Image generation method, device, electronic device and storage medium

Abstract

The disclosed embodiments relate to an image generation method, device, electronic device and storage medium, the method comprising: first obtaining the coordinate data of the solid in the target water area, then determining the underwater image of the water bottom formed by a preset first shape and the water body image of the water body formed by a preset second shape based on the coordinate data, and then generating the water area image of the target water area formed by the underwater image and the water body image. In this way, the water body data and the seabed data will be imaged at the same time, and the user can perform the editing work of the two parts at the same time when working, which can avoid the user from frequently switching programs or data sources when working, and the operation is simple and the work efficiency is improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of image processing technology, and in particular to an image generating method, device, electronic device and storage medium. Background Art

[0002] In the prior art, sonar technology is widely used in underwater detection technology or equipment, such as multi-beam sonar detection technology and equipment. These technologies or equipment, because they can accurately and effectively detect underwater conditions, are also used in many fields such as military, ocean surveying and mapping, ocean current velocity measurement, marine fisheries, and underwater acoustic communications.

[0003] As for the visualization of sonar data, most current programs only image water body data or seabed data separately, and then perform corresponding editing work. This requires separate editing of the two parts, which causes users to frequently switch programs or data sources while working, making the operation cumbersome and reducing work efficiency. Summary of the invention

[0004] In view of this, in order to solve some or all of the above technical problems, the embodiments of the present disclosure provide an image generating method, device, electronic device and storage medium.

[0005] In a first aspect, an embodiment of the present disclosure provides an image generation method, the method comprising:

[0006] Acquire coordinate data of solids in the target water area, wherein the solids include solids on the bottom of the water and in the water;

[0007] Based on the coordinate data, determining an underwater image of the underwater bottom formed in a preset first shape;

[0008] Based on the coordinate data, determining a water body image of the solid in the water formed in a preset second shape;

[0009] A water area image of the target water area is generated, which is composed of the underwater image and the water body image.

[0010] Optionally, in the method of any embodiment of the present disclosure, the preset first shape is a triangle; and

[0011] The step of determining the underwater image of the underwater bottom formed in a preset first shape based on the coordinate data includes:

[0012] In the above coordinate data, a plane is selected to obtain a first plane and a second plane;

[0013] Selecting coordinate point A and coordinate point B corresponding to the bottom of the water on the first plane;

[0014] Selecting coordinate point C and coordinate point D corresponding to the bottom of the water on the second plane;

[0015] The coordinate point A, the coordinate point B and the coordinate point C are used as vertices, and the coordinate point C, the coordinate point B and the coordinate point D are used as vertices to form two triangles respectively;

[0016] The underwater image including the two triangles is generated.

[0017] Optionally, in the method of any embodiment of the present disclosure, after forming two triangles, the method further includes:

[0018] In the above coordinate data, select the third plane;

[0019] Select the coordinate point C1 and the coordinate point D1 corresponding to the bottom of the water on the third plane;

[0020] The coordinate point C, the coordinate point D and the coordinate point C1 are used as vertices, and the coordinate point C1, the coordinate point D and the coordinate point D1 are used as vertices to form two triangles respectively; and

[0021] The above-mentioned generating the underwater image including the two above-mentioned triangles includes generating the underwater image including the four above-mentioned triangles.

[0022] Optionally, in the method of any embodiment of the present disclosure, the preset first shape is a triangular strip; and

[0023] The step of determining the underwater image of the underwater bottom formed in a preset first shape based on the coordinate data includes:

[0024] Based on the coordinate data, an underwater image of the water bottom formed by the triangular strips is determined.

[0025] Optionally, in the method of any embodiment of the present disclosure, the second shape is a tetrahedron; and

[0026] The step of determining the water body image of the solid in the water formed in a preset second shape based on the coordinate data includes:

[0027] In the above coordinate data, two planes are selected to obtain a fourth plane and a fifth plane;

[0028] Select coordinate points A, B, C and D corresponding to the solid in the water on the fourth plane;

[0029] Select coordinate points A1, B1, C1 and D1 corresponding to the solid in the water on the fifth plane;

[0030] Six tetrahedrons are formed by taking the coordinate point A, the coordinate point B, the coordinate point C, the coordinate point A1, and the coordinate point B1 as vertices, taking the coordinate point C, the coordinate point A1, the coordinate point B1, and the coordinate point C1 as vertices, taking the coordinate point A, the coordinate point C, the coordinate point D, and the coordinate point A1 as vertices, taking the coordinate point C, the coordinate point D, the coordinate point A1, and the coordinate point C1 as vertices, and taking the coordinate point D, the coordinate point A1, the coordinate point C1, and the coordinate point D1 as vertices;

[0031] The water body image including the six tetrahedrons is generated.

[0032] Optionally, in the method of any embodiment of the present disclosure, after forming six tetrahedrons, the method further includes:

[0033] In the above coordinate data, the sixth plane is selected;

[0034] Select coordinate points A2, B2, C2 and D2 corresponding to the solid in the water on the sixth plane;

[0035] Six tetrahedrons are formed with the coordinate points A1, B1, C1, and A2 as vertices, the coordinate points B1, C1, A2, and B2 as vertices, the coordinate points C1, A2, B2, and C2 as vertices, the coordinate points A1, C1, D1, and A2 as vertices, the coordinate points C1, D1, A2, and C2 as vertices, and the coordinate points D1, A2, C2, and D2 as vertices; and

[0036] The above-mentioned generating the above-mentioned water body image including six above-mentioned tetrahedrons includes generating the above-mentioned water body image including twelve above-mentioned tetrahedrons.

[0037] Optionally, in the method of any embodiment of the present disclosure, the above-mentioned coordinate data is extracted from multi-beam sonar data.

[0038] In a second aspect, an embodiment of the present disclosure provides an image generating device, the device comprising:

[0039] An acquisition unit is configured to acquire coordinate data of solids in the target water area, wherein the solids include the bottom of the water and solids in the water;

[0040] A first determining unit is configured to determine, based on the coordinate data, an underwater image of the underwater bottom formed in a preset first shape;

[0041] A second determining unit is configured to determine, based on the coordinate data, a water body image of the solid in the water formed in a preset second shape;

[0042] The generating unit is configured to generate a water area image of the target water area composed of the underwater image and the water body image.

[0043] Optionally, in the device of any embodiment of the present disclosure, the first determining unit is further configured to:

[0044] In the above coordinate data, a plane is selected to obtain a first plane and a second plane;

[0045] Selecting coordinate point A and coordinate point B corresponding to the bottom of the water on the first plane;

[0046] Selecting coordinate point C and coordinate point D corresponding to the bottom of the water on the second plane;

[0047] The coordinate point A, the coordinate point B and the coordinate point C are used as vertices, and the coordinate point C, the coordinate point B and the coordinate point D are used as vertices to form two triangles respectively;

[0048] The underwater image including the two triangles is generated.

[0049] Optionally, in the device of any embodiment of the present disclosure, the first determining unit is further configured to:

[0050] In the above coordinate data, select the third plane;

[0051] Select the coordinate point C1 and the coordinate point D1 corresponding to the bottom of the water on the third plane;

[0052] The coordinate point C, the coordinate point D and the coordinate point C1 are used as vertices, and the coordinate point C1, the coordinate point D and the coordinate point D1 are used as vertices to form two triangles respectively; and

[0053] The above-mentioned generating the underwater image including the two above-mentioned triangles includes generating the underwater image including the four above-mentioned triangles.

[0054] Optionally, in the device of any embodiment of the present disclosure, the preset first shape is a triangular strip; and

[0055] The first determination unit is further configured to determine, based on the coordinate data, an underwater image of the underwater formed by the triangular strips.

[0056] Optionally, in the device of any embodiment of the present disclosure, the second determining unit is further configured to:

[0057] In the above coordinate data, two planes are selected to obtain a fourth plane and a fifth plane;

[0058] Select coordinate points A, B, C and D corresponding to the solid in the water on the fourth plane;

[0059] Select coordinate points A1, B1, C1 and D1 corresponding to the solid in the water on the fifth plane;

[0060] Six tetrahedrons are formed by taking the coordinate point A, the coordinate point B, the coordinate point C, the coordinate point A1, and the coordinate point B1 as vertices, taking the coordinate point C, the coordinate point A1, the coordinate point B1, and the coordinate point C1 as vertices, taking the coordinate point A, the coordinate point C, the coordinate point D, and the coordinate point A1 as vertices, taking the coordinate point C, the coordinate point D, the coordinate point A1, and the coordinate point C1 as vertices, and taking the coordinate point D, the coordinate point A1, the coordinate point C1, and the coordinate point D1 as vertices;

[0061] The water body image including the six tetrahedrons is generated.

[0062] Optionally, in the device of any embodiment of the present disclosure, the second determining unit is further configured to:

[0063] In the above coordinate data, the sixth plane is selected;

[0064] Select coordinate points A2, B2, C2 and D2 corresponding to the solid in the water on the sixth plane;

[0065] Six tetrahedrons are formed with the coordinate points A1, B1, C1, and A2 as vertices, the coordinate points B1, C1, A2, and B2 as vertices, the coordinate points C1, A2, B2, and C2 as vertices, the coordinate points A1, C1, D1, and A2 as vertices, the coordinate points C1, D1, A2, and C2 as vertices, and the coordinate points D1, A2, C2, and D2 as vertices; and

[0066] The above-mentioned generating the above-mentioned water body image including six above-mentioned tetrahedrons includes generating the above-mentioned water body image including twelve above-mentioned tetrahedrons.

[0067] Optionally, in the device of any embodiment of the present disclosure, the above-mentioned coordinate data is extracted from multi-beam sonar data.

[0068] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0069] Memory for storing computer programs;

[0070] The processor is used to execute the computer program stored in the above-mentioned memory, and when the above-mentioned computer program is executed, the method of any embodiment of the image generation method of the above-mentioned first aspect of the present disclosure is implemented.

[0071] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable medium, and when the computer program is executed by a processor, the method of any embodiment of the image generation method of the first aspect is implemented.

[0072] In a fifth aspect, an embodiment of the present disclosure provides a computer program, which includes a computer-readable code. When the computer-readable code is executed on a device, a processor in the device executes instructions for implementing each step in the method of any embodiment of the image generation method of the first aspect above.

[0073] The image generation scheme provided by the disclosed embodiment first obtains the coordinate data of the solid in the target water area, and then determines the underwater image of the water bottom formed by a preset first shape and the water body image of the water body formed by a preset second shape based on the coordinate data, and then generates the water area image of the target water area formed by the underwater image and the water body image. In this way, the water body data and the seabed data will be imaged at the same time, and the user can perform the editing work of the two parts at the same time when working, which can avoid the user from frequently switching programs or data sources when working, and the operation is simple and the work efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 A flowchart of an image generation method provided by an embodiment of the present disclosure;

[0075] Figure 2 A schematic diagram of an operation interface of an image generation method provided by an embodiment of the present disclosure;

[0076] Figure 3 A flowchart of another image generation method provided by an embodiment of the present disclosure;

[0077] Figure 4A flowchart of another image generation method provided by an embodiment of the present disclosure;

[0078] Figure 5 A schematic diagram of the structure of an image generating device provided by an embodiment of the present disclosure;

[0079] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0080] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0081] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish objects such as different steps, devices or modules, and do not represent any specific technical meanings, nor do they indicate the logical order between them.

[0082] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0083] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0084] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0085] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0086] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0087] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the above-mentioned technologies, methods, and equipment should be considered as part of the specification.

[0088] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0089] It should be noted that, in the absence of conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. To facilitate the understanding of the embodiments of the present disclosure, the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0090] Figure 1 A flowchart of an image generation method provided by an embodiment of the present disclosure is shown in FIG. Figure 1 As shown, the method specifically includes:

[0091] Step 101, obtaining coordinate data of solids in the target water area, wherein the solids include the bottom of the water and solids in the water.

[0092] In an embodiment, the execution entity may acquire data of a target water area for which a water area image needs to be generated, and acquire coordinate data of solids in the target water area.

[0093] The target water area can be an ocean or a lake.

[0094] In an optional embodiment, the above coordinate data is extracted from multi-beam sonar data.

[0095] Step 102, based on the above coordinate data, determine the underwater image of the above water bottom formed in a preset first shape.

[0096] In this embodiment, based on the above coordinate data, the coordinate data can be used to form a preset first shape, and then the shape can be used to form the above bottom to generate an underwater image. For example, the coordinate data is formed into a triangle, and the coordinate data represents a one square meter bottom, then the triangle is used to form a plane figure to generate a one square meter underwater image.

[0097] The preset first shape may be a two-dimensional plane figure or a three-dimensional solid figure.

[0098] In an optional embodiment, the preset first shape is a triangular strip; and the determining, based on the coordinate data, an underwater image of the water bottom formed by the preset first shape includes determining, based on the coordinate data, an underwater image of the water bottom formed by the triangular strip. A triangular strip may also be used instead of a triangle.

[0099] Step 103, based on the coordinate data, determining a water body image of the solid in the water formed in a preset second shape.

[0100] In this embodiment, based on the above coordinate data, the coordinate data can be used to form a preset second shape, and then the shape can be used to form the above bottom form to generate a water body image. For example, the coordinate data is used to form a tetrahedron, and the coordinate data represents a one cubic meter water body, and the tetrahedron is used to form a three-dimensional figure to generate a one cubic meter bottom image.

[0101] The preset second shape may be a two-dimensional plane figure or a three-dimensional solid figure.

[0102] Step 104: Generate a water area image of the target water area composed of the underwater image and the water body image.

[0103] In this embodiment, the underwater image and the water body image can be generated, and the water area image of the target water area formed by the underwater image and the water body image can be generated. For example, if the target water area is a water area of ​​one cubic meter, the plane figure formed by triangles and the three-dimensional figure formed by tetrahedrons can be used to generate a water area of ​​one cubic meter formed by the underwater image and the water body image.

[0104] The image generation method provided by the disclosed embodiment first obtains the coordinate data of the solid in the target water area, and then determines the underwater image of the water bottom formed by a preset first shape and the water body image of the water body formed by a preset second shape based on the coordinate data, and then generates the water area image of the target water area formed by the underwater image and the water body image. In this way, the water body data and the seabed data will be imaged at the same time, and the user can edit the two parts at the same time when working, which can avoid the user from frequently switching programs or data sources when working, and the operation is simple and the work efficiency is improved.

[0105] Figure 2 A schematic diagram of an operation interface of an image generation method provided by an embodiment of the present disclosure, such as Figure 2 As shown, the method specifically includes:

[0106] 1. Development environment and language

[0107] System: "Windows 10 20H2" (Microsoft Windows 10 20H2, Microsoft Windows 10 2020 second half)

[0108] Integrated development environment: "Qt Creator 4.13.1Base on Qt 5.15.1(MSVC 2019, 64bit)" (application development framework)

[0109] Compiler: "MSVC 2019x64"

[0110] Development language: "C, C++11"

[0111] 2. Hardware Configuration

[0112] Windows 10 64bit, Visual C++ Runtime Library 2015-2019, 8G or more memory

[0113] 3. Main interface introduction

[0114] 1. Home page

[0115] The tool software contains 7 main areas, namely the menu bar, toolbar, status bar, visualization object management window, property window, color window and the most important 3D view window.

[0116] Menu bar: includes four menus: "File", "Settings", "Tools", and "About";

[0117] Toolbar: includes seven functions: file opening, data export to file, view direction switching, coordinate system display, data selection, data deletion, and view reset;

[0118] Status bar: used to display some commonly used and simple information; including the results of various operations, the world longitude and latitude where the mouse is currently located, etc.

[0119] Visual object management window: lists the names or path information of all 3D objects in the current visualization window, as well as whether these objects are currently visible in the view (click the mouse to switch the checkbox state, a checkbox in the check state indicates visible, otherwise the object is invisible);

[0120] Property window: displays some basic information of the currently selected object. You can change the display format of the data by modifying the drop-down options, including 4 forms: "face", "point cloud", "framework", and "volume rendering". Polygonal data does not support the display method of volume rendering. The display method of volume rendering data can only be volume rendering and cannot be changed. The display ruler is used to add a three-dimensional ruler box to the currently selected object, so that you can quickly view the size information of the object.

[0121] 3D view window: displays all 3D objects, supports mouse and keyboard interaction. Press the left mouse button and move the mouse to rotate the 3D object around the view origin. If you press the "SHIFT" key at the same time, the object will move parallel without flipping. Press the right mouse button and move the mouse to zoom in and out of the current view. For a detailed introduction to 3D view operations, including shortcuts and other common keyboard and mouse interactions, please see the "Help" menu item.

[0122] Color window: defines the color and transparency properties of the currently selected 3D object. The color and transparency of the 3D object can be modified by modifying the attribute values ​​in the window to achieve a suitable visualization effect. For volume rendering data, transparency mapping is enabled by default and cannot be changed.

[0123] 4. Detailed introduction of functions

[0124] 1. Menu Bar

[0125] (1) "File" menu

[0126] (1.1) "Open" menu item

[0127] Use the standard file open dialog box, select open data file, and confirm; the program opens multiple files at the same time, hold down the "SHIFT" key on the keyboard, use the left mouse button to click to select multiple files, and confirm; generally, there is no need to manually select the data type. If a domestic multi-beam file is opened, the filter of the standard dialog box is required to define whether the opened file is a seabed topography file (that is, the underwater image of the seabed) or water body data (that is, the water body image of the water body). Because the domestic multi-beam topography and water body data files have the same suffix, the program cannot automatically determine.

[0128] The shortcut key for this operation is "CTRL+O".

[0129] (1.2) "Save" menu item

[0130] Use the standard file save dialog box to save the data objects selected in the current visualization multi-management window as a target format file. Use the filter at the bottom of the dialog box to specify the format of the saved file. Currently supported types include ".vtk", ".vtp", ".vtu", and ".vti", which are suitable for polygon data (the first two), unstructured data, and volume rendering data, respectively.

[0131] The shortcut key for this operation is "CTRL+E".

[0132] (1.3) "Exit" menu item

[0133] Close the current software immediately and exit the program.

[0134] The shortcut key for this operation is "CTRL+Q".

[0135] (2) "Settings" menu

[0136] (2.1) "Preferences" menu item

[0137] Through the pop-up window, set the software's shortcut keys, window background color, vertical zoom ratio, and color mapping file value.

[0138] (3) "Tools" menu

[0139] (3.1) “Contour Line” menu item

[0140] Get the contour data of the current polygon data according to the set height value. The dialog box will calculate the value range in advance and give a prompt. This function is not available for volume rendering data.

[0141] (3.2) “Isovolume” menu item

[0142] According to the set sector range and sound intensity value range, define the data range and sampling rate respectively. By setting the sampling interval, define the data sampling interval in the track direction. The larger the sampling interval, the less sector data is actually sampled. The minimum is "1". This function is invalid for polygonal data objects.

[0143] (3.3) "Mesh refinement" menu item

[0144] According to the selected refinement algorithm and number of refinements, the triangles of the polygonal data are refined. Too many refinements will cause a sharp increase in the amount of data. When using this tool, please carefully select the number of refinements. This function is invalid for volume rendering data objects.

[0145] (3.4) "Mesh Smooth" menu item

[0146] According to the selected smoothing algorithm and decimation rate, the triangles of the polygonal data are integrated to reduce the number of triangles, thereby abstracting the polygonal data.

[0147] (3.5) "Surface area and volume calculation" menu item

[0148] Calculates the volume and surface area of ​​the object selected in the current visualization window. Applicable to polygonal data and volume rendering data. The volume calculation of polygonal data is always "0".

[0149] (3.6) "View Capture" menu item

[0150] Save the data displayed in the current 3D view window to a file in the form of a picture.

[0151] (4) "About" menu

[0152] (4.1) "Version Information" menu item

[0153] Use a window to display the programmer's version information.

[0154] (4.2) "About" menu item

[0155] Use windows to prompt some operating instructions that may be used during the use of the software.

[0156] (5) Toolbar

[0157] It mainly refers to opening and exporting files; switching the current view orientation, displaying the coordinate system direction of the current 3D view in the lower left corner of the 3D view, selecting the point data of the polygon or volume drawing object by pressing and dragging the left mouse button; deleting the point data selected by the above selection tool and generating a new data model. When deleting volume drawing data, only the attribute value is modified without changing the data structure; switching the current view range, viewing all currently visible 3D objects, zooming the view to an appropriate size so that all objects are in the visible area of ​​the current view, ignoring invisible 3D objects, etc.

[0158] (6) Status bar

[0159] Displays status messages sent by the system, such as simple information such as file reading completed, data being segmented, data export to file completed, etc. If the currently selected data object is geographic raster data or seabed terrain data, place the mouse on the data object in the 3D view, and the status bar will display the specific latitude and longitude information of the terrain where the mouse is currently located.

[0160] (7) Visual object management window

[0161] The window contains only a list, showing the names or paths of all objects in the current 3D view window; if the object comes from a file, the path of the file is displayed; if the object comes from a later calculation, such as calculating contour lines for polygonal objects, the list will display the name by which the object is defined.

[0162] There is a checkbox in front of each item in the list. It is checked by default, indicating that the object is visible in the 3D visualization window. Clicking the checkbox with the mouse can toggle the state of the checkbox to control whether the object is visible in the 3D view window. You can also right-click the path or name of the current object to call up the context menu. The "Show" and "Hide" menu items in the context menu can also control whether the object is visible.

[0163] For some special data types, such as data in the ".all" format, you can view some unique information items by clicking the "Details" menu item in the context menu evoked above.

[0164] Click the "Delete" menu item in the above context menu, the list entry will be deleted, the data object will also be deleted from the 3D view, and the 3D view window will be automatically updated.

[0165] (8) Attributes and operations

[0166] The property window includes common properties, operations and specific properties and operations. All three-dimensional objects have the properties and operations in the property and operation window. Water body data format and volume rendering data have additional properties and parameters.

[0167] When the attribute and operation window gives the sonar number and longitude and latitude information of the sector, change the sector number and press "Enter" on the keyboard to read the new data. If the range of the sector exceeds the maximum range, the program will not perform any operation on the current data. The two bidirectional progress bars of beam range and distance range are used to control the system to only display the data range of interest. When loading water body data, the 3D visualization window will give a time scale to display the time of recording the current sector data. Click the left button of the mouse at any time on the time scale, and the program will read the new data according to the selected time, modify the corresponding values ​​of the attribute and operation windows, and then update the 3D view.

[0168] Depending on the type of the currently selected object in the visualization object, the properties and operation windows will automatically switch to the corresponding content.

[0169] (9) Color and Transparency Window

[0170] The color and transparency window controls the color and transparency mapping relationship of the current 3D object; in the data structure of the 3D library "VTK", each point of the 3D data can be given an attribute value, which can be scalar data with multiple components or vector data; only scalar data is used in the software and each has only one component, such as elevation data, sound intensity value, position number, etc.; after obtaining the scalar range of the 3D object, the software will automatically select different color mapping schemes according to different data types. For example, water body data and terrain data have different color schemes, which can be modified through the menu "Preferences" > "Color Mapping" > "Water Body File" or "Seabed Terrain File". After the modification is completed, the color mapping of the loaded 3D objects will not be changed, and the subsequently loaded objects will adopt the modified color scheme.

[0171] The color space will allow the color to adopt different transition schemes, so that the object can quickly produce large color changes without modifying the color value. Currently, four color spaces are provided, namely "RGB" (Red Green Blue color mode, red, green, blue), "HSV" (Hue Saturation, Value, hue, saturation, brightness), "LAB" (a device-independent color model, a color model based on physiological characteristics) and "DIVERGING" (Diverging, gradient color).

[0172] (10) 3D visualization window

[0173] The 3D visualization window displays all loaded 3D objects (whether files or secondary calculations) and provides a mouse and keyboard interaction interface. The following describes its interactive operations:

[0174] Rotation: Press the left mouse button and drag the mouse in any direction to rotate all objects around the coordinate origin (0, 0).

[0175] Zoom: Use the mouse wheel to scroll back and forth to zoom in and out of all objects (including visible and invisible). Press the right button of the mouse and move it up to zoom in on the object, and move it down to zoom out on the object.

[0176] Translation: Press the left mouse button and hold down the "SHIFT" key on the keyboard, then move the mouse in any direction. The 3D view will move parallel but will not rotate in any direction.

[0177] Plane rotation: Press the left mouse button and hold down the "CTRL" key on the keyboard, move the mouse in any direction, and the 3D view will rotate around the coordinate origin on the current plane.

[0178] Switch display mode: After selecting an object in the visualization object management window, press "W" on the keyboard to quickly switch the object's display mode to "frame" mode, press "S" on the keyboard to quickly switch the object's display mode to "patch" mode, and press "R" on the keyboard to quickly zoom the view. The program will ensure that all visualization objects are visible in the current view (excluding invisible objects) and will select the maximum magnification ratio.

[0179] 5. Operation Instructions

[0180] During the running of the program, no original files will be changed to ensure that the original files are not damaged. After using the "Delete" menu, if the final result needs to be saved, please save the work content through "File" > "Export", otherwise closing the program will cause the result to be lost.

[0181] The specific steps are as follows:

[0182] Step 1: The user selects multiple files, determines the file type based on the file name suffix, and selects different data parsing solutions to parse the file content. Different parsing solutions include processing procedures for different data protocols, which can accurately map binary data to memory objects (that is, obtain the coordinate data of the solid in the target water area).

[0183] Step 2: After parsing the above coordinate data and storing them in two-dimensional vectors (the above vector is a storage form in the program, which can be compared to a set, including points and coordinate data of the points; in the program, the point data returned from the device is stored in the form of the above two-dimensional vector; the above two-dimensional vector can be compared to a set, in which two sets are stored, and the above point data is stored in these two sets), the points in adjacent vectors are combined into triangular facets (that is, the preset first shape) according to certain rules. The specific rules are as follows:

[0184] Traverse the vector (the vector includes the above coordinate data, and the positions of the solid points in the target waters are stored by several vectors), obtain the previous (the above previous refers to the previous vector, and the previous and next mentioned in the text both refer to the previous vector and the next vector. Regarding the front and back issues of the above vectors, the device is marked according to the direction of the hull and the time sequence in which the device obtains the above vector data. The hull's forward direction is the sorting direction of the above vector. According to the sorting direction, the earlier the time is obtained, the higher the sorting is. The vector is marked in this sorting method) point in the vector (the points in the above vector are also marked using the above vector sorting method to determine the first point), recorded as point A, and determine whether there are subsequent points (Among the stored points (for example, multiple points corresponding to multiple coordinate data obtained by a single scan of a sonar detector), the last point has no subsequent point), if it exists, obtain the point in the next vector, recorded as point B (that is, select the coordinate point A and coordinate point B corresponding to the above-mentioned bottom), and then obtain the point in the next vector, recorded as point C (that is, select the coordinate point C corresponding to the above-mentioned bottom on the above-mentioned second plane), the three points form a triangle in the counterclockwise order of A, B, C and store it, and then obtain the point in the next vector, recorded as point D (that is, select the above-mentioned coordinate point on the above-mentioned second plane), and then proceed in sequence to obtain a two-dimensional surface composed of triangles (that is, the above-mentioned bottom image generated including the four above-mentioned triangles).

[0185] Step 3: After the water body data is parsed and stored as a three-dimensional vector (the three-dimensional vector here has the same properties as the above two-dimensional vector, and can be compared to a set, in which three sets are stored, and the above point data is stored in the three-part set), each stored vector is traversed, and a tetrahedron (that is, the preset second shape) is constructed between the front and rear sectors according to logic, so that the volume rendering data of the water body data (that is, the water body image) can be obtained. The specific construction rules are as follows:

[0186] Take the point represented by the previous vector of the previous (the previous one here refers to the first selected sector, and the sector is the representation of the sonar acquisition range in the underwater depth direction) sector (that is, the fourth plane mentioned above, each sector can correspond to multiple coordinate data obtained by the sonar detector after one scan), record it as point A1 (that is, the coordinate point of the solid in the water on the fourth plane), judge whether the current vector has the next vector, if so, take the point represented by the next vector, record it as point B1, judge whether the current vector has the next vector, if so, take the point represented by the next vector, record it as point C1, judge whether the current vector has the next vector, if so, take the point represented by the next vector, record it as point D1 (that is, select the coordinate points A, B, C, and D corresponding to the solid in the water on the fourth plane), and then take A2, B2, C2, and D2 of the latter sector (that is, selecting coordinate points A1, B1, C1, and D1 corresponding to the solid in the water on the fifth plane), construct and store six tetrahedral structures (A1, B1, C1, A2), (B1, C1, A2, B2), (C1, A2, B2, C2), (A1, C1, D1, A2), (C1, D1, A2, C2), and (D1, A2, C2, D2) (that is, generating the water body image including the six tetrahedrons), and then perform it once more (that is, continue to construct according to the above-mentioned method of constructing tetrahedrons), and a volume data format composed of tetrahedrons can be obtained (that is, generating the water body image including the six tetrahedrons, or generating the water body image including the twelve tetrahedrons).

[0187] In the process of constructing a two-dimensional surface, independent triangular facets can be replaced by constructing triangular strips (that is, the above-mentioned preset first shape is a triangular strip). This can reduce the number of point sets and facets in the data structure and improve the efficiency of user interaction. At the same time, the use of triangular strips can bring more efficient rendering efficiency, making the early steps of reading, analyzing, and rendering less time-consuming, giving users a better user experience.

[0188] The image generation method provided by the embodiment of the present disclosure first takes points based on coordinate data, and respectively forms a triangle structure and a tetrahedron structure by using different bottom coordinates and coordinate data of solids in the water, and then continues in the same way to finally form an image of the target water area. In this way, the bottom and water body can be generated in the form of images, and the bottom and water body images of the water area can be viewed in one interface, which saves work steps, saves work time, and improves work efficiency.

[0189] Figure 3 A flow chart of another image generation method provided for an embodiment of the present disclosure. The method can be applied to application scenarios where water area images need to be generated for performing different operations on various water areas. The method can be applied to electronic devices such as desktop computers, laptop computers, and portable computers.

[0190] Further as Figure 3 As shown, the method specifically includes:

[0191] Step 301, obtaining coordinate data of solids in the target water area, wherein the solids include the bottom of the water and solids in the water.

[0192] Step 302, in the coordinate data, planes are selected to obtain a first plane and a second plane. Coordinate points A and B corresponding to the bottom of the water are selected on the first plane; coordinate points C and D corresponding to the bottom of the water are selected on the second plane; coordinate points A, B and C are used as vertices, and coordinate points C, B and D are used as vertices to form two triangles respectively; and the bottom image including the two triangles is generated.

[0193] In the disclosed embodiment, coordinate points in the water area are determined based on coordinate data, and two triangles are formed based on the determined coordinate points to form a two-dimensional surface, so that the two-dimensional surface constitutes an underwater image.

[0194] Furthermore, the bottom of the water is a quadrilateral with coordinates A, B, C, and D as vertices. The coordinate data is used to determine the coordinate positions of the points of the quadrilateral, and coordinate points A, B, and C are used as vertices. The above coordinate points C, B, and D are used as vertices to form two triangles respectively, thereby using two triangles to form a quadrilateral underwater image.

[0195] In an optional embodiment, in the above-mentioned coordinate data, a third plane is selected; coordinate point C1 and coordinate point D1 corresponding to the above-mentioned bottom are selected on the above-mentioned third plane; the above-mentioned coordinate point C, the above-mentioned coordinate point D and the above-mentioned coordinate point C1 are used as vertices, and the above-mentioned coordinate point C1, the above-mentioned coordinate point D and the above-mentioned coordinate point D1 are used as vertices to form two triangles respectively; and the above-mentioned generation of the above-mentioned underwater image including the above-mentioned two triangles includes: generating the above-mentioned underwater image including the above-mentioned four triangles.

[0196] In the disclosed embodiment, the remaining bottom of the water area is constructed in the manner of forming triangles, and an image of the bottom is generated.

[0197] Step 303: Based on the coordinate data, determine a water body image of the solid in the water formed in a preset second shape.

[0198] Step 304: Generate a water area image of the target water area composed of the underwater image and the water body image.

[0199] The image generation method provided by the embodiment of the present disclosure first takes points based on the coordinate data, forms a triangle structure through the underwater coordinate data, and then continues in the same way to finally form an underwater image. In this way, an underwater image can be generated, making the underwater more intuitive.

[0200] Figure 4 A flowchart of another image generating method provided in an embodiment of the present disclosure.

[0201] Further as Figure 4 As shown, the method specifically includes:

[0202] Step 401, obtaining coordinate data of solids in the target water area, wherein the solids include the bottom of the water and solids in the water.

[0203] Step 402: Based on the coordinate data, determine an underwater image of the underwater bottom formed in a preset first shape.

[0204] Step 403, in the above coordinate data, two planes are selected to obtain a fourth plane and a fifth plane; coordinate points A, B, C, and D corresponding to the solid in the water are selected on the fourth plane; coordinate points A1, B1, C1, and D1 corresponding to the solid in the water are selected on the fifth plane; coordinate points A, B, C, and A1 are used as vertices, respectively, and coordinate points B, C, A1, and D1 are used as vertices. With coordinate point B1 as the vertex, with the above-mentioned coordinate point C, the above-mentioned coordinate point A1, the above-mentioned coordinate point B1, and the above-mentioned coordinate point C1 as vertices, with the above-mentioned coordinate point A, the above-mentioned coordinate point C, the above-mentioned coordinate point D, and the above-mentioned coordinate point A1 as vertices, with the above-mentioned coordinate point C, the above-mentioned coordinate point D, the above-mentioned coordinate point A1, and the above-mentioned coordinate point C1 as vertices, and with the above-mentioned coordinate point D, the above-mentioned coordinate point A1, the above-mentioned coordinate point C1, and the above-mentioned coordinate point D1 as vertices, six tetrahedrons are formed; the above-mentioned water body image including the above-mentioned six tetrahedrons is generated.

[0205] In the disclosed embodiment, when generating a water body image, coordinate points are determined by using coordinate data of solids in the water, and a tetrahedron is constructed according to the determined coordinate points to form a water body image in the form of a tetrahedron.

[0206] Further, the water body is a rectangular parallelepiped with coordinate point A, coordinate point B, coordinate point C, coordinate point D as vertices and coordinate point A1, coordinate point B1, coordinate point C1, and coordinate point D1 as vertices; then the coordinate points in the water area are determined based on the coordinate data, and according to the determined coordinate points, six tetrahedrons are formed with the above-mentioned coordinate point A, coordinate point B, coordinate point C, coordinate point A1, and coordinate point B1 as vertices, the above-mentioned coordinate point C, coordinate point A1, coordinate point B1, and coordinate point C1 as vertices, the above-mentioned coordinate point A, coordinate point C, coordinate point D, coordinate point A1, and coordinate point C1 as vertices, and the above-mentioned coordinate point D, coordinate point A1, coordinate point C1, and coordinate point D1 as vertices, so as to form six tetrahedrons, thereby forming a rectangular water body image with the six tetrahedrons.

[0207] In an optional embodiment, in the coordinate data, a sixth plane is selected. Coordinate points A2, B2, C2, and D2 corresponding to the solid in the water are selected on the sixth plane; six tetrahedrons are formed by taking the coordinate points A1, B1, C1, and A2 as vertices, taking the coordinate points B1, C1, A2, and B2 as vertices, taking the coordinate points C1, A2, B2, and C2 as vertices, taking the coordinate points A1, C1, D1, and A2 as vertices, taking the coordinate points C1, D1, A2, and C2 as vertices, taking the coordinate points D1, A2, C2, and D2 as vertices; and generating the water body image including the six tetrahedrons includes generating the water body image including twelve tetrahedrons.

[0208] In the embodiment of the present disclosure, the remaining water body of the water area is constructed in the manner of constructing a tetrahedron, and an image of the bottom of the water is generated.

[0209] Step 404: Generate a water area image of the target water area composed of the underwater image and the water body image.

[0210] The image generation method provided by the embodiment of the present disclosure first takes points based on the coordinate data, forms a tetrahedron structure through the bottom coordinate data, and then continues in the same way to finally form an image of the water body. In this way, a water body image can be generated, making the water body more intuitively displayed.

[0211] Figure 5 A schematic diagram of the structure of an image generating device provided in an embodiment of the present disclosure.

[0212] The acquisition unit 501 is configured to acquire coordinate data of solids in the target water area, wherein the solids include solids on the bottom of the water and in the water;

[0213] A first determining unit 502 is configured to determine, based on the coordinate data, an underwater image of the underwater bottom formed in a preset first shape;

[0214] The second determining unit 503 is configured to determine, based on the coordinate data, a water body image of the solid in the water formed in a preset second shape;

[0215] The generating unit 504 is configured to generate a water area image of the target water area composed of the underwater image and the water body image.

[0216] Optionally, in the device of any embodiment of the present disclosure, the first determining unit 502 is further configured to:

[0217] In the above coordinate data, a plane is selected to obtain a first plane and a second plane;

[0218] Selecting coordinate point A and coordinate point B corresponding to the bottom of the water on the first plane;

[0219] Selecting coordinate point C and coordinate point D corresponding to the bottom of the water on the second plane;

[0220] The coordinate point A, the coordinate point B and the coordinate point C are used as vertices, and the coordinate point C, the coordinate point B and the coordinate point D are used as vertices to form two triangles respectively;

[0221] The underwater image including the two triangles is generated.

[0222] Optionally, in the device of any embodiment of the present disclosure, the first determining unit 502 is further configured to:

[0223] In the above coordinate data, select the third plane;

[0224] Select the coordinate point C1 and the coordinate point D1 corresponding to the bottom of the water on the third plane;

[0225] The coordinate point C, the coordinate point D and the coordinate point C1 are used as vertices, and the coordinate point C1, the coordinate point D and the coordinate point D1 are used as vertices to form two triangles respectively; and

[0226] The above-mentioned generating the underwater image including the two above-mentioned triangles includes generating the underwater image including the four above-mentioned triangles.

[0227] Optionally, in the device of any embodiment of the present disclosure, the preset first shape is a triangular strip; and

[0228] The first determining unit 502 is further configured to:

[0229] Based on the coordinate data, an underwater image of the water bottom formed by the triangular strips is determined.

[0230] Optionally, in the device of any embodiment of the present disclosure, the second determining unit 503 is further configured to:

[0231] In the above coordinate data, two planes are selected to obtain a fourth plane and a fifth plane;

[0232] Select coordinate points A, B, C and D corresponding to the solid in the water on the fourth plane;

[0233] Select coordinate points A1, B1, C1 and D1 corresponding to the solid in the water on the fifth plane;

[0234] Six tetrahedrons are formed by taking the coordinate point A, the coordinate point B, the coordinate point C, the coordinate point A1, and the coordinate point B1 as vertices, taking the coordinate point C, the coordinate point A1, the coordinate point B1, and the coordinate point C1 as vertices, taking the coordinate point A, the coordinate point C, the coordinate point D, and the coordinate point A1 as vertices, taking the coordinate point C, the coordinate point D, the coordinate point A1, and the coordinate point C1 as vertices, and taking the coordinate point D, the coordinate point A1, the coordinate point C1, and the coordinate point D1 as vertices;

[0235] The water body image including the six tetrahedrons is generated.

[0236] Optionally, in the device of any embodiment of the present disclosure, the second determining unit 503 is further configured to:

[0237] In the above coordinate data, the sixth plane is selected;

[0238] Select coordinate points A2, B2, C2 and D2 corresponding to the solid in the water on the sixth plane;

[0239] Six tetrahedrons are formed with the coordinate points A1, B1, C1, and A2 as vertices, the coordinate points B1, C1, A2, and B2 as vertices, the coordinate points C1, A2, B2, and C2 as vertices, the coordinate points A1, C1, D1, and A2 as vertices, the coordinate points C1, D1, A2, and C2 as vertices, and the coordinate points D1, A2, C2, and D2 as vertices; and

[0240] The above-mentioned generating the above-mentioned water body image including six above-mentioned tetrahedrons includes generating the above-mentioned water body image including twelve above-mentioned tetrahedrons.

[0241] Optionally, in the device of any embodiment of the present disclosure, the above-mentioned coordinate data is extracted from multi-beam sonar data.

[0242] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure is provided. Figure 6The electronic device 600 shown includes: at least one processor 601, a memory 602, at least one network interface 604 and other user interfaces 603. The various components in the electronic device 600 are coupled together via a bus system 605. It is understood that the bus system 605 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 605 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the bus system 605 is not shown in FIG. Figure 6 Various buses are labeled as bus system 605 .

[0243] The user interface 603 may include a display, a keyboard, or a pointing device (eg, a mouse, a trackball, a touch pad, or a touch screen).

[0244] It can be understood that the memory 602 in the embodiment of the present disclosure can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 602 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0245] In some implementations, the memory 602 stores the following elements, executable units or data structures, or a subset thereof, or an extended set thereof: an operating system 6021 and an application 6022 .

[0246] The operating system 6021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application 6022 includes various application programs, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. The program for implementing the method of the embodiment of the present disclosure can be included in the application 6022.

[0247] In the embodiment of the present disclosure, by calling the program or instruction stored in the memory 602, specifically, the program or instruction stored in the application 6022, the processor 601 is used to execute the method steps provided by each method embodiment, for example, including:

[0248] Acquire coordinate data of solids in the target water area, wherein the solids include solids on the bottom of the water and in the water;

[0249] Based on the coordinate data, determining an underwater image of the underwater bottom formed in a preset first shape;

[0250] Based on the coordinate data, determining a water body image of the solid in the water formed in a preset second shape;

[0251] A water area image of the target water area is generated, which is composed of the underwater image and the water body image.

[0252] Optionally, in the method of any embodiment of the present disclosure, the preset first shape is a triangle; and

[0253] The step of determining the underwater image of the underwater bottom formed in a preset first shape based on the coordinate data includes:

[0254] In the above coordinate data, a plane is selected to obtain a first plane and a second plane;

[0255] Selecting coordinate point A and coordinate point B corresponding to the bottom of the water on the first plane;

[0256] Selecting coordinate point C and coordinate point D corresponding to the bottom of the water on the second plane;

[0257] The coordinate point A, the coordinate point B and the coordinate point C are used as vertices, and the coordinate point C, the coordinate point B and the coordinate point D are used as vertices to form two triangles respectively;

[0258] The underwater image including the two triangles is generated.

[0259] Optionally, in the method of any embodiment of the present disclosure, after forming two triangles, the method further includes:

[0260] In the above coordinate data, select the third plane;

[0261] Select the coordinate point C1 and the coordinate point D1 corresponding to the bottom of the water on the third plane;

[0262] The coordinate point C, the coordinate point D and the coordinate point C1 are used as vertices, and the coordinate point C1, the coordinate point D and the coordinate point D1 are used as vertices to form two triangles respectively; and

[0263] The above-mentioned generating the underwater image including the two above-mentioned triangles includes generating the underwater image including the four above-mentioned triangles.

[0264] Optionally, in the method of any embodiment of the present disclosure, the preset first shape is a triangular strip; and

[0265] The step of determining the underwater image of the underwater bottom formed in a preset first shape based on the coordinate data includes:

[0266] Based on the coordinate data, an underwater image of the water bottom formed by the triangular strips is determined.

[0267] Optionally, in the method of any embodiment of the present disclosure, the preset first shape is a triangle, and the second shape is a tetrahedron; and

[0268] The step of determining the water body image of the solid in the water formed in a preset second shape based on the coordinate data includes:

[0269] In the above coordinate data, two planes are selected to obtain a fourth plane and a fifth plane;

[0270] Select coordinate points A, B, C and D corresponding to the solid in the water on the fourth plane;

[0271] Select coordinate points A1, B1, C1 and D1 corresponding to the solid in the water on the fifth plane;

[0272] Six tetrahedrons are formed by taking the coordinate point A, the coordinate point B, the coordinate point C, the coordinate point A1, and the coordinate point B1 as vertices, taking the coordinate point C, the coordinate point A1, the coordinate point B1, and the coordinate point C1 as vertices, taking the coordinate point A, the coordinate point C, the coordinate point D, and the coordinate point A1 as vertices, taking the coordinate point C, the coordinate point D, the coordinate point A1, and the coordinate point C1 as vertices, and taking the coordinate point D, the coordinate point A1, the coordinate point C1, and the coordinate point D1 as vertices;

[0273] The water body image including the six tetrahedrons is generated.

[0274] Optionally, in the method of any embodiment of the present disclosure, after forming six tetrahedrons, the method further includes:

[0275] In the above coordinate data, the sixth plane is selected;

[0276] Select coordinate points A2, B2, C2 and D2 corresponding to the solid in the water on the sixth plane;

[0277] Six tetrahedrons are formed with the coordinate points A1, B1, C1, and A2 as vertices, the coordinate points B1, C1, A2, and B2 as vertices, the coordinate points C1, A2, B2, and C2 as vertices, the coordinate points A1, C1, D1, and A2 as vertices, the coordinate points C1, D1, A2, and C2 as vertices, and the coordinate points D1, A2, C2, and D2 as vertices; and

[0278] The above-mentioned generating the above-mentioned water body image including six above-mentioned tetrahedrons includes generating the above-mentioned water body image including twelve above-mentioned tetrahedrons.

[0279] Optionally, in the method of any embodiment of the present disclosure, the coordinate data is extracted from multi-beam sonar data.

[0280] The method disclosed in the above embodiment of the present disclosure can be applied to the processor 601, or implemented by the processor 601. The processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 601 or the instruction in the form of software. The above processor 601 can be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present disclosure can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present disclosure can be directly embodied as a hardware decoding processor to execute, or the hardware and software units in the decoding processor can be executed. The software unit can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 602, and the processor 601 reads the information in the memory 602 and completes the steps of the above method in combination with its hardware.

[0281] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPDevice, DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the above-mentioned functions of the present application, or a combination thereof.

[0282] For software implementation, the technology described above in this article can be implemented by a unit that performs the functions described above in this article. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0283] The electronic device provided in this embodiment may be Figure 6 The electronic device shown in FIG. 1 may perform the following steps: Figure 1-5 All steps of the image generation method in Figure 1-5 For details, please refer to Figure 1-5 For the sake of brevity, the relevant description is not repeated here.

[0284] The embodiments of the present disclosure also provide a storage medium (computer-readable storage medium). The storage medium here stores one or more programs. The storage medium may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a read-only memory, a flash memory, a hard disk or a solid-state drive; the memory may also include a combination of the above-mentioned types of memory.

[0285] When one or more programs in the storage medium can be executed by one or more processors, the image generation method executed on the electronic device side can be implemented.

[0286] The processor is used to execute the image generation program stored in the memory to implement the following steps of the image generation method performed on the electronic device side:

[0287] Acquire coordinate data of solids in the target water area, wherein the solids include solids on the bottom of the water and in the water;

[0288] Based on the coordinate data, determining an underwater image of the underwater bottom formed in a preset first shape;

[0289] Based on the coordinate data, determining a water body image of the solid in the water formed in a preset second shape;

[0290] A water area image of the target water area is generated, which is composed of the underwater image and the water body image.

[0291] Optionally, in the method of any embodiment of the present disclosure, the preset first shape is a triangle; and

[0292] The step of determining the underwater image of the underwater bottom formed in a preset first shape based on the coordinate data includes:

[0293] In the above coordinate data, a plane is selected to obtain a first plane and a second plane;

[0294] Selecting coordinate point A and coordinate point B corresponding to the bottom of the water on the first plane;

[0295] Selecting coordinate point C and coordinate point D corresponding to the bottom of the water on the second plane;

[0296] The coordinate point A, the coordinate point B and the coordinate point C are used as vertices, and the coordinate point C, the coordinate point B and the coordinate point D are used as vertices to form two triangles respectively;

[0297] The underwater image including the two triangles is generated.

[0298] Optionally, in the method of any embodiment of the present disclosure, after forming two triangles, the method further includes:

[0299] In the above coordinate data, select the third plane;

[0300] Select the coordinate point C1 and the coordinate point D1 corresponding to the bottom of the water on the third plane;

[0301] The coordinate point C, the coordinate point D and the coordinate point C1 are used as vertices, and the coordinate point C1, the coordinate point D and the coordinate point D1 are used as vertices to form two triangles respectively; and

[0302] The above-mentioned generating the underwater image including the two above-mentioned triangles includes generating the underwater image including the four above-mentioned triangles.

[0303] Optionally, in the method of any embodiment of the present disclosure, the preset first shape is a triangular strip; and

[0304] The step of determining the underwater image of the underwater bottom formed in a preset first shape based on the coordinate data includes:

[0305] Based on the coordinate data, an underwater image of the water bottom formed by the triangular strips is determined.

[0306] Optionally, in the method of any embodiment of the present disclosure, the preset first shape is a triangle, and the second shape is a tetrahedron; and

[0307] The step of determining the water body image of the solid in the water formed in a preset second shape based on the coordinate data includes:

[0308] In the above coordinate data, two planes are selected to obtain a fourth plane and a fifth plane;

[0309] Select coordinate points A, B, C and D corresponding to the solid in the water on the fourth plane;

[0310] Select coordinate points A1, B1, C1 and D1 corresponding to the solid in the water on the fifth plane;

[0311] Six tetrahedrons are formed by taking the coordinate point A, the coordinate point B, the coordinate point C, the coordinate point A1, and the coordinate point B1 as vertices, taking the coordinate point C, the coordinate point A1, the coordinate point B1, and the coordinate point C1 as vertices, taking the coordinate point A, the coordinate point C, the coordinate point D, and the coordinate point A1 as vertices, taking the coordinate point C, the coordinate point D, the coordinate point A1, and the coordinate point C1 as vertices, and taking the coordinate point D, the coordinate point A1, the coordinate point C1, and the coordinate point D1 as vertices;

[0312] The water body image including the six tetrahedrons is generated.

[0313] Optionally, in the method of any embodiment of the present disclosure, after forming six tetrahedrons, the method further includes:

[0314] In the above coordinate data, the sixth plane is selected;

[0315] Select coordinate points A2, B2, C2 and D2 corresponding to the solid in the water on the sixth plane;

[0316] Six tetrahedrons are formed with the coordinate points A1, B1, C1, and A2 as vertices, the coordinate points B1, C1, A2, and B2 as vertices, the coordinate points C1, A2, B2, and C2 as vertices, the coordinate points A1, C1, D1, and A2 as vertices, the coordinate points C1, D1, A2, and C2 as vertices, and the coordinate points D1, A2, C2, and D2 as vertices; and

[0317] The above-mentioned generating the above-mentioned water body image including six above-mentioned tetrahedrons includes generating the above-mentioned water body image including twelve above-mentioned tetrahedrons.

[0318] Optionally, in the method of any embodiment of the present disclosure, the coordinate data is extracted from multi-beam sonar data.

[0319] The professionals should further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0320] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0321] The above-mentioned specific implementation methods further describe in detail the purpose, technical solutions and beneficial effects of the present disclosure. It should be understood that the above-mentioned are only specific implementation methods of the present disclosure and are not used to limit the protection scope of the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. An image generation method, characterized in that: The method comprises: acquiring coordinate data of solids in a target water area, wherein the solids include a water bottom and solids in the water; determining, based on the coordinate data, a water bottom image of the water bottom formed in a preset first shape; determining, based on the coordinate data, a water body image of the solids in the water formed in a preset second shape; generating a water body image of the target water area formed by the water bottom image and the water body image; The preset first shape is a triangle; and based on the coordinate data, determining the underwater image of the underwater bottom formed by the preset first shape, comprises: selecting a plane in the coordinate data to obtain a first plane and a second plane; selecting a coordinate point A and a coordinate point B corresponding to the underwater bottom on the first plane; selecting a coordinate point C and a coordinate point D corresponding to the underwater bottom on the second plane; using the coordinate point A, the coordinate point B and the coordinate point C as vertices, and using the coordinate point C, the coordinate point B and the coordinate point D as vertices to form two triangles respectively; generating the underwater image including the two triangles; The second shape is a tetrahedron; and based on the coordinate data, determining the water body image of the solid in the water formed by the preset second shape, includes: selecting two planes in the coordinate data to obtain a fourth plane and a fifth plane; selecting coordinate points A, B, C, and D corresponding to the solid in the water on the fourth plane; selecting coordinate points A1, B1, C1, and D1 corresponding to the solid in the water on the fifth plane; using coordinate point A, coordinate point B, coordinate point C, and coordinate point A1 as vertices, respectively. The coordinate point B, the coordinate point C, the coordinate point A1, and the coordinate point B1 are used as vertices; the coordinate point C, the coordinate point A1, the coordinate point B1, and the coordinate point C1 are used as vertices; the coordinate point A, the coordinate point C, the coordinate point D, and the coordinate point A1 are used as vertices; the coordinate point C, the coordinate point D, the coordinate point A1, and the coordinate point C1 are used as vertices; and the coordinate point D, the coordinate point A1, the coordinate point C1, and the coordinate point D1 are used as vertices to form six tetrahedrons; and the water body image including the six tetrahedrons is generated.

2. The method according to claim 1, characterized in that After forming the two triangles, the method further includes: selecting a third plane in the coordinate data; selecting coordinate point C1 and coordinate point D1 corresponding to the bottom of the water on the third plane; using coordinate point C, coordinate point D and coordinate point C1 as vertices, and using coordinate point C1, coordinate point D and coordinate point D1 as vertices to form two triangles respectively; and generating the underwater image including the two triangles, including: generating the underwater image including four triangles.

3. The method according to claim 1, characterized in that The preset first shape is a triangular strip; and determining, based on the coordinate data, an underwater image of the water bottom formed by the preset first shape comprises: determining, based on the coordinate data, an underwater image of the water bottom formed by the triangular strip.

4. The method according to claim 1, characterized in that: After the six tetrahedrons are formed, the method further includes: selecting a sixth plane from the coordinate data; selecting coordinate points A2, B2, C2, and D2 corresponding to the solid in the water on the sixth plane; using the coordinate points A1, B1, C1, and A2 as vertices, using the coordinate points B1, C1, A2, and B2 as vertices, and using the coordinate points C1, A2, B2, and D2 as vertices. The coordinate point C2 is used as a vertex, and the coordinate point A1, the coordinate point C1, the coordinate point D1, and the coordinate point A2 are used as vertices; the coordinate point C1, the coordinate point D1, the coordinate point A2, and the coordinate point C2 are used as vertices; and the coordinate point D1, the coordinate point A2, the coordinate point C2, and the coordinate point D2 are used as vertices to form six tetrahedrons; and the generation of the water body image including the six tetrahedrons includes: generating the water body image including twelve tetrahedrons.

5. The method according to any one of claims 1 to 4, characterized in that: The coordinate data is extracted from multibeam sonar data.

6. An image generating device, characterized in that: The device comprises: an acquisition unit configured to acquire coordinate data of a solid in a target water area, wherein the solid includes a water bottom and a solid in the water; a first determination unit configured to determine, based on the coordinate data, a water bottom image of the water bottom formed in a preset first shape; a second determination unit configured to determine, based on the coordinate data, a water body image of the solid in the water formed in a preset second shape; a generation unit configured to generate a water body image of the target water area formed by the water bottom image and the water body image; The preset first shape is a triangle; and based on the coordinate data, determining the underwater image of the underwater bottom formed by the preset first shape, comprises: selecting a plane in the coordinate data to obtain a first plane and a second plane; selecting a coordinate point A and a coordinate point B corresponding to the underwater bottom on the first plane; selecting a coordinate point C and a coordinate point D corresponding to the underwater bottom on the second plane; using the coordinate point A, the coordinate point B and the coordinate point C as vertices, and using the coordinate point C, the coordinate point B and the coordinate point D as vertices to form two triangles respectively; generating the underwater image including the two triangles; The second shape is a tetrahedron; and based on the coordinate data, determining the water body image of the solid in the water formed by the preset second shape, includes: selecting two planes in the coordinate data to obtain a fourth plane and a fifth plane; selecting coordinate points A, B, C, and D corresponding to the solid in the water on the fourth plane; selecting coordinate points A1, B1, C1, and D1 corresponding to the solid in the water on the fifth plane; using coordinate point A, coordinate point B, coordinate point C, and coordinate point A1 as vertices, respectively. The coordinate point B, the coordinate point C, the coordinate point A1, and the coordinate point B1 are used as vertices; the coordinate point C, the coordinate point A1, the coordinate point B1, and the coordinate point C1 are used as vertices; the coordinate point A, the coordinate point C, the coordinate point D, and the coordinate point A1 are used as vertices; the coordinate point C, the coordinate point D, the coordinate point A1, and the coordinate point C1 are used as vertices; and the coordinate point D, the coordinate point A1, the coordinate point C1, and the coordinate point D1 are used as vertices to form six tetrahedrons; and the water body image including the six tetrahedrons is generated.

7. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute a computer program stored in the memory, and when the computer program is executed, implement the method described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method described in any one of claims 1 to 5 is implemented.

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