, the processing method further includes: acquiring an initial boundary of a sub-region; cutting the sub-area processed by the server according to the initial boundary; and merging the aerial images in the cut sub-regions to generate corresponding mapping images.
After the aerial image included in any one of the subareas of the subarea set is processed by any one of the servers, the initial boundary of the subarea can be obtained, wherein the initial boundary is determined when the subarea is obtained by outsourcing rectangular segmentation. After the data contained in the sub-area is processed by the server, the sub-area processed by the server can be cut according to the initial boundary so as to improve the precision of the data. And then combining the cropped sub-regions, thereby generating a mapping image with higher precision.
In an embodiment of the present invention, as shown in fig. 4, there is provided an apparatus 400 for processing aerial survey data, including:
a data segmentation module 401, configured to obtain an aerial survey data set, where the aerial survey data set includes an aerial image;
a region segmentation module 402, configured to obtain image coordinates of each aerial image; determining an outsourcing rectangle corresponding to the aerial survey data set according to the image coordinates; segmenting the outer-wrapped rectangle to obtain a segmentation subarea set;
a data processing module 403, configured to determine an aerial image included in each of the segmented sub-regions in the sub-region set; the aerial image included in any one of the sub-regions of the partitioned set of sub-regions is processed by any one of a plurality of servers.
In one embodiment, the data segmentation module 401 is further configured to obtain an image number and image coordinates of each aerial image contained in the aerial survey data set; sequentially connecting coordinate points corresponding to the image coordinates of each aerial image according to the arrangement sequence of the image numbers; determining routes and route quantity corresponding to each image coordinate according to an included angle between straight lines obtained by connecting coordinate points; and determining the image number interval contained in each route.
In one embodiment, the data segmentation module 401 is further configured to determine that a previous coordinate point and a next coordinate point are located on different routes when an included angle between a straight line formed by any one coordinate point and the previous coordinate point and a straight line formed by the next coordinate point exceeds a preset angle.
In one embodiment, the data segmentation module 401 is further configured to determine that the coordinate point and the previous coordinate point and the next coordinate point are located on the same route to determine the number of routes when an included angle between a straight line formed by any one coordinate point and the previous coordinate point and a straight line formed by the next coordinate point does not exceed a preset angle.
In one embodiment, the region segmentation module 402 is further configured to obtain the length and width of the outsourcing rectangle; determining the division number of the outsourcing rectangle according to the ratio of the length to the width; and determining a segmentation sub-region set obtained by outsourcing rectangular segmentation according to the number of segmentation parts, wherein the segmentation sub-region set comprises a plurality of sub-regions.
In one embodiment, the data processing module 403 is further configured to, for each sub-region, acquire a first image number of a first aerial image contained in the sub-region; determining a first route corresponding to the first aerial image according to the image number interval and the first image number; determining an expanded image of the sub-area according to the first route; the expanded image is added to the data set contained in the sub-region.
In one embodiment, the data processing module 403 is further configured to obtain all image numbers of the first route; acquiring a second image number which is not contained in the subarea and is adjacent to the first image number in all the image numbers; and taking the second aerial image corresponding to the second image number as an extended image.
In one embodiment, the data processing module 403 is further configured to determine a distance of a second one of the routes other than the first route to the subregion boundary; taking a third air route which is respectively shortest from the boundaries at two sides of the sub-area as an extended air route of the first air route; determining a longitudinal axis coordinate interval of the first aerial image according to the image coordinate of the first aerial image; and taking the aerial image of which the longitudinal axis coordinate of the image coordinate in the extended route is positioned in the longitudinal axis coordinate interval as an extended image.
In one embodiment, the data processing module 403 is further configured to use the third route closest to the sub-region as the extended route when both the third routes closest to the sub-region are located on the same side of the sub-region.
In one embodiment, the data processing module 403 is further configured to obtain an initial boundary of the sub-region; cutting the sub-area processed by the server according to the initial boundary; and merging the aerial images in the cut sub-regions to generate corresponding mapping images.
The processing device of the aerial survey data comprises a processor and a memory, wherein the data segmentation module, the area segmentation module, the data processing module and the like are stored in the memory as program units, and the processor executes the program modules stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the processing method of the aerial survey data is realized by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium, on which a program is stored, and when the program is executed by a processor, the method for processing aerial survey data is implemented.
The embodiment of the invention provides a processor, which is used for running a program, wherein the processing method of the aerial survey data is executed when the program runs.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor a01, a network interface a02, a memory (not shown), and a database (not shown) connected by a system bus. Wherein processor a01 of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises an internal memory a03 and a non-volatile storage medium a 04. The non-volatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a 04. The database of the computer device is used for storing aerial survey data. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02 is adapted to be executed by the processor a01 to carry out a method of processing aerial survey data.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: acquiring an aerial survey data set, wherein the aerial survey data set comprises aerial images; acquiring an image coordinate of each aerial image; determining an outsourcing rectangle corresponding to the aerial survey data set according to the image coordinates; segmenting the outer-wrapped rectangle to obtain a segmentation subarea set; determining an aerial image included by each sub-region in the segmented sub-region set; the aerial image included in any one of the sub-regions of the partitioned set of sub-regions is processed by any one of a plurality of servers.
In one embodiment, segmenting the envelope rectangle into a set of segmentation sub-regions comprises: acquiring the length and the width of the outer wrapping rectangle; determining the division number of the outsourcing rectangle according to the ratio of the length to the width; and determining a segmentation sub-region set obtained by outsourcing rectangular segmentation according to the number of segmentation parts, wherein the segmentation sub-region set comprises a plurality of sub-regions.
In one embodiment, the processor when executing the program further performs the steps of: acquiring an image number and an image coordinate of each aerial image contained in the aerial survey data set; sequentially connecting coordinate points corresponding to the image coordinates of each aerial image according to the arrangement sequence of the image numbers; determining routes and route quantity corresponding to each image coordinate according to an included angle between straight lines obtained by connecting coordinate points; and determining the image number interval contained in each route.
In one embodiment, determining routes and the number of routes corresponding to coordinates of each image according to an included angle between straight lines obtained by connecting coordinate points comprises: and when the included angle between the straight line formed by any one coordinate point and the previous coordinate point and the straight line formed by the next coordinate point exceeds a preset angle, determining that the previous coordinate point and the next coordinate point are positioned on different routes.
In one embodiment, the processor when executing the program further performs the steps of: and when the included angle between the straight line formed by any one coordinate point and the previous coordinate point and the straight line formed by the next coordinate point does not exceed the preset angle, determining that the coordinate point and the previous coordinate point and the next coordinate point are located on the same route so as to determine the number of routes.
In one embodiment, determining the aerial image included in each sub-region included in the set of segmented sub-regions comprises: acquiring a first image number of a first aerial image contained in each subregion; determining a first route corresponding to the first aerial image according to the image number interval and the first image number; determining an expanded image of the sub-area according to the first route; the expanded image is added to the data set contained in the sub-region.
In one embodiment, determining an expanded image of the sub-region from the first course comprises: acquiring all image numbers of a first air route; acquiring a second image number which is not contained in the subarea and is adjacent to the first image number in all the image numbers; and taking the second aerial image corresponding to the second image number as an extended image.
In one embodiment, determining an expanded image of the sub-region from the first course comprises: determining the distance from a second air route except the first air route to the boundary of the subregion; taking a third air route which is respectively shortest from the boundaries at two sides of the sub-area as an extended air route of the first air route; determining a longitudinal axis coordinate interval of the first aerial image according to the image coordinate of the first aerial image; and taking the aerial image of which the longitudinal axis coordinate of the image coordinate in the extended route is positioned in the longitudinal axis coordinate interval as an extended image.
In one embodiment, the step of taking a third route respectively shortest from the boundaries on both sides of the subregion as an extended route of the first route comprises: and when the two third routes closest to the sub-area are both positioned on the same side of the sub-area, taking the third route closest to the sub-area as an extended route.
In one embodiment, the processor when executing the program further performs the steps of: acquiring an initial boundary of a sub-region; cutting the sub-area processed by the server according to the initial boundary; and merging the aerial images in the cut sub-regions to generate corresponding mapping images.
An embodiment of the present invention further provides a computer program product, which, when executed on a data processing apparatus, is adapted to execute a program that initializes the following method steps: acquiring an aerial survey data set, wherein the aerial survey data set comprises aerial images; acquiring an image coordinate of each aerial image; determining an outsourcing rectangle corresponding to the aerial survey data set according to the image coordinates; segmenting the outer-wrapped rectangle to obtain a segmentation subarea set; determining an aerial image included by each sub-region in the segmented sub-region set; the aerial image included in any one of the sub-regions of the partitioned set of sub-regions is processed by any one of a plurality of servers.
In one embodiment, segmenting the envelope rectangle into a set of segmentation sub-regions comprises: acquiring the length and the width of the outer wrapping rectangle; determining the division number of the outsourcing rectangle according to the ratio of the length to the width; and determining a segmentation sub-region set obtained by outsourcing rectangular segmentation according to the number of segmentation parts, wherein the segmentation sub-region set comprises a plurality of sub-regions.
In one embodiment, the computer program product when executed further performs the steps of: acquiring an image number and an image coordinate of each aerial image contained in the aerial survey data set; sequentially connecting coordinate points corresponding to the image coordinates of each aerial image according to the arrangement sequence of the image numbers; determining routes and route quantity corresponding to each image coordinate according to an included angle between straight lines obtained by connecting coordinate points; and determining the image number interval contained in each route.
In one embodiment, determining routes and the number of routes corresponding to coordinates of each image according to an included angle between straight lines obtained by connecting coordinate points comprises: and when the included angle between the straight line formed by any one coordinate point and the previous coordinate point and the straight line formed by the next coordinate point exceeds a preset angle, determining that the previous coordinate point and the next coordinate point are positioned on different routes.
In one embodiment, the computer program product when executed further performs the steps of: and when the included angle between the straight line formed by any one coordinate point and the previous coordinate point and the straight line formed by the next coordinate point does not exceed the preset angle, determining that the coordinate point and the previous coordinate point and the next coordinate point are located on the same route so as to determine the number of routes.
In one embodiment, determining the aerial image included in each sub-region included in the set of segmented sub-regions comprises: acquiring a first image number of a first aerial image contained in each subregion; determining a first route corresponding to the first aerial image according to the image number interval and the first image number; determining an expanded image of the sub-area according to the first route; the expanded image is added to the data set contained in the sub-region.
In one embodiment, determining an expanded image of the sub-region from the first course comprises: acquiring all image numbers of a first air route; acquiring a second image number which is not contained in the subarea and is adjacent to the first image number in all the image numbers; and taking the second aerial image corresponding to the second image number as an extended image.
In one embodiment, determining an expanded image of the sub-region from the first course comprises: determining the distance from a second air route except the first air route to the boundary of the subregion; taking a third air route which is respectively shortest from the boundaries at two sides of the sub-area as an extended air route of the first air route; determining a longitudinal axis coordinate interval of the first aerial image according to the image coordinate of the first aerial image; and taking the aerial image of which the longitudinal axis coordinate of the image coordinate in the extended route is positioned in the longitudinal axis coordinate interval as an extended image.
In one embodiment, the step of taking a third route respectively shortest from the boundaries on both sides of the subregion as an extended route of the first route comprises: and when the two third routes closest to the sub-area are both positioned on the same side of the sub-area, taking the third route closest to the sub-area as an extended route.
In one embodiment, the computer program product when executed further performs the steps of: acquiring an initial boundary of a sub-region; cutting the sub-area processed by the server according to the initial boundary; and merging the aerial images in the cut sub-regions to generate corresponding mapping images.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (12)
1. A method for processing aerial survey data, comprising:
acquiring an aerial survey data set, wherein the aerial survey data set comprises aerial images;
acquiring an image coordinate of each aerial image;
determining an outsourcing rectangle corresponding to the aerial survey data set according to the image coordinates;
segmenting the outer-wrapping rectangle to obtain a segmentation subarea set;
determining aerial images included by each sub-region in the segmented sub-region set;
and processing the aerial image included in any subarea of the segmentation subarea set through any one server in a plurality of servers.
2. The method of claim 1, wherein the segmenting the bounding rectangle into a set of segmentation regions comprises:
acquiring the length and the width of the outer wrapping rectangle;
determining the division number of the outsourcing rectangle according to the ratio of the length to the width;
and determining a segmentation sub-region set obtained by segmenting the outsourcing rectangle according to the segmentation number, wherein the segmentation sub-region set comprises a plurality of sub-regions.
3. The method of processing aerial survey data of claim 1, further comprising:
acquiring an image number and an image coordinate of each aerial image contained in the aerial survey data set;
sequentially connecting coordinate points corresponding to the image coordinates of each aerial image according to the arrangement sequence of the image numbers;
determining routes and route quantity corresponding to the image coordinates according to included angles between straight lines obtained by connecting the coordinate points;
and determining the image number interval contained in each route.
4. The aerial survey data processing method of claim 3, wherein the determining of routes and the number of routes corresponding to the image coordinates according to the included angle between the straight lines obtained by connecting the coordinate points comprises:
when an included angle between a straight line formed by any one coordinate point and a previous coordinate point and a straight line formed by the next coordinate point exceeds a preset angle, determining that the previous coordinate point and the next coordinate point are located on different routes;
and when the included angle between the straight line formed by any one coordinate point and the former coordinate point and the straight line formed by the latter coordinate point does not exceed the preset angle, determining that the coordinate point and the former coordinate point and the latter coordinate point are positioned on the same route so as to determine the number of routes.
5. The method for processing aerial survey data according to claim 3, wherein the determining the aerial image included in each sub-region included in the segmented sub-region set comprises:
for each subregion, acquiring a first image number of a first aerial image contained in the subregion;
determining a first route corresponding to the first aerial image according to the image number interval and the first image number;
determining an expanded image of the sub-region according to the first route;
adding the extended image to the dataset comprised by the sub-region.
6. The method of processing aerial survey data of claim 5 wherein determining an extended image of the sub-region from the first course comprises:
acquiring all image numbers of the first air route;
acquiring a second image number which is not contained in the subarea and is adjacent to the first image number in all the image numbers;
and taking the second aerial image corresponding to the second image number as the extended image.
7. The method of processing aerial survey data of claim 5 wherein determining an extended image of the sub-region from the first course comprises:
determining the distance from a second route except the first route to the boundary of the subregion;
taking a third air route which is respectively shortest from the boundaries on the two sides of the sub-area as an extended air route of the first air route;
determining a longitudinal axis coordinate interval of the first aerial image according to the image coordinate of the first aerial image;
and taking the aerial image of which the longitudinal axis coordinate of the image coordinate in the extended route is positioned in the longitudinal axis coordinate interval as an extended image.
8. The method for processing aerial survey data according to claim 7, wherein the step of using a third route respectively shortest from the boundaries on both sides of the sub-area as an extended route of the first route comprises:
and when the two third routes closest to the sub-region are both positioned on the same side of the sub-region, taking the third route closest to the sub-region as the extended route.
9. A method of processing aerial survey data as claimed in any one of claims 5 to 8, the method further comprising:
acquiring an initial boundary of the sub-region;
cutting the sub-area processed by the server according to the initial boundary;
and merging the aerial images in the cut sub-regions to generate corresponding mapping images.
10. An apparatus for processing aerial survey data, comprising:
the data segmentation module is used for acquiring an aerial survey data set, and the aerial survey data set comprises aerial images;
the area segmentation module is used for acquiring the image coordinates of each aerial image; determining an outsourcing rectangle corresponding to the aerial survey data set according to the image coordinates; segmenting the outer-wrapping rectangle to obtain a segmentation subarea set;
the data processing module is used for determining aerial images included by each subarea in the segmentation subarea set; and processing the aerial image included in any subarea of the segmentation subarea set through any one server in a plurality of servers.
11. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to perform the method of processing aerial data of any one of claims 1 to 9.
12. A machine readable storage medium having instructions stored thereon, which when executed by a processor causes the processor to be configured to perform a method of processing aerial data according to any of claims 1 to 9.
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