CN104296695B - A kind of method for obtaining video camera spatial attitude - Google Patents
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Abstract
The invention discloses a kind of method for obtaining video camera spatial attitude, initially set up coordinate system, video camera target surface and ground are represented with geometrical relationship, using the respective function of the inner parameter and picture pixel and ground location of video camera, according to the Installation posture data that plane geometry and equation with two unknowns determine video camera.The present invention is directly calculated the Installation posture of video camera, it is not necessary to measure to scene and demarcate, is greatly reduced the workload of engineering using picture pixel position and the transformational relation of geographical coordinates position；It is easy to operate, it is easy to grasp, it is to avoid because scene limits the problem that cannot be sampled.
Description
Technical field
The invention belongs to field of measuring technique, and in particular to a kind of method of acquisition video camera spatial attitude.
Background technology
In the application of computer vision technique, the Installation posture data for obtaining video camera are needed, also referred to as video camera is outer
Portion's parameter, Installation posture data include：Highly, ground upright projection position X-coordinate, ground upright projection position Y-coordinate, direction
Angle, angle of inclination, vertical angle etc..
Hand dipping is carried out by the method with physics, certainty of measurement is difficult to ensure that, conventional video camera spatial attitude is calculated
Method is required for the complicated calculations secondary using solid analytical geometry and ternary, is particularly carrying out actual demarcation, and number is demarcated in collection
According to when, have a lot of strict demands to calibration point, for a lot of occasions are difficult to.Certain methods need to measure some specific positions
Point, such as 4 angle points of camera views, and often because the relation of content of shooting, the camera site of angle point is such as built not on ground
Build on thing, set first-class, or cannot measure in the first-class danger zone of the water surface.
Content of the invention
It is an object of the invention to provide a kind of simple and fast, be easy to grasp acquisition video camera spatial attitude method.
The technical scheme for realizing the object of the invention is：A kind of method for obtaining video camera spatial attitude, comprises the following steps：
Step 1, structure coordinate system：In units of pixel, the image frame upper left corner is the origin of coordinates to image frame coordinate, draws
Face is laterally x-axis, and picture is longitudinally y-axis；Specially：
Represent that picture coordinate points, [X, Y] represent geographical coordinates point with [x, y]；By picture coordinate [x, y] and geographical coordinates
The corresponding conversion function F ([X, Y]) of [X, Y] determines pinining ground location coordinates [X, Y]；The picture central point o of camera lens optical axis
Projection point on ground is designated as ground central point O, if the coordinate of picture central point o is [ox, oy], the ground of ground central point O
Coordinate is [OX, OY]；
Step 2, the intersection for determining video camera target surface and ground, are designated as ground horizon Lh；
Step 3, from ground central point O, earthward horizon Lh draws vertical line, is designated as ground vertical center line Lv, video camera
Ground location is on the vertical center line of ground；
Step 4, the intersection point for taking ground vertical center line Lv and ground horizon Lh, are designated as ground perspective F；The ground of F
Coordinate is [FX, FY]；
Determine that ground central point O, to the distance of ground perspective F, is designated as perspective distance D：
Step 5, the midpoint for taking ground central point O and ground perspective F line, are designated as ground intermediate point P, and the ground of P is sat
It is designated as [PX, PY]；Determine projection points of the ground intermediate point P on image frame, be designated as picture intermediate point p, the picture coordinate of p is
[px,py]；
Draw a ground straight line LP parallel with ground horizon from ground intermediate point；
A ground reference point T is arbitrarily chosen on LP, and the geographical coordinates of T is [TX, TY]；
Determine projection point of ground reference point T on picture, be designated as picture reference point t, the image frame coordinate of t for [tx,
ty]；
Determine ground intermediate point P and ground reference point T apart from D1：
Determine picture intermediate point p and picture reference point t apart from d1：
Determine picture intermediate point p and picture central point o apart from d2：
Determine ground intermediate point P to straight line Oo apart from D2：
D2=d2*D1/d1；
Step 6, the line for taking picture central point o and picture intermediate point p, are designated as picture vertical center line lv；
Step 7, determine spatial attitude parameter：The spatial attitude parameter includes camera direction angle [alpha], video camera rotation
Angle beta, video camera vertical angle γ, camera height CH and camera position [CX, CY]；
Camera direction angle [alpha] is the angle of ground vertical center line Lv and ground Y-axis；
Camera angle of rotation β is the angle of picture vertical center line lv and picture y-axis；
Video camera vertical angle γ, i.e. video camera are shot the angle of axis and ground, i.e. video camera target surface and are pressed from both sides with ground
The supplementary angle at angle：
γ=arcsin (D2*2/D)；
0<γ<π/2；
Camera height CH is vertical height of the video camera with respect to ground, i.e.,
CH=D2*2*cos (γ)；
Camera position [CX, CY] be video camera in the position of the vertical point on ground；Determine that camera position [CX, CY] is arrived
Ground perspective F apart from D3：
D3=D2*2*D2*2/D；
CX=FX+D3/D* (OX FX)
CY=FY+D3/D* (OY FY).
Compared with prior art, remarkable advantage of the invention is：(1) present invention is using picture pixel position and geographical coordinates
The transformational relation of position, directly calculates the Installation posture of video camera, it is not necessary to measures to scene and demarcates, greatly reduces
The workload of engineering；(2) present invention is easy to operate, it is easy to grasp, it is to avoid because scene limits the problem that cannot be sampled.
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Description of the drawings
Fig. 1 is the geometric representation of the method that the present invention obtains video camera spatial attitude.
Fig. 2 is the spatial relationship schematic diagram of the method that the present invention obtains video camera spatial attitude.
Specific embodiment
The inner parameter and picture pixel of known video camera and the respective function of ground location；
In conjunction with Fig. 1, Fig. 2, a kind of method of acquisition video camera spatial attitude, comprise the following steps：
Step 1, structure coordinate system：In units of pixel, the image frame upper left corner is the origin of coordinates to image frame coordinate, draws
Face is laterally x-axis, and picture is longitudinally y-axis；Specially：
Represent that picture coordinate points, [X, Y] represent geographical coordinates point with [x, y]；By picture coordinate [x, y] and geographical coordinates
The corresponding conversion function F ([X, Y]) of [X, Y] determines pinining ground location coordinates [X, Y]；The picture central point o of camera lens optical axis
Projection point on ground is designated as ground central point O, if the coordinate of picture central point o is [ox, oy], the geographical coordinates of corresponding O
For [OX, OY]；
Picture pixel coordinate [x, the y] and pinining ground location coordinates [X, Y] corresponding conversion function F ([x, y]) (referring to
《OpenGL》GlFrustum (), gluPerspective () and glOrtho ()), and inverse transform function FT([X,Y])
For：
[X, Y]=F ([x, y])
[x, y]=FT([X,Y])
Then [OX, OY]=F ([ox, oy])；
Step 2, the intersection for determining video camera target surface and ground, are designated as ground horizon Lh；Specifically include following steps：
Step 2-1,4 vertex vs 1, v2, v3, v4 for taking arbitrary rectangle on picture；
Step 2-2, using picture pixel coordinate [x, y] and pinining ground location coordinates [X, Y] corresponding conversion function F ([x,
Y], determine v1, v2, v3, v4 projection point V1, V2, V3, V4 on ground；V1, V2, V3, V4 form quadrangle Q on ground；
Step 2-3, determine respectively by 2 groups of opposite side L1, L2 and L3 of quadrangle Q, L4 as straight line 2 intersection point F1 and
The line of F2, F1 and F2 is ground horizon Lh；
The linear equation of Lh is：The coefficient entry of Y=Lh_a*X+Lh_b, wherein Lh_a for X, Lh_b is constant term；
Step 3, from ground central point O, earthward horizon Lh draws vertical line, is designated as ground vertical center line Lv, video camera
Ground location is on the vertical center line of ground；The equation expression formula of the ground vertical center line Lv is：
The coefficient entry of Y=Lv_a*X+Lv_b, wherein Lv_a for X, Lv_b is constant term；
Step 4, the intersection point for taking ground vertical center line Lv and ground horizon Lh, are designated as ground perspective F；The coordinate of F
For [FX, FY]；
Determine that ground central point O, to the distance of ground perspective F, is designated as perspective distance D：
Step 5, the midpoint for taking ground central point O and ground perspective F line, are designated as ground intermediate point P, and the ground of P is sat
It is designated as [PX, PY]；Determine projection points of the ground intermediate point P on image frame, be designated as picture intermediate point p, the picture coordinate of p is
[px,py]；
Draw a ground straight line LP parallel with ground horizon from ground intermediate point；
A ground reference point T is arbitrarily chosen on LP, and the geographical coordinates of T is [TX, TY]；
Determine projection point of ground reference point T on picture, be designated as picture reference point t, the image frame coordinate of t for [tx,
ty]；
Determine ground intermediate point P and ground reference point T apart from D1：
Determine picture intermediate point p and picture reference point t apart from d1：
Determine picture intermediate point p and picture central point o apart from d2：
Determine ground intermediate point P to straight line Oo apart from D2：
D2=d2*D1/d1；
Step 6, the line for taking picture central point o and picture intermediate point p, are designated as picture vertical center line lv；The picture
The equation expression formula of vertical center line lv is：The coefficient entry of y=lv_a*x+lv_b, wherein lv_a for x, lv_b is constant term；
Step 7, determine spatial attitude parameter：The spatial attitude parameter includes camera direction angle [alpha], video camera rotation
Angle beta, video camera vertical angle γ, camera height CH and camera position [CX, CY]；
Camera direction angle [alpha] is the angle of ground vertical center line Lv and ground Y-axis：
If OX-PX>0, then α=arcctg (Lv_a)；
If OX-PX≤0, α=arcctg (Lv_a)+π；
Camera angle of rotation β is the angle of picture vertical center line lv and picture y-axis：
If ox is px>0, then β=arcctg (lv_a)；
If ox-px≤0, β=arcctg (lv_a)+π；
Video camera vertical angle γ, i.e. video camera are shot the angle of axis and ground, i.e. video camera target surface and are pressed from both sides with ground
The supplementary angle at angle：
γ=arcsin (D2*2/D)；
0<γ<π/2；
Camera height CH is vertical height of the video camera with respect to ground, i.e.,
CH=D2*2*cos (γ)；
Camera position [CX, CY] be video camera in the position of the vertical point on ground；First determine camera position [CX,
CY] to ground perspective F apart from D3：
D3=D2*2*D2*2/D；
CX=FX+D3/D* (OX FX)
CY=FY+D3/D* (OY FY).
With reference to specific embodiment, the present invention will be further described.
Embodiment 1
In conjunction with Fig. 1, Fig. 2, the real data of a video camera is taken as example.
The picture pixel position of picture optical axis center point o is [367,322]；
Calculate through plane conversion relation, obtain projection points O of the picture central point o on ground, the geographical coordinates of O is
[1511.72,2930.61]；
4 vertex vs 1, v2, v3, v4 of any parallelogram are taken on picture, and location of pixels is respectively [267,322],
[367,222], [467,322], [367,422]；
Determine v1, v2, v3, v4 projection point V1, V2, V3, V4 on ground, coordinate position be respectively [1792.93,
2716.66], [1813.26,3368.80], [1220.26,3152.34], [1299.68,2622.49]；
V1, V2, V3, V4 form quadrangle Q on ground, calculate respectively by the straight line L1 on 4 sides of quadrangle Q, L2, L3,
L4 is：
Y=32.08*X 54803.16；
Y=-6.67*X+11294.03；
Y=0.37*X+2706.93；
Y=0.19*X+2374.33；
Determine the intersection point F1 and L3 of L1 and L2 and the intersection point F2 of L4, respectively [1705.58, -85.73] and [-
1910.55,2009.54]；
The line of F1 and F2 is referred to as ground horizon Lh, and the equation of Lh is：Y=-0.58*X+902.53；
From ground central point O, earthward horizon Lh draws vertical line, is designated as ground vertical center line Lv, and the equation of Lv is：Y=
1.73*X+321.60；
The ground location of video camera is on the vertical center line of ground；
Determine the intersection point of ground vertical center line Lv and ground horizon Lh, be designated as ground perspective F, the coordinate of F is
[252.00,756.51]；
Determine that ground central point O, to the distance of ground perspective F, is designated as perspective distance D, D=2512.68；
Determine the midpoint of ground central point O and ground perspective F line, be designated as ground intermediate point P, the geographical coordinates of P is
[881.86,1843.56]；
Determine projection points of the ground intermediate point P on picture, be designated as picture intermediate point p, the picture coordinate of p for [313.12,
890.87]；
Draw a ground straight line LP parallel with ground horizon, Y=-0.58+2354.53 from ground intermediate point；
A ground reference point T is chosen on LP, and the geographical coordinates of T is [981.86,1785.62]；
Determine projection point of ground reference point T on picture, be designated as picture reference point t, the picture coordinate of t for [248.97,
884.29]；
Determine ground intermediate point P and ground reference point T apart from D1, D1=115.57；
Determine picture intermediate point p and picture reference point t apart from d1, d1=64.48；
Determine picture intermediate point p and picture central point o apart from d2, d2=570.83；
Determine D2=d2*D1/d1=1023.09；
The line of picture central point o and picture intermediate point p is picture vertical center line lv, and the equation of lv is：
Y=-10.48*x+4173.08；
Finally calculate：
Camera direction angle [alpha] (unit degree), α=30.09；
Camera angle of rotation β (unit degree), β=- 5.45；
Video camera vertical angle γ (unit degree), γ=35.48；
Camera height CH (unit centimetre), CH=1187.57；
Camera position [CX, CY] (unit centimetre), [CX, CY]=[1087.39,2198.27]
Through checking, parameter is consistent with actual, and precision is higher than the precision with angle point survey calculation.
The present invention is not restricted to the described embodiments, the simply explanation present invention's described in above-described embodiment and specification
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.
Claims (7)
1. a kind of obtain video camera spatial attitude method, it is characterised in that comprise the following steps：
Step 1, structure coordinate system：Image frame coordinate in units of pixel, the image frame upper left corner be the origin of coordinates, image draw
Face is laterally x-axis, and image frame is longitudinally y-axis；Specially：
Represent that image frame coordinate point, [X, Y] represent geographical coordinates point with [x, y]；By image frame coordinate [x, y] and ground
The corresponding conversion function F ([X, Y]) of coordinate [X, Y] determines pinining ground location coordinates [X, Y]；The image frame of camera lens optical axis
Projection points of the central point o on ground is designated as ground central point O, if the coordinate of image frame central point o is [ox, oy], in ground
The geographical coordinates of heart point O is [OX, OY]；
Step 2, the intersection for determining video camera target surface and ground, are designated as ground horizon Lh；
Step 3, from ground central point O, earthward horizon Lh draws vertical line, is designated as ground vertical center line Lv, the ground of video camera
Position is on the vertical center line of ground；
Step 4, the intersection point for taking ground vertical center line Lv and ground horizon Lh, are designated as ground perspective F；The geographical coordinates of F
For [FX, FY]；
Determine that ground central point O, to the distance of ground perspective F, is designated as perspective distance D：
Step 5, the midpoint for taking ground central point O and ground perspective F line, are designated as ground intermediate point P, and the geographical coordinates of P is
[PX,PY]；Determine projection points of the ground intermediate point P on image frame, be designated as image frame intermediate point p, the image frame of p is sat
It is designated as [px, py]；
Draw a ground straight line LP parallel with ground horizon from ground intermediate point；
A ground reference point T is arbitrarily chosen on LP, and the geographical coordinates of T is [TX, TY]；
Determine projection point of ground reference point T on image frame, be designated as image frame reference point t, the image frame coordinate of t is
[tx,ty]；
Determine ground intermediate point P and ground reference point T apart from D1：
Determine image frame intermediate point p and image frame reference point t apart from d1：
Determine image frame intermediate point p and image frame central point o apart from d2：
Determine ground intermediate point P to straight line Oo apart from D2：
D2=d2*D1/d1；
Step 6, the line for taking image frame central point o and image frame intermediate point p, are designated as image frame vertical center line lv；
Step 7, determine spatial attitude parameter：The spatial attitude parameter includes camera direction angle [alpha], camera angle of rotation
β, video camera vertical angle γ, camera height CH and camera position [CX, CY]；
Camera direction angle [alpha] is the angle of ground vertical center line Lv and ground Y-axis；
Camera angle of rotation β is the angle of image frame vertical center line lv and image frame y-axis；
Video camera vertical angle γ, i.e. video camera shoot the angle of axis and ground, i.e. video camera target surface with ground angle
Supplementary angle：
γ=arcsin (D2*2/D)；
0<γ<π/2；
Camera height CH is vertical height of the video camera with respect to ground, i.e.,
CH=D2*2*cos (γ)；
Camera position [CX, CY] be video camera in the position of the vertical point on ground；Determine that camera position [CX, CY] arrives ground
Power pin F apart from D3：
D3=D2*2*D2*2/D；
CX=FX+D3/D* (OX-FX)
CY=FY+D3/D* (OY-FY).
2. according to claim 1 obtain video camera spatial attitude method, it is characterised in that picture described in step 1 as
The corresponding conversion function F ([x, y]) and inverse transform function F of plain coordinate [x, y] and pinining ground location coordinates [X, Y]T([X,Y])
For：
[X, Y]=F ([x, y])
[x, y]=FT([X,Y])
Then [OX, OY]=F ([ox, oy]).
3. according to claim 1 obtain video camera spatial attitude method, it is characterised in that the determination described in step 2
Video camera target surface specifically includes following steps with the intersection Lh on ground：
Step 2-1,4 vertex vs 1, v2, v3, v4 for taking arbitrary rectangle on picture；
Step 2-2, using picture pixel coordinate [x, y] and pinining ground location coordinates [X, Y] corresponding conversion function F ([x, y], really
Determine v1, v2, v3, v4 projection point V1, V2, V3, V4 on ground；V1, V2, V3, V4 form quadrangle Q on ground；
Step 2-3, determine respectively by 2 groups of opposite side L1, L2 and L3 of quadrangle Q, L4 as straight line 2 intersection points F1 and F2,
The line of F1 and F2 is ground horizon Lh；
The linear equation of Lh is：The coefficient entry of Y=Lh_a*X+Lh_b, wherein Lh_a for X, Lh_b is constant term.
4. according to claim 1 obtain video camera spatial attitude method, it is characterised in that ground described in step 3 hang down
Directly the equation expression formula of center line Lv is：
The coefficient entry of Y=Lv_a*X+Lv_b, wherein Lv_a for X, Lv_b is constant term.
5. according to claim 1 obtain video camera spatial attitude method, it is characterised in that in step 6, picture is vertical
The equation expression formula of center line lv is：The coefficient entry of y=lv_a*x+lv_b, wherein lv_a for x, lv_b is constant term.
6. according to claim 1 obtain video camera spatial attitude method, it is characterised in that in step 7 determine shooting
Machine direction angle alpha is specially：
If OX-PX>0, then α=arcctg (Lv_a)；
If OX-PX≤0, α=arcctg (Lv_a)+π.
7. according to claim 1 obtain video camera spatial attitude method, it is characterised in that in step 7 determine shooting
Machine anglec of rotation β is specially：
If ox-px>0, then β=arcctg (lv_a)；
If ox-px≤0, β=arcctg (lv_a)+π.
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| CN105606049B (en) * | 2015-09-11 | 2018-09-21 | 华南农业大学 | A kind of paddy agriculture equipment operation attitude measurement method of the opposite water surface |
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