Evaluation of convex molds and its evaluation method based on laser radar and aerial triangulation data fusion

Abstract

Convex mold for evaluation of laser radar and aerial triangulation data fusion and its evaluation method. The mold is a regular dodecahedron composed of twelve regular pentagonal planes, with a bottom surface and 11 test surfaces, which are fastened as a whole by adjacent surface mounting plates. There are 5 areas of regular pentagon, square and circle on the test surface, and the corresponding molds are installed respectively. There are also texture test areas on the test surface, including high-resolution test area, medium-resolution test area, low-resolution test area, grayscale test area and chromaticity test area. During the evaluation, the evaluation is carried out according to a single test surface; including point cloud index evaluation and triangular skin texture index evaluation. The present invention provides a quality test mold, fusion evaluation index, and evaluation parameter test method for point cloud fusion and texture fusion in laser radar data and aerial triangulation data, providing a detection means for data fusion quality.

Description

1. Technical Field

[0001] The present invention relates to the acquisition of laser point cloud and aerial triangulation point cloud terrain data, in particular to the fusion evaluation of laser radar and aerial triangulation measurement data for convex molds and an evaluation method thereof. 2. Background Technology

[0002] With the rapid development of science and technology today, laser point clouds and aerial triangulation point clouds are widely used in terrain data acquisition, providing a large amount of accurate information for the acquisition of spatial geometric information of geological environments. However, in many measurements, aerial triangulation and lidar measurement are often used simultaneously for the same target, and aerial triangulation point clouds, lidar measurement point clouds and point cloud textures are generated simultaneously. For the same target, the laser point cloud data and the aerial triangulation point cloud data are not fused, and the two data cannot complement each other. In recent years, although the registration problem of three-dimensional laser point clouds and panoramic images has attracted attention, there has been no report on the evaluation of the fusion data of laser three-dimensional point clouds and aerial triangulation three-dimensional point clouds. Patent No. 202010736839.7 "A registration method for three-dimensional laser point clouds and panoramic images" proposes to configure the two-dimensional data of laser three-dimensional point clouds and panoramic images, but there is no fusion evaluation of the fusion data of laser three-dimensional point clouds and aerial triangulation three-dimensional point clouds. There is still a blank in the fusion evaluation mold and evaluation method of aerial triangulation and lidar measurement. At the same time, since the fusion of laser point cloud and aerial triangulation point cloud as well as texture fusion are new technologies, there is currently no evaluation standard for the fusion quality. III. Summary of the invention

[0003] The purpose of the present invention is to provide a laser radar and aerial triangulation data fusion evaluation mold and its evaluation method, to propose an evaluation model and an evaluation parameter testing method for laser point cloud and aerial triangulation point cloud fusion data, and to propose a detection means for future data fusion quality.

[0004] The object of the present invention is achieved in this way:

[0005] The evaluation convex mold is a regular dodecahedron composed of twelve regular pentagonal planes. The side length of the regular pentagon is determined according to the distance between the test mold and the drone and the laser three-dimensional radar. It meets the test requirements of level 4 lateral and vertical resolutions for the evaluation of fusion data triangular skin texture indicators. The side length of the regular pentagon is L; the minimum design scale is w, and L is greater than 131072w.

[0006] After unfolding, the faces of the regular dodecahedron are on a plane, with the lowest face being the bottom face and the highest face being the top face; the bottom face is parallel to the top face and is placed in the horizontal direction; the five faces adjacent to the bottom face are named A1, A2, A3, A4, and A5 in a clockwise direction as viewed from a top-down perspective; the five faces adjacent to the top face are named B1, B2, B3, B4, and B5 in a clockwise direction as viewed from a top-down perspective; the A1 face is adjacent to the B1 and B2 faces, and except for the bottom face, the other 11 faces have the same design and are all called test faces; the bottom face is called the support face; the adjacent bottom faces and test faces are fastened by adjacent face mounting plates, so that the bottom face and the eleven test faces are tightly connected to form an overall structure of a regular dodecahedron.

[0007] There are 5 partitions for installing molds on the test surface: square large mold area, square medium mold area, regular pentagon mold area, square small mold area, circular large mold area, circular small mold area, and 5 texture test areas: high-resolution test area, medium-resolution test area, low-resolution test area, grayscale test area, and chromaticity test area, with high-resolution test cards, medium-resolution test cards, low-resolution test cards, grayscale test cards, and chromaticity test cards pasted respectively; square large mold area, square medium mold area, regular pentagon large mold area, square small mold area, circular large mold area The large mold area and the small circular mold area are respectively installed with a square large mold, a square medium mold, a regular pentagonal mold, a square small mold, a circular large mold and a circular small mold; the texture test area is a square with a side length of 32768w; the chromaticity test card has 24 colors, respectively called color No. 1 to color No. 24, and the grayscale test card has 32 levels of grayscale, and the values ​​of the red component, green component, and blue component of each level of grayscale are equal; the 32 levels of grayscale are respectively named 1st level grayscale to 32nd level grayscale; the nth level grayscale color is: red component = green component = blue component = 7+8(n-1).

[0008] The square large mold area, the square medium mold area, and the square small mold area are collectively referred to as the square mold area.

[0009] The square large mold, the square medium mold, and the square small mold are collectively referred to as square molds; the circular large mold area and the circular small mold area are collectively referred to as circular mold areas, and the circular large mold and the circular small mold are collectively referred to as circular molds;

[0010] There are other mold installation areas near the corners of the regular pentagon.

[0011] The regular pentagonal mold, square mold, and circular mold are all composed of a mounting layer and multiple evaluation layers, and are stacked in the direction of the vertical line of the center of the mounting layer. When stacking, the center of the evaluation layer and the center of the mounting layer are on the vertical line of the center of the mounting layer, and the projections of the sides of each layer of the pentagonal mold and the square mold on the mounting layer are parallel to the sides of the mounting layer; each layer is bonded on the adjacent surface, the evaluation layer has 2n layers, and the stacking order from top to bottom is as follows:

[0012] Evaluate the top layer, the nth concave layer, the n-1th convex layer, the n-1th concave layer, the n-2th convex layer, the n-2th concave layer, ..., the 2nd convex layer, the 2nd concave layer, the 1st convex layer, the 1st concave layer, and the installation layer; the installation layer is made of plate material with good mechanical properties, and each layer of the same mold is made of the same material; draw a straight line perpendicular to the plane of the installation layer from the center of the circumscribed circle of the installation layer or the center of the installation layer, and this straight line is called the mold axis, and the direction parallel to the mold axis is called the mold axial direction.

[0013] The top layer, inner concave layer and outer convex layer of each mold are vertically coated with 24 colors that are the same as the color test card or 32 gray levels that are the same as the gray test card.

[0014] On the bottom surface, each side has two bottom surface mounting holes, and the mounting holes face the inside of the mold for welding or gluing mounting nuts; the number of bottom surface mounting holes on each side is the same, the distance from the side is the same, and they are symmetrically distributed on the perpendicular bisector of the side.

[0015] The mounting holes on the test surface are the same size and position as the mounting holes on the bottom surface; the mounting holes are welded or bonded with mounting nuts facing the inside of the mold; there are mounting holes around the partition of the test surface for mounting the mold, which are used to respectively mount a regular pentagonal mold, a large square mold, a medium square mold, a small square mold, a large circular mold and a small circular mold.

[0016] The adjacent surface mounting plate is made of rectangular material, folded into an angle of 116.565 degrees in the middle of the long side of the rectangle, and an adjacent surface mounting hole is punched on both sides of the fold line. The size of the adjacent surface mounting hole is the same as that of the bottom surface mounting hole. The distance from the adjacent surface mounting hole to the fold line is the same as the distance from the bottom surface mounting hole to the edge; the purpose of the adjacent surface mounting plate is to fix the adjacent bottom surface and the test surface. The adjacent surface mounting holes correspond to the bottom surface mounting holes or the test surface mounting holes of the two adjacent surfaces; each adjacent bottom surface and the test surface, and the adjacent test surfaces are fastened together into a regular dodecahedron by screws and adjacent surface mounting plates.

[0017] The regular pentagonal mold area is a regular pentagonal mold area with a side length of 32768w in the middle of the test surface. Each side of the regular pentagonal mold area is parallel to each side of the test surface and the distance is equal; on each side of the regular pentagonal mold area, there are 2 regular pentagonal mold area installation holes for installing the regular pentagonal mold.

[0018] The square mold area is located in the middle of the isosceles trapezoidal area formed by the sides of the regular pentagonal mold area and the corresponding sides of the test surface. There are three square mold areas with a side length of 32768w between the sides of the regular pentagonal mold area and the sides of the test surface, which are respectively called the large square mold area, the medium square mold area, and the small square mold area. On each side of the square mold area, there are 2 square mold area mounting holes distributed on each side, which are respectively called the large square mold area mounting hole, the medium square mold area mounting hole, and the small square mold area mounting hole; the large square mold area mounting hole, the medium square mold area mounting hole, and the small square mold area mounting hole are the same in size, the distance between the two mounting holes on the same side is the same, and the distance with the corresponding side of the square mold area is the same; the mounting nut is welded or bonded toward the inside of the mold.

[0019] The circular mold area has two circular mold areas with a diameter of 32768w distributed between each side of the regular pentagonal mold area and each side of the test surface, which are respectively called the large circular mold area and the small circular mold area.

[0020] There are circular mold area mounting holes on the sides of the circular large mold area and the circular small mold area, which are respectively called the circular large mold area mounting hole and the circular small mold area mounting hole.

[0021] The regular pentagonal mold mounting layer 201 is a regular pentagon with a side length greater than 32768w; a regular pentagonal mold pasting area 203 is drawn on the upper side, and the side length of the regular pentagonal mold pasting area is 32768w, and the regular pentagonal mold is pasted in the regular pentagonal mold pasting area; each side of the regular pentagonal mold mounting layer has two regular pentagonal mold fixing holes, and the regular pentagonal mold fixing holes correspond to the regular pentagonal mold mounting holes; screws are passed through the regular pentagonal mold fixing holes and the regular pentagonal mold mounting holes to fix the regular pentagonal mold on the test surface.

[0022] The inner concave layer of the regular pentagonal mold, the outer convex layer of the regular pentagonal mold, and the top layer of the regular pentagonal mold evaluation have the same shape but different sizes; all of them are regular pentagonal columns with a height of he and a side length of we; among them,

[0023] Concave layers 1 to 16: we = 22640w, he = 256w;

[0024] 1st to 16th outer convex layers: we = 22768w, he = 256w;

[0025] Concave layers 17 to 32: we = 14512w, he = 128w;

[0026] The 17th to 32nd outer convex layers: we = 14576w, he = 128w;

[0027] Concave layers 33 to 48: we = 9452w, he = 64w;

[0028] The 33rd to 48th outer convex layers: we = 9484w, he = 64w;

[0029] Concave layers 49 to 64: we = 7416w, he = 32w;

[0030] The 49th to 64th outer convex layers: we = 7432w, he = 32w;

[0031] Concave layers 65 to 80: we = 6392w, he = 16w;

[0032] The 65th to 80th outer convex layers: we = 6408w, he = 16w;

[0033] Concave layers 81 to 96: we = 5380w, he = 8w;

[0034] Outer convex layers from 81st to 95th: we = 5384w, he = 8w;

[0035] Top layer of the five-sided mold evaluation: we=5384w, ha=8w.

[0036] Each side of the concave layer of the regular pentagonal mold is evenly divided into 32 areas vertically, painted with 1 to 32 levels of gray; the top surface of the convex layer of the regular pentagonal mold is painted white, and each side is evenly divided into 24 areas vertically, painted with colors 1 to 24; regular pentagonal mold evaluation top layer: each side is evenly divided into 24 areas vertically, painted with colors 1 to 24; a clarity test card is pasted on the top layer of the regular pentagonal mold evaluation.

[0037] The mounting layers of the large square mold, the medium square mold and the small square mold have the same shape.

[0038] The square mold installation layer is a square with a side length greater than 32768w; a square mold pasting area 103 is drawn on it, and the side length of the square mold pasting area is 32768w. The square mold is pasted in the square mold pasting area; each side of the square mold installation layer has two square mold fixing holes, and the square mold fixing holes correspond to the square mold installation holes; screws are passed through the square mold fixing holes and the square mold installation holes to fix the square mold on the test surface.

[0039] The inner concave layer of the square mold, the outer convex layer of the square mold, and the top layer of the square mold evaluation have the same shape but different sizes; they are all square cylindrical in cross-section; the height is ha, and the side length of the square is wa; the side is painted with black and white stripes in the vertical direction, and the width of the stripes is wt1.

[0040] On each side of the top surface of the outer convex layer of the square mold, there is a stripe perpendicular to the side, the width of the stripe is wt1, and the length is 2wt1. The top layer of the square mold evaluation is evenly divided into four squares of the same size; the four squares are painted with black and white horizontal stripes, vertical stripes, and diagonal stripes respectively; the stripe width is wt3.

[0041] The dimensions of the large square mold are;

[0042] Concave layers 1 to 4: wa = 32256w, ha = 1024w, wt1 = 128w;

[0043] 1st to 4th outer convex layers: wa = 32768w, ha = 1024w, wt1 = 128w;

[0044] Concave layers 5 to 12: wa = 24320w, ha = 512w, wt1 = 64w;

[0045] The 5th to 12th outer convex layers: wa = 24576w, ha = 512w, wt1 = 64w;

[0046] Concave layers 13 to 20: wa = 16356w, ha = 256w, wt1 = 32w;

[0047] 13th to 20th outer convex layers: wa = 16484w, ha = 256w, wt1 = 32w;

[0048] Concave layers 21 to 36: wa = 14518w, ha = 128w, wt1 = 16w;

[0049] The 21st to 35th outer convex layers: wa = 14582w, ha = 128w, wt1 = 16w;

[0050] Square mold evaluation top layer: wa = 14582w, ha = 128w, wt1 = 16w, wt3 = 64w; square mold size:

[0051] Concave layers 1 to 16: wa = 32640w, ha = 256w, wt1 = 32w;

[0052] 1st to 16th outer convex layers: wa = 32768w, ha = 256w, wt1 = 32w;

[0053] Concave layers 17 to 32: wa = 24512w, ha = 128w, wt1 = 16w;

[0054] 17th to 32nd outer convex layer: wa = 24576w, ha = 128w, wt1 = 16w;

[0055] Concave layers 33 to 48: wa = 19452w, ha = 64w, wt1 = 8w;

[0056] 33rd to 48th outer convex layers: wa = 19484w, ha = 64w, wt1 = 8w;

[0057] Concave layers 49 to 64: wa = 17416w, ha = 32w, wt1 = 4w;

[0058] Outer convex layers from 49 to 64: wa = 17432w, ha = 32w, wt1 = 4w;

[0059] Concave layers 65 to 80: wa = 16400w, ha = 16w, wt1 = 2w;

[0060] The 65th to 80th outer convex layers: wa = 16408w, ha = 16w, wt1 = 2w;

[0061] Concave layers 81 to 96: wa = 15380w, ha = 8w, wt1 = 1w;

[0062] Outer convex layers from 81 to 95: wa = 15384w, ha = 8w, wt1 = 1w;

[0063] Square mold evaluation top layer: wa = 15384w, ha = 8w, wt1 = 1w, wt3 = 4w;

[0064] Small square mold size:

[0065] Concave layers 1 to 16: wa = 19452w, ha = 64w, wt1 = 8w;

[0066] 1st to 16th outer convex layers: wa = 19484w, ha = 64w, wt1 = 8w;

[0067] Concave layers 17 to 32: wa = 17416w, ha = 32w, wt1 = 4w;

[0068] 17th to 32nd outer convex layers: wa = 17432w, ha = 32w, wt1 = 4w;

[0069] Concave layers 33 to 48: wa = 16400w, ha = 16w, wt1 = 2w;

[0070] 33rd to 48th outer convex layers: wa = 16408w, ha = 16w, wt1 = 2w;

[0071] Concave layers 49 to 64: wa = 15380w, ha = 8w, wt1 = 1w;

[0072] Outer convex layers from 49 to 64: wa = 15384w, ha = 8w, wt1 = 1w;

[0073] Concave layers 65 to 80: wa = 14382w, ha = 4w, wt1 = 1w;

[0074] Outer convex layers from the 65th to the 80th: wa = 14384w, ha = 4w, wt1 = 1w;

[0075] Concave layers 81 to 96: wa = 13383w, ha = 2w, wt1 = 1w;

[0076] Outer convex layers from 81 to 96: wa = 13384w, ha = 2w, wt1 = 1w;

[0077] Concave layers from 97 to 112: wa = 12383w, ha = 1w, wt1 = 1w;

[0078] Outer convex layers from 97 to 111: wa = 12384w, ha = 1w, wt1 = 1w;

[0079] Square mold evaluation top layer: wa=12384w,ha=1w,wt1=1w wt3=1w.

[0080] In the circular mold, the mounting layers of the large circular mold and the small circular mold have the same shape;

[0081] The circular mold installation layer is circular, with a diameter greater than 32768w; a circular mold pasting area is drawn on it, with a diameter of 32768w, and the circular mold is pasted in the circular mold pasting area; the circular mold has 4 circular mold fixing holes, and the circular mold fixing holes correspond to the circular mold installation holes; screws are passed through the circular mold fixing holes and the circular mold installation holes to fix the circular mold on the test surface.

[0082] The inner concave layer of the circular mold, the outer convex layer of the circular mold, and the top layer of the circular mold evaluation have the same shape but different sizes; they are all cylindrical; the height is hf, and the diameter is da; the side surface is evenly divided into 24 areas in the vertical direction, and are painted with colors 1 to 24 respectively.

[0083] The top surface of the outer convex layer of the circular mold is evenly divided into 24 sector-shaped areas at an angle of 15 degrees, and each area is painted with colors 1 to 24.

[0084] The top surface of the round mold evaluation layer is pasted with a color test card;

[0085] The dimensions of the large round mold are:

[0086] Concave layers 1 to 16: da = 22640w, hf = 256w;

[0087] 1st to 16th outer convex layers: da = 22768w, hf = 256w;

[0088] Concave layers 17 to 32: da = 14512w, hf = 128w;

[0089] 17th to 32nd outer convex layer: da = 14576w, hf = 128w;

[0090] Concave layers 33 to 48: da = 9452w, hf = 64w;

[0091] 33rd to 48th outer convex layers: da = 9484w, hf = 64w;

[0092] Concave layers 49 to 64: da = 7416w, hf = 32w;

[0093] 49th to 64th outer convex layers: da = 7432w, hf = 32w;

[0094] Concave layers 65 to 80: da = 6400w, hf = 16w;

[0095] The 65th to 80th outer convex layers: da = 6408w, hf = 16w;

[0096] Concave layers 81 to 96: da = 5380w, hf = 8w;

[0097] Outer convex layers from 81st to 95th: da = 5384w, hf = 8w;

[0098] Round mold evaluation top layer: da=5384w, hf=8w;

[0099] Small round mold size:

[0100] Concave layers 1 to 16: da = 19452w, hf = 64w;

[0101] 1st to 16th outer convex layers: da = 19484w, hf = 64w;

[0102] Concave layers 17 to 32: da = 17416w, hf = 32w;

[0103] 17th to 32nd outer convex layers: da = 17432w, hf = 32w;

[0104] Concave layers 33 to 48: da = 16400w, hf = 16w;

[0105] 33rd to 48th outer convex layers: da = 16408w, hf = 16w;

[0106] Concave layers 49 to 64: da = 15380w, hf = 8w;

[0107] 49th to 64th outer convex layers: da = 15384w, hf = 8w;

[0108] Concave layers 65 to 80: da = 14382w, hf = 4w;

[0109] The 65th to 80th outer convex layers: da = 14384w, hf = 4w;

[0110] Concave layers 81 to 96: da = 13383w, hf = 2w;

[0111] 8th to 1st 96th outer convex layer: da = 13384w, hf = 2w;

[0112] Concave layers 97 to 112: da = 12383w, hf = 1w;

[0113] The 97th to 111th outer convex layers: da = 12384w, hf = 1w;

[0114] Square mold evaluation top layer: da=12384w,hf=1w.

[0115] The texture test area is a square with a side length of 32768w.

[0116] The high-resolution test card pasted on the high-resolution test area, the medium-resolution test card pasted on the medium-resolution test area, and the low-resolution test card pasted on the low-resolution test area are composed of basic modules. The basic module is a square and is divided into four squares of the same size. If the basic module test resolution is fb, the side length of the basic pattern of the resolution test area is 32fb. It is composed of four squares with a side length of 16fb. The four square patterns are: horizontal black and white stripes, the stripe width is fb; vertical black and white stripes, the stripe width is fb; 45-degree black and white stripes, the stripe width is fb; negative 45-degree black and white stripes, the stripe width is fb.

[0117] Resolution test area No. 1: fb = 1w; Resolution test area No. 2: fb = 2w;

[0118] Nth resolution test area: fb=2nw; (n=1, 2, 3, ..., 10);

[0119] fb is equal to 1w, 2w, 4w, 8w, ..., 2 9 w, 2 10 w;

[0120] According to the order of fb from small to large, the resolution test areas are respectively called resolution test area No. 1, resolution test area No. 2, ..., resolution test area No. 10;

[0121] The low-resolution test card pasted on the low-resolution test area is a No. 10 resolution test area;

[0122] The medium-resolution test chart pasted in the medium-resolution test area is a combination of two 9-resolution test areas, four 8-resolution test areas, and 16 7-resolution test areas.

[0123] The high-resolution test card pasted in the high-resolution test area is a combination of 16 resolution test areas No. 1, resolution test areas No. 2, ..., resolution test areas No. 6.

[0124] The grayscale test area consists of 32 areas of equal size, each of which is 8192w long and 4096w wide, and is painted with 1 to 32 levels of grayscale color.

[0125] The chromaticity test area consists of 24 areas of equal size, each area is 8192w long and 5460w wide, and is painted with colors 1 to 24 respectively.

[0126] The other mold installation area is a metal pipe fixed on the test surface and used for installing other test molds; the other test molds are trees, grass, clothes or other targets for matching and measurement.

[0127] The evaluation of the present invention is performed on a single test surface, including point cloud index evaluation and triangular skin texture index evaluation:

[0128] Point cloud index evaluation includes point cloud resolution evaluation, point cloud scale accuracy evaluation, and point cloud shape accuracy evaluation; point cloud resolution evaluation includes convex layer side resolution, concave layer side resolution, and convex layer top surface resolution; point cloud index evaluation:

[0129] Point cloud index evaluation is calculated separately for regular pentagonal mold, square mold and circular mold;

[0130] 1. Point cloud resolution evaluation:

[0131] The point cloud resolution is expressed as the smallest distinguishable scale layer; the smaller the scale, the higher the resolution;

[0132] (1) Resolution of the outer convex layer:

[0133] The layer with the smallest scale that can distinguish at least two point clouds in the axial direction of the outer convex layer side mold;

[0134] (2) Resolution of the concave layer side:

[0135] The minimum scale layer of the point cloud that can be distinguished in the axial direction of the inner side mold is at least two or more;

[0136] (3) Resolution of the top surface of the outer convex layer:

[0137] The top surface of the outer convex layer is the minimum scale layer with at least two point clouds between the ray drawn from the center of the ring and the bottom connection surface;

[0138] 2. Point cloud scale accuracy evaluation:

[0139] Select the layer where the point cloud resolution of the outer side of the outer convex layer of the square mold is located, and use the point cloud of the outer side to project toward the bottom surface. For the four sides of the projection, use the line with the smallest sum of the squares of the distances between the projection point and the fitting line as the fitting line, and calculate the four sides through projection;

[0140] Calculate the difference between each edge and the outer side wa of the corresponding layer respectively; find the maximum value of the difference, which is called the maximum edge length difference; divide the sum of the squares of the distances between the fitting line and the participating fitting point cloud by the number of participating calculation point clouds, and set this index as the average distance of the fitting line;

[0141] The point cloud accuracy evaluation indicators include the maximum edge length difference and the average distance of fitting;

[0142] The smaller the maximum side length difference and the smaller the average fitting distance, the better the point cloud scale accuracy;

[0143] 3. Point cloud shape accuracy evaluation:

[0144] The difference between the four angles between the four fitting lines and 90 degrees is used to measure the accuracy of the point cloud shape; the closer the four angles are to 90 degrees, the higher the shape accuracy;

[0145] Evaluation of triangular skin texture indicators: including color deviation evaluation, grayscale deviation evaluation, and texture resolution evaluation; color deviation evaluation includes hue difference, saturation difference, and brightness difference; grayscale deviation evaluation includes hue difference, saturation difference, and brightness difference; texture resolution evaluation includes horizontal resolution, vertical resolution, 45-degree resolution, and negative 45-degree resolution;

[0146] Algorithm for converting RGB color space to HSL color space:

[0147] First, normalize R, G, and B, find the maximum and minimum values ​​of the evaluation pixels R, G, and B, and set them as max and min. The calculation method for converting RGB color space to HSL color space is as follows:

[0148] (1) Calculation of hue H:

[0149] When max = min, H = 0;

[0150] When max = R, and G is greater than or equal to B: H = 60 × (GB) / (max-min);

[0151] When max = R, and G is less than B: H = 360 + 60 × (GB) / (max - min);

[0152] When max = G: H = 120 + 60 × (BR)) / (max - min);

[0153] When max = B: H = 240 + 60 × (RG)) / (max - min);

[0154] (2) Calculation of brightness L:

[0155] L = (max + min) / 2;

[0156] (3) Saturation S calculation:

[0157] When L=0 or max=min, S=0;

[0158] When L is greater than zero and less than or equal to 0.5: S = 0.5 × (max-min) / L;

[0159] When L is greater than 0.5: S = 0.5 × (max-min) / (1-L);

[0160] Grayscale test card grayscale deviation evaluation:

[0161] (1) Standard HSL value:

[0162] Standard hue H = 0; standard saturation S = 0;

[0163] The nth gray standard brightness L = n / 32;

[0164] (2) Corresponding test value:

[0165] Take the RGB color value of the middle 1 / 4 area of ​​the gray area corresponding to the texture, and calculate the average value of the red component, green component, and blue component of all pixels according to the number of pixels in the area;

[0166] According to the average values ​​of the red component, the green component and the blue component, the measured hue H, the measured brightness L and the measured saturation S are calculated;

[0167] Hue difference = measured hue H;

[0168] Saturation difference = measured saturation S;

[0169] Brightness difference = measured brightness L - standard brightness L;

[0170] Chromaticity test card color deviation evaluation:

[0171] (1) Calculate the standard hue, standard saturation, and standard brightness L of colors 1 to 24 respectively:

[0172] (2) The RGB color value of the middle 1 / 4 area of ​​the gray area corresponding to the texture is calculated, and according to the number of pixels in the area, the average value of the red component, green component, and blue component of all pixels is calculated;

[0173] (3) Calculate the measured hue H, measured brightness L, and measured saturation S based on the average values ​​of the red component, green component, and blue component:

[0174] (4) Hue difference = measured hue H - standard hue:

[0175] Saturation difference = measured saturation S-standard saturation;

[0176] Brightness difference = measured brightness L-standard brightness L;

[0177] Texture resolution evaluation:

[0178] In the pixels in the vertical direction of the white stripes and the black stripes, the brightness difference between adjacent stripes is equal to the maximum brightness Lmax of the adjacent white stripe area minus the minimum brightness Lmin of the adjacent black stripe area; the minimum brightness difference between adjacent stripes in the entire stripe is calculated, and when the minimum brightness difference between adjacent stripes in the entire stripe is greater than 32, it is determined that the white stripes are completely divided by the black stripes.

[0179] Texture resolution is evaluated in four directions: horizontal resolution, vertical resolution, 45-degree resolution, and negative 45-degree resolution.

[0180] The resolution evaluation index is: 1st level resolution, 2nd level resolution, ..., 10th level resolution; the lower the level, the higher the resolution; the evaluation method is:

[0181] (1) Horizontal resolution:

[0182] The 8 horizontal white stripes are completely divided by the black stripes, and the 8 black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the horizontal resolution is the n-level resolution;

[0183] (2) Vertical resolution:

[0184] The 8 vertical white stripes are completely divided by the black stripes, and the 8 black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the vertical resolution is the n-level resolution:

[0185] (3) 45 degree directional resolution:

[0186] In the 45-degree direction, 8 white stripes are completely divided by black stripes, and 8 black stripes are completely divided by red stripes. If the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the resolution in the 45-degree direction is the n-th level resolution.

[0187] (4) Resolution at minus 45 degrees:

[0188] In the negative 45 degree direction, the 8 white stripes are completely divided by the black stripes, and the 8 black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the resolution in the 45 degree direction is the n-th level resolution.

[0189] The color parameters of the color card pasted on the test surface and the color painted on the mold are:

[0190] Black: red component = 0, green component = 0, blue component = 0;

[0191] White: red component = 255, green component = 255, blue component = 255;

[0192] The color parameters of color No. 1 to color No. 24 are:

[0193] Color No. 1: red component: 115, green component: 82, blue component: 68;

[0194] Color No. 2: red component: 194, green component: 150, blue component: 130;

[0195] Color No. 3: red component: 98, green component: 122, blue component: 157;

[0196] Color No. 4: red component: 87, green component: 108, blue component: 67;

[0197] Color No. 5: red component: 133, green component: 128, blue component: 177;

[0198] Color No. 6: red component: 103, green component: 189, blue component: 170;

[0199] Color No. 7: red component: 214, green component: 126, blue component: 44;

[0200] Color No. 8: red component: 80, green component: 91, blue component: 166;

[0201] Color No. 9: red component: 193, green component: 90, blue component: 99;

[0202] Color No. 10: red component: 94, green component: 60, blue component: 108;

[0203] Color No. 11: red component: 157, green component: 188, blue component: 64;

[0204] Color No. 12: red component: 224, green component: 163, blue component: 46;

[0205] Color No. 13: Red component: 56, Green component: 61, Blue component: 150;

[0206] Color No. 14: red component: 70, green component: 148, blue component: 73;

[0207] Color No. 15: Red component: 175, Green component: 54, Blue component: 60;

[0208] Color No. 16: red component: 231, green component: 199, blue component: 31;

[0209] Color No. 17: red component: 187, green component: 86, blue component: 149;

[0210] Color No. 18: Red component: 8, Green component: 133, Blue component: 61;

[0211] Color No. 19: red component: 243, green component: 243, blue component: 242;

[0212] Color No. 20: red component: 200, green component: 200, blue component: 200;

[0213] Color No. 21: Red component: 160, Green component: 160, Blue component: 160;

[0214] Color No. 22: red component: 122, green component: 122, blue component: 122;

[0215] Color No. 23: Red component: 85, Green component: 85, Blue component: 85;

[0216] Color No. 24: red component: 52, green component: 52, blue component: 52.

[0217] The positive effects of the present invention are:

[0218] 1. A fusion quality test mold for point cloud fusion and texture fusion in LiDAR data and aerial triangulation data is given; 2. Data fusion evaluation indicators based on the mold are given;

[0219] 3. Propose an evaluation model and evaluation parameter testing method for the fusion data of laser point cloud and aerial triangulation point cloud, and propose a detection method for the quality of data fusion in the future;

[0220] 4. Provide evaluation molds and methods for lidar measurement and aerial triangulation. IV. Description of the drawings

[0221] Figure 1 It is an overall schematic diagram of the mold structure of the present invention.

[0222] Figure 2 It is a schematic diagram of the faces of a regular dodecahedron unfolded on a plane.

[0223] Figure 3 It is a schematic structural diagram of the bottom surface of the mold of the present invention, i.e., the supporting surface.

[0224] Figure 4 It is a schematic diagram of the adjacent surface mounting plate structure.

[0225] Figure 5 This is a schematic diagram of the structure of eleven test surfaces.

[0226] Figure 6 It is a cross-sectional view of the mold area of ​​the present invention.

[0227] Figure 7 It is a schematic diagram of the regular pentagonal mold installation layer.

[0228] Figure 8 It is a schematic diagram of the shape structure of the inner concave layer of the regular pentagonal mold, the outer convex layer of the regular pentagonal mold, and the top layer of the regular pentagonal mold evaluation.

[0229] Fig. 9 It is a schematic diagram of the square mold installation layer.

[0230] Fig.10 It is a schematic diagram of a square mold with black and white stripes painted vertically on the sides of the inner concave layer of the square mold, the outer convex layer of the square mold, and the top layer of the square mold evaluation layer.

[0231] Fig.11 It is a schematic diagram of a square mold with stripes perpendicular to each side of the outer convex layer.

[0232] Fig.12 It is a schematic diagram of a square mold evaluation top layer evenly divided into four squares of equal size.

[0233] Fig.13It is a schematic diagram of the shape of the circular mold installation layer.

[0234] Fig.14 It is a schematic diagram of the shapes of the inner concave layer of a circular mold, the outer convex layer of a circular mold, and the top layer of a circular mold for evaluation.

[0235] Fig.15 It is a schematic diagram of the basic module of the test surface resolution test area of ​​the present invention.

[0236] In the figure, 1 test surface, 2 square large mold area, 3 square medium mold area, 4 regular pentagonal mold area, 5 square small mold area, 6 circular large mold area, 7 circular small mold area, 11-1 to 11-10 mold mounting holes, 12-1, 12-2 square large mold mounting holes, 13-1, 13-2 square medium mold mounting holes, 14-1, 14-2 regular pentagonal mold mounting holes, 15-1, 15-2 square small mold mounting holes, 16-1, 16-2 circular large mold mounting holes, 17-1, 17-2 circular small mold mounting holes, 21 high resolution test area, 22 medium resolution test area, 23 low resolution test area, 24 grayscale test area, 25 chromaticity test area, 30-1 to 30-5 Other mold installation areas, 31-1~31-10 bottom surface mounting holes, 32 adjacent surface mounting plate, 33-1, 33-2 adjacent surface mounting holes, 36 bottom surface, 51 installation layer, 52 evaluation top layer, 53-1, 53-2...53-n-1 convex layer, 54-1, 54-2,..., 54-n-, 54-n concave layer, 101 square mold installation layer, 102-1~102-8 square mold fixing holes, 103 square mold pasting area, 201 regular pentagonal mold installation layer, 202-1~202-10 regular pentagonal mold fixing holes, 203 regular pentagonal mold pasting area, 301 circular mold installation layer, 302-1~302-4 circular mold fixing holes, 303 circular mold pasting area. V. Specific implementation methods

[0237] See attached Figure 1 , 2 .

[0238] The test mold of the present invention is composed of a regular dodecahedron composed of twelve regular pentagonal planes. The side length of the regular pentagon is determined according to the distance between the evaluation convex mold and the drone and the laser three-dimensional radar, meeting the minimum resolution test requirements of the fusion data triangle skin. Let the side length of the regular pentagon be L; the minimum design scale is w, and L is greater than 131072w.

[0239] After unfolding, the faces of the regular dodecahedron are on a plane, with the lowest face being the bottom face and the highest face being the top face; the bottom face is parallel to the top face and is placed in the horizontal direction; the five faces adjacent to the bottom face are named A1, A2, A3, A4, and A5 in a clockwise direction from a top-down perspective; the five faces adjacent to the top face are named B1, B2, B3, B4, and B5 in a clockwise direction from a top-down perspective; the A1 face is adjacent to the B1 face and the B2 face. Except for the bottom face, the remaining 11 faces have the same design, and the top face, A1 to A5 faces, and B1 to B5 faces of the same design are all called test faces; the bottom face is called the support face.

[0240] See attached Figure 3 .

[0241] On the bottom surface 30, each side has two or more bottom surface mounting holes 31-1 to 31-10. The number of bottom surface mounting holes on each side is the same, the distance from the side is the same, and they are symmetrically distributed on the perpendicular bisector of the side. The mounting holes face the inside of the mold to weld or glue the mounting nuts.

[0242] See Appendix 4.

[0243] The adjacent bottom surface and the test surface are fastened by the adjacent surface mounting plate 32, so that the bottom surface and the eleven test surfaces are closely connected to form an integral structure. The adjacent surface mounting plate is made of a material with good rigidity, mechanical properties and toughness, and stainless steel is used in the embodiment.

[0244] The adjacent surface mounting plate 32 is a rectangular material, folded at an angle of 116.565 degrees in the middle of the long side of the rectangle, and an adjacent surface mounting hole 33-1, 33-2 is punched on both sides of the fold line. The size of the adjacent surface mounting hole is the same as that of the bottom surface mounting hole; the distance from the adjacent surface mounting hole to the fold line is the same as the distance from the bottom surface mounting hole to the edge.

[0245] See also Figure 5 .

[0246] The 11 test surfaces have the same structure. There are 5 partitions for installing molds on the test surface: square large mold area 2, square medium mold area 3, regular pentagon mold area 4, square small mold area 5, circular large mold area 6, circular small mold area 7 and 5 texture test areas: high-resolution test area 21, medium-resolution test area 22, low-resolution area 23, grayscale test area 24, and chromaticity test area 25; high-resolution test cards, medium-resolution test cards, low-resolution test cards, grayscale test cards, and chromaticity test cards are pasted respectively. Square small mold area 2, square medium mold area 3, regular pentagon large mold area 4, square small mold area 5, circular large mold area 6, and circular small mold area 7 are respectively installed with square large molds, square medium molds, regular pentagon molds, square small molds, circular large molds, and circular small molds; at the positions near the corners of the regular pentagon, there are other mold installation areas 30-1 to 30-5. Other mold installation areas are metal pipes fixed on the test surface for installing other test molds; other test molds are trees, grass, clothing, and other targets for matching and measurement.

[0247] The test surface mounting holes 11 - 1 to 11 - 10 and the bottom surface mounting holes 31 - 1 to 31 - 10 are the same in size and position; the mounting holes are welded or bonded with mounting nuts facing the inside of the mold.

[0248] In the middle of the test surface is a regular pentagonal mold area 4 with a side length of 32768w. Each side of the regular pentagonal mold area is parallel to each side of the test surface and the distance is equal; on each side of the regular pentagonal mold area, each side is respectively provided with two regular pentagonal mold area mounting holes 14-1 and 14-2 for mounting the regular pentagonal mold.

[0249] There are three square mold areas with a side length of 32768w between each side of the regular pentagonal mold area and each side of the test surface, namely, the large square mold area 2, the medium square mold area 3, and the small square mold area 5. On each side of the square mold area, there are two square mold area mounting holes, respectively called the large square mold area mounting holes 12-1, 12-2, the medium square mold area mounting holes 13-1, 13-2, and the small square mold area mounting holes 15-1, 15-2, which are used to install the large square mold, the medium square mold, and the small square mold, respectively. The large square mold area mounting holes 12-1, 12-2, the medium square mold area mounting holes 13-1, 13-2, and the small square mold area mounting holes 15-1, 15-2 are of the same size, the distance between the two mounting holes on the same side is the same, and the distance with the corresponding side of the square mold area is the same; the mounting nuts are welded or bonded toward the inside of the mold.

[0250] The square mold area is located in the middle of the isosceles trapezoidal area formed by the sides of the regular pentagonal mold area and the sides corresponding to the test surface.

[0251] The circular mold area has two circular mold areas with a diameter of 32768w distributed between each side of the regular pentagonal mold area and each side of the test surface, which are respectively called the circular large mold area 6 and the circular small mold area 7. There are circular mold area mounting holes on the sides of the circular large mold area 6 and the circular small mold area 7, which are respectively called the circular large mold area mounting holes 16-1 and 16-2 and the circular small mold area mounting holes 17-1 and 17-2.

[0252] The texture test area includes a resolution test area, a grayscale test area 24, and a chromaticity test area 25; the resolution test area includes a high-resolution test area 21, a medium-resolution test area 22, and a low-resolution test area 23. Each texture test area is a square with a side length of 32768w.

[0253] See attached Figure 6 .

[0254] The regular pentagonal mold, square mold, and circular mold are all composed of a mounting layer and multiple evaluation layers, and are stacked in the direction of the vertical line of the center of the mounting layer. When stacking, the center of the evaluation layer and the center of the mounting layer are on the vertical line of the center of the mounting layer, and the projections of the sides of each layer of the pentagonal mold and the square mold on the mounting layer are parallel to the sides of the mounting layer; each layer is bonded on the adjacent surface, and there are 2n evaluation layers. The stacking order from top to bottom is as follows:

[0255] Evaluate the top layer, the nth concave layer, the n-1th convex layer, the n-1th concave layer, the n-2th convex layer, the n-2th concave layer, ..., the 2nd convex layer, the 2nd concave layer, the 1st convex layer, the 1st concave layer, and the installation layer; the installation layer is made of plate material with good mechanical properties, and the layers corresponding to different molds are made of the same material.

[0256] See attached Figure 7 .

[0257] The regular pentagonal mold installation layer 201 is a regular pentagon with a side length greater than 32768w; a regular pentagonal mold pasting area 203 is drawn on the upper side, and the side length of the regular pentagonal mold pasting area is 32768w, and the regular pentagonal mold is pasted in the regular pentagonal mold pasting area; each side of the regular pentagonal mold installation layer has two regular pentagonal mold fixing holes 202-1 to 202-10; the regular pentagonal mold fixing holes correspond to the regular pentagonal mold installation holes 14-1 and 14-2; screws are passed through the regular pentagonal mold fixing holes and the regular pentagonal mold installation holes to fix the regular pentagonal mold on the test surface;

[0258] The inner concave layer of the regular pentagonal mold, the outer convex layer of the regular pentagonal mold, and the top layer of the regular pentagonal mold evaluation have the same shape but different sizes; all of them are regular pentagonal columns with a height of he and a side length of we; among them,

[0259] 1st to 16th concave layers: we=22640w, he=256w,

[0260] 1st to 16th outer convex layer: we=22768w, he=256w,

[0261] Concave layers 17 to 32: we = 14512w, he = 128w

[0262] 17th to 32nd outer convex layer: we=14576w, he=128w

[0263] Concave layers from 33rd to 48th: we=9452w, he=64w,

[0264] 33rd to 48th outer convex layer: we=9484w, he=64w,

[0265] Concave layers 49 to 64: we = 7416w, he = 32w

[0266] 49th to 64th outer convex layers: we=7432w, he=32w,

[0267] Concave layers from 65th to 80th: we=6392w, he=16w,

[0268] The 65th to 80th outer convex layers: we = 6408w, he = 16w,

[0269] Concave layers from 81st to 96th: we=5380w, he=8w

[0270] The 81st to 95th outer convex layers: we = 5384w, he = 8w,

[0271] Top layer of the five-sided mold evaluation: we=5384w, ha=8w;

[0272] The top surface of the concave layer of the regular pentagonal mold is painted black, and each side is evenly divided into 32 areas vertically, painted with 1 to 32 levels of gray; the top surface of the convex layer of the regular pentagonal mold is painted white, and each side is evenly divided into 24 areas vertically, painted with 1 to 24 colors; the top layer of the regular pentagonal mold evaluation: each side is evenly divided into 24 areas vertically, painted with 1 to 24 colors; the clarity test card is pasted on the top layer of the regular pentagonal mold evaluation. The test card in this embodiment is a 2000 resolution chart that meets the requirements of ISO12233.

[0273] See also Fig. 9 .

[0274] The mounting layers of the large square mold, the medium square mold and the small square mold have the same shape.

[0275] The square mold mounting layer 101 is a square with a side length greater than 32768w; a square mold pasting area 103 is drawn on the top, and the side length of the square mold pasting area is 32768w; the square mold is pasted in the square mold pasting area; each side of the square mold mounting layer has two square mold fixing holes 102-1~102-8, and the square mold fixing holes correspond to the square mold mounting holes; screws are passed through the square mold fixing holes and the square mold mounting holes to fix the square mold on the test surface.

[0276] The inner concave layer of the square mold, the outer convex layer of the square mold, and the top layer of the square mold for evaluation have the same shape but different sizes; they are all square columns with a height of ha and a side length of wa; the side is painted with black and white stripes in the vertical direction, and the width of the stripes is wt1. Fig.10 shown.

[0277] See Fig.11 , on each side of the top surface of the outer convex layer of the square mold, there are stripes perpendicular to the side, the width of the stripes is wt1, and the length is 2wt1. Fig.12 .Square mold evaluation The top layer is evenly divided into four squares of the same size; the four squares are painted with black and white horizontal stripes, vertical stripes, and diagonal stripes; the stripe width is wt3

[0278] The dimensions of the large square mold are;

[0279] Concave layers 1 to 4: wa = 32256w, ha = 1024w, wt1 = 128w;

[0280] 1st to 4th outer convex layers: wa = 32768w, ha = 1024w, wt1 = 128w;

[0281] Concave layers 5 to 12: wa = 24320w, ha = 512w, wt1 = 64w;

[0282] The 5th to 12th outer convex layers: wa = 24576w, ha = 512w, wt1 = 64w;

[0283] Concave layers 13 to 20: wa = 16356w, ha = 256w, wt1 = 32w;

[0284] 13th to 20th outer convex layers: wa = 16484w, ha = 256w, wt1 = 32w;

[0285] Concave layers 21 to 36: wa = 14788w, ha = 128w, wt1 = 16w;

[0286] The 21st to 35th outer convex layers: wa = 14582w, ha = 128w, wt1 = 16w;

[0287] Square mold evaluation top layer: wa = 14582w, ha = 128w, wt1 = 16w, wt3 = 64w; square mold size:

[0288] Concave layers 1 to 16: wa = 32640w, ha = 256w, wt1 = 32w;

[0289] 1st to 16th outer convex layers: wa = 32768w, ha = 256w, wt1 = 32w;

[0290] Concave layers 17 to 32: wa = 24512w, ha = 128w, wt1 = 16w;

[0291] 17th to 32nd outer convex layer: wa = 24576w, ha = 128w, wt1 = 16w;

[0292] Concave layers 33 to 48: wa = 19452w, ha = 64w, wt1 = 8w;

[0293] 33rd to 48th outer convex layers: wa = 19484w, ha = 64w, wt1 = 8w;

[0294] Concave layers 49 to 64: wa = 17416w, ha = 32w, wt1 = 4w;

[0295] Outer convex layers from 49 to 64: wa = 17432w, ha = 32w, wt1 = 4w;

[0296] Concave layers 65 to 80: wa = 16400w, ha = 16w, wt1 = 2w;

[0297] The 65th to 80th outer convex layers: wa = 16408w, ha = 16w, wt1 = 2w;

[0298] Concave layers 81 to 96: wa = 15380w, ha = 8w, wt1 = 1w;

[0299] Outer convex layers from 81 to 95: wa = 15384w, ha = 8w, wt1 = 1w;

[0300] Square mold evaluation top layer: wa = 15384w, ha = 8w, wt1 = 1w, wt3 = 4w;

[0301] Small square mold size:

[0302] Concave layers 1 to 16: wa = 19452w, ha = 64w, wt1 = 8w;

[0303] 1st to 16th outer convex layers: wa = 19484w, ha = 64w, wt1 = 8w;

[0304] Concave layers 17 to 32: wa = 17416w, ha = 32w, wt1 = 4w;

[0305] 17th to 32nd outer convex layers: wa = 17432w, ha = 32w, wt1 = 4w;

[0306] Concave layers 33 to 48: wa = 16392w, ha = 16w, wt1 = 2w;

[0307] 33rd to 48th outer convex layers: wa = 6400w, ha = 16w, wt1 = 2w;

[0308] Concave layers 49 to 64: wa = 15380w, ha = 8w, wt1 = 1w;

[0309] Outer convex layers from 49 to 64: wa = 15384w, ha = 8w, wt1 = 1w;

[0310] Concave layers 65 to 80: wa = 14382w, ha = 4w, wt1 = 1w;

[0311] Outer convex layers from the 65th to the 80th: wa = 14384w, ha = 4w, wt1 = 1w;

[0312] Concave layers 81 to 96: wa = 13383w, ha = 2w, wt1 = 1w;

[0313] Outer convex layers from 81 to 96: wa = 13384w, ha = 2w, wt1 = 1w;

[0314] Concave layers from 97 to 112: wa = 12383w, ha = 1w, wt1 = 1w;

[0315] Outer convex layers from 97 to 111: wa = 12384w, ha = 1w, wt1 = 1w;

[0316] Square mold evaluation top layer: wa=12384w,ha=1w,wt1=1w wt3=1w.

[0317] See also Fig.13 , 14 .

[0318] The mounting layer shapes of the large circular mold and the small circular mold are the same. The circular mold mounting layer 301 is circular, with a diameter greater than 32768w; a circular mold pasting area 303 is drawn on it, and the diameter of the circular mold pasting area is 32768w, and the circular mold is pasted in the circular mold pasting area; the circular mold has 4 circular mold fixing holes 302-1 to 302-4, and the circular mold fixing holes correspond to the circular mold mounting holes; screws are passed through the circular mold fixing holes and the circular mold mounting holes to fix the circular mold on the test surface;

[0319] The inner concave layer of the circular mold, the outer convex layer of the circular mold, and the top layer of the circular mold for evaluation have the same shape but different sizes; they are all cylindrical; the height is hf, and the diameter is da; the side surface is evenly divided into 24 areas in the vertical direction, and each area is painted with colors 1 to 24;

[0320] The top of the outer convex layer of the circular mold is evenly divided into 24 sector-shaped areas at an angle of 15 degrees, and painted with colors 1 to 24 respectively;

[0321] A color test card is pasted on the top surface of the circular mold evaluation top layer.

[0322] The dimensions of the large round mold are:

[0323] Concave layers 1 to 16: da = 22640w, hf = 256w;

[0324] 1st to 16th outer convex layers: da = 22768w, hf = 256w;

[0325] Concave layers 17 to 32: da = 14512w, hf = 128w;

[0326] 17th to 32nd outer convex layer: da = 14576w, hf = 128w;

[0327] Concave layers 33 to 48: da = 9452w, hf = 64w;

[0328] 33rd to 48th outer convex layers: da = 9484w;

[0329] Concave layers 49 to 64: da = 7416w, hf = 32w;

[0330] 49th to 64th outer convex layers: da = 7432w, hf = 32w;

[0331] Concave layers 65 to 80: da = 6400w, hf = 16w;

[0332] The 65th to 80th outer convex layers: da = 6408w, hf = 16w;

[0333] Concave layers 81 to 96: da = 5380w, hf = 8w;

[0334] Outer convex layers from 81st to 95th: da = 5384w, hf = 8w;

[0335] Round mold evaluation top layer: da=5384w, hf=8w;

[0336] Small round mold size:

[0337] Concave layers 1 to 16: da = 19452w, hf = 64w;

[0338] 1st to 16th outer convex layers: da = 19484w, hf = 64w;

[0339] Concave layers 17 to 32: da = 17416w, hf = 32w;

[0340] 17th to 32nd outer convex layers: da = 17432w, hf = 32w;

[0341] Concave layers 33 to 48: da = 16400w, hf = 16w;

[0342] 33rd to 48th outer convex layers: da = 16408w, hf = 16w;

[0343] Concave layers 49 to 64: da = 15380w, hf = 8w;

[0344] 49th to 64th outer convex layers: da = 15384w, hf = 8w;

[0345] Concave layers 65 to 80: da = 14382w, hf = 4w;

[0346] The 65th to 80th outer convex layers: da = 14384w, hf = 4w;

[0347] Concave layers 81 to 96: da = 13383w, hf = 2w;

[0348] Outer convex layers from 81st to 96th: da = 13384w, hf = 2w;

[0349] Concave layers 97 to 112: da = 12383w, hf = 1w;

[0350] The 97th to 111th outer convex layers: da=12384w, hf=1w.

[0351] The mold of the present invention has the same material as the inner concave layer, the outer convex layer, and the evaluation top layer. Different molds are made of different materials. The mold materials used are steel, brick, concrete, wood, plastic, and ceramic. The mold materials corresponding to each surface are as shown in Table 1:

[0352] Table 1

[0353]

[0354] See also Fig.15 .

[0355] The texture test area is a square with a side length of 32768w;

[0356] The high-resolution test card pasted on the high-resolution test area 21, the medium-resolution test card pasted on the medium-resolution test area 22, and the low-resolution test card pasted on the low-resolution test area 23 are composed of basic modules, and the basic module is a square, which is divided into four squares of the same size; assuming that the test resolution of the basic module is fb, the side length of the basic figure of the resolution test area is 32fb; it is composed of four squares with a side length of 16fb; the four square patterns are: horizontal black and white stripes, the stripe width is fb; vertical black and white stripes, the stripe width is fb; 45-degree black and white stripes, the stripe width is fb; negative 45-degree black and white stripes, the stripe width is fb;

[0357] Resolution test area No. 1: fb = 1w; Resolution test area No. 2: fb = 2w;

[0358] Nth resolution test area: fb=2nw; (n=1, 2, 3, ..., 10);

[0359] fb is equal to 1w, 2w, 4w, 8w, ..., 2 9 w, 2 10 w;

[0360] According to the order of fb from small to large, the resolution test areas are respectively called resolution test area No. 1, resolution test area No. 2, ..., resolution test area No. 10;

[0361] The low-resolution test card pasted on the low-resolution test area 23 is a No. 10 resolution test area;

[0362] The medium resolution test card pasted in the medium resolution test area 22 is a combination of two 9-resolution test areas, four 8-resolution test areas, and 16 7-resolution test areas.

[0363] The high-resolution test card pasted on the high-resolution test area 21 is a combination of 16 resolution test areas 1, 2, ..., 6;

[0364] The grayscale test area 24 is composed of 32 areas of the same size, each area is 8192w long and 4096w wide;

[0365] Apply 1 to 32 levels of gray respectively;

[0366] The chromaticity test area 25 is composed of 24 areas of the same size, each area is 8192w long and 5460w wide, and is painted with colors 1 to 24 respectively.

[0367] The evaluation of the present invention is performed on a single test surface, including point cloud index evaluation and triangular skin texture index evaluation.

[0368] Point cloud index evaluation includes point cloud resolution evaluation, point cloud scale accuracy evaluation, and point cloud shape accuracy evaluation; point cloud resolution evaluation includes convex layer side resolution, concave layer side resolution, and convex layer top surface resolution;

[0369] Point cloud index evaluation:

[0370] Point cloud index evaluation is calculated separately for regular pentagonal mold, square mold and circular mold;

[0371] 1. Point cloud resolution evaluation:

[0372] The point cloud resolution is expressed as the smallest distinguishable scale layer; the smaller the scale, the higher the resolution;

[0373] (1) Resolution of the outer convex layer

[0374] The layer with the smallest scale that can distinguish at least two point clouds in the axial direction of the outer convex layer side mold;

[0375] (2) Resolution of the inner concave layer

[0376] The minimum scale layer of the point cloud that can be distinguished in the axial direction of the inner side mold is at least two or more;

[0377] (3) Resolution of the top surface of the outer convex layer

[0378] The top surface of the outer convex layer has at least two minimum scale layers of point clouds between the ray drawn from the center of the ring and the bottom connecting surface; 2. Point cloud scale accuracy evaluation

[0379] Select the layer where the point cloud resolution of the outer side of the outer convex layer of the square mold is located, and use the point cloud of the outer side to project toward the bottom surface. For the four sides of the projection, use the line with the smallest sum of the squares of the distances between the projection point and the fitting line as the fitting line, and calculate the four sides through projection;

[0380] Calculate the difference between each edge and the outer side wa of the corresponding layer respectively; find the maximum value of the difference, which is called the maximum edge length difference; the sum of the squares of the distances between the fitting line and the participating fitting point cloud divided by the number of participating calculation point clouds is set as the average distance of the fitting line;

[0381] The point cloud accuracy evaluation indicators include the maximum edge length difference and the average distance of fitting;

[0382] The smaller the maximum side length difference and the smaller the average fitting distance, the better the point cloud scale accuracy;

[0383] 3. Point cloud shape accuracy evaluation

[0384] The difference between the four angles between the four fitting lines and 90 degrees is used to measure the accuracy of the point cloud shape; the closer the four angles are to 90 degrees, the higher the shape accuracy;

[0385] Triangle skin texture index evaluation:

[0386] The evaluation of triangular skin texture indicators includes color deviation evaluation, grayscale deviation evaluation, and texture resolution evaluation; color deviation evaluation includes hue difference, saturation difference, and brightness difference; grayscale deviation evaluation includes hue difference, saturation difference, and brightness difference; texture resolution evaluation includes horizontal resolution, vertical resolution, 45-degree resolution, and negative 45-degree resolution;

[0387] Algorithm for converting RGB color space to HSL color space

[0388] First, normalize R, G, and B, find the maximum and minimum values ​​of the evaluation pixels R, G, and B, and set them as max and min. The calculation method for converting RGB color space to HSL color space is as follows:

[0389] (1) Calculation of hue H:

[0390] When max = min, H = 0;

[0391] When max = R, and G is greater than or equal to B,

[0392] H = 60 × (GB) / (max-min);

[0393] When max = R, and G is less than B,

[0394] H = 360 + 60 × (GB) / (max-min);

[0395] When max = G:

[0396] H=120+60×(BR)) / (max-min);

[0397] When max=B:

[0398] H=240+60×(RG)) / (max-min);

[0399] (2) Calculation of brightness L

[0400] L=(max+min) / 2

[0401] (3) Saturation S calculation

[0402] When L=0 or max=min, S=0;

[0403] When L is greater than zero and less than or equal to 0.5: S = 0.5 × (max-min) / L

[0404] When L is greater than 0.5: S = 0.5 × (max-min) / (1-L)

[0405] Grayscale test card grayscale deviation evaluation

[0406] (1) Standard HSL value

[0407] Standard hue H = 0; standard saturation S = 0;

[0408] The nth gray standard brightness L = n / 32

[0409] (2) Corresponding test value:

[0410] Take the RGB color value of the middle 1 / 4 area of ​​the gray area corresponding to the texture, and calculate the average value of the red component, green component, and blue component of all pixels according to the number of pixels in the area;

[0411] According to the average value of the red component, the green component and the blue component, the measured hue H, the measured brightness L and the measured saturation S are calculated; the hue difference = the measured hue H;

[0412] Saturation difference = measured saturation S;

[0413] Brightness difference = measured brightness L - standard brightness L;

[0414] Chromaticity test card color deviation evaluation:

[0415] (1) Calculate the standard hue, standard saturation, and standard brightness L of colors 1-24 respectively;

[0416] (2) The RGB color value of the middle 1 / 4 area of ​​the gray area corresponding to the texture is calculated, and according to the number of pixels in the area, the average value of the red component, green component, and blue component of all pixels is calculated;

[0417] (3) Calculate the measured hue H, measured brightness L, and measured saturation S based on the average values ​​of the red component, the green component, and the blue component;

[0418] (4) Hue difference = measured hue H - standard hue;

[0419] Saturation difference = measured saturation S-standard saturation;

[0420] Brightness difference = measured brightness L - standard brightness L;

[0421] Texture resolution evaluation:

[0422] In the pixels in the vertical direction of the white stripes and the black stripes, the brightness difference between adjacent stripes is equal to the maximum brightness Lmax of the adjacent white stripe area minus the minimum brightness Lmin of the adjacent black stripe area; the minimum brightness difference between adjacent stripes in the entire stripe is calculated, and when the minimum brightness difference between adjacent stripes in the entire stripe is greater than 32, it is determined that the white stripes are completely divided by the black stripes.

[0423] Texture resolution is evaluated in four directions: horizontal resolution, vertical resolution, 45-degree resolution, and negative 45-degree resolution.

[0424] The resolution evaluation index is: 1st level resolution, 2nd level resolution, ..., 10th level resolution; the lower the level, the higher the resolution; the evaluation method is:

[0425] (1) Horizontal resolution:

[0426] The 8 horizontal white stripes are completely divided by the black stripes, and the 8 black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the horizontal resolution is the n-level resolution.

[0427] (2) Vertical resolution:

[0428] The 8 vertical white stripes are completely divided by the black stripes, and the 8 black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the vertical resolution is the n-th level resolution;

[0429] (3) 45 degree directional resolution:

[0430] In the 45-degree direction, 8 white stripes are completely divided by black stripes, and 8 black stripes are completely divided by red stripes. If the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the resolution in the 45-degree direction is the n-th level resolution.

[0431] (4) Resolution at minus 45 degrees:

[0432] In the negative 45 degree direction, the 8 white stripes are completely divided by the black stripes, and the 8 black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the resolution in the 45 degree direction is the n-th level resolution.

[0433] The color parameters of the color card pasted on the test surface of the present invention and the color painted on the mold are:

[0434] Black: red component = 0, green component = 0, blue component = 0;

[0435] White: red component = 255, green component = 255, blue component = 255;

[0436] The color parameters from color 1 to color 24 are:

[0437] Color No. 1: red component: 115, green component: 82, blue component: 68;

[0438] Color No. 2: red component: 194, green component: 150, blue component: 130;

[0439] Color No. 3: red component: 98, green component: 122, blue component: 157;

[0440] Color No. 4: red component: 87, green component: 108, blue component: 67;

[0441] Color No. 5: red component: 133, green component: 128, blue component: 177;

[0442] Color No. 6: red component: 103, green component: 189, blue component: 170;

[0443] Color No. 7: red component: 214, green component: 126, blue component: 44;

[0444] Color No. 8: red component: 80, green component: 91, blue component: 166;

[0445] Color No. 9: red component: 193, green component: 90, blue component: 99;

[0446] Color No. 10: red component: 94, green component: 60, blue component: 108;

[0447] Color No. 11: red component: 157, green component: 188, blue component: 64;

[0448] Color No. 12: red component: 224, green component: 163, blue component: 46;

[0449] Color No. 13: Red component: 56, Green component: 61, Blue component: 150;

[0450] Color No. 14: red component: 70, green component: 148, blue component: 73;

[0451] Color No. 15: Red component: 175, Green component: 54, Blue component: 60;

[0452] Color No. 16: red component: 231, green component: 199, blue component: 31;

[0453] Color No. 17: red component: 187, green component: 86, blue component: 149;

[0454] Color No. 18: Red component: 8, Green component: 133, Blue component: 61;

[0455] Color No. 19: red component: 243, green component: 243, blue component: 242;

[0456] Color No. 20: red component: 200, green component: 200, blue component: 200;

[0457] Color No. 21: Red component: 160, Green component: 160, Blue component: 160;

[0458] Color No. 22: red component: 122, green component: 122, blue component: 122;

[0459] Color No. 23: Red component: 85, Green component: 85, Blue component: 85;

[0460] Color No. 24: red component: 52, green component: 52, blue component: 52.

Claims

1. A laser radar and aerial triangulation measurement data fusion evaluation convex mold, characterized by: The evaluation convex mold is a regular dodecahedron composed of twelve regular pentagonal planes. The side length of the regular pentagon is determined according to the distance between the test mold and the UAV and the laser 3D radar, meeting the test requirements of the lateral resolution and longitudinal resolution of the fusion data triangle skin texture index evaluation to be level 4. The side length of the regular pentagon is L; the minimum design scale is w, and L is greater than 131072w; When the faces of a regular dodecahedron are unfolded, they are on a plane, with the bottom face being the bottom face and the top face being the top face. The bottom surface is parallel to the top surface and is placed in the horizontal direction; the five surfaces adjacent to the bottom surface are named A1 surface, A2 surface, A3 surface, A4 surface, and A5 surface in a clockwise direction when viewed from a top view; the five surfaces adjacent to the top surface are named B1 surface, B2 surface, B3 surface, B4 surface, and B5 surface in a clockwise direction when viewed from a top view; the A1 surface is adjacent to the B1 and B2 surfaces, and except for the bottom surface, the other 11 surfaces have the same design and are all called test surfaces; the bottom surface is called a support surface; the adjacent bottom surfaces and test surfaces are fastened by an adjacent surface mounting plate (32), so that the bottom surface and the eleven test surfaces are tightly connected to form an integral structure; The test surface is provided with 5 partitions for installing molds: a square large mold area (2), a square medium mold area (3), a regular pentagonal mold area (4), a square small mold area (5), a circular large mold area (6), a circular small mold area (7), and 5 texture test areas: a high-resolution test area (21), a medium-resolution test area (22), a low-resolution test area (23), a grayscale test area (24), and a chromaticity test area (25), on which high-resolution test cards, medium-resolution test cards, low-resolution test cards, grayscale test cards, and chromaticity test cards are pasted respectively; The square large mold area (2), the square medium mold area (3), the regular pentagonal mold area (4), the square small mold area (5), the circular large mold area (6), and the circular small mold area (7) are respectively installed with the square large mold, the square medium mold, the regular pentagonal mold, the square small mold, the circular large mold, and the circular small mold; the texture test area is a square with a side length of 32768w; the chromaticity test card has 24 colors, respectively referred to as color No. 1 to color No. 24, and the grayscale test card has 32 grayscale levels, and the values ​​of the red component, green component, and blue component of each grayscale level are equal; the 32 grayscale levels are respectively named grayscale level 1 to grayscale level 32; the nth grayscale color is: red component = green component = blue component = 7+8(n-1); The square large mold area, the square medium mold area, and the square small mold area are collectively referred to as the square mold area; The square large mold, the square medium mold, and the square small mold are collectively referred to as square molds; the circular large mold area and the circular small mold area are collectively referred to as circular mold areas, and the circular large mold and the circular small mold are collectively referred to as circular molds; There are other mold installation areas (30-1 to 30-5) near the corners of the regular pentagon; The regular pentagonal mold, square mold and circular mold are all composed of a mounting layer (51) and a plurality of evaluation layers, and are stacked in the direction of the vertical line of the center of the mounting layer. When stacking, the center of the evaluation layer and the center of the mounting layer are on the vertical line of the center of the mounting layer, and the projections of the sides of the pentagonal mold and the square mold on the mounting layer are parallel to the sides of the mounting layer; the layers are bonded on adjacent surfaces, the evaluation layer has 2n layers, and the stacking order from top to bottom is as follows: The top layer (54), the nth concave layer (54-n), the n-1th convex layer (53-n-1), the n-1th concave layer (54-n-1), the n-2th convex layer, the n-2th concave layer, ..., the second convex layer (53-2), the second concave layer (54-2), the first convex layer (53-1), the first concave layer (54-1), and the mounting layer (51) are evaluated; the mounting layer is made of plate material, and each layer of the same mold is made of the same material; a straight line perpendicular to the plane of the mounting layer is drawn from the center of the circumscribed circle of the mounting layer or the center of the mounting layer, and the straight line is called the mold axis, and the direction parallel to the mold axis is called the mold axial direction; The top layer, inner concave layer, and outer convex layer of each mold are vertically coated with 24 colors that are the same as the color test card or 32 gray levels that are the same as the gray test card; On the bottom surface, each side has two bottom surface mounting holes (31-1 to 31-10), and the mounting holes face the inside of the mold for welding or gluing mounting nuts; the bottom surface mounting holes on each side have the same number, the same distance from the side, and are symmetrically distributed on the perpendicular bisector of the side; The mounting holes (11-1 to 11-10) on the test surface are the same size and position as the mounting holes on the bottom surface; the mounting holes are welded or bonded with mounting nuts facing the inside of the mold; the test surface is provided with mounting holes around the partition for mounting the mold, which are used to respectively mount a regular pentagonal mold, a large square mold, a medium square mold, a small square mold, a large circular mold and a small circular mold; The adjacent surface mounting plate (32) is made of rectangular material, folded at an angle of 116.565 degrees in the middle of the long side of the rectangle, and an adjacent surface mounting hole is punched on both sides of the fold line. The size of the adjacent surface mounting holes (33-1, 33-2) is the same as that of the bottom surface mounting holes; the distance from the adjacent surface mounting hole to the fold line is the same as the distance from the bottom surface mounting hole to the edge; the adjacent surface mounting plate is used to fix the adjacent bottom surface and the test surface; the adjacent surface mounting holes correspond to the bottom surface mounting holes or the test surface mounting holes of the two adjacent surfaces; each adjacent bottom surface and the test surface, and the adjacent test surfaces are fastened and connected to form a regular dodecahedron by screws and the adjacent surface mounting plate; The regular pentagonal mold area (4) is a regular pentagonal mold area in the middle of the test surface, with a side length of 32768w; each side of the regular pentagonal mold area is parallel to each side of the test surface and the distance is equal; on each side of the regular pentagonal mold area, two regular pentagonal mold installation holes (14-1, 14-2) are distributed on each side for installing the regular pentagonal mold; The square mold area is located in the middle of the isosceles trapezoidal area formed by the sides of the regular pentagonal mold area and the sides corresponding to the test surface. There are three square mold areas with a side length of 32768w between the sides of the regular pentagonal mold area and the sides of the test surface, which are respectively called the square large mold area (2), the square medium mold area (3), and the square small mold area (5). On each side of the square mold area, there are two square mold area mounting holes, which are respectively called the square large mold area mounting holes (12-1, 1 2-2), the square middle mold area mounting holes (13-1, 13-2), and the square small mold area mounting holes (15-1, 15-2); the square large mold area mounting holes (12-1, 12-2), the square middle mold area mounting holes (13-1, 13-2), and the square small mold area mounting holes (15-1, 15-2) are of the same size, the distance between two mounting holes on the same side is the same, and the distance with the corresponding side of the square mold area is the same; the mounting nut is welded or bonded toward the inside of the mold; The circular mold area has two circular mold areas with a diameter of 32768w distributed between each side of the regular pentagonal mold area and each side of the test surface, which are respectively called the circular large mold area (6) and the circular small mold area (7); There are circular mold area mounting holes on the sides of the circular large mold area (6) and the circular small mold area (7), which are respectively called the circular large mold area mounting holes (16-1, 16-2) and the circular small mold area mounting holes (17-1, 17-2); The other mold installation areas (30-1 to 30-5) are metal pipes fixed on the test surface and used to install other test molds; the other test molds are trees, grass, clothes or other targets used to cooperate with measurement.

2. The laser radar and aerial triangulation data fusion evaluation convex mold according to claim 1, characterized in that: The regular pentagonal mold installation layer (201) is a regular pentagon with a side length greater than 32768w; a regular pentagonal mold pasting area (203) is drawn on the upper side, the side length of the regular pentagonal mold pasting area is 32768w, and the regular pentagonal mold is pasted in the regular pentagonal mold pasting area; each side of the regular pentagonal mold installation layer has two regular pentagonal mold fixing holes (202-1 to 202-10), and the regular pentagonal mold fixing holes correspond to the regular pentagonal mold installation holes (14-1, 14-2); screws are passed through the regular pentagonal mold fixing holes and the regular pentagonal mold installation holes to fix the regular pentagonal mold on the test surface; The inner concave layer of the regular pentagonal mold, the outer convex layer of the regular pentagonal mold, and the top layer of the regular pentagonal mold evaluation have the same shape but different sizes; all of them are regular pentagonal columns with a height of he and a side length of we; among them, Concave layers 1 to 16: we = 22640w, he = 256w; The 1st to 16th outer convex layers: we = 22768w, he = 256w; Concave layers 17 to 32: we = 14512w, he = 128w; The 17th to 32nd outer convex layers: we = 14576w, he = 128w; Concave layers 33 to 48: we = 9452w, he = 64w; The 33rd to 48th outer convex layers: we = 9484w, he = 64w; Concave layers 49 to 64: we = 7416w, he = 32w; The 49th to 64th outer convex layers: we = 7432w, he = 32w; Concave layers 65 to 80: we = 6392w, he = 16w; The 65th to 80th outer convex layers: we = 6400w, he = 16w; Concave layers 81 to 96: we = 5380w, he = 8w; Outer convex layers from 81st to 95th: we = 5384w, he = 8w; Top layer of the five-sided mold evaluation: we=5384w, ha=8w; Each side of the concave layer of the regular pentagonal mold is evenly divided into 32 areas vertically, painted with 1 to 32 levels of gray; the top surface of the convex layer of the regular pentagonal mold is painted white, and each side is evenly divided into 24 areas vertically, painted with colors 1 to 24; regular pentagonal mold evaluation top layer: each side is evenly divided into 24 areas vertically, painted with colors 1 to 24; a clarity test card is pasted on the top layer of the regular pentagonal mold evaluation.

3. The laser radar and aerial triangulation data fusion evaluation convex mold according to claim 1, characterized in that: The mounting layers of the square large mold, the square medium mold and the square small mold have the same shape. The square mold installation layer (101) is a square with a side length greater than 32768w; a square mold pasting area (103) is drawn on the upper side, and the side length of the square mold pasting area is 32768w; the square mold is pasted in the square mold pasting area; each side of the square mold installation layer has two square mold fixing holes (102-1 to 102-8), and the square mold fixing holes correspond to the square mold installation holes; screws are passed through the square mold fixing holes and the square mold installation holes to fix the square mold on the test surface; The inner concave layer of the square mold, the outer convex layer of the square mold, and the top layer of the square mold for evaluation have the same shape but different sizes; they are all square columns with a height of ha and a side length of wa; the side is painted with black and white stripes in the vertical direction, and the width of the stripes is wt1; On each side of the top surface of the outer convex layer of the square mold, there are stripes perpendicular to the side, the width of the stripes is wt1, and the length is 2wt1. The top layer of the square mold evaluation is evenly divided into four squares of the same size; the four squares are painted with black and white horizontal stripes, vertical stripes, and oblique stripes respectively; the stripe width is wt3; The dimensions of the large square mold are; Concave layers 1 to 4: wa = 32256w, ha = 1024w, wt1 = 128w; 1st to 4th outer convex layers: wa = 32768w, ha = 1024w, wt1 = 128w; Concave layers 5 to 12: wa = 24320w, ha = 512w, wt1 = 64w; The 5th to 12th outer convex layers: wa = 24576w, ha = 512w, wt1 = 64w; Concave layers 13 to 20: wa = 16356w, ha = 256w, wt1 = 32w; 13th to 20th outer convex layers: wa = 16484w, ha = 256w, wt1 = 32w; Concave layers 21 to 36: wa = 14518w, ha = 128w, wt1 = 16w; The 21st to 35th outer convex layers: wa = 14582w, ha = 128w, wt1 = 16w; Square mold evaluation top layer: wa = 14582w, ha = 128w, wt1 = 16w, wt3 = 64w; Square Medium Mould Size: Concave layers 1 to 16: wa = 32640w, ha = 256w, wt1 = 32w; 1st to 16th outer convex layers: wa = 32768w, ha = 256w, wt1 = 32w; Concave layers 17 to 32: wa = 24512w, ha = 128w, wt1 = 16w; 17th to 32nd outer convex layer: wa = 24576w, ha = 128w, wt1 = 16w; Concave layers 33 to 48: wa = 19452w, ha = 64w, wt1 = 8w; 33rd to 48th outer convex layers: wa = 19484w, ha = 64w, wt1 = 8w; Concave layers 49 to 64: wa = 17416w, ha = 32w, wt1 = 4w; Outer convex layers from 49 to 64: wa = 17432w, ha = 32w, wt1 = 4w; Concave layers 65 to 80: wa = 16400w, ha = 16w, wt1 = 2w; The 65th to 80th outer convex layers: wa = 16408w, ha = 16w, wt1 = 2w; Concave layers 81 to 96: wa = 15380w, ha = 8w, wt1 = 1w; Outer convex layers from 81 to 95: wa = 15384w, ha = 8w, wt1 = 1w; Square mold evaluation top layer: wa = 15384w, ha = 8w, wt1 = 1w, wt3 = 4w; Small square mold size: Concave layers 1 to 16: wa = 19452w, ha = 64w, wt1 = 8w; 1st to 16th outer convex layers: wa = 19484w, ha = 64w, wt1 = 8w; Concave layers 17 to 32: wa = 17416w, ha = 32w, wt1 = 4w; 17th to 32nd outer convex layers: wa = 17432w, ha = 32w, wt1 = 4w; Concave layers 33 to 48: wa = 16400w, ha = 16w, wt1 = 2w; 33rd to 48th outer convex layers: wa = 16408w, ha = 16w, wt1 = 2w; Concave layers 49 to 64: wa = 15380w, ha = 8w, wt1 = 1w; Outer convex layers from 49 to 64: wa = 15384w, ha = 8w, wt1 = 1w; Concave layers 65 to 80: wa = 14382w, ha = 4w, wt1 = 1w; Outer convex layers from the 65th to the 80th: wa = 14384w, ha = 4w, wt1 = 1w; Concave layers 81 to 96: wa = 13383w, ha = 2w, wt1 = 1w; Outer convex layers from 81 to 96: wa = 13384w, ha = 2w, wt1 = 1w; Concave layers from 97 to 112: wa = 12383w, ha = 1w, wt1 = 1w; Outer convex layers from 97 to 111: wa = 12384w, ha = 1w, wt1 = 1w; Square mold evaluation top layer: wa=12384w,ha=1w,wt1=1w wt3=1w.

4. The laser radar and aerial triangulation data fusion evaluation convex mold according to claim 1, characterized in that: In the circular mold, the mounting layers of the large circular mold and the small circular mold have the same shape; The circular mold installation layer (301) is circular, with a diameter greater than 32768w; a circular mold pasting area (303) is drawn on the upper side, the diameter of the circular mold pasting area is 32768w, and the circular mold is pasted in the circular mold pasting area; the circular mold has four circular mold fixing holes (302-1 to 302-4), and the circular mold fixing holes correspond to the circular mold installation holes; screws are passed through the circular mold fixing holes and the circular mold installation holes to fix the circular mold on the test surface; The inner concave layer of the circular mold, the outer convex layer of the circular mold, and the top layer of the circular mold for evaluation have the same shape but different sizes; they are all cylindrical; the height is hf, and the diameter is da; the side surface is evenly divided into 24 areas in the vertical direction, and each area is painted with colors 1 to 24; The top surface of the outer convex layer of the circular mold is evenly divided into 24 sector-shaped areas at an angle of 15 degrees, and painted with colors 1 to 24 respectively; The top surface of the round mold evaluation layer is pasted with a color test card; The dimensions of the large round mold are: 1st to 16th concave layers: da = 22640w, hf = 256w; 1st to 16th convex layers: da = 22768w, hf = 256w; 17th to 32nd concave layers: da = 14512w, hf = 128w; 17th to 32nd convex layers: da = 14576w, hf = 128w; 33rd to 48th concave layers: da = 9452w, hf = 64w; 33rd to 48th convex layers: da = 9484w, hf = 64w; 49th to 64th layers Concave layer: da=7416w, hf=32w; 49th to 64th convex layer: da=7432w, hf=32w; 65th to 80th concave layer: da=6400w, hf=16w; 65th to 80th convex layer: da=6408w, hf=16w; 81st to 96th concave layer: da=5380w, hf=8w; 81st to 95th convex layer: da=5384w, hf=8w; Top layer of circular mold evaluation: da=5384w, hf=8w; Small round mold size: 1st to 16th concave layers: da = 19452w, hf = 64w; 1st to 16th convex layers: da = 19484w, hf = 64w; 17th to 32nd concave layers: da = 17416w, hf = 32w; 17th to 32nd convex layers: da = 17432w, hf = 32w; 33rd to 48th concave layers: da = 16400w, hf = 16w; 33rd to 48th convex layers: da = 16408w, hf = 16w; 49th to 64th concave layers: da = 15380w, hf = 8w ; 49th to 64th convex layer: da = 15384w, hf = 8w; 65th to 80th concave layer: da = 14382w, hf = 4w; 65th to 80th convex layer: da = 14384w, hf = 4w; 81st to 96th concave layer: da = 13383w, hf = 2w; 81st to 96th convex layer: da = 13384w, hf = 2w; 97th to 112th concave layer: da = 12383w, hf = 1w; 97th to 111th convex layer: da = 12384w, hf = 1w; Square mold evaluation top layer: da=12384w,hf=1w.

5. The laser radar and aerial triangulation data fusion evaluation convex mold according to claim 1, characterized in that: The texture test area is a square with a side length of 32768w; The high-resolution test card pasted on the high-resolution test area (21), the medium-resolution test card pasted on the medium-resolution test area (22), and the low-resolution test card pasted on the low-resolution test area (23) are composed of basic modules, the basic module is a square, and is divided into four squares of the same size; assuming that the test resolution of the basic module is fb, the side length of the basic pattern of the resolution test area is 32fb; it is composed of four squares with a side length of 16fb; the four square patterns are: horizontal black and white stripes, the stripe width is fb; vertical black and white stripes, the stripe width is fb; 45-degree black and white stripes, the stripe width is fb; negative 45-degree black and white stripes, the stripe width is fb; Resolution test area No. 1: fb = 1w; Resolution test area No. 2: fb = 2w; Nth resolution test area: fb = 2nw; (n＝1、2、3、……、10)； fb is equal to 1w, 2w, 4w, 8w, ..., 2 9 w, 2 10 w; According to the order of fb from small to large, the resolution test areas are respectively called resolution test area No. 1, resolution test area No. 2, ..., resolution test area No. 10; The low-resolution test card pasted on the low-resolution test area (23) is a No. 10 resolution test area; The medium-resolution test area (22) is a medium-resolution test card with two 9-resolution test areas, four 8-resolution test areas, and sixteen 7-resolution test areas. The high-resolution test card pasted on the high-resolution test area (21) is a combination of 16 resolution test areas No. 1, No. 2, ..., No. 6; The grayscale test area (24) is composed of 32 areas of the same size, each area is 8192w long and 4096w wide; Apply 1 to 32 levels of gray respectively; The chromaticity test area (25) consists of 24 areas of the same size, each area is 8192w long and 5460w wide; Apply colors 1 to 24 respectively.

6. The method for evaluating a convex mold by fusing laser radar and aerial triangulation measurement data as claimed in claim 1 is characterized in that: The evaluation indicators are evaluated according to a single test surface, including point cloud indicator evaluation and triangle skin texture indicator evaluation. Point cloud index evaluation includes point cloud resolution evaluation, point cloud scale accuracy evaluation, and point cloud shape accuracy evaluation; point cloud resolution evaluation includes convex layer side resolution, concave layer side resolution, and convex layer top surface resolution; Point cloud index evaluation: Point cloud index evaluation is calculated separately for regular pentagonal mold, square mold and circular mold; 1. Point cloud resolution evaluation: The point cloud resolution is expressed as the smallest distinguishable scale layer; the smaller the scale, the higher the resolution; (1) Resolution of the outer convex layer The layer with the smallest scale that can distinguish at least two point clouds in the axial direction of the outer convex layer side mold; (2) Resolution of the inner concave layer The minimum scale layer of the point cloud that can be distinguished in the axial direction of the inner side mold is at least two or more; (3) Resolution of the top surface of the outer convex layer The top surface of the outer convex layer is the minimum scale layer with at least two point clouds between the ray drawn from the center of the ring and the bottom connection surface; 2. Point Cloud Scale Accuracy Evaluation Select the layer where the point cloud resolution of the outer side of the outer convex layer of the square mold is located, and use the point cloud of the outer side to project toward the bottom surface. For the four sides of the projection, use the line with the smallest sum of the squares of the distances between the projection point and the fitting line as the fitting line, and calculate the four sides through projection; Calculate the difference between each edge and the outer side wa of the corresponding layer respectively; find the maximum value of the difference, which is called the maximum edge length difference; divide the sum of the squares of the distances between the fitting line and the participating fitting point cloud by the number of participating calculation point clouds, and set this index as the average distance of the fitting line; The point cloud accuracy evaluation indicators include the maximum edge length difference and the average distance of fitting; The smaller the maximum side length difference and the smaller the average fitting distance, the better the point cloud scale accuracy; 3. Point cloud shape accuracy evaluation The difference between the four angles between the four fitting lines and 90 degrees is used to measure the accuracy of the point cloud shape; the closer the four angles are to 90 degrees, the higher the shape accuracy; Triangle skin texture index evaluation: The evaluation of triangular skin texture indicators includes color deviation evaluation, grayscale deviation evaluation, and texture resolution evaluation; color deviation evaluation includes hue difference, saturation difference, and brightness difference; grayscale deviation evaluation includes hue difference, saturation difference, and brightness difference; texture resolution evaluation includes horizontal resolution, vertical resolution, 45-degree resolution, and negative 45-degree resolution; Algorithm for converting RGB color space to HSL color space: First, normalize R, G, and B, find the maximum and minimum values ​​of the evaluation pixels R, G, and B, and set them as max and min. The calculation method for converting RGB color space to HSL color space is as follows: (1) Calculation of hue H: When max = min, H = 0; When max = R, and G is greater than or equal to B, H = 60 × (GB) / (max-min); When max = R, and G is less than B, H = 360 + 60 × (GB) / (max-min); When max = G: H = 120 + 60 × (BR) / (max-min); When max=B: H = 240 + 60 × (RG) / (max-min); (2) Calculation of brightness L L=(max+min) / 2 (3) Saturation S calculation When L=0 or max=min, S=0; When L is greater than zero and less than or equal to 0.5: S=0.5×(max-min) / L When L is greater than 0.5 S = 0.5 × (max-min) / (1-L) Grayscale test card grayscale deviation evaluation (1) Standard HSL value Standard hue H = 0; standard saturation S = 0; The nth gray standard brightness L = n / 32 (2) Corresponding test value: Take the RGB color value of the middle 1 / 4 area of ​​the gray area corresponding to the texture, and calculate the average value of the red component, green component, and blue component of all pixels according to the number of pixels in the area; According to the average value of the red component, green component, and blue component, the measured hue H, measured brightness L, and measured saturation S are calculated; hue difference = measured hue H Saturation difference = measured saturation S Brightness difference = measured brightness L - standard brightness L Chromaticity test card color deviation evaluation (1) Calculate the standard hue, standard saturation, and standard brightness L of colors 1-24 respectively (2) The RGB color value of the middle 1 / 4 area of ​​the gray area corresponding to the texture is calculated, and according to the number of pixels in the area, the average value of the red component, green component, and blue component of all pixels is calculated; (3) Calculate the measured hue H, measured brightness L, and measured saturation S based on the average values ​​of the red component, green component, and blue component. (4) Hue difference = measured hue H - standard hue Saturation difference = measured saturation S - standard saturation Brightness difference = measured brightness L - standard brightness L Texture resolution evaluation: In the pixels in the vertical direction of the white stripes and the black stripes, the brightness difference of adjacent stripes is equal to the maximum brightness Lmax of the adjacent white stripe area minus the minimum brightness Lmin of the adjacent black stripe area; the minimum brightness difference of adjacent stripes in the entire stripe is calculated. When the minimum brightness difference of adjacent stripes in the entire stripe is greater than 32, it is judged that the white stripe is completely divided by the black stripe. Texture resolution is evaluated in four directions: horizontal resolution, vertical resolution, 45-degree resolution, and negative 45-degree resolution. The resolution evaluation index is: 1st level resolution, 2nd level resolution, ..., 10th level resolution; the lower the level, the higher the resolution; the evaluation method is: (1) Horizontal resolution: The 8 horizontal white stripes are completely divided by the black stripes, and the 8 black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the horizontal resolution is the n-level resolution; (2) Vertical resolution: The 8 vertical white stripes are completely divided by the black stripes, and the 8 black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the vertical resolution is the n-th level resolution; (3) 45 degree directional resolution: In the 45-degree direction, 8 white stripes are completely divided by black stripes, and 8 black stripes are completely divided by red stripes. If the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the resolution in the 45-degree direction is the n-th level resolution. (4) Resolution at minus 45 degrees: At minus 45 degrees, 8 white stripes are completely divided by black stripes, and 8 black stripes are completely divided by red stripes; If the minimum resolution test area that meets the above conditions is resolution test area No. n, then the resolution in the 45-degree direction is resolution level n.

7. The method for evaluating a convex mold by fusing laser radar and aerial triangulation data as claimed in claim 6, characterized in that: The color parameters of the color card pasted on the test surface and the color painted on the mold are: black: red component = 0, green component = 0, blue component = 0; White: red component = 255, green component = 255, blue component = 255; The color parameters of color No. 1 to color No. 24 are: Color No. 1: red component: 115, green component: 82, blue component: 68; Color No. 2: red component: 194, green component: 150, blue component: 130; Color No. 3: red component: 98, green component: 122, blue component: 157; Color No. 4: red component: 87, green component: 108, blue component: 67; Color No. 5: red component: 133, green component: 128, blue component: 177; Color No. 6: red component: 103, green component: 189, blue component: 170; Color No. 7: red component: 214, green component: 126, blue component: 44; Color No. 8: red component: 80, green component: 91, blue component: 166; Color No. 9: red component: 193, green component: 90, blue component: 99; Color No. 10: red component: 94, green component: 60, blue component: 108; Color No. 11: red component: 157, green component: 188, blue component: 64; Color No. 12: red component: 224, green component: 163, blue component: 46; Color No. 13: Red component: 56, Green component: 61, Blue component: 150; Color No. 14: red component: 70, green component: 148, blue component: 73; Color No. 15: Red component: 175, Green component: 54, Blue component: 60; Color No. 16: red component: 231, green component: 199, blue component: 31; Color No. 17: red component: 187, green component: 86, blue component: 149; Color No. 18: Red component: 8, Green component: 133, Blue component: 61; Color No. 19: red component: 243, green component: 243, blue component: 242; Color No. 20: red component: 200, green component: 200, blue component: 200; Color No. 21: Red component: 160, Green component: 160, Blue component: 160; Color No. 22: red component: 122, green component: 122, blue component: 122; Color No. 23: Red component: 85, Green component: 85, Blue component: 85; Color No. 24: red component: 52, green component: 52, blue component: 52.

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