LiDAR and Aerial Triangulation Data Fusion Combined Evaluation Mold and Its Evaluation Method

Abstract

A combined evaluation mold for fusion of laser radar and aerial triangulation data and an evaluation method thereof. The combined evaluation mold is composed of a base and an evaluation mold; the base is a combination of a regular octagonal prism and a regular octagonal pyramid. The bottom is a regular octagonal prism and the top is a regular octagonal pyramid. The lower bottom surface of the regular octagonal pyramid is the same shape and size as the upper bottom surface of the regular octagonal prism, and they overlap and splice; the evaluation mold is composed of an evaluation module and a texture test card. After the mold is installed on the eight sides of the regular octagonal prism, it becomes a vertical evaluation surface, after the mold is installed on the eight sides of the regular octagonal pyramid, it becomes an evaluation oblique side surface, and after the mold is installed on the top surface of the regular octagonal pyramid, it becomes an evaluation top surface. The bottom surface of the regular octagonal prism is called the bottom surface of the mold. Each vertical evaluation surface, evaluation oblique side surface and evaluation top surface has nine partitions of the same size, and the nine partitions of the same evaluation surface are respectively installed with evaluation modules and texture test cards. The present invention provides a fusion quality test mold and evaluation method for point cloud fusion and texture fusion in laser radar data and aerial triangulation data.

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 a laser radar and aerial triangulation measurement data fusion combination evaluation mold 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 and 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 combination evaluation mold and its evaluation method, to propose an evaluation model and an evaluation parameter testing method for laser point cloud and aerial triangulation point cloud fusion data, and to propose a detection means for future data fusion quality.

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

[0005] The combined evaluation mold consists of a base and an evaluation mold; the base is a combination of a regular octagonal prism and a regular octagonal pyramid. The bottom is a regular octagonal prism, and the top is a regular octagonal pyramid; the lower bottom surface of the regular octagonal pyramid is the same shape and size as the upper bottom surface of the regular octagonal prism, and they overlap and splice. The evaluation mold consists of an evaluation module and a texture test card; the eight sides of the regular octagonal prism are installed with the mold to form a vertical evaluation surface, the eight sides of the regular octagonal pyramid are installed with the mold to form an evaluation oblique side surface, and the top surface of the regular octagonal pyramid is installed with the mold to form an evaluation top surface; the bottom surface of the regular octagonal prism is called the bottom surface of the mold; the height of the regular octagonal prism is W, and the length of the regular octagonal side of the bottom surface of the regular octagonal prism and the regular octagonal side of the top surface is W; the height of the regular octagonal pyramid is 0.446W, the length of the regular side of the lower bottom surface of the regular octagonal pyramid is W, and the length of the regular side of the upper bottom surface is 0.5W.

[0006] Each vertical evaluation surface, evaluation oblique side surface and evaluation top surface has nine partitions of the same size, and the nine partitions of the same evaluation surface are respectively installed with evaluation modules and texture test cards.

[0007] The evaluation modules include stacked evaluation modules, spherical evaluation modules and regular icosahedron evaluation modules; the stacked evaluation modules include four types: square stacked evaluation modules, regular hexagonal stacked evaluation modules, regular octagonal stacked evaluation modules and circular stacked evaluation modules; the texture test cards include grayscale test cards, chromaticity test cards and resolution test cards; in the square stacked evaluation modules, regular hexagonal stacked evaluation modules, regular octagonal stacked evaluation modules, circular stacked evaluation modules, spherical evaluation modules and regular icosahedron evaluation modules, the line passing through the center of the installation area and perpendicular to the vertical evaluation surface, the evaluation oblique side surface and the evaluation top surface is called the evaluation module axis.

[0008] Each vertical evaluation surface, evaluation oblique side surface and evaluation top surface of the base is provided with nine partitions of the same size. The nine partitions of the same evaluation surface are used to install square stacked evaluation modules, regular hexagonal stacked evaluation modules, regular octagonal stacked evaluation modules, circular stacked evaluation modules, spherical evaluation modules, regular icosahedron evaluation modules, grayscale test cards, colorimetry test cards and resolution test cards.

[0009] During installation, the axes of the square stacked evaluation modules, regular hexagonal stacked evaluation modules, regular octagonal stacked evaluation modules, circular stacked evaluation modules, spherical evaluation modules, and regular icosahedral evaluation modules are respectively perpendicular to the vertical evaluation surfaces, evaluation oblique side surfaces, and evaluation top surfaces, and the parts with the largest area or volume are close to the evaluation surfaces; the grayscale test card, chromaticity test card, and resolution test card are close to the evaluation surfaces.

[0010] The square stacked evaluation module consists of n layers of square columns, from the bottom to the top, they are called the 1st layer to the nth layer; let the height of the i-th layer be hz(i) and the diameter of the circumscribed circle of the bottom be Dz(i).

[0011] The side of the square column is vertically painted with black and white colors, with a width of 0.25hz(i); on the upper or lower bottom surface, the black edge boundary point of the side is connected to the center of the circumscribed circle of the upper or lower bottom surface by a straight line; in the triangle formed by the adjacent points and the center of the circle, the color opposite to the side is painted, that is, if the side is white, it is painted black; the axis of each layer is on the axis of the evaluation module; the sides of each layer are parallel to the corresponding sides of the projection line of the vertical evaluation surface, the evaluation oblique side surface, or the evaluation top surface.

[0012] The regular hexagonal stacked evaluation module is composed of n layers of regular hexagonal prisms, which are called the 1st layer to the nth layer from the bottom layer to the top layer; the height of the i-th layer is hl(i), and the diameter of the circumscribed circle of the bottom surface is Dl(i).

[0013] The side of the regular hexagonal prism is vertically painted with alternating black and white colors with a width of 0.25hl(i); on the upper and lower bottom surfaces, the black edge boundary points of the side surface are connected to the center of the circumscribed circle of the upper and lower bottom surfaces by a straight line; in the triangle formed by the adjacent points and the center of the circle, the color opposite to the side surface is painted, that is, if the side surface is white, it is painted black; the axis of each layer is on the axis of the evaluation module; the side surfaces of each layer are parallel to the corresponding sides of the projection line of the vertical evaluation surface, or the evaluation oblique side surface, or the evaluation top surface;

[0014] The regular octagonal stacked evaluation module is composed of n layers of regular octagonal prisms, which are called the 1st layer to the nth layer from the bottom layer to the top layer; the height of the i-th layer is hb(i), and the diameter of the circumscribed circle of the bottom surface is Db(i).

[0015] The side of the regular octagonal prism is vertically painted with alternating black and white colors with a width of 0.25hb(i); on the upper and lower bases, the black edge boundary points of the side are connected to the centers of the circumscribed circles of the upper and lower bases by a straight line; in the triangle formed by the adjacent points and the center of the circle, the color opposite to that of the side is painted, that is, if the side is white, it is painted black; the axis of each layer is on the axis of the evaluation module; the side of each layer is parallel to the sides corresponding to the projection lines of the vertical evaluation surface, or the evaluation oblique side, or the evaluation top.

[0016] The circular stacked evaluation module is composed of n layers of cylinders, which are called the 1st layer to the nth layer from the bottom layer to the top layer; the height of the i-th layer is hy(i), and the diameter of the upper and lower bottom circles is Dy(i).

[0017] The side of the cylinder is painted vertically with alternating black and white colors with a width of 0.25hy(i); on the upper and lower bottom surfaces, the black border boundary points of the side are connected to the center of the upper and lower bottom surfaces in a straight line; in the sector formed by the adjacent points and the center of the circle, the color opposite to the side is painted, that is, if the side is white, it is painted black; the axis of each layer is on the axis of the evaluation module.

[0018] For the i-th layer diameter Dz(i) and i-th layer height hz(i) of the circumscribed circle of the square stacked evaluation module in the stacked evaluation module, the i-th layer diameter Dl(i) and i-th layer height hl(i) of the regular hexagonal stacked evaluation module, the i-th layer diameter Db(i) and i-th layer height hb(i) of the circumscribed circle of the regular octagonal stacked evaluation module, and the i-th layer diameter Dy(i) and i-th layer height hy(i) of the circular stacked evaluation module, the selection is:

[0019] Dz(i)=Dl(i)=Db(i)=Dy(i)=D(i);

[0020] hz(i)=hl(i)=hb(i)=hy(i)=h(i);

[0021] For the vertical evaluation surface, let D0 = 0.3W, H0 = 0.018W;

[0022] For the evaluation of the oblique side, let D0 = 0.15W, H0 = 0.009W;

[0023] For the top surface of the evaluation, let D0 = 0.255W, H0 = 0.0153W;

[0024] For the first to eighth layers: height: h(1)~h(8) are all H0; diameter is as follows:

[0025] D(1)=D(8)=D0; D(2)=D(7)=D0-H0; D(3)=D(6)=D0-2H0; D(4)=D(5)=D0-3H0;

[0026] For 9 to 16 layers: height; h(9) to h(16) is 0.5h(1); diameter is as follows:

[0027] D(9)=D(16)=0.707D(1); D(10=D(15)=0.707D(2); D(11)=D(14)=0.707D(3);

[0028] D(12)=D(13)=0.707D(4);

[0029] For 17 to 24 floors, the height h(17)-h(24) is 0.5h(9); the diameter is as follows:

[0030] D(17)=D(24)=0.707D(9); D(18)=D(23)=0.707D(10); D(19)=D(22)=0.707D(11);

[0031] D(20)=D(21)=0.707D(12);

[0032] For layers 25-32:

[0033] The height h(25)~h(32) is 0.5h(17); the diameter is as follows:

[0034] D(25)=D(32)=0.707D(17); D(26)=D(31)=0.707D(18); D(27)=D(30)=0.707D(19);

[0035] D(28)=D(29)=0.707D(20);

[0036] For 33 to 40 layers: the height h(33) to h(40) is 0.5h(25); the diameter is as follows:

[0037] D(33)=D(40)=0.707D(25); D(34)=D(39)=0.707D(26); D(35)=D(38)=0.707D(27); D(36)=D(37)=0.707D(28);

[0038] For layers 41 to 48: the height h(41) to h(48) is 0.5h(33); the diameter is as follows:

[0039] D(41)=D(48)=0.707D(33); D(42)=D(47)=0.707D(34); D(43)=D(46)=0.707D(35); D(44)=D(45)=0.707D(36);

[0040] For layers 49 to 56: the height h(49)-h(56) is 0.5h(41); the diameter is as follows:

[0041] D(49)=D(56)=0.707D(41); D(50)=D(55)=0.707D(42); D(51)=D(54)=0.707D(43); D(52)=D(53)=0.707D(44);

[0042] For layers 57 to 64, the height h(57) to h(64) is 0.5h(49); the diameter is as follows

[0043] D(57)=D(64)=0.707D(49); D(58)=D(63)=0.707D(50); D(59)=D(62)=0.707D(51); D(60)=D(61)=0.707D(52).

[0044] The spherical evaluation module is composed of 8 balls of different diameters stacked on the axis of the spherical evaluation module, and the center of each ball passes through the axis of the spherical evaluation module;

[0045] (1) For vertical evaluation surface

[0046] Let D0 = 0.3W;

[0047] From bottom to top, the diameters of the balls in each layer, Dq(1) to Dq(8), are:

[0048] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0;

[0049] (2) For the evaluation of the oblique side surface and the evaluation of the top surface, let D0 = 0.15W;

[0050] From bottom to top, the diameters of the balls Dq(1) to Dq(8) are:

[0051] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0;

[0052] (3) For the top surface of the evaluation, let D0 = 0.255W;

[0053] From bottom to top, the diameters of the balls Dq(1) to Dq(8) are:

[0054] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0;

[0055] (4) Coloring:

[0056] The great circle where the plane through the axis of the spherical evaluation module intersects the sphere is used to divide the sphere into 64 areas with a division angle of 5.2625 degrees. The 64 areas are painted in black and white.

[0057] The icosahedron evaluation module is composed of 8 icosahedrons of different sizes stacked on the axis of the icosahedron evaluation module, and one pair of opposite vertices of each icosahedron passes through the axis of the evaluation module.

[0058] (1) For the vertical evaluation surface, let the diameter of the circumscribed sphere be De(i)

[0059] Let D0 = 0.3W;

[0060] From bottom to top, the diameters of the circumscribed spheres of the icosahedron are De(1) to De(8) respectively:

[0061] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0;

[0062] (2) For the oblique side, let D0 = 0.15W;

[0063] From bottom to top, the diameters of the circumscribed spheres of the icosahedron are De(1) to De(8) respectively:

[0064] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0

[0065] (3) For the top surface of the evaluation, let D0 = 0.255W;

[0066] From bottom to top, the diameters of the circumscribed spheres of the icosahedron are De(1) to De(8) respectively:

[0067] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0;

[0068] (4) Coloring:

[0069] For each regular triangular face of the regular icosahedron, a circumscribed circle is made, with the center of the circumscribed circle as the vertex, and 64 sectors are divided with an arc of 5.2625. The grayscale test card, chromaticity test card, and resolution test card of the texture test area are all squares with a side length of 32768a;

[0070] (1) For the vertical evaluation surface, a = 0.00000915 W;

[0071] (2) For the oblique side surface, a = 0.00000458 W;

[0072] (3) For the top surface of the evaluation, a = 0.00000777 W;

[0073] The basic pattern of the resolution test card is a square; the square is divided into four squares of the same size; if the basic pattern test resolution is fb, then the side length of the basic pattern of the resolution test card is 32fb; it is composed of four squares with a side length of 16fb; the four square patterns are: horizontal black and white stripes, the stripe width is fb; vertical black and white stripes, the stripe width is fb; 45-degree black and white stripes, the stripe width is fb; negative 45-degree black and white stripes, the stripe width is fb;

[0074] The grayscale test chart 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 respectively;

[0075] The color test card consists of 24 areas of the same size, each area is 8192w long and 5460w wide, and is painted with colors 1 to 24 respectively;

[0076] The resolution test card is composed of one basic graphic of resolution No. 1, one basic graphic of resolution No. 2; two basic graphics of resolution No. 3, one basic graphic of resolution No. 4; four basic graphics of resolution No. 5 and No. 6; and eight basic graphics of resolution No. 7 to No. 19.

[0077] There are 19 basic resolution graphics designed in total, called basic graphics No. 1 to No. 19, and the graphic sizes are as follows:

[0078] Basic graphics with resolution 1: fb = 512a; Basic graphics with resolution 2: fb = 361.984a;

[0079] Resolution 3 basic graphics: fb = 256a; Resolution 4 basic graphics: fb = 180.992a;

[0080] Basic graphics with resolution 5: fb = 128a; Basic graphics with resolution 6: fb = 90.496a;

[0081] Resolution 7 basic graphics: fb = 64a; resolution 8 basic graphics: fb = 45.248a;

[0082] The basic graphics of the No. 9 resolution: fb = 32a; the basic graphics of the No. 10 resolution: fb = 22.624a;

[0083] 11-resolution basic graphics: fb = 16a; 12-resolution basic graphics: fb = 11.312a;

[0084] Basic graphics with resolution 13: fb = 8a; Basic graphics with resolution 14: fb = 5.656a;

[0085] Basic graphics with resolution 15: fb = 4a; Basic graphics with resolution 16: fb = 2.828a;

[0086] Basic graphics with resolution No. 17: fb = 2a; Basic graphics with resolution No. 18: fb = 1.414a;

[0087] Basic graphics with resolution 19: fb=a.

[0088] shape; 64 sectors are painted in black and white.

[0089] The evaluation modules use eight materials: wood, paper, steel, concrete, ceramics, plastic, cloth, and clay bricks.

[0090] A single square stacking evaluation module, a regular hexagonal stacking evaluation module, a regular octagonal stacking evaluation module, a circular stacking evaluation module, a spherical evaluation module, and a regular icosahedron evaluation module use the same material; a square stacking evaluation module, a regular hexagonal stacking evaluation module, a regular octagonal stacking evaluation module, a circular stacking evaluation module, and a spherical evaluation module on the same evaluation surface use different materials;

[0091] The square stacked evaluation modules on different vertical evaluation surfaces are made of different materials;

[0092] The regular hexagonal stacked evaluation modules on different vertical evaluation surfaces are made of different materials;

[0093] The regular octagonal stacked evaluation modules on different vertical evaluation surfaces are made of different materials;

[0094] The circular stacked evaluation modules on different vertical evaluation surfaces are made of different materials;

[0095] The spherical evaluation modules on different vertical evaluation surfaces are made of different materials;

[0096] Different materials are used for the icosahedral evaluation modules on different vertical evaluation surfaces;

[0097] The square stacked evaluation modules on the oblique sides of different evaluations are made of different materials;

[0098] The regular hexagonal stacked evaluation modules on the oblique sides of different evaluations are made of different materials;

[0099] The regular octagonal stacked evaluation modules on different evaluation oblique sides are made of different materials;

[0100] The circular stacked evaluation modules on the different evaluation oblique sides are made of different materials;

[0101] The spherical evaluation modules on the different evaluation oblique sides are made of different materials;

[0102] Different materials are used for the icosahedral evaluation modules on different evaluation oblique sides;

[0103] Each of the vertical evaluation surfaces, evaluation oblique side surfaces and evaluation top surfaces has nine equally sized partitions:

[0104] The vertical evaluation surface is evenly divided into 9 square partitions, each with a side length of 0.3W;

[0105] The three partitions on the top, from left to right, are: 1-3 vertical evaluation surface partitions,

[0106] The three middle partitions, from left to right, are: 4-6 vertical evaluation surface partitions,

[0107] The three partitions below, from left to right, are: vertical evaluation surface partitions 7-9;

[0108] The oblique side of the evaluation is evenly divided into 9 square partitions, and the side length of each square is 0.15W;

[0109] The three partitions on the top, from left to right: 1-3 evaluation oblique side partitions,

[0110] The three middle partitions, from left to right: 4-6 evaluation oblique side partitions,

[0111] The three partitions below, from left to right, are: 7-9 evaluation oblique side partitions;

[0112] The top surface of the test is evenly divided into 9 square partitions, each with a side length of 0.255W;

[0113] The first three partitions, from left to right: 1-3 evaluation top partitions,

[0114] The three middle partitions, from left to right: 4-6 evaluation top partitions,

[0115] The last three partitions, from left to right, are: evaluation top partitions No. 7-9.

[0116] An evaluation method for evaluating molds by fusing LiDAR and aerial triangulation data. The evaluation includes: evaluation of stacked mold indicators, evaluation of regular icosahedral mold indicators, evaluation of spherical layered mold indicators, evaluation of fused texture indicators, and evaluation of texture resolution indicators.

[0117] 1. Evaluation of laminated mold indicators:

[0118] The square stacking evaluation module, regular hexagonal stacking evaluation module, regular octagonal stacking evaluation module and circular stacking evaluation module are evaluated separately, mainly evaluating the resolution of the outer convex surface and the inner concave surface;

[0119] The convex surface resolution refers to the layer with the minimum scale that can distinguish at least two convex surface point clouds in the axial direction of the evaluation module, where the convex surface refers to the side whose circumscribed circle diameter of the top surface of the upper and lower layers is less than or equal to the circumscribed circle diameter of the top surface of the layer;

[0120] The concave surface resolution refers to the layer with the minimum scale that can distinguish at least two or more concave surface point clouds in the axial direction of the evaluation module, where the concave surface refers to the side whose circumscribed circle diameter of the top surface of the upper and lower layers is greater than or equal to the circumscribed circle diameter of the top surface of the layer;

[0121] 2. Evaluation of Icosahedron Mould Index:

[0122] Surface flatness: Evaluate the regular triangular faces of the icosahedron; determine a plane based on the minimum average distance between the point clouds of the regular triangular faces of the icosahedron, called the evaluation plane; use the average distance between the point cloud and the evaluation plane on the same surface and the mean square error between the point cloud and the evaluation plane as evaluation indicators; the smaller the distance evaluation value and the mean square error, the better the plane flatness;

[0123] Scale accuracy: Calculate the distance from the evaluation plane to the center of the sphere inscribed on the icosahedron. This distance is called the measured distance. The smaller the difference between the measured distance and the actual distance, the higher the scale accuracy.

[0124] 3. Spherical layered mold index evaluation;

[0125] Surface accuracy: Calculate the distance from the spherical point cloud to the center of the sphere. Take the same sphere point cloud and determine a sphere based on the minimum average distance between the point cloud and the sphere, which is called the evaluation sphere. The distance from the point cloud to the evaluation sphere is the distance from the point cloud to the center of the sphere minus the absolute value of the radius of the evaluation sphere. The average distance from the point cloud to the evaluation sphere and the mean square error of the distance from the point cloud to the evaluation sphere are used as evaluation indicators. The smaller the distance evaluation value and the smaller the mean square error of the distance, the better the surface accuracy.

[0126] Scale accuracy: Calculate the absolute value of the difference between the diameter of the measured sphere and the actual sphere. The smaller the value, the better the scale accuracy.

[0127] 4. Evaluation of Fusion Texture Indicators;

[0128] Chroma and grayscale evaluation indicators:

[0129] The chromaticity and grayscale evaluation indicators are calculated separately for the 1-8 vertical evaluation surfaces, 1-8 evaluation oblique side surfaces, and the evaluation top surface.

[0130] (I) Algorithm for converting RGB color space to HSL color space:

[0131] 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:

[0132] (1) Calculation of hue H:

[0133] When max = min, H = 0;

[0134] When max = R, and G is greater than or equal to B,

[0135] H = 60*(GB) / (max-min);

[0136] When max = R, and G is less than B,

[0137] H = 360 + 60 * (GB) / (max-min);

[0138] When max = G:

[0139] H = 120 + 60 * (BR)) / (max-min);

[0140] When max=B:

[0141] H = 240 + 60 * (RG)) / (max-min);

[0142] (2) Calculation of brightness L

[0143] L = (max + min) / 2;

[0144] (3) Saturation S calculation

[0145] When L=0 or max=min: S=0;

[0146] When L is greater than zero and less than or equal to 0.5: S = 0.5*(max-min) / L

[0147] When L is greater than 0.5: S = 0.5*(max-min) / (1-L)

[0148] (II) Grayscale deviation

[0149] Grayscale deviation is used to evaluate the image captured using the grayscale test chart.

[0150] (1) Standard HSL value

[0151] Standard hue H = 0; standard saturation S = 0;

[0152] The nth gray standard brightness L = n / 32;

[0153] (2) Corresponding test value:

[0154] 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;

[0155] 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;

[0156] Hue difference = measured hue H;

[0157] Saturation difference = measured saturation S;

[0158] Brightness difference = measured brightness L-standard brightness L;

[0159] (III) Color deviation

[0160] Color deviation is evaluated on images captured using a colorimetric test chart;

[0161] (1) Calculate the standard hue, standard saturation, and standard brightness L of colors 1-24 respectively;

[0162] (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;

[0163] (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;

[0164] (4) Hue difference = measured hue H - standard hue;

[0165] Saturation difference = measured saturation S-standard saturation;

[0166] Brightness difference = measured brightness L - standard brightness L;

[0167] 5. Texture Resolution Index Evaluation

[0168] Evaluation surface texture resolution

[0169] (I) The white stripes are completely separated by the black stripes.

[0170] For the resolution test card: in the pixels in the vertical direction between the white stripes and the 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. When the minimum brightness difference of adjacent stripes in the entire stripe is greater than 50, it is judged that the white stripe is completely divided by the black stripe; (ii) The texture resolution of the evaluation surface is calculated for the vertical evaluation surfaces 1-8, the oblique side surfaces 1-8, and the top surface;

[0171] Texture resolution is evaluated in four directions: horizontal resolution, vertical resolution, 45-degree resolution, and negative 45-degree resolution.

[0172] The resolution evaluation index is: 1st level resolution, 2nd level resolution, ..., 19th level resolution; the lower the level, the higher the resolution;

[0173] The evaluation method is:

[0174] (1) Horizontal resolution

[0175] The 8 horizontal white stripes are completely divided by black stripes. If the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the horizontal resolution is the n-th resolution.

[0176] (2) Vertical resolution

[0177] The 8 vertical white stripes are completely divided by black stripes. If the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the vertical resolution is the n-th resolution.

[0178] (3) 45 degree directional resolution

[0179] The eight white stripes in the 45-degree direction are completely divided by the black 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;

[0180] (4) Negative 45 degree resolution

[0181] The 8 white stripes in the negative 45 degree direction are completely divided by the black 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;

[0182] (5) Resolution of each face of the icosahedron

[0183] The resolution of each face of the icosahedron is evaluated separately according to different faces. The evaluation method for each face is as follows:

[0184] Draw a circle with the centroid of each regular triangle as the center, and set the adjacent brightness difference equal to the maximum brightness Lmax of the adjacent white area on the circle minus the minimum brightness Lmin of the adjacent black area; calculate the minimum value of the adjacent brightness difference of the circle, when the minimum value of the adjacent brightness difference is greater than 50, it is considered that the black and white on the circle can be completely separated;

[0185] The resolution of each face of the icosahedron is measured by the smallest circle diameter that can be completely divided by black and white; the smaller the diameter of the circle that can be completely divided, the higher the resolution of each face of the icosahedron;

[0186] (6) Spherical evaluation module resolution

[0187] The small circle parallel to the axis of the spherical evaluation module is called the evaluation circle. On the evaluation circle, the adjacent brightness difference is equal to the maximum brightness Lmax of the adjacent white areas on the circle minus the minimum brightness Lmin of the adjacent black areas. The minimum value of the adjacent brightness difference of the evaluation circle is calculated. When the minimum value of the adjacent brightness difference is greater than 50, it is considered that the black and white on the evaluation circle can be completely separated. The diameter of the smallest small circle that can completely separate black and white is used to measure the resolution of the spherical evaluation module. The smaller the diameter of the smallest small circle that can be completely separated, the higher the resolution of the spherical evaluation module.

[0188] In the module, the black and white components in the evaluation module are:

[0189] Black: red component = 0, green component = 0, blue component = 0;

[0190] White, red component = 255, green component = 255, blue component = 255;

[0191] There are 24 colors on the texture test card, called color 1 to color 24;

[0192] Color No. 1: red component: 115, green component: 82, blue component: 68;

[0193] Color No. 2: red component: 194, green component: 150, blue component: 130;

[0194] Color No. 3: red component: 98, green component: 122, blue component: 157;

[0195] Color No. 4: red component: 87, green component: 108, blue component: 67;

[0196] Color No. 5: red component: 133, green component: 128, blue component: 177;

[0197] Color No. 6: red component: 103, green component: 189, blue component: 170;

[0198] Color No. 7: red component: 214, green component: 126, blue component: 44;

[0199] Color No. 8: red component: 80, green component: 91, blue component: 166;

[0200] Color No. 9: red component: 193, green component: 90, blue component: 99;

[0201] Color No. 10: red component: 94, green component: 60, blue component: 108;

[0202] Color No. 11: red component: 157, green component: 188, blue component: 64;

[0203] Color No. 12: red component: 224, green component: 163, blue component: 46;

[0204] Color No. 13: Red component: 56, Green component: 61, Blue component: 150;

[0205] Color No. 14: red component: 70, green component: 148, blue component: 73;

[0206] Color No. 15: Red component: 175, Green component: 54, Blue component: 60;

[0207] Color No. 16: red component: 231, green component: 199, blue component: 31;

[0208] Color No. 17: red component: 187, green component: 86, blue component: 149;

[0209] Color No. 18: Red component: 8, Green component: 133, Blue component: 61;

[0210] Color No. 19: red component: 243, green component: 243, blue component: 242;

[0211] Color No. 20: red component: 200, green component: 200, blue component: 200;

[0212] Color No. 21: Red component: 160, Green component: 160, Blue component: 160;

[0213] Color No. 22: red component: 122, green component: 122, blue component: 122;

[0214] Color No. 23: Red component: 85, Green component: 85, Blue component: 85;

[0215] Color No. 24: red component: 52, green component: 52, blue component: 52;

[0216] The texture test card has 32 gray levels. The red, green, and blue components of each level have equal values. The 32 gray levels are named gray level 1 to gray level 32.

[0217] The nth grayscale color is: red component=green component=blue component=7+8(n-1).

[0218] The positive effects of the present invention are:

[0219] 1. A fusion quality test mold for point cloud fusion and texture fusion between LiDAR data and aerial triangulation data is given;

[0220] 2. Provides data fusion evaluation indicators based on molds;

[0221] 3. Propose an evaluation model and evaluation parameter testing method for the fusion data of laser point cloud and aerial triangulation point cloud, and propose a detection method for the quality of data fusion in the future;

[0222] 4. Provide evaluation molds and methods for lidar measurement and aerial triangulation. IV. Description of the drawings

[0223] Figure 1 It is a schematic diagram of the appearance of the present invention.

[0224] Figure 2 It is a schematic diagram of the structure of the square stacked evaluation module of the present invention.

[0225] Figure 3 It is a schematic diagram of the structure of the circular stacked evaluation module of the present invention.

[0226] Figure 4 It is a schematic diagram of the structure of the spherical evaluation module of the present invention.

[0227] Figure 5 It is a schematic diagram of the structure of the icosahedron evaluation module of the present invention.

[0228] Figure 6 It is a basic graphic schematic diagram of a resolution test card of the present invention.

[0229] Figure 7 It is a schematic diagram of a resolution test card of the present invention.

[0230] Figure 8 It is a schematic diagram of the 9 partitions of the vertical evaluation surface.

[0231] Fig. 9 This is a schematic diagram of the 9 partitions on the oblique side of the evaluation.

[0232] Fig.10 This is a schematic diagram of the 9 partitions on the top surface of the evaluation.

[0233] In the figure, 1 is a regular octagonal prism, 2 is a regular octagonal pyramid, 3 is a mold bottom surface, 4-1, 4-2, ..., 4-8 are vertical evaluation surfaces, 5-1, 5-2, ..., 5-8 are evaluation oblique side surfaces, 6 is an evaluation top surface, 101 is a basic graphic with resolution No. 1, 102 is a basic graphic with resolution No. 2, 103 is a basic graphic with resolution No. 3, 104 is a basic graphic with resolution No. 4, 105 is a basic graphic with resolution No. 5, 106 is a basic graphic with resolution No. 6, 107 is a basic graphic with resolution No. 7, 108 is a basic graphic with resolution No. 8, 109 is a basic graphic with resolution No. 9, 110 is a basic graphic with resolution No. 10, and 111 is an area with basic graphics with resolution No. 11 to 19. V. Specific implementation methods

[0234] The accompanying drawings show an embodiment of the present invention.

[0235] See attached Figure 1 The combined evaluation mold consists of a base and an evaluation mold; the base is a combination of a regular octagonal prism and a regular octagonal pyramid; the bottom is a regular octagonal prism 1, and the top is a regular octagonal pyramid 2; the lower bottom surface of the regular octagonal pyramid 1 and the upper bottom surface of the regular octagonal prism 2 are of the same shape and size, and overlap and splice; the evaluation mold consists of an evaluation module and a texture test card; the eight sides of the regular octagonal prism become vertical evaluation surfaces after the mold is installed, the eight sides of the regular octagonal pyramid become evaluation oblique sides after the mold is installed, and the top surface of the regular octagonal pyramid becomes the evaluation top surface after the mold is installed; the bottom surface of the regular octagonal prism is called the bottom surface of the mold.

[0236] The height of the regular octagonal prism is W, and the side lengths of the regular octagon at the base and top of the regular octagonal prism are w. The height of the regular octagonal pyramid is 0.446W, the side lengths of the regular polygon at the lower base of the regular octagonal pyramid are W, and the side lengths of the regular polygon at the upper base are 0.5W.

[0237] The eight side surfaces of the regular octagonal prism become vertical evaluation surfaces, the eight side surfaces of the regular octagonal pyramid become evaluation oblique side surfaces, and the top surface of the regular octagonal pyramid becomes the evaluation top surface; the bottom surface of the regular octagonal prism is called the bottom surface of the mold.

[0238] The base is made of a material with good mechanical properties, and in this embodiment is made of stainless steel plates welded together.

[0239] Each vertical evaluation surface, evaluation oblique side surface and evaluation top surface has nine partitions of the same size, and the nine partitions of the same evaluation surface are respectively installed with evaluation modules and texture test cards.

[0240] The evaluation modules include stacking evaluation modules, spherical evaluation modules, and regular icosahedron evaluation modules; the stacking evaluation modules include four types: square stacking evaluation modules, regular hexagonal stacking evaluation modules, regular octagonal stacking evaluation modules, and circular stacking evaluation modules; the texture test cards include grayscale test cards, chromaticity test cards, and resolution test cards.

[0241] See attached Figure 2 .

[0242] The square stacked evaluation module is composed of n layers of square columns, which are called the 1st layer to the nth layer from the bottom layer to the top layer respectively; let the height of the i-th layer be hz(i) and the diameter of the circumscribed circle be Dz(i).

[0243] The side of the square column is painted vertically with alternating black and white colors with a width of 0.25h(i); on the upper and lower bases, the black border boundary points of the side are connected to the circumscribed circles of the upper and lower bases with straight lines; in the triangle formed by the adjacent points and the center of the circle, the color opposite to that of the side is painted, that is, if the side is white, it is painted black.

[0244] The regular hexagonal stacked evaluation module is composed of n layers of regular hexagonal prisms, which are called the 1st layer to the nth layer from the bottom layer to the top layer; the height of the i-th layer is hl(i), and the diameter of the circumscribed circle is Dl(i).

[0245] The side of the regular hexagonal prism is painted vertically with alternating black and white colors with a width of 0.25hz(i); on the upper or lower base, the black border boundary points of the side are connected to the center of the circumscribed circle of the upper and lower bases by a straight line; in the triangle formed by the adjacent points and the center of the circle, the color opposite to that of the side is painted, that is, if the side is white, it is painted black.

[0246] The regular octagon stacked evaluation module is composed of n layers of regular octagonal prisms, which are called the 1st layer to the nth layer from the bottom layer to the top layer; the height of the i-th layer is hb(i), and the diameter of the circumscribed circle is Db(i).

[0247] The side of the regular octagonal prism is painted vertically with alternating black and white colors, with a width of 0.25hb(i); on the upper and lower bases, the black border boundary points of the side are connected to the centers of the circumscribed circles of the upper and lower bases by straight lines; in the triangle formed by the adjacent points and the center of the circle, the color opposite to that of the side is painted, that is, if the side is white, it is painted black.

[0248] See attached Figure 3 .

[0249] The circular stacked evaluation module is composed of n layers of cylinders, which are called the 1st layer to the nth layer from the bottom layer to the top layer; the height of the i-th layer is hy(i), and the diameter of the upper and lower bottom circles is Dy(i).

[0250] The side of the cylinder is painted vertically with alternating black and white colors with a width of 0.25hy(i); on the upper and lower bases, the black edge boundary points of the side are connected to the center of the upper and lower bases by a straight line; in the sector formed by the adjacent points and the center of the circle, the color opposite to the side is painted, that is, if the side is white, it is painted black.

[0251] For the i-th layer diameter Dz(i) and i-th layer height hz(i) of the circumscribed circle of the square stacked evaluation module in the stacked evaluation module, the i-th layer diameter Dl(i) and i-th layer height hl(i) of the regular hexagonal stacked evaluation module, the i-th layer diameter Db(i) and i-th layer height hb(i) of the circumscribed circle of the regular octagonal stacked evaluation module, and the i-th layer diameter Dy(i) and i-th layer height hy(i) of the circular stacked evaluation module, the selection is:

[0252] Dz(i)=Dl(i)=Db(i)=Dy(i)=D(i);

[0253] hz(i)=hl(i)=hb(i)=hy(i)=h(i).

[0254] For the vertical evaluation surface, let D0 = 0.3W, H0 = 0.018W;

[0255] For the evaluation of the oblique side, let D0 = 0.15W, H0 = 0.009W;

[0256] For the top surface of the evaluation, let D0 = 0.255W, H0 = 0.0153W;

[0257] For the first to eighth layers: Height: h(1)~h(8) are all H0;

[0258] The diameters are as follows:

[0259] D(1)=D(8)=D0; D(2)=D(7)=D0-H0; D(3)=D(6)=D0-2H0; D(4)=D(5)=D0-3H0;

[0260] For 9 to 16 floors: height; h(9) to h(16) is 0.5h(1);

[0261] The diameters are as follows:

[0262] D(9)=D(16)=0.707D(1); D(10)=D(15)=0.707D(2); D(11)=D(14)=0.707D(3);

[0263] D(12)=D(13)=0.707D(4);

[0264] For floors 17 to 24, the height h(17)-h(24) is 0.5h(9);

[0265] The diameters are as follows:

[0266] D(17)=D(24)=0.707D(9); D(18)=D(23)=0.707D(10); D(19)=D(22)=0.707D(11);

[0267] D(20)=D(21)=0.707D(12);

[0268] For layers 25-32:

[0269] Height h(25)~h(32) is 0.5h(17);

[0270] The diameters are as follows:

[0271] D(25)=D(32)=0.707D(17); D(26)=D(31)=0.707D(18); D(27)=D(30)=0.707D(19); D(28)=D(29)=0.707D(20);

[0272] For floors 33 to 40: heights h(33) to h(40) are 0.5h(25);

[0273] The diameters are as follows:

[0274] D(33)=D(40)=0.707D(25); D(34)=D(39)=0.707D(26); D(35)=D(38)=0.707D(27); D(36)=D(37)=0.707D(28);

[0275] For floors 41 to 48: heights h(41) to h(48) are 0.5h(33);

[0276] The diameters are as follows:

[0277] D(41)=D(48)=0.707D(33); D(42)=D(47)=0.707D(34); D(43)=D(46)=0.707D(35); D(44)=D(45)=0.707D(36);

[0278] For floors 49 to 56: the height h(49)-h(56) is 0.5h(41);

[0279] The diameters are as follows:

[0280] D(49)=D(56)=0.707D(41); D(50)=D(55)=0.707D(42); D(51)=D(54)=0.707D(43); D(52)=D(53)=0.707D(44);

[0281] For floors 57 to 64, the height h(57) to h(64) is 0.5h(49);

[0282] The diameters are as follows:

[0283] D(57)=D(64)=0.707D(49); D(58)=D(63)=0.707D(50); D(59)=D(62)=0.707D(51); D(60)=D(61)=0.707D(52).

[0284] See attached Figure 4 .

[0285] The spherical evaluation module is composed of 8 balls of different diameters stacked on the axis of the spherical evaluation module, and the center of each ball passes through the axis of the spherical evaluation module;

[0286] (1) For the vertical evaluation surface,

[0287] Let D0 = 0.3W;

[0288] From bottom to top, the diameters of the balls in each layer, Dq(1) to Dq(8), are:

[0289] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0;

[0290] (2) For the evaluation of the oblique side surface and the evaluation of the top surface, let D0 = 0.15W;

[0291] From bottom to top, the diameters of the balls Dq(1) to Dq(8) are:

[0292] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0;

[0293] (3) For the top surface of the evaluation, let D0 = 0.255W;

[0294] From bottom to top, the diameters of the balls Dq(1) to Dq(8) are:

[0295] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0;

[0296] (4) Coloring:

[0297] The great circle where the plane through the axis of the spherical evaluation module intersects the sphere is used to divide the sphere into 64 areas with a division angle of 5.2625 degrees. The 64 areas are painted in black and white.

[0298] See attached Figure 5 .

[0299] The icosahedron evaluation module is composed of 8 icosahedrons of different sizes stacked on the axis of the icosahedron evaluation module, and one pair of opposite vertices of each icosahedron passes through the axis of the evaluation module.

[0300] (1) For the vertical evaluation surface, let the diameter of the circumscribed sphere be De(i)

[0301] Let D0 = 0.3W;

[0302] From bottom to top, the diameters of the circumscribed spheres of the icosahedron are De(1) to De(8) respectively:

[0303] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0;

[0304] (2) For the oblique side, let D0 = 0.15W;

[0305] From bottom to top, the diameters of the circumscribed spheres of the icosahedron are De(1) to De(8) respectively:

[0306] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0

[0307] (3) For the top surface of the evaluation, let D0 = 0.255W;

[0308] From bottom to top, the diameters of the circumscribed spheres of the icosahedron are De(1) to De(8) respectively:

[0309] D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0;

[0310] (4) Coloring:

[0311] For each equilateral triangular face of the regular icosahedron, make a circumscribed circle with the center of the circumscribed circle as the vertex, and divide it into 64 sectors with an arc of 5.2625; paint the 64 sectors with alternating black and white colors.

[0312] The data fusion combination evaluation mold of the present invention has nine partitions of the same size on each vertical evaluation surface, evaluation oblique side surface and evaluation top surface, and the nine partitions on the same evaluation surface are respectively installed with evaluation modules and texture test cards.

[0313] The grayscale test chart, colorimetry test chart, and resolution test chart in the texture test area are all square, with a side length of 32768a.

[0314] (1) For the vertical evaluation surface, a = 0.00000915 W;

[0315] (2) For the oblique side surface, a = 0.00000458 W;

[0316] (3) For the top surface of the evaluation, a = 0.00000777 W;

[0317] See attached Figure 6 .

[0318] The basic graphic of the resolution test card is a square; the square is divided into four squares of the same size; assuming the basic graphic test resolution is fb, the side length of the basic graphic of the resolution test card is 32fb; it is composed of four squares with a side length of 16fb; the four square patterns 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.

[0319] There are 19 basic resolution graphics designed in total, called basic graphics No. 1 to No. 19, and the graphic sizes are as follows:

[0320] Basic graphics with resolution 1: fb = 512a; Basic graphics with resolution 2: fb = 361.984a;

[0321] Resolution 3 basic graphics: fb = 256a; Resolution 4 basic graphics: fb = 180.992a;

[0322] Basic graphics with resolution 5: fb = 128a; Basic graphics with resolution 6: fb = 90.496a;

[0323] Resolution 7 basic graphics: fb = 64a; resolution 8 basic graphics: fb = 45.248a;

[0324] The basic graphics of the No. 9 resolution: fb = 32a; the basic graphics of the No. 10 resolution: fb = 22.624a;

[0325] 11-resolution basic graphics: fb = 16a; 12-resolution basic graphics: fb = 11.312a;

[0326] Basic graphics with resolution 13: fb = 8a; Basic graphics with resolution 14: fb = 5.656a;

[0327] Basic graphics with resolution 15: fb = 4a; Basic graphics with resolution 16: fb = 2.828a;

[0328] Basic graphics with resolution No. 17: fb = 2a; Basic graphics with resolution No. 18: fb = 1.414a;

[0329] Basic graphics with resolution 19: fb=a.

[0330] The color test card consists of 24 areas of equal size, each area is 8192w long and 5460w wide, and is painted with colors 1 to 24 respectively.

[0331] The grayscale test chart consists of 32 areas of equal size, each area is 8192w long and 4096w wide, and is painted with 1 to 32 levels of gray.

[0332] See attached Figure 7 .

[0333] In this embodiment, the resolution test card is composed of a No. 1 resolution basic graphic 101, a No. 2 resolution basic graphic 102; two No. 3 resolution basic graphics 103, a No. 4 resolution basic graphics 104; four No. 5 resolution basic graphics 105, four No. 6 resolution basic graphics 106; and eight No. 7 to No. 19 resolution basic graphics. The resolution test card basic graphics are divided into four squares of the same size: assuming that the basic graphics test resolution is fb, the side length of the resolution test card basic graphics is 32fb; it is composed of four squares with a side length of 16fb; the four square patterns are: horizontal black and white stripes, the stripe width is fb; vertical black and white stripes, the stripe width is fb; 45 degree black and white stripes, the stripe width is fb; negative 45 degree black and white stripes, the stripe width is fb.

[0334] In this embodiment, the resolution test card consists of one basic graphic of resolution No. 1, one basic graphic of resolution No. 2; two basic graphics of resolution No. 3, one basic graphic of resolution No. 4; four basic graphics of resolution No. 5 and No. 6; and eight basic graphics of resolution No. 7 to No. 19.

[0335] See attached Figure 8 , 9 、10.

[0336] There are nine equal-sized partitions on each vertical evaluation surface, evaluation oblique side surface, and evaluation top surface:

[0337] The vertical evaluation surface is evenly divided into 9 square partitions, each with a side length of 0.3W;

[0338] The three partitions on the top, from left to right, are: 1-3 vertical evaluation surface partitions,

[0339] The three middle partitions, from left to right, are: 4-6 vertical evaluation surface partitions,

[0340] The three partitions below, from left to right, are: vertical evaluation surface partitions 7-9.

[0341] The oblique side of the evaluation is evenly divided into 9 square partitions, and the side length of each square is 0.3W;

[0342] The three partitions on the top, from left to right: 1-3 evaluation oblique side partitions,

[0343] The three middle partitions, from left to right: 4-6 evaluation oblique side partitions,

[0344] The three partitions below, from left to right, are: 7-9 evaluation oblique side partitions.

[0345] The top surface of the evaluation is evenly divided into 9 square partitions, each square has a side length of 0.3W;

[0346] The first three partitions, from left to right: 1-3 evaluation top partitions,

[0347] The three middle partitions, from left to right: 4-6 evaluation top partitions,

[0348] The last three partitions, from left to right, are: evaluation top partitions No. 7-9.

[0349] In this embodiment, the nine partitions of the same evaluation surface of each vertical evaluation surface, evaluation oblique side surface and evaluation top surface are respectively installed with square stacked evaluation modules, regular hexagonal stacked evaluation modules, regular octagonal stacked evaluation modules, circular stacked evaluation modules, spherical evaluation modules, regular icosahedron evaluation modules, grayscale test cards, chromaticity test cards and resolution test cards; during installation, the axes of the square stacked evaluation modules, regular hexagonal stacked evaluation modules, regular octagonal stacked evaluation modules, circular stacked evaluation modules, spherical evaluation modules and regular icosahedron evaluation modules are respectively perpendicular to each vertical evaluation surface, evaluation oblique side surface and evaluation top surface, and the part with the largest area or the largest volume is close to the evaluation surface; the grayscale test card, chromaticity test card and resolution test card are in close contact with the evaluation surface.

[0350] The evaluation modules use eight materials: wood, paper, steel, concrete, ceramics, plastic, cloth, and clay bricks.

[0351] A single square stacking evaluation module, a regular hexagonal stacking evaluation module, a regular octagonal stacking evaluation module, a circular stacking evaluation module, a spherical evaluation module, and a regular icosahedron evaluation module use the same material; the square stacking evaluation modules, regular hexagonal stacking evaluation modules, regular octagonal stacking evaluation modules, circular stacking evaluation modules, and spherical evaluation modules on the same evaluation surface use different materials.

[0352] The square stacked evaluation modules on different vertical evaluation surfaces are made of different materials;

[0353] The regular hexagonal stacked evaluation modules on different vertical evaluation surfaces are made of different materials;

[0354] The regular octagonal stacked evaluation modules on different vertical evaluation surfaces are made of different materials;

[0355] The circular stacked evaluation modules on different vertical evaluation surfaces are made of different materials;

[0356] The spherical evaluation modules on different vertical evaluation surfaces are made of different materials;

[0357] Different materials are used for the icosahedral evaluation modules on different vertical evaluation surfaces;

[0358] The square stacked evaluation modules on the oblique sides of different evaluations are made of different materials;

[0359] The regular hexagonal stacked evaluation modules on the different evaluation oblique sides are made of different materials;

[0360] The regular octagonal stacked evaluation modules on different evaluation oblique sides are made of different materials;

[0361] The circular stacked evaluation modules on the different evaluation oblique sides are made of different materials;

[0362] The spherical evaluation modules on the oblique sides of different evaluations are made of different materials;

[0363] Different materials are used for the regular icosahedral evaluation modules on different evaluation oblique sides.

[0364] The 1-9 vertical evaluation surface partitions, the 1-9 oblique side evaluation partitions, and the 1-9 top surface evaluation partitions are collectively referred to as 1-9 evaluation partitions;

[0365] Evaluation Zone 1: Square stacked evaluation modules,

[0366] Evaluation Zone 2: Regular hexagonal stacked evaluation modules,

[0367] Evaluation Zone No. 3: Regular octagonal stacked evaluation module,

[0368] Evaluation Partition 4: Grayscale Test Card,

[0369] Evaluation Zone 5: Chroma Test Card,

[0370] Evaluation section 6: resolution test card,

[0371] Evaluation Zone No. 7: Circular stacked evaluation module,

[0372] Evaluation Zone 8: Spherical Evaluation Module,

[0373] Evaluation section No. 9: Regular icosahedron evaluation module.

[0374] The vertical evaluation surfaces and the evaluation oblique side surfaces are numbered, with the facing surfaces being the No. 1 vertical evaluation surface and the No. 1 evaluation oblique side surface. In a counterclockwise direction, they are numbered as the No. 2-8 vertical evaluation surfaces and the No. 2-8 evaluation oblique side surfaces. The materials of each evaluation surface and each evaluation module are as shown in Table 1:

[0375] Table 1

[0376]

[0377] The present invention discloses a method for evaluating a mold by fusing laser radar and aerial triangulation data. The evaluation includes: evaluation of stacked mold index, evaluation of regular icosahedral mold index, evaluation of spherical layered mold index, evaluation of fused texture index, and evaluation of texture resolution index.

[0378] 1. Evaluation of laminated mold indicators:

[0379] The square stacking evaluation module, regular hexagonal stacking evaluation module, regular octagonal stacking evaluation module and circular stacking evaluation module are evaluated separately, mainly evaluating the resolution of the outer convex surface and the inner concave surface;

[0380] The convex surface resolution refers to the layer with the smallest scale that can distinguish at least two or more convex surface point clouds, where the convex surface refers to the side whose circumscribed circle diameter of the upper and lower layers is less than or equal to the circumscribed circle diameter of the layer;

[0381] The concave surface resolution refers to the layer with the minimum scale that can distinguish at least two or more concave surface point clouds, where the concave surface refers to the side whose circumscribed circle diameter of the upper and lower layers is greater than or equal to the circumscribed circle diameter of the layer.

[0382] 2. Evaluation of Icosahedron Mould Index:

[0383] Surface flatness: Evaluate the surface of each regular triangle of the icosahedron; determine a plane based on the minimum average value of the plane distance of the point cloud of each regular triangle of the icosahedron, which is called the evaluation plane; use the average distance between the point cloud of the same surface and the evaluation plane and the mean square error of the distance between the point cloud and the evaluation plane as evaluation indicators; the smaller the distance evaluation value and the smaller the mean square error, the better the plane flatness.

[0384] Scale accuracy: Calculate the distance from the evaluation plane to the center of the sphere inscribed on the icosahedron. This distance is called the measured distance. The smaller the difference between the measured distance and the actual distance, the higher the scale accuracy.

[0385] 3. Spherical layered mold index evaluation:

[0386] Surface accuracy: Calculate the distance from the spherical point cloud to the center of the sphere. Take the same sphere point cloud and determine a sphere based on the minimum average distance from the point cloud to the center of the sphere, which is called the evaluation sphere. Use the distance average and distance mean square error as evaluation indicators. The smaller the distance evaluation value and the smaller the distance mean square error, the better the surface accuracy.

[0387] Scale accuracy: Calculate the absolute value of the difference between the diameter of the measured sphere and the actual sphere. The smaller the value, the better the scale accuracy.

[0388] 4. Evaluation of Fusion Texture Indicators;

[0389] Chroma and grayscale evaluation indicators: Chroma and grayscale evaluation indicators are calculated for the 1-8 vertical evaluation surfaces, 1-8 evaluation oblique side surfaces, and evaluation top surfaces respectively;

[0390] (I) Algorithm for converting RGB color space to HSL color space

[0391] 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:

[0392] (1) Calculation of hue H:

[0393] When max = min, H = 0;

[0394] When max = R, and G is greater than or equal to B,

[0395] H = 60*(GB) / (max-min);

[0396] When max = R, and G is less than B,

[0397] H = 360 + 60 * (GB) / (max-min);

[0398] When max = G:

[0399] H = 120 + 60 * (BR)) / (max-min);

[0400] When max=B:

[0401] H = 240 + 60 * (RG)) / (max-min);

[0402] (2) Calculation of brightness L

[0403] L = (max + min) / 2;

[0404] (3) Saturation S calculation

[0405] When L = 0 or max = min, S = 0;

[0406] When L is greater than zero and less than or equal to 0.5:

[0407] S=0.5*(max-min) / L

[0408] When L is greater than 0.5

[0409] S=0.5*(max-min) / (1-L)

[0410] (II) Grayscale deviation

[0411] Grayscale deviation evaluates images shot using a grayscale test chart;

[0412] (1) Standard HSL value

[0413] Standard hue H = 0; standard saturation S = 0;

[0414] The nth gray standard brightness L = n / 32;

[0415] (2) Corresponding test value:

[0416] 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;

[0417] 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;

[0418] Hue difference = measured hue H;

[0419] Saturation difference = measured saturation S;

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

[0421] (III) Color deviation

[0422] Color deviation is evaluated on images captured using a colorimetric test chart;

[0423] (1) Calculate the standard hue, standard saturation, and standard brightness L of colors 1-24 respectively;

[0424] (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;

[0425] (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;

[0426] (4) Hue difference = measured hue H - standard hue;

[0427] Saturation difference = measured saturation S-standard saturation;

[0428] Brightness difference = measured brightness L - standard brightness L;

[0429] 5. Texture resolution index evaluation;

[0430] Evaluation surface texture resolution

[0431] (I) The white stripes are completely separated by the black stripes.

[0432] For the resolution test chart: in the pixels in the vertical direction between the white stripes and the 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. When the minimum brightness difference of adjacent stripes in the entire stripe is greater than 50, it is judged that the white stripe is completely divided by the black stripe;

[0433] (ii) The texture resolution of the evaluation surface is calculated for the vertical evaluation surfaces No. 1 to No. 8, the oblique evaluation surfaces No. 1 to No. 8, and the evaluation top surface respectively;

[0434] Texture resolution is evaluated in four directions: horizontal resolution, vertical resolution, 45-degree resolution, and negative 45-degree resolution.

[0435] The resolution evaluation index is: 1st level resolution, 2nd level resolution, ..., 19th level resolution; the lower the level, the higher the resolution;

[0436] The evaluation method is:

[0437] (1) Horizontal resolution:

[0438] The 8 horizontal white stripes are completely divided by the black stripes, and the 8 black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the horizontal resolution is the n-level resolution.

[0439] (2) Vertical resolution:

[0440] The eight vertical white stripes are completely divided by the black stripes, and the eight black stripes are completely divided by the red stripes; if the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the vertical resolution is the n-th level resolution.

[0441] (3) 45 degree directional resolution:

[0442] In the 45-degree direction, 8 white stripes are completely divided by black stripes, and 8 black stripes are completely divided by red stripes. If the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the resolution in the 45-degree direction is the n-th level resolution.

[0443] (4) Resolution at minus 45 degrees:

[0444] In the negative 45 degree direction, 8 white stripes are completely divided by black stripes, and 8 black stripes are completely divided by red stripes. If the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the resolution in the 45 degree direction is the n-th level resolution.

[0445] (5) Resolution of each face of the icosahedron:

[0446] The resolution of each face of the icosahedron is evaluated separately according to different faces. The evaluation method for each face is as follows:

[0447] Draw a circle with the centroid of each regular triangle as the center, and set the adjacent brightness difference equal to the maximum brightness Lmax of the adjacent white area on the circle minus the minimum brightness Lmin of the adjacent black area; calculate the minimum value of the adjacent brightness difference of the circle, when the minimum value of the adjacent brightness difference is greater than 50, it is considered that the black and white on the circle can be completely separated;

[0448] The resolution of each face of the icosahedron is measured by the smallest circle diameter that can be completely divided by black and white; the smaller the diameter of the circle that can be completely divided, the higher the resolution of each face of the icosahedron;

[0449] (6) Spherical evaluation module resolution

[0450] The small circle parallel to the axis of the spherical evaluation module is called the evaluation circle. On the evaluation circle, the adjacent brightness difference is equal to the maximum brightness Lmax of the adjacent white areas on the circle minus the minimum brightness Lmin of the adjacent black areas. The minimum value of the adjacent brightness difference of the evaluation circle is calculated. When the minimum value of the adjacent brightness difference is greater than 50, it is considered that the black and white on the evaluation circle can be completely separated. The diameter of the smallest small circle that can completely separate black and white is used to measure the resolution of the spherical evaluation module. The smaller the diameter of the smallest small circle that can be completely separated, the higher the resolution of the spherical evaluation module.

[0451] The black and white components in each evaluation module are:

[0452] Black: red component = 0, green component = 0, blue component = 0;

[0453] White: red component = 255, green component = 255, blue component = 255;

[0454] There are 24 colors on the texture test card, called color 1 to color 24;

[0455] Color No. 1: red component: 115, green component: 82, blue component: 68;

[0456] Color No. 2: red component: 194, green component: 150, blue component: 130;

[0457] Color No. 3: red component: 98, green component: 122, blue component: 157;

[0458] Color No. 4: red component: 87, green component: 108, blue component: 67;

[0459] Color No. 5: red component: 133, green component: 128, blue component: 177;

[0460] Color No. 6: red component: 103, green component: 189, blue component: 170;

[0461] Color No. 7: red component: 214, green component: 126, blue component: 44;

[0462] Color No. 8: red component: 80, green component: 91, blue component: 166;

[0463] Color No. 9: red component: 193, green component: 90, blue component: 99;

[0464] Color No. 10: red component: 94, green component: 60, blue component: 108;

[0465] Color No. 11: red component: 157, green component: 188, blue component: 64;

[0466] Color No. 12: red component: 224, green component: 163, blue component: 46;

[0467] Color No. 13: Red component: 56, Green component: 61, Blue component: 150;

[0468] Color No. 14: red component: 70, green component: 148, blue component: 73;

[0469] Color No. 15: Red component: 175, Green component: 54, Blue component: 60;

[0470] Color No. 16: red component: 231, green component: 199, blue component: 31;

[0471] Color No. 17: red component: 187, green component: 86, blue component: 149;

[0472] Color No. 18: Red component: 8, Green component: 133, Blue component: 61;

[0473] Color No. 19: red component: 243, green component: 243, blue component: 242;

[0474] Color No. 20: red component: 200, green component: 200, blue component: 200;

[0475] Color No. 21: Red component: 160, Green component: 160, Blue component: 160;

[0476] Color No. 22: red component: 122, green component: 122, blue component: 122;

[0477] Color No. 23: Red component: 85, Green component: 85, Blue component: 85;

[0478] Color No. 24: red component: 52, green component: 52, blue component: 52;

[0479] The texture test card has 32 gray levels. The red, green, and blue components of each level have equal values. The 32 gray levels are named gray level 1 to gray level 32.

[0480] The nth grayscale color is: red component=green component=blue component=7+8(n-1).

Claims

1. A laser radar and aerial triangulation data fusion combined evaluation model, characterized by: The combined evaluation mold is composed of a base and an evaluation mold; the base is composed of a regular octagonal prism and a regular octagonal pyramid; the bottom is a regular octagonal prism (1), and the top is a regular octagonal pyramid (2); the lower bottom surface of the regular octagonal pyramid (2) is the same shape and size as the upper bottom surface of the regular octagonal prism (1), and they are overlapped and spliced; the evaluation mold is composed of an evaluation module and a texture test card; the eight sides of the regular octagonal prism are installed with the mold to form a vertical evaluation surface, the eight sides of the regular octagonal pyramid are installed with the mold to form an evaluation oblique side surface, and the top surface of the regular octagonal pyramid is installed with the mold to form an evaluation top surface; the bottom surface of the regular octagonal prism is called the bottom surface of the mold; the height of the regular octagonal prism is W, and the side length of the regular octagon on the bottom surface of the regular octagonal prism and the regular octagon on the top surface is W; the height of the regular octagonal pyramid is 0.446W, the side length of the regular octagon on the lower bottom surface of the regular octagonal pyramid is W, and the side length of the regular octagon on the upper bottom surface is 0.5W; Each vertical evaluation surface, evaluation oblique side surface and evaluation top surface has nine equal-sized partitions, and the nine partitions of the same evaluation surface are respectively installed with evaluation modules and texture test cards; The evaluation modules include stacking evaluation modules, spherical evaluation modules, and regular icosahedron evaluation modules; the stacking evaluation modules include four types: square stacking evaluation modules, regular hexagonal stacking evaluation modules, regular octagonal stacking evaluation modules, and circular stacking evaluation modules; the texture test cards include grayscale test cards, chromaticity test cards, and resolution test cards; The nine partitions of the same evaluation surface of each vertical evaluation surface, evaluation oblique side surface and evaluation top surface of the base are used to install square stacked evaluation modules, regular hexagonal stacked evaluation modules, regular octagonal stacked evaluation modules, circular stacked evaluation modules, spherical evaluation modules, regular icosahedron evaluation modules, grayscale test cards, chromaticity test cards, and resolution test cards; in the square stacked evaluation modules, regular hexagonal stacked evaluation modules, regular octagonal stacked evaluation modules, circular stacked evaluation modules, spherical evaluation modules, and regular icosahedron evaluation modules, the line passing through the center of the installation area and perpendicular to the vertical evaluation surface, the evaluation oblique side surface and the evaluation top surface is called the evaluation module axis; During installation, the axes of the square stacked evaluation modules, regular hexagonal stacked evaluation modules, regular octagonal stacked evaluation modules, circular stacked evaluation modules, spherical evaluation modules, and regular icosahedral evaluation modules are respectively perpendicular to the vertical evaluation surfaces, the evaluation oblique side surfaces, and the evaluation top surfaces, and the parts with the largest area or volume are close to the evaluation surfaces; the grayscale test chart, colorimetry test chart, and resolution test chart are in close contact with the evaluation surfaces; The square stacked evaluation module is composed of n layers of square columns, which are called the 1st layer to the nth layer from the bottom layer to the top layer; let the height of the i-th layer be hz(i) and the diameter of the circumscribed circle of the bottom surface be Dz(i); The side of the square column is vertically painted with alternating black and white colors with a width of 0.25hz(i); on the upper or lower bottom surface, the black border boundary point of the side surface is connected to the center of the circumscribed circle of the upper or lower bottom surface by a straight line; in the triangle formed by the adjacent points and the center of the circle, the color opposite to the side surface is painted, that is, if the side surface is white, it is painted black; the axis of each layer is on the axis of the evaluation module; the side surfaces of each layer are parallel to the corresponding sides of the projection line of the vertical evaluation surface, or the evaluation oblique side surface, or the evaluation top surface; The regular hexagonal stacked evaluation module is composed of n layers of regular hexagonal prisms, which are called the 1st layer to the nth layer from the bottom layer to the top layer; the height of the i-th layer is hl(i), and the diameter of the circumscribed circle of the bottom surface is Dl(i); The side of the regular hexagonal prism is vertically painted with alternating black and white colors with a width of 0.25hl(i); on the upper and lower bottom surfaces, the black edge boundary points of the side surface are connected to the center of the circumscribed circle of the upper and lower bottom surfaces by a straight line; in the triangle formed by the adjacent points and the center of the circle, the color opposite to the side surface is painted, that is, if the side surface is white, it is painted black; the axis of each layer is on the axis of the evaluation module; the side surfaces of each layer are parallel to the corresponding sides of the projection line of the vertical evaluation surface, or the evaluation oblique side surface, or the evaluation top surface; The regular octagonal stacked evaluation module is composed of n layers of regular octagonal prisms, which are called the 1st layer to the nth layer from the bottom layer to the top layer; the height of the i-th layer is hb(i), and the diameter of the circumscribed circle of the bottom surface is Db(i); The side of the regular octagonal prism is vertically painted with alternating black and white colors, with a width of 0.25hb(i); on the upper and lower bottom surfaces, the black edge boundary points of the side surface are connected to the center of the circumscribed circle of the upper and lower bottom surfaces by a straight line; in the triangle formed by the adjacent points and the center of the circle, the color opposite to the side surface is painted, that is, if the side surface is white, it is painted black; the axis of each layer is on the axis of the evaluation module; the side surfaces of each layer are parallel to the corresponding sides of the projection line of the vertical evaluation surface, or the evaluation oblique side surface, or the evaluation top surface; The circular stacked evaluation module is composed of n layers of cylinders, which are called the 1st layer to the nth layer from the bottom layer to the top layer; the height of the i-th layer is hy(i), and the diameter of the upper bottom surface and the lower bottom surface is Dy(i); The side of the cylinder is vertically painted with alternating black and white colors with a width of 0.25hy(i); on the upper and lower bottom surfaces, the black edge boundary points of the side are connected to the center of the upper and lower bottom surfaces by a straight line; in the sector formed by the adjacent points and the center of the circle, the color opposite to the side is painted, that is, if the side is white, it is painted black; the axis of each layer is on the axis of the evaluation module; For the i-th layer diameter Dz(i) and i-th layer height hz(i) of the circumscribed circle of the square stacked evaluation module in the stacked evaluation module, the i-th layer diameter Dl(i) and i-th layer height hl(i) of the regular hexagonal stacked evaluation module, the i-th layer diameter Db(i) and i-th layer height hb(i) of the circumscribed circle of the regular octagonal stacked evaluation module, and the i-th layer diameter Dy(i) and i-th layer height hy(i) of the circular stacked evaluation module, the selection is: Dz(i)=Dl(i)=Db(i)=Dy(i)=D(i); hz(i)=hl(i)=hb(i)=hy(i)=h(i); For the vertical evaluation surface, let D0 = 0.3W, H0 = 0.018W; For the evaluation of the oblique side, let D0 = 0.15W, H0 = 0.009W; For the top surface of the evaluation, let D0 = 0.255W, H0 = 0.0153W; For the first to eighth layers: height: h(1)~h(8) are all H0; diameter is as follows: D(1)=D(8)=D0; D(2)=D(7)=D0-H0; D(3)=D(6)=D0-2H0; D(4)=D(5)=D0-3H0; For 9 to 16 layers: height; h(9) to h(16) is 0.5h(1); diameter is as follows: D(9)=D(16)=0.707D(1); D(10)=D(15)=0.707D(2); D(11)=D(14)=0.707D(3); D(12)=D(13)=0.707D(4); For 17 to 24 floors: the height h(17) to h(24) is 0.5h(9); the diameter is as follows: D (17)=D(24)=0.707D(9); D (18)=D(23)=0.707D(10); D (19)=D(22)=0.707D(11); D (20) =D(21)=0.707D(12); For layers 25-32: The height h(25)~h(32) is 0.5h(17); the diameter is as follows: D (25)=D(32)=0.707D(17); D (26)=D(31)=0.707D(18); D (27)=D(30)=0.707D(19); D (28) =D(29)=0.707D(20); For 33 to 40 layers: the height h(33) to h(40) is 0.5h(25); the diameter is as follows: D (33)=D(40)=0.707D(25); D (34)=D(39)=0.707D(26); D (35)=D(38)=0.707D(27); D (36) =D(37)=0.707D(28); For layers 41 to 48: the height h(41) to h(48) is 0.5h(33); the diameter is as follows: D (41)=D(48)=0.707D(33); D (42)=D(47)=0.707D(34); D (43)=D(46)=0.707D(35); D (44) =D(45)=0.707D(36); For layers 49 to 56: the height h(49) to h(56) is 0.5h(41); the diameter is as follows: D (49)=D(56)=0.707D(41); D (50)=D(55)=0.707D(42); D (51)=D(54)=0.707D(43); D (52) =D(53)=0.707D(44); For layers 57 to 64, the height h(57) to h(64) is 0.5h(49); the diameter is as follows: D (57)=D(64)=0.707D(49); D (58)=D(63)=0.707D(50); D (59)=D(62)=0.707D(51); D (60) =D(61)=0.707D(52); The spherical evaluation module is formed by stacking 8 balls of different diameters on the axis of the spherical evaluation module, and the center of each ball passes through the axis of the spherical evaluation module; (1) For the vertical evaluation surface, Let D0 = 0.3W; From bottom to top, the diameters of the balls in each layer, Dq(1) to Dq(8), are: D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0; (2) For the evaluation of the oblique side surface and the evaluation of the top surface, let D0 = 0.15W; From bottom to top, the diameters of the balls Dq(1) to Dq(8) are: D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0; (3) For the top surface of the evaluation, let D0 = 0.255W; From bottom to top, the diameters of the balls Dq(1) to Dq(8) are: D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0; (4) Coloring: The great circle where the plane of the spherical evaluation module axis intersects the sphere is divided into 64 areas with a division angle of 5.2625 degrees. The 64 areas are painted in black and white. The icosahedron evaluation module is composed of 8 icosahedrons of different sizes stacked on the axis of the icosahedron evaluation module, and one pair of opposite vertices of each icosahedron passes through the axis of the evaluation module; (1) For the vertical evaluation surface, let the diameter of the circumscribed sphere be De(i) Let D0 = 0.3W; From bottom to top, the diameters of the circumscribed spheres of the icosahedron are De(1) to De(8) respectively: D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0; (2) For the oblique side, let D0 = 0.15W; From bottom to top, the diameters of the circumscribed spheres of the icosahedron are De(1) to De(8) respectively: D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0 (3) For the top surface of the evaluation, let D0 = 0.255W; From bottom to top, the diameters of the circumscribed spheres of the icosahedron are De(1) to De(8) respectively: D0, 0.707D0, 0.5D0, 0.3535D0, 0.25D0, 0.1767D0, 0.125D0, 0.088375D0; (4) Coloring: For each equilateral triangular face of the regular icosahedron, make a circumscribed circle, use the center of the circumscribed circle as the vertex, and divide it into 64 sectors with an arc of 5.2625; paint the 64 sectors with alternating black and white colors.

2. The laser radar and aerial triangulation data fusion combined evaluation mold according to claim 1, characterized in that: The grayscale test chart, color test chart, and resolution test chart in the texture test area are all square, with a side length of 32768a; (1) For the vertical evaluation surface, a = 0.00000915W; (2) For the oblique side surface, a = 0.00000458W; (3) For the top surface of the evaluation, a = 0.00000777W; The basic pattern of the resolution test card is a square; the square is divided into four squares of the same size; if the basic pattern test resolution is fb, then the side length of the basic pattern of the resolution test card is 32fb; it is composed of four squares with a side length of 16fb; the four square patterns are: horizontal black and white stripes, the stripe width is fb; vertical black and white stripes, the stripe width is fb; 45-degree black and white stripes, the stripe width is fb; negative 45-degree black and white stripes, the stripe width is fb; The grayscale test chart consists of 32 areas of the same size, each area is 8192w long and 4096w wide; Apply 1 to 32 levels of gray respectively; The color test chart consists of 24 areas of the same size, each area is 8192w long and 5460w wide; respectively Apply color 1 to 24; The resolution test card consists of a first-resolution basic graphic and a second-resolution basic graphic; 2 No. 3 resolution Basic graphics, four-resolution basic graphics; 4 five- and six-resolution basic graphics; 8 seven- to nineteen-resolution basic graphics Basic graphic composition; There are 19 basic resolution graphics designed in total, called basic graphics No. 1 to No. 19, and the graphic sizes are as follows: The first resolution basic graphic: fb = 512a; the second resolution basic graphic: fb = 361.984a; Resolution 3 basic graphics: fb = 256a; Resolution 4 basic graphics: fb = 180.992a; Basic graphics with resolution 5: fb=128a; Basic graphics with resolution 6: fb=90.496a; Resolution 7 basic graphics: fb = 64a; resolution 8 basic graphics: fb = 45.248a; The basic graphics of the No. 9 resolution: fb = 32a; the basic graphics of the No. 10 resolution: fb = 22.624a; 11-resolution basic graphics: fb = 16a; 12-resolution basic graphics: fb = 11.312a; Basic graphics with resolution 13: fb = 8a; Basic graphics with resolution 14: fb = 5.656a; Basic graphics with resolution 15: fb = 4a; Basic graphics with resolution 16: fb = 2.828a; Basic graphics with resolution No. 17: fb = 2a; Basic graphics with resolution No. 18: fb = 1.414a; Basic graphics with resolution 19: fb=a.

3. The laser radar and aerial triangulation data fusion combined evaluation mold according to claim 1, characterized in that: The evaluation modules use eight materials: Wood, paper, steel, concrete, ceramics, plastics, cloth, clay bricks; A single square stacking evaluation module, a regular hexagonal stacking evaluation module, a regular octagonal stacking evaluation module, a circular stacking evaluation module, a spherical evaluation module, and a regular icosahedron evaluation module use the same material; a square stacking evaluation module, a regular hexagonal stacking evaluation module, a regular octagonal stacking evaluation module, a circular stacking evaluation module, and a spherical evaluation module on the same evaluation surface use different materials; The square stacked evaluation modules on different vertical evaluation surfaces are made of different materials; The regular hexagonal stacked evaluation modules on different vertical evaluation surfaces are made of different materials; The regular octagonal stacked evaluation modules on different vertical evaluation surfaces are made of different materials; The circular stacked evaluation modules on different vertical evaluation surfaces are made of different materials; The spherical evaluation modules on different vertical evaluation surfaces are made of different materials; Different materials are used for the icosahedral evaluation modules on different vertical evaluation surfaces; The square stacked evaluation modules on the oblique sides of different evaluations are made of different materials; The regular hexagonal stacked evaluation modules on the oblique sides of different evaluations are made of different materials; The regular octagonal stacked evaluation modules on different evaluation oblique sides are made of different materials; The circular stacked evaluation modules on the different evaluation oblique sides are made of different materials; The spherical evaluation modules on the oblique sides of different evaluations are made of different materials; Different materials are used for the regular icosahedral evaluation modules on different evaluation oblique sides.

4. The laser radar and aerial triangulation data fusion combined evaluation mold according to claim 1, characterized in that: Each of the vertical evaluation surfaces, evaluation oblique side surfaces and evaluation top surfaces has nine equally sized partitions: The vertical evaluation surface is evenly divided into 9 square partitions, each with a side length of 0.3W; The three partitions on the top, from left to right, are: 1-3 vertical evaluation surface partitions, The three middle partitions, from left to right, are: 4-6 vertical evaluation surface partitions, The three partitions below, from left to right, are: vertical evaluation surface partitions 7-9; The oblique side of the evaluation is evenly divided into 9 square partitions, and the side length of each square is 0.15W; The three partitions on the top, from left to right: 1-3 evaluation oblique side partitions, The three middle partitions, from left to right: 4-6 evaluation oblique side partitions, The three partitions below, from left to right, are: 7-9 evaluation oblique side partitions; The top surface of the test is evenly divided into 9 square partitions, each with a side length of 0.255W; The first three partitions, from left to right: 1-3 evaluation top partitions, The three middle partitions, from left to right: 4-6 evaluation top partitions, The last three partitions, from left to right, are: evaluation top partitions No. 7-9.

5. A method for evaluating a mold by combining the laser radar and aerial triangulation data according to claim 1, characterized in that: The evaluation includes the evaluation of stacked mold indicators, the evaluation of regular icosahedral mold indicators, the evaluation of spherical layered mold indicators, the evaluation of fused texture indicators, and the evaluation of texture resolution indicators:

1. Evaluation of laminated mold indicators: The evaluation modules are divided into square stacking evaluation module, regular hexagon stacking evaluation module, regular octagon stacking evaluation module and circular stacking evaluation module, and the main evaluation is the resolution of the outer convex surface and the inner concave surface. The convex surface resolution refers to the layer with the minimum scale that can distinguish at least two convex surface point clouds in the axial direction of the evaluation module, where the convex surface refers to the side whose circumscribed circle diameter of the top surface of the upper and lower layers is less than or equal to the circumscribed circle diameter of the top surface of the layer; The concave surface resolution refers to the layer with the minimum scale that can distinguish at least two or more concave surface point clouds in the axial direction of the evaluation module, where the concave surface refers to the side whose circumscribed circle diameter of the top surface of the upper and lower layers is greater than or equal to the circumscribed circle diameter of the top surface of the layer; 2. Evaluation of regular icosahedron mold indicators; Surface flatness: Evaluate the regular triangular faces of the icosahedron; determine a plane based on the minimum average distance between the point clouds of the regular triangular faces of the icosahedron, called the evaluation plane; use the average distance between the point cloud and the evaluation plane on the same surface and the mean square error of the distance between the point cloud and the evaluation plane as evaluation indicators; the smaller the distance evaluation value and the mean square error, the better the plane flatness; Scale accuracy: Calculate the distance from the evaluation plane to the center of the sphere inscribed on the icosahedron. This distance is called the measured distance. The smaller the difference between the measured distance and the actual distance, the higher the scale accuracy.

3. Spherical layered mold index evaluation; Surface accuracy: Calculate the distance from the spherical point cloud to the center of the sphere. Take the same sphere point cloud and determine a sphere based on the minimum average distance from the point cloud to the center of the sphere, which is called the evaluation sphere. The distance from the point cloud to the evaluation sphere is the distance from the point cloud to the center of the sphere minus the absolute value of the radius of the evaluation sphere. The average distance from the point cloud to the evaluation sphere and the mean square error of the distance from the point cloud to the evaluation sphere are used as evaluation indicators. The smaller the average distance to the evaluation sphere and the smaller the mean square error of the distance to the evaluation sphere, the better the surface accuracy. Scale accuracy: Calculate the absolute value of the difference between the diameter of the evaluation sphere and the actual sphere. The smaller the value, the better the scale accuracy.

4. Evaluation of Fusion Texture Indicators; Chroma and grayscale evaluation indicators: Chroma and grayscale evaluation indicators are calculated for the 1-8 vertical evaluation surfaces, 1-8 evaluation oblique side surfaces, and evaluation top surfaces respectively; (I) 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) (II) Grayscale deviation Grayscale deviation is used to evaluate the image captured using the grayscale test chart. (1) Standard HSL value Standard hue H = 0; standard saturation S = 0; The nth gray standard brightness L = n / 32; (2) Corresponding test value: Take the RGB color value of the middle 1 / 4 area of ​​the gray area corresponding to the texture, and calculate the average value of the red component, green component, and blue component of all pixels according to the number of pixels in the area; According to the average 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; (III) Color deviation Color deviation is evaluated on images captured using a colorimetric test chart; (1) Calculate the standard hue, standard saturation, and standard brightness L of colors 1-24 respectively; (2) The RGB color value of the middle 1 / 4 area of ​​the gray area corresponding to the texture is calculated, and according to the number of pixels in the area, the average value of the red component, green component, and blue component of all pixels is calculated; (3) Calculate the measured hue H, measured brightness L, and measured saturation S based on the average values ​​of the red component, 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; 5. Texture resolution index evaluation; Test surface texture resolution: (I) The white stripes are completely separated by the black stripes. For the resolution test chart: in the pixels in the vertical direction between the white stripes and the 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. When the minimum brightness difference of adjacent stripes in the entire stripe is greater than 50, it is judged that the white stripe is completely divided by the black stripe; (ii) The texture resolution of the evaluation surface is calculated for the vertical evaluation surfaces No. 1 to No. 8, the oblique evaluation surfaces No. 1 to No. 8, and the evaluation top surface respectively; Texture resolution is evaluated in four directions: horizontal resolution, vertical resolution, 45-degree resolution, and negative 45-degree resolution. The resolution evaluation index is: 1st level resolution, 2nd level resolution, ..., 19th level resolution; the lower the level, the lower the resolution; The evaluation method is: (1) Horizontal resolution The 8 horizontal white stripes are completely divided by black stripes. If the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the horizontal resolution is the n-th resolution. (2) Vertical resolution The 8 vertical white stripes are completely divided by black stripes. If the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the vertical resolution is the n-th resolution. (3) 45 degree directional resolution The eight white stripes in the 45-degree direction are completely divided by the black stripes. If the minimum resolution test area that meets the above conditions is the n-th resolution test area, then the resolution in the 45-degree direction is the n-th level resolution; (4) Negative 45 degree resolution The 8 white stripes in the negative 45 degree direction are completely divided by the black 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. (5) Resolution of each face of the icosahedron The resolution of each face of the icosahedron is evaluated separately according to different faces. The evaluation method for each face is: Draw a circle with the centroid of each regular triangle as the center, and set the adjacent brightness difference equal to the maximum brightness Lmax of the adjacent white area on the circle minus the minimum brightness Lmin of the adjacent black area; calculate the minimum value of the adjacent brightness difference of the circle, when the minimum value of the adjacent brightness difference is greater than 50, it is considered that the black and white on the circle can be completely separated; The resolution of each face of the icosahedron is measured by the smallest circle diameter that can be completely divided by black and white; the smaller the diameter of the circle that can be completely divided, the higher the resolution of each face of the icosahedron; (6) Spherical evaluation module resolution The small circle parallel to the axis of the spherical evaluation module is called the evaluation circle. On the evaluation circle, the adjacent brightness difference is equal to the maximum brightness Lmax of the adjacent white areas on the circle minus the minimum brightness Lmin of the adjacent black areas. The minimum value of the adjacent brightness difference of the evaluation circle is calculated. When the minimum value of the adjacent brightness difference is greater than 50, it is considered that the black and white on the evaluation circle can be completely separated. The diameter of the smallest small circle that can completely separate black and white is used to measure the resolution of the spherical evaluation module. The smaller the diameter of the smallest small circle that can be completely separated, the higher the resolution of the spherical evaluation module.

6. The evaluation method for a mold by combining laser radar and aerial triangulation data fusion as claimed in claim 5, characterized in that: The black and white components in each evaluation module are: black: red component = 0, green component = 0, blue component = 0; White: red component = 255, green component = 255, blue component = 255; There are 24 colors on the texture test card, called color 1 to color 24; Color No. 1: red component: 115, green component: 82, blue component: 68; Color No. 2: red component: 194, green component: 150, blue component: 130; Color No. 3: red component: 98, green component: 122, blue component: 157; Color No. 4: red component: 87, green component: 108, blue component: 67; Color No. 5: red component: 133, green component: 128, blue component: 177; Color No. 6: red component: 103, green component: 189, blue component: 170; Color No. 7: red component: 214, green component: 126, blue component: 44; Color No. 8: red component: 80, green component: 91, blue component: 166; Color No. 9: red component: 193, green component: 90, blue component: 99; Color No. 10: red component: 94, green component: 60, blue component: 108; Color No. 11: red component: 157, green component: 188, blue component: 64; Color No. 12: red component: 224, green component: 163, blue component: 46; Color No. 13: Red component: 56, Green component: 61, Blue component: 150; Color No. 14: red component: 70, green component: 148, blue component: 73; Color No. 15: Red component: 175, Green component: 54, Blue component: 60; Color No. 16: red component: 231, green component: 199, blue component: 31; Color No. 17: red component: 187, green component: 86, blue component: 149; Color No. 18: Red component: 8, Green component: 133, Blue component: 61; Color No. 19: red component: 243, green component: 243, blue component: 242; Color No. 20: red component: 200, green component: 200, blue component: 200; Color No. 21: Red component: 160, Green component: 160, Blue component: 160; Color No. 22: red component: 122, green component: 122, blue component: 122; Color No. 23: Red component: 85, Green component: 85, Blue component: 85; Color No. 24: red component: 52, green component: 52, blue component: 52; The texture test card has 32 gray levels. The red, green, and blue components of each level have equal values. The 32 gray levels are named gray level 1 to gray level 32. The nth grayscale color is: red component=green component=blue component=7+8(n-1).

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