CN104296695B - A kind of method for obtaining video camera spatial attitude - Google Patents
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Abstract
本发明公开了一种获取摄像机空间姿态的方法,首先建立坐标系,将摄像机靶面与地面用几何关系表示,利用摄像机的内部参数和画面象素与地面位置的对应函数,根据平面几何与二元方程确定摄像机的安装姿态数据。本发明利用画面像素位置与地面坐标位置的转换关系,直接计算出摄像机的安装姿态,不需要到现场进行测量和标定,大大减少工程的工作量;操作简便,易于掌握,避免了因场景限制无法采样的问题。
The invention discloses a method for obtaining the spatial attitude of a camera. Firstly, a coordinate system is established, and the camera target surface and the ground are represented by a geometric relationship. Using the internal parameters of the camera and the corresponding function between the picture pixels and the ground position, according to the plane geometry and the two The meta-equations determine the installation pose data of the camera. The invention utilizes the conversion relationship between the picture pixel position and the ground coordinate position to directly calculate the installation attitude of the camera without going to the site for measurement and calibration, which greatly reduces the workload of the project; it is easy to operate and easy to grasp, avoiding the inability to The problem with sampling.
Description
技术领域technical field
本发明属于测量技术领域,具体涉及一种获取摄像机空间姿态的方法。The invention belongs to the technical field of measurement, and in particular relates to a method for acquiring the spatial attitude of a camera.
背景技术Background technique
在计算机视觉技术的应用中,需要获取摄像机的安装姿态数据,也称摄像机的外部参数,安装姿态数据包括:高度、地面垂直投影位置X坐标、地面垂直投影位置Y坐标、方向角度、倾斜角度、垂直角度等。In the application of computer vision technology, it is necessary to obtain the installation attitude data of the camera, also known as the external parameters of the camera. The installation attitude data includes: height, X coordinate of the vertical projection position on the ground, Y coordinate of the vertical projection position on the ground, direction angle, tilt angle, vertical angle etc.
通过用物理的方法进行手工测量,测量精度难以保证,以往的摄像机空间姿态算法都需要使用立体解析几何和三元二次的复杂计算,特别是在进行实际标定,采集标定数据时,对标定点有很多严格要求,对于很多场合难以实现。一些方法需要测量一些特殊位置的点,如摄像机画面4个角点,而往往因为拍摄内容的关系,角点的拍摄位置不在地面,如建筑物上、树上等,或者在水面上等危险区域无法测量。It is difficult to guarantee the measurement accuracy by using physical methods for manual measurement. The previous camera space attitude algorithms need to use complex calculations of three-dimensional analytic geometry and ternary quadratic, especially when performing actual calibration and collecting calibration data. There are many strict requirements, which are difficult to achieve for many occasions. Some methods need to measure points in some special positions, such as the four corner points of the camera screen, and often because of the relationship between the shooting content, the shooting position of the corner points is not on the ground, such as on buildings, trees, etc., or in dangerous areas such as water Can not be measured.
发明内容Contents of the invention
本发明的目的在于提供一种简易快速、易于掌握的获取摄像机空间姿态的方法。The purpose of the present invention is to provide a simple, fast and easy-to-grasp method for acquiring the spatial attitude of a camera.
实现本发明目的的技术方案为:一种获取摄像机空间姿态的方法,包括以下步骤:The technical scheme that realizes the object of the present invention is: a kind of method for obtaining camera space attitude, comprises the following steps:
步骤1、构建坐标系:图像画面坐标以像素为单位,图像画面左上角为坐标原点,画面横向为x轴,画面纵向为y轴;具体为:Step 1. Build a coordinate system: the coordinates of the image screen are in pixels, the upper left corner of the image screen is the origin of the coordinates, the horizontal direction of the screen is the x-axis, and the vertical direction of the screen is the y-axis; specifically:
以[x,y]表示画面坐标点,[X,Y]表示地面坐标点;通过画面坐标[x,y]与地面坐标[X,Y]的对应转换函数F([X,Y])确定地面位置坐标[X,Y];摄像机镜头光轴的画面中心点o在地面的射影点记为地面中心点O,设画面中心点o的坐标为[ox,oy],地面中心点O的地面坐标为[OX,OY];Use [x,y] to represent the screen coordinate point, and [X,Y] to represent the ground coordinate point; it is determined by the corresponding conversion function F([X,Y]) between the screen coordinate [x,y] and the ground coordinate [X,Y] Ground position coordinates [X, Y]; the projective point of the screen center point o of the optical axis of the camera lens on the ground is recorded as the ground center point O, and the coordinates of the screen center point o are [ox, oy]. The coordinates are [OX,OY];
步骤2、确定摄像机靶面与地面的交线,记为地面地平线Lh;Step 2. Determine the intersection line between the camera target surface and the ground, which is recorded as the ground horizon Lh;
步骤3、从地面中心点O向地面地平线Lh引垂线,记为地面垂直中心线Lv,摄像机的地面位置在地面垂直中心线上;Step 3. Draw a vertical line from the ground center point O to the ground horizon Lh, which is recorded as the ground vertical center line Lv, and the ground position of the camera is on the ground vertical center line;
步骤4、取地面垂直中心线Lv和地面地平线Lh的交点,记为地面透视点F;F的地面坐标为[FX,FY];Step 4. Take the intersection of the ground vertical centerline Lv and the ground horizon Lh, and record it as the ground perspective point F; the ground coordinates of F are [FX, FY];
确定地面中心点O到地面透视点F的距离,记为透视距离D:Determine the distance from the ground center point O to the ground perspective point F, which is recorded as the perspective distance D:
步骤5、取地面中心点O和地面透视点F连线的中点,记为地面中间点P,P的地面坐标为[PX,PY];确定地面中间点P在图像画面上的射影点,记为画面中间点p,p的画面坐标为[px,py];Step 5, take the midpoint of the line connecting the ground center point O and the ground perspective point F, record it as the ground middle point P, and the ground coordinates of P are [PX, PY]; determine the projective point of the ground middle point P on the image screen, It is recorded as the middle point p of the screen, and the screen coordinates of p are [px,py];
从地面中间点引一条与地面地平线平行的地面直线LP;Draw a ground line LP parallel to the ground horizon from the middle point of the ground;
在LP上任意选取一个地面参考点T,T的地面坐标为[TX,TY];Randomly select a ground reference point T on LP, and the ground coordinates of T are [TX,TY];
确定地面参考点T在画面上的射影点,记为画面参考点t,t的图像画面坐标为[tx,ty];Determine the projective point of the ground reference point T on the screen, which is recorded as the screen reference point t, and the image frame coordinates of t are [tx, ty];
确定地面中间点P和地面参考点T的距离D1:Determine the distance D1 between the middle point P on the ground and the reference point T on the ground:
确定画面中间点p和画面参考点t的距离d1:Determine the distance d1 between the middle point p of the picture and the reference point t of the picture:
确定画面中间点p和画面中心点o的距离d2:Determine the distance d2 between the middle point p of the picture and the center point o of the picture:
确定地面中间点P到直线Oo的距离D2:Determine the distance D2 from the middle point P on the ground to the straight line Oo:
D2=d2*D1/d1;D2=d2*D1/d1;
步骤6、取画面中心点o和画面中间点p的连线,记为画面垂直中心线lv;Step 6, take the line connecting the center point o of the screen and the middle point p of the screen, and record it as the vertical center line lv of the screen;
步骤7、确定空间姿态参数:所述空间姿态参数包括摄像机方向角度α、摄像机旋转角度β、摄像机垂直角度γ、摄像机高度CH和摄像机位置[CX,CY];Step 7. Determine the space attitude parameters: the space attitude parameters include camera direction angle α, camera rotation angle β, camera vertical angle γ, camera height CH and camera position [CX, CY];
摄像机方向角度α为地面垂直中心线Lv与地面Y轴的夹角;The camera direction angle α is the angle between the vertical centerline Lv of the ground and the Y-axis of the ground;
摄像机旋转角度β为画面垂直中心线lv与画面y轴的夹角;Camera rotation angle β is the angle between the vertical center line lv of the screen and the y-axis of the screen;
摄像机垂直角度γ,即摄像机拍摄中轴线与地面的夹角,即摄像机靶面与地面夹角的补角:Camera vertical angle γ, that is, the angle between the camera shooting axis and the ground, that is, the supplementary angle between the camera target surface and the ground:
γ=arcsin(D2*2/D);γ=arcsin(D2*2/D);
0<γ<π/2;0<γ<π/2;
摄像机高度CH为摄像机相对地面的垂直高度,即The camera height CH is the vertical height of the camera relative to the ground, namely
CH=D2*2*cos(γ);CH=D2*2*cos(γ);
摄像机位置[CX,CY]为摄像机在地面的垂直点的位置;确定摄像机位置[CX,CY]到地面透视点F的距离D3:The camera position [CX, CY] is the position of the vertical point of the camera on the ground; determine the distance D3 from the camera position [CX, CY] to the perspective point F on the ground:
D3=D2*2*D2*2/D;D3=D2*2*D2*2/D;
CX=FX+D3/D*(OX‐FX)CX=FX+D3/D*(OX‐FX)
CY=FY+D3/D*(OY‐FY)。CY=FY+D3/D*(OY-FY).
与现有技术相比,本发明的显著优点为:(1)本发明利用画面像素位置与地面坐标位置的转换关系,直接计算出摄像机的安装姿态,不需要到现场进行测量和标定,大大减少工程的工作量;(2)本发明操作简便,易于掌握,避免了因场景限制无法采样的问题。Compared with the prior art, the remarkable advantages of the present invention are: (1) The present invention utilizes the conversion relationship between the picture pixel position and the ground coordinate position to directly calculate the installation attitude of the camera, without going to the site for measurement and calibration, which greatly reduces the engineering workload; (2) the present invention is easy to operate, easy to master, and avoids the problem that sampling cannot be performed due to scene restrictions.
下面结合附图对本发明作进一步详细描述。The present invention will be described in further detail below in conjunction with the accompanying drawings.
附图说明Description of drawings
图1为本发明获取摄像机空间姿态的方法的几何示意图。FIG. 1 is a schematic geometric diagram of the method for obtaining the spatial attitude of a camera in the present invention.
图2为本发明获取摄像机空间姿态的方法的空间关系示意图。FIG. 2 is a schematic diagram of the spatial relationship of the method for obtaining the spatial attitude of the camera according to the present invention.
具体实施方式detailed description
已知摄像机的内部参数和画面象素与地面位置的对应函数;The internal parameters of the camera and the corresponding function between the picture pixels and the ground position are known;
结合图1、图2,一种获取摄像机空间姿态的方法,包括以下步骤:Combining Fig. 1 and Fig. 2, a method for obtaining the spatial attitude of a camera includes the following steps:
步骤1、构建坐标系:图像画面坐标以像素为单位,图像画面左上角为坐标原点,画面横向为x轴,画面纵向为y轴;具体为:Step 1. Build a coordinate system: the coordinates of the image screen are in pixels, the upper left corner of the image screen is the origin of the coordinates, the horizontal direction of the screen is the x-axis, and the vertical direction of the screen is the y-axis; specifically:
以[x,y]表示画面坐标点,[X,Y]表示地面坐标点;通过画面坐标[x,y]与地面坐标[X,Y]的对应转换函数F([X,Y])确定地面位置坐标[X,Y];摄像机镜头光轴的画面中心点o在地面的射影点记为地面中心点O,设画面中心点o的坐标为[ox,oy],对应的O的地面坐标为[OX,OY];Use [x,y] to represent the screen coordinate point, and [X,Y] to represent the ground coordinate point; it is determined by the corresponding conversion function F([X,Y]) between the screen coordinate [x,y] and the ground coordinate [X,Y] Ground position coordinates [X, Y]; the projective point of the screen center point o of the camera lens optical axis on the ground is recorded as the ground center point O, and the coordinates of the screen center point o are [ox, oy], and the corresponding ground coordinates of O is [OX,OY];
所述画面象素坐标[x,y]与地面位置坐标[X,Y]的对应转换函数F([x,y])(参见《OpenGL》的glFrustum(),gluPerspective()和glOrtho()),以及逆转换函数FT([X,Y])为:The corresponding conversion function F([x,y]) of the picture pixel coordinates [x, y] and the ground position coordinates [X, Y] (see glFrustum(), gluPerspective() and glOrtho() of "OpenGL") , and the inverse transformation function F T ([X,Y]) is:
[X,Y]=F([x,y])[X,Y]=F([x,y])
[x,y]=FT([X,Y])[x,y]=F T ([X,Y])
则[OX,OY]=F([ox,oy]);Then [OX,OY]=F([ox,oy]);
步骤2、确定摄像机靶面与地面的交线,记为地面地平线Lh;具体包括以下步骤:Step 2. Determine the intersection line between the camera target surface and the ground, which is recorded as the ground horizon Lh; specifically includes the following steps:
步骤2-1、在画面上取任意长方形的4个顶点v1、v2、v3、v4;Step 2-1. Take four vertices v1, v2, v3 and v4 of any rectangle on the screen;
步骤2-2、利用画面象素坐标[x,y]与地面位置坐标[X,Y]的对应转换函数F([x,y],确定v1、v2、v3、v4在地面的射影点V1、V2、V3、V4;V1、V2、V3、V4在地面形成四边形Q;Step 2-2. Use the corresponding conversion function F([x,y] of the screen pixel coordinates [x,y] and the ground position coordinates [X,Y] to determine the projective points V1 of v1, v2, v3, and v4 on the ground , V2, V3, V4; V1, V2, V3, V4 form a quadrilateral Q on the ground;
步骤2-3、分别确定由四边形Q的2组对边L1、L2以及L3、L4作为直线的2个交点F1和F2,F1和F2的连线为地面地平线Lh;Step 2-3, determine respectively by 2 groups of opposite sides L1, L2 and L3, L4 of quadrilateral Q as two intersections F1 and F2 of straight line, the connecting line of F1 and F2 is ground horizon Lh;
Lh的直线方程为:Y=Lh_a*X+Lh_b,其中Lh_a为X的系数项,Lh_b为常数项;The linear equation of Lh is: Y=Lh_a*X+Lh_b, where Lh_a is the coefficient term of X, and Lh_b is the constant term;
步骤3、从地面中心点O向地面地平线Lh引垂线,记为地面垂直中心线Lv,摄像机的地面位置在地面垂直中心线上;所述地面垂直中心线Lv的方程表达式为:Step 3, draw a vertical line from the ground center point O to the ground horizon Lh, which is recorded as the ground vertical center line Lv, and the ground position of the camera is on the ground vertical center line; the equation expression of the ground vertical center line Lv is:
Y=Lv_a*X+Lv_b,其中Lv_a为X的系数项,Lv_b为常数项;Y=Lv_a*X+Lv_b, wherein Lv_a is a coefficient term of X, and Lv_b is a constant term;
步骤4、取地面垂直中心线Lv和地面地平线Lh的交点,记为地面透视点F;F的坐标为[FX,FY];Step 4, take the intersection of the vertical centerline Lv of the ground and the horizon Lh of the ground, and record it as the ground perspective point F; the coordinates of F are [FX, FY];
确定地面中心点O到地面透视点F的距离,记为透视距离D:Determine the distance from the ground center point O to the ground perspective point F, which is recorded as the perspective distance D:
步骤5、取地面中心点O和地面透视点F连线的中点,记为地面中间点P,P的地面坐标为[PX,PY];确定地面中间点P在图像画面上的射影点,记为画面中间点p,p的画面坐标为[px,py];Step 5, take the midpoint of the line connecting the ground center point O and the ground perspective point F, record it as the ground middle point P, and the ground coordinates of P are [PX, PY]; determine the projective point of the ground middle point P on the image screen, It is recorded as the middle point p of the screen, and the screen coordinates of p are [px,py];
从地面中间点引一条与地面地平线平行的地面直线LP;Draw a ground line LP parallel to the ground horizon from the middle point of the ground;
在LP上任意选取一个地面参考点T,T的地面坐标为[TX,TY];Randomly select a ground reference point T on LP, and the ground coordinates of T are [TX,TY];
确定地面参考点T在画面上的射影点,记为画面参考点t,t的图像画面坐标为[tx,ty];Determine the projective point of the ground reference point T on the screen, which is recorded as the screen reference point t, and the image frame coordinates of t are [tx, ty];
确定地面中间点P和地面参考点T的距离D1:Determine the distance D1 between the middle point P on the ground and the reference point T on the ground:
确定画面中间点p和画面参考点t的距离d1:Determine the distance d1 between the middle point p of the picture and the reference point t of the picture:
确定画面中间点p和画面中心点o的距离d2:Determine the distance d2 between the middle point p of the picture and the center point o of the picture:
确定地面中间点P到直线Oo的距离D2:Determine the distance D2 from the middle point P on the ground to the straight line Oo:
D2=d2*D1/d1;D2=d2*D1/d1;
步骤6、取画面中心点o和画面中间点p的连线,记为画面垂直中心线lv;所述画面垂直中心线lv的方程表达式为:y=lv_a*x+lv_b,其中lv_a为x的系数项,lv_b为常数项;Step 6, get the line connecting the picture center point o and the picture middle point p, and record it as the picture vertical center line lv; the equation expression of the picture vertical center line lv is: y=lv_a*x+lv_b, wherein lv_a is x The coefficient term of , lv_b is a constant term;
步骤7、确定空间姿态参数:所述空间姿态参数包括摄像机方向角度α、摄像机旋转角度β、摄像机垂直角度γ、摄像机高度CH和摄像机位置[CX,CY];Step 7. Determine the space attitude parameters: the space attitude parameters include camera direction angle α, camera rotation angle β, camera vertical angle γ, camera height CH and camera position [CX, CY];
摄像机方向角度α为地面垂直中心线Lv与地面Y轴的夹角:The camera direction angle α is the angle between the vertical centerline Lv of the ground and the Y-axis of the ground:
若OX-PX>0,则α=arcctg(Lv_a);If OX-PX>0, then α=arcctg(Lv_a);
若OX-PX≤0,则α=arcctg(Lv_a)+π;If OX-PX≤0, then α=arcctg(Lv_a)+π;
摄像机旋转角度β为画面垂直中心线lv与画面y轴的夹角:The camera rotation angle β is the angle between the vertical center line lv of the screen and the y-axis of the screen:
若ox‐px>0,则β=arcctg(lv_a);If ox-px>0, then β=arcctg(lv_a);
若ox-px≤0,则β=arcctg(lv_a)+π;If ox-px≤0, then β=arcctg(lv_a)+π;
摄像机垂直角度γ,即摄像机拍摄中轴线与地面的夹角,即摄像机靶面与地面夹角的补角:Camera vertical angle γ, that is, the angle between the camera shooting axis and the ground, that is, the supplementary angle between the camera target surface and the ground:
γ=arcsin(D2*2/D);γ=arcsin(D2*2/D);
0<γ<π/2;0<γ<π/2;
摄像机高度CH为摄像机相对地面的垂直高度,即The camera height CH is the vertical height of the camera relative to the ground, namely
CH=D2*2*cos(γ);CH=D2*2*cos(γ);
摄像机位置[CX,CY]为摄像机在地面的垂直点的位置;首先确定摄像机位置[CX,CY]到地面透视点F的距离D3:The camera position [CX, CY] is the vertical point of the camera on the ground; first determine the distance D3 from the camera position [CX, CY] to the perspective point F on the ground:
D3=D2*2*D2*2/D;D3=D2*2*D2*2/D;
CX=FX+D3/D*(OX‐FX)CX=FX+D3/D*(OX‐FX)
CY=FY+D3/D*(OY‐FY)。CY=FY+D3/D*(OY-FY).
下面结合具体实施例对本发明做进一步说明。The present invention will be further described below in conjunction with specific embodiments.
实施例1Example 1
结合图1、图2,取一台摄像机的实际数据作为实例。Combined with Figure 1 and Figure 2, take the actual data of a camera as an example.
画面光轴中心点o的画面像素位置为[367,322];The picture pixel position of the center point o of the picture optical axis is [367,322];
经过平面转换关系计算,得到画面中心点o在地面的射影点O,O的地面坐标为After the calculation of the plane conversion relationship, the projective point O of the center point o of the picture on the ground is obtained, and the ground coordinates of O are
[1511.72,2930.61];[1511.72,2930.61];
在画面上取任意平行四边形的4个顶点v1、v2、v3、v4,像素位置分别为[267,322],[367,222],[467,322],[367,422];Take four vertices v1, v2, v3, and v4 of any parallelogram on the screen, and the pixel positions are [267,322], [367,222], [467,322], [367,422];
确定v1、v2、v3、v4在地面的射影点V1、V2、V3、V4,坐标位置分别为[1792.93,2716.66],[1813.26,3368.80],[1220.26,3152.34],[1299.68,2622.49];Determine the projective points V1, V2, V3, and V4 of v1, v2, v3, and v4 on the ground, and the coordinate positions are [1792.93, 2716.66], [1813.26, 3368.80], [1220.26, 3152.34], [1299.68, 2622.49];
V1、V2、V3、V4在地面形成四边形Q,分别计算由四边形Q的4条边的直线L1、L2、L3、L4为:V1, V2, V3, and V4 form a quadrilateral Q on the ground, and the straight lines L1, L2, L3, and L4 of the four sides of the quadrilateral Q are calculated as follows:
Y=32.08*X–54803.16;Y=32.08*X–54803.16;
Y=-6.67*X+11294.03;Y=-6.67*X+11294.03;
Y=0.37*X+2706.93;Y=0.37*X+2706.93;
Y=0.19*X+2374.33;Y=0.19*X+2374.33;
确定L1与L2的交点F1以及L3与L4的交点F2,分别为[1705.58,-85.73]和[-1910.55,2009.54];Determine the intersection F1 of L1 and L2 and the intersection F2 of L3 and L4, which are [1705.58,-85.73] and [-1910.55,2009.54] respectively;
F1和F2的连线称作地面地平线Lh,Lh的方程为:Y=-0.58*X+902.53;The connection line between F1 and F2 is called the ground horizon Lh, and the equation of Lh is: Y=-0.58*X+902.53;
从地面中心点O向地面地平线Lh引垂线,记为地面垂直中心线Lv,Lv的方程为:Y=1.73*X+321.60;Draw a vertical line from the ground center point O to the ground horizon Lh, which is recorded as the ground vertical center line Lv, and the equation of Lv is: Y=1.73*X+321.60;
摄像机的地面位置在地面垂直中心线上;The ground position of the camera is on the vertical centerline of the ground;
确定地面垂直中心线Lv和地面地平线Lh的交点,记为地面透视点F,F的坐标为[252.00,756.51];Determine the intersection of the ground vertical centerline Lv and the ground horizon Lh, and record it as the ground perspective point F, and the coordinates of F are [252.00,756.51];
确定地面中心点O到地面透视点F的距离,记为透视距离D,D=2512.68;Determine the distance from the ground center point O to the ground perspective point F, which is recorded as the perspective distance D, D=2512.68;
确定地面中心点O和地面透视点F连线的中点,记为地面中间点P,P的地面坐标为[881.86,1843.56];Determine the midpoint of the line connecting the ground center point O and the ground perspective point F, which is recorded as the ground midpoint P, and the ground coordinates of P are [881.86, 1843.56];
确定地面中间点P在画面上的射影点,记为画面中间点p,p的画面坐标为[313.12,890.87];Determine the projection point of the middle point P on the screen, which is recorded as the middle point p of the screen, and the screen coordinates of p are [313.12,890.87];
从地面中间点引一条与地面地平线平行的地面直线LP,Y=-0.58+2354.53;Draw a ground line LP parallel to the ground horizon from the middle point of the ground, Y=-0.58+2354.53;
在LP上选取一个地面参考点T,T的地面坐标为[981.86,1785.62];Select a ground reference point T on LP, and the ground coordinates of T are [981.86,1785.62];
确定地面参考点T在画面上的射影点,记为画面参考点t,t的画面坐标为[248.97,884.29];Determine the projective point of the ground reference point T on the screen, record it as the screen reference point t, and the screen coordinates of t are [248.97,884.29];
确定地面中间点P和地面参考点T的距离D1,D1=115.57;Determine the distance D1 between the middle point P on the ground and the reference point T on the ground, D1=115.57;
确定画面中间点p和画面参考点t的距离d1,d1=64.48;Determine the distance d1 between the middle point p of the picture and the reference point t of the picture, d1=64.48;
确定画面中间点p和画面中心点o的距离d2,d2=570.83;Determine the distance d2 between the middle point p of the picture and the center point o of the picture, d2=570.83;
确定D2=d2*D1/d1=1023.09;Determine D2=d2*D1/d1=1023.09;
画面中心点o和画面中间点p的连线即是画面垂直中心线lv,lv的方程为:The line connecting the center point o of the screen and the middle point p of the screen is the vertical center line lv of the screen, and the equation of lv is:
y=-10.48*x+4173.08;y=-10.48*x+4173.08;
最后计算得出:Finally calculated:
摄像机方向角度α(单位度),α=30.09;Camera direction angle α (unit degree), α=30.09;
摄像机旋转角度β(单位度),β=-5.45;Camera rotation angle β (unit degree), β=-5.45;
摄像机垂直角度γ(单位度),γ=35.48;Camera vertical angle γ (unit degree), γ=35.48;
摄像机高度CH(单位厘米),CH=1187.57;Camera height CH (in centimeters), CH=1187.57;
摄像机位置[CX,CY](单位厘米),[CX,CY]=[1087.39,2198.27]Camera position [CX, CY] (unit cm), [CX, CY] = [1087.39, 2198.27]
经过验证,参数与实际一致,且精度高于用角点测量计算的精度。After verification, the parameters are consistent with the actual, and the accuracy is higher than the accuracy calculated by corner point measurement.
本发明不受上述实施例的限制,上述实施例和说明书中描述的只是说明本发明的原理,在不脱离本发明精神和范围的前提下,本发明还会有各种变化和改进,这些变化和改进都落入要求保护的本发明范围内。The present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principle of the present invention, and without departing from the spirit and scope of the present invention, the present invention also has various changes and improvements, these changes All modifications and improvements are within the scope of the claimed invention.
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