Position determination method, display method, device, storage medium and program product

Abstract

The invention provides a position determination method, an image display method, electronic equipment, a readable storage medium and a computer program product, and the position determination method comprises the steps: firstly determining an original coordinate of a specified geometric element in a to-be-positioned three-dimensional model in a specified coordinate system, and then carrying out the coordinate encryption and coordinate transformation of the original coordinate; coordinate encryption is used for allowing the three-dimensional model to be applied in a public domain, and then a transformation relation needed by transformation of the specified geometric element from the coordinate system where the three-dimensional model is located to the target coordinate system is determined based on the position coordinates; and finally, performing coordinate transformation on points in the three-dimensional model through the transformation relation to obtain the position of the three-dimensional model in the target coordinate system.

Description

Technical Field

[0001] The present disclosure relates to technical fields such as images, and specifically to a position determination method, an image display method, an electronic device, a readable storage medium, and a computer program product. Background Art

[0002] Digital maps are a common way to display geographic locations. Digital maps can be used to display landforms, provide navigation, and other functions. For security or other reasons, digital maps need to be encrypted before they can be made public for users.

[0003] For electronic map data obtained from the Internet or other public channels that has been encrypted, it may be necessary to add a 3D model to the electronic map so that the 3D model can be displayed in the map scene. However, since the original map has been encrypted, the 3D model to be added cannot be aligned with the original map, and the position cannot be matched. Therefore, there is an urgent need for a technology that can determine the exact position of the 3D model to be added in the original map. Summary of the invention

[0004] The present disclosure provides a position determination method, an image display method, an electronic device, a readable storage medium, and a computer program product.

[0005] In a first aspect, the present disclosure proposes a position determination method, comprising: determining the original coordinates of a specified geometric element in a three-dimensional model to be located in a specified coordinate system; encrypting and transforming the original coordinates to obtain the position coordinates of the specified geometric element in a target coordinate system, wherein the coordinate encryption is used to allow the three-dimensional model to be applied in a public domain; determining, based on the position coordinates, a transformation relationship required for transforming the specified geometric element from the coordinate system where the three-dimensional model is located to the target coordinate system; and transforming the points in the three-dimensional model through the transformation relationship to obtain the position of the three-dimensional model in the target coordinate system.

[0006] According to some embodiments of the present disclosure, determining the original coordinates of a specified geometric element in a three-dimensional model to be positioned in a specified coordinate system includes: obtaining the coordinates of the specified geometric element in the three-dimensional model to be positioned in a projection coordinate system, and obtaining the positional relationship between a reference object and a specified point of the three-dimensional model in the projection coordinate system, the projection coordinate system being the coordinate system used when the three-dimensional model is drawn, and the reference object being used as a spatial position reference for the three-dimensional model; and performing a coordinate transformation on the coordinates of the specified geometric element in the projection coordinate system based on the positional relationship to obtain the geographic information coordinates of the specified geometric element in the specified coordinate system, and using the geographic information coordinates as the original coordinates.

[0007] According to some embodiments of the present disclosure, the positional relationship is represented by absolute projection coordinates of a specified point of the three-dimensional model on the reference object.

[0008] According to some embodiments of the present disclosure, the three-dimensional model is stored as a multi-layer file, which includes a geographic location information file and at least one model file, wherein the model file stores model data for representing the three-dimensional model, and the geographic location information file contains position parameters for representing the position relationship.

[0009] According to some embodiments of the present disclosure, the coordinates of the original coordinates are encrypted, including: positionally shifting the original coordinates according to a specified encrypted coordinate system by adding random deviations to the original coordinates, achieving coordinate encryption through the position shift, and obtaining encrypted coordinates of the specified geometric element in the specified encrypted coordinate system.

[0010] According to some embodiments of the present disclosure, a coordinate transformation is performed on the encrypted coordinates, including: performing a first coordinate transformation on the encrypted coordinates to obtain the coordinates of the specified geometric element in a coordinate system with the center of the reference object as the origin; and performing a second coordinate transformation on the coordinates of the specified geometric element in the coordinate system with the center of the reference object as the origin to obtain the position coordinates of the specified geometric element in a target coordinate system, wherein the target coordinate system has a specified point on the surface of the reference object as its origin.

[0011] According to some embodiments of the present disclosure, the target coordinate system is a station center coordinate system.

[0012] According to some embodiments of the present disclosure, the method further includes: determining N pre-transformation position points on the three-dimensional bounding box of the three-dimensional model in the coordinate system where the three-dimensional model is located, where N>1.

[0013] According to some embodiments of the present disclosure, coordinate transformation of points in the three-dimensional model is performed through the transformation relationship, including: based on the N pre-transformation position points and the transformation relationship, determining corresponding N post-transformation position points on the three-dimensional bounding box of the three-dimensional model in the target coordinate system, the post-transformation position points corresponding one-to-one with the pre-transformation position points; based on the N post-transformation position points and the N pre-transformation position points, determining the position point transformation relationship required for transforming from the coordinate system where the three-dimensional model is located to the target coordinate system; and coordinate transformation of points in the three-dimensional model based on the position point transformation relationship.

[0014] According to some embodiments of the present disclosure, based on the N transformed position points and the N pre-transformed position points, the position point transformation relationship required for transforming from the coordinate system where the three-dimensional model is located to the target coordinate system is determined, including: based on each of the transformed positions and the corresponding pre-transformed positions, N position point transformation matrices are determined; and singular value decomposition is performed on the N position point transformation matrices to obtain the optimal transformation matrix required for transforming from the coordinate system where the three-dimensional model is located to the target coordinate system, and the optimal transformation matrix is ​​used as the position point transformation relationship.

[0015] According to some embodiments of the present disclosure, the position point before transformation and the position point after transformation are both vertices of corresponding three-dimensional bounding boxes.

[0016] According to some embodiments of the present disclosure, the three-dimensional bounding box is in a hexahedral shape.

[0017] According to some embodiments of the present disclosure, before performing coordinate transformation on points in the three-dimensional model through the transformation relationship, the method further includes: performing region segmentation on the three-dimensional model to obtain model data of multiple region blocks.

[0018] According to some embodiments of the present disclosure, performing coordinate transformation on points in the three-dimensional model through the transformation relationship includes: performing coordinate transformation on the multiple area blocks in a parallel processing manner through the transformation relationship.

[0019] According to some embodiments of the present disclosure, the designated geometric element is a point in the three-dimensional model.

[0020] According to some embodiments of the present disclosure, the reference object is an ellipsoid model.

[0021] A second aspect of the present disclosure proposes a method for displaying an image, comprising: acquiring map data of an electronic map and position data of the electronic map in a target coordinate system; determining the position of a three-dimensional model to be displayed in the target coordinate system through a position determination method described in any of the above embodiments, wherein the three-dimensional model is a three-dimensional form of a specified image area in the electronic map; and displaying the electronic map and the three-dimensional model, wherein the displayed three-dimensional model covers the specified image area.

[0022] A third aspect of the present disclosure proposes an electronic device, comprising: a memory, the memory storing execution instructions; and a processor, the processor executing the execution instructions stored in the memory, so that the processor executes the method described in any one of the above embodiments.

[0023] A fourth aspect of the present disclosure provides a readable storage medium, wherein the readable storage medium stores a computer program, and when the computer program is executed by a processor, it is used to implement the method described in any of the above embodiments.

[0024] A fifth aspect of the present disclosure provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it is used to implement the method described in any of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0026] Figure 1 A schematic diagram showing an application scenario of a location determination method according to some embodiments of the present disclosure is shown.

[0027] Figure 2-Figure 3 A schematic diagram of the overall flow of a location determination method M100 according to some embodiments of the present disclosure is shown.

[0028] Figure 4 A schematic diagram showing the comparison between a projected coordinate system and a geographic coordinate system according to some embodiments of the present disclosure is shown.

[0029] Figure 5-Figure 8 A schematic diagram showing the overall flow of a location determination method M100 according to some other embodiments of the present disclosure is shown.

[0030] Fig. 9 A schematic diagram showing the overall process of an image display method M200 according to some embodiments of the present disclosure is shown.

[0031] Fig.10 A schematic diagram showing some embodiments of the present disclosure when only an electronic map is displayed in a stereoscopic perspective.

[0032] Fig.11 Shown in Fig.10 The electronic map shown shows a schematic diagram of the three-dimensional model.

[0033] Fig.12 It is a schematic block diagram of the structure of a position determination device according to one embodiment of the present disclosure.

[0034] Fig.13 The figure is a schematic block diagram of the structure of an image display device according to one embodiment of the present disclosure.

[0035] Fig.14 1 is a schematic block diagram of the structure of an electronic device 1000 according to an embodiment of the present disclosure.

[0036] Fig.15 It is a schematic block diagram of the structure of an electronic device 2000 according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0038] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] When users create maps, they usually use a coordinate system that they define. If they want to make the drawn map public and publish it online, they need to encrypt the electronic map first. Specifically, the location in the electronic map does not represent the real location. In the electronic map, the coordinates of each building and facility are encrypted. For example, Internet map service providers must first encrypt the map data to form an encrypted map before they can open it to the public for use, which can be used for positioning and navigation.

[0040] For maps that have been opened for use in the public domain, some third-party applications may process these map data as original maps, such as covering part of the original map with a drawn three-dimensional model, so that the location of the three-dimensional model, that is, the geographical environment near the model, can be displayed through the original map. However, since the original map that has been made public is an encrypted map, if the model is added directly to the original map, the added model will appear in the wrong position of the map. For example, a real estate company adds a community model containing multiple buildings to the original map to form a new map containing the community model, and introduces and displays information such as the geographical location of the community housing to users through the new map. However, if a three-dimensional model is added directly to the original map, the three-dimensional model will not be correctly located in the original map, making it impossible for the new map to correctly display the location of the community and the building. In summary, it is currently difficult to achieve the correct spatial positioning of the newly added map content on the original map.

[0041] To this end, the present disclosure proposes a location determination method.

[0042] Figure 1 The schematic diagram of the application scenario of the location determination method of some embodiments of the present disclosure is shown. In this application scenario, a processing end 10 and a service end 20 may be included.

[0043] The processing end 10 can communicate with the server end 20 to perform data transmission or instruction transmission. In the present disclosure, the processing end 10 and the server end 20 each include at least one processor and at least one memory. The processing end 10 and the server end 20 can be different types of electronic devices, such as tablet computers, laptop computers, desktop computers, etc. The server end 20 can include a server, which can be a physical server or a cloud server. The present disclosure does not limit the type of server.

[0044] Exemplarily, the processing end 10 can obtain model data of the three-dimensional model from the server end 20, determine the position of the three-dimensional model, and store the determined position to the server end 20, so that the client can obtain the model position from the server end 20 and display it correctly on the client, thereby realizing functions such as positioning and navigation using the three-dimensional model.

[0045] For the convenience of description and to make the technical solutions of the specific implementation methods of the present disclosure easier to understand, before describing the position determination method implemented by the present disclosure, the technical terms involved in the specific implementation methods of the present disclosure are first introduced.

[0046] A geodetic coordinate system is a coordinate system used to represent locations on the Earth that takes into account the Earth's shape and size.

[0047] Projected Coordinate System: Also known as non-Earth projected coordinate system, it is a plane coordinate system that uses a coordinate system based on (x, y) coordinate points to describe the location of a point on the Earth. Projected coordinate systems are more suitable for mapping and calculations than three-dimensional surfaces.

[0048] Geographic Coordinate System: A coordinate system that uses a three-dimensional spherical surface to define the position on the earth's surface, so as to represent the points on the earth's surface through longitude and latitude. Since the earth is similar to an ellipsoid, in order to locate more accurately, people abstract the earth into a regular ellipsoid that approximates the original natural earth's surface, called a reference ellipsoid, and then define a series of longitudes and latitudes on the reference ellipsoid to form a longitude and latitude grid, so as to achieve the purpose of describing the surface points through longitude and latitude. The geographic coordinate system is a spherical coordinate system, which is suitable for scenes that need to describe the position on the earth's surface, and can facilitate people from different regions and countries to describe and exchange geographic information under the same system.

[0049] The WGS-84 coordinate system (World Geodetic System-1984 Coordinate System) is an internationally adopted geocentric coordinate system, also known as the 1984 World Geodetic Coordinate System. It is an earth-fixed coordinate system, and the coordinate designation point is the center of mass of the earth. The WGS-84 coordinate system belongs to the geographic coordinate system.

[0050] Earth-fixed coordinate system: also known as the earth coordinate system, is a coordinate system fixed on the earth and rotates with the earth.

[0051] GCJ-02: It is a coordinate system of the geographic information system developed by the China National Administration of Surveying, Mapping and Geoinformation. Various map systems published in China (including electronic forms) must at least use GCJ-02 for the initial encryption of geographic locations.

[0052] ECEF (Earth-Centered, Earth-Fixed) coordinate system: It is an earth-fixed coordinate system with the center of mass of the earth (i.e. the center of the earth) as the designated point. In the ECEF coordinate system, the X-axis points to the intersection of the earth's equator and the prime meridian, the Z-axis points to the north pole of the earth and is parallel to the earth's axis (the earth's rotation axis), and the Y-axis is perpendicular to the XoZ plane. The ECEF coordinate system belongs to the Cartesian coordinate system and is more suitable for geometric transformations such as rotation and scaling.

[0053] ENU (East-North-Up) coordinate system: also known as the station-centered coordinate system, this coordinate system uses the observer or a specific geographical location as the designated point, and the horizontal plane at the designated point as the reference plane, with the X axis pointing to the east, the Y axis pointing to the north, and the Z axis pointing vertically upward. The ENU coordinate system belongs to the local space rectangular coordinate system, that is, the Cartesian coordinate system, and is suitable for scenarios such as local navigation that operate based on the observer's position.

[0054] Figure 2 FIG. 2 is a schematic diagram showing the overall flow of a location determination method M100 in some embodiments of the present disclosure. Figure 2 The method shown includes step S110, step S120, step S130 and step S140. The method can be implemented by running a script on an electronic device such as a computer.

[0055] S110, determining the original coordinates of a specified geometric element in the three-dimensional model to be positioned in a specified coordinate system.

[0056] A 3D model is a solid geometric model. Taking the real estate field as an example, a 3D model can be a residential area model, which can include models of multiple buildings, as well as models of green plants, roads, street lights and other facilities. As a model to be located, the residential area model needs to be located on the surface of the earth or at a specific location on the map.

[0057] The specified coordinate system may be a coordinate system in which the three-dimensional model is located, for example, a coordinate system used when the three-dimensional model is drawn. Specifically, the specified coordinate system may be a certain projection coordinate system or a certain geographic coordinate system. The specified geometric element in step S110 refers to a point, line or surface in the above-specified coordinate system. The specified geometric element may be located in the model area of ​​the three-dimensional model, for example, it may be the center point of the three-dimensional model.

[0058] The coordinates of the specified geometric elements in the 3D model can be automatically obtained by running a script or other means. The coordinates are called original coordinates, and the coordinates are the coordinates in the above-specified coordinate system.

[0059] S120, encrypting and transforming the original coordinates to obtain the position coordinates of the specified geometric elements in the target coordinate system. The coordinate encryption is used to allow the three-dimensional model to be applied in the public domain.

[0060] The public domain refers to an electronic map that is allowed to be published on the Internet and can be freely accessed by network users. The public can freely use the public domain map for browsing and query. As mentioned above, if the electronic map is to be published publicly, the position encryption is required, so in step S120, the coordinate encryption can be performed first, and then the encrypted coordinates can be transformed. After the coordinate transformation, the coordinates of the specified geometric element position obtained are the coordinates in the target coordinate system. The target coordinate system is the coordinate system used for the final positioning, that is, after the positioning of the model is completed, the model is in the target coordinate system. The target coordinate system can be a geographic coordinate system or a projection coordinate system. Coordinate encryption and coordinate transformation can be automatically realized by running a script or other methods.

[0061] S130, determining, based on the position coordinates, a transformation relationship required to transform the specified geometric element from the coordinate system where the three-dimensional model is located to the target coordinate system.

[0062] The coordinate system where the 3D model is located may refer to the coordinate system used in the drawing space when the 3D model is opened. The coordinate system where the 3D model is located may be the coordinate system specified in step S110 or other coordinate systems.

[0063] If the coordinate system of the 3D model is the above-specified coordinate system, it means that the 3D model is drawn in the above-specified coordinate system, that is, the above-specified coordinate system is the initial coordinate system of the 3D model. At this time, the above-specified transformation relationship is obtained by the original coordinates in the above-specified coordinate system and the position coordinates in the target coordinate system.

[0064] If the coordinate system of the 3D model is another coordinate system, it means that the 3D model is drawn in another coordinate system and the original coordinates in the specified coordinate system are obtained through coordinate transformation, that is, the other coordinate system is the initial coordinate system of the 3D model. At this time, the transformation relationship is obtained through the coordinates in the other coordinate system and the position coordinates in the target coordinate system.

[0065] Assuming that the three-dimensional model is drawn in the above-specified coordinate system, the coordinate system in which the three-dimensional model is located is the above-specified coordinate system. At this time, the transformation relationship in step S130 can describe the coordinate transformation method between the above-specified coordinate system and the target coordinate system. The above-specified transformation relationship can be automatically calculated by running a script or other methods.

[0066] S140, performing coordinate transformation on points in the three-dimensional model through a transformation relationship to obtain a position of the three-dimensional model in a target coordinate system.

[0067] After obtaining the transformation relationship of the specified geometric elements, the coordinate transformation of all voxel points or position points in the 3D model can be uniformly performed according to the transformation relationship, so as to achieve the transformation of the 3D model as a whole from the initial coordinate system (the coordinate system specified above or other coordinate systems) to the target coordinate system, and obtain the position of the 3D model in the target coordinate system. The coordinate transformation of the 3D model can be automatically performed by running a script or other means.

[0068] When map display is required, an electronic map is obtained from the public domain, and then the position is determined and displayed accordingly according to the position determination method M100, so that an image containing both the two-dimensional electronic map and the three-dimensional model can be obtained, and the three-dimensional model is in the correct position on the two-dimensional electronic map.

[0069] For example, the specified coordinate system may be a WGS-84 coordinate system, and the model data in the WGS-84 coordinate system is conducive to coordinate encryption in step S120. The target coordinate system may be an ENU coordinate system, and since the ENU coordinate system belongs to a local rectangular coordinate system, it is conducive to three-dimensional display of the model on a plane map.

[0070] According to the position determination method proposed in the embodiment of the present disclosure, in order to solve the positioning problem of the three-dimensional model in the public domain map, the coordinates are first encrypted and transformed by using designated geometric elements to obtain the coordinate transformation relationship between the initial coordinate system of the three-dimensional model and the target coordinate system, and then all the position points of the three-dimensional model are uniformly transformed according to the coordinate transformation relationship. In this way, the three-dimensional model can be encrypted so that the position of the three-dimensional model in the target coordinate system is correct. In this way, when the three-dimensional model is displayed together with other public domain maps, the three-dimensional model will not be misaligned with the public domain map; and, compared with performing coordinate transformation on each point of the three-dimensional model separately, a lot of calculation amount can be saved and the speed of coordinate transformation can be improved, so as to quickly achieve positioning in the target coordinate system.

[0071] Figure 3 FIG. 1 is a schematic diagram showing the overall flow of a location determination method M100 in some other embodiments of the present disclosure. Figure 3 The method of determining the original coordinates of the specified geometric element in the three-dimensional model to be positioned in the specified coordinate system (step S110) may specifically include the following steps S111 and S112. Steps S111 and S112 correspond to the case where the above-mentioned specified coordinate system is not the most initial coordinate system of the three-dimensional model.

[0072] S111, obtaining the coordinates of a specified geometric element in the three-dimensional model to be located in a projection coordinate system, and obtaining the positional relationship between a reference object and a specified point of the three-dimensional model in the projection coordinate system. The projection coordinate system is a coordinate system used when the three-dimensional model is drawn. The reference object is used as a spatial position reference of the three-dimensional model.

[0073] The projection coordinate system is the initial coordinate system of the 3D model. The 3D model is drawn in the projection coordinate system. For example, the center point of the 3D model is specified as a geometric element, and the coordinates of the center point in the projection coordinate system are obtained. The projection coordinate system is suitable for operations on two-dimensional planes and is convenient for measurement and calculation. Therefore, the 3D model is usually drawn in the projection coordinate system (local coordinate system).

[0074] The reference object is a three-dimensional geometric model. The reference object is used to enable spatial data in multiple different coordinate systems to express their positions based on the same three-dimensional model. The reference object can be an ellipsoid model. For example, the reference object is the earth. Different cell models or other models can all express their specific positions on the earth based on the common model of the earth. By providing an ideal, smooth ellipsoid geometric model, the definition of any point on the surface of the earth is realized, ensuring data consistency and interoperability when converting between different coordinate systems.

[0075] The designated point of the three-dimensional model can be a point inside the three-dimensional model, for example, it can be the center point of the three-dimensional model, that is, the designated point is the same as the designated geometric element. The designated point of the three-dimensional model can also be the origin or other points.

[0076] The positional relationship in step S111 is used to describe the position of the 3D model on the reference object, such as the longitude and latitude position on the earth's surface. After the 3D model is drawn in the projection coordinate system, the data of the positional relationship can be obtained in the file storing the 3D model.

[0077] The projection coordinate system can be the EPSG4549 coordinate system. EPSG4549 stands for CGCS2000 / 3-degree Gauss-Kruger CM 120E, where CGCS2000 refers to China Geodetic Coordinate System 2000, China's national geographic coordinate system, and 3-degree Gauss-Kruger CM 120E refers to the Gauss-Kruger projection with 120 east longitude as the central meridian. The EPSG4549 coordinate system contains the declaration information of the ellipsoid, which is used to describe and define the morphological characteristics of the ellipsoid, such as shape and size. The declaration information can be used to clarify the specific form of the reference object.

[0078] S112, performing coordinate transformation on the coordinates of the specified geometric element in the projection coordinate system based on the positional relationship, obtaining the geographic information coordinates of the specified geometric element in the specified geographic coordinate system, and using the geographic information coordinates as the original coordinates.

[0079] The coordinate system specified above is a geographic coordinate system, which can be a WGS-84 coordinate system. The unit of the WGS-84 coordinate system is [longitude, latitude, altitude].

[0080] Step S112 is used to implement the conversion of the specified geometric element from the projected coordinate system to the geographic coordinate system. Since the geographic coordinate system is a coordinate system established with the earth or other entities as reference objects, the reference object is applicable to the geographic coordinate system, and the positional relationship obtained in step S111 is also applicable to the geographic coordinate system. Based on this positional relationship, the existence of the reference object can be introduced into the coordinate system to implement the conversion from the projected coordinate system to the geographic coordinate system.

[0081] Figure 4 A schematic diagram showing the comparison between the projection coordinate system and the geographic coordinate system of some embodiments of the present disclosure is shown. Figure 4 , the left side is the earth in the projection coordinate system, and the right side is the earth in the geographic coordinate system. Through steps S111 and S112, the coordinate transformation of the three-dimensional model from the projection coordinate system to the geographic coordinate system is realized, providing a mathematical basis for the subsequent coordinate encryption.

[0082] The positional relationship can be expressed by the absolute projection coordinates of a specified point of the 3D model on the reference object.

[0083] Absolute Projected Coordinates refers to the precise geographic location of a model on the surface obtained through mathematical transformation in a specific geographic information system (GIS) or map making. The geographic location can be expressed by [longitude, latitude, altitude]. Absolute projected coordinates are used to represent the absolute position of the origin or center point of a three-dimensional model on the surface of a reference object.

[0084] The three-dimensional model can be stored as a multi-level file. The multi-level file includes a geographic location information file and at least one model file. The model file can store model data for representing the three-dimensional model, and the geographic location information file can contain position parameters for representing positional relationships.

[0085] When drawing is completed in the original coordinate system of the 3D model, the 3D model can be a model that conforms to the CC (ContextCapture) standard. The model produced in CC mode may include metadata.xml files and multi-level Tile files. Among them, the metadata.xml file is a geographic location information file, and the Tile file is a model file. There are multiple Tile files, and each Tile file corresponds to a sub-model in the 3D model. The 3D model produced by CC can be reprojected to any geographic coordinate system, such as the ECEF coordinate system and the ENU coordinate system, which is conducive to subsequent coordinate encryption and coordinate transformation.

[0086] Figure 5 FIG. 1 is a schematic diagram showing the overall flow of a location determination method M100 in some other embodiments of the present disclosure. Figure 5 , the method of encrypting the original coordinates (step S120) may specifically include the following steps S121.

[0087] S121, positionally offsetting the original coordinates according to the specified encrypted coordinate system by adding random deviations to the original coordinates, implementing coordinate encryption through the position offset, and obtaining encrypted coordinates of the specified geometric element in the specified encrypted coordinate system.

[0088] The encrypted coordinate system is a coordinate system in which the coordinates on the reference object (the earth) are nonlinearly and randomly offset based on the geodetic coordinate system when making a map. The coordinates of the center point of the three-dimensional model are converted into encrypted coordinates through step S121. The encrypted coordinate system can be a GCJ-02 coordinate system, which adds random deviations to the map to encrypt the longitude and latitude data of the center point, thereby ensuring that the three-dimensional model can be correctly displayed on the map in the end.

[0089] Continue reading Figure 5 The method of performing coordinate transformation on the encrypted coordinates (step S120) may specifically include the following steps S122 and S123. Step S122 is performed after step S121.

[0090] S122, performing a first coordinate transformation on the encrypted coordinates to obtain the coordinates of the specified geometric element in a coordinate system with the center of the reference object as the origin.

[0091] S123, performing a second coordinate transformation on the coordinates of the specified geometric element in the coordinate system with the center of the reference object as the origin, to obtain the position coordinates of the specified geometric element in the target coordinate system, wherein the target coordinate system has the specified point on the surface of the reference object as the origin.

[0092] The coordinate system with the center of the reference object as the origin can be the ECEF coordinate system, and the first coordinate transformation in step S122 is used to transform the center point of the three-dimensional model under the GCJ-02 coordinate system to the ECEF coordinate system. Since the ECEF coordinate system takes the earth as the origin, the volume of the cell model is too small relative to the earth, and the display of the cell model belongs to a local display, and the ECEF coordinate system is not intuitive enough in the display of the local area, which is not conducive to the local display of the map, so the second coordinate transformation can be performed through step S123. The target coordinate system can be the ENU coordinate system. The ENU coordinate system can take the center of the three-dimensional model as the origin, and the X, Y, and Z coordinate axes point to the east, north, and sky in turn. Since the Z axis coincides with the upward direction vector, the ENU coordinate system is more convenient than the ECEF coordinate system in terms of the display of the 3D model, and is therefore conducive to the display of the local area.

[0093] After obtaining the position coordinates of the center point of the three-dimensional model in the ENU coordinate system through step S123, the transformation relationship between the two coordinate systems can be calculated through the original coordinates of the center point of the three-dimensional model in the EPSG4549 coordinate system and the position coordinates in the ENU coordinate system, and then applied to all position points of the three-dimensional model to realize the coordinate transformation of the entire three-dimensional model from the EPSG4549 coordinate system to the ENU coordinate system, and obtain model coordinates that are both encrypted and conducive to model display.

[0094] Figure 6FIG. 1 is a schematic diagram showing the overall flow of a location determination method M100 in some other embodiments of the present disclosure. Figure 6 The location determination method M100 may further include the following step S101. Step S101 may be performed at any time before step S140, for example, before step S110, or during the process of performing steps S110 to S130.

[0095] Step S101 : determining N pre-transformation position points on a three-dimensional bounding box of a three-dimensional model in a coordinate system where the three-dimensional model is located, where N>1.

[0096] A bounding box is a rectangular box used to describe the position and range of a 3D model in an image. The bounding box can be the smallest enveloping cuboid of the 3D model. The bounding box of a 3D model can be a 3D bounding box. The 3D bounding box can be in the shape of a hexahedron, such as a cuboid or a cube. The sides of the 3D bounding box are parallel to the X, Y, and Z axes of the image.

[0097] If the coordinate system of the 3D model (the most initial model) is the EPSG4549 coordinate system, the 3D bounding box of the cell model is determined in the EPSG4549 coordinate system, and N position points on the 3D bounding box are determined, which are called pre-transformation position points. The N pre-transformation position points can be distributed on different faces of the 3D bounding box.

[0098] The 3D bounding box of the 3D model in the EPSG4549 coordinate system may be determined by traversing each Tile file of the 3D model and performing corresponding operations to obtain the 3D bounding box.

[0099] Continue reading Figure 6 The method of performing coordinate transformation on points in the three-dimensional model through transformation relationship (step S140) may specifically include the following steps S141, S142 and S143.

[0100] S141, based on the N pre-transformation position points and the transformation relationship, determine the corresponding N post-transformation position points on the three-dimensional bounding box of the three-dimensional model in the target coordinate system, wherein the post-transformation position points correspond one-to-one to the pre-transformation position points.

[0101] In the ENU coordinate system, the three-dimensional model can also form a three-dimensional bounding box. After the transformation relationship of the model center point is obtained in step S130, the N pre-transformation position points are uniformly transformed according to the transformation relationship to obtain corresponding N post-transformation position points, and each pre-transformation position point uniquely corresponds to a post-transformation position point. Both the pre-transformation position point and the post-transformation position point can be vertices of the corresponding three-dimensional bounding box, for example, all 8 vertices, that is, N=8.

[0102] S142: Based on the N transformed position points and the N pre-transformed position points, determine a position point transformation relationship required for transforming from the coordinate system where the three-dimensional model is located to the target coordinate system.

[0103] S143, performing coordinate transformation on points in the three-dimensional model based on the position point transformation relationship.

[0104] Since the transformation process of the position points may be distorted or have precision errors, the points on the three-dimensional bounding box can be used to constrain the position transformation of the model to avoid the situation in which the model is distorted and deformed beyond the bounding box due to precision errors after conversion in subsequent steps.

[0105] After the position points before transformation are transformed into the position points after transformation, N groups of position points are obtained, each group of position points includes a position point before transformation and a corresponding position point after transformation. The transformation relationship is calculated for each group of position points to obtain N position point transformation relationships. Then, the accuracy of the transformation relationship is improved by integrating the N position point transformation relationships, so that when the coordinate transformation is performed in step S143, a three-dimensional model with a more accurate position and a more accurate shape in the ENU coordinate system can be obtained.

[0106] Figure 7 FIG. 1 is a schematic diagram showing the overall flow of a location determination method M100 in some other embodiments of the present disclosure. Figure 7 , step S142 may specifically include the following steps S1421 and S1422.

[0107] S1421, determining N position point transformation matrices based on each transformed position and the corresponding pre-transformed position.

[0108] S1422, performing singular value decomposition on the N position point transformation matrices to obtain the optimal transformation matrix required to transform from the coordinate system where the three-dimensional model is located to the target coordinate system, and using the optimal transformation matrix as the position point transformation relationship.

[0109] The transformation relationship can be represented by a transformation matrix. Through step S1421, 8 position point transformation matrices are obtained. As mentioned above, due to the accuracy error of coordinate transformation, these 8 matrices are not exactly the same and may have slight differences. Through step S1422, the 8 position point transformation matrices are subjected to singular value decomposition (SVD, Singular Value Decomposition) to obtain an optimal transformation matrix, and then this optimal transformation matrix is ​​used in step S143 to perform coordinate transformation of the points of the three-dimensional model, which can reduce the amount of calculation and avoid deformation of the model.

[0110] Figure 8 FIG. 1 is a schematic diagram showing the overall flow of a location determination method M100 in some other embodiments of the present disclosure. Figure 8 The location determination method M100 may further include step S102. Step S102 may be performed at any time before step S140, for example, step S102 may be performed before step S101, may be performed after step S101, or may be performed during the process of performing steps S110 to S130.

[0111] S102, performing region segmentation on the three-dimensional model to obtain model data of a plurality of region blocks.

[0112] The region segmentation may be an average segmentation, the sizes of the region blocks obtained by segmentation may be the same, and each region block may be in the shape of a cuboid or a cube.

[0113] Correspondingly, the method of performing coordinate transformation on the points in the three-dimensional model through the transformation relationship in step S140 may specifically be: performing coordinate transformation on the above-mentioned multiple area blocks in a parallel processing manner through the transformation relationship.

[0114] For example, after the optimal transformation matrix is ​​obtained through step S1422, coordinate transformation can be performed on all area blocks simultaneously in a parallel processing manner, which can greatly save time and improve conversion efficiency compared to performing coordinate transformation on each position point of the three-dimensional model in turn.

[0115] Fig. 9 FIG. 2 is a schematic diagram showing the overall process of the image display method M200 according to some embodiments of the present disclosure. Fig. 9 The method shown includes step S210, step S220 and step S230. The method can be implemented by running a script on an electronic device such as a computer.

[0116] S210: Acquire map data of the electronic map and position data of the electronic map in a target coordinate system.

[0117] The electronic map may be a two-dimensional map, such as a satellite map or a digital grid map. The electronic map and its location data may be obtained from a public domain, such as from an Internet map service provider, to obtain the location of the electronic map in the ENU coordinate system.

[0118] S220, determining the position of the three-dimensional model to be displayed in the target coordinate system by a position determination method, wherein the three-dimensional model is the three-dimensional form of a designated image area in the electronic map.

[0119] Taking the cell model as an example, the position determination method M100 of any of the above embodiments can be used to obtain the position of any point in the cell model in the ENU coordinate system, that is, to obtain the position of the cell model in the ENU coordinate system. The electronic map contains an image area of ​​the cell corresponding to the cell model.

[0120] S230, displaying the electronic map and the three-dimensional model, wherein the displayed three-dimensional model covers the designated image area.

[0121] The electronic map and the community model are displayed. The community model will cover the community image area in the electronic map, achieving the effect of only displaying the community model in three dimensions. By displaying the three-dimensional model, users can more intuitively understand the community environment, location and other information. For example, clicking on the model can display the model's information, etc., which is conducive to users' house selection.

[0122] Fig.10 A schematic diagram showing a case where only an electronic map is displayed in a stereoscopic perspective according to some embodiments of the present disclosure. Fig.10 ,The area displayed in the electronic map is a square area, which is divided into different sub-areas by dotted lines, and the shaded part is the sub-area where the community is located.

[0123] Fig.11 Shown in Fig.10 The electronic map shown shows a schematic diagram of the 3D model. Fig.11 ,The community model includes multiple buildings represented by columnar cuboids. The community model covers the community image area (shaded part), thus realizing the 3D morphological display of a specific community.

[0124] Based on any of the above embodiments, the present disclosure also provides a position determination device. Fig.12 FIG. 1 is a schematic block diagram of a position determination device according to an embodiment of the present disclosure. Fig.12 As shown, the position determination device includes: an original coordinate determination module 110, a coordinate encryption module 120, a coordinate transformation module 130 and a transformation relationship determination module 140.

[0125] The original coordinate determination module 110 is used to determine the original coordinates of a specified geometric element in the three-dimensional model to be positioned in a specified coordinate system.

[0126] The coordinate encryption module 120 is used to encrypt the original coordinates, wherein the coordinate encryption is used to allow the three-dimensional model to be applied in the public domain.

[0127] The coordinate transformation module 130 is used to perform coordinate transformation on the encrypted original coordinates to obtain the position coordinates of the specified geometric element in the target coordinate system.

[0128] The transformation relationship determination module 140 is used to determine the transformation relationship required for transforming a specified geometric element from a coordinate system where the three-dimensional model is located to a target coordinate system based on the position coordinates.

[0129] The coordinate transformation module 130 is further used to perform coordinate transformation on points in the three-dimensional model through a transformation relationship to obtain the position of the three-dimensional model in the target coordinate system.

[0130] The above-mentioned position determination device can be in the form of computer software, and each module of the above-mentioned position determination device can be implemented by a computer software module. The implementation process of the functions and effects of each module in the above-mentioned position determination device is specifically described in the implementation process of the corresponding steps in the above-mentioned position determination method M100, which will not be repeated here.

[0131] Based on any of the above embodiments, the present disclosure also provides an image display device. Fig.13 FIG. 1 is a schematic block diagram of the structure of an image display device according to an embodiment of the present disclosure. Fig.13 As shown, the image display device includes: a data acquisition module 210, a position determination device 220 and a display 230.

[0132] The data acquisition module 210 is used to acquire map data of the electronic map and position data of the electronic map in the target coordinate system.

[0133] The position determination device 220 is used to determine the position of the three-dimensional model to be displayed in the target coordinate system by using a position determination method. The position determination device 220 may be Fig.12 The position determination device shown in . Wherein, the three-dimensional model is the three-dimensional form of the designated image area in the electronic map.

[0134] The display 230 is used to display the electronic map and the three-dimensional model, and the displayed three-dimensional model covers the designated image area.

[0135] Each module of the above-mentioned image display device can be implemented by a computer software module. The implementation process of the functions and effects of each module in the above-mentioned image display device is specifically described in the implementation process of the corresponding steps in the above-mentioned image display method M200, which will not be repeated here.

[0136] The execution subject of the location determination method in the specific implementation of the present disclosure may be an electronic device such as a computer. Therefore, based on any of the above implementations, the present disclosure also provides an electronic device that can execute the location determination method in any of the implementations described above in the present disclosure. Fig.14 FIG. 1 is a schematic block diagram of the structure of an electronic device 1000 according to an embodiment of the present disclosure. Fig.14, the hardware structure of the electronic device 1000 can be implemented using a bus architecture. The bus architecture can include any number of interconnecting buses and bridges, depending on the specific application and overall design constraints of the hardware. The bus 1100 connects various circuits including one or more processors 1200, memory 1300 and / or hardware modules together. The bus 1100 can also connect various other circuits 1400 such as peripherals, voltage regulators, power management circuits, external antennas, etc.

[0137] The bus 1100 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Component (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the figure only uses one connecting line, but does not mean that there is only one bus or one type of bus.

[0138] The execution subject of the image display method in the specific implementation of the present disclosure may be an electronic device such as a computer. Therefore, based on any of the above implementations, the present disclosure also provides an electronic device that can execute the image display method of any implementation described above in the present disclosure. Fig.15 FIG. 2 is a schematic block diagram of the structure of an electronic device 2000 according to an embodiment of the present disclosure. Fig.15 , the hardware structure of the electronic device 2000 can be implemented using a bus architecture. The bus architecture can include any number of interconnected buses and bridges, depending on the specific application and overall design constraints of the hardware. The bus 2100 connects various circuits including one or more processors 2200, memory 2300 and / or hardware modules together. The bus 2100 can also connect various other circuits 2400 such as peripherals, voltage regulators, power management circuits, external antennas, etc. The bus 2100 is also connected to a screen 1500, through which electronic maps and three-dimensional models are displayed.

[0139] The bus 2100 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Component (EISA) bus, etc. A bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one connecting line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0140] The present disclosure also provides a readable storage medium, in which a computer program is stored, and the computer program is used to implement the above method when executed by a processor. "Readable storage medium" can be any device that can contain, store, communicate, propagate or transmit a program for use in an instruction execution system, device or equipment or in combination with these instruction execution systems, devices or equipment. More specific examples of readable storage media include the following: an electrical connection portion (electronic device) with one or more wirings, a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM), etc.

[0141] The present disclosure also provides a computer program product, and the method of the present disclosure can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed, the process or function of the present disclosure is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, a core network device, an OAM or other programmable device.

[0142] The computer program or instructions may be stored in a readable storage medium or transmitted from one readable storage medium to another readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The readable storage medium may be any available medium that can be accessed or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disk; it may also be a semiconductor medium, such as a solid state drive. The computer readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0143] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0144] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0145] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0146] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0147] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments / methods or examples described in this specification and features of different embodiments / methods or examples, unless they are contradictory.

[0148] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0149] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A method for determining a position, characterized in that: include: Determine the original coordinates of a specified geometric element in the three-dimensional model to be positioned in a specified coordinate system; Performing coordinate encryption and coordinate transformation on the original coordinates to obtain the position coordinates of the specified geometric element in the target coordinate system, wherein the coordinate encryption is used to allow the three-dimensional model to be applied in a public domain; Determine, based on the position coordinates, a transformation relationship required for transforming the specified geometric element from the coordinate system where the three-dimensional model is located to the target coordinate system; as well as The coordinates of the points in the three-dimensional model are transformed through the transformation relationship to obtain the position of the three-dimensional model in the target coordinate system.

2. The method for determining a position according to claim 1, characterized in that: Determine the original coordinates of a specified geometric element in the 3D model to be positioned in a specified coordinate system, including: Acquire the coordinates of a specified geometric element in the three-dimensional model to be located in a projection coordinate system, and acquire the positional relationship between a reference object and a specified point of the three-dimensional model in the projection coordinate system, wherein the projection coordinate system is a coordinate system used when the three-dimensional model is drawn, and the reference object is used as a spatial position reference of the three-dimensional model; and Based on the positional relationship, coordinate transformation is performed on the coordinates of the specified geometric element in the projection coordinate system to obtain the geographic information coordinates of the specified geometric element in the specified coordinate system, and the geographic information coordinates are used as the original coordinates.

3. The method for determining a position according to claim 1, characterized in that: Encrypting the original coordinates includes: The original coordinates are positionally offset according to a specified encrypted coordinate system by adding random deviations to the original coordinates, coordinate encryption is achieved through the position offset, and encrypted coordinates of the specified geometric element in the specified encrypted coordinate system are obtained.

4. The method for determining a position according to claim 3, characterized in that: Performing coordinate transformation on the encrypted coordinates includes: Performing a first coordinate transformation on the encrypted coordinates to obtain the coordinates of the specified geometric element in a coordinate system with the center of the reference object as the origin; and A second coordinate transformation is performed on the coordinates of the specified geometric element in a coordinate system with the center of the reference object as the origin to obtain the position coordinates of the specified geometric element in a target coordinate system, wherein the target coordinate system has the specified point on the surface of the reference object as the origin.

5. The method for determining a position according to claim 1, characterized in that: The method further comprises: Determine N pre-transformation position points on the three-dimensional bounding box of the three-dimensional model in the coordinate system where the three-dimensional model is located, where N>1.

6. The method for determining a position according to claim 5, characterized in that: Performing coordinate transformation on points in the three-dimensional model by using the transformation relationship includes: Based on the N pre-transformation position points and the transformation relationship, determining corresponding N post-transformation position points on the three-dimensional bounding box of the three-dimensional model in the target coordinate system, the post-transformation position points corresponding one-to-one to the pre-transformation position points; Determining a position point transformation relationship required for transforming from the coordinate system where the three-dimensional model is located to the target coordinate system based on the N transformed position points and the N transformed position points; and The coordinates of the points in the three-dimensional model are transformed based on the position point transformation relationship.

7. The method for determining a position according to claim 6, characterized in that: Determining a position point transformation relationship required for transforming from the coordinate system where the three-dimensional model is located to the target coordinate system based on the N transformed position points and the N transformed position points includes: Determining N position point transformation matrices based on each of the transformed positions and the corresponding pre-transformed positions; and Singular value decomposition is performed on the N position point transformation matrices to obtain an optimal transformation matrix required for transforming from the coordinate system where the three-dimensional model is located to the target coordinate system, and the optimal transformation matrix is ​​used as the position point transformation relationship.

8. A method for displaying an image, characterized in that: include: Acquiring map data of an electronic map and position data of the electronic map in a target coordinate system; Determine the position of the three-dimensional model to be displayed in the target coordinate system by the position determination method according to any one of claims 1 to 7, wherein the three-dimensional model is a three-dimensional form of a designated image area in the electronic map; as well as The electronic map and the three-dimensional model are displayed, and the displayed three-dimensional model covers the designated image area.

9. An electronic device, characterized in that: include: A memory storing execution instructions; as well as A processor, wherein the processor executes the execution instruction stored in the memory so that the processor executes the method according to any one of claims 1 to 8.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program is used to implement the method according to any one of claims 1 to 8.

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