Panoramic implantation marking method and related equipment

Abstract

The invention provides a panorama implantation mark method and related equipment, and when a user wants to look up panorama image data of a certain target geographic position, the target image position corresponding to the target geographic position corresponding to a user look-up instruction can be determined and implanted with a mark, so that the interaction experience of the user is enhanced, and the user experience is improved. And auxiliary information association and transmission are improved, so that the practicability and usability of the data are improved. Further, from the perspective of data production and maintenance, the marking is standardized marking of the panoramic basic points. The method can help a data manager to quickly identify and manage different panoramic basic points, can locate a specific position through marking, improves the data processing efficiency, can highlight the particularity of a target position for a complex panoramic scene through marking, helps a user to understand the importance of the position, strengthens the cognition of the user on the target geographic position, and improves the user experience. The lookup process is more efficient, the user experience is improved, and the application scene of the panoramic image data is expanded.

Description

Panoramic Implantation Marking Methods and Related Equipment Technical Field

[0001] This application relates to the field of panoramic image data processing technology, and in particular to a panoramic implantation marking method and related equipment. Background Technology

[0002] In the digital information age, people's pursuit of immersive visual experiences is growing, and panoramic roaming technology has emerged as a result, showing great application potential in many fields such as tourism, real estate, education, and entertainment.

[0003] Panoramic roaming technology mainly encompasses several key stages: panoramic image acquisition, panoramic image processing, panoramic roaming system development, and panoramic image rendering. The panoramic image acquisition process primarily involves capturing multiple photos with a certain degree of overlap, and then using image stitching technology to integrate these overlapping photos into a complete panoramic image. This method can capture scene information from all angles and perspectives, presenting users with an immersive visual experience. In practical applications, acquiring high-quality panoramic images during the acquisition process can facilitate subsequent panoramic image processing, as well as the processing of image data during panoramic roaming system development and panoramic image rendering. However, despite the promising future of panoramic roaming technology, it still faces many unresolved issues. For example, in the panoramic image processing stage, it is sometimes necessary to label the image data that the user wants to view. However, due to differences in camera parameter settings, complex and variable lighting conditions, and other factors, the stitched panoramic image is often prone to defects such as cracks and blurring, resulting in a lack of realism and user immersion in the panoramic roaming data, failing to effectively present the panoramic image data that the user wants to view. These issues severely impact the visual quality and user experience of panoramic images. Therefore, effectively improving image stitching quality, enhancing the realism of panoramic roaming data, and improving the user's interactive experience have become key directions for promoting the development of panoramic roaming technology. Summary of the Invention

[0004] This application aims to at least solve one of the aforementioned technical defects. In view of this, this application provides a panoramic implantation marking method and related equipment to solve the technical defect of poor panoramic image data presentation in the prior art.

[0005] A panoramic marker implantation method includes: receiving and analyzing a user's first search instruction, determining a first target geographic location corresponding to the first search instruction; determining coordinate information corresponding to the first target geographic location; determining at least one first target panoramic base point corresponding to the coordinate information corresponding to the first target geographic location based on the coordinate information corresponding to the first target geographic location; determining panoramic image data corresponding to each first target panoramic base point; calculating the position of a first target image to be implanted with a preset first marker based on the coordinate information corresponding to the first target geographic location and the panoramic image data corresponding to each first target panoramic base point; implanting the preset first marker at the first target image position; and displaying panoramic image data corresponding to the first target panoramic base point corresponding to the first target geographic location, centered on the first target image position with the implanted preset first marker.

[0006] Preferably, the method further includes: identifying whether the user has changed the search target; if the user has changed the search target, receiving and analyzing the user's second search instruction, determining the second target geographical location corresponding to the second search instruction; determining and re-implanting a preset second mark at the second target image location corresponding to the second target geographical location, and displaying panoramic image data corresponding to the second target geographical location based on the re-implanted preset second mark, with the second target image location of the re-implanted preset second mark as the center.

[0007] Preferably, receiving and analyzing the user's first search instruction and determining the first target geographical location corresponding to the first search instruction includes: receiving and analyzing the first search instruction to determine the first coordinate information of the geographical location clicked by the user; performing a preset first distance buffering process on the first coordinate information of the geographical location clicked by the user to obtain the second coordinate information of the geographical location clicked by the user; and determining the area in the first target area that spatially intersects with the second coordinate information of the geographical location clicked by the user as the first target geographical location.

[0008] Preferably, receiving and analyzing the user's second search instruction to determine the second target geographical location corresponding to the second search instruction includes: receiving and analyzing the second search instruction to determine the third coordinate information of the geographical location clicked by the user; determining whether the third coordinate information overlaps with the first coordinate information; if the second coordinate information overlaps with the first coordinate information, then determining the area in the first target area that spatially intersects with the third coordinate information of the geographical location clicked by the user as the second target geographical location; if the third coordinate information does not overlap with the first coordinate information, then performing a preset first distance buffering process on the third coordinate information of the geographical location clicked by the user to obtain the fourth coordinate information of the geographical location clicked by the user; determining the area in the first target area that spatially intersects with the fourth coordinate information of the geographical location clicked by the user as the second target geographical location.

[0009] Preferably, determining at least one panoramic base point corresponding to the first target geographical location based on the coordinate information of the first target geographical location includes: identifying the coordinate information of all panoramic base points in the first target area; performing a preset second distance buffering process on the first coordinate information of the first target geographical location to obtain the second coordinate information of the first target geographical location; performing spatial intersection processing on the second coordinate information of the first target geographical location and the coordinate information of each panoramic base point in the first target area; obtaining the spatial intersection result between the second coordinate information of the first target geographical location and the coordinate information of each panoramic base point in the first target area; determining at least one panoramic base point that has a spatial intersection with the second coordinate of the first target geographical location based on the spatial intersection result between the second coordinate information of the first target geographical location and the coordinate information of each panoramic base point in the first target area; calculating the distance between each panoramic base point that has a spatial intersection with the second coordinate of the first target geographical location and the second coordinate of the first target geographical location; and selecting the panoramic base point with the shortest distance to the second coordinate of the first target geographical location among the panoramic base points that have a spatial intersection with the second coordinate of the first target geographical location as the first target panoramic base point.

[0010] Preferably, the calculation of the first target image position to be implanted with the preset first mark, based on the coordinate information corresponding to the first target geographical location and the panoramic image data corresponding to each first target panoramic base point, includes: performing preset coordinate transformation processing on the first coordinate information of the first target geographical location and the coordinate information of the first target panoramic base point to obtain the fourth coordinate information of the first target geographical location and the second coordinate information of the first target panoramic base point; determining the image pixel coordinates in the panoramic image corresponding to the first target panoramic base point based on the fourth coordinate information of the first target geographical location; and performing spatial intersection deduplication processing on the image pixel coordinates corresponding to each first target panoramic base point based on the fourth coordinate information of the target geographical location, and determining the image position in the panoramic image data corresponding to the first target panoramic base point that corresponds to the coordinate information of the first target geographical location as the first target image position to be implanted with the preset first mark.

[0011] Preferably, based on the fourth coordinate information of the first target's geographical location, the image pixel coordinates in the panoramic image corresponding to the first target's panoramic base point are determined. Then, based on the fourth coordinate information of the target's geographical location, spatial intersection deduplication processing is performed on the corresponding image pixel coordinates in the panoramic image data corresponding to each first target panoramic base point. The image position in the panoramic image data corresponding to the first target's panoramic base point that corresponds to the coordinate information of the first target's geographical location is determined as the first target image position to be implanted with the preset first marker. This includes: based on the fourth coordinate information of the first target's geographical location, performing spatial intersection deduplication processing on the corresponding image pixel coordinates in the panoramic image data corresponding to each first target panoramic base point; obtaining the panoramic image corresponding to each first target panoramic base point... The second image pixel coordinates are obtained from the image data. Based on the fourth coordinate information of the first target's geographical location, the fifth coordinate information corresponding to the second coordinate information of the first target's geographical location relative to the first target's panoramic base point is calculated. The azimuth and pitch angles corresponding to the fifth coordinate information of the first target's geographical location are calculated, and the calculated azimuth and pitch angles are converted into degrees to obtain the sixth coordinate information of the first target's geographical location. The sixth coordinate information of the first target's geographical location is mapped to the second image pixel coordinates in the panoramic image data corresponding to the first target's panoramic base point, so as to determine the image position in the panoramic image data corresponding to the first target's panoramic base point and the coordinate information of the first target's geographical location as the first target image position to be implanted with the preset first mark.

[0012] Preferably, a preset second marker is determined and re-embedded at the second target image position corresponding to the second target geographical location, and panoramic image data corresponding to the second target geographical location is displayed based on the re-embedded preset second marker, with the second target image position of the re-embedded preset second marker as the center. This includes: determining the coordinate information corresponding to the second target geographical location; determining at least one second target panoramic base point corresponding to the coordinate information corresponding to the second target geographical location based on the coordinate information corresponding to the second target geographical location; determining the coordinate information of each second target panoramic base point; performing preset coordinate transformation processing on the coordinate information of the second target geographical location and the coordinate information of each second target panoramic base point to obtain the fifth coordinate information of the second target geographical location and the second coordinate information of each second target panoramic base point; and based on... The fifth coordinate information of the second target's geographical location is used to determine the first image pixel coordinates in the panoramic image data corresponding to each second target panoramic base point. Based on the fifth coordinate information of the second target's geographical location, spatial intersection and deduplication processing is performed on the first image pixel coordinates in the panoramic image data corresponding to each second target panoramic base point to determine the image position in the panoramic image data corresponding to the second target panoramic base point with the coordinate information of the second target's geographical location as the second target image position. A preset second marker is re-implanted at the second target image position. Based on the re-implanted preset second marker, the panoramic image data corresponding to the second target's geographical location is displayed with the re-implanted preset second marker as the center. The display effect of the panoramic image data corresponding to the second target's geographical location is corrected according to the center of the user's display screen.

[0013] Preferably, based on the fifth coordinate information of the second target's geographical location, the first image pixel coordinates in the panoramic image data corresponding to each second target panoramic base point are determined; based on the fifth coordinate information of the second target's geographical location, spatial intersection and deduplication processing is performed on the first image pixel coordinates in the panoramic image data corresponding to each second target panoramic base point to determine the image position of the second target image as the second target image position corresponding to the coordinate information of the second target's geographical location, including: calculating the seventh coordinate information corresponding to the fifth coordinate information of the second target's geographical location relative to the second coordinate information of each second target panoramic base point; calculating... The seventh coordinate information of the second target's geographical location corresponds to the azimuth and elevation angles. The calculated azimuth and elevation angles are converted into degrees to obtain the eighth coordinate information of the second target's geographical location. The eighth coordinate information of the second target's geographical location is mapped to the panoramic image data corresponding to each panoramic base point of the second target to obtain the third pixel coordinates in the panoramic image data of each panoramic base point of the second target corresponding to the eighth coordinate information of the second target's geographical location. Spatial intersection and deduplication processing is performed on the pixel coordinates of each panoramic base point of the second target to determine the image position in the panoramic image data corresponding to the second target panoramic base point corresponding to the coordinate information of the second target's geographical location as the image position of the second target.

[0014] A panoramic marker implantation device includes: an analysis unit for receiving and analyzing a user's first query instruction and determining a first target geographical location corresponding to the first query instruction; a first determination unit for determining coordinate information corresponding to the first target geographical location; a second determination unit for determining at least one first target panoramic base point corresponding to the coordinate information corresponding to the first target geographical location based on the coordinate information corresponding to the first target geographical location; a third determination unit for determining panoramic image data corresponding to each first target panoramic base point; a calculation unit for calculating the target image position of the first target to be implanted with a preset first marker based on the coordinate information corresponding to the first target geographical location and the panoramic image data corresponding to each first target panoramic base point; an implantation unit for implanting the preset first marker at the first target image position; and a display unit for displaying panoramic image data corresponding to the first target panoramic base point corresponding to the first target geographical location, centered on the first target image position where the preset first marker is implanted.

[0015] A panoramic implantation marking device includes: one or more processors and a memory; the memory stores computer-readable instructions, which, when executed by the one or more processors, implement the steps of any of the panoramic implantation marking methods described above.

[0016] A readable storage medium storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the steps of any of the panoramic implantation marking methods described above.

[0017] As can be seen from the above description, when a user wants to view panoramic image data of a certain geographical location, this application can receive and analyze the user's first viewing instruction to determine the first target geographical location corresponding to the first viewing instruction; and after determining the first target geographical location, further determine the coordinate information corresponding to the first target geographical location; so that at least one first target panoramic base point corresponding to the coordinate information corresponding to the first target geographical location can be determined based on the coordinate information corresponding to the first target geographical location; by determining each first target panoramic base point through the coordinate information of the first target geographical location, it can be ensured that the presented panoramic image data is closer to the user's viewing needs. Therefore, after determining each first target panoramic base point, the panoramic image data corresponding to each first target panoramic base point can be further determined; so that the position of the first target image to be implanted with a preset first mark can be calculated based on the coordinate position corresponding to the first target geographical location and the panoramic image data corresponding to each first target panoramic base point; and the preset first mark is implanted at the position of the first target image so that the panoramic image data of the first target geographical location that the user wants to view can be accurately located, and the panoramic image data corresponding to the first target panoramic base point corresponding to the first target geographical location can be displayed based on the implanted preset first mark, with the position of the first target image with the implanted preset first mark as the center.

[0018] Therefore, when a user wants to view panoramic image data of a specific geographical location, this application can identify and embed markers at the target image location corresponding to the user's query command. This enhances the user's interactive experience and improves the association and transmission of auxiliary information, thereby increasing the data's practicality and usability. After embedding the markers, they can serve as interactive carriers, supporting further user operations. As connection points, the markers allow users to obtain richer related information while viewing the images. Furthermore, from the perspective of data production and maintenance, the markers are standardized annotations of panoramic baseline points. They help data managers quickly identify and manage different panoramic baseline points, pinpointing specific locations and improving data processing efficiency. For complex panoramic scenes, the markers highlight the uniqueness of the target location, helping users understand its importance and strengthening their awareness of the target geographical location, making the query process more efficient. This not only improves the user experience but also expands the application scenarios of panoramic image data. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 is a flowchart of a panoramic implantation marking method provided by an embodiment of this application; Figure 2 is a schematic diagram of a panoramic implantation marking device according to an example of this application; Figure 3 is a hardware structure block diagram of a panoramic implantation marking device disclosed in this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] Given that most current panoramic imagery embedding and marking schemes are ill-suited to complex and ever-changing business needs, this applicant has developed a panoramic imagery embedding and marking scheme. This method identifies and embeds markers at the target image locations corresponding to the user's query command's geographic location, enhancing the user's interactive experience and improving the association and transmission of auxiliary information, thereby improving the data's usability and practicality. The markers serve as interactive carriers, supporting further user operations. As connection points, the markers allow users to obtain richer related information while viewing images. Furthermore, from the perspective of data production and maintenance, the markers are standardized annotations of panoramic baseline points. They help data managers quickly identify and manage different panoramic baseline points, pinpointing specific locations and improving data processing efficiency. For complex panoramic scenes, the markers highlight the uniqueness of the target location, helping users understand its importance and strengthening their awareness of the target geographic location, making the query process more efficient. This not only improves the user experience but also expands the application scenarios of panoramic imagery data.

[0022] This application can be used in numerous general-purpose or special-purpose computing device environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor devices, distributed computing environments including any of the above devices, etc. This application provides a panoramic implantation marker method, which can be applied to various panoramic image data management systems, as well as to various computer terminals or smart terminals. The executing entity can be the processor or server of the computer terminal or smart terminal.

[0023] The following describes the process of the panoramic implantation marking method provided in the embodiment of this application with reference to Figure 1. As shown in Figure 1, the process may include the following steps: Step S101: Receive and analyze the user's first search instruction, and determine the target geographical location corresponding to the first search instruction.

[0024] Specifically, in practical applications, the location a user clicks on a map does not inherently contain sufficient geographic information. A panoramic image management system requires precise geographic coordinates to obtain accurate image data. The user clicks on a pixel on the screen (e.g., x=300, y=200), but determining the panoramic data to be displayed requires real-world latitude and longitude coordinates. Only by knowing which region the current panoramic view represents can the clicked pixel be mapped to its corresponding geographic coordinates. Furthermore, parameters such as the zoom level, pitch angle, and orientation of the panoramic image alter the correspondence between screen coordinates and geographic coordinates. For example, when zoomed in, one pixel might represent one meter; when zoomed out, one pixel might represent 100 meters. Therefore, to determine the coordinate information of the panoramic image data to be displayed, the system can first receive and analyze the user's initial query command to determine the first target geographic location corresponding to that command.

[0025] In practical applications, assuming a user clicks on a point on the screen and wants to view the panoramic image of that point, the specific analysis process is generally as follows: (1) Capture the coordinates of the point clicked by the user and obtain the pixel position (x, y) of that point; (2) Calculate the ray vector: Generate a 3D ray based on the camera parameters and determine the projection matrix of the current view; (3) Geographic coordinate inverse solution: Calculate the latitude and longitude of the intersection point of the ray and the panoramic sphere to determine the range of the currently loaded panoramic area; (4) Load the high-definition panoramic image data of that location based on the intersection point coordinates, mainly relying on the panoramic data index of the target area to locate the panoramic image data to be displayed.

[0026] Without analyzing the user's search instructions to determine the "current panoramic area," the coordinate transformation for calculating ray vectors and inverse geographic coordinates cannot be completed. When analyzing the user's search instructions, it's necessary to identify the text information in the instructions as latitude and longitude ranges, transforming vague click intentions into precise geographic targets. Furthermore, it's crucial to analyze display parameters based on the view parameters of the user's current screen, such as recording the current panoramic center point, zoom level, and 3D projection matrix in real time. The process of dynamically calculating the conversion from screen coordinates (x, y) to latitude and longitude information is essential. This allows for the matching of pre-tiled panoramic data (e.g., ZoomLevel=18, TileX=104857, TileY=56635) using latitude and longitude coordinates. This effectively establishes the mathematical foundation for the mapping from screen space to geographic space.

[0027] Step S102: Determine the coordinate information corresponding to the geographical location of the first target.

[0028] Specifically, the Earth's geographical locations are complex and diverse. Describing locations solely by name can be ambiguous, leading to issues like duplicate names. Coordinate information (such as latitude and longitude) provides a globally unified and precise way of representing location. It uniquely identifies a point on Earth, like assigning each location a unique numerical address, ensuring accurate location of the panoramic image data needed by the user and avoiding errors due to unclear geographical descriptions. Therefore, to achieve accurate positioning, facilitate data management and retrieval, and adapt to different map and image systems, after determining the first target geographical location corresponding to the user's query command, the coordinate information corresponding to that location can be determined. This allows the panoramic image data corresponding to the first target geographical location to be determined based on its coordinates. Furthermore, panoramic image data is typically very large, requiring effective management during storage. Associating panoramic image data with corresponding coordinate information allows the data to be organized and stored according to coordinates, forming an ordered database. When a user requests a query, the corresponding panoramic image data can be quickly located and retrieved based on the coordinates, improving the efficiency of data query and retrieval. Secondly, various map software and panoramic image acquisition systems typically operate based on specific coordinate systems. Determining the coordinates of the target's geographic location helps to accurately match the user's requested location with data in these systems. Regardless of whether the coordinates are obtained from positioning systems such as GPS or BeiDou Navigation Satellite System, or the coordinate systems used by different map platforms, a unified coordinate transformation can ensure that panoramic imagery data is correctly displayed and applied in the corresponding systems.

[0029] Step S103: Based on the coordinate information corresponding to the geographical location of the first target, determine at least one panoramic base point of the first target corresponding to the coordinate information corresponding to the geographical location of the first target.

[0030] Specifically, in practical applications, to improve the security and privacy of panoramic image data, the storage strategy for panoramic image data is discretization tiling. The stored panoramic image is not a complete continuous image, but a discrete dataset composed of massive base tiles. The panoramic base point is the anchor point of the spatial index, and each panoramic base point corresponds to a set of pre-rendered panoramic tiles (such as 6×6 fisheye images). The mapping relationship between the geographic coordinates of each panoramic base point and its corresponding tile data can be as follows: (longitude, latitude) → spatial index encoding (such as S2 Cell ID) → tile storage path; for example: [121.5012°E, 31.2444°N] → S2 Cell ID 0x89eabf → / tiles / 18 / 104857_56635 / .

[0031] Therefore, it is evident that panoramic image data to be stitched cannot be obtained directly from latitude and longitude information; it must be converted into a spatial index to locate the storage position. In practical applications, multiple sets of panoramic image data may exist for the same geographical location. For example, each geographical location may have data from different times, different perspectives, or different sources. Secondly, the presentation of panoramic image data relies on a local 3D coordinate system, not a globally unified coordinate system. The panoramic base point can be used as the origin reference point to calculate the spherical distance or angular offset of the user's clicked location. Simultaneously, the data preloading range can be determined based on the determined panoramic base point. For example, after determining the panoramic base point to be displayed, tiles within 500m of the panoramic base point can be loaded (avoiding loading the entire city's data), improving data loading efficiency and processing time. Furthermore, data retrieval and adjacent tile data preloading can be performed based on the determined panoramic base point to be displayed. This can solve the problem of retrieval time consumption and improve retrieval efficiency and data preloading processing efficiency. Assuming the user clicks at coordinates (x, y), the current screen view parameters (including the current base point P0) are determined based on the clicked location. Then, the coordinates of the intersection point Q of the ray and the bridge surface are calculated based on these view parameters. The coordinates of Q are converted to geographic coordinates G. Based on the coordinates of G, the nearest panoramic base point P1 is found. The tile data associated with P1 is loaded, and a new view is rendered with P1 as the origin. The transition from the current base point P0 to the new base point P1 achieves seamless view migration.

[0032] For example, when a user clicks on the location corresponding to the "Oriental Pearl Tower Sphere" on the "Shanghai Lujiazui Panoramic Map," the specific calculation process is as follows: 1. Current base point: P0 = Lujiazui Roundabout ground collection point (ID: SH-LJZ-002); 2. Click location calculation: Screen coordinates → Ray vector → Geographic coordinates (121.502°E, 31.242°N); 3. Find a new base point and return the spatial index: P1 = Oriental Pearl Tower base dedicated collection point (ID: SH-OP-T01) (this point pre-stores panoramic data of various heights of the tower); 4. Load data: Load the bottom tiles, middle observation deck tiles, and top sphere tiles (including internal views) based on P1.

[0033] As can be seen from the above description, this application can determine the coordinate information of the geographical location of the first target. After determining the coordinate information corresponding to the geographical location of the first target, at least one panoramic base point of the first target corresponding to the coordinate information of the geographical location of the first target can be determined based on the coordinate information of the geographical location of the first target, so that the panoramic image data of the target to be displayed can be determined based on each panoramic base point of the first target.

[0034] Step S104: Determine the panoramic image data corresponding to each first target panoramic base point.

[0035] Specifically, in practical applications, a single panoramic base point may be associated with massive amounts of heterogeneous panoramic data. When it is necessary to determine the panoramic image data corresponding to the user's desired query, the specific dataset matching the user's intent must be precisely filtered through the command parameters. The data carrying structure of each panoramic base point is not a single image, but a multi-dimensional data container. Each panoramic base point is actually a data aggregation hub, and the panoramic data associated with it has a pyramid structure. The levels may be: original fisheye image group (8 cameras × 360 frames); level 1 is spherical projection map (4K / 8K / 16K); level 2 is depth information map (point cloud + mesh); level 3: semantic layer (building / road / POI annotation); the spatiotemporal version library of this panoramic base point may include 2020 version, 2023 version, rainy season version, and snow scene version image data. A single panoramic base point may contain TB-level data, and the required subset needs to be dynamically extracted through command parameters.

[0036] As can be seen from the above introduction, if each first target panoramic baseline point corresponding to the target geographical location can be determined, it means that the panoramic image data corresponding to each first target panoramic baseline point is the target panoramic image data that the user wants to view. Therefore, after determining each first target panoramic baseline point, the panoramic image data corresponding to each first target panoramic baseline point can be further determined so as to better display the panoramic image data that the user wants to view.

[0037] Step S105: Based on the coordinate information corresponding to the geographical location of the first target and the panoramic image data corresponding to each panoramic base point of the first target, calculate the position of the first target image to be implanted with the preset first mark.

[0038] Specifically, after determining the first target panoramic baseline point, to better mark the accurate location corresponding to the first target's geographical location that the user wants to view, after determining each first facial panoramic baseline point, the position of the first target image to be implanted with the preset first marker can be calculated based on the coordinate information corresponding to the first target's geographical location and the panoramic image data corresponding to each first target panoramic baseline point. This ensures that the marker is presented accurately, reasonably, and effectively in the panoramic scene. Panoramic image data is a 360-degree immersive image generated through special shooting (such as multi-lens stitching). The pixel positions in the image do not have a simple one-to-one correspondence with the geographic coordinates in the real world; there may be issues such as perspective distortion and stitching deviation. The first target panoramic baseline point corresponds to geographic coordinates in the real world (such as latitude and longitude), but these coordinates need to be calculated to be converted into specific pixel positions in the two-dimensional image of the panoramic image. If the marker is placed arbitrarily based on subjective judgment, it may cause the marker to be misaligned with the actual geographic point in the image. For example, the marker may be displayed next to a building, but the actual geographic point is inside the building. By calculating the target image position of the preset marker, the accurate mapping between the real geographic coordinates and the image pixel position can be achieved, ensuring that the marker is pinned to the correct position in the image.

[0039] The presentation of panoramic images may change depending on the user's viewing angle (such as rotation and zoom). The position of the markers also needs to adapt to the scene under different viewing angles. Therefore, when calculating the position of the target image, the shooting parameters of the panoramic image (such as focal length and stitching algorithm) and the relative orientation of the base points can be combined to ensure that the markers are in a visually reasonable position under any viewing angle. For example, they will not float outside the scene due to viewing angle rotation or be obscured by foreground objects. At the same time, the size and orientation of the markers can be adjusted through calculation to match the scale of the panoramic image. For example, the markers are smaller in the distance and slightly larger in the foreground to avoid the markers being abrupt or difficult to identify. Markers often carry user interaction needs, such as clicking to display information or jump to scenes. The accuracy of their position directly affects the effectiveness of the interaction. If the marker position is calculated incorrectly, the user may trigger incorrect interaction logic when clicking the marker. For example, clicking the marker at point A may call the information at point B. The target image position determined by calculation can be bound to the underlying data of the panoramic image (such as pixel coordinate index and interactive response area) to ensure that when the user operates the marker, the corresponding function can be accurately identified and triggered, ensuring the reliability of the interaction. When panoramic image data needs to be reused on different platforms or updated in batches, the calculated marker positions have standardized characteristics. The calculation process is based on unified algorithms and parameters (such as coordinate transformation rules and image parsing protocols), and the generated target image positions can be converted into standardized data (such as pixel coordinate values), which facilitates storage, transmission, and cross-system access. If the panoramic image data is subsequently updated (such as through re-capture and stitching), the marker positions can be quickly migrated simply by recalculating them based on the new image, avoiding repetitive manual annotation and improving data management efficiency.

[0040] In summary, calculating the target image location is key to connecting real geographic coordinates with panoramic imagery. It ensures that the markers accurately correspond to their real locations in the panoramic scene while also adapting to the display logic, ultimately realizing the markers' positioning function, interactive value, and data reusability.

[0041] Step S106: Implant a preset first marker at the location of the first target image.

[0042] Specifically, panoramic images are typically immersive 360-degree views, which may make it difficult for users to quickly pinpoint the exact location of their primary target. Therefore, to achieve precise positioning, enhance the user experience, and associate and convey auxiliary information about various panoramic baseline points, thereby improving the practicality and usability of panoramic image data, a pre-defined first marker can be implanted into the panoramic image data corresponding to each primary target panoramic baseline point after calculating the location of the primary target image to be marked. By implanting a first marker into the panoramic image data of the user's desired location for the primary target's geographical location, precise positioning, enhanced interactive experience, auxiliary information association and transmission, and improved data practicality and usability can be achieved. After the marker is implanted, it's equivalent to setting a clear anchor point in the panoramic image, intuitively telling the user "this is the core location you're looking for," preventing users from getting lost in the vast panoramic scene and ensuring accurate searching.

[0043] Markers can also serve as interactive elements, allowing users to perform further actions. For example, clicking a marker may trigger a pop-up window with relevant information, such as a detailed description of the location, a list of nearby POIs (Points of Interest), or an entry point for comparing historical images. Markers can also be used to navigate between different scenes, such as switching from the current panoramic base point to other adjacent panoramic viewpoints, upgrading the viewing of panoramic images from simple observation to an interactive experience that is operable and explorable.

[0044] Panoramic imagery data often needs to be used in conjunction with other data, such as geographic location attributes, historical records, and business information. Markers, acting as connection points, bind this information to specific locations within the panoramic image. From a data production and maintenance perspective, markers are standardized annotations of panoramic baseline points. They help data managers quickly identify and manage different panoramic baseline points; for example, during data updates, verification, or analysis, markers can pinpoint specific locations, improving data processing efficiency. For complex panoramic scenes, markers can also serve an explanatory function, highlighting the uniqueness of target locations, helping users understand their importance, strengthening their awareness of the target geographic location, and making the browsing process more efficient. Markers are a crucial link connecting user needs, panoramic imagery data, and target geographic locations, enhancing the user experience and expanding the application scenarios of panoramic imagery data.

[0045] Step S107: Based on the implanted preset first marker, with the location of the first target image where the preset first marker is implanted as the center, display the panoramic image data corresponding to the first target panoramic base point corresponding to the geographical location of the first target.

[0046] Specifically, to optimize user experience, enhance the value of the marker function, and ensure the accurate transmission of spatial information, a preset first marker is embedded in the panoramic image data. Based on this embedded first marker, and centered on the location of the first target image corresponding to the first target's geographical location, the panoramic image data corresponding to the first target's panoramic baseline point is displayed. The embedding of preset markers often points to specific value points (such as points of interest, key facilities, or locations of interest). The user's core need is to obtain information around the marker (such as viewing the marker's surrounding environment and understanding the marker's relationship with the surrounding space). Displaying the data centered on the marker directly guides the user's visual focus to the core target area, avoiding the need for users to blindly search for marker locations in massive amounts of panoramic data. The preset marker is a spatial anchor point, not just a symbol on the image, but also a corresponding specific geographical location in the real world. Displaying panoramic data centered on markers allows for clear visual focus and understanding of spatial attributes. This enables users to intuitively grasp the spatial relationship between the marker's location and its surrounding environment, preventing markers from being marginalized and ensuring their directional and functional role as "anchor points" is not weakened. When a marker is centered in the field of view, users can immediately capture the core target and naturally obtain extended information by scanning the surroundings. This avoids users ignoring markers due to their offset position (e.g., in a corner) or needing to frequently adjust their viewing angle to establish a "marker-environment" connection, thus reducing the smoothness of the interaction. In the process of displaying panoramic image data corresponding to the first target panoramic baseline point based on the embedded preset markers and centered on the target image location of the embedded preset markers, to provide a better user experience, the presented panoramic image view can be centered on the markers to ensure the panoramic image data is at the exact center of the user's field of view.

[0047] As can be seen from the above description, this application can determine and implant a first marker at the first target image location corresponding to the first target geographical location corresponding to the user's query instruction, so as to enhance the user's interactive experience and improve the association and transmission of auxiliary information, thereby improving the practicality and usability of the data, strengthening the user's understanding of the target geographical location, and making the query process more efficient.

[0048] Specifically, if a user wants to adjust their viewing target after viewing the panoramic image data corresponding to the first target panoramic baseline point, this application can also identify the new viewing target, determine and display the new target data that the user wants to view. The process is described below, which includes the following: Step 201, identifying whether the user has changed their viewing target.

[0049] Specifically, in practical applications, users may change their field of view or adjust their search target at any time. Therefore, when a user switches from the current search target to the next search target, it is necessary to load and display the panoramic image data corresponding to the next target in a timely manner. Thus, to determine whether the currently displayed panoramic image data needs to be adjusted to the new panoramic image data, after displaying the panoramic image data corresponding to the geographical location of the first target, it is necessary to monitor the user's search command in real time and identify whether the user has switched search targets. If a switch in search targets is detected, step S202 is executed.

[0050] Step S202: Receive and analyze the user's second search instruction, and determine the second target geographical location corresponding to the second search instruction.

[0051] Specifically, when it is determined that the user has changed their search target, it means that the currently displayed panoramic image data needs to be switched to the panoramic image data corresponding to the new search target. Therefore, upon recognizing that the user has changed their search target, the system can receive and analyze the user's second search instruction to determine the geographical location of the second target corresponding to the second search instruction. The geographical location of the second target and the geographical location of the first target can belong to different regions corresponding to panoramic base points, or they can belong to regions corresponding to partially or entirely the same panoramic base points. The process of determining the geographical location of the second target corresponding to the second search instruction can refer to the process of determining the geographical location of the first target in step S101 above, and will not be repeated here.

[0052] Step S203: Determine and re-implant a preset second marker at the second target image location corresponding to the second target geographical location, and display panoramic image data corresponding to the second target geographical location based on the re-implanted preset second marker, with the second target image location of the re-implanted preset second marker as the center.

[0053] Specifically, as described above, when a user changes their search target, this application can receive and analyze the user's second search instruction, determine the second target geographical location corresponding to the second search instruction, and further determine and re-implant a preset marker at the second target image location corresponding to the second target geographical location. Based on the re-implanted preset marker, and with the second target image location of the re-implanted preset marker as the center, panoramic image data corresponding to the second target geographical location is displayed. The specific implementation process can refer to the implementation method of step S104 above regarding the determination of panoramic image data corresponding to the first target geographical location. Further details are omitted here.

[0054] As can be seen from the above description, this application can receive and analyze the user's first search instruction and determine the first target geographical location corresponding to the first search instruction. The process will be described below, which may include the following: Step S301, receiving and analyzing the first search instruction and determining the first coordinate information of the geographical location clicked by the user.

[0055] Specifically, in practical applications, a user's search command directly reflects their needs. By analyzing these commands, we can understand the type and scope of content the user wants to view. Analyzing the search command reveals that the user's needs are related to geographical location. Determining the coordinates of the user's clicked location further clarifies the specific area the user is interested in. For example, if a user clicks on a street block, nearby coffee shops can be highlighted. Therefore, to better determine the primary target geographical location corresponding to the user's search command, we can first receive and analyze the first search command to determine the primary coordinate information of the clicked location. On screens or maps, each location corresponds to specific coordinates. Determining the primary coordinate information of the clicked location helps to accurately locate the area of ​​interest to the user.

[0056] Furthermore, many application scenarios require real-time interaction based on user actions, and determining the coordinates of the user's click location is fundamental to this interaction. For example, in drawing applications, the user clicks the screen to determine the starting coordinates, which, combined with subsequent operations, allow for drawing. In screen sharing, the target zoom area is determined based on the user's click coordinates, enabling functions such as zooming in on a specific area. Notably, different devices have different screen sizes, resolutions, and interface layouts. By obtaining the user's click coordinate information, the corresponding location on the current device's interface can be accurately located based on those coordinates, unaffected by device differences. Regardless of whether the user is operating on a mobile phone, tablet, or computer, the target geographical location can be determined based on the coordinate information, providing a consistent user experience.

[0057] Step S302: Perform a preset first distance buffering process on the first coordinate information of the geographical location clicked by the user to obtain the second coordinate information of the geographical location clicked by the user.

[0058] Specifically, the positioning accuracy of user devices is affected by various factors, such as GPS signal blockage, multipath effects, and base station positioning deviations. Even under ideal conditions, the positioning error of civilian GPS can reach several meters to tens of meters. Therefore, after determining the first coordinate information of the geographical location clicked by the user, in order to more accurately determine the geographical location of the target to be displayed, it is necessary to perform a preset first distance buffering process on the first coordinate information of the geographical location clicked by the user to obtain the second coordinate information of the geographical location clicked by the user. The preset first distance can be set to [800, 1000 meters]. For example, after determining the first coordinate information of the geographical location clicked by the user, a 1000-meter buffering process can be performed to obtain the second coordinate information of the geographical location clicked by the user. Through buffering, the coordinates of the clicked single point can be expanded into an area, ensuring actual coverage of the user's real location. For example, when a user clicks the icon of a building on a map, the buffering process can cover the roads and entrances around the building, avoiding information display deviations caused by positioning offsets. Furthermore, the touchscreen's click operation itself has physical precision limitations. For example, the area a finger taps on the screen may be larger than pixel-level coordinates. Buffering can transform discrete taps into continuous areas, better reflecting the user's actual intent.

[0059] Users' search queries often implicitly express interest in the surrounding area. For example, when searching for "nearby coffee shops," users actually need a range rather than a precise point. Buffering expands the clicked location into a circular or polygonal area, allowing users to query all relevant elements within that area (such as coffee shops, parking lots, bus stops, etc.). This adapts to the ambiguity of user needs and provides related services. In maps or interface displays, single-point coordinates may not present effective information due to low zoom levels. For example, on a 1:10000 map, a point might only occupy 1 pixel, making it difficult to display surrounding POIs. Buffering expands the point into a visible area, ensuring users can intuitively see relevant content. Buffering also simplifies user operations. For example, in spatial queries, setting a 30-meter buffer distance allows for automatic analysis of the area, eliminating the need for manual search adjustments.

[0060] In map data processing, buffer zones are often used as the basis for spatial operations. For example, by generating polygon features from buffered line features, a map can be divided into multiple sub-regions for updating data such as roads and administrative divisions. This approach ensures the topological consistency of map data and avoids graphic breaks caused by single-point coordinate errors. In database queries, buffering improves the efficiency of spatial indexing, and buffer zones can also be used for statistical analysis, such as calculating population density and traffic flow within a region, providing data support for decision-making. Preset buffer distances are usually optimized empirical values ​​(such as 50 meters, 100 meters, and 1000 meters used in this application's experiments), which meet the needs of most scenarios while avoiding over-computation. Furthermore, buffering can be combined with dynamic filtering strategies. For example, when a user moves quickly, the buffer distance can be reduced to improve response speed; when the user is stationary, the buffer distance can be increased to obtain more comprehensive information. This adaptive mechanism further enhances the robustness of the system. Buffering can transform single-point coordinates into an effective service area. Through controllable area expansion, it can achieve a balance between the accuracy of information retrieval, the smoothness of interactive experience, and the efficiency of system performance under multiple constraints such as positioning error, ambiguity of user needs, and display limitations.

[0061] Step S303: In the first target area, determine the area where the second coordinate information of the geographical location clicked by the user intersects with the first target geographical location as the first target geographical location.

[0062] Specifically, spatial intersection refers to the existence of a common part between two geometric objects in space. The intersection relationship can be determined by the intersection status of the objects' interiors, boundaries, and exteriors. For example, the intersection of the user-clicked buffer area and the first target area requires that the interiors or boundaries of the two faces overlap. In practical applications, the first target area may contain a massive number of geographic features, making direct intersection calculations across all features inefficient. Spatial indexing allows for rapid filtering of candidate features that may intersect with the buffer area, significantly reducing computational load.

[0063] As described above, the second coordinate information of the geographic location clicked by the user corresponds to the coordinate information of the actual map space. Therefore, after determining the second coordinate information of the clicked geographic location, the area within the first target area that spatially intersects with the second coordinate information of the clicked geographic location is identified as the target geographic location, so that the area information to be displayed can be determined. Identifying the area within the first target area that spatially intersects with the second coordinate information of the clicked geographic location as the first target geographic location is crucial for achieving accurate information presentation in spatial data analysis and Geographic Information Systems (GIS). Quantitative analysis of geometric relationships achieves a balance between user intent, data scope, and display effects. Intersection operations ensure that the display results neither exceed the business scope nor fall short of actual user needs. In complex scenarios, the target geographic location needs to integrate information from multiple layers. Intersection operations can extract all elements intersecting with the buffer area, generating comprehensive analysis results. ArcGIS's intersection tool supports input of any geometric type and outputs results based on the lowest dimension (e.g., line elements are output when a polygon intersects a line), meeting the needs of multi-source data fusion. During map zooming, panning, and other interactive processes, the display range often needs to be dynamically adjusted.

[0064] For example, when a user zooms in on the map to the street level, the primary target area may shrink to the currently visible range, while the buffer area is still generated based on the user's clicked location. By calculating the intersecting areas in real time, it ensures that the displayed content remains synchronized with the user's actions, avoiding information gaps caused by mismatched ranges.

[0065] Identifying the area that spatially intersects with the second coordinate information clicked by the user within the first target area, and using this area as the target geographic location, filters out data irrelevant to the user's needs, reduces rendering pressure, lowers bandwidth consumption, and improves response speed. In practical applications, the user's click location may have positioning errors (such as GPS offset), and the expansion of the buffer area partially compensates for this error. By intersecting with the first target area, it is further ensured that even with positioning deviations, the displayed results remain within the user's expected business scope. For example, if a user clicks near the boundary of an administrative region, the buffer area may cross boundaries; the intersection operation can automatically truncate the excess portion, preventing the display of content from other areas. The geometry of the intersecting area directly affects the display effect. For example, when the buffer area intersects with irregular polygons (such as rivers or mountains), it can generate a display range that fits the actual terrain, avoiding information redundancy or loss caused by traditional rectangular ranges. ArcGIS's buffer tools, combined with intersection analysis, can generate smooth polygonal areas, improving map readability. Determining the spatially intersecting area involves transforming the user's vague requirements into a calculable and precise range through mathematical models. It not only solved technical problems such as positioning errors and data redundancy, but also achieved deep coupling between business logic and geographic data through spatial analysis tools (such as ArcGIS's intersection tool and PostGIS's ST_Intersects function).

[0066] As can be seen from the above description, this application can receive and analyze user query commands to determine the target geographical location corresponding to the user query commands; in order to narrow down the scope of the panoramic image data to be loaded and improve the efficiency of data loading.

[0067] As described above, this application can receive and analyze the user's second search instruction and determine the second target geographical location corresponding to the second search instruction. The process will be described below, which may include the following: Step S401, receiving and analyzing the user's second search instruction and determining the third coordinate information of the geographical location clicked by the user.

[0068] Specifically, as described above, in practical applications, a user's search command directly reflects their needs. By analyzing these commands, we can understand the type and scope of content the user wants to view. Therefore, when a user issues a new search command, to better determine the target geographical location corresponding to that command, we can first receive and analyze the user's second search command to determine the third coordinate information of the geographical location clicked by the user. Determining the third coordinate information of the clicked geographical location helps to accurately locate the area of ​​interest to the user.

[0069] Step S402: Determine whether the third coordinate information overlaps with the first coordinate information.

[0070] Specifically, as described above, this application can determine the coordinates of the geographical location clicked by the user each time the user requests a query. In order to confirm whether the geographical location clicked by the user each time is the same geographical location, after confirming the first coordinate information and the third coordinate information of the geographical location clicked by the user twice, it can be determined whether the third coordinate information overlaps with the first coordinate information. If the third coordinate information overlaps with the first coordinate information, then step S303 is executed; if the third coordinate information does not overlap with the first coordinate information, then step S304 is executed.

[0071] Step S403: The area in the first target area that spatially intersects with the third coordinate information of the geographical location clicked by the user is also determined as the second target geographical location.

[0072] Specifically, as described above, this application can determine whether the coordinate information of the geographical locations clicked by the user on two separate occasions overlaps. If the third coordinate information overlaps with the first coordinate information, it indicates that the geographical locations clicked by the user on two separate occasions may overlap. Therefore, the area in the first target area that spatially intersects with the third coordinate information of the geographical location clicked by the user can also be determined as the second target geographical location.

[0073] Step S404: Perform a preset first distance buffering process on the third coordinate information of the geographical location clicked by the user to obtain the fourth coordinate information of the geographical location clicked by the user.

[0074] Specifically, as described above, this application can determine whether the coordinates of the geographical locations clicked by the user overlap. If the third coordinate information does not overlap with the first coordinate information, it indicates that the two geographical locations clicked by the user are two different places. To determine the detailed information of the geographical location clicked by the user in the second click, the third coordinate information of the geographical location clicked by the user can be buffered by a preset first distance to obtain the fourth coordinate information of the geographical location clicked by the user. The preset first distance can be set according to the specific application scenario. For example, it can be set to [0, 1000 meters]. That is, after determining the third coordinate information of the geographical location clicked by the user in the second click, the third coordinate information of the geographical location clicked by the user can be buffered by 1000 meters to obtain the fourth coordinate information of the geographical location clicked by the user.

[0075] Step S405: In the first target area, determine the area where the fourth coordinate information of the geographical location clicked by the user intersects with the second target geographical location.

[0076] Specifically, as described above, this application can determine the fourth coordinate of the geographical location clicked by the user a second time. The fourth coordinate information of the user-clicked geographical location corresponds to the coordinate information of the actual map space. Therefore, after determining the fourth coordinate information of the user-clicked geographical location, the application identifies a region within the first target area that spatially intersects with the fourth coordinate information of the user-clicked geographical location as the second target geographical location, so that new area information to be displayed can be determined. Identifying the region within the first target area that spatially intersects with the user-clicked fourth coordinate information as the second target geographical location is crucial for achieving accurate information presentation in spatial data analysis and Geographic Information Systems (GIS). Through quantitative analysis of geometric relationships, a balance is achieved between user intent, data scope, and display effect. Intersection operations ensure that the display results neither exceed the business scope nor deviate significantly from the user's actual needs.

[0077] As can be seen from the above description, this application can determine at least one panoramic base point of the first target corresponding to the geographical location of the first target. The process is described below, which may include the following steps: Step S501, identify the coordinate information of all panoramic base points of the first target area.

[0078] Specifically, to better match user needs, efficiently allocate image resources, and ensure consistent display effects, before determining the panoramic baseline points corresponding to each first target geographical location, all information of all panoramic baseline points in each first target area can be identified. In practical applications, user query commands typically include dimensions such as space, time, and viewpoint. Missing panoramic baseline point information can lead to mapping failures. For example, if the baseline point does not record the shooting time, a user requesting an "autumn ginkgo scene" might return summer images; if viewpoint parameters are lacking, it may be impossible to determine whether the baseline point is directly facing the subject the user is interested in (such as the main entrance of a building). Panoramic baseline point information may include image sharpness, integrity markers, storage location, resolution registration, etc. Image sharpness and integrity markers can be used to help eliminate invalid data. For example, if a baseline point's image is blurry due to equipment failure (e.g., sharpness less than 300 dpi), it can be excluded in advance by identifying the "quality score"; if a baseline point in a construction area is marked "temporarily disabled," it can be automatically skipped to avoid displaying incorrect scenes. Hierarchical loading is achieved through information such as the "storage location" and "resolution level" of the baseline points. For example, mobile devices prioritize calling low-resolution (e.g., 2K) baseline points to reduce data consumption.

[0079] The core information of the panoramic base point can include the following categories: (1) Spatial positioning information, including latitude and longitude coordinates, UTM projection coordinates, altitude, etc., which can be used to spatially match the user's click location to ensure that the base point falls within the target geographical location. Among them, latitude and longitude coordinates can be used to perform spatial intersection calculations with the target geographical location; altitude is mainly used in mountain scenes to avoid calling low-altitude base points to display high-altitude areas; UTM coordinates are mainly used in high-precision scenes to calculate the distance error between the point and the boundary through projection coordinates (the error must be less than 1 meter).

[0080] (2) Time attribute information includes shooting date, timestamp, and season tag, which can support accurate retrieval of time dimension (such as the scene of "2023 Spring Festival Temple Fair").

[0081] (3) The viewing angle parameter information includes horizontal viewing angle, pitch angle and focal length, which are mainly used to determine the direction and range of the image display (such as a 90° horizontal viewing angle covering a 180° scene directly in front). For example, when the user looks north from the center of the target display area, the base point Heading=0° needs to be matched according to the horizontal viewing angle. In the focal length parameter, the wide-angle lens (focal length less than 24mm) is suitable for displaying panoramic scenes, and the telephoto lens (focal length greater than 200mm) is suitable for close-ups. It needs to be switched according to the user's instructions.

[0082] (4) Image feature information includes resolution, color depth, compression format, and quality score, which can control the clarity and performance of image loading.

[0083] (5) Scene association information includes tags and POI association IDs, which support semantic retrieval. Among them, the tag parameters adopt hierarchical tags, which support multi-dimensional retrieval. After the base point is bound to the POI ID, the user can directly call the corresponding base point image by clicking the POI icon.

[0084] (6) Status control information includes availability status (enabled or disabled) and update version number, which can be used for system maintenance (e.g., marking the base points of the construction area as "disabled").

[0085] Step S502: Perform a preset second distance buffering process on the first coordinate information of the first target's geographical location to obtain the second coordinate information of the first target's geographical location.

[0086] Specifically, as described above, this application can determine the first target geographical location corresponding to the user's first query command. In order to accurately and efficiently filter out panoramic base points related to the target location by defining a reasonable spatial range, after determining the first target geographical location, the first coordinate information of the first target geographical location can be subjected to a preset second distance buffering process to obtain the second coordinate information of the first target geographical location. The preset second distance can be set according to the actual application scenario requirements, such as [0, 300 meters]. That is, after determining the first target geographical location, the first coordinate information of the first target geographical location can be further determined, and the first coordinate information of the first target geographical location can be buffered by 300 meters to obtain the second coordinate information of the first target geographical location. In practical applications, panoramic base points are the actual shooting points when acquiring panoramic images. Their distribution is discrete; not every geographical coordinate on Earth corresponds exactly to a panoramic base point, but rather they are distributed at certain intervals or according to the shooting plan. The first coordinate information of the first target geographical location (such as precise latitude and longitude) may be a "theoretical point," but this point may not necessarily have a panoramic base point (for example, the user queries the main entrance of a building, but the panoramic base point may be 5 meters away from the roadside). By using the second distance buffering process, the first coordinate information of the first target's geographical location can be expanded into a circular area centered on the target point and with the second distance as the radius (the second coordinate information is the range coordinates of this area). This can cover the panoramic base points that may exist around the target location and avoid missing effective data due to the stringent conditions of "point-to-point matching".

[0087] When users view panoramic images, they often need to observe the primary target location from multiple angles. The buffered second coordinate information defines a range that includes panoramic baseline points in different directions surrounding the primary target location, ensuring that the acquired image data covers the primary target location from multiple perspectives and meets the user's need for a complete scene view. Without buffering, simply matching panoramic baseline points that perfectly overlap with the target coordinates may result in no usable data being found, or only images from a single angle being acquired, failing to fully present the environment of the primary target location. The preset second distance is usually based on empirical values ​​from actual shooting scenarios, matching the reasonable distribution intervals of panoramic baseline points. The buffered second coordinate information conforms to the actual distribution patterns of panoramic baseline points, filtering out reasonable points that, while not perfectly overlapping with the target point, effectively capture the primary target location, avoiding the loss of usable data due to mechanical matching. The preset buffer distance (such as a second distance) strikes a balance between "precise positioning" and "data availability." If the buffer distance is too small (e.g., 1 meter), data may not be filtered out due to minor deviations between the panoramic baseline and the target point (such as positioning errors during shooting). If the buffer distance is too large (e.g., 1 kilometer), too many irrelevant panoramic baselines may be included, increasing the redundancy of data filtering and the complexity of user searches. By using a reasonably preset second distance for buffering, it ensures that the filtered panoramic baselines are sufficiently relevant to the target location (within the effective observation range) while also ensuring a sufficient amount of usable data, thus improving browsing efficiency and user experience.

[0088] Step S503: Perform spatial intersection processing on the second coordinate information of the first target's geographical location and the coordinate information of each panoramic base point in the first target area; obtain the spatial intersection result of the second coordinate information of the first target's geographical location and the coordinate information of each panoramic base point in the first target area.

[0089] Specifically, to achieve accurate mapping from user behavior to panoramic image data, after identifying all information of all panoramic base points in each first target area, spatial intersection processing can be performed on the second coordinate information of the first target's geographical location clicked by the user, along with the coordinate information of each panoramic base point in the first target area, based on the user's query command. This yields the spatial intersection result between the second coordinate information of the first target's geographical location and the coordinate information of each panoramic base point in the first target area. The user's physical action of clicking the screen needs to be converted into coordinate points in geographic space (third coordinate information), while the panoramic base points are pre-stored "image shooting locations." The two need to be judged whether there is "visual overlap" through spatial relationship. Secondly, panoramic base points may overlap (e.g., multiple shooting angles in the same area). Spatial intersection processing can filter out the most relevant base points. For example, a square has 3 base points: P1 (shot from due north), P2 (shot from due south), and P3 (aerial view). When the user clicks on the center of the square, the intersection area of ​​P1 and P2 is larger, so they are prioritized. If the panoramic base point does not spatially intersect with the target geographical location clicked by the user (i.e., the shooting range does not cover the point), the image will be misaligned. The priority of base points can be ranked by calculating the intersection area / distance. For example, if base point P is 0.5 meters away from the clicked point (close intersection) and base point Q is 5 meters away (loose intersection), the image of P will be loaded first. Spatial intersection only guarantees that "the base point captured the location," but it is necessary to combine the viewing angle parameters to determine "whether it is displayed at the optimal angle." For example, if a user clicks on the east gate of a watchtower on the Great Wall, and a base point covers that point, but the viewing angle is towards the west gate, the intersection result needs to be adjusted for display direction based on the viewing angle parameters. In complex scenes (such as multi-story buildings or underground spaces), spatial intersection processing needs to be combined with 3D coordinate intersection verification to avoid errors in data transfer.

[0090] Step S504: Based on the spatial intersection results of the second coordinate information of the first target's geographical location and the coordinate information of each panoramic base point in the first target area, determine at least one panoramic base point that has a spatial intersection with the second coordinate information of the first target's geographical location.

[0091] Specifically, through the above intersection processing, the panoramic base point corresponding to the first target geographical location clicked by the user can be determined relatively accurately. Therefore, based on the spatial intersection results of the second coordinate information of the first target geographical location and the coordinate information of each panoramic base point in the first target area, at least one panoramic base point that has a spatial intersection with the second coordinate of the first target geographical location can be determined.

[0092] Step S505: Calculate the distance between each panoramic base point that spatially intersects with the second coordinates of the first target's geographical location and the second coordinates of the first target's geographical location.

[0093] Specifically, in order to ensure that users can efficiently obtain the most relevant content, based on the spatial intersection results of the second coordinate information of the first target geographical location and the coordinate information of each panoramic base point in the first target area, at least one panoramic base point that has a spatial intersection with the second coordinate of the first target geographical location can be determined. The distance between each panoramic base point that has a spatial intersection with the second coordinate of the first target geographical location and the second coordinate of the first target geographical location can be calculated respectively, so as to provide a precise basis for subsequent filtering, sorting and presentation of panoramic images by quantifying spatial relationships.

[0094] A 300-meter buffer range only determines the panoramic baseline points "within the range of the first target geographical location." However, the actual relevance of the baseline points within the first target geographical location to the target geographical location the user wants to view can vary greatly. For example, there might be 10 panoramic baseline points within the buffer range, one 5 meters from the target location (capable of clearly capturing target details), while another is 290 meters away (potentially only capturing a distant view of the target, or even being obscured by buildings). By calculating distances, more refined filtering criteria can be set (such as retaining baseline points ≤100 meters away), excluding points that are too far away or have low image value, thus reducing the interference of invalid data on system processing and user selection. When users view panoramic images, they typically prioritize the viewpoint "closest to the target geographical location." The closer the panoramic baseline point, the clearer the details of the target location and the more direct the viewpoint in its image. After calculating distances, panoramic baseline points can be sorted "from near to far," allowing users to view the most relevant images first, reducing the time cost of manual filtering and improving the viewing experience. Furthermore, distance is a crucial reference for determining whether a panoramic image can effectively cover the target location. Even within a buffer zone, if the panoramic base point is close to the target location but is obstructed by obstacles (such as high walls or buildings), the image may not show the target. Conversely, points at slightly greater distances in open areas may capture a more complete view of the target. Distance data can be combined with other parameters (such as shooting direction and terrain occlusion analysis) for comprehensive judgment. For example, prioritizing nearby, unobstructed points, or marking points at slightly greater distances but with better viewing angles, helps users identify "truly usable" images.

[0095] If the number of panoramic base points within the initial buffer range is too large or too small, calculating the distances between each panoramic base point spatially intersecting with the second coordinate of the first target geographic location and the second coordinate of the first target geographic location can help optimize subsequent processing. If there are a large number of base points within 300 meters, the range can be narrowed down by filtering by distance to avoid excessive system load. If there are very few base points within 300 meters (such as in remote areas), the distance data can be used to determine whether the buffer range needs to be expanded (e.g., expanded to 500 meters), and the closer points within the expanded range should be prioritized to ensure that users can obtain usable images. Calculating the distances between each panoramic base point spatially intersecting with the second coordinate of the first target geographic location and the second coordinate of the target geographic location is a further refinement based on the buffer range filtering. By quantifying spatial distances, effective data filtering, orderly presentation, and flexible optimization can be achieved, ultimately allowing users to quickly obtain the most relevant and valuable panoramic images related to the target geographic location.

[0096] Step S506: Among the panoramic base points that spatially intersect with the second coordinates of the first target's geographical location, select the panoramic base point with the shortest distance to the second coordinates of the first target's geographical location as the first target panoramic base point.

[0097] Specifically, to provide users with the most direct, relevant, and valuable panoramic imagery, after calculating the distances between each panoramic base point within the second coordinates (300-meter buffer range) of the first target's geographical location and its second coordinates, the panoramic base point with the shortest distance to the second coordinates of the first target's geographical location is selected from among all panoramic base points that spatially intersect with them. This ensures that the final panoramic image captures the highest level of detail clarity for the first target's geographical location. In practical applications, the detail rendering capability of panoramic images is closely related to the shooting distance; the closer the panoramic base point is to the first target's geographical location, the clearer the details of that location will be in the image. Selecting the shortest-distance panoramic base point as the first target panoramic base point prioritizes providing users with the clearest visual experience, satisfying their core need to view the details of the target's geographical location. The panoramic base point with the shortest distance to the second coordinates of the first target's geographical location is usually the shooting point closest to the actual scene of the first target's geographical location. This close proximity allows the image to directly focus on the target of interest to the user, reducing interference from irrelevant environments and ensuring that the user can quickly locate the target's specific position in the image. Unless otherwise specified, users prefer to see the view closest to the target first. Using the shortest distance point as the primary panoramic baseline aligns with users' intuitive needs, reduces the manual filtering cost among multiple views, and improves browsing efficiency. Even if multiple panoramic baseline images are subsequently provided (e.g., observing the target from different directions), the shortest distance point can still serve as the reference viewpoint. The panoramic image of the primary target baseline can serve as the starting point for users to understand the spatial relationships of the target location. Using the shortest distance point as the core, supplementing other views can form a logical chain "from near to far, from the core to the periphery," helping users more clearly construct a spatial understanding of the target location. This satisfies users' need to view target details while improving the efficiency and experience of using panoramic images.

[0098] As can be seen from the above description, this application can determine at least one first target panoramic baseline point corresponding to the geographical location of the first target, so that the panoramic image data that the user wants to view can be determined based on each first target panoramic baseline point.

[0099] The process of calculating the first image position of the preset first marker to be implanted based on the coordinate information corresponding to the geographical location of the first target and the panoramic image data corresponding to each panoramic base point of the first target may include the following steps: Step S601, the first coordinate information of the geographical location of the first target and the coordinate information of the panoramic base point of the first target are respectively subjected to preset coordinate transformation processing to obtain the fourth coordinate information of the geographical location of the first target and the second coordinate information of the panoramic base point of the first target.

[0100] Specifically, to eliminate differences between different coordinate systems and ensure that both are calculated under the same spatial reference, thereby accurately locating the target's image position in the panoramic image, when calculating the first image position of the first target to be implanted with the preset first marker, the first coordinate information of the first target's geographical location and the coordinate information of the first target's panoramic base point can be subjected to preset coordinate transformation processing to obtain the fourth coordinate information of the first target's geographical location and the second coordinate information of the first target's panoramic base point, respectively. The preset coordinate transformation processing can be as follows: the first coordinate information of the target's geographical location and the coordinate information of the first target's panoramic base point can be converted to ECEF coordinates, thereby obtaining the fourth coordinate information (ECEF coordinates) of the first target's geographical location and the second coordinate information (ECEF coordinates) of the first target's panoramic base point.

[0101] The original coordinates of the primary target's geographical location and the panoramic baseline point typically come from different coordinate systems. Direct calculation can lead to spatial misalignment. The primary coordinate information of the primary target's geographical location is often user-inputted or acquired "geographic coordinates" (such as latitude and longitude, belonging to the geodetic coordinate system and used to identify the absolute position on the Earth's surface). By performing preset coordinate transformations on the primary coordinate information of the primary target's geographical location and the coordinate information of the primary target's panoramic baseline point, the "coordinate system incompatibility" problem can be solved, ensuring spatial location comparability. The coordinate information of the primary target's panoramic baseline point is often the coordinates of the panoramic image recorded during shooting or the coordinates of a local coordinate system (such as the device positioning coordinates when the panoramic camera was shooting, which may be based on the camera's own coordinate system or the local coordinates relative to a reference point). The reference, unit, and coordinate axis directions of the two coordinate systems may be completely different (for example, one is spherical coordinates, and the other is Cartesian coordinates). Direct comparison would be like "using meters and feet to calculate distances," resulting in meaningless results. Through preset coordinate transformations, both can be converted to a coordinate system with the same reference, ensuring spatial location comparability, eliminating the influence of projection distortion, and improving calculation accuracy.

[0102] Geographic coordinates (such as latitude and longitude) are spherical coordinates, while the image position in a panoramic image is a planar coordinate (pixel). The conversion between the two requires map projection processing. Since the Earth is a sphere, directly mapping spherical coordinates to a planar image will result in projection distortion (such as potential distortion of scale and angles in different regions). For example, in small areas, Gauss-Kruger projection can be used to convert spherical coordinates to planar coordinates to reduce distortion; however, in large areas, other projection methods may be necessary. The preset coordinate transformation selects an appropriate projection method based on the panoramic image's shooting range and accuracy requirements, unifying the coordinates of the primary target's geographical location and the panoramic baseline point into a planar coordinate system without significant distortion. Only under the same planar reference can the pixel position of the primary target's geographical location in the panoramic image be accurately derived through geometric calculations (such as distance and angle).

[0103] There is a strict geometric mapping relationship between the image location (pixel) and the shooting point (panoramic base point) of a panoramic image (e.g., calculated through camera intrinsic and extrinsic parameters): When a panoramic camera shoots, its lens parameters such as focal length, angle, and shooting direction (intrinsic parameters) and the position and orientation of the shooting point (extrinsic parameters) determine the correspondence between "real-world geographic coordinates" and "pixel coordinates in the image." For example, if a camera shoots from point A (coordinates X1, Y1, Z1) in a certain direction, point B (coordinates X2, Y2, Z2) in reality will correspond to a certain pixel (u, v) in the image. If the coordinates of the target geographic location and the coordinates of the panoramic base point are not on the same spatial reference datum (e.g., one based on the WGS84 coordinate system and the other based on the Beijing 54 coordinate system), then an accurate geometric mapping cannot be established through camera parameters. The calculation of the image position of the first target's geographical location in the panoramic image is a transformation from "real-world spatial coordinates to image pixel coordinates," which requires coordinate data in a unified format. For example, it may be necessary to calculate it through the following steps: 1. Determine the relative distance and azimuth angle between the second coordinate of the first target's panoramic base point and the fourth coordinate of the first target's geographical location; 2. Calculate the horizontal and vertical offset of the target in the image based on the camera's shooting angle and focal length; 3. Combine the image resolution to convert the offset into specific pixel coordinates (u, v).

[0104] If the coordinates are not converted (inconsistent format, inconsistent reference), they will fail due to parameter mismatch (such as incorrect distance calculation, azimuth deviation), ultimately leading to incorrect image positioning.

[0105] In summary, coordinate transformation is essential for connecting real-world geographic space with the pixel space of panoramic images. By unifying the coordinates of the primary target's geographic location and the panoramic baseline points into a coordinate system with the same reference and format, the accuracy and logic of subsequent geometric calculations can be ensured. Ultimately, this allows for precise positioning of the target within the panoramic image, fulfilling the user's need to "see the target's accurate location in the image" when viewing the content.

[0106] Step S602: Based on the fourth coordinate information of the first target's geographical location, determine the image pixel coordinates in the panoramic image corresponding to the first target's panoramic base point. Based on the fourth coordinate information of the target's geographical location, perform spatial intersection deduplication processing on the corresponding image pixel coordinates in the panoramic image data corresponding to each first target panoramic base point. Determine the image position in the panoramic image data corresponding to the first target's panoramic base point that corresponds to the coordinate information of the first target's geographical location as the first target image position to be implanted with the preset first marker.

[0107] Specifically, after determining the fourth coordinate information of the first target's geographical location, in order to achieve a precise mapping from "real geographical coordinates" to "panoramic image pixel position" and allow users to intuitively see the visual position corresponding to the first target's geographical location in the panoramic image, the image pixel coordinates in the panoramic image corresponding to the first target's panoramic base point can be determined based on the fourth coordinate information of the first target's geographical location. Based on the fourth coordinate information of the target's geographical location, spatial intersection and deduplication processing is performed on the image pixel coordinates in the panoramic image data corresponding to each first target panoramic base point. The image position in the panoramic image data corresponding to the first target's panoramic base point that corresponds to the coordinate information of the first target's geographical location is determined as the first target image position to be implanted with the preset first marker.

[0108] The fourth coordinate information of the first target's geographical location (the unified reference coordinates after coordinate transformation) is the absolute or relative spatial location in the real world (such as Cartesian coordinates X=1000 meters, Y=500 meters), while the panoramic image is a two-dimensional pixel array (such as a 1920×1080 pixel image). The two belong to different dimensions of spatial description. In real space, the target's geographical location is a point; in the panoramic image, this point needs to correspond to a certain pixel (such as the pixel in the 800th column and 500th row of the image) in order to be recognized by the user's naked eye. Calculating pixel coordinates using the fourth coordinate information of the first target's geographical location is a geometric algorithm (such as perspective projection, camera parameter model) that projects the point in real space onto the two-dimensional plane of the panoramic image, completing the transformation from abstract coordinates to concrete image positions. The first target panoramic base point is the origin of the panoramic image. The corresponding panoramic image data includes key parameters during shooting (such as camera intrinsic and extrinsic parameters). These parameters are the core basis for coordinate mapping: (1) Camera intrinsic parameters include focal length, pixel size, principal point coordinates, etc., which determine how the camera projects three-dimensional spatial points onto the two-dimensional image plane (for example, focal length determines the field of view of imaging, and principal point coordinates correspond to the pixel position of the image center).

[0109] (2) Camera extrinsic parameters include the position of the shooting point (i.e., the second coordinate of the first target panoramic base point) and the shooting posture (such as rotation angle and pitch angle), which describe the position and orientation of the camera in real space.

[0110] The relative positional relationship (distance, azimuth) between the fourth coordinate (real-world point) of the first target's geographical location and the second coordinate (camera position) of the panoramic baseline point, combined with camera intrinsic and extrinsic parameters, allows for the calculation of the point's pixel coordinates in the panoramic image using perspective transformation formulas (e.g., determining the horizontal offset pixels in the panoramic image by calculating the target point's azimuth relative to the camera; determining the vertical offset pixels by calculating the pitch angle). While panoramic images can cover a large area, not all real-world points can be captured (e.g., locations obscured by buildings), and different shooting angles can cause differences in the target's position in the image. The process of calculating pixel coordinates using the fourth coordinate simultaneously verifies whether the first target's geographical location is within the visible range of the panoramic image. For example, if the calculated pixel coordinates exceed the pixel size range of the image, it indicates that the target is not in the panoramic image, and another panoramic baseline point needs to be switched. Even if the target is visible, only through precise pixel coordinate calculations can visual bias be avoided. Once the pixel location of the primary target in the panoramic image is determined, richer interactions can be implemented based on this location. For example, preset markers (such as red dots or information pop-ups) can be embedded at the pixel coordinates to intuitively prompt the user that the target is here. The pixel locations of targets in multiple panoramic images can also be combined to generate a coherent visual navigation route (such as guiding the user to switch from a certain pixel in the panoramic image at point A to the corresponding pixel in the panoramic image at point B). Furthermore, the pixel coordinates can be used to locate local areas of the image, allowing users to zoom in and view the detailed features of the target.

[0111] As can be seen from the above description, this application can determine the pixel coordinates in the panoramic image corresponding to the first target panoramic base point based on the fourth coordinate information of the first target geographical location, and perform spatial intersection deduplication processing on the pixel coordinates in the panoramic image data corresponding to each first target panoramic base point based on the fourth coordinate information of the target geographical location, and determine the image position in the panoramic image data corresponding to the first target panoramic base point as the first target image position to be implanted with the preset first mark. The process can include the following steps: Step S701, based on the fourth coordinate information of the first target geographical location, perform spatial intersection deduplication processing on the pixel coordinates in the panoramic image data corresponding to each first target panoramic base point; to obtain the second pixel coordinates in the panoramic image data corresponding to each first target panoramic base point.

[0112] Specifically, to address potential spatial coordinate redundancy or conflicts in panoramic image data and ensure the uniqueness, accuracy, and spatial consistency of marker implantation locations, after determining the fourth coordinate information of the first target's geographical location, spatial intersection deduplication processing is performed on the corresponding pixel coordinates in the panoramic image data for each first target panoramic base point based on this fourth coordinate information. This determines the image location in the panoramic image data corresponding to the first target panoramic base point with the coordinate information of the first target's geographical location as the first target image location to be implanted with the preset first marker. Panoramic image data typically covers the same target geographical location through multiple panoramic base points, resulting in multiple pixel coordinates for the same target geographical location in different panoramic images. These pixel coordinates may appear to all point to the target location, but due to differences in shooting angle, distance, and equipment parameters, there are subtle spatial deviations. Directly using these unprocessed coordinates may lead to duplicate marker implantation (multiple markers for the same target location appearing in different panoramic images); and misalignment of the marker location with the actual geographic coordinates. By performing spatial intersection deduplication using the fourth coordinate information of the first target's geographical location, the unique coordinates that best match the actual spatial attributes of the first target's geographical location can be selected from multiple redundant pixel coordinates, avoiding duplication and misalignment. Without the constraint of a fourth coordinate based on the first target's geographic location, matching based solely on three-dimensional coordinates may result in mismatches in complex spatial scenes where the coordinates are the same but the actual locations differ. Deduplication addresses this issue by using the precise constraint of the fourth coordinate based on the first target's geographic location. This resolves coordinate redundancy and spatial ambiguity issues in multi-source panoramic data, ultimately ensuring the uniqueness, accuracy, and functional effectiveness of the marker implantation location, providing a reliable visual benchmark for subsequent spatial interactions.

[0113] Step S702: Based on the fourth coordinate information of the geographical location of the first target, calculate the fifth coordinate information corresponding to the second coordinate information of the geographical location of the first target relative to the panoramic base point of the first target.

[0114] Specifically, to convert "absolute coordinates" into "relative coordinates," eliminate spatial reference differences, focus on the spatial relationship between the two, and provide a concise and accurate input for subsequent pixel coordinate calculations, when determining the image position of the first target's geographical location in the panoramic image corresponding to the first target's panoramic base point, the fifth coordinate information corresponding to the second coordinate information of the first target's geographical location relative to the first target's panoramic base point can be calculated first based on the fourth coordinate information of the first target's geographical location. Although the fourth coordinate information of the first target's geographical location and the second coordinate information of the first target's panoramic base point have undergone a preset coordinate transformation (possibly unified to the same plane coordinate system, such as the Gauss-Kruger coordinate system or the UTM coordinate system), they are essentially still absolute coordinates (i.e., position descriptions relative to the origin of the coordinate system, such as X=350,000 meters, Y=4,500,000 meters). The imaging logic of the panoramic image relies on the relative relationship of the target with respect to the shooting point (panoramic base point) in terms of "azimuth, distance, and angle," rather than the absolute coordinates themselves. For example, when a camera takes a picture, the position of a target in the image depends only on whether it is in front of or to the right of the camera, whether it is 10 meters or 50 meters away from the camera, and whether its elevation angle relative to the camera is 30° or -10° (pitch angle), regardless of where the origin of the coordinate system is. Therefore, it is necessary to calculate the fifth coordinate information (relative coordinates) corresponding to the second coordinate information of the first target's geographical location relative to the first target's panoramic base point. This transforms the relationship between the target's absolute coordinates (the fourth coordinate information of the first target's geographical location) and the absolute coordinates of the panoramic base point (i.e., the second coordinate information of the first target's panoramic base point) into the target's three-dimensional relative coordinates relative to the panoramic base point, thereby removing irrelevant absolute coordinate references and retaining only the relative spatial parameters that are meaningful for imaging.

[0115] Only after determining the fifth coordinate information corresponding to the second coordinate information of the first target's geographical location relative to the panoramic baseline point can the projection formula be used to calculate the target's pixel position in the image. For example, if the fifth coordinate shows the target is "10 meters directly in front and 5 meters to the right" of the panoramic baseline point, combined with the camera focal length and horizontal viewing angle, the first target's geographical location in the panoramic image can be calculated to be "X pixels to the right of the center"; if the fifth coordinate shows the target is "3 meters above the panoramic baseline point and 20 meters away", combined with the camera pitch angle, the first target's geographical location in the panoramic image can be calculated to be "Y pixels above the center". Furthermore, absolute coordinates are usually large values ​​(e.g., planar coordinates in meters may reach six digits), and directly using them for calculations increases computational complexity and may introduce errors (such as loss of precision in floating-point operations). The fifth coordinate information (relative coordinate) corresponding to the second coordinate information of the first target's geographical location relative to the first target's panoramic base point is the difference between "first target's geographical location - first target's panoramic base point," and the value is smaller (for example, within a 300-meter buffer range, the maximum difference in relative coordinates usually does not exceed 300 meters), and directly reflects the spatial orientation relationship between the two: for example, if the fourth coordinate of the first target's geographical location is (X1, Y1, Z1), and the second coordinate of the first target's panoramic base point is (X0, Y0, Z0), then the fifth coordinate corresponding to the second coordinate of the first target's geographical location relative to the first target's panoramic base point is (ΔX=X1-X0, ΔY=Y1-Y0, ΔZ=Z1-Z0). This difference calculation can directly reflect the target's "east / west, south / north, high / low" direction at the panoramic base point, without needing to deduce the orientation from absolute coordinates, reducing the accumulation of errors in intermediate steps. Furthermore, in the process of calculating the fifth coordinate information corresponding to the second coordinate information of the target's geographical location relative to the first target's panoramic base point, it can be simultaneously determined whether the target's geographical location is within the "effective shooting range" of the first target's panoramic base point. If the horizontal distance of the relative coordinates ( If the target location exceeds the maximum coverage radius of the panoramic image (e.g., a 300-meter buffer range), or the vertical distance (ΔZ) is too large, causing the target's geographical location to be outside the camera's field of view (e.g., the top of an excessively tall building exceeds the range of the shooting pitch angle), it can be directly determined that the panoramic base point cannot cover the target, avoiding subsequent invalid pixel coordinate calculations. Even if the target location is within the coverage range of the panoramic base point, the direction of the relative coordinates (e.g., ΔX being positive indicates the east side, and ΔY being negative indicates the south side) can quickly determine the approximate geographical location of the first target in the panoramic image (e.g., the area on the right side of the image corresponding to the target on the east side), providing preliminary verification for subsequent accurate calculations.

[0116] Calculating the fifth coordinate information corresponding to the second coordinate information of the first target's geographical location relative to the first target's panoramic base point is the key to transforming "absolute spatial description" into "relative imaging relationship". By extracting the relative position parameters between the target and the shooting point, the core input for the camera projection model is provided, which simplifies the calculation logic, improves the accuracy, and can verify the visibility of the target in advance, ultimately ensuring that the mapping from geographic coordinates to the pixel position of the panoramic image is accurate and efficient.

[0117] Step S703: Calculate the azimuth and elevation angles corresponding to the fifth coordinate information of the target's geographical location, and convert the calculated azimuth and elevation angles into degrees to obtain the sixth coordinate information of the first target's geographical location.

[0118] Specifically, after determining the fifth coordinate information of the first target's geographical location, in order to transform the "relative positional relationship" in three-dimensional space into the "angular coordinate system" unique to panoramic images, the imaging logic of the panoramic camera is directly matched, ultimately achieving a precise mapping from spatial location to image pixels. The azimuth and pitch angles corresponding to the fifth coordinate information of the first target's geographical location can be further calculated, and the calculated azimuth and pitch angles are converted into degrees to obtain the sixth coordinate information of the first target's geographical location. Panoramic image imaging is a spherical projection centered on the shooting point (the panoramic baseline point). Each pixel position in the panoramic image corresponds to a directional angle in space (i.e., the angle between the ray pointing from the camera towards the target and the reference direction).

[0119] For example, a spherical panoramic image can be understood as an image that unfolds a "sphere" into a plane. The horizontal direction corresponds to the azimuth angle (0°-360°, e.g., 0° for due north and 90° for due east), and the vertical direction corresponds to the pitch angle (-90°-90°, e.g., 0° for horizontal forward, 90° for directly above, and -90° for directly below). The pixel position of the first target's geographical location in the panoramic image is directly determined by its azimuth (horizontal angle) and pitch (vertical angle) relative to the camera, rather than the numerical values ​​of its three-dimensional relative coordinates (ΔX, ΔY, ΔZ).

[0120] Therefore, the second coordinate information of the first target's geographical location relative to the first target's panoramic base point, relative to the fifth coordinate information (ΔX, ΔY, ΔZ), must be converted into azimuth and pitch angles to match the angular coordinate system of the panoramic image. Furthermore, the fifth coordinate information (ΔX, ΔY, ΔZ) of the first target's geographical location describes the straight-line distance and three-dimensional offset (e.g., "5 meters east, 3 meters north, 2 meters high") of the first target's geographical location relative to the first target's panoramic base point, but cannot be directly mapped to the pixel position of the image. The azimuth and pitch angles are angular abstractions of this three-dimensional relationship, directly reflecting the direction of the first target's geographical location in the field of view of the camera device: (1) Azimuth: Calculated by ΔX (horizontal east-west offset) and ΔY (horizontal north-south offset), it describes the angle of deflection of the target's geographical location on the horizontal plane relative to the reference direction (e.g., due north). For example, ΔX = 10 meters, ΔY = 10 meters (the target is in the northeast direction), the azimuth is 45°, corresponding to the pixel area in the "northeast direction" of the image.

[0121] (2) Pitch angle: determined by ΔZ (vertical offset) and horizontal distance ( The calculation describes the vertical tilt angle of the first target's geographical location relative to the camera's horizontal line. For example, ΔZ = 5 meters, horizontal distance = 10 meters (target is diagonally above), the pitch angle is approximately 26.5°, corresponding to the pixel area above the horizontal line in the panoramic image.

[0122] The azimuth and pitch angles directly determine the horizontal and vertical positions of the first target's geographical location in the panoramic image, and are key conversion parameters from three-dimensional space to two-dimensional image.

[0123] The original calculation results of azimuth and pitch angles may be in radians, while the pixel arrangement of panoramic images is designed based on degree scales (for example, 360° azimuth corresponds to the total width of horizontal pixels in the image, and 180° pitch corresponds to the total height of vertical pixels).

[0124] For example, if a panoramic image has a horizontal resolution of 7200 pixels, corresponding to a 360° azimuth angle, then each pixel corresponds to 0.05° (360° ÷ 7200); and a vertical resolution of 3600 pixels, corresponding to a 180° pitch angle (-90° to 90°), then each pixel corresponds to 0.05° (180° ÷ 3600). In this case, if the azimuth angle is 90° (due east), its horizontal pixel position in the image is 90° ÷ 0.05° = 1800 pixels; if the pitch angle is 0° (horizontal), then its vertical pixel position is 1800 pixels (3600 ÷ 2).

[0125] Therefore, calculating the azimuth and pitch angles corresponding to the fifth coordinate information of the first target's geographical location, and converting the calculated azimuth and pitch angles into degrees to obtain the sixth coordinate information of the first target's geographical location, allows for direct matching with the "degree-pixel" mapping relationship of the image. The target's pixel coordinates can then be obtained through simple proportional calculations (e.g., pixel u = azimuth angle ÷ degrees per pixel, pixel v = pitch angle ÷ degrees per pixel + offset). Furthermore, panoramic acquisition devices have limited field of view (even panoramic cameras may not cover certain angles due to lens parameters or occlusion). Using the azimuth and pitch angles (the sixth coordinate information of the first target's geographical location), it can be quickly determined whether the first target's geographical location is within the effective shooting range of the panoramic acquisition device. If the azimuth angle exceeds 0°-360° (or remains outside the effective range after normalization), it indicates that the first target's geographical location is outside the horizontal shooting range of the panoramic acquisition device; if the pitch angle exceeds the vertical field of view of the panoramic acquisition device (e.g., the pitch angle range of some cameras is -30° to 60°), it indicates that the target is too high or too low and has not been captured. The fifth coordinate information of the first target's geographical location is calculated, along with its corresponding azimuth and elevation angles. These are then converted to degrees to obtain the sixth coordinate information of the first target's geographical location. This process filters out invalid targets in advance, preventing errors in subsequent pixel coordinate calculations (for example, if the target's geographical location is directly behind the panoramic acquisition device with an azimuth of 180°, but the panoramic acquisition device is not capturing the area behind it, then its pixel position does not need to be calculated). Therefore, calculating the fifth coordinate information (three-dimensional relative coordinates) of the first target's geographical location is to clarify the spatial offset between the first target's geographical location and the shooting point. Further calculating its azimuth and elevation angles and converting them to degrees (the sixth coordinate information of the first target's geographical location) is to translate this offset into an angular language that can be directly recognized by the panoramic image, ultimately ensuring that the image position corresponding to the first target's geographical location can be accurately located in the panoramic image.

[0126] Step S704: Map the sixth coordinate information of the first target's geographical location to the pixel coordinates in the panoramic image data corresponding to the panoramic base point of the first target, so as to determine the image position in the panoramic image data corresponding to the coordinate information of the first target's geographical location as the first target image position to be implanted with the preset first mark.

[0127] Specifically, after obtaining the sixth coordinate information (i.e., the degrees of azimuth and pitch angles) of the first target's geographical location, in order to transform the abstract directional information of "angle coordinates" into specific "pixel positions" in the panoramic image, and ultimately achieve visualized positioning from spatial location to a specific point in the image, after determining the sixth coordinate information of the first target's geographical location, the sixth coordinate information of the first target's geographical location can be further mapped to the image pixel coordinates in the panoramic image data corresponding to the first target's panoramic base point, so as to determine the image position in the panoramic image data corresponding to the first target's panoramic base point that corresponds to the coordinate information of the first target's geographical location as the first target image position to be implanted with the preset first marker.

[0128] Panoramic images (whether spherical, cylindrical, or other types) are ultimately stored as two-dimensional image files (such as JPG, PNG, etc.). An image file is a pixel array composed of countless pixels arranged in rows and columns. For example, a 7200×3600 resolution panoramic image contains 7200 columns (horizontal) and 3600 rows (vertical) of pixels. Each pixel has unique (u, v) coordinates (u is the horizontal pixel index, v is the vertical pixel index), representing a specific color point in the image. The sixth coordinate information of the target's geographical location (azimuth and elevation angles) are abstract angular values ​​(e.g., azimuth 90°, elevation 0°), describing the direction of the first target's geographical location within the panoramic acquisition device's field of view. However, these coordinates cannot be directly mapped to a specific pixel in the image file. The physical pixel location corresponding to this direction in the image must be found through an "angle → pixel" mapping rule.

[0129] In the imaging process of panoramic acquisition equipment, there is a strict linear or nonlinear correspondence between "angle" and "pixel". This relationship is determined by the lens parameters and projection method (such as rectangular projection or spherical projection) of the panoramic acquisition equipment: (1) Horizontal direction (azimuth angle): Assuming that the horizontal resolution of the panoramic image is 7200 pixels, corresponding to a 360° azimuth angle, then each 1° azimuth angle corresponds to 7200÷360=20 pixels. If the azimuth angle is 90°, then the horizontal pixel coordinate u=90×20=1800 (that is, the 1800th column pixel from left to right).

[0130] (2) Vertical direction (pitch angle): Assuming the vertical resolution is 3600 pixels, corresponding to a pitch angle from -90° (zenith) to 90° (nadir), then each 1° pitch angle corresponds to 3600÷180=20 pixels. If the pitch angle is 0° (horizontal direction), then the vertical pixel coordinate v=1800 (that is, the 1800th row of pixels from the top down, in the center position).

[0131] This mapping relationship evenly distributes the "angle range" across the "number of pixels," ensuring that each angle interval corresponds to a fixed pixel interval. Only through this mapping can the sixth coordinate information of the first target's geographical location (such as azimuth 90°, elevation 0°) be converted into specific (u, v) pixel coordinates, such as (1800, 1800). Ultimately, users need to see the "viewpoint corresponding to the first target's geographical location" in the panoramic image, and the display and interaction of the panoramic image (such as clicking and marking) are all based on pixel coordinates. For example, when a user clicks on an address on a map, the location of that address needs to be marked with a red dot in the corresponding panoramic image. This red dot's location must be a specific pixel coordinate (such as u=2500, v=1200) to be accurately drawn on the image by the computer. If only the sixth coordinate information (angle) of the first target's geographical location is considered, it is impossible to directly locate it in the image. Angle is an abstract directional description, while pixel coordinates are the "address" in the physical storage of the image; only through the address can the specific "viewpoint" be found.

[0132] The panoramic images corresponding to different panoramic base points may have differences in resolution, projection method, and lens distortion correction parameters, as follows: (1) Different resolutions: The horizontal pixel of panoramic image A is 7200, and that of B is 10800. Therefore, the pixel coordinates corresponding to the same azimuth angle (such as 90°) are different (A is 1800, and B is 2700).

[0133] (2) Different projection methods: The angle-pixel mapping formulas for spherical panoramas and cylindrical panoramas are different (for example, the pitch angle mapping of cylindrical panoramas may have non-linear stretching).

[0134] Therefore, for the specific image parameters corresponding to the panoramic baseline point of the first target, the sixth coordinate information (angle) of the first target's geographical location must be converted into pixel coordinates unique to that image using a mapping formula (such as calculating the pixel ratio based on resolution and correcting distortion based on projection method) to ensure accurate positioning. If this step is skipped and the angle value is used directly for positioning, positioning deviations will occur due to differences in image parameters (such as the same angle corresponding to different pixel positions in images with different resolutions).

[0135] For example, suppose the point clicked on the map is A, and the nearest panoramic capture point is B. First, calculate the panoramic coordinates of A in the panoramic image of B. Based on the geographic coordinates of A and B, the actual distance between the two points can be calculated in meters (m). The ground altitude h of the drone during panoramic image capture is then determined by... Dividing by h and then applying the arctangent function yields an angle. Subtract 90 This will give you the y-axis coordinate in the panoramic coordinate system. Then, by subtracting the north deviation from the azimuth angle of point A's distance from point B during panoramic shooting, you can calculate the x-axis coordinate in the panoramic coordinate system. Thus, you can obtain the image position of point A in the panoramic coordinate system.

[0136] As can be seen from the above description, this application can determine the pixel coordinates in the panoramic image corresponding to the panoramic base point of the first target based on the fourth coordinate information of the geographical location of the first target, and determine the image position in the panoramic image data corresponding to the coordinate information of the geographical location of the first target as the first target image position to be implanted with the preset first mark.

[0137] As can be seen from the above description, this application can determine and re-implant a preset marker at the second target image position corresponding to the second target geographical location, and display panoramic image data corresponding to the second target geographical location based on the re-implanted preset marker, with the second target image position of the re-implanted preset marker as the center. The process is described below, which may include the following: Step S801, determine the coordinate information corresponding to the second target geographical location.

[0138] Specifically, in order to better match user needs, efficiently allocate image resources, and ensure consistent display effects, the coordinate information corresponding to the geographical location of the second target can be determined before determining the image position of the second target corresponding to each panoramic base point of the second target.

[0139] In practical applications, user queries typically include spatial, temporal, and perspective dimensions. Missing panoramic baseline point information can lead to mapping failures. For example, if the baseline point doesn't record the shooting time, a user requesting an "autumn ginkgo scene" might return summer images. Without perspective parameters, it might be impossible to determine if the baseline point is directly facing the user's subject (e.g., a building's main entrance). Panoramic baseline point information can include image sharpness, integrity markers, storage location, and resolution registration. Image sharpness and integrity markers can help eliminate invalid data. For instance, if a baseline point's image is blurry due to equipment malfunction (e.g., sharpness <300dpi), it can be preemptively excluded by recognizing the "quality score." Baseline points in construction areas marked "temporarily disabled" can be automatically skipped to avoid displaying incorrect scenes. Hierarchical loading is achieved through baseline point information such as "storage location" and "resolution level." For example, mobile devices prioritize lower-resolution (e.g., 2K) baseline points to reduce data consumption.

[0140] The core information of the panoramic base point can include the following categories: (1) Spatial positioning information, including latitude and longitude coordinates, UTM projection coordinates, altitude, etc., which can be used to spatially match the user's click position to ensure that the base point falls within the target geographical location. Among them, latitude and longitude coordinates can be used to perform spatial intersection calculations with the target geographical location (such as determining whether the point is inside the polygon); altitude is mainly used in mountain scenes to avoid calling low-altitude base points to display high-altitude areas (such as the need to match points with corresponding altitudes for mountain observation decks); UTM coordinates are mainly used in high-precision scenes to calculate the distance error between the point and the boundary through projection coordinates (the error must be less than 1 meter).

[0141] (2) Time attribute information includes shooting date, timestamp, and season tag, which can support accurate retrieval of time dimension (such as the scene of "2023 Spring Festival Temple Fair").

[0142] (3) The viewing angle parameter information includes horizontal viewing angle, pitch angle and focal length, which are mainly used to determine the direction and range of the image display (such as a 90° horizontal viewing angle covering a 180° scene directly in front). For example, when the user looks north from the center of the target display area, the horizontal viewing angle needs to be matched with a base point of 0°. In the focal length parameter, the wide-angle lens (focal length less than 24mm) is suitable for displaying panoramic scenes, and the telephoto lens (focal length greater than 200mm) is suitable for close-ups. It needs to be switched according to the user's instructions.

[0143] (4) Image feature information includes resolution, color depth, compression format, and quality score, which can control the clarity and performance of image loading.

[0144] (5) Scene association information includes tags and POI association IDs, which support semantic retrieval. Among them, the tag parameters adopt hierarchical tags, which support multi-dimensional retrieval. After the base point is bound to the POI ID, the user can directly call the corresponding base point image by clicking the POI icon.

[0145] (6) Status control information includes availability status (enabled / disabled) and update version number, which can be used for system maintenance (e.g., marking the base points of the construction area as "disabled").

[0146] Step S802: Based on the coordinate information corresponding to the geographical location of the second target, determine at least one panoramic base point of the second target corresponding to the coordinate information corresponding to the geographical location of the second target.

[0147] Specifically, as described above, after the user changes the search target, this application can continue to determine the coordinate information corresponding to the second target geographical location corresponding to the user's second search instruction. In order to better determine the second target panoramic base point corresponding to the second target geographical location, at least one second target panoramic base point corresponding to the coordinate information corresponding to the second target geographical location can be determined based on the coordinate information corresponding to the second target geographical location. The process of determining the second target panoramic base point can be as follows: (1) Perform a preset fourth distance buffering process on the first coordinate information of the second target geographical location to obtain the second coordinate information of the second target geographical location. Among them, the first coordinate information of the second target geographical location is the coordinate information corresponding to the geographical location clicked by the user for the second time.

[0148] Specifically, in order to accurately and efficiently select the panoramic baseline points of the second target location related to the second target location by defining a reasonable spatial range, after determining the geographical location of the second target, the first coordinate information of the second target's geographical location can be subjected to a preset fourth distance buffering process to obtain the second coordinate information of the second target's geographical location. The preset fourth distance can be set according to the actual application scenario requirements, such as [0, 300 meters]. That is, after determining the geographical location of the second target, the first coordinate information of the second target's geographical location can be further determined, and the first coordinate information of the second target's geographical location can be buffered by 300 meters to obtain the second coordinate information of the second target's geographical location.

[0149] In practical applications, panoramic base points are the actual shooting locations when acquiring panoramic images. Their distribution is discrete; not every geographic coordinate on Earth corresponds exactly to a panoramic base point. Instead, they are distributed at certain intervals or according to the shooting plan. The first coordinate information of the second target's geographic location (such as precise latitude and longitude) may be a "theoretical point," but this point may not necessarily have a panoramic base point (for example, a user is querying the main entrance of a building, but the panoramic base point may be 5 meters away on the roadside). Through fourth distance buffering, the first coordinate information of the second target's geographic location can be expanded into a circular area centered on the target point and with the fourth distance as the radius (the second coordinate information of the second target's geographic location is the range coordinates of this area). This covers all possible panoramic base points around the second target's location, avoiding the omission of valid data due to the stringent condition of "point-to-point matching." When users view panoramic images, they often need to observe the target geographic location from multiple angles. The range defined by the second coordinate information of the second target's geographic location after buffering can include panoramic base points in different directions around the second target location, ensuring that the acquired panoramic image data can cover the target location from multiple perspectives and meet the user's need for complete scene viewing. Without buffering, simply matching panoramic base points that perfectly coincide with the first coordinates of the second target's geographical location may result in no usable data being found, or only a single-angle image being acquired, failing to fully represent the environment of the second target's geographical location. The preset fourth distance is usually an empirical value based on actual shooting scenarios, matching the reasonable distribution intervals of panoramic base points. After buffering, the second coordinate information of the second target's geographical location conforms to the actual distribution patterns of panoramic base points, filtering out reasonable points that, while not perfectly coinciding with the target point, can effectively capture the second target's geographical location, avoiding the loss of usable data due to mechanical matching. The preset buffer distance (such as the fourth distance) is a balance between "precise positioning" and "data availability." If the buffer distance is too small (e.g., 1 meter), data may not be filtered out due to slight deviations between the panoramic base point and the target point (e.g., positioning errors during shooting); if the buffer distance is too large (e.g., 1 kilometer), too many irrelevant panoramic base points may be included, increasing the redundancy of data filtering and the complexity of user searches. By using a preset, reasonable fourth distance for buffering, we can ensure that the selected panoramic base points are sufficiently relevant to the target location (within the effective observation range) and that there is a sufficient amount of usable data, thereby improving browsing efficiency and user experience.

[0150] (2) Perform spatial intersection processing on the second coordinate information of the second target's geographical location and the coordinate information of each panoramic base point in the first target area; obtain the spatial intersection result of the second coordinate information of the second target's geographical location and the coordinate information of each panoramic base point in the first target area.

[0151] Specifically, to achieve accurate mapping from user behavior to panoramic image data, after identifying all information of all panoramic base points in each first target area, spatial intersection processing can be performed on the second coordinate information of the second target's geographical location clicked by the user, along with the coordinate information of each panoramic base point in the first target area, based on the user's second query command. This yields the spatial intersection result between the second coordinate information of the second target's geographical location and the coordinate information of each panoramic base point in the first target area. The user's physical action of clicking the screen needs to be converted into coordinate points in geographic space (the second coordinate information of the second target's geographical location), while the panoramic base points are pre-stored "image shooting locations." The two need to be judged whether there is "visual overlap" through spatial relationship. Secondly, panoramic base points may overlap (e.g., multiple shooting angles in the same area). Spatial intersection processing can filter out the most relevant base points. For example, a square has three base points: P1 (shot from due north), P2 (shot from due south), and P3 (shot from above). When the user clicks the center of the square, the intersection area of ​​P1 and P2 is larger, so they are prioritized. If the panoramic base point does not spatially intersect with the second target's geographical location clicked by the user (i.e., the shooting range does not cover the point), the retrieval will result in image misalignment. The priority of base points can be ranked by calculating the intersection area or distance. For example, if base point P is 0.5 meters away from the clicked point (close intersection) and base point Q is 5 meters away (loose intersection), the image of P will be loaded first. Spatial intersection only guarantees that "the base point captured the location," but it is necessary to combine the viewing angle parameters to determine "whether it is displayed at the optimal angle." For example, if a user clicks on the east gate of a watchtower on the Great Wall, and a base point covers that point, but the viewing angle is towards the west gate, the intersection result needs to be adjusted for display direction based on the viewing angle parameters. In complex scenes (such as multi-story buildings or underground spaces), spatial intersection processing needs to be combined with 3D coordinate intersection verification to avoid errors in data transfer.

[0152] (3) Based on the spatial intersection results of the second coordinate information of the second target's geographical location and the coordinate information of each panoramic base point in the first target area, determine at least one panoramic base point that has a spatial intersection with the second coordinate of the second target's geographical location.

[0153] Specifically, through the above intersection processing, the panoramic base point corresponding to the second target geographical location clicked by the user can be determined relatively accurately. Therefore, based on the spatial intersection results of the second coordinate information of the second target geographical location and the coordinate information of each panoramic base point in the first target area, at least one panoramic base point that has a spatial intersection with the second coordinate of the second target geographical location can be determined.

[0154] (4) Calculate the distance between each panoramic base point that intersects with the second coordinate of the second target's geographical location and the second coordinate of the second target's geographical location.

[0155] Specifically, to ensure that users can efficiently obtain the most relevant content, based on the spatial intersection results of the second coordinate information of the second target geographical location and the coordinate information of each panoramic base point of the first target area, at least one panoramic base point that has a spatial intersection with the second coordinate of the second target geographical location can be determined. The distance between each panoramic base point that has a spatial intersection with the second coordinate of the second target geographical location and the second coordinate of the second target geographical location can be calculated respectively, so as to provide a precise basis for subsequent filtering, sorting and presentation of panoramic images by quantifying spatial relationships.

[0156] A 300-meter buffer range only confirms that the panoramic base point is "within the range of the target geographical location." However, the actual relevance of the base point within the second target geographical location to the user's desired location may vary greatly. For example, there might be 10 panoramic base points within the buffer range, one 5 meters from the target location (capable of clearly capturing target details), while another is 290 meters away (potentially only capturing distant views of the target, or even obscured by buildings). By calculating distances, more refined filtering criteria can be set (such as retaining base points less than or equal to 100 meters), excluding points that are too far away or have low image value, thus reducing the interference of invalid data on system processing and user selection. When users view panoramic images, they typically prioritize the viewpoint "closest to the second target geographical location." The closer the panoramic base point, the clearer the details of the second target geographical location in its image and the more direct the viewpoint. After calculating distances, panoramic base points can be sorted "from closest to furthest," allowing users to prioritize viewing the most relevant images, reducing the time cost of manual filtering and improving the viewing experience. Furthermore, distance is a crucial reference for determining whether panoramic imagery can effectively cover the target location. Even within a buffer zone, if the distance between the panoramic base point and the geographical location of the second target is close but obstructed by obstacles (such as high walls or buildings), the image may not show the target. Conversely, points at slightly greater distances in open areas may capture a more complete view of the target. Distance data can be combined with other parameters (such as shooting direction and terrain occlusion analysis) for comprehensive judgment. For example, prioritizing points that are close and unobstructed, or labeling points that are slightly farther away but offer a better viewing angle, helps the system and users identify "truly usable" images. If the number of panoramic base points within the initial buffer range is too large or too small, calculating the distances between each panoramic base point spatially intersecting with the second coordinate of the second target's geographic location and the second coordinate of the second target's geographic location can help optimize subsequent processing. If there are a large number of base points within 300 meters, the range can be narrowed down by filtering by distance to avoid excessive system load. If there are very few base points within 300 meters (e.g., in remote areas), the distance data can be used to determine whether the buffer range needs to be expanded (e.g., expanded to 500 meters), and the closer points within the expanded range should be prioritized to ensure that users can obtain usable images. Calculating the distances between each panoramic base point spatially intersecting with the second coordinate of the second target's geographic location and the second coordinate of the second target's geographic location is a further refinement based on the buffer range filtering. By quantifying spatial distances, effective data filtering, orderly presentation, and flexible optimization can be achieved, ultimately allowing users to quickly obtain the most relevant and valuable panoramic images related to the second target's geographic location.

[0157] (5) Among the panoramic base points that spatially intersect with the second coordinates of the second target's geographical location, select the panoramic base point with the shortest distance to the second coordinates of the second target's geographical location as the second target's panoramic base point.

[0158] Specifically, in order to provide users with the most direct, relevant, and valuable panoramic images, after calculating the distance between each panoramic base point within the second coordinate (300-meter buffer range) of the second target's geographical location and the second coordinate information of the second target's geographical location, among the panoramic base points that spatially intersect with the second coordinate of the second target's geographical location, the panoramic base point with the shortest distance to the second coordinate of the second target's geographical location is selected as the second target's panoramic base point, so as to ensure that the final determined panoramic image has the highest clarity of details of the second target's geographical location.

[0159] In practical applications, the detail rendering capability of panoramic images is closely related to the shooting distance. The closer the panoramic base point is to the geographical location of the second target, the clearer the details of the second target's geographical location in the image. Choosing the panoramic base point with the shortest distance as the second target's panoramic base point prioritizes providing users with the clearest visual experience, satisfying their core need to view the details of the second target's geographical location. The panoramic base point with the shortest distance to the second target's geographical location is usually the shooting point closest to the actual scene of the second target's geographical location. This proximity allows the image to directly focus on the target of interest to the user, reducing interference from irrelevant environments on core information and ensuring that users can quickly locate the specific location of the second target in the image. Unless otherwise specified, users default to seeing the viewpoint closest to the target. Using the shortest distance point as the second target's panoramic base point aligns with users' intuitive needs, reducing the operational cost of manually filtering among multiple views and improving viewing efficiency. Even if multiple panoramic base point images are needed subsequently (e.g., observing the target from different directions), the point with the shortest distance can serve as the reference viewpoint. The panoramic image of the second target's panoramic base point can serve as the starting point for users to understand the spatial relationship of the second target's geographical location. Using the shortest distance point as the core, supplementing it with other perspectives can form a logical chain "from near to far, from the core to the periphery," helping users more clearly construct a spatial understanding of the second target's geographical location. This satisfies users' needs for viewing target details while improving the efficiency and experience of using panoramic images. The method for determining the various panoramic base points corresponding to the first target's geographical location is the same as the method for determining the various panoramic base points corresponding to the second target's geographical location. The method for determining the panoramic base points of each second target can be used to determine the various panoramic base points corresponding to the first target's geographical location.

[0160] Step S803: Determine the coordinate information of each second target panoramic base point.

[0161] Specifically, as described above, this application can determine each second target panoramic base point corresponding to the second target geographical location clicked by the user for the second time. In order to better determine the image pixel coordinates corresponding to the second target geographical location in each second target panoramic base point, the coordinate information of each second target panoramic base point can be determined first, so as to determine the image position corresponding to the second target geographical location based on the coordinate information of each second target panoramic base point.

[0162] Step S804: Perform preset coordinate transformation processing on the coordinate information of the geographical location of the second target and the coordinate information of each panoramic base point of the second target to obtain the fifth coordinate information of the geographical location of the second target and the second coordinate information of each panoramic base point of the second target.

[0163] Specifically, to eliminate differences between different coordinate systems and ensure that both are calculated under the same spatial reference, thereby accurately locating the target's image position in the panoramic image, when calculating the image position corresponding to the coordinate information of the second target's geographical location, a preset coordinate transformation process can be performed on the first coordinate information of the second target's geographical location and the coordinate information of the second target's panoramic base point, respectively, to obtain the fifth coordinate information of the second target's geographical location and the second coordinate information of the second target's panoramic base point. The preset coordinate transformation process can be as follows: the first coordinate information of the second target's geographical location and the coordinate information of the second target's panoramic base point can be converted to ECEF coordinates, thereby obtaining the fifth coordinate information (ECEF coordinates) of the second target's geographical location and the second coordinate information (ECEF coordinates) of the second target's panoramic base point. The original coordinates of the second target's geographical location and the panoramic baseline point usually come from different coordinate systems. Direct calculation will lead to spatial misalignment. The first coordinate information of the second target's geographical location is mostly "geographic coordinates" (such as latitude and longitude, belonging to the geodetic coordinate system, used to identify the absolute position on the Earth's surface) input by the user or obtained. By performing preset coordinate transformations on the first coordinate information of the second target's geographical location and the coordinate information of the second target's panoramic baseline point, the "coordinate system incompatibility" problem can be solved, ensuring that the spatial positions are comparable. The coordinate information of the second target's panoramic baseline point is mostly the coordinates of the panoramic image recorded during shooting or the coordinates of a local coordinate system (such as the device positioning coordinates when the panoramic camera was shooting, which may be based on the camera's own coordinate system or the local coordinates relative to a reference point). The reference, unit, and coordinate axis direction of the two coordinate systems may be completely different (for example, one is spherical coordinates and the other is Cartesian coordinates). Direct comparison would be like "using meters and feet to calculate distances," and the result would be meaningless. Through preset coordinate transformations, both can be converted to the same reference coordinate system, ensuring that the spatial positions are comparable, eliminating the influence of projection distortion, and improving calculation accuracy. Geographic coordinates (such as latitude and longitude) are spherical coordinates, while the image position in a panoramic image is a planar coordinate (pixel). The conversion between the two requires map projection processing. Since the Earth is a sphere, directly mapping spherical coordinates to a planar image will result in projection distortion (e.g., the scale and angle of different regions may be distorted). For example, in small areas, Gauss-Kruger projection can be used to convert spherical coordinates to planar coordinates to reduce distortion; while in large areas, other projection methods may be needed. The preset coordinate transformation selects an appropriate projection method based on the panoramic image's shooting range and accuracy requirements, unifying the coordinates of the second target's geographical location and the second target's panoramic baseline point into a planar coordinate system without significant distortion. Only under the same planar reference can the pixel position of the second target's geographical location in the panoramic image be accurately derived through geometric calculations (such as distance and angle).There is a strict geometric mapping relationship between the image location (pixel) and the shooting point (panoramic base point) of a panoramic image (e.g., calculated through camera intrinsic and extrinsic parameters): When a panoramic camera shoots, its lens parameters such as focal length, angle, and shooting direction (intrinsic parameters) and the position and orientation of the shooting point (extrinsic parameters) determine the correspondence between "real-world geographic coordinates" and "pixel coordinates in the image". For example, if a camera shoots from point A (coordinates X1, Y1, Z1) in a certain direction, point B (coordinates X2, Y2, Z2) in reality will correspond to a certain pixel (u, v) in the image. If the coordinates of the geographical location of the second target and the coordinates of the panoramic base point of the second target are not on the same spatial reference datum (e.g., one based on the WGS84 coordinate system and the other based on the Beijing 54 coordinate system), then an accurate geometric mapping cannot be established through camera parameters. The calculation of the image position of the second target's geographical location in the panoramic image is a transformation from "real-world spatial coordinates to image pixel coordinates," which requires coordinate data in a unified format. For example, it may be necessary to calculate it through the following steps: 1. Determine the relative distance and azimuth angle between the second coordinate of the second target's panoramic base point and the fifth coordinate of the second target's geographical location; 2. Calculate the horizontal and vertical offsets of the second target's geographical location in the panoramic image based on the camera's shooting angle and focal length; 3. Combine the image resolution to convert the offsets into specific pixel coordinates (u, v).

[0164] If the coordinates are not converted (inconsistent format, inconsistent reference), they will fail due to parameter mismatch (such as incorrect distance calculation, azimuth deviation), ultimately leading to incorrect image positioning.

[0165] In summary, coordinate transformation is essential for connecting real-world geographic space with the pixel space of panoramic images. By unifying the coordinates of the second target's geographic location and the second target's panoramic baseline point into the same reference and format coordinate system, the accuracy and logic of subsequent geometric calculations can be ensured. Ultimately, this allows for the precise location of the second target's geographic location within the panoramic image corresponding to the second target's panoramic baseline point, thus meeting the user's need to "see the target's accurate location in the image" when browsing.

[0166] Step S805: Based on the fifth coordinate information of the geographical location of the second target, determine the pixel coordinates in the panoramic image data corresponding to each panoramic base point of the second target.

[0167] Specifically, after determining the fifth coordinate information of the second target's geographical location, in order to achieve a precise mapping from "real-world geographic coordinates" to "panoramic image pixel position" and allow users to intuitively see the visual position corresponding to the second target's geographical location in the panoramic image, the image pixel coordinates in the panoramic image corresponding to the second target's panoramic base point can be determined based on the fifth coordinate information of the second target's geographical location. This determines the image position in the panoramic image data corresponding to the second target's panoramic base point and its coordinate information. The fifth coordinate information of the second target's geographical location (the unified reference coordinates after coordinate transformation) is the absolute or relative spatial position in the real world (e.g., Cartesian coordinates X=1000 meters, Y=500 meters), while the panoramic image is a two-dimensional pixel array (e.g., a 1920×1080 pixel image). The two belong to different dimensions of spatial description. In real space, the second target's geographical location is a point; in the panoramic image, this point needs to correspond to a certain pixel (e.g., the pixel in the 800th column and 500th row of the image) to be recognized by the user's naked eye. The calculation of pixel coordinates through the fifth coordinate information is to project points in real space onto the two-dimensional plane of the panoramic image through geometric algorithms (such as perspective projection, camera parameter model), thus completing the transformation from abstract coordinates to concrete image positions. The second target panoramic base point is the origin of the panoramic image. Its corresponding panoramic image data contains key parameters during shooting (such as camera intrinsic and extrinsic parameters). These parameters are the core basis for coordinate mapping: (1) Camera intrinsic parameters include focal length, pixel size, principal point coordinates, etc., which determine how the camera projects three-dimensional spatial points onto the two-dimensional image plane (for example, focal length determines the field of view of imaging, and principal point coordinates correspond to the pixel position of the image center).

[0168] (2) Camera extrinsic parameters include the position of the shooting point (i.e., the second coordinates of the second target panoramic base point) and shooting posture (such as rotation angle and pitch angle), which describe the position and orientation of the camera in real space.

[0169] The relative positional relationship (distance, azimuth) between the fifth coordinate (real-world point) of the second target's geographical location and the second coordinate (camera position) of the second target's panoramic base point, combined with camera intrinsic and extrinsic parameters, allows for the calculation of the point's pixel coordinates in the panoramic image using perspective transformation formulas (e.g., determining the horizontal offset pixels in the panoramic image by calculating the target point's azimuth relative to the camera; determining the vertical offset pixels by calculating the pitch angle). While panoramic images can cover a large area, not all real-world points can be captured (e.g., locations obscured by buildings), and different shooting angles can cause differences in the target's position in the image. The process of calculating pixel coordinates using the fifth coordinate simultaneously verifies whether the target's geographical location is within the visible range of the panoramic image. For example, if the calculated pixel coordinates exceed the pixel size range of the image, it indicates that the target is not in the panoramic image, and another panoramic base point needs to be switched. Even if the target is visible, only through precise pixel coordinate calculation can visual bias be avoided. Once the pixel location of the second target in the panoramic image is determined, richer interactions can be implemented based on this location. For example, preset markers (such as red dots or information pop-ups) can be embedded at the pixel coordinates to intuitively prompt the user that the target is here. The pixel locations of the second target in multiple panoramic images can also be combined to generate a coherent visual navigation route (such as guiding the user to switch from a certain pixel in the panoramic image at point A to the corresponding pixel in the panoramic image at point B). Furthermore, the pixel coordinates can be used to locate local areas of the image, allowing users to zoom in and view the detailed features of the target.

[0170] Step S806: Based on the fifth coordinate information of the second target's geographical location, perform spatial intersection deduplication processing on the pixel coordinates in the panoramic image data corresponding to each panoramic base point of the second target, so as to determine the image position in the panoramic image data corresponding to the second target's panoramic base point with the coordinate information of the second target's geographical location as the second target image position.

[0171] Specifically, to address potential spatial coordinate redundancy or conflicts in panoramic image data and ensure the uniqueness, accuracy, and spatial consistency of marker implantation locations, after determining the fifth coordinate information of the second target's geographical location, spatial intersection deduplication processing is performed on the corresponding pixel coordinates in the panoramic image data for each second target panoramic base point based on this fifth coordinate information. This determines the image location in the panoramic image data corresponding to the second target panoramic base point with the coordinate information of the second target's geographical location as the second target image location to be implanted with the preset marker. Panoramic image data typically covers the same target geographical location through multiple panoramic base points, resulting in multiple pixel coordinates for the same target geographical location in different panoramic images. These pixel coordinates may appear to all point to the target location, but due to differences in shooting angle, distance, and equipment parameters, there are subtle spatial deviations. Directly using these unprocessed coordinates may lead to duplicate marker implantation (multiple markers for the same target location appearing in different panoramic images); and misalignment of the marker location with the true geographic coordinates. By performing spatial intersection deduplication using the fifth coordinate information of the second target's geographical location, the unique coordinates that best match the true spatial attributes of the second target's geographical location can be selected from multiple redundant pixel coordinates, avoiding duplication and misalignment. Without the constraint of a fifth coordinate from the second target's geographic location, matching based solely on 3D coordinates can lead to mismatches in complex spatial scenes where coordinates are identical but actual locations differ. Deduplication addresses this issue by using the fine-grained constraint of the fifth coordinate from the second target's geographic location. This resolves coordinate redundancy and spatial ambiguity issues in multi-source panoramic data, ultimately ensuring the uniqueness, accuracy, and functional effectiveness of the marker implantation location, providing a reliable visual benchmark for subsequent spatial interactions.

[0172] Step S807: Re-implant the preset marker at the second target image location.

[0173] Specifically, as described above, the location of the second target image is the pixel location of the second target geographic location corresponding to the panoramic base point of the second target. Therefore, after determining the location of the second target image, in order to highlight the location of the second target geographic location in the panoramic image data, a preset marker can be re-implanted at the location of the second target image so that the specific location of the second target geographic location in the panoramic image data can be highlighted, making it easier for users to visually focus on the information of the second target geographic location.

[0174] Step S808: Based on the re-implanted preset marker, display panoramic image data corresponding to the geographical location of the second target, centered on the location of the second target image with the re-implanted preset marker.

[0175] Specifically, further, after determining the location of the second target image, panoramic image data corresponding to the geographical location of the second target can be displayed, centered on the location of the second target image with the re-implanted preset markers. The real-time process of displaying the panoramic image data corresponding to the geographical location of the second target can refer to the implementation method for displaying the panoramic image data corresponding to the geographical location of the first target. This makes the display effect of the panoramic image data corresponding to the geographical location of the second target more closely meet the user's viewing needs.

[0176] Step S809: Based on the center of the user's display screen, correct the display effect of the panoramic image data corresponding to the geographical location of the second target.

[0177] Specifically, further, in the process of displaying the panoramic image data corresponding to the second target geographical location, the display effect of the panoramic image data corresponding to the second target geographical location can be corrected according to the center of the user's display screen. Specifically, the display effect of displaying the panoramic image data corresponding to the first target geographical location can be referred to when displaying the panoramic image data corresponding to the second target geographical location.

[0178] As can be seen from the above description, this application can load and display panoramic image data corresponding to the target that the user wants to adjust and view in a timely manner.

[0179] As described above, this application can determine the image pixel coordinates in the panoramic image data corresponding to each panoramic base point of the second target based on the fifth coordinate information of the second target's geographical location; based on the fifth coordinate information of the second target's geographical location, spatial intersection and deduplication processing is performed on the image pixel coordinates in the panoramic image data corresponding to each panoramic base point of the second target to determine the image position in the panoramic image data corresponding to the second target's panoramic base point corresponding to the coordinate information of the second target's geographical location as the second target image position. The process is described below and may include the following steps: Step S901, based on the fifth coordinate information of the second target's geographical location, calculate the seventh coordinate information corresponding to the fifth coordinate information of the second target's geographical location relative to the second coordinate information of each panoramic base point of the second target.

[0180] Specifically, to convert "absolute coordinates" into "relative coordinates," eliminate spatial reference differences, focus on the spatial relationship between the two, and provide a concise and accurate input for subsequent pixel coordinate calculations, when determining the image position of the second target's geographical location in the panoramic image corresponding to the second target's panoramic base point, the seventh coordinate information corresponding to the fifth coordinate of the second target's geographical location relative to the second coordinate information of the second target's panoramic base point can be calculated first, based on the fifth coordinate information of the second target's geographical location. Although the fifth coordinate information of the second target's geographical location and the second coordinate information of the second target's panoramic base point have undergone a preset coordinate transformation (possibly unified to the same plane coordinate system, such as the Gauss-Kruger coordinate system or the UTM coordinate system), they are essentially still absolute coordinates (i.e., position descriptions relative to the origin of the coordinate system, such as X=350,000 meters, Y=4,500,000 meters). The imaging logic of the panoramic image relies on the relative relationship of the target with respect to the shooting point (panoramic base point) in terms of "azimuth, distance, and angle," rather than the absolute coordinates themselves. For example, when a camera takes a picture, the position of a target in the image depends only on whether it is in front of or to the right of the camera, whether it is 10 meters or 50 meters away from the camera, and whether its elevation angle relative to the camera is 30° or -10° (pyo angle), regardless of the location of the coordinate system origin. Therefore, it is necessary to calculate the seventh coordinate information (relative coordinates) corresponding to the fifth coordinate of the second target's geographical location relative to the second coordinate information of the second target's panoramic base point. This transforms the relationship between the target's absolute coordinates (the fifth coordinate information of the second target's geographical location) and the absolute coordinates of the panoramic base point (i.e., the second coordinate information of the second target's panoramic base point) into the target's three-dimensional relative coordinates relative to the panoramic base point, thereby eliminating irrelevant absolute coordinate references and retaining only the relative spatial parameters meaningful for imaging. Only after determining the seventh coordinate information corresponding to the fifth coordinate of the second target's geographical location relative to the second coordinate information of the second target's panoramic base point can the projection formula be used to calculate the target's pixel position in the image. For example: if the seventh coordinate of the second target's geographical location shows that the target is "10 meters directly in front and 5 meters to the right" of the panoramic base point, the second target's geographical location in the panoramic image can be calculated to be "X pixels to the right of the center"; if the seventh coordinate of the second target's geographical location shows that the target is "3 meters above the panoramic base point and 20 meters away", the second target's geographical location in the panoramic image can be calculated to be "Y pixels above the center" of the panoramic image.

[0181] Furthermore, absolute coordinates are typically large (e.g., planar coordinates in meters can reach six digits), directly using them for calculations increases computational complexity and may introduce errors (such as loss of precision in floating-point operations). In contrast, the seventh coordinate (relative coordinate) corresponding to the fifth coordinate of the second target's geographical location relative to the second coordinate of the second target's panoramic base point is the difference between "second target's geographical location and the second target's panoramic base point," a smaller value (e.g., within a 300-meter buffer range, the maximum difference in relative coordinates usually does not exceed 300 meters), and directly reflects the spatial orientation relationship between the two: for example, if the fifth coordinate of the second target's geographical location is (X1, Y1, Z1), and the second coordinate of the second target's panoramic base point is (X0, Y0, Z0), then the seventh coordinate corresponding to the fifth coordinate of the second target's geographical location relative to the second coordinate of the second target's panoramic base point is (ΔX=X1-X0, ΔY=Y1-Y0, ΔZ=Z1-Z0). This difference calculation directly reflects the target's "east / west, south / north, high / low" direction at the panoramic base point, eliminating the need to deduce orientation from absolute coordinates and reducing the accumulation of errors in intermediate steps.

[0182] Furthermore, during the calculation of the seventh coordinate information corresponding to the fifth coordinate of the second target's geographical location relative to the second coordinate information of the second target's panoramic base point, it is possible to simultaneously determine whether the second target's geographical location is within the "effective shooting range" of the second target's panoramic base point. For example, if the horizontal distance relative to the coordinates ( If the target's location exceeds the maximum coverage radius of the panoramic image (e.g., a 300-meter buffer range), or if the vertical distance (ΔZ) is too large, causing the target's geographical location to be outside the camera's field of view (e.g., the top of an excessively tall building exceeds the shooting pitch angle range), it can be directly determined that the panoramic base point cannot cover the target, avoiding subsequent invalid pixel coordinate calculations. Even if the second target's location is within the coverage area of ​​the panoramic base point, the direction of the relative coordinates (e.g., ΔX being positive indicates the east side, ΔY being negative indicates the south side) can quickly determine the approximate area of ​​the second target's geographical location in the panoramic image (e.g., the area on the right side of the image corresponds to the target on the east side), providing preliminary verification for subsequent accurate calculations. Calculating the seventh coordinate information corresponding to the fifth coordinate of the second target's geographical location relative to the second coordinate information of the second target's panoramic base point is key to transforming "absolute spatial description" into "relative imaging relationship." By extracting the relative position parameters between the target and the shooting point, core input is provided to the camera projection model, simplifying the calculation logic, improving accuracy, and verifying the target's visibility in advance, ultimately ensuring accurate and efficient mapping from geographic coordinates to the pixel position of the panoramic image.

[0183] Step S902: Calculate the azimuth and elevation angles corresponding to the seventh coordinate information of the second target's geographical location, and convert the calculated azimuth and elevation angles into degrees to obtain the eighth coordinate information of the second target's geographical location.

[0184] Specifically, after determining the seventh coordinate information of the second target's geographical location, in order to transform the "relative positional relationship" in three-dimensional space into the "angular coordinate system" unique to panoramic images, and directly match the imaging logic of the panoramic camera, a precise mapping from spatial location to image pixels can be achieved. The azimuth and pitch angles corresponding to the seventh coordinate information of the second target's geographical location can be further calculated, and the calculated azimuth and pitch angles can be converted into degrees to obtain the eighth coordinate information of the second target's geographical location. Panoramic image imaging is a spherical projection centered on the shooting point (the panoramic baseline point). Each pixel position in the panoramic image corresponds to a directional angle in space (i.e., the angle between the ray pointing from the camera towards the target and the reference direction).

[0185] For example, a spherical panoramic image can be understood as an image that unfolds a "sphere" into a plane. The horizontal direction corresponds to the azimuth angle (0°-360°, e.g., 0° for due north and 90° for due east), and the vertical direction corresponds to the pitch angle (-90°-90°, e.g., 0° for horizontal forward, 90° for directly above, and -90° for directly below). The pixel position of the second target's geographical location in the panoramic image is directly determined by its azimuth (horizontal angle) and pitch (vertical angle) relative to the camera, rather than the numerical values ​​of its three-dimensional relative coordinates (ΔX, ΔY, ΔZ).

[0186] Therefore, the seventh coordinate information (ΔX, ΔY, ΔZ) corresponding to the fifth coordinate of the second target's geographical location relative to the second coordinate information of the second target's panoramic base point must be converted into azimuth and pitch angles in order to match the angular coordinate system of the panoramic image. Furthermore, the seventh coordinate information (ΔX, ΔY, ΔZ) of the second target's geographical location describes the straight-line distance and three-dimensional offset (e.g., "5 meters east, 3 meters north, 2 meters high") of the second target's geographical location relative to the second target's panoramic base point, but cannot be directly mapped to the pixel position of the image. The azimuth and pitch angles are angular abstractions of this three-dimensional relationship, directly reflecting the direction of the second target's geographical location in the field of view of the camera device: (1) Azimuth angle: Calculated by ΔX (horizontal east-west offset) and ΔY (horizontal north-south offset), it describes the deflection angle of the second target's geographical location on the horizontal plane relative to the reference direction (e.g., due north). For example, ΔX = 10 meters, ΔY = 10 meters (the target is in the northeast direction), the azimuth angle is 45°, corresponding to the pixel area in the "northeast direction" of the image.

[0187] (2) Pitch angle: determined by ΔZ (vertical offset) and horizontal distance ( The calculation describes the vertical tilt angle of the second target's geographical location relative to the camera's horizontal line. For example, ΔZ = 5 meters, horizontal distance = 10 meters (target is diagonally above), the pitch angle is approximately 26.5°, corresponding to the pixel area above the horizontal line in the panoramic image.

[0188] The azimuth and pitch angles directly determine the horizontal and vertical positions of the second target's geographical location in the panoramic image, and are key conversion parameters from three-dimensional space to two-dimensional image. The original calculation results of the azimuth and pitch angles may be in radians, while the pixel arrangement of the panoramic image is designed based on a degree scale (for example, a 360° azimuth angle corresponds to the total horizontal pixel width of the image, and a 180° pitch angle corresponds to the total vertical pixel height).

[0189] For example, if a panoramic image has a horizontal resolution of 7200 pixels, corresponding to a 360° azimuth angle, then each pixel corresponds to 0.05° (360° ÷ 7200); and a vertical resolution of 3600 pixels, corresponding to a 180° pitch angle (-90° to 90°), then each pixel corresponds to 0.05° (180° ÷ 3600). In this case, if the azimuth angle is 90° (due east), its horizontal pixel position in the image is 90° ÷ 0.05° = 1800 pixels; if the pitch angle is 0° (horizontal), then its vertical pixel position is 1800 pixels (3600 ÷ 2).

[0190] Therefore, calculating the azimuth and pitch angles corresponding to the seventh coordinate information of the second target's geographical location, and then converting the calculated azimuth and pitch angles into degrees to obtain the eighth coordinate information of the second target's geographical location, is necessary to directly match it with the "degree-pixel" mapping relationship of the image. The pixel coordinates of the target can then be obtained through simple proportional calculations (e.g., pixel u = azimuth angle ÷ degrees per pixel, pixel v = pitch angle ÷ degrees per pixel + offset). Furthermore, panoramic acquisition devices have limited field of view (even panoramic cameras may not cover certain angles due to lens parameters or occlusion). Using the azimuth and pitch angles (the eighth coordinate information of the target's geographical location), it can be quickly determined whether the second target's geographical location is within the effective shooting range of the panoramic acquisition device. If the azimuth angle exceeds 0°-360° (or is still not within the effective range after normalization), it indicates that the second target's geographical location is outside the horizontal shooting range of the panoramic acquisition device; if the pitch angle exceeds the vertical field of view of the panoramic acquisition device (e.g., the pitch angle range of some cameras is -30° to 60°), it indicates that the target is too high or too low and has not been captured. The calculation of the azimuth and elevation angles corresponding to the seventh coordinate information of the second target's geographical location, and the conversion of the calculated azimuth and elevation angles into degrees, yields the eighth coordinate information of the second target's geographical location. This allows for the early filtering of invalid targets, preventing errors in subsequent pixel coordinate calculations (for example, if the second target's geographical location is directly behind the panoramic acquisition device with an azimuth of 180°, but the panoramic acquisition device is not capturing the area behind it, then there is no need to calculate its pixel position). Therefore, calculating the seventh coordinate information (three-dimensional relative coordinates) of the second target's geographical location is to clarify the spatial offset between the second target's geographical location and the shooting point. Further calculating its azimuth and elevation angles and converting them into degrees (the eighth coordinate information of the second target's geographical location) is to transform this offset into an angular language that can be directly recognized by the panoramic image, ultimately ensuring that the image position corresponding to the second target's geographical location can be accurately located in the panoramic image.

[0191] Step S903: Map the eighth coordinate information of the second target's geographical location to the panoramic image data corresponding to each second target panoramic base point, obtain the image pixel coordinates in the panoramic image data of each second target panoramic base point that correspond to the eighth coordinate information of the second target's geographical location, and perform spatial intersection deduplication processing on the image pixel coordinates of each second target panoramic base point to determine the image position in the panoramic image data corresponding to the second target panoramic base point that corresponds to the coordinate information of the second target's geographical location as the second target image position.

[0192] Specifically, after obtaining the eighth coordinate information (i.e., the azimuth and pitch angles in degrees) of the second target's geographical location, in order to transform this abstract directional information of "angle coordinates" into specific "pixel positions" in the panoramic image, and ultimately achieve visualized positioning from spatial location to a specific point in the image, the eighth coordinate information of the second target's geographical location can be further mapped to the panoramic image data corresponding to each second target panoramic base point after determining the eighth coordinate information of the second target's geographical location. This yields the pixel coordinates in the panoramic image data of each second target panoramic base point that correspond to the eighth coordinate information of the second target's geographical location. Spatial intersection and deduplication processing is then performed on the pixel coordinates of each second target panoramic base point to determine the image position in the panoramic image data corresponding to the second target panoramic base point with the coordinate information of the second target's geographical location as the second target image position. The panoramic image (whether spherical, cylindrical, or other types) is ultimately stored in the form of a two-dimensional image file (such as JPG, PNG, etc.), which is a pixel array composed of countless pixels arranged in rows and columns. For example, a panoramic image with a resolution of 7200×3600 contains 7200 columns (horizontal) and 3600 rows (vertical) of pixels. Each pixel has unique (u, v) coordinates (u is the horizontal pixel index, and v is the vertical pixel index), representing a specific color point in the image. The eighth coordinate information (azimuth and pitch angles) of the second target's geographical location are abstract angular values ​​(e.g., azimuth 90°, pitch 0°), describing the direction of the second target's geographical location within the panoramic acquisition device's field of view. However, these coordinates cannot be directly mapped to a specific pixel in the image file. The physical pixel location corresponding to this direction in the image must be found through an "angle → pixel" mapping rule. In the imaging process of panoramic acquisition equipment, there is a strict linear or nonlinear correspondence between "angle" and "pixel". This relationship is determined by the lens parameters and projection method (such as rectangular projection or spherical projection) of the panoramic acquisition equipment: (1) Horizontal direction (azimuth angle): Assuming that the horizontal resolution of the panoramic image is 7200 pixels, corresponding to a 360° azimuth angle, then each 1° azimuth angle corresponds to 7200÷360=20 pixels. If the azimuth angle is 90°, then the horizontal pixel coordinate u=90×20=1800 (that is, the 1800th column pixel from left to right).

[0193] (2) Vertical direction (pitch angle): Assuming the vertical resolution is 3600 pixels, corresponding to a pitch angle from -90° (zenith) to 90° (nadir), then each 1° pitch angle corresponds to 3600÷180=20 pixels. If the pitch angle is 0° (horizontal direction), then the vertical pixel coordinate v=1800 (that is, the 1800th row of pixels from the top down, in the center position).

[0194] This mapping relationship evenly distributes the "angle range" across the "number of pixels," ensuring that each angle interval corresponds to a fixed pixel interval. Only through this mapping can the eighth coordinate information of the second target's geographical location (such as azimuth 90°, elevation 0°) be converted into specific (u, v) pixel coordinates, for example, (1800, 1800). Ultimately, users need to see the "viewpoint corresponding to the second target's geographical location" in the panoramic image, and the display and interaction of the panoramic image (such as clicking and marking) are all based on pixel coordinates. For example, when a user clicks on an address on a map, the location of that address needs to be marked with a red dot in the corresponding panoramic image. This red dot's location must be a specific pixel coordinate (such as u=2500, v=1200) to be accurately drawn on the image by the computer. If only the eighth coordinate information (angle) of the second target's geographical location is considered, it is impossible to directly locate it in the image. Angle is an abstract directional description, while pixel coordinates are the "address" in the physical storage of the image; only through the address can the specific "viewpoint" be found. The panoramic images corresponding to different panoramic base points may have differences in resolution, projection method, and lens distortion correction parameters, as follows: (1) Different resolutions: The horizontal pixel of panoramic image A is 7200, and that of B is 10800. Therefore, the pixel coordinates corresponding to the same azimuth angle (such as 90°) are different (A is 1800, and B is 2700).

[0195] (2) Different projection methods: The angle-pixel mapping formulas for spherical panoramas and cylindrical panoramas are different (for example, the pitch angle mapping of cylindrical panoramas may have non-linear stretching).

[0196] Therefore, for the specific image parameters corresponding to the panoramic baseline point of the second target, the eighth coordinate information (angle) of the second target's geographical location must be converted into pixel coordinates unique to that image using a mapping formula (such as calculating the pixel ratio based on resolution and correcting distortion based on projection method) to ensure accurate positioning. If the angle value is used directly for positioning, positioning deviations will occur due to differences in image parameters (such as the same angle corresponding to different pixel positions in images with different resolutions).

[0197] For example, suppose the point clicked on the map is A, and the nearest panoramic capture point is B. First, calculate the panoramic coordinates of A in the panoramic image of B. Based on the geographic coordinates of A and B, the actual distance between the two points can be calculated in meters (m). The ground altitude h of the drone during panoramic image capture is then determined by... Dividing by h and then applying the arctangent function yields an angle. Subtract 90 This will give you the y-axis coordinate in the panoramic coordinate system. Then, by subtracting the north deviation from the azimuth angle of point A's distance from point B during panoramic shooting, you can calculate the x-axis coordinate in the panoramic coordinate system. Thus, you can obtain the image position of point A in the panoramic coordinate system.

[0198] The process of determining the location of the first target image at the corresponding panoramic baseline point can also be performed by referring to the process of determining the location of the second target image.

[0199] In practical applications, in order to solve the problems of blurred panoramic image data stitching and poor loading performance, and to make the collected data efficient and complete, this application can lay out panoramic base points according to the layout strategy of each panoramic base point in the first target area. The panoramic base point layout strategy of the first target area includes the following: Step S1001, determine the boundary range of the first target area.

[0200] Specifically, defining the boundary of the first target area before determining each initial panoramic baseline point is the strategic starting point for panoramic image acquisition. In practical applications, panoramic acquisition equipment generally has limitations in battery life and storage capacity, and the labor costs for acquisition are high.

[0201] Determining the boundaries of the primary target area helps to quickly determine the layout area and number of the primary panoramic reference points. It also helps to avoid the problem of spatial benchmark misalignment.

[0202] Determining the boundary of the first target region helps to unify the spatial benchmark and constrain the adjustment range. The boundary range mandates that all data in this region must use the same coordinate system (such as UTM Zone 50N). In subsequent bundle adjustment, the boundary points serve as strong constraint points, preventing distortion at the region seams. In particular, in practical applications, the point placement accuracy strategy for the core and edge regions can be determined based on the boundary range of the first target region, as shown in Table 1 below.

[0203] Table 1

[0204] Experiments have shown that if, after determining the boundary range of the first target area, the first panoramic base points are laid out according to the boundary range of the first target area, as shown in the layout strategy in Table 1 above, the total cost can be reduced by 52% while ensuring the core business needs are met.

[0205] Determining the boundary of the primary target area ensures automatic identification of prohibited data collection zones. When equipment approaches sensitive boundaries, pixel blurring can be automatically activated to desensitize the data. Determining the boundary of the primary target area also drives intelligent data collection decisions. Delineating the boundary of the primary target area transforms ambiguous requirements into calculable physical constraints; it creates a focused approach for resource allocation; it constructs a rigid framework for spatial control; and it establishes a legitimate sandbox for data operations. Like leveling the foundation before building a pyramid, boundary definition, while not directly producing data, determines the stability, scalability, and compliance of the entire digital twin. Therefore, determining the boundary of the primary target area is fundamental to its physical spatial definition. For example, if the primary target area is a scenic area, the boundary can be determined through administrative divisions, geographical coordinates, or actual terrain, providing a clear spatial reference for subsequently determining the primary panoramic baseline point. This is essential for the accuracy of the primary panoramic baseline point and the integrity of regional coverage.

[0206] Step S1002: Based on the boundary range of the first target area, extend a preset third distance beyond the boundary range of the first target area to perform range buffering, thereby obtaining the range of the second target area.

[0207] Specifically, in practical applications, if the boundary range of the first target area is determined and points are placed directly based on the boundary range of the first target area, edge data may be missing.

[0208] For example, if a first panoramic baseline is determined based on the boundary of the first target area, and panoramic image data is collected based on the first panoramic baseline, it may not be able to completely cover the adjacent scene outside the boundary of the first target area based on the first panoramic baseline, resulting in missing edges of the panoramic image. Therefore, after determining the boundary range of the first target area, a preset third distance can be extended outside the boundary range of the first target area to buffer the range and obtain the range of the second target area.

[0209] By extending the panoramic image data acquisition range beyond the boundary of the first target area by a preset third distance for range buffering, the acquisition range of panoramic image data can be expanded from the first target area to the second target area, ensuring that the panoramic image data at the boundary of the first target area can be completely acquired. Simultaneously, the panoramic image data acquired based on the second target area overlaps with the panoramic image data acquired based on the first target area, providing sufficient matching feature points for subsequent panoramic image stitching. This facilitates more accurate elimination of boundary cracks and improves the coherence of the panoramic image. The preset third distance can be set according to the actual acquisition scenario; for example, it can be set to [0, 300 meters]. Experiments have shown that after determining the boundary range of the first target area, extending it 300 meters beyond the boundary of the first target area for range buffering to obtain the range of the second target area effectively ensures the integrity of the edge data of the first target area.

[0210] Step S1003: Based on the range of the second target region, generate a maximum circumscribed target rectangle corresponding to the range of the second target region.

[0211] Specifically, as described above, after buffering based on the boundary range of the first target region, some marginal data of the first target region may be included, but the boundary of the second target region may still be irregular in shape. When acquiring panoramic image data of the second target region, the complexity of the dynamic task allocation algorithm increases dramatically.

[0212] To better and more completely acquire panoramic image data of the first target region, a maximum bounding rectangle corresponding to the range of the second target region can be generated based on the second target region. This ensures that the entire edge of the second target region is included within the area to be acquired. By generating the maximum bounding rectangle corresponding to the range of the second target region, it can be converted into a regular rectangular region, providing a basis for subsequent standard division of the target region. Generating its maximum bounding rectangle after determining the second target region (the region after the buffer zone is extended) is a core technical strategy for achieving "regularization of complex problems" in panoramic image engineering. For example, the effect of regularizing the second target region to determine its maximum bounding rectangle for data acquisition can be compared in Table 2 below: Table 2

[0213] If a spatial grid index is directly established on the buffer zone, empty index cells may be generated in some areas (wasting 30% of computing power), and the boundary grid needs to be specially marked (increasing the algorithm complexity). By building the index based on the maximum bounding rectangle of the second target area, the construction speed is greatly improved and the query efficiency is increased (the time taken for ray collision detection is reduced by 60%). In addition, the coordinate system can be unified, which is conducive to efficiently processing the panoramic image data of the first target area.

[0214] After determining the maximum bounding rectangle of the second target area, the communication rules between the various acquisition devices can be set so that each device only needs to broadcast its position in the rectangular coordinate system; neighboring devices calculate distances through simple coordinate differences (replacing complex GIS relational calculations). In practical applications, when determining the maximum bounding rectangle corresponding to the second target area, a 0.5% area margin is added to the jagged boundary to avoid clipping the effective area. Generating the maximum bounding rectangle of the second target area helps to constrain the chaos of geographic space into the order of Cartesian coordinates; it can provide a deterministic calculation benchmark for storage, computing power, and energy consumption; and it can establish a stable mathematical space for coordinate transformations.

[0215] Step S1004: Based on the target rectangle, generate a target mesh of a preset size.

[0216] Specifically, randomly placing control points within an irregular buffer zone may lead to uneven distribution of control points, ill-conditioned coordinate equations, and potential convergence failure in adjustment. Therefore, selecting panoramic base points after determining the maximum bounding rectangle transforms geometric regularity into spatial control accuracy. Furthermore, achieving spatial uniformity of control points through a second target rectangular grid satisfies the "Shannon sampling theorem" requirement in photogrammetry, enabling a strong correlation between equipment performance and rectangular parameters. Selecting each first panoramic base point within the maximum bounding rectangle of the second target area eliminates spatial discrimination through a regular grid, transforming complex geographical problems into computable parameters, improving system robustness, and establishing a deterministic relationship between "equipment-data-location". As described above, this application can generate its corresponding circumscribed rectangle based on the second target area. In practical applications, if points are arbitrarily selected within the rectangle to deploy panoramic base points, the spacing between panoramic base points may fluctuate greatly (50m~200m), resulting in uneven reconstruction accuracy and difficulty in quantifying and evaluating coverage integrity. Therefore, after determining the target rectangle, a corresponding target grid can be generated based on the target rectangle to establish a mathematical mapping between device performance and spatial scale, such as establishing a strong coupling relationship between acquisition device parameters and grid size. The preset size can be set to a range of [0, 300 meters] for both length and width.

[0217] For example, a target grid with a length and width of 300 meters can be generated based on the largest circumscribed rectangle of the second target region.

[0218] Generating a target mesh of a preset size based on the target rectangle can transform the continuous world into computable units, establish a mathematical mapping between device parameters and spatial location, and provide a unified interface for data acquisition, processing, and analysis. Regularizing the second target region by generating a target mesh of a preset size involves further dividing the target rectangle into several uniformly sized unit meshes, thus transforming the original large area into small mesh units. This provides a structured framework for subsequent selection of base points, making the processing of the entire region more systematic and regular.

[0219] Step S1005: Set the target origin in the target grid, and sort and number the target grid horizontally and vertically based on the target origin.

[0220] Specifically, after generating the target grid, to better label each panoramic base point, a target origin can be set within the target grid, and the grid cells can be numbered horizontally and vertically based on this origin. Using the target origin as the reference point for the target grid, and numbering the grid cells horizontally and vertically from this origin, establishes a coordinate reference system similar to a Cartesian coordinate system for the entire target grid. Each grid cell has a clear horizontal and vertical number within this system, ensuring that each point in the grid can be uniquely identified by its coordinates (horizontal and vertical numbers), providing a unified standard for subsequent base point positioning and management. The target origin can be taken as the bottom-left corner of the target grid.

[0221] Step S1006: Starting from the target origin, in the target grid, for odd-numbered rows, take the point corresponding to the horizontal number as the odd-numbered base point, and for even-numbered rows, take the point corresponding to the horizontal number as the even-numbered base point.

[0222] Specifically, after determining the target origin in the target grid, to better deploy panoramic base points and avoid redundant point placement that would waste resources, the target origin can be used as the starting point. In the target grid, for odd-numbered rows, the points corresponding to the horizontal numbers are taken as odd-numbered base points, and for even-numbered rows, the points corresponding to the horizontal numbers are taken as even-numbered base points. By taking the points corresponding to the horizontal numbers of odd-numbered rows as odd-numbered base points and the points corresponding to the horizontal numbers of even-numbered rows as even-numbered base points, and offsetting the points in adjacent rows by half a grid spacing horizontally, a checkerboard-like staggered distribution is formed. This more evenly covers each area of ​​the target grid and reduces gaps in panoramic image data acquisition caused by regular arrangement.

[0223] Step S1007: Merge and deduplicate all the determined odd-numbered and even-numbered base points to obtain the first set of panoramic base points.

[0224] Specifically, by taking the target origin as the starting point and selecting the points corresponding to the horizontal numbers in odd-numbered rows as odd-numbered base points and the points corresponding to the horizontal numbers in even-numbered rows as even-numbered base points, there may be cases where some points are selected repeatedly. For example, when the number of grid rows or columns is odd, some points may meet the selection criteria for both odd and even rows, thus being selected repeatedly. By merging and deduplicating, these duplicate points can be eliminated, ensuring that each base point exists uniquely in the target area, avoiding repeated acquisition of image data at the same location, reducing the waste of storage resources and redundancy in subsequent data processing.

[0225] Step S1008: Set a unique name for each base point in the first panoramic base point set to obtain the second panoramic base point set.

[0226] Specifically, as described above, this application can deploy multiple first panoramic base points in the target grid. Each deployed first panoramic base point is a uniquely determined base point. To better manage the data of each first panoramic base point, a unique name can be set for each base point in the set of first panoramic base points, thereby obtaining a second panoramic base point set. By setting a unique name for each first panoramic base point, for example, the names of different first panoramic base points can be set as X1Y1, X1Y1…XnYn, and so on, thus mapping each base point in the set of first panoramic base points to a standardized string identifier. This avoids point confusion caused by differences in coordinate representation. At the same time, the unique name set can be used as an index keyword in the subsequent application stage, thereby quickly retrieving panoramic image data of the target name base point.

[0227] Step S1009: Assign administrative attribute information to each base point in the second panoramic base point set to obtain the third panoramic base point set.

[0228] Specifically, as described above, this application deploys several unique first panoramic base points based on the target grid corresponding to the target rectangle. To better identify the administrative attributes of each first panoramic base point, administrative attribute information can be further assigned to each base point in the second panoramic base point set, thereby obtaining a third panoramic base point set. Clarifying the administrative attribute information of each base point in the second panoramic base point set—for example, specifying the province, city, district / county, and street attributes of each base point—allows for precise location of the administrative region where each base point is located. This transforms each panoramic base point from spatial coordinate data into an information unit with administrative region attributes. This mapping relationship supports rapid filtering of panoramic image data of target base points by administrative region.

[0229] Step S1010: Each base point in the third set of panoramic base points is used as the first panoramic base point corresponding to the panoramic image data acquisition of the first target area.

[0230] Specifically, as described above, each base point of the third panoramic base point includes administrative attribute information and base point name information, encompassing all regional information corresponding to the first target area. Therefore, each base point in the third panoramic base point set can be used as the first panoramic base point corresponding to the panoramic image data acquisition of the first target area.

[0231] Among them, the layout of each first panoramic base point in the first target area can refer to the following principles: (1) The spatial distribution needs to cover the edge and center of the scene and be asymmetrically distributed to avoid local errors and constrain global deformation; (2) The density of the points should be at least 3-5 points per 100㎡. If a complex area is encountered, the density should be increased to ensure that the splicing surface has sufficient constraints; (3) A unique ID code should be set for high contrast patterns to improve the machine recognition rate and avoid mismatch; (4) The accuracy level can be set to plane accuracy ≤1cm and elevation accuracy ≤2cm, or it can be determined according to the needs to meet the needs of surveying or engineering applications.

[0232] By deploying multiple first panoramic baseline points in the first target area, a high-precision spatial control network can be constructed, which can effectively suppress error accumulation and solve positioning drift and stitching distortion; it can realize data integration to ensure a unified benchmark for cross-platform and cross-time series data; it can empower automation for the acquisition, management and application of panoramic image data; and it can also ensure the robustness of panoramic image data acquisition to cope with complex environmental interference.

[0233] In practical applications, in order to ensure that the collected data is efficient and complete, after determining the panoramic base points of the first target area based on the layout strategy of each panoramic base point, in order to collect complete and clear image data of each panoramic base point more efficiently, this application can collect data according to the following panoramic image data collection strategy corresponding to each panoramic base point of the first target area. The process of collecting panoramic image data corresponding to each panoramic base point of the first target area is described below. The process includes: Step S1101, a mobile shooting device is deployed at a position above each panoramic base point of the first target area at a distance of a preset first threshold from the ground.

[0234] Specifically, when collecting data for each panoramic base point, to ensure spatial data accuracy and consistency, lock the imaging scale, eliminate scale distortion, construct ideal intersection geometry, and optimize 3D reconstruction, a mobile shooting device can be deployed at a location above each panoramic base point in the first target area at a preset second threshold distance from the ground. The preset first threshold can be set to [0 meters, 120 meters]. For example, a mobile shooting device can be deployed at a location 120 meters above each panoramic base point in the first target area.

[0235] Therefore, determining the shooting height of each panoramic baseline point in the first target area can effectively suppress physical interference, improve data purity, unify the radiation benchmark, reduce the post-processing burden, and enable automated quality inspection by setting a control field.

[0236] In practical applications, deploying mobile shooting devices at a distance of 120 meters above the ground above each panoramic baseline point in the first target area ensures that the acquisition equipment obtains clean data in a stable atmospheric layer, providing an ideal baseline for multi-view intersection and establishing an automated acquisition protocol. The preset acquisition height provides a focal plane for the spatial dimension of panoramic imaging projects. Therefore, deploying mobile shooting devices at a preset first threshold distance above the ground above each panoramic baseline point in the first target area, through standardized height control, unifies the shooting height standard, ensures the consistency of images from multiple baseline points, eliminates stitching errors caused by height differences, and prevents ground objects from obstructing the shooting devices and affecting the integrity of the panoramic image data acquisition. Furthermore, high-altitude shooting can supplement information about the top of ground objects, such as roof structures and tree canopy shapes.

[0237] Step S1102: Start the mobile shooting device corresponding to each panoramic base point in the first target area to take the first horizontal shot to collect the first set of image data.

[0238] Specifically, after deploying the mobile shooting devices, the mobile shooting devices corresponding to each panoramic baseline point in the first target area can be activated to take the first horizontal shot to collect the first set of image data. Shooting from the horizontal direction can acquire planar panoramic information around the panoramic baseline point, establishing a foundation for full coverage of panoramic image data collection.

[0239] Step S1103: Adjust the shooting direction of the mobile shooting device corresponding to each panoramic base point in the first target area from horizontal to a preset first angle downwards and then shoot downwards for a second time to collect the second set of image data.

[0240] Specifically, after capturing horizontal image data, to more comprehensively acquire image data from each panoramic baseline point, the shooting direction of the mobile shooting device corresponding to each panoramic baseline point in the first target area can be adjusted from horizontal to a preset downward angle before a second downward shot is taken to collect a second set of image data. The preset first angle can be set to 45°. For example, after capturing horizontal image data, the shooting direction of the mobile shooting device corresponding to each panoramic baseline point in the first target area can be adjusted from horizontal to a 45° downward angle before a second downward shot is taken to collect a second set of image data. This allows for the acquisition of side details of ground objects missed during horizontal shooting. For example, when shooting buildings, vertical details such as wall and window distribution can be obtained, avoiding obstruction of facades by building height during horizontal shooting. Simultaneously, the horizontally acquired panoramic image data overlaps diagonally at the scene edges, forming feature intersections and reducing potential gaps in subsequent stitching. After acquiring horizontal panoramic images, there may be blind spots in horizontal shooting. When the incident angle of light is greater than 85°, specular reflection occurs on the ground. Some cameras receive less than or 5% diffuse reflection energy, which may result in a completely black or overexposed ground image. Through experiments, it was found that changing the shooting angle from horizontal to downward by 45° can increase the diffuse reflection energy to 82%, improve the ground texture signal-to-noise ratio (SNR) by 400%, and increase the ground point cloud density from 5 points / m² to 120 points / m². Furthermore, by adjusting the shooting angle, the fatal blind spots of low-lying targets can be captured.

[0241] For example, horizontal perspective detection fails when the height is zero, rendering the object completely invisible in horizontal shots. A curbstone 15cm high may be partially obscured in horizontal shots, while a fire hydrant 80cm high may be invisible from the bottom in horizontal shots. Tilting the shooting angle downwards by 45° increases the top-down perspective, allowing light to bypass obstructions and capturing the full view of low-lying targets. It also optimizes the radiometric quality of texture mapping, building a multi-scale fusion data base. For instance, tilting the shooting angle downwards by 45° increases the curbstone detection rate from 35% to 98% and the manhole cover texture integrity from 0% to 100%. 45° represents the optimal balance between improving panoramic image data coverage and distortion control, helping to capture low-lying objects that could affect safety and suppressing glare to extract realistic textures.

[0242] Step S1104: After adjusting the shooting direction of the mobile shooting device corresponding to each panoramic base point in the first target area to a direction perpendicular to the ground, a third shooting is performed to collect the third set of image data.

[0243] Specifically, as described above, this application can solve the problems of ground reflection and the inability to capture the full view of low-lying objects by shooting horizontally and at a 45° downward tilt. However, a cone blind zone still exists. To further eliminate the cone blind zone, the shooting direction of the moving shooting device corresponding to each panoramic base point in the first target area can be adjusted to a direction perpendicular to the ground before a third shot is taken to collect a third set of image data. Shooting from a direction perpendicular to the ground focuses on the ground details directly below the base point through an orthophoto perspective, which can capture bottom features missed by shooting horizontally and at an angle offset from the ground, such as road markings and sidewalks on urban roads. This forms a three-dimensional matching relationship of "plane-sloping-bottom" with the horizontal and angle offset shots, and can form an oblique overlap with the panoramic image data collected in the horizontal and angle offset shots at the scene edge, forming feature intersections, thereby reducing potential gaps in subsequent stitching. After adjusting the shooting direction of the mobile shooting device corresponding to each panoramic baseline point in the first target area to be perpendicular to the ground, a third shot is taken. This ensures that the optical axis is parallel to the ground normal, reducing the blind zone radius to zero and increasing the point cloud density in the area directly below from 0 points / m² to 500 points / m², effectively establishing a measurement benchmark without perspective distortion. The panoramic image taken perpendicular to the ground provides orthogonal projection truth values, which can be used to correct scale distortion in tilted images, calibrate photogrammetric algorithm parameters, and generate machine learning training labels, which can help capture near-Earth microstructure features.

[0244] Step S1105: The first set of image data, the second set of image data, and the third set of image data corresponding to each panoramic base point corresponding to the first target area are used as the first panoramic image data of each panoramic base point corresponding to the first target image area.

[0245] Specifically, as described above, this application can acquire three sets of data for each first panoramic base point from different angles. The fusion of these three sets of data forms the complete image data for each first panoramic base point, and the acquisition angles of the three sets of data can fully display the overall view of each first panoramic base point. Therefore, the first set of image data, the second set of image data, and the third set of image data corresponding to each first panoramic base point in the first target area can be used as the first panoramic image data for each first panoramic base point in the first target image area.

[0246] As can be seen from the above description, this application deploys a mobile shooting device at a fixed height above each first panoramic base point, and performs three shots in sequence: horizontally, downwardly offset by a preset angle (such as 45°), and vertically, forming a multi-dimensional, three-dimensional panoramic image data acquisition system. Its comprehensive function is to ensure that the image data of the target area achieves full coverage acquisition of "plane-sloping-bottom surface", thereby improving the integrity and consistency of the panoramic image data acquired based on the panoramic base point.

[0247] Specifically, after completing the layout of each panoramic base point in the first target area according to the above-described technical solution, and collecting data of each panoramic base point based on the laid-out panoramic base points, an index relationship can be established between the panoramic image data collected by each first panoramic base point in the first target area and its corresponding first panoramic base point. This process includes the following: Step S1201, extracting the latitude and longitude information of each image data corresponding to all panoramic image data collected by each first panoramic base point in the first target area.

[0248] Specifically, in practical applications, latitude and longitude are the unique identifiers connecting image data to geospatial locations. The unique latitude and longitude coordinates corresponding to each primary panoramic base point in physical space are its core attribute as a "geographic location." For example, the coordinates of a base point (116.4074°E, 39.9042°N) represent its precise location on the Earth's surface. For panoramic image data (such as aerial or ground-based panoramic images) to be associated with base points, it must be clear "where it was taken." The latitude and longitude information of each image records its geographic coordinates at the time of capture, and is the only "spatial address" that can be directly matched with the coordinates of a base point. The essence of indexing is to quickly associate data through key fields. In geospatial scenarios, latitude and longitude are the most direct and standard spatial key fields. If the latitude and longitude of an image are not extracted, it will be impossible to form a matching condition with the coordinates of a base point, resulting in the inability to establish an index relationship.

[0249] To better establish an index relationship between the panoramic image data of the first target area and the corresponding first panoramic base point, the latitude and longitude information of each image data corresponding to all panoramic image data collected by each first panoramic base point corresponding to the first target area can be extracted first.

[0250] For example, if the coordinates of a base point are A(X, Y), and the latitude and longitude of an image are exactly (X, Y), then it can be directly determined that the image was acquired from that base point. Examples of common panoramic base point data structures and image data structures are shown in Tables 3 and 4 below: Table 3

[0251] Table 4

[0252] Table 5

[0253] As shown in Tables 3 and 4, when the panoramic image data structure lacks latitude and longitude, the panoramic image data cannot be associated with the coordinates of the base points. The image data structure after extracting latitude and longitude information is shown in Table 5, allowing direct matching with the panoramic base point P001 via latitude and longitude information. Therefore, extracting the latitude and longitude information of each image data corresponding to all panoramic image data collected from each first panoramic base point corresponding to the first target area ensures the accuracy and uniqueness of data association, eliminating ambiguity from other attributes. If latitude and longitude are not used, attempting to establish associations through attributes such as shooting time and device number may result in multiple base point shooting tasks corresponding to the same time point due to time discrepancies between different devices. The same device may shoot at different base points, and the specific location cannot be determined solely by the device number. Latitude and longitude, as spatial coordinates, have unique correspondence; that is, the coordinates of each base point are unique, and the shooting coordinates of each image are also unique, avoiding ambiguity. Furthermore, when there are multiple adjacent panoramic base points in the first target area, the latitude and longitude of the images can be accurately associated with the corresponding points through "spatial distance matching" (such as setting a threshold range). For example, if panoramic base points P001 and P002 are 10 meters apart, and the latitude and longitude of an image are less than 5 meters away from P001, then it can be determined to belong to P001, avoiding confusion with P002. Furthermore, after extracting the latitude and longitude information of each image data corresponding to all panoramic image data collected from each first panoramic base point corresponding to the first target area, a spatial index (such as an R-tree index) can be established based on GIS technology to achieve efficient "image query by location" operations. For example, when a user clicks on a region on a map, they can quickly retrieve the image data corresponding to all base points in that region through the latitude and longitude index. If it is subsequently necessary to visualize the panoramic images on a map (such as generating a panoramic map) or perform multi-image stitching, it is also necessary to rely on latitude and longitude information to determine the spatial location of each image, ensuring accuracy and continuity in geospatial data.

[0254] Furthermore, in fields such as surveying and mapping, remote sensing, and smart cities, the management of geospatial data typically follows a "coordinate-first" principle. For example, many commonly used remote sensing data platforms use latitude and longitude as the basic correlation fields for spatial data; extracting latitude and longitude is a necessary step in the standardization process of image data. Extracting the latitude and longitude information of each image gives the panoramic image data a "geographical identity," enabling it to form a logical mapping with base points that have clear coordinates. This process is the core link in spatial data indexing, directly affecting the efficiency and accuracy of subsequent data management, querying, and analysis. Skipping this step will result in a lack of reliable evidence for the association between image data and base points, making it impossible to achieve accurate geospatial indexing. Through the latitude and longitude information of each image data, the spatial positioning and coordinate mapping of panoramic image data can be achieved. The latitude and longitude information of each image can accurately identify its shooting location, and after matching it with the corresponding first panoramic base point, it can ensure a one-to-one correspondence between image data and base points.

[0255] Step S1202: The latitude and longitude information corresponding to each image data corresponding to each first panoramic base point in the first target area is transformed according to a preset transformation strategy, and then buffered according to a preset fourth distance to obtain the second panoramic base point corresponding to each first panoramic base point in the first target area.

[0256] Specifically, when establishing an index relationship between panoramic image data and base points, coordinate transformation and buffering are often required to address spatial calculation accuracy issues under different coordinate systems and to handle coordinate deviations in real-world scenarios. These transformations and buffering are crucial for ensuring the accuracy and robustness of spatial associations. In practical applications, geographic coordinate systems inherently possess nonlinear characteristics: latitude and longitude (such as WGS84) are based on an ellipsoidal surface, with units in degrees, and their distance calculations exhibit nonlinearity (e.g., the distance corresponding to 1 degree of longitude near the equator is greater than that at the poles). Directly calculating distances or buffering within the geographic coordinate system can lead to significant errors. Furthermore, engineering, surveying, and other fields often use planar projected coordinate systems (such as UTM and Gauss-Kruger projections), which often require converting the ellipsoidal surface to a plane, with units in meters, for linear distance calculations and graphic processing. In addition, the spatial indexing (such as R-trees) and buffer analysis functions of GIS software (such as ArcGIS and QGIS) all require data to be within the same projected coordinate system; otherwise, calculations cannot be performed correctly.

[0257] For example, if the latitude and longitude of a base point are (116.4074°, 39.9042°), after conversion to the 54 coordinate system of a certain location, the coordinates become (X=4321000, Y=38567000). At this time, the distance between the two points can be calculated directly using plane geometric formulas (such as Euclidean distance), and the error can be controlled within the meter level.

[0258] Generally, acquisition devices may have acquisition errors, and time differences in data acquisition can also lead to displacement errors. For example, the positioning accuracy of GPS devices is typically 5-10 meters (civilian use), or even higher (such as non-differential RTK), resulting in a natural deviation between the image latitude and longitude and the coordinates of the base point. For instance, the actual coordinates of the panoramic base point might be A1, but the device displays the coordinates as A2 during shooting (a deviation of 5 meters). Without buffering, A2 might be misjudged as the range of the adjacent base point B. Furthermore, if the panoramic base point is a dynamic acquisition point, images taken at the same panoramic base point at different times may experience coordinate shifts due to vehicle movement. Buffering can accommodate this type of error. Buffering coordinate information can establish a "tolerance range" to improve the matching success rate. Therefore, the latitude and longitude information corresponding to each image data of each first panoramic base point in the first target area is transformed according to a preset transformation strategy, and then buffered according to a preset fourth distance to obtain the second panoramic base point corresponding to each first panoramic base point in the first target area. The preset fourth distance can be set to [0, 30 meters]. The preset conversion strategy can be to convert the latitude and longitude information to 2000 coordinates and then perform a 30-meter buffering process. The converted panoramic base point coordinates are buffered using the preset fourth distance, generating a circular or polygonal buffer. At this point, as long as the image's latitude and longitude fall within this area, it can be associated with the corresponding base point, avoiding matching failures due to minor deviations. When multiple base points are densely distributed (e.g., one point every 50 meters in a city block), the buffering process can distinguish image affiliation by setting different thresholds. For example, a small buffer can be set to 5 meters, suitable for high-precision positioning scenarios, strictly distinguishing adjacent points; a large buffer can be set to 20 meters, suitable for scenarios with larger positioning errors, such as in the field, ensuring no image is missed. Performing a "point-to-surface intersection" judgment between the buffered area (surface element) and the image's latitude and longitude is more efficient than directly comparing point coordinates. For example, without buffering, it is necessary to calculate the distance between the image coordinates and each base point, with a time complexity of O(n). After buffering, spatial indices (such as grid indices) can be used to quickly filter potentially intersecting buffers before point-to-surface judgment, reducing the time complexity to O(log n). Buffers ensure that overlapping areas of adjacent base points are correctly identified, avoiding stitching gaps. In panoramic data, buffers can merge shooting points moving along the route into a preset base point grid. The size of the buffer determines the image positioning accuracy; if an image falls into the overlapping area of ​​multiple buffers, it may indicate a positioning anomaly.

[0259] In particular, conversion strategies and industry practices can be set according to actual industry applications. The selection criteria for conversion strategies are as follows: (1) If the target area is small (such as urban blocks), UTM partition projection can be used; if the target area is large (such as the whole country), Gauss projection can be used. (2) Accuracy requirements: Engineering surveying requires sub-meter accuracy, and local coordinate systems (such as Beijing 54, Xi'an 80) can be used, while Internet applications can use Web Mercator projection (EPSG:3857).

[0260] The buffer distance setting logic can be as follows: If the GPS accuracy is 10 meters, the buffer distance can be set to 15-20 meters (with margin); it can also be set according to the needs of the scenario. For example, if the positioning error is small in indoor panoramic (such as shopping mall), the buffer distance can be set to 2-5 meters; if the positioning error is large in field exploration, the buffer distance can be set to 50-100 meters.

[0261] Therefore, coordinate transformation can solve the accuracy problem of converting geographic coordinate systems to planar coordinate systems, providing a reliable foundation for spatial computing. The second panoramic base point generated by combining the two is a "spatial region" that conforms to the characteristics of real-world data acquisition, thereby significantly improving the accuracy of indexing relationships and the robustness of the system. Coordinate transformation ensures that the coordinate systems of image data and each base point are aligned, avoiding spatial positional deviations caused by inconsistencies in coordinate systems, such as positional shifts of tens of meters. After transformation, it ensures that the image and base points match under the same coordinate reference, thus guaranteeing the accuracy of image-base point matching.

[0262] Step S1203: Perform spatial intersection processing on each first panoramic base point of the first target area corresponding to the second panoramic base point and each first panoramic base point.

[0263] Specifically, in practical applications, due to the possible positioning errors of the shooting device, the latitude and longitude of the image may be offset from the theoretical coordinates of the base point. Simply comparing the coordinate values ​​will lead to the failure of association. Therefore, the spatial intersection processing of each first panoramic base point in the first target area with each second panoramic base point and each first panoramic base point can be further performed. By judging the intersection between the buffer area and the base point, the offset can be contained within the buffer range, thereby ensuring that even if there is a coordinate deviation, as long as the deviation is within the buffer range, the image and the base point can still be correctly associated.

[0264] Step S1204: Determine whether there is spatial intersection between the second panoramic base point corresponding to each first panoramic base point in the first target area and each first panoramic base point.

[0265] Specifically, by performing spatial intersection processing on each first panoramic base point corresponding to a second panoramic base point in the first target area and each first panoramic base point, the offset can be contained within the buffer range by judging the intersection between the buffer area and the base point. Therefore, it can be further determined whether there is spatial intersection data between the second panoramic base point corresponding to each first panoramic base point in the first target area and each first panoramic base point. If there is spatial intersection data between the second panoramic base point corresponding to each first panoramic base point in the first target area and each first panoramic base point, then step S805 is executed.

[0266] By determining whether the second panoramic base point intersects with the first panoramic base point, the spatial attribution of the acquired panoramic image data is "verified," ensuring that the index relationship is generated based on the real geometric position. This serves both to filter out invalid data and to form the basis for building a standardized data storage system, ultimately enabling the acquired panoramic image data to have accurate spatial positioning.

[0267] Step S1205: Construct an index relationship between the second panoramic base point corresponding to each first panoramic base point in the first target area and the data that spatially intersect with each first panoramic base point and the first panoramic base point.

[0268] Specifically, by spatially intersecting the second panoramic base point corresponding to each first panoramic base point in the first target area with each first panoramic base point, invalid data can be filtered out. Then, the data that spatially intersects the second panoramic base point corresponding to each first panoramic base point in the first target area with each first panoramic base point can be used to construct an index relationship with the first panoramic base point. By using the spatial intersection relationship to construct the index, the "ideal precise coordinate matching" can be transformed into "topological inclusive matching that adapts to real-world errors", which can achieve efficient computation.

[0269] As can be seen from the above introduction, this application constructs an index relationship between panoramic image data and the first panoramic base point through a series of operations such as latitude and longitude extraction, coordinate transformation, buffering processing, spatial intersection processing and index construction, so as to solve the problems of original coordinate error and coordinate system difference, and realize accurate spatial positioning and structured management of image data.

[0270] As can be seen from the above introduction, this application can store the target panoramic image data corresponding to each first panoramic base point in the first target area according to the index relationship between each first panoramic base point in the first target area and its corresponding panoramic image data. The process will be described below, which may include the following: Step S1301, establish a data storage structure for each first panoramic base point in the first target area.

[0271] Specifically, to store the various first panoramic image data more efficiently, it is first necessary to establish a data storage structure for each first panoramic base point in the first target area. A data storage structure can be constructed with the first panoramic base point as the core, establishing a hierarchical logic of "administrative information of the panoramic base point - name of the panoramic base point - data acquisition time of the panoramic base point," ensuring consistency in data storage logic across different base points and different areas. For example, the storage structure for the panoramic image data of each first panoramic base point can be established according to seven levels: "province-city-county-town / street-administrative village-base point name-time."

[0272] Step S1302: Obtain the shooting time and coordinate information of the panoramic image data collected by each first panoramic base point in the first target area.

[0273] Specifically, as described above, coordinate information and shooting time can effectively associate and manage each image data with a base point. Therefore, after constructing the storage structure, the shooting time and coordinate information of the panoramic image data collected by each first panoramic base point in the first target area can be obtained so that the data can be stored according to the shooting time and coordinate information.

[0274] Step S1303: Spatially intersect the coordinate information of the panoramic image data collected by each first panoramic base point in the first target area with the administrative scope of the first target area, and assign corresponding administrative information to the panoramic image data collected by each first panoramic base point in the first target area.

[0275] Specifically, in practical applications, the shooting time establishes a time-dimensional index and analytical foundation, thereby laying the groundwork for time-series data management. For example, multiple sets of images from the same base point at different time sequences can be arranged according to the acquisition order; the spatial attribution of image data can be verified by matching coordinate information with the theoretical coordinates of the first panoramic base point, avoiding image misalignment caused by positioning errors of the shooting device; and administrative attributes can be assigned to the panoramic image data based on the coordinate information of the panoramic image data through spatial intersection analysis of coordinate information and administrative division boundaries.

[0276] Step S1304: The coordinate information of the panoramic image data collected by each first panoramic base point in the first target area is buffered according to a preset fourth distance, and then spatially intersected with the first panoramic base point. Each first panoramic base point is then given a name to obtain the target panoramic image data corresponding to each first panoramic base point in the first target area.

[0277] Specifically, as described above, buffering can accommodate data errors. Therefore, after spatially intersecting the coordinate information of the panoramic image data collected from each first panoramic base point in the first target area with the administrative boundaries of the first target area, and assigning corresponding administrative information to the panoramic image data collected from each first panoramic base point in the first target area, further, to better manage and store each panoramic image data, the coordinate information of the panoramic image data collected from each first panoramic base point in the first target area can be buffered according to a preset fourth distance before spatially intersecting with the first panoramic base point, and each first panoramic base point can be assigned a name, thus obtaining the target panoramic image data corresponding to each first panoramic base point in the first target area. The preset fourth distance can be set to a value range of [0, 30 meters]. For example, the coordinate information of the collected image data can be buffered by 30 meters before spatially intersecting with each first panoramic base point, and finally, each first panoramic base point can be assigned a name. Due to potential errors in the coordinate acquisition by the shooting device, the preset fourth distance buffer can keep the coordinate deviation range of the panoramic image data within the buffer area. For example, if the actual acquired coordinates of a certain panoramic image data deviate from the theoretical coordinates of the first panoramic base point by 20 meters, a circular area centered on the image coordinates can be formed after buffering for 30 meters. If the base point is located within this area, it is determined that the two intersect in space, thus avoiding the inability of the image to be associated with the corresponding base point due to minor deviations.

[0278] Step S1305: Based on the preset data storage structure, store the target panoramic image data corresponding to each panoramic base point of the first target area.

[0279] Specifically, as described above, this application can determine the data storage structure for each first panoramic baseline point. Furthermore, target panoramic image data corresponding to each panoramic baseline point in the first target area can be stored according to a preset data storage structure. The preset data storage structure can be set as a data storage structure based on "administrative information of the panoramic baseline point - name of the panoramic baseline point - data acquisition time of the panoramic baseline point".

[0280] As can be seen from the above introduction, this application can construct a complete panoramic image data storage and management system by acquiring the shooting time and coordinate information of panoramic image data, assigning administrative information, buffering and spatial intersection, and structured storage. By converting the original panoramic image data into standard structured data containing "administrative information of panoramic base points - name of panoramic base points - data acquisition time of panoramic base points", the problem of coordinate error and ambiguous regional affiliation in traditional panoramic acquisition is solved.

[0281] The panoramic implantation marking device provided in the embodiments of this application will be described below. The panoramic implantation marking device described below can be referred to in correspondence with the panoramic implantation marking method described above. See Figure 2, which is a schematic diagram of the structure of a panoramic implantation marking device disclosed in an embodiment of this application. As shown in Figure 2, the panoramic implantation marking device may include: an analysis unit 101, used to receive and analyze a user's first query instruction and determine the first target geographical location corresponding to the first query instruction; a first determination unit 102, used to determine the coordinate information corresponding to the first target geographical location; a second determination unit 103, used to determine at least one first target panoramic base point corresponding to the coordinate information corresponding to the first target geographical location based on the coordinate information corresponding to the first target geographical location; a third determination unit 104, used to determine the panoramic image data corresponding to each first target panoramic base point; a calculation unit 105, used to calculate the target image position of the preset first mark to be implanted based on the coordinate information corresponding to the first target geographical location and the panoramic image data corresponding to each first target panoramic base point; an implantation unit 106, used to implant the preset first mark at the first target image position; and a display unit 107, used to display the panoramic image data corresponding to the first target panoramic base point corresponding to the first target geographical location, centered on the first target image position where the preset first mark is implanted. The specific processing flow of each unit included in the above panoramic implantation marking device can be referred to the relevant introduction in the panoramic implantation marking method section above, and will not be repeated here.

[0282] The panoramic implantation marking device provided in this application embodiment can be applied to panoramic implantation marking equipment, such as terminals: mobile phones, computers, etc. Optionally, Figure 3 shows a hardware structure block diagram of the panoramic implantation marking device. Referring to Figure 3, the hardware structure of the panoramic implantation marking device may include: at least one processor 1, at least one communication interface 2, at least one memory 3, and at least one communication bus 4. In this application embodiment, the number of processor 1, communication interface 2, memory 3, and communication bus 4 is at least one, and processor 1, communication interface 2, and memory 3 complete communication with each other through communication bus 4. Processor 1 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application; memory 3 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage; wherein, the memory stores a program, and the processor can call the program stored in the memory, the program being used to implement the various processing flows in the aforementioned terminal panoramic implantation marking scheme.

[0283] This application embodiment also provides a readable storage medium that can store a program suitable for processor execution, the program being used to: implement various processing flows of the aforementioned terminal in the panoramic implantation marking scheme.

[0284] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. The various embodiments can be combined with each other. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A panoramic implantation marking method, characterized in that, include: Receive and analyze the user's first search instruction, and determine the first target geographical location corresponding to the first search instruction; Determine the coordinate information corresponding to the geographical location of the first target; Based on the coordinate information corresponding to the geographical location of the first target, at least one panoramic base point of the first target is determined, which corresponds to the coordinate information corresponding to the geographical location of the first target. Determine the panoramic image data corresponding to each of the first target panoramic base points; Based on the coordinate information corresponding to the geographical location of the first target and the panoramic image data corresponding to each panoramic base point of the first target, the position of the first target image to be implanted with the preset first mark is calculated. A preset first marker is implanted at the location of the first target image; based on the implanted preset first marker, panoramic image data corresponding to the first target panoramic base point corresponding to the geographical location of the first target is displayed with the location of the first target image where the preset first marker is implanted as the center.

2. The method according to claim 1, characterized in that, The method further includes: identifying whether the user has changed the search target; if the user has changed the search target, receiving and analyzing the user's second search instruction, determining the second target geographical location corresponding to the second search instruction; determining and re-implanting a preset second mark at the second target image location corresponding to the second target geographical location, and displaying panoramic image data corresponding to the second target geographical location based on the re-implanted preset second mark, with the second target image location of the re-implanted preset second mark as the center.

3. The method according to claim 1, characterized in that, The step of receiving and analyzing the user's first search instruction and determining the first target geographical location corresponding to the first search instruction includes: receiving and analyzing the first search instruction to determine the first coordinate information of the geographical location clicked by the user; performing a preset first distance buffering process on the first coordinate information of the geographical location clicked by the user to obtain the second coordinate information of the geographical location clicked by the user; and determining the area in the first target area that spatially intersects with the second coordinate information of the geographical location clicked by the user as the first target geographical location.

4. The method according to claim 3, characterized in that, The step of receiving and analyzing the user's second search instruction and determining the second target geographical location corresponding to the second search instruction includes: receiving and analyzing the second search instruction to determine the third coordinate information of the geographical location clicked by the user; determining whether the third coordinate information overlaps with the first coordinate information; if the second coordinate information overlaps with the first coordinate information, then determining the area in the first target area that spatially intersects with the third coordinate information of the geographical location clicked by the user as the second target geographical location; if the third coordinate information does not overlap with the first coordinate information, then performing a preset first distance buffering process on the third coordinate information of the geographical location clicked by the user to obtain the fourth coordinate information of the geographical location clicked by the user; and determining the area in the first target area that spatially intersects with the fourth coordinate information of the geographical location clicked by the user as the second target geographical location.

5. The method according to claim 1, characterized in that, The step of determining at least one first target panoramic base point corresponding to the first target geographical location based on the coordinate information of the first target geographical location includes: identifying the coordinate information of all panoramic base points in the first target area; performing a preset second distance buffering process on the first coordinate information of the first target geographical location to obtain the second coordinate information of the first target geographical location; performing spatial intersection processing on the second coordinate information of the first target geographical location and the coordinate information of each panoramic base point in the first target area; obtaining the spatial intersection result between the second coordinate information of the first target geographical location and the coordinate information of each panoramic base point in the first target area; determining at least one panoramic base point that has a spatial intersection with the second coordinate of the first target geographical location based on the spatial intersection result between the second coordinate information of the first target geographical location and the coordinate information of each panoramic base point in the first target area; calculating the distance between each panoramic base point that has a spatial intersection with the second coordinate of the first target geographical location and the second coordinate of the first target geographical location; and selecting the panoramic base point with the shortest distance to the second coordinate of the first target geographical location among the panoramic base points that have a spatial intersection with the second coordinate of the first target geographical location as the first target panoramic base point.

6. The method according to claim 3, characterized in that, The step of calculating the position of the first target image to be implanted with the preset first mark based on the coordinate information corresponding to the first target geographical location and the panoramic image data corresponding to each of the first target panoramic base points includes: performing preset coordinate transformation processing on the first coordinate information of the first target geographical location and the coordinate information of the first target panoramic base points respectively to obtain the fourth coordinate information of the first target geographical location and the second coordinate information of the first target panoramic base points respectively; determining the image pixel coordinates in the panoramic image corresponding to the first target panoramic base points based on the fourth coordinate information of the first target geographical location; and performing spatial intersection deduplication processing on the image pixel coordinates corresponding to each of the first target panoramic base points based on the fourth coordinate information of the target geographical location, and determining the image position in the panoramic image data corresponding to the first target panoramic base points that corresponds to the coordinate information of the first target geographical location as the position of the first target image to be implanted with the preset first mark.

7. The method according to claim 6, characterized in that, The step of determining the pixel coordinates in the panoramic image corresponding to the first target panoramic base point based on the fourth coordinate information of the first target geographical location, and performing spatial intersection deduplication processing on the corresponding pixel coordinates in the panoramic image data corresponding to each first target panoramic base point based on the fourth coordinate information of the target geographical location, and determining the image position in the panoramic image data corresponding to the first target panoramic base point that corresponds to the coordinate information of the first target geographical location as the first target image position to be implanted with the preset first mark, includes: performing spatial intersection deduplication processing on the corresponding pixel coordinates in the panoramic image data corresponding to each first target panoramic base point based on the fourth coordinate information of the first target geographical location; obtaining the panoramic image corresponding to each first target panoramic base point. The second image pixel coordinates in the data are used; based on the fourth coordinate information of the first target geographical location, the fifth coordinate information corresponding to the second coordinate information of the first target geographical location relative to the first target panoramic base point is calculated; the azimuth and pitch angles corresponding to the fifth coordinate information of the first target geographical location are calculated, and the calculated azimuth and pitch angles are converted in degrees to obtain the sixth coordinate information of the first target geographical location; the sixth coordinate information of the first target geographical location is mapped to the second image pixel coordinates in the panoramic image data corresponding to the first target panoramic base point, so as to determine the image position in the panoramic image data corresponding to the first target geographical location and the coordinate information of the first target geographical location as the first target image position to be implanted with the preset first mark.

8. The method according to claim 2, characterized in that, The step of determining and re-implanting a preset second marker at the second target image location corresponding to the second target geographical location, and displaying panoramic image data corresponding to the second target geographical location based on the re-implanted preset second marker, with the second target image location of the re-implanted preset second marker as the center, includes: determining the coordinate information corresponding to the second target geographical location; Based on the coordinate information corresponding to the geographical location of the second target, at least one panoramic base point of the second target is determined that corresponds to the coordinate information corresponding to the geographical location of the second target. Determine the coordinate information of each second target panoramic base point; The coordinate information of the second target's geographical location and the coordinate information of each panoramic base point of the second target are respectively subjected to a preset coordinate transformation process to obtain the fifth coordinate information of the second target's geographical location and the second coordinate information of each panoramic base point of the second target. Based on the fifth coordinate information of the second target's geographical location, the first image pixel coordinates in the panoramic image data corresponding to each panoramic base point of the second target are determined; based on the fifth coordinate information of the second target's geographical location, spatial intersection and deduplication processing is performed on the first image pixel coordinates in the panoramic image data corresponding to each panoramic base point of the second target to determine the image position in the panoramic image data corresponding to the second target's panoramic base point that corresponds to the coordinate information of the second target's geographical location as the second target image position; A preset second marker is re-implanted at the location of the second target image; based on the re-implanted preset second marker, panoramic image data corresponding to the geographical location of the second target is displayed with the location of the re-implanted preset second marker as the center; the display effect of the panoramic image data corresponding to the geographical location of the second target is corrected according to the center of the user's display screen.

9. The method according to claim 8, characterized in that, The step of determining the first image pixel coordinates in the panoramic image data corresponding to each second target panoramic base point based on the fifth coordinate information of the second target's geographical location; and performing spatial intersection deduplication processing on the first image pixel coordinates in the panoramic image data corresponding to each second target panoramic base point based on the fifth coordinate information of the second target's geographical location to determine the image position in the panoramic image data corresponding to the second target panoramic base point with respect to the coordinate information of the second target's geographical location as the second target image position, includes: calculating the seventh coordinate information corresponding to the fifth coordinate information of the second target's geographical location relative to the second coordinate information of each second target panoramic base point based on the fifth coordinate information of the second target's geographical location; calculating the... The seventh coordinate information of the second target's geographical location is used to determine the azimuth and elevation angles. The calculated azimuth and elevation angles are then converted into degrees to obtain the eighth coordinate information of the second target's geographical location. The eighth coordinate information of the second target's geographical location is then mapped to the panoramic image data corresponding to each panoramic base point of the second target to obtain the third pixel coordinates in the panoramic image data of each panoramic base point of the second target corresponding to the eighth coordinate information of the second target's geographical location. Spatial intersection and deduplication processing is then performed on the pixel coordinates of each panoramic base point of the second target to determine the image position in the panoramic image data corresponding to the second target panoramic base point with the coordinate information of the second target's geographical location as the image position of the second target.

10. A panoramic implantation marking device, characterized in that, include: Analysis unit, used to receive and analyze the user's first search instruction, and determine the first target geographical location corresponding to the first search instruction; The first determining unit is used to determine the coordinate information corresponding to the geographical location of the first target; The second determining unit is used to determine at least one panoramic base point of the first target corresponding to the coordinate information of the first target's geographical location based on the coordinate information of the first target's geographical location. The third determining unit is used to determine the panoramic image data corresponding to each of the first target panoramic base points; The calculation unit is used to calculate the target image position to be implanted with the preset first mark based on the coordinate information corresponding to the geographical location of the first target and the panoramic image data corresponding to each panoramic base point of the first target. An implantation unit is used to implant a preset first marker at the location of the first target image; The display unit is used to display panoramic image data corresponding to the first target panoramic base point corresponding to the geographical location of the first target, based on the implanted preset first mark and with the first target image position where the preset first mark is implanted as the center.

11. A panoramic implantation marking device, characterized in that, include: One or more processors, and a memory; the memory stores computer-readable instructions that, when executed by the one or more processors, implement the steps of the panoramic implantation marking method as described in any one of claims 1 to 9.

12. A readable storage medium, characterized in that: The readable storage medium stores computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the panoramic implantation marking method as described in any one of claims 1 to 9.

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