Hauv tsab xov xwm kawg Yuav ua li cas cov ntsiab lus tswj hauv av thiab PPK cov ntaub ntawv cuam tshuam rau qhov tseeb ntawm tus qauv 3D, peb tau hais tias ntxiv rau GCPs thiab PPK cov ntaub ntawv, GSD thiab cov cab kuj drone kuj muaj qee qhov cuam tshuam rau qhov tseeb ntawm tus txheeb ze ntawm 3D. qauv.Yog li peb ua lwm yam kev kuaj xyuas nws.
Carrier drone |
Oblique koob yees duab |
GCPs |
PPK |
CW 10 VTOL |
DG4 pros |
TSIS MUAJ |
TSIS MUAJ |
Tus nab npawb ntawm cov khoom |
Kev ntsuas qhov ntev (L0) |
3D qauv ntev (L1) GSD = 2cm |
3D qauv ntev (L2) GSD = 1.5cm |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.210 ib |
7.18 Nws |
7.20 Nws |
0.030 ib |
0.010 ib |
8.706 ib |
8.69 ib |
8.65 ib |
0.016 ib |
0.056 ib |
|
10.961 ib |
10.89 Nws |
10.90 Nws |
0.071 ib |
0.061 ib |
|
2 |
7.010 ib |
6.88 ib |
6.86 ib |
0.130 Nws |
0.150 Nws |
3 |
1.822 ib |
1.76 ib |
1.76 ib |
0.062 ib |
0.062 ib |
4 |
10.410 Nws |
10.38 Nws |
10.37 Nws |
0.030 ib |
0.040 ib |
5 |
10.718 Nws |
10.65 Nws |
10.68 Nws |
0.068 ib |
0.038 ib |
6 |
13.787 Nws |
13.72 Nws |
13.71 Nws |
0.067 ib |
0.077 ib |
7 |
11.404 Nws |
11.41 Nws |
11.38 Nws |
-0.006 Nws |
0.024 ib |
12.147 Nws |
12.13 Nws |
12.12 Nws |
0.017 ib |
0.027 ib |
|
8 |
7.526 ib |
7.44 ib |
7.49 ib |
0.086 ib |
0.036 ib |
13.797 Nws |
13.83 Nws |
13.77 Nws |
-0.033 |
0.027 ib |
|
9 |
10.374 Nws |
10.35 Nws |
10.35 Nws |
0.024 ib |
0.024 ib |
10 |
2.109 ib |
1.98 ib |
2.09 Nws |
0.129 ib |
0.019 ib |
4.281 ib |
4.14 ib |
4.19 ib |
0.141 ib |
0.091 ib |
|
11 |
14.675 Nws |
14.55 Nws |
14.64 Nws |
0.125 Nws |
0.035 ib |
8.600 Nws |
8.58 ib |
8.57 ib |
0.020 ib |
0.030 ib |
|
12 |
13.394 Nws |
13.36 Nws |
13.38 Nws |
0.034 ib |
0.014 ib |
13 |
12.940 Nws |
12.95 Nws |
12.91 Nws |
-0.010 Nws |
0.030 ib |
14 |
7.190 ib |
7.21 ib |
7.20 Nws |
-0.020 Nws |
-0.010 Nws |
15 |
13.371 Nws |
13.36 Nws |
13.38 Nws |
0.011 ib |
-0.009 Nws |
6.435 ib |
6.37 ib |
6.43 ib |
0.065 ib |
0.005 ib |
|
16 |
3.742 ib |
3.74 ib |
3.70 ib |
0.002 ib |
0.042 ib |
17 |
6.022 ib |
6.03 ib |
5.99 ib |
-0.008 Nws |
0.032 ib |
18 |
3.937 ib |
3.91 ib |
3.94 ib |
0.027 ib |
-0.003 Nws |
19 |
8.120 Nws |
8.09 Nws |
8.12 ib |
0.030 ib |
0.000 |
14.411 Nws |
14.40 Nws |
14.37 Nws |
0.011 ib |
0.041 ib |
|
20 |
6.077 ib |
6.06 ib |
6.04 ib |
0.017 ib |
0.037 ib |
21 |
13.696 ib |
13.68 Nws |
13.65 Nws |
0.016 ib |
0.046 ib |
RMSE: DS1 = 0.0397m, DS2 = 0.0356m |
Carrier drone |
Oblique koob yees duab |
GCPs |
PPK |
CW 10 VTOL |
DG4 pros |
Yog lawm |
Tsis muaj |
Tus nab npawb ntawm cov khoom |
Kev ntsuas qhov ntev (L0) |
3D qauv ntev (L1) GSD = 2cm |
3D qauv ntev (L2) GSD = 1.5cm |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.210 ib |
7.18 Nws |
7.21 ib |
0.030 ib |
0 |
8.706 ib |
8.68 ib |
8.68 ib |
0.026 ib |
0.026 ib |
|
10.961 ib |
10.91 Nws |
10.87 Nws |
0.051 ib |
0.091 ib |
|
2 |
7.010 ib |
6.92 ib |
6.88 ib |
0.090 ib |
0.13 |
3 |
1.822 ib |
1.79 ib |
1.76 ib |
0.032 ib |
0.062 ib |
4 |
10.410 Nws |
10.39 Nws |
10.38 Nws |
0.020 ib |
0.03 ib |
5 |
10.718 Nws |
10.66 Nws |
10.72 Nws |
0.058 ib |
-0.002 |
6 |
13.787 Nws |
13.77 Nws |
13.79 Nws |
0.017 ib |
-0.003 Nws |
7 |
11.404 Nws |
11.38 Nws |
11.38 Nws |
0.024 ib |
0.024 ib |
12.147 Nws |
12.12 Nws |
12.13 Nws |
0.027 ib |
0.017 ib |
|
8 |
7.526 ib |
7.47 ib |
7.53 ib |
0.056 ib |
-0.004 Nws |
13.797 Nws |
13.83 Nws |
13.78 Nws |
-0.033 |
0.017 ib |
|
9 |
10.374 Nws |
10.34 Nws |
10.37 Nws |
0.034 ib |
0.004 ib |
10 |
2.109 ib |
2.03 Nws |
2.11 |
0.079 ib |
-0.001 Nws |
4.281 ib |
4.18 |
4.28 ib |
0.101 ib |
0.001 ib |
|
11 |
14.675 Nws |
14.59 Nws |
14.67 Nws |
0.085 ib |
0.005 ib |
8.600 Nws |
8.57 ib |
8.58 ib |
0.030 ib |
0.02 ib |
|
12 |
13.394 Nws |
13.35 Nws |
13.39 Nws |
0.044 ib |
0.004 ib |
13 |
12.940 Nws |
12.92 Nws |
12.9 Nws |
0.020 ib |
0.04 ib |
14 |
7.190 ib |
7.21 ib |
7.19 ib |
-0.020 Nws |
0 |
15 |
13.371 Nws |
13.36 Nws |
13.37 Nws |
0.011 ib |
0.001 ib |
6.435 ib |
6.43 ib |
6.42 ib |
0.005 ib |
0.015 ib |
|
16 |
3.742 ib |
3.72 ib |
3.7 |
0.022 ib |
0.042 ib |
17 |
6.022 ib |
6.00 Nws |
5.98 ib |
0.022 ib |
0.042 ib |
18 |
3.937 ib |
3.94 ib |
3.91 ib |
-0.003 Nws |
0.027 ib |
19 |
8.120 Nws |
8.09 Nws |
8.07 Nws |
0.030 ib |
0.05 Nws |
14.411 Nws |
14.41 Nws |
14.38 Nws |
0.001 ib |
0.031 ib |
|
20 |
6.077 ib |
6.03 ib |
6.04 ib |
0.047 ib |
0.037 ib |
21 |
13.696 ib |
13.65 Nws |
13.65 Nws |
0.046 ib |
0.046 ib |
RMSE: DS1 = 0.0328m, DS2 = 0.0259m |
Carrier drone |
Oblique koob yees duab |
GCPs |
PPK |
CW 10 VTOL |
DG4 pros |
TSIS MUAJ |
YOG |
Tus nab npawb ntawm cov khoom |
Kev ntsuas qhov ntev (L0) |
3D qauv ntev (L1) GSD = 2cm |
3D qauv ntev (L2) GSD = 1.5cm |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.210 ib |
7.20 Nws |
7.20 Nws |
0.01 ib |
0.01 ib |
8.706 ib |
8.71 ib |
8.69 ib |
0.00 Nws |
0.02 ib |
|
10.961 ib |
10.87 Nws |
10.88 Nws |
0.09 ib |
0.08 ib |
|
2 |
7.010 ib |
6.89 ib |
6.87 ib |
0.12 |
0.14 ib |
3 |
1.822 ib |
1.79 ib |
1.75 ib |
0.03 ib |
0.07 ib |
4 |
10.410 Nws |
10.39 Nws |
10.38 Nws |
0.02 ib |
0.03 ib |
5 |
10.718 Nws |
10.67 Nws |
10.69 Nws |
0.05 Nws |
0.03 ib |
6 |
13.787 Nws |
13.75 Nws |
13.78 Nws |
0.04 ib |
0.01 ib |
7 |
11.404 Nws |
11.39 Nws |
11.38 Nws |
0.01 ib |
0.02 ib |
12.147 Nws |
12.13 Nws |
12.12 Nws |
0.02 ib |
0.03 ib |
|
8 |
7.526 ib |
7.51 ib |
7.49 ib |
0.02 ib |
0.04 ib |
13.797 Nws |
13.79 Nws |
13.78 Nws |
0.01 ib |
0.02 ib |
|
9 |
10.374 Nws |
10.35 Nws |
10.34 Nws |
0.02 ib |
0.03 ib |
10 |
2.109 ib |
2.03 Nws |
2.02 Nws |
0.08 ib |
0.09 ib |
4.281 ib |
4.15 |
4.21 |
0.13 |
0.07 ib |
|
11 |
14.675 Nws |
14.61 Nws |
14.65 Nws |
0.07 ib |
0.03 ib |
8.600 Nws |
8.60 ib |
8.57 ib |
0.00 Nws |
0.03 ib |
|
12 |
13.394 Nws |
13.37 Nws |
13.40 Nws |
0.02 ib |
-0.01 Nws |
13 |
12.940 Nws |
12.88 Nws |
12.89 Nws |
0.06 ib |
0.05 Nws |
14 |
7.190 ib |
7.20 Nws |
7.18 Nws |
-0.01 Nws |
0.01 ib |
15 |
13.371 Nws |
13.36 Nws |
13.38 Nws |
0.01 ib |
-0.01 Nws |
6.435 ib |
6.40 Nws |
6.46 ib |
0.03 ib |
-0.03 Nws |
|
16 |
3.742 ib |
3.75 ib |
3.75 ib |
-0.01 Nws |
-0.01 Nws |
17 |
6.022 ib |
5.97 ib |
5.97 ib |
0.05 Nws |
0.05 Nws |
18 |
3.937 ib |
3.93 ib |
3.91 ib |
0.01 ib |
0.03 ib |
19 |
8.120 Nws |
8.10 Nws |
8.08 Nws |
0.02 ib |
0.04 ib |
14.411 Nws |
14.40 Nws |
14.38 Nws |
0.01 ib |
0.03 ib |
|
20 |
6.077 ib |
6.04 ib |
6.05 Nws |
0.04 ib |
0.03 ib |
21 |
13.696 ib |
13.65 Nws |
13.67 Nws |
0.05 Nws |
0.03 ib |
RMSE: DS1 = 0.0342m, DS2 = 0.0328m |
Carrier drone |
Oblique koob yees duab |
GCPs |
PPK |
CW 10 VTOL |
DG4 pros |
YOG |
YOG |
Tus nab npawb ntawm cov khoom |
Kev ntsuas qhov ntev (L0) |
3D qauv ntev (L1) GSD = 2cm |
3D qauv ntev (L2) GSD = 1.5cm |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.21 ib |
7.21 ib |
7.21 ib |
0.00 Nws |
0.00 Nws |
8.706 ib |
8.68 ib |
8.7 ib |
0.03 ib |
0.01 ib |
|
10.961 ib |
10.90 Nws |
10.89 Nws |
0.06 ib |
0.07 ib |
|
2 |
7.01 Nws |
6.98 ib |
6.99 ib |
0.03 ib |
0.02 ib |
3 |
1.822 ib |
1.80 ib |
1.78 ib |
0.02 ib |
0.04 ib |
4 |
10.41 Nws |
10.40 Nws |
10.39 Nws |
0.01 ib |
0.02 ib |
5 |
10.718 Nws |
10.70 Nws |
10.69 Nws |
0.02 ib |
0.03 ib |
6 |
13.787 Nws |
13.77 Nws |
13.76 Nws |
0.02 ib |
0.03 ib |
7 |
11.404 Nws |
11.39 Nws |
11.39 Nws |
0.01 ib |
0.01 ib |
12.147 Nws |
12.13 Nws |
12.12 Nws |
0.02 ib |
0.03 ib |
|
8 |
7.526 ib |
7.49 ib |
7.51 ib |
0.04 ib |
0.02 ib |
13.797 Nws |
13.81 Nws |
13.8 ib |
-0.01 Nws |
0.00 Nws |
|
9 |
10.374 Nws |
10.36 Nws |
10.35 Nws |
0.01 ib |
0.02 ib |
10 |
2.109 ib |
2.02 Nws |
2.11 |
0.09 ib |
0.00 Nws |
4.281 ib |
4.16 |
4.28 ib |
0.12 |
0.00 Nws |
|
11 |
14.675 Nws |
14.66 Nws |
14.68 Nws |
0.02 ib |
0.00 Nws |
8.6 |
8.54 ib |
8.53 ib |
0.06 ib |
0.07 ib |
|
12 |
13.394 Nws |
13.35 Nws |
13.37 Nws |
0.04 ib |
0.02 ib |
13 |
12.94 Nws |
12.89 Nws |
12.91 Nws |
0.05 Nws |
0.03 ib |
14 |
7.19 ib |
7.18 Nws |
7.2 |
0.01 ib |
-0.01 Nws |
15 |
13.371 Nws |
13.35 Nws |
13.35 Nws |
0.02 ib |
0.02 ib |
6.435 ib |
6.41 ib |
6.4 |
0.02 ib |
0.03 ib |
|
16 |
3.742 ib |
3.72 ib |
3.71 ib |
0.02 ib |
0.03 ib |
17 |
6.022 ib |
5.98 ib |
5.98 ib |
0.04 ib |
0.04 ib |
18 |
3.937 ib |
3.89 ib |
3.89 ib |
0.05 Nws |
0.05 Nws |
19 |
8.12 ib |
8.12 ib |
8.1 |
0.00 Nws |
0.02 ib |
14.411 Nws |
14.40 Nws |
14.39 Nws |
0.01 ib |
0.02 ib |
|
20 |
6.077 ib |
6.03 ib |
6.03 ib |
0.05 Nws |
0.05 Nws |
21 |
13.696 ib |
13.66 Nws |
13.64 Nws |
0.04 ib |
0.06 ib |
RMSE: DS1 = 0.0308m, DS2 = 0.0249m |
Cov kev hloov pauv ntawm kev sim 1 yog:
1: Nrog / Tsis muaj PPK cov ntaub ntawv.
2: Nrog / Tsis Muaj GCPs.
3: txawv GSD: 1.5 cm lossis 2cm
Tom qab kev txheeb xyuas ntawm plaub pawg ntawm cov ntaub ntawv sim, peb tuaj yeem kos cov lus xaus hauv qab no:
Thaum lub koob yees duab oblique yog DG4Pros:
(1) Nrog / Tsis muaj kev tswj hwm hauv av (GCP) thiab PPK cov ntaub ntawv koom nrog hauv AT triangulation, txawm tias nws yog VTOL lossis ntau lub rotor drone, txawm tias GSD yog 2cm lossis 1.5cm, 3D qauv tsim los ntawm oblique lub koob yees duab DG4Pros tuaj yeem ua tau raws li qhov yuav tsum tau muaj ntawm qhov tseeb qhov tseeb qhov yuam kev Ds≤10cm (Tseeb ≤5cm).
(2) Thaum GSD yog tib qhov sib txawv, qhov txheeb ze qhov tseeb ntawm tus qauv 3D nrog GSD = 1.5cm yog qhov zoo dua li GSD = 2cm.
Oblique koob yees duab |
GCPs |
PPK |
GSD |
DG4 pros |
TSIS MUAJ |
TSIS MUAJ |
1.5 cm loj |
Tus nab npawb ntawm cov khoom |
Kev ntsuas qhov ntev (L0) |
3D qauv ntev (L1) CW10 |
3D qauv ntev (L2) M600Pro |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.21 ib |
7.20 Nws |
7.19 ib |
0.010 ib |
0.02 ib |
8.706 ib |
8.65 ib |
8.70 ib |
0.056 ib |
0.01 ib |
|
10.961 ib |
10.90 Nws |
10.91 Nws |
0.061 ib |
0.05 Nws |
|
2 |
7.01 Nws |
6.86 ib |
6.98 ib |
0.150 Nws |
0.03 ib |
3 |
1.822 ib |
1.76 ib |
1.79 ib |
0.062 ib |
0.03 ib |
4 |
10.41 Nws |
10.37 Nws |
10.39 Nws |
0.040 ib |
0.02 ib |
5 |
10.718 Nws |
10.68 Nws |
10.69 Nws |
0.038 ib |
0.03 ib |
6 |
13.787 Nws |
13.71 Nws |
13.76 Nws |
0.077 ib |
0.03 ib |
7 |
11.404 Nws |
11.38 Nws |
11.38 Nws |
0.024 ib |
0.02 ib |
12.147 Nws |
12.12 Nws |
12.12 Nws |
0.027 ib |
0.03 ib |
|
8 |
7.526 ib |
7.49 ib |
7.50 Nws |
0.036 ib |
0.03 ib |
13.797 Nws |
13.77 Nws |
13.77 Nws |
0.027 ib |
0.03 ib |
|
9 |
10.374 Nws |
10.35 Nws |
10.33 Nws |
0.024 ib |
0.04 ib |
10 |
2.109 ib |
2.09 Nws |
2.02 Nws |
0.019 ib |
0.09 ib |
4.281 ib |
4.19 ib |
4.20 ib |
0.091 ib |
0.08 ib |
|
11 |
14.675 Nws |
14.64 Nws |
14.65 Nws |
0.035 ib |
0.03 ib |
8.6 |
8.57 ib |
8.57 ib |
0.030 ib |
0.03 ib |
|
12 |
13.394 Nws |
13.38 Nws |
13.35 Nws |
0.014 ib |
0.04 ib |
13 |
12.94 Nws |
12.91 Nws |
12.92 Nws |
0.030 ib |
0.02 ib |
14 |
7.19 ib |
7.20 Nws |
7.17 ib |
-0.010 Nws |
0.02 ib |
15 |
13.371 Nws |
13.38 Nws |
13.35 Nws |
-0.009 Nws |
0.02 ib |
6.435 ib |
6.43 ib |
6.41 ib |
0.005 ib |
0.02 ib |
|
16 |
3.742 ib |
3.70 ib |
3.70 ib |
0.042 ib |
0.04 ib |
17 |
6.022 ib |
5.99 ib |
5.99 ib |
0.032 ib |
0.03 ib |
18 |
3.937 ib |
3.94 ib |
3.89 ib |
-0.003 Nws |
0.05 Nws |
19 |
8.12 ib |
8.12 ib |
8.08 Nws |
0.000 |
0.04 ib |
14.411 Nws |
14.37 Nws |
14.36 Nws |
0.041 ib |
0.05 Nws |
|
20 |
6.077 ib |
6.04 ib |
6.06 ib |
0.037 ib |
0.02 ib |
21 |
13.696 ib |
13.65 Nws |
13.65 Nws |
0.046 ib |
0.05 Nws |
RMSE: DS1 = 0.0356m, DS2 = 0.342m |
Oblique koob yees duab |
GCPs |
PPK |
GSD |
DG4 pros |
YOG |
TSIS MUAJ |
1.5 cm loj |
Tus nab npawb ntawm cov khoom |
Kev ntsuas qhov ntev (L0) |
3D qauv ntev (L1) CW10 |
3D qauv ntev (L2) M600Pro |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.21 ib |
7.21 ib |
7.21 ib |
0 |
0.00 Nws |
8.706 ib |
8.68 ib |
8.70 ib |
0.026 ib |
0.01 ib |
|
10.961 ib |
10.87 Nws |
10.91 Nws |
0.091 ib |
0.05 Nws |
|
2 |
7.01 Nws |
6.88 ib |
6.98 ib |
0.13 |
0.03 ib |
3 |
1.822 ib |
1.76 ib |
1.80 ib |
0.062 ib |
0.02 ib |
4 |
10.41 Nws |
10.38 Nws |
10.39 Nws |
0.03 ib |
0.02 ib |
5 |
10.718 Nws |
10.72 Nws |
10.70 Nws |
-0.002 |
0.02 ib |
6 |
13.787 Nws |
13.79 Nws |
13.75 Nws |
-0.003 Nws |
0.04 ib |
7 |
11.404 Nws |
11.38 Nws |
11.38 Nws |
0.024 ib |
0.02 ib |
12.147 Nws |
12.13 Nws |
12.13 Nws |
0.017 ib |
0.02 ib |
|
8 |
7.526 ib |
7.53 ib |
7.49 ib |
-0.004 Nws |
0.04 ib |
13.797 Nws |
13.78 Nws |
13.79 Nws |
0.017 ib |
0.01 ib |
|
9 |
10.374 Nws |
10.37 Nws |
10.35 Nws |
0.004 ib |
0.02 ib |
10 |
2.109 ib |
2.11 |
2.07 Nws |
-0.001 Nws |
0.04 ib |
4.281 ib |
4.28 ib |
4.21 |
0.001 ib |
0.07 ib |
|
11 |
14.675 Nws |
14.67 Nws |
14.66 Nws |
0.005 ib |
0.02 ib |
8.6 |
8.58 ib |
8.57 ib |
0.02 ib |
0.03 ib |
|
12 |
13.394 Nws |
13.39 Nws |
13.35 Nws |
0.004 ib |
0.04 ib |
13 |
12.94 Nws |
12.9 Nws |
12.93 Nws |
0.04 ib |
0.01 ib |
14 |
7.19 ib |
7.19 ib |
7.18 Nws |
0 |
0.01 ib |
15 |
13.371 Nws |
13.37 Nws |
13.36 Nws |
0.001 ib |
0.01 ib |
6.435 ib |
6.42 ib |
6.42 ib |
0.015 ib |
0.01 ib |
|
16 |
3.742 ib |
3.7 |
3.71 ib |
0.042 ib |
0.03 ib |
17 |
6.022 ib |
5.98 ib |
6.00 Nws |
0.042 ib |
0.02 ib |
18 |
3.937 ib |
3.91 ib |
3.91 ib |
0.027 ib |
0.03 ib |
19 |
8.12 ib |
8.07 Nws |
8.10 Nws |
0.05 Nws |
0.02 ib |
14.411 Nws |
14.38 Nws |
14.35 Nws |
0.031 ib |
0.06 ib |
|
20 |
6.077 ib |
6.04 ib |
6.06 ib |
0.037 ib |
0.02 ib |
21 |
13.696 ib |
13.65 Nws |
13.67 Nws |
0.046 ib |
0.03 ib |
RMSE: DS1 = 0.0259m, DS2 = 0.256m |
Cov kev hloov pauv ntawm kev sim 2 yog:
1: Nrog / Tsis Muaj GCPs.
2: Txawv Cov Tsav Tsheb Drone: VTOL drone lossis multi-rotor drone
Tom qab kev txheeb xyuas ntawm ob pawg ntawm cov ntaub ntawv sim, peb tuaj yeem kos cov lus xaus hauv qab no:
Thaum lub koob yees duab oblique yog DG4Pros:
(1) Nrog / Tsis muaj qhov taw tes tswj hauv av (GCP) txawm tias nws yog VTOL lossis ntau lub rotor drone, 3D qauv tsim los ntawm oblique lub koob yees duab DG4Pros tuaj yeem ua tau raws li qhov yuav tsum tau ua ntawm qhov tseeb qhov tseeb ntawm qhov yuam kev Ds≤10cm(Tseeb ≤5cm).
(2) Thaum cov neeg nqa khoom drone hom yog tib qhov sib txawv, qhov txheeb ze qhov tseeb ntawm 3D qauv nrog ntau lub rotor zoo dua li nrog VTOL, tab sis qhov sib txawv tsis loj heev.
Yav dhau los:Yuav ua li cas focal ntev cuam tshuam 3D qauv kev tshwm sim
Tom ntej:Synchronization raug
Rov qab los