A method and device for processing an irregular point string surface based on Geojson data

Abstract

The application relates to a method and device for processing irregular point string surfaces based on Geojson data, which method comprises the following steps: acquiring the outer contour points of a plurality of irregular patterns in a high-precision map, extracting a plurality of key vertices of each irregular pattern and calculating the vertices of the outer bounding box of the outer contour according to the key vertices; taking any vertex in the outer bounding box as a reference point, and making a ray along the longest side of the corresponding irregular pattern from the reference point; taking the reference point as a starting point, and sequentially taking a plurality of equidistant reference points on the ray; determining the split points of each edge of the irregular pattern according to each reference point, and splitting each irregular pattern into a plurality of quadrilaterals according to the two adjacent reference points and the corresponding split points. The vertices of the split quadrilaterals are determined through the vertices of the polygon, so that the precision of the processing of the irregular point string surfaces is improved, and the appearance and practicability of the drawing are improved.

Description

Technical Field

[0001] This invention belongs to the field of high-precision electronic map production, specifically relating to a method and apparatus for processing irregular point-to-surface mapping based on Geojson data. Background Technology

[0002] The creation of high-precision electronic maps primarily relies on the processing and display of geographic data. In point cloud data, traffic dividers are recorded as polygonal point strings, while in real-world scenarios, traffic dividers are divided into equally shaped quadrilaterals according to road marking rules. To achieve a more realistic and lifelike representation of the actual scene, point cloud processing is necessary to achieve a more authentic effect. Summary of the Invention

[0003] To improve the realism and simulation effect of irregular point-to-surface mapping, a method for processing irregular point-to-surface mapping based on Geojson data is provided in a first aspect of the present invention. The method includes: acquiring the outer contour points of multiple irregular shapes in a high-precision map; extracting multiple key vertices of each irregular shape and calculating the vertices of the bounding box of the outer contour; using any vertex in the bounding box as a reference point, drawing a ray along the longest side of the corresponding irregular shape through the reference point; taking multiple equidistant reference points on the ray sequentially from the reference point; determining the dividing point between the perpendicular line of each reference point and each side of the irregular shape based on each reference point; and dividing each irregular shape into multiple quadrilaterals based on two adjacent reference points and their corresponding dividing points.

[0004] In some embodiments of the present invention, the step of taking any vertex in the bounding box as a reference point and drawing a ray along the longest side of the corresponding irregular shape through the reference point includes: taking the vertex in the bounding box that is closest to the origin as the reference point and drawing a ray through the reference point to the longest side of the irregular shape, wherein the origin is a key vertex in the irregular shape.

[0005] Furthermore, the step of taking multiple equidistant reference points along the ray starting from the reference point includes: taking the vertex P closest to the origin of the outer bounding box, and drawing a ray from point P toward the X-axis direction of the reference system where the regular shape is located; taking multiple equidistant points P0, ..., Pn along the ray direction from point P, and the farthest point Pn does not exceed the X-axis boundary of the outer bounding box.

[0006] In some embodiments of the present invention, determining the dividing point between the perpendicular line of each reference point and each side of the irregular shape includes: if there are multiple intersection points of the reference point, then the two intersection points with the smallest distance from the corresponding side of the reference point are taken as the dividing points.

[0007] Furthermore, the step of dividing each irregular shape into multiple quadrilaterals based on two adjacent reference points and their corresponding dividing points includes: connecting two adjacent reference points and their corresponding dividing points to obtain a quadrilateral; and dividing each irregular shape based on the multiple quadrilaterals.

[0008] In the above embodiments, obtaining the outer contour points of multiple irregular shapes in the high-precision map includes: obtaining the outer contour points of multiple irregular shapes in the high-precision map through a semantic segmentation network.

[0009] A second aspect of the present invention provides an apparatus for processing irregular point-to-surface mapping based on Geojson data, comprising: an acquisition module for acquiring the outer contour points of multiple irregular shapes in a high-precision map, extracting multiple key vertices of each irregular shape, and calculating the vertices of the bounding box of the outer contour based on them; a determination module for using any vertex in the bounding box as a reference point, drawing a ray along the longest side of the corresponding irregular shape through the reference point; taking multiple equidistant reference points on the ray sequentially from the reference point; determining the dividing point between the perpendicular line of each reference point and each side of the irregular shape; and a segmentation module for segmenting each irregular shape into multiple quadrilaterals based on two adjacent reference points and their corresponding dividing points.

[0010] Furthermore, the segmentation module includes: a connection unit for connecting two adjacent reference points and their corresponding segmentation points to obtain a quadrilateral; and a segmentation unit for segmenting each irregular shape based on multiple quadrilaterals.

[0011] A third aspect of the present invention provides an electronic device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method for processing irregular points and surfaces based on Geojson data provided in the first aspect of the present invention.

[0012] In a fourth aspect, the present invention provides a computer-readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for processing irregular points and surfaces based on Geojson data provided in the first aspect of the present invention.

[0013] The beneficial effects of this invention are:

[0014] This invention relates to a method and apparatus for processing irregular point-to-surface mapping based on Geojson data. The method includes: acquiring the outer contour points of multiple irregular shapes in a high-precision map; extracting multiple key vertices of each irregular shape and calculating the vertices of the bounding box of the outer contour; using any vertex in the bounding box as a reference point, drawing a ray along the longest side of the corresponding irregular shape through the reference point; taking multiple equidistant reference points on the ray sequentially from the reference point; determining the dividing point between the perpendicular line of each reference point and each side of the irregular shape; and dividing each irregular shape into multiple quadrilaterals based on two adjacent reference points and their corresponding dividing points. This invention improves the precision of irregular point-to-surface mapping by determining the vertices of the polygons to divide the quadrilaterals, thereby improving the aesthetics and practicality of the mapping; since the cutting process is determined by the vertices and is independent of the shape of the shape, it can adaptively perform batch operations, improving automation efficiency and adaptability. Attached Figure Description

[0015] Figure 1 This is a basic flowchart illustrating the method for processing irregular point-to-surface patterns based on Geojson data in some embodiments of the present invention.

[0016] Figure 2 This is a schematic diagram illustrating the specific process of a method for processing irregular point-to-surface patterns based on Geojson data in some embodiments of the present invention.

[0017] Figure 3 This is a comparison diagram showing the effect of an irregular graphic before and after processing by a method for processing irregular points and surfaces based on Geojson data in some embodiments of the present invention;

[0018] Figure 4 Schematic diagram of the structure of a system for processing irregular point-to-surface patterns based on Geojson data in some embodiments of the present invention;

[0019] Figure 5 Schematic diagrams of the structure of electronic devices in some embodiments of the present invention. Detailed Implementation

[0020] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0021] refer to Figure 1 and Figure 2In a first aspect of the present invention, a method for processing irregular point-to-surface mapping based on Geojson data is provided, comprising: S100. acquiring the outer contour points of multiple irregular shapes in a high-precision map, extracting multiple key vertices of each irregular shape and calculating the vertices of the bounding box of the outer contour based on them; taking any vertex in the bounding box as a reference point, drawing a ray along the longest side of the corresponding irregular shape through the reference point; S200. taking multiple equidistant reference points on the ray sequentially from the reference point; determining the dividing point between the perpendicular line of each reference point and each side of the irregular shape; S300. dividing each irregular shape into multiple quadrilaterals based on two adjacent reference points and their corresponding dividing points.

[0022] GeoJSON is a format for encoding various geographic data structures. GeoJSON objects can represent geometry, features, or sets of features. GeoJSON supports the following geometry types: points, lines, polygons, multipoints, multilines, multipolygons, and sets of geometry. A feature in GeoJSON contains a geometry object and other attributes, while a set of features represents a series of features. A complete GeoJSON data structure is always an object (in JSON terminology). In GeoJSON, objects consist of a collection of name / value pairs—also called members.

[0023] A geometry is a GeoJSON object where the value of the `type` member is one of the following strings: "Point", "MultiPoint", "LineString", "MultiLineString", "Polygon", "MultiPolygon", or "GeometryCollection". Any GeoJSON geometry object of any type other than "GeometryCollection" must have a member named "coordinates". The value of the `coordinates` member is always an array. The structure of the elements in this array is determined by the geometry type. A polygon is another type of GeoJSON object. Each polygon object contains its outer contour points;

[0024] Bounding box algorithms, also known as minimum circumscribed rectangle algorithms, are used to find the optimal bounding space for a discrete set of points. The basic idea is to approximate a complex geometric object using a relatively large but simple geometric shape (called the bounding box). Common bounding box algorithms include AABB bounding box, bounding sphere, oriented bounding box (OBB), and fixed-direction convex hull (FDH).

[0025] In step S100 of some embodiments of the present invention, the step of taking any vertex in the bounding box as a reference point and drawing a ray along the longest side of the corresponding irregular shape through the reference point includes: taking the vertex in the bounding box that is the closest to the origin as the reference point and drawing a ray through the reference point to the longest side of the irregular shape, wherein the origin is a key vertex in the irregular shape.

[0026] Furthermore, the step of taking multiple equidistant reference points along the ray, starting from the reference point, includes: taking the vertex P closest to the origin of the bounding box, and drawing a ray from point P towards the X-axis direction of the reference system where the regular graphic is located; taking multiple equidistant points P0, ..., Pn along the ray direction from point P, with the farthest point Pn not exceeding the X-axis boundary of the bounding box. It can be understood that the aforementioned X-axis is usually based on the coordinate system along the road direction of the point cloud corresponding to the graphic, specifically the X-axis (width or height direction) of the image coordinate system where the graphic is located.

[0027] Indicatively, for reference Figure 3 The image shows a comparison of the effects of processing irregular shapes before and after processing them using a method based on Geojson data to process irregular points and surfaces. The left half of the image is the shape before processing, and the right half is the shape after processing. By comparison, it can be found that the shape in the left half (the knife-shaped polygon) is divided into multiple parallel quadrilaterals that extend from the handle (end point) to the tip.

[0028] In some embodiments of the present invention, step S200, determining the dividing point between the perpendicular line of each reference point and each side of the irregular shape includes: if there are multiple intersection points of the reference point, then the two intersection points with the smallest distance from the corresponding side of the reference point are taken as the dividing points.

[0029] Furthermore, the step of dividing each irregular shape into multiple quadrilaterals based on two adjacent reference points and their corresponding dividing points includes: connecting two adjacent reference points and their corresponding dividing points to obtain a quadrilateral; and dividing each irregular shape based on the multiple quadrilaterals.

[0030] In step S100 of the above embodiment, obtaining the outer contour points of multiple irregular shapes in the high-precision map includes: obtaining the outer contour points of multiple irregular shapes in the high-precision map through a semantic segmentation network. Optionally, the semantic segmentation network includes at least one of FCN, UNet, SegNet, DeepLab, and YOLO series.

[0031] As can be understood, this application obtains the outer contour points of an irregular shape, extracts key vertices, and calculates the vertices of the outer bounding box. Then, it uses a ray-scanning method to obtain the intersection points with each edge. Every four intersection points form a quadrilateral.

[0032] Example 2

[0033] refer to Figure 4 In a second aspect, the present invention provides an apparatus 1 for processing irregular point-to-surface mapping based on Geojson data, comprising: an acquisition module 11, configured to acquire the outer contour points of multiple irregular shapes in a high-precision map, extract multiple key vertices of each irregular shape, and calculate the vertices of the bounding box of the outer contour based on them; a determination module 12, configured to take any vertex in the bounding box as a reference point, draw a ray along the longest side of the corresponding irregular shape through the reference point; take multiple equidistant reference points on the ray sequentially starting from the reference point; determine the dividing point between the perpendicular line of each reference point and each side of the irregular shape; and a segmentation module 13, configured to segment each irregular shape into multiple quadrilaterals based on two adjacent reference points and their corresponding dividing points.

[0034] Furthermore, the segmentation module 13 includes: a connection unit for connecting two adjacent reference points and their corresponding segmentation points to obtain a quadrilateral; and a segmentation unit for segmenting each irregular shape based on multiple quadrilaterals.

[0035] Example 3

[0036] refer to Figure 5 A third aspect of the present invention provides an electronic device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method of the first aspect of the present invention.

[0037] Electronic device 500 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 502 or a program loaded from storage device 508 into random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of electronic device 500. The processing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. An input / output (I / O) interface 505 is also connected to bus 504.

[0038] Typically, the following devices can be connected to I / O interface 505: input devices 506 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 507 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 508 including, for example, hard disks; and communication devices 509. Communication device 509 allows electronic device 500 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 5 An electronic device 500 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Figure 5 Each box shown can represent a device or multiple devices as needed.

[0039] Specifically, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by a processing device 501, it performs the functions defined in the methods of embodiments of this disclosure. It should be noted that the computer-readable medium described in embodiments of this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In embodiments of this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In embodiments of this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0040] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more computer programs, which, when executed by the electronic device, cause the electronic device to:

[0041] Computer program code for performing the operations of embodiments of this disclosure can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, C++, and Python—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0042] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for processing irregular point-to-surface patterns based on Geojson data, characterized in that, include: Obtain the outer contour points of multiple irregular shapes in a high-precision map, extract multiple key vertices of each irregular shape, and calculate the vertices of the bounding box of the outer contour based on them. Using any vertex in the outer bounding box as a reference point, draw a ray along the longest side of the corresponding irregular shape through the reference point; starting from the reference point, take multiple equidistant reference points on the ray in sequence; Based on each reference point, determine the dividing point between its perpendicular line and each side of the irregular shape; the determination of the dividing point between its perpendicular line and each side of the irregular shape based on each reference point includes: If the reference point has multiple intersection points, then the two intersection points with the smallest distance from the corresponding edge of the reference point are taken as the dividing points; Each irregular shape is divided into multiple quadrilaterals based on two adjacent reference points and their corresponding dividing points.

2. The method for processing irregular point-to-surface patterns based on Geojson data according to claim 1, characterized in that, The step of drawing a ray along the longest side of the corresponding irregular shape, using any vertex in the bounding box as a reference point, includes: Using the vertex in the bounding box that is closest to the origin as the reference point, draw a ray from the reference point to the longest side of the irregular shape. The origin is a key vertex in the irregular shape.

3. The method for processing irregular point-to-surface patterns based on Geojson data according to claim 2, characterized in that, The step of taking multiple equidistant reference points along the ray, starting from a reference point, includes: Take the vertex P closest to the origin of the bounding box, and draw a ray from point P toward the X-axis of the reference frame where the irregular shape is located; Take multiple points P0, ..., Pn at equal intervals along the ray direction from point P, with the farthest point Pn not exceeding the X-axis boundary of the outer box.

4. The method for processing irregular point-to-surface patterns based on Geojson data according to claim 1, characterized in that, The step of dividing each irregular shape into multiple quadrilaterals based on two adjacent reference points and their corresponding dividing points includes: Connecting two adjacent reference points and their corresponding dividing points yields a quadrilateral. Based on the multiple quadrilaterals, each irregular shape is segmented.

5. The method for processing irregular point-to-surface patterns based on Geojson data according to any one of claims 1 to 4, characterized in that, The process of obtaining the outer contour points of multiple irregular shapes in a high-precision map includes: obtaining the outer contour points of multiple irregular shapes in a high-precision map through a semantic segmentation network.

6. A device for processing irregular point-to-surface patterns based on Geojson data, characterized in that, include: The acquisition module is used to acquire the outer contour points of multiple irregular shapes in a high-precision map, extract multiple key vertices of each irregular shape, and calculate the vertices of the bounding box of the outer contour based on them. The determination module is used to draw a ray along the longest side of the corresponding irregular shape through any vertex in the outer bounding box as a reference point; and to take multiple equidistant reference points on the ray sequentially, starting from the reference point. Based on each reference point, determine the dividing point between its perpendicular line and each side of the irregular shape; the determination of the dividing point between its perpendicular line and each side of the irregular shape based on each reference point includes: If the reference point has multiple intersection points, then the two intersection points with the smallest distance from the corresponding edge of the reference point are taken as the dividing points; The segmentation module is used to divide each irregular shape into multiple quadrilaterals based on two adjacent reference points and their corresponding segmentation points.

7. The apparatus for processing irregular point-surface patterns based on Geojson data according to claim 6, characterized in that, The segmentation module includes: A connecting unit is used to connect two adjacent reference points and their corresponding dividing points to form a quadrilateral. A segmentation unit is used to segment each irregular shape based on a plurality of said quadrilaterals.

8. An electronic device, comprising: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the method for processing irregular point-to-surface patterns based on Geojson data as described in any one of claims 1 to 5.

9. A computer-readable medium having a computer program stored thereon, wherein, When the computer program is executed by the processor, it implements the method for processing irregular point-to-surface patterns based on Geojson data as described in any one of claims 1 to 5.

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