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

Abstract

A concave mold for evaluating the fusion of laser radar and aerial triangulation data and an evaluation method thereof. The concave mold is a regular dodecahedron composed of twelve regular pentagonal planes, having a bottom surface and 11 test surfaces, and is fastened as a whole by adjacent surface mounting plates. A total of five notches, regular pentagons, squares, and circles are cut on the test surface, and corresponding concave bodies are installed respectively. The uncut part on the test surface is a texture test area, including a high-resolution test area, a medium-resolution test area, a low-resolution test area, a grayscale test area, and a chromaticity test area. Each texture test area is square and has a chromaticity test card and a grayscale test card. During the evaluation, evaluation is performed on a single test surface, including point cloud index evaluation and texture index evaluation. The present invention provides a quality test mold, fusion evaluation index, evaluation parameter test and calculation method for point cloud fusion and texture fusion in laser radar data and aerial triangulation data, and provides 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 evaluating concave 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 laser three-dimensional point cloud with the two-dimensional data of 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. The fusion evaluation mold and evaluation method of aerial triangulation and lidar measurement are still blank. 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 objective of the present invention is achieved in that the evaluation concave 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 evaluation concave mold and the UAV and the laser three-dimensional radar, and the minimum resolution test requirement of the fused data triangular skin is met, and the side length of the regular pentagon is set to L; the minimum design scale is w, and L is greater than 131072w.

[0005] 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 face, A2 face, A3 face, A4 face, and A5 face in a clockwise direction from a top-down perspective; the five faces adjacent to the top face are named B1 face, B2 face, B3 face, B4 face, and B5 face 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 are all called test faces; the bottom face is called the support face; the adjacent bottom faces and test faces are fastened by the adjacent face mounting plate 32, so that the bottom face and the eleven test faces are tightly connected to form a regular dodecahedron overall structure.

[0006] There are five recesses on the test surface, including a large square recess, a medium square recess, a regular pentagonal recess, a small square recess, a large circular recess and a small circular recess, which are used to install the large square recess, the medium square recess, the regular pentagonal recess, the small square recess, the large circular recess and the small circular recess of the concave mold respectively.

[0007] The uncut part on the test surface is used to paste the texture evaluation card to form the texture test area; the texture test cards include high-resolution test card, medium-resolution test card, low-resolution test card, chromaticity test card, and grayscale test card, which are pasted in the high-resolution test area, medium-resolution test area, low-resolution test area, grayscale test area, and chromaticity test area respectively. The texture test area makes use of the uncut area of ​​each corner of the test surface as much as possible. Each texture test area is a square with a side length of 32768w; the chromaticity test card has 24 colors, respectively called color 1 to color 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 grayscale to 32nd grayscale; the nth grayscale color is: red component = green component = blue component = 7+8(n-1);

[0008] The square large concave body, the square medium concave body, and the square small concave body are collectively referred to as square concave bodies, and the circular large concave body and the circular small concave body are collectively referred to as circular concave bodies.

[0009] The regular pentagonal concave body, the square concave body, and the circular concave body are composed of multiple parts, and each part is bonded or welded at adjacent positions. Each concave body has n layers, and the connection order from top to bottom is: concave body top surface, outer side surface of the first layer concave body, top connecting surface of the first layer concave body, inner side surface of the first layer concave body, bottom connecting surface of the first layer concave body, outer side surface of the second layer concave body, top connecting surface of the second layer concave body, inner side surface of the second layer concave body, bottom connecting surface of the second layer concave body, ..., outer side surface of the n-1th layer concave body, top connecting surface of the n-1th layer concave body, inner side surface of the n-1th layer concave body, and bottom surface of the concave body.

[0010] On the bottom surface, there are more than two bottom surface mounting holes on each side, and the mounting holes are welded or glued to the inside of the mold for mounting nuts; the number of bottom surface mounting holes on each side is the same, the distance to the side is the same, and they are symmetrically distributed on the perpendicular bisector of the side; the test surface mounting holes are the same size and position as the bottom surface mounting holes; the mounting holes are welded or glued to the inside of the mold for mounting nuts. The adjacent surface mounting plate 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 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 side; 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.

[0011] The regular pentagonal notch is a regular pentagon with a side length of 32768w cut in the middle of the test surface; each side of the regular pentagonal notch is parallel to each side of the test surface and the distance is equal; on each side of the regular pentagonal notch, each side is respectively provided with 2 regular pentagonal concave body mounting holes for mounting the regular pentagonal concave body.

[0012] The trapezoidal area formed by the sides of the regular pentagonal notch and the corresponding sides of the test surface is used to cut a large square notch, a medium square notch, a small square notch, a large circular notch, and a small circular notch; the above-mentioned cutting notch is located in the middle of the trapezoidal area formed by the sides of the regular pentagonal notch and the corresponding sides of the test surface.

[0013] The square recess is formed by cutting three square recesses with a side length of 32768w between each side of the regular pentagonal recess and each side of the test surface, which are a large square recess, a medium square recess and a small square recess. On each side of the square recess, two square recess mounting holes are distributed on each side, which are a large square recess mounting hole, a medium square recess mounting hole and a small square recess mounting hole, which are used to mount a large square recess, a medium square recess and a small square recess respectively; the large square recess mounting hole, the medium square recess mounting hole and the small square recess mounting hole 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 recess is the same; the mounting nut is welded or bonded toward the inside of the mold.

[0014] The circular notch is formed by cutting two circular notches with a diameter of 32768w between each side of the regular pentagonal notch and each side of the test surface, which are respectively called the large circular notch and the small circular notch; there are circular concave body mounting holes on the sides of the large circular notch and the small circular notch, which are respectively called the large circular concave body mounting hole and the small circular concave body mounting hole.

[0015] The regular pentagonal concave body is composed of a regular pentagonal concave body top surface, multiple regular pentagonal concave body outer side surfaces, multiple regular pentagonal concave body top connection surfaces, multiple regular pentagonal concave body inner side surfaces, multiple regular pentagonal concave body bottom connection surfaces, and regular pentagonal concave body bottom surface. The above components are made of plate-like materials with good mechanical properties and are bonded or welded at adjacent locations. The top surface of the regular pentagonal concave body is a regular pentagonal ring structure, and the side length of the pentagon cut and hollowed out inside the top surface of the pentagonal concave body is 32768w; the side length of the pentagon outside the top surface of the pentagonal concave body is greater than 32768w, and there is a regular pentagonal concave body top surface mounting hole on the regular pentagonal ring, and the regular pentagonal concave body top surface mounting hole corresponds to the regular pentagonal concave body mounting hole. Use screws to pass through the concave body top surface mounting holes to fix the regular pentagonal concave body top surface on the test surface.

[0016] The outer side surface and the inner side surface of the regular pentagonal concave body are regular pentagonal tubes; the height is he and the width is we; the bottom surface of the regular pentagonal concave body is a regular pentagonal plate with a side length of wh; the top connecting surface and the bottom connecting surface of the regular pentagonal concave body are regular pentagonal rings; the side length of the regular pentagon outside the ring is wf, and the side length of the square inside the ring is wg.

[0017] The number of layers of the regular pentagonal concave bodies is the same as that of the concave bodies in the square, a total of 72 layers; the size of each layer corresponds to the size of each layer of the concave bodies in the square.

[0018] The height he of each layer is equal to the height ha of the corresponding layer of the square concave body; the side length wg of each layer of the square inside the top connecting surface and the bottom connecting surface ring is equal to the side length wb of the corresponding layer of the square concave body inside the ring; the side length wf of each layer of the regular pentagon outside the top connecting surface and the bottom connecting surface ring is equal to the side length wc of the corresponding layer of the square concave body outside the ring.

[0019] The side length of the base of the regular pentagonal concave body is wh, which is equal to the side length of the base of the concave body in the square, wd.

[0020] The line passing through the center of the base of the regular pentagonal concave body and perpendicular to the base of the regular pentagonal concave body is the axis of the regular pentagonal concave body; the plane passing through the axis of the regular pentagonal concave body intersects the regular pentagonal concave body and has an intersection line; the plane rotates at an angle of 11.25 degrees with the axis of the regular pentagonal concave body as the axis, forming 32 intersection lines intersecting the regular pentagonal concave body, and dividing the regular pentagonal concave body into 32 areas on the side facing the axis; these 32 areas are painted with 1-32 levels of gray in a clockwise direction.

[0021] The square concave body includes a large square concave body, a medium square concave body and a small square concave body, each of which is composed of a square concave top surface, multiple square concave outer side surfaces, multiple square concave top connecting surfaces, multiple square concave inner side surfaces, multiple square concave bottom connecting surfaces and a square concave bottom surface; the above components are made of plate-like materials with good mechanical properties and are bonded or welded at adjacent locations.

[0022] The top surface of the square large concave, the square medium concave, and the square small concave are the same in shape, which is a square ring structure with a hollowed-out area inside. The side length of the square hollowed-out inside the top surface of the square concave is 32768w; the side length of the square outside the top surface of the square concave is greater than 32768w;

[0023] There are two square concave top surface mounting holes on each side of the square concave top surface, and the square concave top surface mounting holes correspond to the square large concave mounting holes, the square medium concave mounting holes, and the square small concave mounting holes respectively; screws are passed through the concave top surface mounting holes to fix the square concave top surface on the test surface;

[0024] The outer and inner side surfaces of the square concave body are square tubes; the height is ha, and the width is wa;

[0025] On the side facing the axis, there are black and white stripes with a stripe width of wt1.

[0026] The top connecting surface of the square concave body and the bottom connecting surface of the square concave body are square rings; the side length of the square outside the ring is wc, and the side length of the square inside the ring is wb; on the square rings on both sides, black and white stripes are painted, and the width of the stripes is wt2;

[0027] The bottom surface of the square concave body is a square plate with a side length of wd.

[0028] The bottom square plate is evenly divided into four squares of the same size; black and white horizontal stripes, vertical stripes, and diagonal stripes are pasted and drawn on the four squares respectively; the stripe width is wt3.

[0029] The circular concave body includes a large circular concave body and a small circular concave body, each of which is composed of a circular concave top surface, multiple circular concave outer side surfaces, multiple circular concave top connecting surfaces, multiple circular concave inner side surfaces, multiple circular concave bottom connecting surfaces, and a circular concave bottom surface; the above components are made of plate materials with good mechanical properties and are bonded or welded at adjacent locations.

[0030] The top surface of the large circular concave and the small circular concave have the same shape, which is a circular ring structure with mounting holes on the circular ring. The diameter of the circular concave top surface cut out is 32768w; the outer diameter of the circular concave top surface is greater than 32768w; there are 4 circular concave top surface mounting holes on the circular concave top surface, and the circular concave top surface mounting holes correspond to the circular concave top surface mounting holes; screws are passed through the concave top surface mounting holes to fix the circular concave top surface on the test surface;

[0031] The outer side surface and inner side surface of the circular concave body are in the shape of a circular tube, with a height of hf and a diameter of da. The top connecting surface and the bottom connecting surface of the circular concave body are in the shape of a circular ring, with an outer diameter of dw and an inner diameter of dn. The bottom surface of the circular concave body is in the shape of a circular disk, with a diameter of dd.

[0032] The line passing through the center of the bottom surface of the circular concave body and perpendicular to the bottom surface of the circular concave body is the axis of the circular concave body; the plane passing through the axis of the circular concave body intersects the circular concave body and has an intersection line; the plane is rotated at an angle of 15 degrees with the circular concave body as the axis to form 24 intersection lines intersecting the circular concave body, and the circular concave body is divided into 24 areas on the side facing the axis; these 24 areas are painted with colors 1 to 24 in a clockwise direction.

[0033] The outer side surface of the square concave body and the inner side surface of the square concave body are square tubes; the height of the inner side surface of the square concave body is ha, and the width is wa; the side facing the axis is painted with black and white stripes with a width of wt1; the outer side length of the square of the square concave top connecting surface and the square concave bottom connecting surface is wc, and the inner side length of the square is wb; the square rings on both sides are painted with black and white stripes with a width of wt2.

[0034] The dimensions of the large square concave body are as follows:

[0035] The outer side surface of the first layer of concave body, the outer side surface of the second layer of concave body: wa = 32768w, ha = 1024w, wt1 = 128w; the top connection surface of the first layer of concave body, the bottom connection surface of the first layer of concave body: wc = 33792w, wb = 32768w, wt2 = 128w; the inner side surface of the first layer of concave body: wa = 33792w, ha = 1024w, wt1 = 128w; the top connection surface of the second layer of concave body: wc = 33280w, wb = 32768w, wt2 = 128w; the inner side surface of the second layer of concave body: wa = 332 80w,ha=1024w,wt1=128w; 2nd layer concave bottom connection surface:wc=33280w,wb=28672w,wt2=128w; 3rd-6th layer concave outer side surface:wa=28672w,ha=512w,wt1=64w; 3rd-4th layer concave top connection surface, 3rd-4th layer concave bottom connection surface:wc=29184w,wb=28672w,wt2=64w; 3rd-4th layer concave inner side surface:wa=29184w,ha=512w,wt1=64w; The top connection surface of the 5th to 6th concave body, the bottom connection surface of the 5th concave body: wc = 28928w, wb = 28672w, wt2 = 64w; the inner side surface of the 5th to 6th concave body: wa = 28928w, ha = 512w, wt1 = 64w; the bottom connection surface of the 6th concave body: wc = 28928w, wb = 24576w, wt2 = 128w; the outer side surface of the 7th to 14th concave body: wa = 24576w, ha = 256w, wt1 = 32w; the top connection surface of the 7th to 10th concave body, the bottom connection surface of the 7th to 10th concave body The top connection surface: wc = 24832w, wb = 24576w, wt2 = 32w; the inner side surface of the 7th to 10th layer concave body: wa = 24832w, ha = 256w, wt1 = 32w; the top connection surface of the 11th to 14th layer concave body, the bottom connection surface of the 11th to 13th layer concave body: wc = 24704w, wb = 24576w, wt2 = 32w; the inner side surface of the 11th to 14th layer concave body: wa = 24704w, ha = 256w, wt1 = 32w; the bottom surface of the concave body: wd = 24704w, wt3 = 64w;

[0036] The dimensions of the concave body in the square are:

[0037] From 1st to 8th layer, i represents the layer number:

[0038] Outer side of the concave body: wa = 32768-(i-1)×1024, ha = 256w, wt1 = 32w; top connection surface of the concave body: wc = 33024-(i-1)×1024, wb = 32768-(i-1)×1024, wt2 = 32w; inner side of the concave body: wa = 33024-(i-1)×1024, ha = 256w, wt1 = 32w; bottom connection surface of the concave body: wc = 33024-(i-1)×1024, wb = 31744-(i-1)×1024, wt2 = 32w;

[0039] Layers 9 to 24, i represents the layer number:

[0040] Outer side of the concave body: wa = 24576-(i-9)×512, ha = 128w, wt1 = 16w; top connection surface of the concave body: wc = 24704-(i-9)×512, wb = 24576-(i-9)×512, wt2 = 16w; inner side of the concave body: wa = 24704-(i-9)×512, ha = 128w, wt1 = 16w; bottom connection surface of the concave body: wc = 24704-(i-9)×512, wb = 24064-(i-9)×512, wt2 = 16w;

[0041] 25th to 40th layers, i represents the layer number:

[0042] Outer side of the concave body: wa = 16384-(i-25) × 256, ha = 64w, wt1 = 8w; top connection surface of the concave body: wc = 16448-(i-25) × 256, wb = 16384-(i-25) × 256, wt2 = 8w; inner side of the concave body: wa = 16448-(i-25) × 256, ha = 64w, wt1 = 8w; bottom connection surface of the concave body: wc = 16448-(i-25) × 256, wb = 16128-(i-25) × 256, wt2 = 8w;

[0043] Layers 41 to 56, i represents the layer number:

[0044] Outer side of the concave body: wa = 12288-(i-41)×128, ha = 32w, wt1 = 4w; top connection surface of the concave body: wc = 12320-(i-41)×128, wb = 12288-(i-41)×128, wt2 = 4w; inner side of the concave body: wa = 12320-(i-41)×128, ha = 32w, wt1 = 4w; bottom connection surface of the concave body: wc = 12320-(i-41)×128, wb = 12160-(i-41)×128, wt2 = 4w;

[0045] Layers 57 to 72, i represents the layer number:

[0046] Outer side of the concave body: wa = 10240-(i-57) × 64, ha = 16w, wt1 = 2w; concave top connection surface: wc = 10256-(i-57) × 64, wb = 10240-(i-57) × 64, wt2 = 2w; inner side of the concave body: wa = 10256-(i-57) × 64, ha = 16w, wt1 = 2w;

[0047] Layers 57 to 71, i represents the layer number:

[0048] Concave bottom connection surface: wc = 10256-(i-57) × 64, wb = 10176-(i-57) × 64, wt2 = 2w;

[0049] Bottom surface of concave body: wd=9296w, wt3=8w;

[0050] The dimensions of the square dimple are:

[0051] From the 1st to the 16th layer, i represents the layer number:

[0052] Outer side of the concave body: wa = 32768-(i-1)×128, ha = 32w, wt1 = 4w; top connection surface of the concave body: wc = 32800-(i-1)×128, wb = 32768-(i-1)×128, wt2 = 4w; inner side of the concave body: wa = 32800-(i-1)×128, ha = 32w, wt1 = 4w; bottom connection surface of the concave body: wc = 32800-(i-1)×128, wb = 32640-(i-1)×128, wt2 = 4w;

[0053] From the 17th to the 32nd layer, i represents the layer number:

[0054] Outer side of the concave body: wa = 30720-(i-17)×64, ha = 16w, wt1 = 2w; top connection surface of the concave body: wc = 30736-(i-17)×64, wb = 30720-(i-17)×64wt2 = 2w; inner side of the concave body: wa = 30736-(i-17)×64, ha = 16w, wt1 = 2w; bottom connection surface of the concave body: wc = 30736-(i-17)×64, wb = 30656-(i-17)×64, wt2 = 2w;

[0055] From the 33rd to the 64th layer, i represents the layer number:

[0056] Outer side surface of the concave body: wa = 29696-(i-33) × 32, ha = 8w, wt1 = 1w; top connection surface of the concave body: wc = 29704-(i-33) × 32, wb = 29696-(i-33) × 32, wt2 = 1w; inner side surface of the concave body: wa = 29704-(i-33) × 32, ha = 8w, wt1 = 1w; bottom connection surface of the concave body: wc = 29704-(i-33) × 32, wb = 29664-(i-33) × 32, wt2 = 1w;

[0057] From the 65th to the 96th layer, i represents the layer number:

[0058] Outer side of the concave body: wa = 28672-(i-65)×16, ha = 4w, wt1 = 1w; top connection surface of the concave body: wc = 28676-(i-65)×16, wb = 28672-(i-65)×16, wt2 = 1w; inner side of the concave body: wa = 28676-(i-65)×16, ha = 4w, wt1 = 1w; bottom connection surface of the concave body: wc = 28676-(i-65)×16, wb = 28656-(i-65)×16, wt2 = 1w;

[0059] From the 97th to the 128th layer, i represents the layer number:

[0060] Outer side of the concave body: wa = 28160-(i-97)×8, ha = 2w, wt1 = 1w; top connection surface of the concave body: wc = 28162-(i-97)×8, wb = 28160-(i-97)×8, wt2 = 1w; inner side of the concave body: wa = 28162-(i-97)×8, ha = 2w, wt1 = 1w; bottom connection surface of the concave body: wc = 28162-(i-97)×8, wb = 28152-(i-97)×8, wt2 = 1w;

[0061] From the 129th to the 160th layer, i represents the layer number:

[0062] Outer side of the concave body: wa = 27904-(i-129)×4, ha = 1w, wt1 = 1w; concave top connection surface: wc = 27905-(i-129)×4, wb = 27904-(i-129)×4, wt2 = 1w; inner side of the concave body: wa = 27905-(i-129)×4, ha = 1w, wt1 = 1w;

[0063] From the 129th to the 159th layer, i represents the layer number:

[0064] Concave bottom connection surface: wc = 27905-(i-129) × 4, wb = 27900-(i-129) × 4, wt2 = 1w;

[0065] Bottom surface of concave body: wd=27781w, wt3=1w;

[0066] In the circular concave body:

[0067] When the height of the circular tube on the outer side of the circular concave body and the inner side of the circular concave body is hf, and the diameter is da;

[0068] When the outer diameter of the circular concave top connection surface and the circular concave bottom connection surface is dw and the inner diameter is dn;

[0069] The dimensions of the large circular concave body are:

[0070] The number of layers of the circular large concave body is the same as that of the square concave body, a total of 72 layers; the size of each layer corresponds to the size of each layer of the square concave body; the height hf of each layer is equal to the height ha of the corresponding layer of the square concave body; the diameter da of each layer is equal to the side length wa of the outer square of the corresponding layer ring of the square concave body; the inner circle diameter dn of each layer is equal to the side length wb of the inner square of the corresponding layer ring of the square concave body; the outer circle diameter dw of each layer is equal to the side length wc of the outer square of the corresponding layer ring of the square concave body; the bottom surface of the circular concave body is a disk, with a diameter of dd, which is equal to the side length wd of the bottom surface of the square concave body;

[0071] The dimensions of the circular dimple are:

[0072] The number of circular dimples is the same as that of square dimples, 160 in total; the size of each layer corresponds to the size of each layer of the square dimples; the height hf of each layer is equal to the height ha of the corresponding layer of the square dimples; the diameter da of each layer is equal to the side length wa of the outer square of the corresponding layer of the square dimples; the inner diameter dn of each layer is equal to the side length wb of the inner square of the corresponding layer of the square dimples; the outer diameter dw of each layer is equal to the side length wc of the outer square of the corresponding layer of the square dimples;

[0073] The bottom surface of the circular concave body is disc-shaped, with a diameter of dd, which is equal to the side length wd of the bottom surface of the square small concave body.

[0074] The texture test area is a square with a side length of 32768w.

[0075] The high-resolution test area, medium-resolution test area, and 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 test resolution of the basic module is fb, the side length of the basic module in the resolution test area is 32fb. It is composed of four squares with a side length of 16fb. The patterns of the four squares are: horizontal black and white stripes with a stripe width of fb; vertical black and white stripes with a stripe width of fb; black and white stripes in the 45-degree direction with a stripe width of fb; black and white stripes in the negative 45-degree direction with a stripe width of fb.

[0076] Resolution test area 1: fb = 1w; resolution test area 2: fb = 2w;

[0077] Nth resolution test area: fb=2nw; (n=1, 2, 3, ..., 10);

[0078] fb is equal to 1w, 2w, 4w, 8w, ..., 2 9 w, 2 10 w;

[0079] 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;

[0080] The low-resolution test card pasted on the low-resolution test area is a No. 10 resolution test area; the medium-resolution test card pasted on the medium-resolution test area is two No. 9 resolution test areas; 4 No. 8 resolution test areas, 16 No. 7 resolution test areas combination; the high-resolution test card pasted on the high-resolution test area is a combination of 16 No. 1 resolution test areas, No. 2 resolution test areas, ..., No. 6 resolution test areas;

[0081] The grayscale test area consists of 32 areas of the same size, each area is 8192w long and 4096w wide, and is painted with 1 to 32 levels of grayscale color; the chromaticity test area consists of 24 areas of the same size, each area is 8192w long and 5460w wide;

[0082] Apply colors 1 to 24 respectively.

[0083] The color measurement color attached to the test surface is the X-Rite classic standard 24-color card ColorChecker Classic.

[0084] The evaluation is carried out on a single test surface, including point cloud index evaluation and texture index evaluation:

[0085] Point cloud index evaluation includes point cloud resolution evaluation, point cloud scale accuracy evaluation, and point cloud shape accuracy evaluation;

[0086] Point cloud resolution evaluation includes outer side resolution, inner side resolution, and front side resolution;

[0087] Point cloud index evaluation: Point cloud index evaluation is divided into regular pentagonal concave bodies, square concave bodies, and circular concave bodies for calculation;

[0088] 1. Point cloud resolution evaluation:

[0089] The point cloud resolution is expressed as the layer with the smallest scale of the concave body that can be distinguished; the smaller the scale, the higher the resolution;

[0090] (1) External surface resolution: The minimum scale layer of at least two point clouds that can be resolved axially on the external surface of the concave body;

[0091] (2) Medial surface resolution: the minimum scale layer of the point cloud that can be resolved axially on the inner side of the concave body;

[0092] (3) Frontal resolution: The minimum scale layer of the concave bottom connection surface where there are at least two point clouds between the ray drawn from the circumscribed circle of the regular pentagonal or square concave bottom connection surface or the center of the circular bottom connection surface ring and the concave bottom connection surface;

[0093] 2. Point cloud scale accuracy evaluation:

[0094] Select the layer where the point cloud resolution of the outer side of the square concave body 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;

[0095] 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; calculate 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, and this calculated value is called the average distance of the fitting line;

[0096] The point cloud accuracy evaluation indicators include the maximum side length difference and the average fitting distance. The smaller the maximum side length difference and the smaller the average fitting distance, the better the point cloud scale accuracy.

[0097] 3. Point cloud shape accuracy evaluation:

[0098] 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;

[0099] Texture index evaluation:

[0100] Texture index evaluation 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.

[0101] Algorithm for converting RGB color space to HSL color space

[0102] 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:

[0103] (1) Calculation of hue H:

[0104] When max = min, H = 0;

[0105] When max = R, and G is greater than or equal to B, H = 60 × (GB) / (max-min);

[0106] When max = R, and G is less than B, H = 360 + 60 × (GB) / (max - min);

[0107] When max = G: H = 120 + 60 × (BR)) / (max - min);

[0108] When max = B: H = 240 + 60 × (RG)) / (max - min);

[0109] (2) Calculation of brightness L

[0110] L=(max+min) / 2

[0111] (3) Saturation S calculation

[0112] When L=0 or max=min: S=0;

[0113] When L is greater than zero and less than or equal to 0.5: S = 0.5 × (max-min) / L

[0114] When L is greater than 0.5: S = 0.5 × (max-min) / (1-L)

[0115] Grayscale deviation evaluation: For the grayscale test card, grayscale deviation evaluation is performed. The evaluation method is:

[0116] (1) Standard HSL value:

[0117] Standard hue H = 0; standard saturation S = 0;

[0118] The nth gray standard brightness L = n / 32

[0119] (2) Corresponding grayscale test card test value:

[0120] 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;

[0121] 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;

[0122] Hue difference = measured hue H;

[0123] Saturation difference = measured saturation S;

[0124] Brightness difference = measured brightness L - standard brightness L;

[0125] Color deviation evaluation:

[0126] For the color test card, the color deviation is evaluated. The evaluation method is as follows:

[0127] (1) Calculate the standard hue, standard saturation, and standard brightness L of colors 1-24 respectively;

[0128] (2) For the data measured by the chromaticity test card, the RGB color value of the middle 1 / 4 area of ​​the gray area corresponding to the texture is taken, and the average value of the red component, green component, and blue component of all pixels is calculated according to the number of pixels in the area;

[0129] (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;

[0130] (4) Hue difference = measured hue H - standard hue;

[0131] Saturation difference = measured saturation S-standard saturation;

[0132] Brightness difference = measured brightness L - standard brightness L;

[0133] Texture resolution evaluation:

[0134] Texture resolution is evaluated in four directions: horizontal resolution, vertical resolution, 45

[0135] degree directional resolution, minus 45 degree directional resolution; the resolution evaluation index is: level 1 resolution, level 2 resolution, ..., level 10 resolution; the lower the level, the higher the resolution;

[0136] The evaluation method is: use the algorithm of complete segmentation of black stripes by white stripes: in the pixels in the vertical direction of white stripes and black stripes, let the brightness difference of adjacent stripes equal to the maximum brightness Lmax of the adjacent white stripe area minus the minimum brightness Lmin of the adjacent black stripe area; calculate the minimum brightness difference of adjacent stripes in the entire stripe, and 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 segmented by the black stripe;

[0137] (1) Horizontal resolution:

[0138] 8 horizontal white stripes are completely divided by black stripes, and 8 black stripes are completely divided by white stripes;

[0139] If the minimum resolution test area that meets the above conditions is resolution test area No. n, then the lateral resolution is resolution level n.

[0140] (2) Vertical resolution:

[0141] The eight vertical white stripes are completely divided by the black stripes, and the eight vertical black stripes are completely divided by the white stripes;

[0142] If the minimum resolution test area that meets the above conditions is resolution test area No. n, then the vertical resolution is resolution level n.

[0143] (3) 45 degree directional resolution:

[0144] In the 45-degree direction, 8 white stripes are completely divided by black stripes, and 8 black stripes are completely divided by white 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 resolution.

[0145] (4) Negative 45 degree resolution:

[0146] 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 white 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.

[0147] The color parameters of the chromaticity test card pasted on the test surface are the color parameters of the X-Rite classic standard 24-color card ColorChecker Classic.

[0148] The positive effects of the present invention are:

[0149] 1. A fusion quality test mold for point cloud fusion and texture fusion between LiDAR data and aerial triangulation data is provided; and evaluation indicators for data fusion based on the mold are provided.

[0150] 2. Provides an evaluation model and evaluation parameter testing method for the fusion data of laser point cloud and aerial triangulation point cloud, and proposes a detection method for the quality of data fusion in the future; provides an evaluation mold and evaluation method for lidar measurement and aerial triangulation. IV. Description of the drawings

[0151] Figure 1 It is an overall schematic diagram of the mold structure of the present invention.

[0152] Figure 2 It is a schematic diagram of the faces of a regular dodecahedron unfolded on a plane.

[0153] Figure 3 It is a schematic structural diagram of the bottom surface of the mold of the present invention, i.e., the supporting surface.

[0154] Figure 4 It is a schematic diagram of the adjacent surface mounting plate structure.

[0155] Figure 5 This is a schematic diagram of the structure of eleven test surfaces.

[0156] Figure 6 It is a schematic diagram of the concave body structure design of the present invention.

[0157] Figure 7 It is a schematic diagram of the top surface of a regular pentagonal concave body.

[0158] Figure 8 It is a schematic diagram of the structure of a regular pentagonal tube with the outer side surface of the regular pentagonal concave body and the inner side surface of the regular pentagonal concave body being a regular pentagonal tube.

[0159] Fig. 9 It is a schematic diagram of a regular pentagonal ring with the top connecting surface of a regular pentagonal concave body and the bottom connecting surface of a regular pentagonal concave body.

[0160] Fig.10 It is a schematic diagram of a square concave body whose top surface is shaped as a square ring structure.

[0161] Fig.11 It is a schematic diagram of a square tube structure in which the outer side surface of a square concave body and the inner side surface of the square concave body are square.

[0162] Fig.12 It is a schematic diagram of a square ring structure in which the top connecting surface of a square concave body and the bottom connecting surface of a square concave body are square ring structures.

[0163] Fig.13 This is a schematic diagram of a square concave body with a square plate structure at the bottom.

[0164] Fig.14 It is a schematic diagram of a circular concave body in which the top surface of the concave body is a circular ring structure.

[0165] Fig.15It is a schematic diagram of a circular concave body with the outer side surface and the inner side surface of the circular concave body being a circular tubular structure.

[0166] Fig.16 It is a schematic diagram of a circular concave body top connecting surface and a circular concave body bottom connecting surface as a circular ring structure.

[0167] Fig.17 It is a basic graphic schematic diagram of the test surface resolution test area of ​​the present invention.

[0168] In the figure, 1 test surface, 2 square large notch, 3 square middle notch, 4 regular pentagonal notch, 5 square small notch, 6 round large notch, 7 round small notch, 11-1 to 11-10 test surface mounting holes, 12-1, 12-2 square large concave body mounting holes, 13-1, 13-2 square middle concave body mounting holes, 14-1, 14-2 regular pentagonal concave body mounting holes, 15-1, 15-2 square small concave body mounting holes, 16-1, 16-2 round large concave body mounting holes, 17-1, 17-2 round small concave body mounting holes, 21 high resolution test area, 22 middle resolution test area, 23 low resolution test area, 24 grayscale test area, 25 chromaticity test area, 30 bottom surface, 31-1 to 31-10 bottom surface mounting holes, 31-a 31-b top surface of the concave body, 32-a, 32-b outer side surface of the first layer of concave bodies, 33-a, 33-b first layer concave top connecting surface, 34-a, 34-b first layer concave inner side surface, 35-a, 35-b first layer concave bottom connecting surface, 36-a, 36-b second layer concave outer side surface, 37-a, 37-b second layer concave top connecting surface, 38-a, 38-b second layer concave inner side surface, 39-a, 39-b second layer concave bottom connecting surface, 40-a, 40-b third layer concave outer side surface, 41-a, 41-b third layer concave top connecting surface, 42-a, 42-b third layer concave inner side surface , 43-a, 43-b the bottom connecting surface of the 3rd layer concave body, ..., 44-a, 44-b the bottom connecting surface of the n-1th layer concave body, 45-a, 45-b the outer side surface of the n-1th layer concave body, 46-a, 46-b the top connecting surface of the n-1th layer concave body, 47-a, 47-b the inner side surface of the n-1th layer concave body, 48 the bottom surface of the concave body, 201 the top surface of the regular pentagonal concave body, 202-1~202-10, the mounting hole of the top surface of the regular pentagonal concave body, 101 the top surface of the square concave body, 102-1~102-8 the mounting holes of the top surface of the square concave body, 301 the top surface of the circular concave body, 302-1~302-4 the mounting holes of the top surface of the circular concave body. V. Specific implementation methods

[0169] See attached Figure 1 , 2The test mold of the present invention 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 concave mold and the drone and the laser three-dimensional radar to meet 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.

[0170] When the faces of the regular dodecahedron are unfolded, they 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. Face A1 is adjacent to faces B1 and B2. Except for the bottom face, the remaining 11 faces have the same design, and the top face, faces A1 to A5, and faces B1 to B5 of the same design are all called test faces; the bottom face is called the support face.

[0171] See also Figure 3 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.

[0172] See Appendix 4. The adjacent bottom surface and test surface are fastened to the test surface or adjacent surface through the adjacent surface mounting plate 32, so that the bottom surface and the eleven test surfaces are tightly connected to form a regular dodecahedron overall 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.

[0173] 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.

[0174] See also Figure 5 .11 test surfaces have the same structure. There are five notches cut on the test surface, including a square large notch 2, a square middle notch 3, a regular pentagonal notch 4, a square small notch 5, a round large notch 6, and a round small notch 7, which are used to install the square large concave body, square middle concave body, regular pentagonal concave body, square small notch body, round large notch body, and round small notch body of the concave mold respectively. The square large concave body, square middle concave body, and square small notch body are collectively referred to as square concave bodies, and the round large notch body and round small notch body are collectively referred to as round concave bodies.

[0175] The uncut part of the test surface is used to paste the texture evaluation card to form the texture test area; the texture test cards include high-resolution test card, medium-resolution test card, low-resolution test card, chromaticity test card, and grayscale test card, which are pasted in the high-resolution test area 21, medium-resolution test area 22, low-resolution test area 23, grayscale test area 24, and chromaticity test area 25 respectively. The texture test area makes use of the uncut area of ​​each corner of the test surface as much as possible, and each texture test area is a square with a side length of 32768w; the colors of the pasted texture test cards are 24 colors, respectively called color No. 1 to color No. 24, and the grayscale has 32 levels, and the values ​​of the red component, green component, and blue component of each level are equal; the 32 levels of grayscale are respectively named 1st grayscale to 32nd grayscale; the nth grayscale color is: red component = green component = blue component = 7+8(n-1).

[0176] 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.

[0177] The regular pentagonal recess 4 is a regular pentagon with a side length of 32768w cut in the middle of the test surface; the sides of the regular pentagonal recess are parallel to the sides of the test surface and the distances are equal; on each side of the regular pentagonal recess, there are two regular pentagonal recess mounting holes 14-1 and 14-2 respectively distributed on each side for mounting the regular pentagonal recess.

[0178] The trapezoidal area formed by the sides of the regular pentagonal notch 4 and the corresponding sides of the test surface is used to cut the large square notch 2, the medium square notch 3, the small square notch 5, the large circular notch 6, and the small circular notch 7; the above-mentioned cutting notch is located in the middle of the trapezoidal area formed by the sides of the regular pentagonal notch and the corresponding sides of the test surface.

[0179] The square recess is formed by cutting three square recesses with a side length of 32768w between each side of the regular pentagonal recess and each side of the test surface, namely a large square recess 2, a medium square recess 3, and a small square recess 5. On each side of the square recess, two square recess mounting holes are distributed on each side, namely large square recess mounting holes 12-1, 12-2, medium square recess mounting holes 13-1, 13-2, and small square recess mounting holes 15-1, 15-2, which are used to mount large square recess, medium square recess, and small square recess respectively; the large square recess mounting holes 12-1, 12-2, medium square recess mounting holes 13-1, 13-2, and small square recess 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 recess is the same; the mounting nut is welded or bonded toward the inside of the mold.

[0180] The circular notches are two circular notches with a diameter of 32768w cut between the sides of the regular pentagonal notch and the sides of the test surface, which are respectively called the large circular notch 6 and the small circular notch 7.

[0181] There are circular concave body mounting holes on the sides of the large circular concave 6 and the small circular concave 7, which are respectively called large circular concave body mounting holes 16-1 and 16-2 and small circular concave body mounting holes 17-1 and 17-2.

[0182] See attached Figure 6 The concave body includes a regular pentagonal concave body, a square concave body, and a circular concave body, all of which are composed of multiple parts, and each part is bonded or welded at adjacent locations.

[0183] Each concave body has n layers, and the linking order from top to bottom is: concave body top surface, outer side surface of the first layer concave body, top connecting surface of the first layer concave body, inner side surface of the first layer concave body, bottom connecting surface of the first layer concave body, outer side surface of the second layer concave body, top connecting surface of the second layer concave body, inner side surface of the second layer concave body, bottom connecting surface of the second layer concave body, ..., outer side surface of the n-1th layer concave body, top connecting surface of the n-1th layer concave body, inner side surface of the n-1th layer concave body, and bottom surface of the concave body.

[0184] The concave body is made of a plate material with good mechanical properties, and in this embodiment, a stainless steel plate is used.

[0185] See attached Figure 7 , 8 , 9. The regular pentagonal notch 4 is a regular pentagon with a side length of 32768w cut in the middle of the test surface; each side of the regular pentagonal notch is parallel to each side of the test surface and the distance is equal; on each side of the regular pentagonal notch, each side is respectively provided with two regular pentagonal concave body mounting holes, namely, square large concave body mounting holes 12-1, 12-2, square medium concave body mounting holes 13-1, 13-2, and square small concave body mounting holes 15-1, 15-2, for mounting the regular pentagonal concave body.

[0186] The trapezoidal area formed by the sides of the regular pentagonal notch 4 and the corresponding sides of the test surface is used to cut the large square notch 2, the medium square notch 3, the small square notch 5, the large circular notch 6, and the small circular notch 7; the above-mentioned cutting notch is located in the middle of the trapezoidal area formed by the sides of the regular pentagonal notch and the corresponding sides of the test surface.

[0187] The regular pentagonal concave body is composed of a regular pentagonal concave body top surface 201, multiple regular pentagonal concave body outer side surfaces, multiple regular pentagonal concave body top connecting surfaces, multiple regular pentagonal concave body inner side surfaces, multiple regular pentagonal concave body bottom connecting surfaces, and regular pentagonal concave body bottom surface, which are bonded or welded at adjacent locations. The above components are made of plate-like materials with good mechanical properties, and this embodiment is made of stainless steel plates.

[0188] The top surface of the regular pentagonal concave body is a regular pentagonal ring structure, and the side length of the pentagon cut and hollowed out inside the top surface of the pentagonal concave body is 32768w; the side length of the pentagon outside the top surface of the pentagonal concave body is greater than 32768w, and there are regular pentagonal concave body top surface mounting holes 202-1 to 202-10 on the regular pentagonal ring, and the regular pentagonal concave body top surface mounting holes correspond to the regular pentagonal concave body mounting holes; screws are passed through the concave body top surface mounting holes to fix the regular pentagonal concave body top surface on the test surface.

[0189] The top connection surface of the regular pentagonal concave body and the bottom connection surface of the regular pentagonal concave body are regular pentagonal rings; the side length of the regular pentagon outside the ring is wf, and the side length of the square inside the ring is wg. The number of layers of the regular pentagonal concave body is the same as the number of layers of the square concave body, a total of 72 layers; the size of each layer corresponds to the size of each layer of the square concave body.

[0190] The height he of each layer is equal to the height ha of the corresponding layer of the square concave body; the side length wg of each layer of the square inside the top connecting surface and the bottom connecting surface ring is equal to the side length wb of the corresponding layer of the square concave body inside the ring; the side length wf of each layer of the regular pentagon outside the top connecting surface and the bottom connecting surface ring is equal to the side length wc of the corresponding layer of the square concave body outside the ring.

[0191] The side length of the base of the regular pentagonal concave body is wh, which is equal to the side length of the base of the concave body in the square, wd.

[0192] The line passing through the center of the base of the regular pentagonal concave body and perpendicular to the base of the regular pentagonal concave body is the axis of the regular pentagonal concave body; the plane passing through the axis of the regular pentagonal concave body intersects the regular pentagonal concave body and has an intersection line; the plane rotates at an angle of 11.25 degrees with the axis of the regular pentagonal concave body as the axis, forming 32 intersection lines intersecting the regular pentagonal concave body, and dividing the regular pentagonal concave body into 32 areas on the side facing the axis; these 32 areas are painted with 1 to 32 levels of gray in a clockwise direction.

[0193] See attached Figure 10-13 The square concave body includes a large square concave body, a medium square concave body, and a small square concave body, each of which is composed of a square concave body top surface, multiple square concave body outer side surfaces, multiple square concave body top connecting surfaces, multiple square concave body inner side surfaces, multiple square concave body bottom connecting surfaces, and a square concave body bottom surface. The above components are made of plate-like materials with good mechanical properties, and are bonded or welded at adjacent locations. In this embodiment, stainless steel plates are used.

[0194] The concave top surfaces 101 of the large square concave, the medium square concave and the small square concave are of the same shape, which is a square ring structure with a hollowed-out area inside; the side length of the square hollowed-out inside the square concave top surface is 32768w; the side length of the square outside the square concave top surface is greater than 32768w.

[0195] There are two square concave top surface mounting holes 102-1 to 102-8 on each side of the square concave top surface, which correspond to the square large concave mounting hole, the square medium concave mounting hole, and the square small concave mounting hole respectively; screws are passed through the concave top surface mounting holes to fix the square concave top surface on the test surface.

[0196] The outer and inner side surfaces of the square concave body are square tubes; the height is ha, and the width is wa;

[0197] On the side facing the axis, there are black and white stripes with a stripe width of wt1.

[0198] The top connecting surface of the square concave body and the bottom connecting surface of the square concave body are square rings; the side length of the square outside the ring is wc, and the side length of the square inside the ring is wb; on the square rings on both sides, black and white stripes are painted, and the width of the stripes is wt2;

[0199] The bottom surface of the square concave body is a square plate with a side length of wd.

[0200] The bottom square plate is evenly divided into four squares of the same size; black and white horizontal stripes, vertical stripes, and diagonal stripes are pasted and drawn on the four squares respectively; the stripe width is wt3.

[0201] The top surface of the square concave body, the outer side surfaces of the multiple square concave bodies, the top connecting surfaces of the multiple square concave bodies, the inner side surfaces of the multiple square concave bodies, and the bottom surface of the square concave body are made of plate materials with good mechanical properties. In this example, stainless steel plates are used.

[0202] See attached Fig.14 , 15 , 16. The circular concave body includes a large circular concave body and a small circular concave body, each of which is composed of a circular concave body top surface, multiple circular concave body outer side surfaces, multiple circular concave body top connecting surfaces, multiple circular concave body inner side surfaces, multiple circular concave body bottom connecting surfaces, and a circular concave body bottom surface. The above components are made of plate-like materials with good mechanical properties, and stainless steel is used in this embodiment. Adjacent parts are bonded or welded.

[0203] The top surfaces of the large circular concave body and the small circular concave body have the same shape, which is a circular ring structure, and there are mounting holes 302-1 to 302-4 on the circular ring.

[0204] The diameter of the circular hollowed out circle inside the circular concave top surface 301 is 32768w; the outer diameter of the circular concave top surface is greater than 32768w. The circular concave top surface has four circular concave top surface mounting holes 302-1 to 302-4, and the circular concave top surface mounting holes correspond to the circular concave mounting holes; screws are passed through the concave top surface mounting holes to fix the circular concave top surface on the test surface.

[0205] The outer side surface and inner side surface of the circular concave body are in the shape of a circular tube, with a height of hf and a diameter of da. The top connecting surface and the bottom connecting surface of the circular concave body are in the shape of a circular ring, with an outer diameter of dw and an inner diameter of dn. The bottom surface of the circular concave body is in the shape of a circular disk, with a diameter of dd.

[0206] The line passing through the center of the bottom surface of the circular concave body and perpendicular to the bottom surface of the circular concave body is the axis of the circular concave body; the plane passing through the axis of the circular concave body intersects the circular concave body and has an intersection line; the plane is rotated at an angle of 15 degrees with the circular concave body as the axis to form 24 intersection lines intersecting the circular concave body, and the circular concave body is divided into 24 areas on the side facing the axis; these 24 areas are painted with colors 1 to 24 in a clockwise direction.

[0207] See attached Fig.17 .The texture test area is a square with a side length of 32768w.

[0208] The basic graphics of the high-resolution test area 21, the medium-resolution test area 22, and the low-resolution test area 23 are squares, such as Fig.17 As shown. The square is divided into four squares of the same size; if the basic module test resolution is fb, then 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; -45-degree black and white stripes, the stripe width is fb;

[0209] Resolution test area No. 1: fb = 1w; Resolution test area No. 2: fb = 2w;

[0210] Nth resolution test area: fb=2nw; (n=1, 2, 3, ..., 10);

[0211] fb is equal to 1w, 2w, 4w, 8w, ..., 2 9 w, 2 10 w;

[0212] 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;

[0213] The low-resolution test area 23 is a No. 10 resolution test area;

[0214] The medium-resolution test area 22 is a combination of two No. 9 resolution test areas, four No. 8 resolution test areas, and 16 No. 7 resolution test areas;

[0215] The high-resolution test area 21 is a combination of 16 resolution test areas 1, 2, ..., 6;

[0216] The grayscale test area 24 is composed of 32 areas of the same size, each area is 8192w long and 4096w wide, and is painted with 1-32 grayscale colors respectively; 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.

[0217] In this embodiment, the dimensions of the large square concave body are as follows:

[0218] The outer side of the first concave layer and the outer side of the second concave layer: wa = 32768w, ha = 1024w, wt1 = 128w;

[0219] The top connection surface of the first concave body, the bottom connection surface of the first concave body: wc = 33792w, wb = 32768w, wt2 = 128w;

[0220] The first layer of concave inner side: wa = 33792w, ha = 1024w, wt1 = 128w;

[0221] The top connection surface of the second concave body: wc = 33280w, wb = 32768w, wt2 = 128w;

[0222] The inner side of the second concave body: wa = 33280w, ha = 1024w, wt1 = 128w;

[0223] The second layer of concave bottom connection surface: wc = 33280w, wb = 28672w, wt2 = 128w;

[0224] The outer side of the concave body from the 3rd to the 6th layer: wa = 28672w, ha = 512w, wt1 = 64w;

[0225] The top connection surface of the 3rd to 4th concave body, the bottom connection surface of the 3rd to 4th concave body: wc = 29184w, wb = 28672w, wt2 = 64w;

[0226] The inner side of the concave body from the 3rd to the 4th layer: wa = 29184w, ha = 512w, wt1 = 64w;

[0227] The top connection surface of the 5th to 6th concave body, the bottom connection surface of the 5th concave body: wc = 28928w, wb = 28672w, wt2 = 64w; the inner side surface of the 5th to 6th concave body: wa = 28928w, ha = 512w, wt1 = 64w;

[0228] The bottom connection surface of the 6th concave body: wc = 28928w, wb = 24576w, wt2 = 128w;

[0229] The outer side of the concave body from the 7th to the 14th layer: wa = 24576w, ha = 256w, wt1 = 32w;

[0230] The top connection surface of the 7th to 10th concave body and the bottom connection surface of the 7th to 10th concave body: wc = 24832w, wb = 24576w, wt2 = 32w;

[0231] The inner side of the concave body from the 7th to the 10th layer: wa = 24832w, ha = 256w, wt1 = 32w;

[0232] The top connection surface of the 11th to 14th layers of concave bodies, the bottom connection surface of the 11th to 13th layers of concave bodies: wc = 24704w, wb = 24576w, wt2 = 32w;

[0233] The inner side of the concave body from the 11th to the 14th layer: wa = 24704w, ha = 256w, wt1 = 32w;

[0234] The bottom surface of the concave body: wd=24704w, wt3=64w.

[0235] The dimensions of the concave body in the square are:

[0236] Layers 1 to 8, i represents the layer number

[0237] Outer surface of the concave body: wa = 32768-(i-1)×1024, ha = 256w, wt1 = 32w;

[0238] Concave top connection surface: wc = 33024-(i-1)×1024, wb = 32768-(i-1)×1024, wt2 = 32w;

[0239] Inner side of the concave body: wa = 33024-(i-1)×1024, ha = 256w, wt1 = 32w;

[0240] Concave bottom connection surface: wc = 33024-(i-1)×1024, wb = 31744-(i-1)×1024, wt2 = 32w;

[0241] From the 9th to the 24th layer, i represents the layer number:

[0242] Outer surface of the concave body: wa = 24576-(i-9) × 512, ha = 128w, wt1 = 16w;

[0243] Concave top connection surface: wc = 24704-(i-9) × 512, wb = 24576-(i-9) × 512, wt2 = 16w;

[0244] Inner side of the concave body: wa = 24704-(i-9) × 512, ha = 128w, wt1 = 16w;

[0245] Concave bottom connection surface: wc = 24704-(i-9) × 512, wb = 24064-(i-9) × 512, wt2 = 16w;

[0246] From the 25th to the 40th layer, i represents the layer number:

[0247] Outer surface of the concave body: wa = 16384-(i-25) × 256, ha = 64w, wt1 = 8w;

[0248] Concave top connection surface: wc = 16448-(i-25) × 256, wb = 16384-(i-25) × 256, wt2 = 8w;

[0249] Inner side of the concave body: wa = 16448-(i-25) × 256, ha = 64w, wt1 = 8w;

[0250] Concave bottom connection surface: wc = 16448-(i-25) × 256, wb = 16128-(i-25) × 256, wt2 = 8w;

[0251] From the 41st to the 56th layer, i represents the layer number:

[0252] Outer surface of the concave body: wa = 12288-(i-41) × 128, ha = 32w, wt1 = 4w;

[0253] Concave top connection surface: wc = 12320-(i-41) × 128, wb = 12288-(i-41) × 128, wt2 = 4w;

[0254] Inner side of the concave body: wa = 12320-(i-41) × 128, ha = 32w, wt1 = 4w;

[0255] Concave bottom connection surface: wc = 12320-(i-41) × 128, wb = 12160-(i-41) × 128, wt2 = 4w;

[0256] From the 57th to the 72nd layer, i represents the layer number:

[0257] Outer surface of the concave body: wa = 10240-(i-57) × 64, ha = 16w, wt1 = 2w;

[0258] Concave top connection surface: wc = 10256-(i-57) × 64, wb = 10240-(i-57) × 64, wt2 = 2w;

[0259] Inner side of the concave body: wa = 10256-(i-57) × 64, ha = 16w, wt1 = 2w;

[0260] From the 57th to the 71st layer, i represents the layer number:

[0261] Concave bottom connection surface: wc = 10256-(i-57) × 64, wb = 10176-(i-57) × 64, wt2 = 2w;

[0262] Bottom surface of concave body: wd=9296w, wt3=8w;

[0263] The dimensions of the square dimple are:

[0264] From the 1st to the 16th layer, i represents the layer number:

[0265] Outer surface of the concave body: wa = 32768-(i-1)×128, ha = 32w, wt1 = 4w;

[0266] Concave top connection surface: wc = 32800-(i-1)×128, wb = 32768-(i-1)×128, wt2 = 4w;

[0267] Inner side of the concave body: wa = 32800-(i-1)×128, ha = 32w, wt1 = 4w;

[0268] Concave bottom connection surface: wc = 32800-(i-1)×128, wb = 32640-(i-1)×128, wt2 = 4w;

[0269] From the 17th to the 32nd layer, i represents the layer number:

[0270] Outer surface of the concave body: wa = 30720-(i-17) × 64, ha = 16w, wt1 = 2w;

[0271] Concave top connection surface: wc = 30736-(i-17) × 64, wb = 30720-(i-17) × 64wt2 = 2w;

[0272] Inner side of the concave body: wa = 30736-(i-17) × 64, ha = 16w, wt1 = 2w;

[0273] Concave bottom connection surface: wc = 30736-(i-17) × 64, wb = 30656-(i-17) × 64, wt2 = 2w;

[0274] From the 33rd to the 64th layer, i represents the layer number:

[0275] Outer surface of the concave body: wa = 29696-(i-33) × 32, ha = 8w, wt1 = 1w;

[0276] Concave top connection surface: wc = 29704-(i-33) × 32, wb = 29696-(i-33) × 32, wt2 = 1w;

[0277] Inner side of the concave body: wa = 29704-(i-33) × 32, ha = 8w, wt1 = 1w;

[0278] Concave bottom connection surface: wc = 29704-(i-33) × 32, wb = 29664-(i-33) × 32, wt2 = 1w;

[0279] From the 65th to the 96th layer, i represents the layer number:

[0280] Outer surface of the concave body: wa = 28672-(i-65) × 16, ha = 4w, wt1 = 1w;

[0281] Concave top connection surface: wc = 28676-(i-65) × 16, wb = 28672-(i-65) × 16, wt2 = 1w;

[0282] Inner side of the concave body: wa = 28676-(i-65) × 16, ha = 4w, wt1 = 1w;

[0283] Concave bottom connection surface: wc = 28676-(i-65) × 16, wb = 28656-(i-65) × 16, wt2 = 1w;

[0284] From the 97th to the 128th layer, i represents the layer number:

[0285] Outer surface of the concave body: wa = 28160-(i-97) × 8, ha = 2w, wt1 = 1w;

[0286] Concave top connection surface: wc = 28162-(i-97) × 8, wb = 28160-(i-97) × 8, wt2 = 1w;

[0287] Inner side of the concave body: wa = 28162-(i-97) × 8, ha = 2w, wt1 = 1w;

[0288] Concave bottom connection surface: wc = 28162-(i-97) × 8, wb = 28152-(i-97) × 8, wt2 = 1w;

[0289] From the 129th to the 160th layer, i represents the layer number:

[0290] Outer surface of the concave body: wa = 27904-(i-129) × 4, ha = 1w, wt1 = 1w;

[0291] Concave top connection surface: wc = 27905-(i-129) × 4, wb = 27904-(i-129) × 4, wt2 = 1w;

[0292] Inner side of the concave body: wa = 27905-(i-129) × 4, ha = 1w, wt1 = 1w;

[0293] From the 129th to the 159th layer, i represents the layer number:

[0294] Concave bottom connection surface: wc = 27905-(i-129) × 4, wb = 27900-(i-129) × 4, wt2 = 1w;

[0295] Bottom surface of concave body: wd=27781w, wt3=1w;

[0296] The size of the circular large concave body is as follows: the number of layers of the circular large concave body is the same as the number of layers of the square middle concave body, a total of 72 layers; the size of each layer corresponds to the size of each layer of the square middle concave body.

[0297] The height hf of each layer is equal to the height ha of the corresponding layer of the square concave body; the diameter da of each layer is equal to the side length wa of the outer square of the corresponding layer ring of the square concave body; the inner circle diameter dn of each layer is equal to the side length wb of the inner square of the corresponding layer ring of the square concave body; the outer circle diameter dw of each layer is equal to the side length wc of the outer square of the corresponding layer ring of the square concave body; the bottom surface of the circular concave body is a disk, with a diameter of dd, which is equal to the side length wd of the bottom surface of the square concave body;

[0298] The sizes of the circular dimples are as follows: the number of circular dimples is the same as that of the square dimples, 160 in total; the size of each layer corresponds to the size of each layer of the square dimples.

[0299] The height hf of each layer is equal to the height ha of the corresponding layer of the square dimple; the diameter da of each layer is equal to the side length wa of the outer square of the corresponding layer of the square dimple. The inner circle diameter dn of each layer is equal to the side length wb of the inner square of the corresponding layer of the square dimple; the outer circle diameter dw of each layer is equal to the side length wc of the outer square of the corresponding layer of the square dimple.

[0300] The bottom surface of the circular concave body is disc-shaped, with a diameter of dd, which is equal to the side length wd of the bottom surface of the square small concave body.

[0301] The evaluation method of the concave mold by fusing laser radar and aerial triangulation measurement data of the present invention evaluates evaluation indicators according to a single test surface respectively; the evaluation includes: point cloud indicator evaluation and texture indicator evaluation.

[0302] Point cloud index evaluation: Point cloud index evaluation is divided into regular pentagonal concave bodies, square concave bodies, and circular concave bodies for calculation;

[0303] 1. Point cloud resolution evaluation:

[0304] The point cloud resolution is expressed as the layer with the smallest scale of the concave body that can be distinguished; the smaller the scale, the higher the resolution;

[0305] (1) External surface resolution

[0306] The axial direction of the outer side of the concave body can distinguish at least two or more layers of the minimum scale of the point cloud;

[0307] (2) Resolution of the inner surface

[0308] The inner side of the concave body can distinguish at least two minimum scale layers of the point cloud axially;

[0309] (3) Front resolution

[0310] The concave body bottom connection surface has at least two minimum scale layers of point clouds between the ray drawn from the circumscribed circle of the regular pentagonal or square concave body bottom connection surface or the center of the circular bottom connection surface ring and the concave body bottom connection surface;

[0311] 2. Point Cloud Scale Accuracy Evaluation

[0312] Select the layer where the point cloud resolution of the outer side of the square concave body 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;

[0313] 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;

[0314] The point cloud accuracy evaluation indicators include the maximum side length difference and the average fitting distance; the smaller the maximum side length difference and the smaller the average fitting distance, the better the point cloud scale accuracy.

[0315] 3. Point cloud shape accuracy evaluation:

[0316] 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;

[0317] Texture index evaluation:

[0318] 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, set them as max and min, and the calculation method for converting RGB color space to HSL color space is as follows:

[0319] (1) Calculation of hue H:

[0320] When max = min, H = 0;

[0321] When max = R, and G is greater than or equal to B: H = 60 × (GB) / (max-min);

[0322] When max = R, and G is less than B: H = 360 + 60 × (GB) / (max - min);

[0323] When max = G: H = 120 + 60 × (BR)) / (max - min);

[0324] When max = B: H = 240 + 60 × (RG)) / (max - min);

[0325] (2) Calculation of brightness L:

[0326] L=(max+min) / 2

[0327] (3) Saturation S calculation:

[0328] When L = 0 or max = min, S = 0;

[0329] When L is greater than zero and less than or equal to 0.5: S = 0.5 × (max-min) / L

[0330] When L is greater than 0.5: S = 0.5 × (max-min) / (1-L)

[0331] Grayscale deviation evaluation:

[0332] (1) Standard HSL value:

[0333] Standard hue H = 0; standard saturation S = 0;

[0334] The nth gray standard brightness L = n / 32:

[0335] (2) Corresponding test value:

[0336] 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;

[0337] 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;

[0338] Hue difference = measured hue H;

[0339] Saturation difference = measured saturation S;

[0340] Brightness difference = measured brightness L-standard brightness L;

[0341] Color deviation evaluation:

[0342] (1) Calculate the standard hue, standard saturation, and standard brightness L of colors 1-24 respectively;

[0343] (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;

[0344] (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;

[0345] (4) Hue difference = measured hue H;

[0346] Saturation difference = measured saturation S;

[0347] Brightness difference = measured brightness L-standard brightness L;

[0348] Texture resolution evaluation: Texture resolution is evaluated in four directions: horizontal resolution, vertical resolution, 45-degree resolution, and negative 45-degree resolution. The resolution evaluation indicators are: level 1 resolution, level 2 resolution, ..., level 10 resolution. The lower the level, the higher the resolution.

[0349] The evaluation method is:

[0350] (1) Horizontal resolution: 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 horizontal resolution is level n resolution.

[0351] (2) Vertical resolution: 8 vertical white stripes are completely separated by black stripes, and 8 vertical black stripes are completely separated by red stripes. If the minimum resolution test area that meets the above conditions is resolution test area No. n, then the vertical resolution is level n resolution.

[0352] (3) Resolution at 45 degrees: 8 white stripes at 45 degrees are completely separated by black stripes, and 8 black stripes are completely separated by red stripes. If the minimum resolution test area that meets the above conditions is resolution test area No. n, then the resolution at 45 degrees is level n resolution.

[0353] (4) Resolution at -45 degrees: 8 white stripes at -45 degrees are completely separated by black stripes.

[0354] The root black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the nth resolution test area, then the 45-degree direction resolution is the nth level resolution.

[0355] In this embodiment, the color parameters pasted on the test surface are: the color parameters of the X-Rite classic standard 24 color card ColorChecker Classic.

Claims

1. A laser radar and aerial triangulation measurement data fusion evaluation concave mold, characterized by: The evaluation concave 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 evaluation concave mold and the UAV and the laser three-dimensional radar to meet the minimum resolution test requirements of the fusion data triangle skin. 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 surface and the B2 surface; 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 surface and the 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 a regular dodecahedron overall structure; A total of five recesses are cut on the test surface, namely, a large square recess (2), a medium square recess (3), a regular pentagonal recess (4), a small square recess (5), a large round recess (6), and a small round recess (7), which are used to install the large square recess, the medium square recess, the regular pentagonal recess, the small square recess, the large round recess, and the small round recess of the concave mold respectively; The uncut portion of the test surface is used to paste texture evaluation cards to form a texture test area; the texture test cards include a high-resolution test card, a medium-resolution test card, a low-resolution test card, a chromaticity test card, and a grayscale test card, which are pasted in the high-resolution test area (21), the medium-resolution test area (22), the low-resolution test area (23), the grayscale test area (24), and the chromaticity test area (25) respectively; the texture test area utilizes the uncut area of ​​each corner of the test surface as much as possible, and each texture test area is a square with a side length of 32768w; The chromaticity test card has 24 colors, respectively called color 1 to color 24. The grayscale test card has 32 grayscales. The values ​​of the red component, green component, and blue component of each grayscale are equal. The 32 grayscales are respectively named grayscale 1 to grayscale 32. The nth grayscale color is: red component = green component = blue component = 7+8(n-1). The square large concave body, the square medium concave body, and the square small concave body are collectively referred to as square concave bodies, and the round large concave body and the round small concave body are collectively referred to as round concave bodies; The regular pentagonal concave body, the square concave body and the circular concave body are composed of multiple parts, each part is bonded or welded at adjacent positions, each concave body has n layers, and the connection order from top to bottom is: concave body top surface (31-a, 31-b), first layer concave body outer side surface (32-a, 32-b), first layer concave body top connecting surface (33-a, 33-b), first layer concave body inner side surface (34-a, 34-b), first layer concave body bottom connecting surface (35-a, 35-b), second layer concave body outer side surface, second layer concave body top connecting surface, second layer concave body inner side surface, second layer concave body bottom connecting surface, ..., n-1 layer concave body outer side surface, n-1 layer concave body top connecting surface, n-1 layer concave body inner side surface, n-1 layer concave body bottom surface (48); On the bottom surface (30), each side has more than two bottom surface mounting holes (31-1 to 31-10), and the mounting holes are welded or bonded with mounting nuts facing the inside of the mold; 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 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; 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 (33-1, 33-2) 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 holes to the fold line is the same as the distance from the bottom surface mounting holes to the edge; 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 recess (4) is a regular pentagon with a side length of 32768w cut in the middle of the test surface; each side of the regular pentagonal recess is parallel to each side of the test surface and the distance is equal; on each side of the regular pentagonal recess, two regular pentagonal recess installation holes (14-1, 14-2) are respectively distributed on each side, which are used to install the regular pentagonal recess; The trapezoidal area formed by the sides of the regular pentagonal notch (4) and the sides corresponding to the test surface is used to cut the large square notch (2), the medium square notch (3), the small square notch (5), the large circular notch (6), and the small circular notch (7); the cutting notch is located in the middle of the trapezoidal area formed by the sides of the regular pentagonal notch and the sides corresponding to the test surface; The square recess is formed by cutting three square recesses with a side length of 32768w between each side of the regular pentagonal recess and each side of the test surface, namely a large square recess (2), a middle square recess (3), and a small square recess (5); on each side of the square recess, two square recess mounting holes are respectively distributed on each side, namely a large square recess mounting hole (12-1, 12-2), a middle square recess mounting hole (13-1, 13-2), and a small square recess mounting hole (15-1, 15-2), which are respectively used to mount a large square recess, a middle square recess, and a small square recess; the large square recess mounting holes (12-1, 12-2), the middle square recess mounting holes (13-1, 13-2), and the small square recess 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 recess is the same; the mounting nut is welded or bonded toward the inside of the mold; The circular notch is formed by cutting two circular notches with a diameter of 32768w between each side of the regular pentagonal notch and each side of the test surface, which are respectively called the large circular notch (6) and the small circular notch (7); There are circular concave body mounting holes on the sides of the circular large concave hole (6) and the circular small concave hole (7), which are respectively called the circular large concave body mounting holes (16-1, 16-2) and the circular small concave body mounting holes (17-1, 17-2); The regular pentagonal concave body is composed of a regular pentagonal concave body top surface (201), multiple regular pentagonal concave body outer side surfaces, multiple regular pentagonal concave body top connecting surfaces, multiple regular pentagonal concave body inner side surfaces, multiple regular pentagonal concave body bottom connecting surfaces, and a regular pentagonal concave body bottom surface; the above components are made of plate-like materials and are bonded or welded at adjacent locations; the regular pentagonal concave body top surface is a regular pentagonal ring structure, and the side length of the pentagon cut and hollowed out inside the pentagonal concave body top surface is 32768w; the side length of the pentagon outside the pentagonal concave body top surface is greater than 32768w, and there are regular pentagonal concave body top surface mounting holes (202-1 to 202-10) on the regular pentagonal ring, and the regular pentagonal concave body top surface mounting holes correspond to the regular pentagonal concave body mounting holes; screws are passed through the concave body top surface mounting holes to fix the regular pentagonal concave body top surface on the test surface; The outer and inner sides of the regular pentagonal concave body are regular pentagonal tubes; the height is he and the width is we; the bottom surface of the regular pentagonal concave body is a regular pentagonal plate with a side length of wh; the top connecting surface of the regular pentagonal concave body and the bottom connecting surface of the regular pentagonal concave body are regular pentagonal rings; the side length of the regular pentagon outside the ring is wf, and the side length of the square inside the ring is wg; The number of layers of the regular pentagonal concave bodies is the same as that of the concave bodies in the square, a total of 72 layers; the size of each layer corresponds to the size of each layer of the concave bodies in the square; The height he of each layer is equal to the height ha of the corresponding layer in the square concave body; the side length wg of each layer of the square inside the top connecting surface and the bottom connecting surface is equal to the side length wb of the corresponding layer in the square concave body inside the ring; the side length wf of each layer of the regular pentagon outside the top connecting surface and the bottom connecting surface is equal to the side length wc of the corresponding layer in the square concave body outside the ring; The side length of the base of the regular pentagonal concave body is wh, which is equal to the side length of the base of the concave body in the square, wd; The line passing through the center of the bottom surface of the regular pentagonal concave body and perpendicular to the bottom surface of the regular pentagonal concave body is the axis of the regular pentagonal concave body; the plane passing through the axis of the regular pentagonal concave body intersects the regular pentagonal concave body and has an intersection line; the plane is rotated at an angle of 11.25 degrees with the axis of the regular pentagonal concave body as the axis, forming 32 intersection lines intersecting the regular pentagonal concave body, and dividing the regular pentagonal concave body into 32 areas on the side facing the axis; these 32 areas are painted with 1-32 levels of gray in a clockwise direction; The square concave body includes a large square concave body, a medium square concave body, and a small square concave body, each of which is composed of a square concave body top surface, multiple square concave body outer side surfaces, multiple square concave body top connecting surfaces, multiple square concave body inner side surfaces, multiple square concave body bottom connecting surfaces, and a square concave body bottom surface; the above components are made of plate-like materials and are bonded or welded at adjacent locations; The top surfaces (101) of the large square concave body, the medium square concave body and the small square concave body are in the same shape, and are a square ring structure, with a hollowed-out area inside; The side length of the square cut and hollowed out inside the top surface of the square concave body is 32768w; the side length of the square outside the top surface of the square concave body is greater than 32768w; Each side of the square concave top surface has two square concave top surface mounting holes (102-1 to 102-8), and the square concave top surface mounting holes correspond to the square large concave mounting hole, the square medium concave mounting hole, and the square small concave mounting hole respectively; screws are passed through the concave top surface mounting holes to fix the square concave top surface on the test surface; The outer and inner side surfaces of the square concave body are square tubes; the height is ha, and the width is wa; On the side facing the axis, black and white stripes are painted, and the stripe width is: wt1; The top connecting surface of the square concave body and the bottom connecting surface of the square concave body are square rings; the side length of the square outside the ring is wc, and the side length of the square inside the ring is wb; on the square rings on both sides, black and white stripes are painted, and the width of the stripes is wt2; The bottom surface of the square concave body is a square plate with a side length of wd; The bottom square plate is evenly divided into four squares of the same size; black and white horizontal stripes, vertical stripes, and diagonal stripes are pasted and drawn on the four squares respectively; the stripe width is wt3; The circular concave body includes a large circular concave body and a small circular concave body, each of which is composed of a circular concave body top surface, multiple circular concave body outer side surfaces, multiple circular concave body top connecting surfaces, multiple circular concave body inner side surfaces, multiple circular concave body bottom connecting surfaces, and a circular concave body bottom surface; the above components are made of plate-like materials and are bonded or welded at adjacent locations; The top surfaces of the large circular concave body and the small circular concave body are in the same shape, forming a circular ring structure, and there are mounting holes (302-1 to 302-4) on the circular ring; The diameter of the circle cut and hollowed out inside the circular concave body top surface (301) is 32768w; the outer diameter of the circular concave body top surface is greater than 32768w; the circular concave body top surface has four circular concave body top surface mounting holes (302-1 to 302-4), and the circular concave body top surface mounting holes correspond to the circular concave body mounting holes; screws are passed through the concave body top surface mounting holes to fix the circular concave body top surface on the test surface; The outer and inner sides of the circular concave body are in the shape of a circular tube; the height is hf and the diameter is da; The top connecting surface of the circular concave body and the bottom connecting surface of the circular concave body are circular rings; the outer diameter is dw, and the inner diameter is dn; the bottom surface of the circular concave body is a disc with a diameter of dd; The line passing through the center of the bottom surface of the circular concave body and perpendicular to the bottom surface of the circular concave body is the axis of the circular concave body; the plane passing through the axis of the circular concave body intersects the circular concave body and has an intersection line; the plane is rotated at an angle of 15 degrees with the circular concave body as the axis to form 24 intersection lines intersecting the circular concave body, and the circular concave body is divided into 24 areas on the side facing the axis; these 24 areas are painted with colors 1 to 24 in a clockwise direction; The colorimetric test card pasted on the test surface is the X-Rite classic standard 24-color card ColorChecker Classic.

2. The laser radar and aerial triangulation data fusion evaluation concave mold according to claim 1, characterized in that: In the square concave body: The outer and inner sides of the square concave body are square tubes; the height is ha and the width is wa; the side facing the axis is painted with black and white stripes with a width of wt1; the outer side of the square concave top connection surface and the square concave bottom connection surface is wc, and the inner side of the square is wb; the square rings on both sides are painted with black and white stripes with a width of wt2; The dimensions of the large square notch are as follows: The outer side surface of the first layer of concave body, the outer side surface of the second layer of concave body: wa = 32768w, ha = 1024w, wt1 = 128w; the top connection surface of the first layer of concave body, the bottom connection surface of the first layer of concave body: wc = 33792w, wb = 32768w, wt2 = 128w; the inner side surface of the first layer of concave body: wa = 33792w, ha = 1024w, wt1 = 128w; the top connection surface of the second layer of concave body: wc = 33280w, wb = 32768w, wt2 = 128w; the inner side surface of the second layer of concave body: wa = 33280w, ha = 1024w, wt1 = 128w; the bottom connection surface of the second layer of concave body: wc = 33280w, wb = 28672w, wt2 = 128w; the outer side surfaces of the 3rd to 6th layers of concave body: wa=28672w,ha=512w,wt1=64w;3-4th layer concave top connection surface, 3-4th layer concave bottom connection surface:wc=29184w,wb=28672w,wt2=64w;3-4th layer concave inner side surface:wa=29184w,ha=512w,wt1=64w;5-6th layer concave top connection surface, 5th layer concave bottom connection surface:wc=28928w,wb=28672w,wt2=64w;5-6th layer concave inner side surface:wa=28928w,ha=512w,wt1=64w;6th layer concave bottom connection surface: wc=28928w,wb=24576w,wt2=128w; The outer side of the concave body of the 7th to 14th layers: wa=24576w,ha=256w,wt1=32w; 7-10th layer concave top connection surface, 7-10th layer concave bottom connection surface: wc=24832w,wb=24576w,wt2=32w; 7-10th layer concave inner side surface: wa=24832w,ha=256w,wt1=32w; 11-14th layer concave top connection surface, 11-13th layer concave bottom connection surface: wc=24704w,wb=24576w,wt2=32w; Inner and outer surfaces of the concave bodies of the 11th to 14th layers: wa=24704w,ha=256w,wt1=32w; bottom of concave body: wd=24704w,wt3=64w; The dimensions of the concave body in the square are: From 1st to 8th layer, i represents the layer number: Outer surface of the concave body: wa = 32768-(i-1) × 1024, ha = 256w, wt1 = 32w; concave top connection surface: wc=33024-(i-1)×1024,wb=32768-(i-1)×1024,wt2=32w; Inside and outside of the concave body: wa=33024-(i-1)×1024,ha=256w,wt1=32w; concave bottom connection surface: wc=33024-(i-1)×1024,wb=31744-(i-1)×1024,wt2=32w; From the 9th to the 24th layer, i represents the layer number: Outer surface of the concave body: wa = 24576-(i-9) × 512, ha = 128w, wt1 = 16w; concave top connection surface: wc=24704-(i-9)×512,wb=24576-(i-9)×512,wt2=16w; inner side of the concave body: wa=24704-(i-9)×512,ha=128w,wt1=16w; connecting surface of the bottom of the concave body: wc=24704-(i-9)×512,wb=24064-(i-9)×512,wt2=16w; From the 25th to the 40th layer, i represents the layer number: Outer surface of the concave body: wa = 16384-(i-25) × 256, ha = 64w, wt1 = 8w; concave top connection surface: wc=16448-(i-25)×256,wb=16384-(i-25)×256,wt2=8w; Inside and outside of the concave body: wa=16448-(i-25)×256,ha=64w,wt1=8w; concave bottom connection surface: wc=16448-(i-25)×256,wb=16128-(i-25)×256,wt2=8w; From the 41st to the 56th layer, i represents the layer number: Outer surface of the concave body: wa = 12288-(i-41) × 128, ha = 32w, wt1 = 4w; concave top connection surface: wc=12320-(i-41)×128,wb=12288-(i-41)×128,wt2=4w; inner side of the concave body: wa=12320-(i-41)×128,ha=32w,wt1=4w; concave bottom connection surface: wc=12320-(i-41)×128,wb=12160-(i-41)×128,wt2=4w; From the 57th to the 72nd layer, i represents the layer number: Outer surface of the concave body: wa = 10240-(i-57) × 64, ha = 16w, wt1 = 2w; concave top connection surface: wc=10256-(i-57)×64,wb=10240-(i-57)×64,wt2=2w; Inside surface of the concave body: wa=10256-(i-57)×64, ha=16w, wt1=2w; From the 57th to the 71st layer, i represents the layer number: The concave bottom connection surface: wc = 10256-(i-57) × 64, wb = 10176-(i-57) × 64, wt2 = 2w; the concave bottom surface: wd = 9296w, wt3 = 8w; The dimensions of the square dimple are: From the 1st to the 16th layer, i represents the layer number: Outer surface of the concave body: wa = 32768-(i-1) × 128, ha = 32w, wt1 = 4w; concave top connection surface: wc=32800-(i-1)×128,wb=32768-(i-1)×128,wt2=4w; Inner side of the concave body: wa=32800-(i-1)×128,ha=32w,wt1=4w; concave bottom connection surface: wc=32800-(i-1)×128, wb=32640-(i-1)×128, wt2=4w; From the 17th to the 32nd layer, i represents the layer number: Outer surface of the concave body: wa = 30720-(i-17) × 64, ha = 16w, wt1 = 2w; concave top connection surface: wc=30736-(i-17)×64,wb=30720-(i-17)×64wt2=2w;Inner side of the concave body: wa=30736-(i-17)×64,ha=16w,wt1=2w; concave bottom connection surface: wc=30736-(i-17)×64,wb=30656-(i-17)×64,wt2=2w; From the 33rd to the 64th layer, i represents the layer number: Outer surface of the concave body: wa = 29696-(i-33) × 32, ha = 8w, wt1 = 1w; concave top connection surface: wc=29704-(i-33)×32,wb=29696-(i-33)×32,wt2=1w; Inside and outside of the concave body: wa=29704-(i-33)×32,ha=8w,wt1=1w; concave bottom connection surface: wc=29704-(i-33)×32, wb=29664-(i-33)×32, wt2=1w; From the 65th to the 96th layer, i represents the layer number: Outer surface of the concave body: wa = 28672-(i-65) × 16, ha = 4w, wt1 = 1w; concave top connection surface: wc=28676-(i-65)×16,wb=28672-(i-65)×16,wt2=1w; Inside surface of concave body: wa=28676-(i-65)×16,ha=4w,wt1=1w; concave bottom connection surface: wc=28676-(i-65)×16, wb=28656-(i-65)×16, wt2=1w; From the 97th to the 128th layer, i represents the layer number: Outer surface of the concave body: wa = 28160-(i-97) × 8, ha = 2w, wt1 = 1w; concave top connection surface: wc=28162-(i-97)×8,wb=28160-(i-97)×8,wt2=1w; Inside surface of the concave body: wa=28162-(i-97)×8,ha=2w,wt1=1w; concave bottom connection surface: wc=28162-(i-97)×8, wb=28152-(i-97)×8, wt2=1w; From the 129th to the 160th layer, i represents the layer number: Outer surface of the concave body: wa = 27904-(i-129) × 4, ha = 1w, wt1 = 1w; concave top connection surface: wc=27905-(i-129)×4,wb=27904-(i-129)×4,wt2=1w; Inside and outside of the concave body: wa=27905-(i-129)×4, ha=1w, wt1=1w; From the 129th to the 159th layer, i represents the layer number: Concave bottom connection surface: wc = 27905-(i-129) × 4, wb = 27900-(i-129) × 4, wt2 = 1w; Bottom surface of concave body: wd=27781w, wt3=1w; In the circular concave body: When the height of the circular tube on the outer side of the circular concave body and the inner side of the circular concave body is hf, and the diameter is da; When the outer diameter of the circular concave top connection surface and the circular concave bottom connection surface is dw and the inner diameter is dn; The dimensions of the large circular concave body are: The number of layers of the circular large concave body is the same as that of the square concave body, a total of 72 layers; the size of each layer corresponds to the size of each layer of the square concave body; the height hf of each layer is equal to the height ha of the corresponding layer of the square concave body; the diameter da of each layer is equal to the side length wa of the outer square of the corresponding layer ring of the square concave body; the inner circle diameter dn of each layer is equal to the side length wb of the inner square of the corresponding layer ring of the square concave body; the outer circle diameter dw of each layer is equal to the side length wc of the outer square of the corresponding layer ring of the square concave body; the bottom surface of the circular concave body is a disk, with a diameter of dd, which is equal to the side length wd of the bottom surface of the square concave body; The dimensions of the circular dimple are: The number of circular dimples is the same as that of square dimples, 160 in total; the size of each layer corresponds to the size of each layer of the square dimples; the height hf of each layer is equal to the height ha of the corresponding layer of the square dimples; the diameter da of each layer is equal to the side length wa of the outer square of the corresponding layer of the square dimples; the inner diameter dn of each layer is equal to the side length wb of the inner square of the corresponding layer of the square dimples; the outer diameter dw of each layer is equal to the side length wc of the outer square of the corresponding layer of the square dimples; The bottom surface of the circular concave body is disc-shaped, with a diameter of dd, which is equal to the side length wd of the bottom surface of the square small concave body.

3. The laser radar and aerial triangulation data fusion evaluation concave 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 area (21), the medium-resolution test area (22), and the low-resolution test area (23) are composed of basic modules, and the basic modules are square and 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 module of the resolution test area is 32fb; it is composed of four squares with a side length of 16fb; the patterns of the four squares 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; -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; resolution test area No. N: 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 card pasted on the medium-resolution test area (22) is a combination of two No. 9 resolution test areas; four No. 8 resolution test areas, and 16 No. 7 resolution test areas; the high-resolution test card pasted on the high-resolution test area (21) is a combination of 16 No. 1 resolution test areas, No. 2 resolution test areas, ..., No. 6 resolution test areas; The grayscale test area (24) is composed of 32 areas of the same size, each area is 8192w long and 4096w wide, and is painted with 1-32 grayscale colors respectively; the chromaticity test area (25) is composed of 24 areas of the same size, each area is 8192w long and 5460w wide; Apply colors 1-24 respectively.

4. The method for evaluating a concave mold by fusing laser radar and aerial triangulation measurement data as claimed in claim 1 is characterized in that: The evaluation indicators are evaluated on a single test surface, including point cloud indicator evaluation and 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 outer side resolution, inner side resolution, and front side resolution; Point cloud index evaluation is divided into regular pentagonal concave bodies, square concave bodies, and circular concave bodies for calculation respectively; 1. Point cloud resolution evaluation: The point cloud resolution is expressed as the layer with the smallest scale of the concave body that can be distinguished; the smaller the scale, the higher the resolution; (1) External surface resolution: The minimum scale layer of at least two point clouds that can be resolved axially on the external surface of the concave body; (2) Medial surface resolution: the minimum scale layer of the point cloud that can be resolved axially on the inner side of the concave body; (3) Frontal resolution: The minimum scale layer of the concave bottom connection surface where there are at least two point clouds between the ray drawn from the circumscribed circle of the regular pentagonal or square concave bottom connection surface or the center of the circular bottom connection surface ring and the concave bottom connection surface; 2. Point cloud scale accuracy evaluation: Select the layer where the point cloud resolution of the outer side of the square concave body 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; calculate 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, and this calculated value is called the average distance of the fitting line; The point cloud accuracy evaluation indicators include the maximum side length difference and the average fitting distance. 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; Texture index evaluation: Texture index evaluation 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 deviation evaluation: For the grayscale test card, grayscale deviation evaluation is performed, and the evaluation method is as follows: (1) Standard HSL value: Standard hue H = 0; standard saturation S = 0; standard brightness of nth gray level L = n / 32; (2) Corresponding grayscale test card 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 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; Hue difference = measured hue H; saturation difference = measured saturation S; brightness difference = measured brightness L-standard brightness L; Color deviation evaluation: For the color test card, the color deviation is evaluated. The evaluation method is as follows: (1) Calculate the standard hue, standard saturation, and standard brightness L of colors 1-24 respectively; (2) For the data measured by the chromaticity test card, the RGB color value of the middle 1 / 4 area of ​​the gray area corresponding to the texture is taken, and the average value of the red component, green component, and blue component of all pixels is calculated according to the number of pixels in the area; (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; (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: Texture resolution is evaluated in four directions: horizontal resolution, vertical resolution, 45 degree directional resolution, minus 45 degree directional 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: use the algorithm of complete segmentation of black stripes by white stripes: in the pixels in the vertical direction of white stripes and black stripes, let the brightness difference of adjacent stripes equal to the maximum brightness Lmax of the adjacent white stripe area minus the minimum brightness Lmin of the adjacent black stripe area; Calculate the minimum brightness difference between adjacent stripes in the entire stripe. When the minimum brightness difference between adjacent stripes in the entire stripe is greater than 32, it is determined that the white stripe is completely divided by the black stripe. (1) Horizontal resolution: 8 horizontal white stripes are completely divided by black stripes, and 8 black stripes are completely divided by white stripes. If the minimum resolution test area that meets the above conditions is resolution test area No. n, then the horizontal resolution is resolution level n; (2) Vertical resolution: 8 vertical white stripes are completely divided by black stripes, and 8 vertical black stripes are completely divided by white stripes. If the minimum resolution test area that meets the above conditions is resolution test area No. n, then the vertical resolution is resolution level n. (3) Resolution in 45-degree direction: 8 white stripes in 45-degree direction are completely divided by black stripes, and 8 black stripes are completely divided by white stripes. If the minimum resolution test area that meets the above conditions is resolution test area No. n, then the resolution in 45-degree direction is resolution level n. (4) Resolution at -45 degrees: 8 white stripes at -45 degrees are completely separated by black stripes. The root black stripes are completely divided by white stripes; if the minimum resolution test area that meets the above conditions is the nth resolution test area, then the 45-degree direction resolution is the nth level resolution.

5. The method for evaluating a concave mold by fusing laser radar and aerial triangulation data as claimed in claim 4, characterized in that: The color parameters of the chromaticity test card pasted on the test surface are the color parameters of the X-Rite classic standard 24-color card ColorChecker Classic.

Images