Inclined camera route laying method and device

文档序号：1268685 发布日期：2020-08-25 浏览：9次中文

阅读说明：本技术 一种倾斜相机航线敷设方法以及装置 (Inclined camera route laying method and device ) 是由李英成齐艳青刘晓龙朱祥娥罗祥勇于 2020-05-13 设计创作，主要内容包括：本申请提供了一种倾斜相机航线敷设方法以及装置,其中,该方法包括：根据航空摄影的区域范围、预设的测图比例尺和地面分辨率、以及垂直相机的参数信息,计算与垂直相机对应的垂直影像的航线数量以及航线长度；根据倾斜相机的参数信息以及预设的倾斜图像重叠度,计算与倾斜相机对应的扩展航线数量以及扩展航向基线数量；根据垂直相机对应的航线数量以及倾斜相机对应的扩展航线数量,计算倾斜相机对应的倾斜航线的数量,并基于垂直影像的航线长度以及倾斜相机的扩展航向基线数量计算倾斜航线上的曝光点总数量。本申请实施例通过上述方式对倾斜相机的航线进行敷设,从而使得得到的航空影像不会由于倾斜相机和垂直相机之间存在夹角而导致漏洞现象。(The application provides a method and a device for laying a tilted camera route, wherein the method comprises the following steps: calculating the number of air routes and the length of the air route of a vertical image corresponding to a vertical camera according to the area range of aerial photography, a preset mapping scale, ground resolution and parameter information of the vertical camera; calculating the number of extended routes and the number of extended course baselines corresponding to the oblique cameras according to the parameter information of the oblique cameras and the preset overlapping degree of the oblique images; and calculating the number of inclined routes corresponding to the inclined cameras according to the number of routes corresponding to the vertical cameras and the number of expanded routes corresponding to the inclined cameras, and calculating the total number of exposure points on the inclined routes based on the length of the routes of the vertical images and the number of expanded course base lines of the inclined cameras. According to the embodiment of the application, the air route of the oblique camera is laid in the above mode, so that the obtained aerial image cannot cause a leak phenomenon due to the fact that an included angle exists between the oblique camera and the vertical camera.)

1. A method of laying a route with a tilted camera, comprising:

calculating the number of air routes and the length of the air route of a vertical image corresponding to a vertical camera according to the area range of aerial photography, a preset mapping scale, ground resolution and parameter information of the vertical camera;

calculating the number of extended routes and the number of extended course baselines corresponding to the oblique cameras according to the parameter information of the oblique cameras and the preset overlapping degree of the oblique images;

and calculating the number of inclined routes corresponding to the inclined cameras according to the number of routes corresponding to the vertical cameras and the number of expanded routes corresponding to the inclined cameras, and calculating the total number of exposure points on the inclined routes based on the length of the route of the vertical image and the number of expanded course base lines of the inclined cameras.

2. The method according to claim 1, wherein the calculating the number of routes and the length of the routes of the vertical images corresponding to the vertical cameras according to the area range of the aerial photography, the preset mapping scale and the ground resolution, and the parameter information of the vertical cameras comprises:

calculating a first ground point corresponding to the image principal point of the vertical camera at the current moment according to the parameter information of the vertical camera and a preset collinearity equation, and calculating a second ground point corresponding to the image principal point of the vertical camera at the previous moment;

obtaining the base length corresponding to the vertical camera according to the difference value of the first ground point and the second ground point;

and calculating the length of the flight lines and the number of the flight lines according to the area range of aerial photography, a preset mapping scale and ground resolution and parameter information of the vertical camera.

3. The method according to claim 1, wherein the calculating of the number of extended course lines and the number of extended course base lines corresponding to the tilted camera according to the parameter information of the tilted camera and a preset tilted image overlapping degree comprises:

calculating a third ground point corresponding to the image principal point of the tilt camera at the current moment according to the parameter information of the tilt camera and a preset collinear equation, and calculating a fourth ground point corresponding to the image principal point of the tilt camera at the previous moment;

obtaining the inter-route distance corresponding to the sidewise tilt camera according to the difference value of the third ground point and the fourth ground point;

obtaining the number of the extended routes corresponding to the side tilt camera according to the quotient of the position deviation of the image principal point of the side tilt camera at the current moment and the distance between the routes corresponding to the side tilt camera;

calculating a fifth ground point corresponding to the image principal point of the course tilt camera at the current moment according to the parameter information of the course tilt camera and a preset collinear equation, and calculating a sixth ground point corresponding to the image principal point of the course tilt camera at the previous moment;

obtaining a baseline corresponding to the course tilt camera according to the difference value between the fifth ground point and the sixth ground point;

and obtaining the quantity of the extended course base lines corresponding to the course tilt camera according to the position deviation of the image principal point of the course tilt camera at the current moment and the course base line quotient corresponding to the course tilt camera.

4. The method according to claim 1, wherein the calculating the number of inclined routes corresponding to the inclined cameras according to the number of routes corresponding to the vertical cameras and the number of expanded routes corresponding to the inclined cameras comprises:

and obtaining the number of inclined routes corresponding to the inclined cameras according to the sum of the number of the routes corresponding to the vertical cameras and the number of the expanded routes corresponding to the inclined cameras.

5. The method of claim 1, wherein said calculating a total number of exposure points on the tilted course based on a course length of the vertical imagery and the extended heading baseline number of the tilted camera comprises:

acquiring the number of vertical route exposure points according to the length of the route of the vertical image, the flight speed of the airplane and the exposure time interval;

and obtaining the total number of the exposure points on the inclined route according to the sum of the number of the exposure points of the vertical route and the number of the extended course base lines.

6. The method of claim 1, wherein after obtaining the number of oblique routes corresponding to the oblique cameras, further comprising:

aiming at a five-spliced oblique camera, a left-middle-right three-camera arrangement oblique camera and a front-middle-left three-camera arrangement oblique camera,

and increasing a preset number of expanded inclined routes outside the first inclined route and the last inclined route respectively.

7. The method of claim 6, wherein after obtaining the total number of exposure points on the inclined route, further comprising:

aiming at the five-spliced oblique camera and the front, middle and left three-camera arrangement oblique camera,

and adding the number of extended exposure points on each inclined route.

8. A route laying method for arranging oblique cameras for left, middle and right triphase machines to determine a cross route when flying according to the cross route, the method comprising:

the method as claimed in any one of claims 1-7, obtaining the number of inclined routes corresponding to the inclined camera on one heading and the total number of exposure points on the inclined routes; obtaining the number of inclined routes corresponding to the inclined cameras in the vertical direction of the course and the total number of exposure points on the inclined routes;

and combining the number of the inclined routes on the two headings and the total number of the exposure points on the inclined routes to obtain the crossed route.

9. A route laying method for arranging oblique cameras for front-middle-left three cameras to determine a bidirectional route when flying according to the bidirectional route, the method comprising:

the method as claimed in any one of claims 1-7, obtaining the number of inclined routes corresponding to the inclined camera on one heading and the total number of exposure points on the inclined routes; obtaining the number of inclined routes corresponding to the inclined cameras in the direction opposite to the heading and the total number of exposure points on the inclined routes;

and combining the number of the inclined routes on the two headings and the total number of the exposure points on the inclined routes to obtain the bidirectional route.

10. An oblique-camera route laying apparatus, comprising:

the first calculation module is used for calculating the number of routes and the length of the routes of the vertical images corresponding to the vertical cameras according to the area range of aerial photography, the preset mapping scale and the ground resolution and the parameter information of the vertical cameras;

the second calculation module is used for calculating the number of the extended routes and the number of the extended course baselines corresponding to the inclined camera according to the parameter information of the inclined camera and the preset overlapping degree of the inclined images;

and the third calculation module is used for calculating the number of inclined routes corresponding to the inclined cameras according to the number of routes corresponding to the vertical cameras and the number of expanded routes corresponding to the inclined cameras, and calculating the total number of exposure points on the inclined routes based on the length of the route of the vertical image and the number of expanded course base lines of the inclined cameras.

Technical Field

The invention relates to the technical field of aerial photogrammetry, in particular to a method and a device for laying an inclined camera route.

Background

In order to meet the production requirements of live-action three-dimensional images in aerial photography, live-action three-dimensional aerial photography, that is, a photographed image of the top of an object and a photographed image of the side of the object are simultaneously obtained when the object is photographed. At present, in aerial photography, a method of simultaneously carrying out vertical shooting and oblique shooting is generally adopted to achieve the purpose of photography. In the method, a main optical axis of a vertical camera for realizing vertical shooting is kept parallel to a plumb line, and a vertical image is generated during aerial shooting; the main optical axes of the oblique cameras used for realizing oblique shooting and the plumb line form a certain included angle, the main optical axes of the cameras used for realizing oblique shooting all face to different directions, and each oblique camera and the vertical camera are exposed synchronously or asynchronously to form oblique images corresponding to each oblique camera respectively.

In order to realize the live-action three-dimensional aerial photography, a flight path is laid before the aerial photography, namely, the flight path is set for the airplane for the aerial photography. When aerial photography is carried out, controlling the airplane to fly according to a set air route; and when the airplane is controlled to fly according to the set air route, the vertical camera and the oblique camera are controlled to synchronously acquire photographic images according to a certain frequency.

Disclosure of Invention

In view of this, an object of the embodiments of the present application is to provide a method and a device for laying an inclined camera flight path, which can lay the flight path of the inclined camera, and an obtained aerial image does not have a leak phenomenon due to an included angle between the inclined camera and a vertical camera.

In a first aspect, an embodiment of the present application provides a method for laying a tilted camera route, including:

With reference to the first aspect, an embodiment of the present application provides a first possible implementation manner of the first aspect, where the calculating, according to an area range of aerial photography, a preset map scale and ground resolution, and parameter information of a vertical camera, a number of routes and a length of a route of a vertical image corresponding to the vertical camera includes:

obtaining the base length corresponding to the vertical camera according to the difference value of the first ground point and the second ground point;

With reference to the first aspect, an embodiment of the present application provides a second possible implementation manner of the first aspect, where calculating, according to parameter information of a tilt camera and a preset tilt image overlap, the number of extended routes and the number of extended heading baselines corresponding to the tilt camera includes:

obtaining the inter-route distance corresponding to the sidewise tilt camera according to the difference value of the third ground point and the fourth ground point;

obtaining a baseline corresponding to the course tilt camera according to the difference value between the fifth ground point and the sixth ground point;

With reference to the first aspect, an embodiment of the present application provides a third possible implementation manner of the first aspect, where the calculating, according to the number of lanes corresponding to the vertical cameras and the number of extended lanes corresponding to the oblique cameras, the number of oblique lanes corresponding to the oblique cameras includes:

With reference to the first aspect, an embodiment of the present application provides a fourth possible implementation manner of the first aspect, where the calculating a total number of exposure points on the oblique route based on the flight path length of the vertical image and the extended heading baseline number of the oblique camera includes:

acquiring the number of vertical route exposure points according to the length of the route of the vertical image, the flight speed of the airplane and the exposure time interval;

With reference to the first aspect, an embodiment of the present application provides a fifth possible implementation manner of the first aspect, where after obtaining the number of oblique routes corresponding to the oblique cameras, the method further includes:

aiming at a five-spliced oblique camera, a left-middle-right three-camera arrangement oblique camera and a front-middle-left three-camera arrangement oblique camera,

and increasing a preset number of expanded inclined routes outside the first inclined route and the last inclined route respectively.

With reference to the fifth possible implementation manner of the first aspect, this application provides a sixth possible implementation manner of the first aspect, where after obtaining the total number of exposure points on the inclined route, the method further includes:

aiming at the five-spliced oblique camera and the front, middle and left three-camera arrangement oblique camera,

and adding the number of extended exposure points on each inclined route.

In a second aspect, an embodiment of the present application provides a route laying method, for arranging oblique cameras for left, middle and right three cameras, and determining a cross route when flying according to the cross route, the method including:

and combining the number of the inclined routes on the two headings and the total number of the exposure points on the inclined routes to obtain the crossed route.

In a third aspect, an embodiment of the present application provides a route laying method, configured to arrange oblique cameras for a front-middle-left three-camera and determine a bidirectional route when flying according to the bidirectional route, where the method includes:

according to the method, the number of inclined routes corresponding to the inclined camera on one course direction and the total number of exposure points on the inclined routes are obtained; obtaining the number of inclined routes corresponding to the inclined cameras in the direction opposite to the heading and the total number of exposure points on the inclined routes;

and combining the number of the inclined routes on the two headings and the total number of the exposure points on the inclined routes to obtain the bidirectional route.

In a fourth aspect, an embodiment of the present application provides a tilted camera route laying device, including:

In a fifth aspect, an embodiment of the present application further provides a computer device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the first aspect, or any one of the possible implementations of the first aspect, or the second aspect, or the third aspect.

In a sixth aspect, this application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to perform the steps in the first aspect, or any one of the possible implementations of the first aspect, or the second aspect, or the third aspect.

According to the inclined camera route laying method and device provided by the embodiment of the application, when the route is laid, firstly, the route number and the route length of a vertical image corresponding to a vertical camera are calculated according to the area range of aerial photography, the preset mapping scale and ground resolution and the parameter information of the vertical camera; then, calculating the number of extended routes and the number of extended course baselines corresponding to the oblique camera according to the parameter information of the oblique camera and the preset overlapping degree of the oblique images; and finally, calculating the number of inclined routes corresponding to the inclined cameras according to the number of routes corresponding to the vertical cameras and the number of expanded routes corresponding to the inclined cameras, and calculating the total number of exposure points on the inclined routes based on the length of the route of the vertical image and the number of expanded course base lines of the inclined cameras. The air route of the oblique camera is laid in the mode, so that the obtained aerial image cannot cause a leak phenomenon due to the fact that an included angle exists between the oblique camera and the vertical camera.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 illustrates a schematic structural diagram of an air route design system provided by an embodiment of the present application;

FIG. 2 illustrates a flow chart of a method of inclined camera route laying provided by an embodiment of the present application;

FIG. 3 is a flow chart illustrating a process of calculating the number of routes corresponding to vertical cameras in the inclined camera route laying method provided by the embodiment of the application;

FIG. 4 is a flow chart illustrating a process of calculating the number of extended routes corresponding to oblique cameras in the inclined camera route laying method provided by the embodiment of the application;

FIG. 5 illustrates a schematic view of an extended inclined route provided by an embodiment of the present application;

FIG. 6 shows a schematic diagram of an extended exposure spot provided by an embodiment of the present application;

FIG. 7 illustrates a schematic structural diagram of an oblique camera route laying apparatus provided by an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a computer device provided in an embodiment of the present application;

FIG. 9 shows a schematic diagram of a quintile tilt camera in an embodiment of the present application;

FIG. 10 is a schematic diagram of a three-camera arrangement tilt camera for left, middle and right in an embodiment of the present application;

fig. 11 shows a schematic diagram of a front-middle-rear three-camera arrangement tilt camera in the embodiment of the present application.

Illustration of the drawings:

51-area range of aerial photography, 52-first inclined course, 53-last inclined course, 54-expanded inclined course, 61-original exposure point, 62-expanded exposure point.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

The currently adopted route laying method mainly refers to the relevant specification setting of frame type aerial photography, but the relevant specification of the frame type aerial photography is made according to the requirement of vertical photography, and if the frame type aerial photography is applied to the live-action three-dimensional aerial photography, due to the included angle between the inclined camera and the vertical camera, the phenomenon of leak can occur only according to the extension of the vertical image range. Based on the method and the device for laying the inclined camera flight path, the flight path of the inclined camera can be laid, and the obtained aerial image cannot cause a leak phenomenon due to the fact that an included angle exists between the inclined camera and the vertical camera.

Referring to fig. 1, a system for designing a flight path in frame aerial photography technical specifications provided by an embodiment of the present application is shown. As shown in fig. 1, the shot area range import, the camera configuration, the technical parameter input, and the Digital Elevation Model (DEM) loading belong to the input module. The shots are the smallest units of the flight path design, and one task may contain multiple shots. Course and exposure point calculations are key modules of the system. The visualization module comprises displays of a shot region, a course, an exposure point and the DEM, and basic operations related to the displays. The course editing is to add or delete automatically generated courses and exposure points. The coordinate transformation comprises the transformation between longitude and latitude coordinates and plane rectangular coordinates and the rotation transformation of coordinate axes of the plane rectangular coordinate system. After the airline design is completed, the system can output the airline schematic and the piloting data table in a certain format as part of the technical design document.

For the convenience of understanding the present embodiment, a method for laying a tilted camera route disclosed in the embodiments of the present application will be described in detail first.

Referring to fig. 2, the inclined camera route laying method provided by the embodiment of the application includes steps S201 to S203:

s201: and calculating the number of routes and the length of the routes of the vertical images corresponding to the vertical cameras according to the area range of aerial photography, the preset mapping scale and ground resolution and the parameter information of the vertical cameras.

Here, the area range of the aerial photography refers to the smallest unit of the flight path design in the photography task, that is, an area where three-dimensional aerial photography needs to be implemented. The vertical camera refers to a down-view lens among the oblique aerial camera lenses.

In one possible implementation, referring to fig. 3, the present application embodiment calculates the number of lanes corresponding to the vertical camera by:

s301: according to the parameter information of the vertical camera and a preset collinearity equation, calculating a first ground point corresponding to the image principal point of the vertical camera at the current moment, and calculating a second ground point corresponding to the image principal point of the vertical camera at the previous moment.

Here, the current time refers to the time when the vertical camera is currently exposed, and the previous time refers to the time when the vertical camera was last exposed.

When the method is specifically realized, a preset collinear equation, namely the following formula (1), is used for respectively calculating a first ground point corresponding to the image principal point of the vertical camera at the current moment, and calculating a second ground point corresponding to the image principal point of the vertical camera at the previous moment.

Formula (1):

wherein, X and Y are ground points corresponding to the image principal point of the vertical camera; the image plane coordinate system is a right-hand plane coordinate system with the principal point as an origin, is expressed by o-xy and is used for expressing the position of the image point on the image, and x and y are onCoordinates of image points, x, on an image plane coordinate system₀,y₀Is the image principal point coordinate on the image plane coordinate system; f is the focal length of the vertical camera; h is the altitude of the aircraft; a is_i、b_i、c_i(i ═ 1,2,3) are 9 direction cosine parameters composed of 3 external orientation angle elements of the image.

S302: and obtaining the base length corresponding to the vertical camera according to the difference value of the first ground point and the second ground point.

Here, the difference between the first ground point and the second ground point refers to a distance between coordinates of the first ground point and coordinates of the second ground point.

S303: and calculating the length of the flight lines and the number of the flight lines according to the area range of aerial photography, a preset mapping scale and ground resolution and parameter information of the vertical camera.

Calculating the length of the flight line: and intersecting the range of the aerial photography subarea and the straight line where the air route is located to obtain two intersection points, wherein the distance L between the intersection points is the length of the air route.

When the method is specifically realized, the number of routes is calculated by the following formula (2):

formula (2):

wherein n is the number of calculated routes; l is the vertical camera line length; b is the length of a base line corresponding to the vertical camera; and lap is the partitioned course overlapping degree.

S202: and calculating the number of the extended routes and the number of the extended course baselines corresponding to the inclined cameras according to the parameter information of the inclined cameras and the preset overlapping degree of the inclined images.

Here, the tilt camera refers to a tilt camera other than the downward-view camera in the lens of the tilt aerial camera.

In one possible implementation, referring to fig. 4, an embodiment of the present application calculates the number of extended routes corresponding to the tilted camera by:

s401: and calculating a third ground point corresponding to the image principal point of the tilt camera at the current moment according to the parameter information of the tilt camera and a preset collinear equation, and calculating a fourth ground point corresponding to the image principal point of the tilt camera at the previous moment.

S402: and obtaining the extended course baseline length corresponding to the tilt camera according to the difference value between the third ground point and the fourth ground point.

S403: and obtaining the number of the extended routes corresponding to the inclined camera according to the quotient of the position deviation of the image principal point of the inclined camera at the current moment and the length of the extended course base line corresponding to the inclined camera.

Here, the positional deviation of the principal point of the oblique camera at the current time refers to a distance between the coordinates of the ground projection point of the principal point of the vertical camera and the coordinates of the ground projection of the principal point of the oblique camera at the current time.

When the above steps are specifically implemented, the number of the extended routes corresponding to the oblique camera can be obtained by referring to the specific implementation manner of each step in fig. 3.

In another possible implementation, the number of extended course baselines is calculated by the following method:

obtaining a baseline corresponding to the course tilt camera according to the difference value between the fifth ground point and the sixth ground point;

After the number of routes and the length of the route of the vertical image, the number of the extended routes and the number of the extended course base lines corresponding to the oblique cameras are obtained through the steps, the step S203 is executed:

s203: and calculating the number of inclined routes corresponding to the inclined cameras according to the number of routes corresponding to the vertical cameras and the number of expanded routes corresponding to the inclined cameras, and calculating the total number of exposure points on the inclined routes based on the length of the routes of the vertical images and the number of expanded course base lines of the inclined cameras.

In one possible implementation mode, the number of inclined routes corresponding to the inclined cameras is obtained according to the sum of the number of routes corresponding to the vertical cameras and the number of expanded routes corresponding to the inclined cameras.

In one possible embodiment, the total number of exposure points on the tilted course is calculated based on the course length of the vertical image and the extended heading baseline number of the tilt camera by:

obtaining the exposure points of the vertical route according to the length of the route of the vertical image, the flight speed of the airplane and the exposure time interval;

Specifically, according to formula (4), the number of vertical lane exposure points is obtained:

formula (4):

wherein n is the number of vertical flight line exposure points, l is the flight line length of the vertical image, v is the flight speed of the airplane, and Δ t is the exposure time interval.

After the number of inclined routes and the total number of exposure points on the inclined routes are obtained through the steps, in one possible embodiment, for a quintile inclined camera (as shown in fig. 9), a left-middle-right three-camera arrangement inclined camera (as shown in fig. 10) and a front-middle-left three-camera arrangement inclined camera (as shown in fig. 11), in order to obtain more comprehensive three-dimensional image information on the inclined routes, expanded inclined routes with preset numbers are added on the outer sides of the first inclined route and the last inclined route respectively, as shown in fig. 5.

In another possible implementation mode, for a quintile oblique camera and a front-middle-left three-camera arrangement oblique camera, in order to enable more comprehensive three-dimensional image information on oblique routes, referring to fig. 6, extended exposure points are added on each oblique route.

Another embodiment of the present application further provides a route laying method, where oblique cameras are arranged for a left, a middle, and a right three-camera, and a crossing route is determined when flying according to the crossing route.

Specifically, for a left-middle-right triphase camera arrangement, the aircraft may fly in a cross-course, meaning that the aircraft first flies in a direction from a to B, which is perpendicular to the direction from C to D, and then in a direction from C to D. When flying according to the cross route, the cross route is designed by the following method:

firstly, according to the inclined camera route laying method provided by the embodiment of the application, the number of inclined routes corresponding to an inclined camera on one course and the total number of exposure points on the inclined routes are obtained; then obtaining the number of inclined routes corresponding to the inclined cameras in the vertical direction of the course and the total number of exposure points on the inclined routes; and finally, combining the number of the inclined routes on the two headings and the total number of the exposure points on the inclined routes to obtain the crossed route.

Another embodiment of the present application further provides a route laying method for arranging oblique cameras for a front-middle-left three-camera and determining a bidirectional route when flying according to the bidirectional route.

Specifically, for the front middle left triplane arrangement tilt camera, the aircraft may fly in a bi-directional course, meaning that the aircraft first flies in a direction from a to B, and then in a direction from B to a. When flying according to a bidirectional route, the bidirectional route is designed by:

firstly, according to the inclined camera route laying method provided by the embodiment of the application, the number of inclined routes corresponding to an inclined camera on one course and the total number of exposure points on the inclined routes are obtained; then obtaining the number of inclined routes corresponding to the inclined cameras in the opposite direction of the course and the total number of exposure points on the inclined routes; and finally, combining the number of the inclined routes on the two courses and the total number of the exposure points on the inclined routes to obtain the bidirectional routes.

According to the inclined camera route laying method provided by the embodiment of the application, when the route is laid, firstly, the route number and the route length of a vertical image corresponding to a vertical camera are calculated according to the area range of aerial photography, the preset mapping scale and the ground resolution and the parameter information of the vertical camera; then, calculating the number of extended routes and the number of extended course baselines corresponding to the oblique camera according to the parameter information of the oblique camera and the preset overlapping degree of the oblique images; and finally, calculating the number of inclined routes corresponding to the inclined cameras according to the number of routes corresponding to the vertical cameras and the number of expanded routes corresponding to the inclined cameras, and calculating the total number of exposure points on the inclined routes based on the length of the routes of the vertical images and the number of expanded course base lines of the inclined cameras. The air route of the oblique camera is laid in the mode, so that the obtained aerial image cannot cause a leak phenomenon due to the fact that an included angle exists between the oblique camera and the vertical camera.

Based on the same inventive concept, the embodiment of the application also provides a tilted camera air route laying device corresponding to the tilted camera air route laying method, and as the principle of solving the problems of the device in the embodiment of the application is similar to that of the tilted camera air route laying method in the embodiment of the application, the implementation of the device can refer to the implementation of the method, and repeated details are not repeated.

Referring to fig. 7, an inclined camera route laying device provided in an embodiment of the present application includes:

the first calculation module 71 is configured to calculate the number of routes and the length of the route of the vertical image corresponding to the vertical camera according to the area range of the aerial photography, a preset mapping scale and ground resolution, and parameter information of the vertical camera;

the second calculation module 72 is used for calculating the number of the extended routes and the number of the extended course baselines corresponding to the oblique cameras according to the parameter information of the oblique cameras and the preset overlapping degree of the oblique images;

the third calculating module 73 is configured to calculate the number of oblique routes corresponding to the oblique cameras according to the number of routes corresponding to the vertical cameras and the number of extended routes corresponding to the oblique cameras, and calculate the total number of exposure points on the oblique routes based on the length of the route of the vertical image and the number of extended course baselines of the oblique cameras.

Optionally, the first calculating module 71 is specifically configured to:

and calculating the number of air routes of the vertical cameras and the length of the air routes according to the area range of aerial photography, a preset mapping scale, the ground resolution and the parameter information of the vertical cameras.

Optionally, the second calculating module 72 is specifically configured to:

obtaining the extended course base length corresponding to the tilt camera according to the difference value between the third ground point and the fourth ground point;

obtaining the number of the extended routes corresponding to the inclined camera according to the quotient of the position deviation of the image principal point of the inclined camera at the current moment and the length of the extended course base line corresponding to the inclined camera;

and calculating the number of the extended course base lines according to the length of the flight line and the overlapping degree of the inclined images.

Optionally, the third calculating module 73 is specifically configured to calculate, according to the number of lanes corresponding to the vertical camera and the number of extended lanes corresponding to the oblique camera, the number of oblique lanes corresponding to the oblique camera by using the following method:

Optionally, the third calculating module 73 is specifically configured to calculate the total number of exposure points on the inclined route based on the route length of the vertical image and the extended heading baseline number of the inclined camera in the following manner:

acquiring the number of vertical route exposure points according to the length of the route of the vertical image, the flight speed of the airplane and the exposure time interval;

Optionally, after obtaining the number of oblique routes corresponding to the oblique cameras, the method further includes:

a first expansion module 74 for arranging the tilt cameras for the quintile tilt camera, the left-middle-right triphase camera, and the front-middle-left triphase camera,

and increasing a preset number of expanded inclined routes outside the first inclined route and the last inclined route respectively.

Optionally, after obtaining the total number of exposure points on the inclined route, the method further includes:

a second expansion module 75 for arranging the tilt cameras for the quintile tilt camera, and the front-middle-left three-camera,

and adding the number of extended exposure points on each inclined route.

Optionally, arranging the oblique cameras for the left, middle and right three-cameras to fly according to a cross route;

in another embodiment of the present application, there is also disclosed another route laying device for arranging oblique cameras for left, middle, and right trippers, determining a crossing route when flying according to the crossing route, including: a first route design module 76 for

According to the inclined camera route laying method provided by the embodiment of the application, the number of inclined routes corresponding to the inclined camera in one course and the total number of exposure points on the inclined routes are obtained; obtaining the number of inclined routes corresponding to the inclined cameras in the vertical direction of the course and the total number of exposure points on the inclined routes;

and combining the number of the inclined routes on the two headings and the total number of the exposure points on the inclined routes to obtain a cross route.

Optionally, arranging the oblique cameras for the front, middle and left trippers, flying according to a bidirectional route;

in another embodiment of the present application, there is also disclosed another course laying device for arranging oblique cameras for front-middle-left three cameras to determine a bidirectional course when flying according to the bidirectional course, including: a second lane design module 77 for

When flying according to a bidirectional route, the bidirectional route is designed by:

according to the inclined camera route laying method provided by the embodiment of the application, the number of inclined routes corresponding to the inclined camera in one course and the total number of exposure points on the inclined routes are obtained; obtaining the number of inclined routes corresponding to the inclined cameras in the direction opposite to the heading and the total number of exposure points on the inclined routes;

and combining the number of the inclined routes on the two headings and the total number of the exposure points on the inclined routes to obtain the bidirectional routes.

According to the inclined camera route laying device provided by the embodiment of the application, when a route is laid, firstly, the route number and the route length of a vertical image corresponding to a vertical camera are calculated according to the area range of aerial photography, the preset mapping scale and the ground resolution and the parameter information of the vertical camera; then, calculating the number of extended routes and the number of extended course baselines corresponding to the oblique camera according to the parameter information of the oblique camera and the preset overlapping degree of the oblique images; and finally, calculating the number of inclined routes corresponding to the inclined cameras according to the number of routes corresponding to the vertical cameras and the number of expanded routes corresponding to the inclined cameras, and calculating the total number of exposure points on the inclined routes based on the length of the route of the vertical image and the number of expanded course base lines of the inclined cameras. The air route of the oblique camera is laid in the mode, so that the obtained aerial image cannot cause a leak phenomenon due to the fact that an included angle exists between the oblique camera and the vertical camera.

Embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the oblique camera routing method described above.

Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, and the like, and when a computer program on the storage medium is executed, the inclined camera route laying method can be executed, so that a route of an inclined camera can be laid, and thus, the obtained aerial image does not have a leak phenomenon due to an included angle between the inclined camera and a vertical camera.

Corresponding to the oblique camera route laying method provided by the embodiment of the present application, the embodiment of the present application further provides a computer device, as shown in fig. 8, the device includes a memory 1000, a processor 2000 and a computer program stored on the memory 1000 and executable on the processor 2000, wherein the processor 2000 implements the steps of the oblique camera route laying method when executing the computer program.

Specifically, the memory 1000 and the processor 2000 can be general memories and processors, and are not limited to this, and when the processor 2000 runs a computer program stored in the memory 1000, the inclined camera route laying method can be executed, so that a route of an inclined camera can be laid, and thus, a hole phenomenon caused by an included angle between the inclined camera and a vertical camera cannot occur in an obtained aerial image.

The computer program product of the oblique camera route laying method and device provided by the embodiment of the application includes a computer readable storage medium storing program codes, instructions included in the program codes can be used for executing the method described in the foregoing method embodiment, and specific implementation can refer to the method embodiment, and is not described herein again.

It should be noted that in the description of the embodiments of the present application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

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Inclined camera route laying method and device

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